diff --git a/EF3Lite/hal_3axis_magn_wrapper.c b/EF3Lite/hal_3axis_magn_wrapper.c
new file mode 100644
index 0000000..139e066
--- /dev/null
+++ b/EF3Lite/hal_3axis_magn_wrapper.c
@@ -0,0 +1,84 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+#include "hal_api.h"
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* TODO include files */
+#endif
+#include <stdint.h>
+/* %%%-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 */
+int magn_inited[3];
+
+void initialize_3axis_magn(uint8_t id)
+{
+  switch (id)
+  {
+  case 0:
+    if (!magn_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO initialize 3axis-magn No.0
+      magn_inited[0] = 1;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_3axis_magn_Start_wrapper(const uint8_T *id, const int_T p_width0)
+{
+  /* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+  initialize_3axis_magn(id[0]);
+  /* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_3axis_magn_Outputs_wrapper(HAL_magn_mG_t *magn,
+                                    int32_T *ErrorCode,
+                                    const uint8_T *id, const int_T p_width0)
+{
+  /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+  ErrorCode[0] = -1;
+  switch (id[0])
+  {
+  case 0:
+    if (magn_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO read 6axis-IMU
+      ErrorCode[0] = 0;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+  /* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
diff --git a/EF3Lite/hal_6axis_imu_wrapper.c b/EF3Lite/hal_6axis_imu_wrapper.c
new file mode 100644
index 0000000..af5963c
--- /dev/null
+++ b/EF3Lite/hal_6axis_imu_wrapper.c
@@ -0,0 +1,88 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+#include "hal_api.h"
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* TODO include files */
+#endif
+#include <stdint.h>
+/* %%%-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 */
+int imu_inited[3];
+
+void initialize_6axis_imu(uint8_t id)
+{
+  switch (id)
+  {
+  case 0:
+    if (!imu_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO initialize 6axis-IMU No.0
+      imu_inited[0] = 1;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_6axis_imu_Start_wrapper(const uint8_T *id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+initialize_6axis_imu(id[0]);
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_6axis_imu_Outputs_wrapper(HAL_acc_SI_t *acc,
+			HAL_gyro_SI_t *gyro,
+			int32_T *ErrorCode,
+			const uint8_T *id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  switch (id[0])
+  {
+  case 0:
+    if (imu_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO read 6axis-IMU
+      ErrorCode[0] = 0;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_ai_wrapper.c b/EF3Lite/hal_ai_wrapper.c
new file mode 100644
index 0000000..e62c627
--- /dev/null
+++ b/EF3Lite/hal_ai_wrapper.c
@@ -0,0 +1,77 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.h"
+#endif
+/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
+#define u_width 1
+
+/*
+ * Create external references here.  
+ *
+ */
+/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
+int is_analog_input_init = 0;
+
+void analog_input_init()
+{
+  if (!is_analog_input_init)
+  {
+#ifdef HAL_IMPL
+    //TODO
+    is_analog_input_init = 1;
+#endif
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_ai_Start_wrapper(void)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+analog_input_init();
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_ai_Outputs_wrapper(const uint16_T *start_idx,
+			uint16_T *AI,
+			int32_T *ErrorCode,
+			const int_T y_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  if (is_analog_input_init)
+  {
+#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.
+    */
+    // TODO set analog inputs
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_ao_wrapper.c b/EF3Lite/hal_ao_wrapper.c
new file mode 100644
index 0000000..71a5165
--- /dev/null
+++ b/EF3Lite/hal_ao_wrapper.c
@@ -0,0 +1,77 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.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 */
+int is_analog_output_init = 0;
+
+void analog_output_init()
+{
+  if (!is_analog_output_init)
+  {
+#ifdef HAL_IMPL
+    //TODO
+    is_analog_output_init = 1;
+#endif
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_ao_Start_wrapper(void)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+analog_output_init();
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_ao_Outputs_wrapper(const uint16_T *AO,
+			const uint16_T *start_idx,
+			int32_T *ErrorCode,
+			const int_T u_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  if (is_analog_output_init)
+  {
+#ifdef HAL_IMPL
+    /*
+    * output *AO* to analog output devices from *start_idx* to *start_idx*+u_width-1.
+    * 
+    * ErrorCode - return zero on success, otherwise nonzero on failures.
+    */
+    // TODO set AO to DAC channels
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_clock_wrapper.c b/EF3Lite/hal_clock_wrapper.c
new file mode 100644
index 0000000..5ff00d0
--- /dev/null
+++ b/EF3Lite/hal_clock_wrapper.c
@@ -0,0 +1,69 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* TODO include files */
+#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 */
+static int is_init = 0;
+
+static void initialize_clock()
+{
+  if (!is_init)
+  {
+#ifdef HAL_IMPL
+     /* TODO setup clock */
+     is_init = 1;
+#endif
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_clock_Start_wrapper(const uint8_T *typ, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+initialize_clock();
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_clock_Outputs_wrapper(uint32_T *boot_time,
+			const uint8_T *typ, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+if (is_init)
+{
+#ifdef HAL_IMPL
+//TODO get clock
+    // typ: 0 - msec; 1 - usec;
+#endif
+}
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_di_wrapper.c b/EF3Lite/hal_di_wrapper.c
new file mode 100644
index 0000000..2717b0e
--- /dev/null
+++ b/EF3Lite/hal_di_wrapper.c
@@ -0,0 +1,77 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.h"
+#endif
+/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
+#define u_width 1
+
+/*
+ * Create external references here.  
