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Sbus Input and LED set HAL API

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This commit is contained in:
Matthew GONG
2020-03-20 11:31:15 +08:00
parent e4d1d96cf4
commit 5116f1cb7f
12 changed files with 1402 additions and 0 deletions
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hal_api_busdef.mat
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hal_api_ctrls_bld.slx
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hal_led_set.c
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/*
* File: hal_led_set.c
*
*
* --- THIS FILE GENERATED BY S-FUNCTION BUILDER: 3.0 ---
*
* This file is an S-function produced by the S-Function
* Builder which only recognizes certain fields. Changes made
* outside these fields will be lost the next time the block is
* used to load, edit, and resave this file. This file will be overwritten
* by the S-function Builder block. If you want to edit this file by hand,
* you must change it only in the area defined as:
*
* %%%-SFUNWIZ_defines_Changes_BEGIN
* #define NAME 'replacement text'
* %%% SFUNWIZ_defines_Changes_END
*
* DO NOT change NAME--Change the 'replacement text' only.
*
* For better compatibility with the Simulink Coder, the
* "wrapper" S-function technique is used. This is discussed
* in the Simulink Coder's Manual in the Chapter titled,
* "Wrapper S-functions".
*
* -------------------------------------------------------------------------
* | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
* -------------------------------------------------------------------------
*
* Created: Fri Mar 20 11:30:03 2020
*/
#define S_FUNCTION_LEVEL 2
#define S_FUNCTION_NAME hal_led_set
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
/* %%%-SFUNWIZ_defines_Changes_BEGIN --- EDIT HERE TO _END */
#define NUM_INPUTS 1
/* Input Port 0 */
#define IN_PORT_0_NAME color
#define INPUT_0_WIDTH 1
#define INPUT_DIMS_0_COL 1
#define INPUT_0_DTYPE real_T
#define INPUT_0_COMPLEX COMPLEX_NO
#define IN_0_FRAME_BASED FRAME_NO
#define IN_0_BUS_BASED 1
#define IN_0_BUS_NAME LedColorMsg
#define IN_0_DIMS 1-D
#define INPUT_0_FEEDTHROUGH 1
#define IN_0_ISSIGNED 0
#define IN_0_WORDLENGTH 8
#define IN_0_FIXPOINTSCALING 1
#define IN_0_FRACTIONLENGTH 9
#define IN_0_BIAS 0
#define IN_0_SLOPE 0.125
#define NUM_OUTPUTS 1
/* Output Port 0 */
#define OUT_PORT_0_NAME ErrorCode
#define OUTPUT_0_WIDTH 1
#define OUTPUT_DIMS_0_COL 1
#define OUTPUT_0_DTYPE real_T
#define OUTPUT_0_COMPLEX COMPLEX_NO
#define OUT_0_FRAME_BASED FRAME_NO
#define OUT_0_BUS_BASED 0
#define OUT_0_BUS_NAME
#define OUT_0_DIMS 1-D
#define OUT_0_ISSIGNED 1
#define OUT_0_WORDLENGTH 8
#define OUT_0_FIXPOINTSCALING 1
#define OUT_0_FRACTIONLENGTH 3
#define OUT_0_BIAS 0
#define OUT_0_SLOPE 0.125
#define NPARAMS 1
/* Parameter 0 */
#define PARAMETER_0_NAME id
#define PARAMETER_0_DTYPE uint8_T
#define PARAMETER_0_COMPLEX COMPLEX_NO
#define SAMPLE_TIME_0 INHERITED_SAMPLE_TIME
#define NUM_DISC_STATES 0
#define DISC_STATES_IC [0]
#define NUM_CONT_STATES 0
#define CONT_STATES_IC [0]
#define SFUNWIZ_GENERATE_TLC 1
#define SOURCEFILES "__SFB__"
#define PANELINDEX 8
#define USE_SIMSTRUCT 0
#define SHOW_COMPILE_STEPS 0
#define CREATE_DEBUG_MEXFILE 0
#define SAVE_CODE_ONLY 0
#define SFUNWIZ_REVISION 3.0
/* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
#include "simstruc.h"
#include "hal_led_set_bus.h"
/*
* Code Generation Environment flag (simulation or standalone target).
*/
static int_T isSimulationTarget;
/* Utility function prototypes. */
static int_T GetRTWEnvironmentMode(SimStruct *S);
/* Macro used to check if Simulation mode is set to accelerator */
#define isBusDWorkPresent ( ( ( !ssRTWGenIsCodeGen(S) || isSimulationTarget ) && !ssIsExternalSim(S) ) || ssIsRapidAcceleratorActive(S) )
typedef struct {
int_T offset;
int_T elemSize;
int_T numElems;
} busInfoStruct;
#define PARAM_DEF0(S) ssGetSFcnParam(S, 0)
#define IS_PARAM_UINT8(pVal) (mxIsNumeric(pVal) && !mxIsLogical(pVal) &&\
!mxIsEmpty(pVal) && !mxIsSparse(pVal) && !mxIsComplex(pVal) && mxIsUint8(pVal))
extern void hal_led_set_Start_wrapper(const uint8_T *id, const int_T p_width0);
extern void hal_led_set_Outputs_wrapper(const LedColorMsg *color,
real_T *ErrorCode,
const uint8_T *id, const int_T p_width0);
/*====================*
* S-function methods *
*====================*/
#define MDL_CHECK_PARAMETERS
#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
/* Function: mdlCheckParameters =============================================
* Abstract:
* Verify parameter definitions and types.