+ *
+ */
+/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
+int is_discrete_input_init = 0;
+
+void discrete_input_init()
+{
+  if (!is_discrete_input_init)
+  {
+#ifdef HAL_IMPL
+    //TODO
+    is_discrete_input_init = 1;
+#endif
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_di_Start_wrapper(void)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+discrete_input_init();
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_di_Outputs_wrapper(const uint16_T *start_idx,
+			boolean_T *DI,
+			int32_T *ErrorCode,
+			const int_T y_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  if (is_discrete_input_init)
+  {
+#ifdef HAL_IMPL
+    /*
+    * input *DI* from DI devices from *start_idx* to *start_idx*+y_width-1.
+    * 
+    * ErrorCode - return zero on success, otherwise nonzero on failures.
+    */
+    // TODO set pwm outputs
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_do_wrapper.c b/EF3Lite/hal_do_wrapper.c
new file mode 100644
index 0000000..79057ed
--- /dev/null
+++ b/EF3Lite/hal_do_wrapper.c
@@ -0,0 +1,78 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.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 */
+int is_discrete_output_init = 0;
+
+void discrete_output_init()
+{
+  if (!is_discrete_output_init)
+  {
+#ifdef HAL_IMPL
+
+    //TODO
+    is_discrete_output_init = 1;
+#endif
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_do_Start_wrapper(void)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+discrete_output_init();
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_do_Outputs_wrapper(const boolean_T *DO,
+			const uint16_T *start_idx,
+			int32_T *ErrorCode,
+			const int_T u_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  if (is_discrete_output_init)
+  {
+#ifdef HAL_IMPL
+    /*
+    * output *DO* to digital output devices from *start_idx* to *start_idx*+u_width-1.
+    * 
+    * ErrorCode - return zero on success, otherwise nonzero on failures.
+    */
+    // TODO set DOs
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_general_in_wrapper.c b/EF3Lite/hal_general_in_wrapper.c
new file mode 100644
index 0000000..4b9563c
--- /dev/null
+++ b/EF3Lite/hal_general_in_wrapper.c
@@ -0,0 +1,97 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.h"
+#endif
+#include <stdint.h>
+#include <string.h>
+/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Create external references here.  
+ *
+ */
+/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
+typedef int (*genral_in_ptr)(uint8_t *packed_in, const int y_width, void **pW);
+
+//Demo
+int demo_init_func(void **pW)
+{
+	static int is_init = 0;
+	if (!is_init)
+	{
+		is_init = 1;
+	}
+	return 0;
+}
+
+int demo_in_func(uint8_t *packed_in, const int y_width, void **pW)
+{
+
+	return 0;
+}
+
+//TODO add other init/input functions
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_general_in_Start_wrapper(void **pW,
+			const uint8_T *device_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+int *valid = (int *)&pW[0]; /* 0-invalid; 1-valid; */
+	genral_in_ptr *func = (genral_in_ptr *)&pW[1];
+
+	valid[0] = 0;
+	if (strncmp(device_id, "demo", p_width0))
+	{
+		if (!demo_init_func(&pW[2]))
+		{
+			*valid = 1;
+			*func = &demo_in_func;
+		}
+	}
+	//TODO add other cases
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_general_in_Outputs_wrapper(uint8_T *packed_in,
+			int32_T *ErrorCode,
+			void **pW,
+			const uint8_T *device_id, const int_T p_width0,
+			const int_T y_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+int *valid = (int *)&pW[0]; /* 0-invalid; 1-valid; */
+	if (valid[0])
+	{
+		genral_in_ptr func = (genral_in_ptr)pW[1];
+		ErrorCode[0] = (*func)(packed_in, y_width, &pW[2]);
+	}
+	else
+	{
+		ErrorCode[0] = -1;
+	}
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_general_out_wrapper.c b/EF3Lite/hal_general_out_wrapper.c
new file mode 100644
index 0000000..aff1aa0
--- /dev/null
+++ b/EF3Lite/hal_general_out_wrapper.c
@@ -0,0 +1,93 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.h"
+#endif
+#include <stdint.h>
+#include <string.h>
+/* %%%-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 */
+typedef int (*genral_out_ptr)(const uint8_t *packed_out, const int u_width, void **pW);
+
+#ifdef HAL_IMPL
+extern int demo_init_func(void **pW);
+#else
+int demo_init_func(void **pW)
+{
+}
+#endif
+
+int demo_out_func(const uint8_t *packed_out, const int u_width, void **pW)
+{
+	return 0;
+}
+//TODO add other init/output functions
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_general_out_Start_wrapper(void **pW,
+			const uint8_T *device_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+int *valid = (int *)&pW[0]; /* 0-invalid; 1-valid; */
+	genral_out_ptr *func = (genral_out_ptr *)&pW[1];
+
+	valid[0] = 0;
+	if (strncmp(device_id, "demo", p_width0))
+	{
+		if (!demo_init_func(&pW[2]))
+		{
+			*valid = 1;
+			*func = &demo_out_func;
+		}
+	}
+	//TODO add other cases
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_general_out_Outputs_wrapper(const uint8_T *packed_out,
+			int32_T *ErrorCode,
+			void **pW,
+			const uint8_T *device_id, const int_T p_width0,
+			const int_T u_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+int *valid = (int *)&pW[0]; /* 0-invalid; 1-valid; */
+	if (valid[0])
+	{
+		genral_out_ptr func = (genral_out_ptr)pW[1];
+		ErrorCode[0] = (*func)(packed_out, u_width, &pW[2]);
+	}
+	else
+	{
+		ErrorCode[0] = -1;
+	}
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_gps_wrapper.c b/EF3Lite/hal_gps_wrapper.c
new file mode 100644
index 0000000..5a57631
--- /dev/null
+++ b/EF3Lite/hal_gps_wrapper.c
@@ -0,0 +1,87 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+#include "hal_api.h"
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* TODO include files */
+#endif
+#include <stdint.h>
+/* %%%-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 */
+int gps_inited[4];
+
+void initialize_gps(uint8_t id)
+{
+  switch (id)
+  {
+  case 0:
+    if (!gps_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO initialize GPS No.0
+      gps_inited[0] = 1;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_gps_Start_wrapper(const uint8_T *id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+initialize_gps(id[0]);
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_gps_Outputs_wrapper(HAL_GPS_SI_t *gps,
+			int32_T *ErrorCode,
+			const uint8_T *id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  switch (id[0])
+  {
+  case 0:
+    if (gps_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO read pressure
+      ErrorCode[0] = 0;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_ins_wrapper.c b/EF3Lite/hal_ins_wrapper.c
new file mode 100644
index 0000000..606c5f6
--- /dev/null
+++ b/EF3Lite/hal_ins_wrapper.c
@@ -0,0 +1,87 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+#include "hal_api.h"
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* TODO include files */
+#endif
+#include <stdint.h>
+/* %%%-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 */
+int ins_inited[1];
+
+void initialize_ins(uint8_t id)
+{
+  switch (id)
+  {
+  case 0:
+    if (!ins_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO initialize GPS No.0
+      ins_inited[0] = 1;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_ins_Start_wrapper(const uint8_T *id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+initialize_ins(id[0]);
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_ins_Outputs_wrapper(HAL_INS_SI_t *ins,
+			int32_T *ErrorCode,
+			const uint8_T *id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  switch (id[0])
+  {
+  case 0:
+    if (ins_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO read pressure
+      ErrorCode[0] = 0;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_led_set_wrapper.c b/EF3Lite/hal_led_set_wrapper.c
new file mode 100644
index 0000000..e894b65
--- /dev/null
+++ b/EF3Lite/hal_led_set_wrapper.c
@@ -0,0 +1,88 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+#include "hal_api.h"
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.h"
+#endif
+#include <stdint.h>
+/* %%%-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 */
+int is_led_init[1];
+
+void led_set_init(uint8_t id)
+{
+  switch (id)
+  {
+  case 0u:
+    if (!is_led_init[0])
+    {
+#ifdef HAL_IMPL
+      //TODO
+      is_led_init[0] = 1;
+#endif
+    }
+    break;
+  }
+}
+/* %%%-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 */
+led_set_init(id[0]);
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_led_set_Outputs_wrapper(const HAL_led_color_t *color,
+			int32_T *ErrorCode,
+			const uint8_T *id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+/*
+ * set LED group *id* with *color* 
+ * 
+ * ErrorCode - return zero on success, otherwise nonzero on failures.
+ */
+  ErrorCode[0] = -1;
+  switch (id[0])
+  {
+  case 0u:
+    if (is_led_init[0])
+    {
+#ifdef HAL_IMPL
+      // TODO set led color
+      ErrorCode[0] = 0;
+#endif
+    }
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_nvram_cancel_wrapper.c b/EF3Lite/hal_nvram_cancel_wrapper.c
new file mode 100644
index 0000000..7163e9b
--- /dev/null
+++ b/EF3Lite/hal_nvram_cancel_wrapper.c
@@ -0,0 +1,91 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+#include "hal_nvram_read.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 */
+ 
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_nvram_cancel_Start_wrapper(const uint8_T *nvram_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+   initialize_nvram_device(nvram_id[0]);
+#endif
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_nvram_cancel_Outputs_wrapper(const uint32_T *address,
+			int32_T *ErrorCode,
+			const uint8_T *nvram_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* ****************************************
+ * Cancel to read/write NAVRAM device
+ * this call should return immediately, so it's better to state the
+ * backgournd task to do the real work.
+ *
+ * inputs:
+ * address - Starting address to be write
+ *
+ * parameter:
+ * nvram_id - NV-RAM device/proxy ID
+ *
+ * outputs:
+ * ErrorCode - return 0 when success cancelling, otherwise return -1
+ */
+ ErrorCode[0] = -1;
+   switch (nvram_id[0])
+    {
+        case 0:
+            if (is_nvram0_init)
+            {
+                //TODO
+                //ErrorCode[0] = 0;
+            }
+            break;
+        case 1:
+            if (is_nvram1_init)
+            {
+                //TODO
+                //ErrorCode[0] = 0;
+            }
+            break;
+    }
+#else
+ErrorCode[0] = 0;
+#endif
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_nvram_read.h b/EF3Lite/hal_nvram_read.h
new file mode 100644
index 0000000..d153d89
--- /dev/null
+++ b/EF3Lite/hal_nvram_read.h
@@ -0,0 +1,16 @@
+#ifndef __HAL_NVRAM_READ_H__
+#define __HAL_NVRAM_READ_H__
+
+/* TODO include platform head files */
+#include <stdint.h>
+
+/*
+ * 0 - uninitialized
+ * 1 - initialized
+ */
+extern int is_nvram0_init; 
+extern int is_nvram1_init;
+
+extern void initialize_nvram_device(uint8_t);
+
+#endif /* __HAL_NVRAM_READ_H__ */
diff --git a/EF3Lite/hal_nvram_read_wrapper.c b/EF3Lite/hal_nvram_read_wrapper.c
new file mode 100644
index 0000000..1c6af6c
--- /dev/null
+++ b/EF3Lite/hal_nvram_read_wrapper.c
@@ -0,0 +1,125 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+#include "hal_nvram_read.h" // for parameter registration 
+#include "param_mgr.h" // for parameter registration 
+#endif
+/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
+#define u_width 1
+
+/*
+ * Create external references here.  