*/
static void mdlCheckParameters(SimStruct *S)
{
int paramIndex = 0;
bool invalidParam = false;
/* All parameters must match the S-function Builder Dialog */
{
const mxArray *pVal0 = ssGetSFcnParam(S, 0);
if (!IS_PARAM_UINT8(pVal0)) {
invalidParam = true;
paramIndex = 0;
goto EXIT_POINT;
}
}
EXIT_POINT:
if (invalidParam) {
char parameterErrorMsg[1024];
sprintf(parameterErrorMsg, "The data type and or complexity of parameter %d does not match the "
"information specified in the S-function Builder dialog. "
"For non-double parameters you will need to cast them using int8, int16, "
"int32, uint8, uint16, uint32 or boolean.", paramIndex + 1);
ssSetErrorStatus(S, parameterErrorMsg);
}
return;
}
#endif /* MDL_CHECK_PARAMETERS */
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(inputDimsInfo);
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS); /* Number of expected parameters */
#if defined(MATLAB_MEX_FILE)
if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
mdlCheckParameters(S);
if (ssGetErrorStatus(S) != NULL) {
return;
}
} else {
return; /* Parameter mismatch will be reported by Simulink */
}
#endif
ssSetArrayLayoutForCodeGen(S, SS_COLUMN_MAJOR);
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
/* Register LedColorMsg datatype for Input port 0 */
#if defined(MATLAB_MEX_FILE)
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY)
{
DTypeId dataTypeIdReg;
ssRegisterTypeFromNamedObject(S, "LedColorMsg", &dataTypeIdReg);
if(dataTypeIdReg == INVALID_DTYPE_ID) return;
ssSetInputPortDataType(S, 0, dataTypeIdReg);
}
#endif
ssSetInputPortWidth(S, 0, INPUT_0_WIDTH);
ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX);
ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH);
ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/
ssSetBusInputAsStruct(S, 0, IN_0_BUS_BASED);
ssSetInputPortBusMode(S, 0, SL_BUS_MODE);
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
ssSetOutputPortDataType(S, 0, SS_DOUBLE);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
if (ssRTWGenIsCodeGen(S)) {
isSimulationTarget = GetRTWEnvironmentMode(S);
if (isSimulationTarget == -1) {
ssSetErrorStatus(S, " Unable to determine a valid code generation environment mode");
return;
}
isSimulationTarget |= ssRTWGenIsModelReferenceSimTarget(S);
}
/* Set the number of dworks */
if (!isBusDWorkPresent) {
if (!ssSetNumDWork(S, 0)) return;
} else {
if (!ssSetNumDWork(S, 1)) return;
}
if (isBusDWorkPresent) {
/*
* Configure the dwork 0 (colorBUS)
*/
#if defined(MATLAB_MEX_FILE)
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) {
DTypeId dataTypeIdReg;
ssRegisterTypeFromNamedObject(S, "LedColorMsg", &dataTypeIdReg);
if (dataTypeIdReg == INVALID_DTYPE_ID) return;
ssSetDWorkDataType(S, 0, dataTypeIdReg);
}
#endif
ssSetDWorkUsageType(S, 0, SS_DWORK_USED_AS_DWORK);
ssSetDWorkName(S, 0, "colorBUS");
ssSetDWorkWidth(S, 0, DYNAMICALLY_SIZED);
ssSetDWorkComplexSignal(S, 0, COMPLEX_NO);
}
ssSetNumPWork(S, 0);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimulinkVersionGeneratedIn(S, "9.2");
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_USE_TLC_WITH_ACCELERATOR |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
/* Function: mdlInitializeSampleTimes =========================================
* Abstract:
* Specifiy the sample time.
*/
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, SAMPLE_TIME_0);
ssSetModelReferenceSampleTimeDefaultInheritance(S);
ssSetOffsetTime(S, 0, 0.0);
}
#define MDL_SET_INPUT_PORT_DATA_TYPE
static void mdlSetInputPortDataType(SimStruct *S, int port, DTypeId dType)
{
ssSetInputPortDataType(S, 0, dType);
}
#define MDL_SET_OUTPUT_PORT_DATA_TYPE
static void mdlSetOutputPortDataType(SimStruct *S, int port, DTypeId dType)
{
ssSetOutputPortDataType(S, 0, dType);
}
#define MDL_SET_DEFAULT_PORT_DATA_TYPES
static void mdlSetDefaultPortDataTypes(SimStruct *S)
{
ssSetInputPortDataType(S, 0, SS_DOUBLE);
ssSetOutputPortDataType(S, 0, SS_DOUBLE);
}
#define MDL_SET_WORK_WIDTHS
#if defined(MDL_SET_WORK_WIDTHS) && defined(MATLAB_MEX_FILE)
static void mdlSetWorkWidths(SimStruct *S)
{
/* Set the width of DWork(s) used for marshalling the IOs */
if (isBusDWorkPresent) {
/* Update dwork 0 */
ssSetDWorkWidth(S, 0, ssGetInputPortWidth(S, 0));
}
{
const char_T *rtParamNames[] = {"P1"};
ssRegAllTunableParamsAsRunTimeParams(S, rtParamNames);
}
}
#endif
#define MDL_START /* Change to #undef to remove function */
#if defined(MDL_START)
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