+ *
+ */
+/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+int is_nvram0_init = 0; 
+int is_nvram1_init = 0;
+
+void initialize_nvram_device(uint8_t nvram_id)
+{
+if (nvram_id == 0u && !is_nvram0_init)
+{
+    /*
+     * initialize nvram device 0 here
+     */
+    //is_nvram0_init = 1;
+}
+else if (nvram_id == 1u && !is_nvram1_init)
+{
+    /*
+     * initialize nvram device 1 here
+     */
+    //is_nvram1_init = 1;
+}
+
+}
+#endif
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_nvram_read_Start_wrapper(const uint8_T *nvram_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+   initialize_nvram_device(nvram_id[0]);
+#endif
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_nvram_read_Outputs_wrapper(const uint32_T *address,
+			const uint16_T *read_len,
+			uint8_T *buffer,
+			int32_T *ErrorCode,
+			const uint8_T *nvram_id, const int_T p_width0,
+			const int_T y_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* ****************************************
+ * read from NAVRAM device
+ * this call should return immediately, so it's better to state the
+ * backgournd task to do the real work.
+ *
+ * inputs:
+ * address - Starting address to be read
+ * read_len - maxium bytes to be read
+ *
+ * outputs:
+ * buffer - read data to buffer
+ * ErrorCode - return 0 when read complete, otherwise
+ *             return remaining length when readling uncompletly,
+ *             return -1 on genral failures.
+ *             return -2 on busy(ocuppied).
+ *             return -3 on cancelled.
+ *
+ * parameter:
+ * nvram_id - NV-RAM device/proxy ID
+ *
+ * constant:
+ * y_width - the size of buffer, do not write overflow.
+ */
+ ErrorCode[0] = -1;
+   switch (nvram_id[0])
+    {
+        case 0:
+            if (is_nvram0_init)
+            {
+                //TODO
+                //ErrorCode[0] = 0;
+            }
+            break;
+        case 1:
+            if (is_nvram1_init)
+            {
+                //TODO
+                //ErrorCode[0] = 0;
+            }
+            break;
+    }
+#else
+ErrorCode[0] = 0;
+#endif
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_nvram_write_wrapper.c b/EF3Lite/hal_nvram_write_wrapper.c
new file mode 100644
index 0000000..5189c00
--- /dev/null
+++ b/EF3Lite/hal_nvram_write_wrapper.c
@@ -0,0 +1,102 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+#include "hal_nvram_read.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 */
+ 
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_nvram_write_Start_wrapper(const uint8_T *nvram_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+   initialize_nvram_device(nvram_id[0]);
+#endif
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_nvram_write_Outputs_wrapper(const uint8_T *buffer,
+			const uint32_T *address,
+			const uint16_T *write_len,
+			int32_T *ErrorCode,
+			const uint8_T *nvram_id, const int_T p_width0,
+			const int_T u_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* ****************************************
+ * write to NAVRAM device
+ * this call should return immediately, so it's better to state the
+ * backgournd task to do the real work.
+ *
+ * inputs:
+ * buffer - write data to buffer
+ * address - Starting address to be write
+ * read_len - maxium bytes to be write
+ *
+ * outputs:
+ * ErrorCode - return 0 when write complete, otherwise
+ *             return remaining length when writting uncompletly,
+ *             return -1 on genral failures.
+ *             return -2 on busy(ocuppied).
+ *             return -3 on cancelled.
+ *
+ * parameter:
+ * nvram_id - NV-RAM device/proxy ID
+ *
+ * constant:
+ * u_width - the size of buffer, do not write overflow.
+ */
+ ErrorCode[0] = -1;
+   switch (nvram_id[0])
+    {
+        case 0:
+            if (is_nvram0_init)
+            {
+                //TODO
+                //ErrorCode[0] = 0;
+            }
+            break;
+        case 1:
+            if (is_nvram1_init)
+            {
+                //TODO
+                //ErrorCode[0] = 0;
+            }
+            break;
+    }
+#else
+ErrorCode[0] = 0;
+#endif
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_pressure_wrapper.c b/EF3Lite/hal_pressure_wrapper.c
new file mode 100644
index 0000000..8baeb0f
--- /dev/null
+++ b/EF3Lite/hal_pressure_wrapper.c
@@ -0,0 +1,87 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+#include "hal_api.h"
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* TODO include files */
+#endif
+#include <stdint.h>
+/* %%%-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 */
+int pres_inited[4];
+
+void initialize_pressure(uint8_t id)
+{
+  switch (id)
+  {
+  case 0:
+    if (!pres_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO initialize pressure No.0
+      pres_inited[0] = 1;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_pressure_Start_wrapper(const uint8_T *id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+initialize_pressure(id[0]);
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_pressure_Outputs_wrapper(HAL_pressure_SI_t *pres,
+			int32_T *ErrorCode,
+			const uint8_T *id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  switch (id[0])
+  {
+  case 0:
+    if (pres_inited[0])
+    {
+#ifdef HAL_IMPL
+      // TODO read pressure
+      ErrorCode[0] = 0;
+#endif
+    }
+    break;
+  default:
+    break;
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_pwm_in_wrapper.c b/EF3Lite/hal_pwm_in_wrapper.c
new file mode 100644
index 0000000..044a1f7
--- /dev/null
+++ b/EF3Lite/hal_pwm_in_wrapper.c
@@ -0,0 +1,77 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.h"
+#endif
+/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
+#define u_width 1
+
+/*
+ * Create external references here.  
+ *
+ */
+/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
+int is_pwm_in_init = 0;
+
+void pwm_in_init()
+{
+  if (!is_pwm_in_init)
+  {
+#ifdef HAL_IMPL
+    //TODO
+    is_pwm_in_init = 1;
+#endif
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_pwm_in_Start_wrapper(void)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+pwm_in_init();
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_pwm_in_Outputs_wrapper(const uint16_T *start_idx,
+			uint16_T *pwm,
+			int32_T *ErrorCode,
+			const int_T y_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  if (is_pwm_in_init)
+  {
+#ifdef HAL_IMPL
+    /*
+ * input *pwm* from pwm devices from *start_idx* to *start_idx*+y_width-1.