/* Bus Information */
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
const char *bpath = ssGetPath(S);
DTypeId LedColorMsgId = ssGetDataTypeId(S, "LedColorMsg");
busInfoStruct *busInfo = (busInfoStruct *)malloc(6*sizeof(busInfoStruct));
if(busInfo==NULL) {
ssSetErrorStatus(S, "Memory allocation failure");
return;
}
/* Calculate offsets of all primitive elements of the bus */
busInfo[0].offset = dtaGetDataTypeElementOffset(dta, bpath, LedColorMsgId, 0);
busInfo[0].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
busInfo[0].numElems = 1;
busInfo[1].offset = dtaGetDataTypeElementOffset(dta, bpath, LedColorMsgId, 1);
busInfo[1].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
busInfo[1].numElems = 1;
busInfo[2].offset = dtaGetDataTypeElementOffset(dta, bpath, LedColorMsgId, 2);
busInfo[2].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
busInfo[2].numElems = 1;
ssSetUserData(S, busInfo);
const int_T p_width0 = mxGetNumberOfElements(PARAM_DEF0(S));
const uint8_T *id = (const uint8_T *) mxGetData(PARAM_DEF0(S));
hal_led_set_Start_wrapper(id, p_width0);
}
#endif /* MDL_START */
/* Function: mdlOutputs =======================================================
*
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
const char *color = (char *) ssGetInputPortSignal(S, 0);
real_T *ErrorCode = (real_T *) ssGetOutputPortRealSignal(S, 0);
const int_T p_width0 = mxGetNumberOfElements(PARAM_DEF0(S));
const uint8_T *id = (const uint8_T *) mxGetData(PARAM_DEF0(S));
busInfoStruct* busInfo = (busInfoStruct *) ssGetUserData(S);
/* Temporary bus copy declarations */
LedColorMsg _colorBUS;
/* Copy input bus into temporary structure */
(void) memcpy(&_colorBUS.r, color + busInfo[0].offset, busInfo[0].elemSize * busInfo[0].numElems);
(void) memcpy(&_colorBUS.g, color + busInfo[1].offset, busInfo[1].elemSize * busInfo[1].numElems);
(void) memcpy(&_colorBUS.b, color + busInfo[2].offset, busInfo[2].elemSize * busInfo[2].numElems);
hal_led_set_Outputs_wrapper(&_colorBUS, ErrorCode, id, p_width0);
/* Copy temporary structure into output bus */
}
/* Function: mdlTerminate =====================================================
* Abstract:
* In this function, you should perform any actions that are necessary
* at the termination of a simulation. For example, if memory was
* allocated in mdlStart, this is the place to free it.
*/
static void mdlTerminate(SimStruct *S)
{
/* Free stored bus information */
busInfoStruct *busInfo = (busInfoStruct *) ssGetUserData(S);
if(busInfo != NULL) {
free(busInfo);
}
}
static int_T GetRTWEnvironmentMode(SimStruct *S)
{
int_T status = -1;
mxArray *plhs[1];
mxArray *prhs[1];
mxArray * err;
/*
* Get the name of the Simulink block diagram
*/
prhs[0] = mxCreateString(ssGetModelName(ssGetRootSS(S)));
plhs[0] = NULL;
/*
* Call "isSimulationTarget = rtwenvironmentmode(modelName)" in MATLAB
*/
err = mexCallMATLABWithTrap(1, plhs, 1, prhs, "rtwenvironmentmode");
mxDestroyArray(prhs[0]);
/*
* Set the error status if an error occurred
*/
if (err) {
if (plhs[0]) {
mxDestroyArray(plhs[0]);
plhs[0] = NULL;
}
ssSetErrorStatus(S, "Unknown error during call to 'rtwenvironmentmode'.");
return -1;
}
/*
* Get the value returned by rtwenvironmentmode(modelName)
*/
if (plhs[0]) {
status = (int_T) (mxGetScalar(plhs[0]) != 0);
mxDestroyArray(plhs[0]);
plhs[0] = NULL;
}
return (status);
}
#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
#include "simulink.c" /* MEX-file interface mechanism */
#else
#include "cg_sfun.h" /* Code generation registration function */
#endif
hal_led_set.mexw64
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hal_led_set.tlc
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%% File : hal_led_set.tlc
%% Created : Fri Mar 20 11:30:03 2020
%%
%% Description:
%% Simulink Coder wrapper functions interface generated for
%% S-function "hal_led_set.c".
%%
%% File generated by S-function Builder Block
%%
%% For more information on using the Target Language with the
%% Simulink Coder, see the Target Language Compiler manual
%% (under Simulink Coder) in the "Inlining S-Functions"
%% chapter under the section and subsection:
%% "Writing Block Target Files to Inline S-Functions",
%% "Function-Based or Wrappered Code".
%%
%implements hal_led_set "C"
%% Function: BlockTypeSetup ===================================================
%%
%% Purpose:
%% Set up external references for wrapper functions in the
%% generated code.
%%
%function BlockTypeSetup(block, system) Output
%if IsModelReferenceSimTarget() || CodeFormat == "S-Function" || ::isRAccel
%assign hFileName = "hal_led_set_accel_wrapper"
%assign hFileNameMacro = FEVAL("upper", hFileName)
%openfile hFile = "%<hFileName>.h"
%selectfile hFile
#ifndef _%<hFileNameMacro>_H_
#define _%<hFileNameMacro>_H_
#include "tmwtypes.h"
#ifdef __cplusplus
extern "C" {
#endif
extern void hal_led_set_Start_wrapper_accel(const uint8_T *id, const int_T p_width0);
extern void hal_led_set_Outputs_wrapper_accel(const void *color, void *__colorBUS,
real_T *ErrorCode,
const uint8_T *id, const int_T p_width0);
#ifdef __cplusplus
}
#endif
#endif
%closefile hFile
%assign cFileName = "hal_led_set_accel_wrapper"
%openfile cFile = "%<cFileName>.c"
%selectfile cFile
#include <string.h>
#include "tmwtypes.h"
#include "hal_led_set_bus.h"
void hal_led_set_Start_wrapper_accel(const uint8_T *id, const int_T p_width0){
hal_led_set_Start_wrapper(id, p_width0);
}
void hal_led_set_Outputs_wrapper_accel(const void *color, void *__colorBUS,
real_T *ErrorCode,
const uint8_T *id, const int_T p_width0){
%assign dTypeId = LibBlockInputSignalDataTypeId(0)
%<SLibAssignSLStructToUserStruct(dTypeId, "(*(LedColorMsg *) __colorBUS)", "(char *) color", 0)>
hal_led_set_Outputs_wrapper((LedColorMsg *) __colorBUS,
ErrorCode,
id, p_width0);
}
%closefile cFile
%<LibAddToCommonIncludes("%<hFileName>.h")>
%<LibAddToModelSources("%<cFileName>")>
%else
%openfile externs
#ifdef __cplusplus
extern "C" {
#endif
extern void hal_led_set_Start_wrapper(const uint8_T *id, const int_T p_width0);
extern void hal_led_set_Outputs_wrapper(const LedColorMsg *color,
real_T *ErrorCode,
const uint8_T *id, const int_T p_width0);
extern void hal_led_set_Terminate_wrapper(const uint8_T *id, const int_T p_width0);
#ifdef __cplusplus
}
#endif
%closefile externs
%<LibCacheExtern(externs)>
%endif
%%
%endfunction
%% Function: Start ============================================================
%%
%function Start(block, system) Output
/* %<Type> Block: %<Name> */
%assign nelements1 = LibBlockParameterSize(P1)
%assign param_width1 = nelements1[0] * nelements1[1]
%if (param_width1) > 1
%assign pp1 = LibBlockMatrixParameterBaseAddr(P1)
%else
%assign pp1 = LibBlockParameterAddr(P1, "", "", 0)
%endif
hal_led_set_Start_wrapper(%<pp1>, %<param_width1>);
%endfunction
%% Function: Outputs ==========================================================
%%
%% Purpose:
%% Code generation rules for mdlOutputs function.
%%
%function Outputs(block, system) Output
%%
%assign pu0 = LibBlockInputSignalAddr(0, "", "", 0)
%assign py0 = LibBlockOutputSignalAddr(0, "", "", 0)
%assign nelements1 = LibBlockParameterSize(P1)
%assign param_width1 = nelements1[0] * nelements1[1]
%if (param_width1) > 1
%assign pp1 = LibBlockMatrixParameterBaseAddr(P1)
%else
%assign pp1 = LibBlockParameterAddr(P1, "", "", 0)
%endif
%if IsModelReferenceSimTarget() || CodeFormat == "S-Function" || ::isRAccel
%assign colorBUS_ptr = LibBlockDWorkAddr(colorBUS, "", "", 0)
hal_led_set_Outputs_wrapper_accel(%<pu0>, %<colorBUS_ptr>, %<py0>, %<pp1>, %<param_width1>);
%else
hal_led_set_Outputs_wrapper(%<pu0>, %<py0>, %<pp1>, %<param_width1>);
%endif
%%
%endfunction
%% [EOF] hal_led_set.tlc
hal_led_set_bus.h
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/* Generated by S-function Builder */
#ifndef _HAL_LED_SET_BUS_H_
#define _HAL_LED_SET_BUS_H_
/* Read only - STARTS */
#ifdef MATLAB_MEX_FILE
#include "tmwtypes.h"
#else
#include "rtwtypes.h"
#endif
#ifndef _DEFINED_TYPEDEF_FOR_LedColorMsg_
#define _DEFINED_TYPEDEF_FOR_LedColorMsg_
typedef struct {
uint8_T r;
uint8_T g;
uint8_T b;
} LedColorMsg;
#endif
/* Read only - ENDS */
#endif
hal_led_set_wrapper.c
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/*
* Include Files
*
*/
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif
#include "hal_led_set_bus.h"
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
//#include "param_mgr.h"
#include <stdint.h>
#endif
/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
#define u_width 1
#define y_width 1
/*
* Create external references here.
*
*/
/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
int is_led_g0_init = 0;
int is_led_g1_init = 0;
int is_led_g2_init = 0;
void led_set_init(uint8_t id)
{
if (id == 0u && !is_led_g0_init)
{
//TODO
is_led_g0_init = 1;
}
if (id == 1u && !is_led_g1_init)
{
//TODO
is_led_g1_init = 1;
}
if (id == 2u && !is_led_g2_init)
{
//TODO
is_led_g2_init = 1;
}
}
#endif
/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
/*
* Start function
*
*/
void hal_led_set_Start_wrapper(const uint8_T *id, const int_T p_width0)
{
/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
led_set_init(id[0]);
#endif
/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
}
/*
* Output function
*
*/
void hal_led_set_Outputs_wrapper(const LedColorMsg *color,
real_T *ErrorCode,
const uint8_T *id, const int_T p_width0)
{
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
/*
* set LED group *id* with *color*
*
* ErrorCode - return zero on success, otherwise nonzero on failures.