+ * 
+ * ErrorCode - return zero on success, otherwise nonzero on failures.
+ */
+    // TODO set pwm outputs
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_pwm_out_wrapper.c b/EF3Lite/hal_pwm_out_wrapper.c
new file mode 100644
index 0000000..20ed208
--- /dev/null
+++ b/EF3Lite/hal_pwm_out_wrapper.c
@@ -0,0 +1,100 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+#include "param_mgr.h"
+#endif
+#include <string.h>
+/* %%%-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
+void get_pwm0peroid(param_value_ptr_t p)
+{
+  //TODO
+  p.I[0] = 400u;
+}
+
+void set_pwm0peroid(param_value_ptr_t p)
+{
+  uint32_t peroid_req;
+  peroid_req = p.I[0];
+  //TODO
+}
+#endif
+
+int is_pwm_out_init = 0;
+
+void pwm_out_init()
+{
+  if (!is_pwm_out_init)
+  {
+#ifdef HAL_IMPL
+    //TODO
+    param_prop p;
+    strncpy(p.name, "pwm_peroid_g0", 16);
+    p.val_ptr.s = NULL;
+    p.getter_ptr = &get_pwm0peroid;
+    p.setter_ptr = &set_pwm0peroid;
+    p.typ = PARAM_TYPE_UINT32;
+    param_mgr_regist(&p);
+    is_pwm_out_init = 1;
+#endif
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_pwm_out_Start_wrapper(void)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+pwm_out_init();
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_pwm_out_Outputs_wrapper(const uint16_T *pwm,
+			const uint16_T *start_idx,
+			int32_T *ErrorCode,
+			const int_T u_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  if (is_pwm_out_init)
+  {
+#ifdef HAL_IMPL
+    /*
+ * output *pwm* to pwm devices from *start_idx* to *start_idx*+u_width-1.
+ * 
+ * ErrorCode - return zero on success, otherwise nonzero on failures.
+ */
+    // TODO set pwm outputs
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_sbus_in_wrapper.c b/EF3Lite/hal_sbus_in_wrapper.c
new file mode 100644
index 0000000..c61f4ae
--- /dev/null
+++ b/EF3Lite/hal_sbus_in_wrapper.c
@@ -0,0 +1,84 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+#include "hal_api.h"
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.h"
+#endif
+#include <stdint.h>
+/* %%%-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 */
+int is_sbus_in_init[1];
+
+void sbus_input_init(uint8_t id)
+{
+  switch (id)
+  {
+  case 0:
+    if (!is_sbus_in_init[0])
+    {
+#ifdef HAL_IMPL
+      //TODO  config channels, update rate, etc. and bind properties
+      is_sbus_in_init[0] = 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 */
+  sbus_input_init(id[0]);
+  /* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_sbus_in_Outputs_wrapper(HAL_sbus_in_t *sbus,
+                                 int32_T *ErrorCode,
+                                 const uint8_T *id, const int_T p_width0)
+{
+  /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+  ErrorCode[0] = -1;
+  /*
+ * input *AI* from ADC channels from *start_idx* to *start_idx*+y_width-1.
+ * 
+ * ErrorCode - return zero on success, otherwise nonzero on failures.
+ */
+  switch (id[0])
+  {
+  case 0u:
+    if (is_sbus_in_init[0])
+    {
+#ifdef HAL_IMPL
+      // TODO set sbus outputs
+      ErrorCode[0] = 0;
+#endif
+    }
+    break;
+  }
+  /* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
diff --git a/EF3Lite/hal_sen_read_wrapper.c b/EF3Lite/hal_sen_read_wrapper.c
new file mode 100644
index 0000000..46593b9
--- /dev/null
+++ b/EF3Lite/hal_sen_read_wrapper.c
@@ -0,0 +1,275 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.h"
+#endif
+#include <string.h>
+#include <stdint.h>
+/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Create external references here.  
+ *
+ */
+/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
+typedef enum PROP_TYPE
+{
+    PROP_ARRAY_UINT8 = 1,  /* 8-bit unsigned integer | */
+    PROP_ARRAY_INT8 = 2,   /* 8-bit signed integer | */
+    PROP_ARRAY_UINT16 = 3, /* 16-bit unsigned integer | */
+    PROP_ARRAY_INT16 = 4,  /* 16-bit signed integer | */
+    PROP_ARRAY_UINT32 = 5, /* 32-bit unsigned integer | */
+    PROP_ARRAY_INT32 = 6,  /* 32-bit signed integer | */
+    PROP_ARRAY_REAL32 = 7, /* 32-bit floating-point | */
+    PROP_FUNC_UINT8 = 8,   /* 8-bit unsigned integer | */
+    PROP_FUNC_INT8 = 9,    /* 8-bit signed integer | */
+    PROP_FUNC_UINT16 = 10, /* 16-bit unsigned integer | */
+    PROP_FUNC_INT16 = 11,  /* 16-bit signed integer | */
+    PROP_FUNC_UINT32 = 12, /* 32-bit unsigned integer | */
+    PROP_FUNC_INT32 = 13,  /* 32-bit signed integer | */
+    PROP_FUNC_REAL32 = 14, /* 32-bit floating-point | */
+} PROP_TYPE;
+
+typedef int8_t (*get_prop_b_func_ptr)(int index, void *paramter);
+typedef uint8_t (*get_prop_B_func_ptr)(int index, void *paramter);
+typedef int16_t (*get_prop_h_func_ptr)(int index, void *paramter);
+typedef uint16_t (*get_prop_H_func_ptr)(int index, void *paramter);
+typedef int32_t (*get_prop_i_func_ptr)(int index, void *paramter);
+typedef uint32_t (*get_prop_I_func_ptr)(int index, void *paramter);
+typedef float (*get_prop_f_func_ptr)(int index, void *paramter);
+
+float RPM0[4];
+
+float RPM1(int index, void *paramter)
+{
+    (void *)paramter;
+
+    return RPM0[index];
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_sen_read_Start_wrapper(void **pW,
+			const uint8_T *name, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+/* initialize code to bind property; */
+    int *valid = (int *)&pW[0]; /* 0-invalid; 1-valid; */
+    PROP_TYPE *type = (PROP_TYPE *)&pW[1];
+    int *len = (int *)&pW[2];  /* parameter length; */
+    void **val_ptr = &pW[3];   /* pointer to value array */