*/
if (id[0] == 0u && is_led_g0_init)
{
// TODO set led color
ErrorCode[0] = 0;
return;
}
ErrorCode[0] = -1;
#else
ErrorCode[0] = 0;
#endif
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
hal_sbus_in.c
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/*
* File: hal_sbus_in.c
*
*
* --- THIS FILE GENERATED BY S-FUNCTION BUILDER: 3.0 ---
*
* This file is an S-function produced by the S-Function
* Builder which only recognizes certain fields. Changes made
* outside these fields will be lost the next time the block is
* used to load, edit, and resave this file. This file will be overwritten
* by the S-function Builder block. If you want to edit this file by hand,
* you must change it only in the area defined as:
*
* %%%-SFUNWIZ_defines_Changes_BEGIN
* #define NAME 'replacement text'
* %%% SFUNWIZ_defines_Changes_END
*
* DO NOT change NAME--Change the 'replacement text' only.
*
* For better compatibility with the Simulink Coder, the
* "wrapper" S-function technique is used. This is discussed
* in the Simulink Coder's Manual in the Chapter titled,
* "Wrapper S-functions".
*
* -------------------------------------------------------------------------
* | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
* -------------------------------------------------------------------------
*
* Created: Fri Mar 20 11:07:31 2020
*/
#define S_FUNCTION_LEVEL 2
#define S_FUNCTION_NAME hal_sbus_in
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
/* %%%-SFUNWIZ_defines_Changes_BEGIN --- EDIT HERE TO _END */
#define NUM_INPUTS 0
#define NUM_OUTPUTS 2
/* Output Port 0 */
#define OUT_PORT_0_NAME sbus
#define OUTPUT_0_WIDTH 1
#define OUTPUT_DIMS_0_COL 1
#define OUTPUT_0_DTYPE real_T
#define OUTPUT_0_COMPLEX COMPLEX_NO
#define OUT_0_FRAME_BASED FRAME_NO
#define OUT_0_BUS_BASED 1
#define OUT_0_BUS_NAME SbusInMsg
#define OUT_0_DIMS 1-D
#define OUT_0_ISSIGNED 1
#define OUT_0_WORDLENGTH 8
#define OUT_0_FIXPOINTSCALING 1
#define OUT_0_FRACTIONLENGTH 3
#define OUT_0_BIAS 0
#define OUT_0_SLOPE 0.125
/* Output Port 1 */
#define OUT_PORT_1_NAME ErrorCode
#define OUTPUT_1_WIDTH 1
#define OUTPUT_DIMS_1_COL 1
#define OUTPUT_1_DTYPE int32_T
#define OUTPUT_1_COMPLEX COMPLEX_NO
#define OUT_1_FRAME_BASED FRAME_NO
#define OUT_1_BUS_BASED 0
#define OUT_1_BUS_NAME
#define OUT_1_DIMS 1-D
#define OUT_1_ISSIGNED 1
#define OUT_1_WORDLENGTH 8
#define OUT_1_FIXPOINTSCALING 1
#define OUT_1_FRACTIONLENGTH 3
#define OUT_1_BIAS 0
#define OUT_1_SLOPE 0.125
#define NPARAMS 1
/* Parameter 0 */
#define PARAMETER_0_NAME id
#define PARAMETER_0_DTYPE uint8_T
#define PARAMETER_0_COMPLEX COMPLEX_NO
#define SAMPLE_TIME_0 INHERITED_SAMPLE_TIME
#define NUM_DISC_STATES 0
#define DISC_STATES_IC [0]
#define NUM_CONT_STATES 0
#define CONT_STATES_IC [0]
#define SFUNWIZ_GENERATE_TLC 1
#define SOURCEFILES "__SFB__"
#define PANELINDEX 8
#define USE_SIMSTRUCT 0
#define SHOW_COMPILE_STEPS 0
#define CREATE_DEBUG_MEXFILE 0
#define SAVE_CODE_ONLY 0
#define SFUNWIZ_REVISION 3.0
/* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
#include "simstruc.h"
#include "hal_sbus_in_bus.h"
/*
* Code Generation Environment flag (simulation or standalone target).
*/
static int_T isSimulationTarget;
/* Utility function prototypes. */
static int_T GetRTWEnvironmentMode(SimStruct *S);
/* Macro used to check if Simulation mode is set to accelerator */
#define isBusDWorkPresent ( ( ( !ssRTWGenIsCodeGen(S) || isSimulationTarget ) && !ssIsExternalSim(S) ) || ssIsRapidAcceleratorActive(S) )
typedef struct {
int_T offset;
int_T elemSize;
int_T numElems;
} busInfoStruct;
#define PARAM_DEF0(S) ssGetSFcnParam(S, 0)
#define IS_PARAM_UINT8(pVal) (mxIsNumeric(pVal) && !mxIsLogical(pVal) &&\
!mxIsEmpty(pVal) && !mxIsSparse(pVal) && !mxIsComplex(pVal) && mxIsUint8(pVal))
extern void hal_sbus_in_Start_wrapper(const uint8_T *id, const int_T p_width0);
extern void hal_sbus_in_Outputs_wrapper(SbusInMsg *sbus,
int32_T *ErrorCode,
const uint8_T *id, const int_T p_width0);
/*====================*
* S-function methods *
*====================*/
#define MDL_CHECK_PARAMETERS
#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
/* Function: mdlCheckParameters =============================================
* Abstract:
* Verify parameter definitions and types.
*/
static void mdlCheckParameters(SimStruct *S)
{
int paramIndex = 0;
bool invalidParam = false;
/* All parameters must match the S-function Builder Dialog */
{
const mxArray *pVal0 = ssGetSFcnParam(S, 0);
if (!IS_PARAM_UINT8(pVal0)) {
invalidParam = true;
paramIndex = 0;
goto EXIT_POINT;
}
}
EXIT_POINT:
if (invalidParam) {
char parameterErrorMsg[1024];
sprintf(parameterErrorMsg, "The data type and or complexity of parameter %d does not match the "
"information specified in the S-function Builder dialog. "
"For non-double parameters you will need to cast them using int8, int16, "
"int32, uint8, uint16, uint32 or boolean.", paramIndex + 1);
ssSetErrorStatus(S, parameterErrorMsg);
}
return;
}
#endif /* MDL_CHECK_PARAMETERS */
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS); /* Number of expected parameters */
#if defined(MATLAB_MEX_FILE)
if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
mdlCheckParameters(S);
if (ssGetErrorStatus(S) != NULL) {
return;
}
} else {
return; /* Parameter mismatch will be reported by Simulink */
}
#endif
ssSetArrayLayoutForCodeGen(S, SS_COLUMN_MAJOR);
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
/* Output Port 0 */
/* Register SbusInMsg datatype for Output port 0 */
#if defined(MATLAB_MEX_FILE)
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY)
{
DTypeId dataTypeIdReg;
ssRegisterTypeFromNamedObject(S, "SbusInMsg", &dataTypeIdReg);
if(dataTypeIdReg == INVALID_DTYPE_ID) return;
ssSetOutputPortDataType(S, 0, dataTypeIdReg);
}
#endif
ssSetBusOutputObjectName(S, 0, (void *) "SbusInMsg");
ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
ssSetBusOutputAsStruct(S, 0,OUT_0_BUS_BASED);
ssSetOutputPortBusMode(S, 0, SL_BUS_MODE);
/* Output Port 1 */
ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH);
ssSetOutputPortDataType(S, 1, SS_INT32);
ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);
if (ssRTWGenIsCodeGen(S)) {
isSimulationTarget = GetRTWEnvironmentMode(S);
if (isSimulationTarget == -1) {
ssSetErrorStatus(S, " Unable to determine a valid code generation environment mode");
return;
}
isSimulationTarget |= ssRTWGenIsModelReferenceSimTarget(S);
}
/* Set the number of dworks */
if (!isBusDWorkPresent) {
if (!ssSetNumDWork(S, 0)) return;
} else {
if (!ssSetNumDWork(S, 1)) return;
}
if (isBusDWorkPresent) {
/*
* Configure the dwork 0 (sbusBUS)
*/
#if defined(MATLAB_MEX_FILE)
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) {
DTypeId dataTypeIdReg;
ssRegisterTypeFromNamedObject(S, "SbusInMsg", &dataTypeIdReg);
if (dataTypeIdReg == INVALID_DTYPE_ID) return;
ssSetDWorkDataType(S, 0, dataTypeIdReg);
}
#endif
ssSetDWorkUsageType(S, 0, SS_DWORK_USED_AS_DWORK);
ssSetDWorkName(S, 0, "sbusBUS");
ssSetDWorkWidth(S, 0, DYNAMICALLY_SIZED);
ssSetDWorkComplexSignal(S, 0, COMPLEX_NO);
}
ssSetNumPWork(S, 0);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimulinkVersionGeneratedIn(S, "9.2");
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_USE_TLC_WITH_ACCELERATOR |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
/* Function: mdlInitializeSampleTimes =========================================
* Abstract:
* Specifiy the sample time.
*/
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, SAMPLE_TIME_0);
ssSetModelReferenceSampleTimeDefaultInheritance(S);
ssSetOffsetTime(S, 0, 0.0);
}
#define MDL_SET_OUTPUT_PORT_DATA_TYPE
static void mdlSetOutputPortDataType(SimStruct *S, int port, DTypeId dType)
{
ssSetOutputPortDataType(S, 0, dType);
}
#define MDL_SET_DEFAULT_PORT_DATA_TYPES
static void mdlSetDefaultPortDataTypes(SimStruct *S)
{
ssSetOutputPortDataType(S, 0, SS_DOUBLE);
}
#define MDL_SET_WORK_WIDTHS
#if defined(MDL_SET_WORK_WIDTHS) && defined(MATLAB_MEX_FILE)
static void mdlSetWorkWidths(SimStruct *S)
{
/* Set the width of DWork(s) used for marshalling the IOs */
if (isBusDWorkPresent) {
/* Update dwork 0 */
ssSetDWorkWidth(S, 0, ssGetOutputPortWidth(S, 0));
}
{
const char_T *rtParamNames[] = {"P1"};
ssRegAllTunableParamsAsRunTimeParams(S, rtParamNames);
}
}
#endif
#define MDL_START /* Change to #undef to remove function */
#if defined(MDL_START)
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
/* Bus Information */
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
const char *bpath = ssGetPath(S);