+    void **parameter = &pW[4]; /* parameter for function */
+
+    /* set default pW values */
+    *valid = 0;
+    *type = 0;
+    *val_ptr = NULL;
+    *parameter = NULL;
+    *len = 0;
+    if (strncmp(name, "RPM0", p_width0))
+    {
+        *valid = 1;
+        *type = PROP_ARRAY_REAL32;
+        *len = 4;
+        *val_ptr = &RPM0;
+    }
+    else if (strncmp(name, "RPM1", p_width0))
+    {
+        *valid = 1;
+        *type = PROP_FUNC_REAL32;
+        *len = 4;
+        *val_ptr = &RPM1;
+    }
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_sen_read_Outputs_wrapper(real32_T *value,
+			int32_T *ErrorCode,
+			void **pW,
+			const uint8_T *name, const int_T p_width0,
+			const int_T y_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+/* get binded property value; */
+    ErrorCode[0] = -1;
+
+    int *valid = (int *)&pW[0];
+    if (*valid)
+    {
+        int *len = (int *)&pW[2];
+        if (y_width > *len)
+        {
+            ErrorCode[0] = -2;
+        }
+        else
+        {
+            int i;
+            PROP_TYPE *type = (PROP_TYPE *)&pW[1];
+            switch (*type)
+            {
+            case PROP_ARRAY_UINT8:
+            {
+                uint8_t *val = *(uint8_t **)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)val[i];
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_ARRAY_INT8:
+            {
+                int8_t *val = *(int8_t **)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)val[i];
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_ARRAY_UINT16:
+            {
+                uint16_t *val = *(uint16_t **)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)val[i];
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_ARRAY_INT16:
+            {
+                int16_t *val = *(int16_t **)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)val[i];
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_ARRAY_UINT32:
+            {
+                uint32_t *val = *(uint32_t **)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)val[i];
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_ARRAY_INT32:
+            {
+                int32_t *val = *(int32_t **)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)val[i];
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_ARRAY_REAL32:
+            {
+                float *val = *(float **)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = val[i];
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_FUNC_UINT8:
+            {
+                get_prop_B_func_ptr func = *(get_prop_B_func_ptr *)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)(*func)(i, pW[4]);
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_FUNC_INT8:
+            {
+                get_prop_b_func_ptr func = *(get_prop_b_func_ptr *)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)(*func)(i, pW[4]);
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_FUNC_UINT16:
+            {
+                get_prop_H_func_ptr func = *(get_prop_H_func_ptr *)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)(*func)(i, pW[4]);
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_FUNC_INT16:
+            {
+                get_prop_h_func_ptr func = *(get_prop_h_func_ptr *)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)(*func)(i, pW[4]);
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_FUNC_UINT32:
+            {
+                get_prop_I_func_ptr func = *(get_prop_I_func_ptr *)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)(*func)(i, pW[4]);
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_FUNC_INT32:
+            {
+                get_prop_i_func_ptr func = *(get_prop_i_func_ptr *)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (float)(*func)(i, pW[4]);
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            case PROP_FUNC_REAL32:
+            {
+                get_prop_f_func_ptr func = *(get_prop_f_func_ptr *)&pW[3];
+                for (i = 0; i < y_width; ++i)
+                {
+                    value[i] = (*func)(i, pW[4]);
+                }
+                ErrorCode[0] = 0;
+            }
+            break;
+            }
+        }
+    }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_uart_in_wrapper.c b/EF3Lite/hal_uart_in_wrapper.c
new file mode 100644
index 0000000..0240bce
--- /dev/null
+++ b/EF3Lite/hal_uart_in_wrapper.c
@@ -0,0 +1,99 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+#include "hal_uart_init.h"
+#include "uart_fifos.h"
+#endif
+/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Create external references here.  
+ *
+ */
+/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
+ 
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_uart_in_Start_wrapper(const uint8_T *uart_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+   initialize_uart_device(uart_id[0]);
+#endif
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_uart_in_Outputs_wrapper(uint8_T *Data,
+			uint16_T *Data_len,
+			int32_T *ErrorCode,
+			const uint8_T *uart_id, const int_T p_width0,
+			const int_T y_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* **********************************************************
+ * collect all data from this uart and push to Data buffer; 
+ *
+ * parameter:
+ * uart_id - uart FIFO device to read
+ *
+ * outputs:
+ * Data - read all FIFO data and write to Data array
+ * Data_len[0] - the number of written data
+ * ErrorCode[0] - return zero for success, others for failail.