DTypeId SbusInMsgId = ssGetDataTypeId(S, "SbusInMsg");
busInfoStruct *busInfo = (busInfoStruct *)malloc(6*sizeof(busInfoStruct));
if(busInfo==NULL) {
ssSetErrorStatus(S, "Memory allocation failure");
return;
}
/* Calculate offsets of all primitive elements of the bus */
busInfo[0].offset = dtaGetDataTypeElementOffset(dta, bpath, SbusInMsgId, 0);
busInfo[0].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint16"));
busInfo[0].numElems = 18;
busInfo[1].offset = dtaGetDataTypeElementOffset(dta, bpath, SbusInMsgId, 1);
busInfo[1].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[1].numElems = 1;
busInfo[2].offset = dtaGetDataTypeElementOffset(dta, bpath, SbusInMsgId, 2);
busInfo[2].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
busInfo[2].numElems = 1;
ssSetUserData(S, busInfo);
const int_T p_width0 = mxGetNumberOfElements(PARAM_DEF0(S));
const uint8_T *id = (const uint8_T *) mxGetData(PARAM_DEF0(S));
hal_sbus_in_Start_wrapper(id, p_width0);
}
#endif /* MDL_START */
/* Function: mdlOutputs =======================================================
*
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
char *sbus = (char *) ssGetOutputPortSignal(S, 0);
int32_T *ErrorCode = (int32_T *) ssGetOutputPortRealSignal(S, 1);
const int_T p_width0 = mxGetNumberOfElements(PARAM_DEF0(S));
const uint8_T *id = (const uint8_T *) mxGetData(PARAM_DEF0(S));
busInfoStruct* busInfo = (busInfoStruct *) ssGetUserData(S);
/* Temporary bus copy declarations */
SbusInMsg _sbusBUS;
/* Copy input bus into temporary structure */
hal_sbus_in_Outputs_wrapper(&_sbusBUS, ErrorCode, id, p_width0);
/* Copy temporary structure into output bus */
(void) memcpy(sbus + busInfo[0].offset, _sbusBUS.channels, busInfo[0].elemSize * busInfo[0].numElems);
(void) memcpy(sbus + busInfo[1].offset, &_sbusBUS.a1, busInfo[1].elemSize * busInfo[1].numElems);
(void) memcpy(sbus + busInfo[2].offset, &_sbusBUS.seq, busInfo[2].elemSize * busInfo[2].numElems);
}
/* Function: mdlTerminate =====================================================
* Abstract:
* In this function, you should perform any actions that are necessary
* at the termination of a simulation. For example, if memory was
* allocated in mdlStart, this is the place to free it.
*/
static void mdlTerminate(SimStruct *S)
{
/* Free stored bus information */
busInfoStruct *busInfo = (busInfoStruct *) ssGetUserData(S);
if(busInfo != NULL) {
free(busInfo);
}
}
static int_T GetRTWEnvironmentMode(SimStruct *S)
{
int_T status = -1;
mxArray *plhs[1];
mxArray *prhs[1];
mxArray * err;
/*
* Get the name of the Simulink block diagram
*/
prhs[0] = mxCreateString(ssGetModelName(ssGetRootSS(S)));
plhs[0] = NULL;
/*
* Call "isSimulationTarget = rtwenvironmentmode(modelName)" in MATLAB
*/
err = mexCallMATLABWithTrap(1, plhs, 1, prhs, "rtwenvironmentmode");
mxDestroyArray(prhs[0]);
/*
* Set the error status if an error occurred
*/
if (err) {
if (plhs[0]) {
mxDestroyArray(plhs[0]);
plhs[0] = NULL;
}
ssSetErrorStatus(S, "Unknown error during call to 'rtwenvironmentmode'.");
return -1;
}
/*
* Get the value returned by rtwenvironmentmode(modelName)
*/
if (plhs[0]) {
status = (int_T) (mxGetScalar(plhs[0]) != 0);
mxDestroyArray(plhs[0]);
plhs[0] = NULL;
}
return (status);
}
#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
#include "simulink.c" /* MEX-file interface mechanism */
#else
#include "cg_sfun.h" /* Code generation registration function */
#endif
hal_sbus_in.mexw64
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hal_sbus_in.tlc
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%% File : hal_sbus_in.tlc
%% Created : Fri Mar 20 11:07:31 2020
%%
%% Description:
%% Simulink Coder wrapper functions interface generated for
%% S-function "hal_sbus_in.c".
%%
%% File generated by S-function Builder Block
%%
%% For more information on using the Target Language with the
%% Simulink Coder, see the Target Language Compiler manual
%% (under Simulink Coder) in the "Inlining S-Functions"
%% chapter under the section and subsection:
%% "Writing Block Target Files to Inline S-Functions",
%% "Function-Based or Wrappered Code".
%%
%implements hal_sbus_in "C"
%% Function: BlockTypeSetup ===================================================
%%
%% Purpose:
%% Set up external references for wrapper functions in the
%% generated code.
%%
%function BlockTypeSetup(block, system) Output
%if IsModelReferenceSimTarget() || CodeFormat == "S-Function" || ::isRAccel
%assign hFileName = "hal_sbus_in_accel_wrapper"
%assign hFileNameMacro = FEVAL("upper", hFileName)
%openfile hFile = "%<hFileName>.h"
%selectfile hFile
#ifndef _%<hFileNameMacro>_H_
#define _%<hFileNameMacro>_H_
#include "tmwtypes.h"
#ifdef __cplusplus
extern "C" {
#endif
extern void hal_sbus_in_Start_wrapper_accel(const uint8_T *id, const int_T p_width0);
extern void hal_sbus_in_Outputs_wrapper_accel(void *sbus, void *__sbusBUS,
int32_T *ErrorCode,
const uint8_T *id, const int_T p_width0);
#ifdef __cplusplus
}
#endif
#endif
%closefile hFile
%assign cFileName = "hal_sbus_in_accel_wrapper"
%openfile cFile = "%<cFileName>.c"
%selectfile cFile
#include <string.h>
#include "tmwtypes.h"
#include "hal_sbus_in_bus.h"
void hal_sbus_in_Start_wrapper_accel(const uint8_T *id, const int_T p_width0){
hal_sbus_in_Start_wrapper(id, p_width0);
}
void hal_sbus_in_Outputs_wrapper_accel(void *sbus, void *__sbusBUS,
int32_T *ErrorCode,
const uint8_T *id, const int_T p_width0){
hal_sbus_in_Outputs_wrapper((SbusInMsg *) __sbusBUS,
ErrorCode,
id, p_width0);
%assign dTypeId = LibBlockOutputSignalDataTypeId(0)
%<SLibAssignUserStructToSLStruct(dTypeId, "(char *) sbus", "(*(SbusInMsg *) __sbusBUS)", 0)>
}
%closefile cFile
%<LibAddToCommonIncludes("%<hFileName>.h")>
%<LibAddToModelSources("%<cFileName>")>
%else
%openfile externs
#ifdef __cplusplus
extern "C" {
#endif
extern void hal_sbus_in_Start_wrapper(const uint8_T *id, const int_T p_width0);
extern void hal_sbus_in_Outputs_wrapper(SbusInMsg *sbus,
int32_T *ErrorCode,
const uint8_T *id, const int_T p_width0);
extern void hal_sbus_in_Terminate_wrapper(const uint8_T *id, const int_T p_width0);
#ifdef __cplusplus
}
#endif
%closefile externs
%<LibCacheExtern(externs)>
%endif
%%
%endfunction
%% Function: Start ============================================================
%%
%function Start(block, system) Output
/* %<Type> Block: %<Name> */
%assign nelements1 = LibBlockParameterSize(P1)
%assign param_width1 = nelements1[0] * nelements1[1]
%if (param_width1) > 1
%assign pp1 = LibBlockMatrixParameterBaseAddr(P1)
%else
%assign pp1 = LibBlockParameterAddr(P1, "", "", 0)
%endif
hal_sbus_in_Start_wrapper(%<pp1>, %<param_width1>);
%endfunction
%% Function: Outputs ==========================================================
%%
%% Purpose:
%% Code generation rules for mdlOutputs function.
%%
%function Outputs(block, system) Output
%%
%assign py0 = LibBlockOutputSignalAddr(0, "", "", 0)
%assign py1 = LibBlockOutputSignalAddr(1, "", "", 0)
%assign nelements1 = LibBlockParameterSize(P1)
%assign param_width1 = nelements1[0] * nelements1[1]
%if (param_width1) > 1
%assign pp1 = LibBlockMatrixParameterBaseAddr(P1)
%else
%assign pp1 = LibBlockParameterAddr(P1, "", "", 0)
%endif
%if IsModelReferenceSimTarget() || CodeFormat == "S-Function" || ::isRAccel
%assign sbusBUS_ptr = LibBlockDWorkAddr(sbusBUS, "", "", 0)
hal_sbus_in_Outputs_wrapper_accel(%<py0>, %<sbusBUS_ptr>, %<py1>, %<pp1>, %<param_width1>);
%else
hal_sbus_in_Outputs_wrapper(%<py0>, %<py1>, %<pp1>, %<param_width1>);
%endif
%%
%endfunction
%% [EOF] hal_sbus_in.tlc
hal_sbus_in_bus.h
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/* Generated by S-function Builder */
#ifndef _HAL_SBUS_IN_BUS_H_
#define _HAL_SBUS_IN_BUS_H_
/* Read only - STARTS */
#ifdef MATLAB_MEX_FILE
#include "tmwtypes.h"
#else
#include "rtwtypes.h"
#endif
#ifndef _DEFINED_TYPEDEF_FOR_SbusInMsg_
#define _DEFINED_TYPEDEF_FOR_SbusInMsg_
typedef struct {
uint16_T channels[18];
real_T a1;
uint8_T seq;
} SbusInMsg;
#endif
/* Read only - ENDS */
#endif
hal_sbus_in_wrapper.c
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/*
* Include Files
*
*/
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif
#include "hal_sbus_in_bus.h"
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
//#include "param_mgr.h"
#include <stdint.h>
#endif
/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
#define y_width 1
/*
* Create external references here.
*
*/
/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
int is_sbus0_in_init = 0;
void sbus_input_init(uint8_t id)
{
if (id == 0u && !is_sbus0_in_init)
{
//TODO config channels, update rate, etc. and bind properties
is_sbus0_in_init = 1;
}
}
#endif
/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
/*
* Start function
*
*/
void hal_sbus_in_Start_wrapper(const uint8_T *id, const int_T p_width0)
{
/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
sbus_input_init(id[0]);
#endif
/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
}
/*
* Output function
*
*/
void hal_sbus_in_Outputs_wrapper(SbusInMsg *sbus,
int32_T *ErrorCode,
const uint8_T *id, const int_T p_width0)
{
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
/*
* input *AI* from ADC channels from *start_idx* to *start_idx*+y_width-1.
*
* ErrorCode - return zero on success, otherwise nonzero on failures.
*/
if (id[0] == 0u && is_sbus0_in_init)
{
// TODO set sbus outputs
ErrorCode[0] = 0;
return;
}
ErrorCode[0] = -1;
#else
ErrorCode[0] = 0;
#endif
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}