+ *
+ * constant:
+ * y_width - maximum length to write to Data array
+ ************************************************************/
+Data_len[0] = 0u;
+ErrorCode[0] = -1;
+    switch (uart_id[0])
+    {
+        case 0:
+            if (is_uart0_init == 2)
+            {
+                // TODO read all data from fifo
+                Data_len[0] = UART_RX_FIFO_read(&rs232_rx1, Data, y_width);
+
+                ErrorCode[0] = 0;
+            }
+            break;
+        case 1:
+            if (is_uart1_init == 2)
+            {
+                // TODO read all data from fifo
+                Data_len[0] = UART_RX_FIFO_read(&rs232_rx2, Data, y_width);
+
+                ErrorCode[0] = 0;
+            }
+            break;
+    }
+#else
+/* dummy function for generate mex file for sim*/
+Data_len[0] = 0u;
+ErrorCode[0] = 0;
+#endif
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_uart_init.h b/EF3Lite/hal_uart_init.h
new file mode 100644
index 0000000..7a87b79
--- /dev/null
+++ b/EF3Lite/hal_uart_init.h
@@ -0,0 +1,17 @@
+#ifndef __HAL_UART_INIT_H__
+#define __HAL_UART_INIT_H__
+
+/* TODO include platform head files */
+#include <stdint.h>
+
+/*
+ * 0 - uninitialized
+ * 1 - initialized but not configurated
+ * 2 - initialized and configurated
+ */
+extern int is_uart0_init;
+extern int is_uart1_init;
+
+extern void initialize_uart_device(uint8_t);
+
+#endif /* __HAL_UART_INIT_H__ */
diff --git a/EF3Lite/hal_uart_init_wrapper.c b/EF3Lite/hal_uart_init_wrapper.c
new file mode 100644
index 0000000..ce57f3f
--- /dev/null
+++ b/EF3Lite/hal_uart_init_wrapper.c
@@ -0,0 +1,291 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+#include "hal_uart_init.h"
+#include "param_mgr.h" // for parameter registration 
+#include <string.h>
+
+/** LQH add */
+#include "uart_fifos.h"
+#include "usart.h"
+extern UART_HandleTypeDef huart5;
+extern UART_HandleTypeDef huart6;
+
+#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
+
+void get_uart0_baud(param_value_ptr_t p)
+{
+    //TODO
+    p.I[0] =115200u;
+}
+
+void set_uart0_baud(param_value_ptr_t p)
+{
+    uint32_t buad_req;
+    buad_req = p.I[0];
+    //TODO
+}
+
+void get_uart0_stopbits(param_value_ptr_t p)
+{
+    //TODO
+    p.B[0] =1u;
+}
+
+void set_uart0_stopbits(param_value_ptr_t p)
+{
+    uint8_t stopbits_req;
+    stopbits_req = p.B[0];
+    //TODO
+}
+
+void get_uart0_wordlen(param_value_ptr_t p)
+{
+    //TODO
+    p.B[0] =8u;
+}
+
+void set_uart0_wordlen(param_value_ptr_t p)
+{
+    uint8_t wordlen_req;
+    wordlen_req = p.B[0];
+    //TODO
+}
+
+void get_uart0_parity(param_value_ptr_t p)
+{
+    //TODO
+    p.B[0] =0u;
+}
+
+void set_uart0_parity(param_value_ptr_t p)
+{
+    uint8_t parity_req;
+    parity_req = p.B[0];
+    //TODO
+}
+
+int is_uart0_init = 0; 
+int is_uart1_init = 0;
+
+void initialize_uart_device(uint8_t nvram_id)
+{
+if (nvram_id == 0u && is_uart0_init == 0)
+{
+    /*
+     * initialize uart device 0 here
+     */
+    
+    // bind property to config functions
+    param_prop p;
+    strncpy(p.name, "uart0_baud", 16);
+    p.val_ptr.s = NULL;
+    p.getter_ptr = &get_uart0_baud;
+    p.setter_ptr = &set_uart0_baud;
+    p.typ = PARAM_TYPE_UINT32;
+    param_mgr_regist(&p);
+    
+    strncpy(p.name, "uart0_stopbits", 16);
+    p.getter_ptr = &get_uart0_stopbits;
+    p.setter_ptr = &set_uart0_stopbits;
+    p.typ = PARAM_TYPE_UINT8;
+    param_mgr_regist(&p);
+    
+    strncpy(p.name, "uart0_wordlen", 16);
+    p.getter_ptr = &get_uart0_wordlen;
+    p.setter_ptr = &set_uart0_wordlen;
+    p.typ = PARAM_TYPE_UINT8;
+    param_mgr_regist(&p);
+    
+    strncpy(p.name, "uart0_parity", 16);
+    p.getter_ptr = &get_uart0_parity;
+    p.setter_ptr = &set_uart0_parity;
+    p.typ = PARAM_TYPE_UINT8;
+    param_mgr_regist(&p);
+    
+    is_uart0_init = 1; // initialized
+}
+else if (nvram_id == 1u && is_uart1_init == 0)
+{
+    /*
+     * initialize uart device 1 here
+     */
+    is_uart1_init = 0; //TODO not initialized, change to 1 when done
+}
+
+}
+#endif
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_uart_init_Start_wrapper(const uint8_T *uart_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+   initialize_uart_device(uart_id[0]);
+#endif
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_uart_init_Outputs_wrapper(const uint32_T *baudrate,
+			const uint8_T *wordlen,
+			const uint8_T *stopbits,
+			const uint8_T *parity,
+			const uint16_T *buff_rx,
+			const uint16_T *buff_tx,
+			const uint32_T *opts,
+			int32_T *ErrCode,
+			const uint8_T *uart_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/*******************************
+ * config code for No.uart_id uart FIFO device;
+ * which is called as initialization code for the first time,
+ * then as func-call for update uart config, such as baud/stopbits/parity/...
+ *
+ * inputs:
+ * baudrate[0] - config uart baudrate (115200 for default)
+ * wordlen[0] - word length (7/8/9, 8 for 8bits in default)
+ * stopbits[0] - stop bits (1/2, 1 stop bits for default)
+ * parity[0] - parity check (0 for None, 1 for Odd and 2 for Even)
+ * buff_rx[0] - buffer length for RX, set zero for disable RX
+ * buff_tx[0] - buffer length for TX, set zero for disable TX
+ * opts[0] - option flags for advance setting
+ *
+ * output:
+ * ErrCode[0] - return zero for success, others for failures.
+ *
+ * parameter:
+ * uart_id - uart device id (start from zero)
+ *********************************/
+    ErrCode[0] = -1;
+    switch (uart_id[0])
+    {
+        case 0:
+            if (is_uart0_init == 1) // init
+            {
+                huart6.Instance = USART6;
+                huart6.Init.BaudRate = baudrate[0];
+                if(wordlen[0] == 7)
+                    huart6.Init.WordLength = UART_WORDLENGTH_7B;
+                else if(wordlen[0] == 8)
+                    huart6.Init.WordLength = UART_WORDLENGTH_8B;
+                else if(wordlen[0] == 9)
+                    huart6.Init.WordLength = UART_WORDLENGTH_9B;
+                else
+                    huart6.Init.WordLength = UART_WORDLENGTH_8B;
+
+                if(stopbits[0] == 1)   
+                    huart6.Init.StopBits = UART_STOPBITS_1;
+                else if(stopbits[0] == 2)   
+                    huart6.Init.StopBits = UART_STOPBITS_2;
+                else
+                    huart6.Init.StopBits = UART_STOPBITS_1;
+
+                if(parity[0] == 0)
+                    huart6.Init.Parity = UART_PARITY_NONE;
+                else if(parity[0] == 1)
+                    huart6.Init.Parity = UART_PARITY_ODD;
+                else if(parity[0] == 2)
+                    huart6.Init.Parity = UART_PARITY_EVEN;
+                else
+                    huart6.Init.Parity = UART_PARITY_NONE;
+
+                if (HAL_UART_Init(&huart6) != HAL_OK)
+                {
+                    Error_Handler();
+                }
+								
+                //TODO config uart0 fifo
+                UART_RX_FIFO_open(&rs232_rx1,&huart6,buff_rx[0],UART_FIFO_DMA);
+                UART_TX_FIFO_open(&rs232_tx1,&huart6,buff_tx[0],UART_FIFO_DMA);	
+
+                is_uart0_init = 2; // init done
+                ErrCode[0] = 0;
+            }
+            break;
+        case 1:
+            if (is_uart1_init == 1)
+            {
+                huart5.Instance = UART5;
+                huart5.Init.BaudRate = baudrate[0];
+                if(wordlen[0] == 7)
+                    huart5.Init.WordLength = UART_WORDLENGTH_7B;
+                else if(wordlen[0] == 8)
+                    huart5.Init.WordLength = UART_WORDLENGTH_8B;
+                else if(wordlen[0] == 9)
+                    huart5.Init.WordLength = UART_WORDLENGTH_9B;
+                else
+                    huart5.Init.WordLength = UART_WORDLENGTH_8B;
+
+                if(stopbits[0] == 1)   
+                    huart5.Init.StopBits = UART_STOPBITS_1;
+                else if(stopbits[0] == 2)   
+                    huart5.Init.StopBits = UART_STOPBITS_2;
+                else
+                    huart5.Init.StopBits = UART_STOPBITS_1;
+
+                if(parity[0] == 0)
+                    huart5.Init.Parity = UART_PARITY_NONE;
+                else if(parity[0] == 1)
+                    huart5.Init.Parity = UART_PARITY_ODD;
+                else if(parity[0] == 2)
+                    huart5.Init.Parity = UART_PARITY_EVEN;
+                else
+                    huart5.Init.Parity = UART_PARITY_NONE;
+
+                if (HAL_UART_Init(&huart5) != HAL_OK)
+                {
+                    Error_Handler();
+                }
+                //TODO config uart1 fifo
+                UART_RX_FIFO_open(&rs422_rx2,&huart5,buff_rx[0],UART_FIFO_DMA);
+                UART_TX_FIFO_open(&rs422_tx2,&huart5,buff_tx[0],UART_FIFO_IT);
+                
+                is_uart1_init = 2; // init done
+                ErrCode[0] = 0;
+            }
+            break;
+        case 2:
+            break;
+        case 3:
+            break;
+    }
+#else
+/* dummy function for generate mex file for sim*/
+ErrCode[0] = 0;
+#endif
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/EF3Lite/hal_uart_out_wrapper.c b/EF3Lite/hal_uart_out_wrapper.c
new file mode 100644
index 0000000..d35fc47
--- /dev/null
+++ b/EF3Lite/hal_uart_out_wrapper.c
@@ -0,0 +1,95 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+#include "hal_uart_init.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 */
+ 
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_uart_out_Start_wrapper(const uint8_T *uart_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+   initialize_uart_device(uart_id[0]);
+#endif
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_uart_out_Outputs_wrapper(const uint8_T *buff,
+			const uint16_T *len,
+			const uint8_T *sep,
+			int32_T *ErrorCode,
+			const uint8_T *uart_id, const int_T p_width0,
+			const int_T u_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* ***********************************************
+ * push all data to this uart output queue; 
+ *
+ * inputs:
+ * buff - data array to be sent
+ * len[0] - available length in the data array
+ * sep[0] - it means the data array updated when sep[0] changed,
+ * uart_id[0] - uart FIFO device which is required to send data 
+ *
+ * output:
+ * ErrorCode[0] - return zero for success, others for failail.
+ *
+ * constant:
+ * u_width - the maximum size of buff, do not read buff out of range.
+ *************************************************/
+ErrorCode[0] = -1;
+    switch (uart_id[0])
+    {
+        case 0:
+            if (is_uart0_init == 2)
+            {
+                // TODO write all data to fifo
+                ErrorCode[0] = 0;
+            }
+            break;
+        case 1:
+            if (is_uart1_init == 2)
+            {
+                // TODO write all data to fifo
+                ErrorCode[0] = 0;
+            }
+            break;
+    }
+#else
+/* dummy function for generate mex file for sim*/
+ErrorCode[0] = 0;
+#endif
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+