编写hal_api.h接口与相应bus定义
This commit is contained in:
Matthew GONG
@@ -0,0 +1,21 @@
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clear all;
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hal_api_busdef;
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moveBase2DD('hal_api.sldd');
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function moveBase2DD(dictionaryName)
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% moveBase2DD move all data in base to sldd file
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openDDs = Simulink.data.dictionary.getOpenDictionaryPaths(dictionaryName);
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if ~isempty(openDDs)
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Simulink.data.dictionary.closeAll(dictionaryName,'-discard');
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end
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if isfile(dictionaryName)
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delete(dictionaryName);
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end
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dictionaryObj = Simulink.data.dictionary.create(dictionaryName);
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importFromBaseWorkspace(dictionaryObj);
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saveChanges(dictionaryObj);
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close(dictionaryObj);
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evalin('base', 'clear all;');
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end
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@@ -0,0 +1,233 @@
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#ifndef _HAL_H_
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#define _HAL_H_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include <stdint.h>
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/**
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* \struct _HAL_gyro_SI_t
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* \brief Gyroscope data with SI unit (rad/s)
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*
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* seq - sample count
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* v - latest gyro data
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* vi - integrate gyro from last call for EKF(rad)
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* dti - intergrate time from last call
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* temperature - For Temperature Compensation
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*/
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typedef struct _HAL_gyro_SI_t
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{
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uint32_t seq;
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union {
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float v[3];
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struct
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{
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float x;
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float y;
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float z;
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};
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};
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union {
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float vi[3];
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struct
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{
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float xi;
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float yi;
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float zi;
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};
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};
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float dti;
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float temperature; ///< Unit is Celsius
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} HAL_gyro_SI_t;
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/**
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* \struct _HAL_acc_SI_t
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* \brief Accelerometer data with SI unit (m/s2)
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*
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* seq - sample count
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* v - latest Accelerometer data
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* vi - integrated speed from last call for EKF(m/s)
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* dti - intergrate time from last call
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* temperature - For Temperature Compensation
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*/
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typedef struct _HAL_acc_SI_t
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{
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uint32_t seq;
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union {
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float a[3];
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struct
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{
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float x;
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float y;
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float z;
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};
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};
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union {
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float v[3];
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struct
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{
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float xi;
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float yi;
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float zi;
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};
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};
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float dti;
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float temperature; ///< Unit is Celsius
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} HAL_acc_SI_t;
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/**
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* \struct _HAL_magn_mg_t
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* \brief Magnetic data with mG unit
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*
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* seq - sample count
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* v - latest Magnetic data
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*/
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typedef struct _HAL_magn_mG_t
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{
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uint32_t seq;
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union {
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float v[3];
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struct
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{
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float x;
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float y;
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float z;
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};
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};
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} HAL_magn_mG_t;
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/**
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* \struct _HAL_pressurePS_SI_t
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* \brief Pressure data of pressure sensor with SI unit
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* seq - sample count
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* pressure - latest Magnetic data
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* temperature - For Temperature Compensation
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*/
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typedef struct _HAL_pressure_SI_t
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{
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uint32_t seq;
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float pressure; ///< Unit is Pascal
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float temperature; ///< Unit is Celsius
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} HAL_pressure_SI_t;
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typedef struct _HAL_sbus_in_t
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{
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uint16_t channels[18];
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uint8_t seq;
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uint8_t valid;
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} HAL_sbus_in_t;
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typedef struct _HAL_led_color_t
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{
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union {
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uint8_t rgb[3];
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struct
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{
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uint8_t r;
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uint8_t g;
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uint8_t b;
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};
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};
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} HAL_led_color_t;
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/**
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* \struct _HAL_GPS_SI_t
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* \brief GPS receiver with SI unit
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*
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* fixtype:
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* 0 - No GPS connected
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* 1 - No position information, GPS is connected
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* 2 - 2D position
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* 3 - 3D position
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* 4 - DGPS/SBAS aided 3D position
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* 5 - RTK float, 3D position
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* 6 - RTK Fixed, 3D position
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* 7 - Static fixed, typically used for base stations
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* 8 - PPP, 3D position.
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*
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* att_fixtype:
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* 0 - attitude invalid
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* 1 - pitch/heading valid
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*/
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typedef struct _HAL_GPS_SI_t
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{
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double latitude; ///< Unit is degree
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double longitude; ///< Unit is degree
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float altitude; ///< aititude from MSL, Unit is meter
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union {
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float vNED[3]; ///< Unit is meter per second, in NED axes
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struct
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{
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float vel_north;
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float vel_east;
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float vel_down;
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};
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};
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float heading; ///< Unit is radian, valid when fixtype_att>1
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float pitch; ///< Unit is radian, valid when fixtype_att>1
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float h_acc; ///< Unit is meter, Position uncertainty
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float v_acc; ///< Unit is meter, Altitude uncertainty
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float vel_acc; ///< Unit is m/s, velocity uncertainty
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float att_acc; ///< Unit is radian, attitude uncertainty when fixtype_att>1
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uint32_t TOW; ///< Unit is millisecond, Time of Week
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uint32_t seq; ///< update count
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uint32_t seq_att; ///< attitude update count
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uint16_t HDOP; ///< GPS HDOP horizontal dilution of position
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uint16_t VDOP; ///< GPS VDOP vertical dilution of position
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uint16_t WN; ///< Week Number of GPS
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uint8_t fixtype; ///< GPS fixtype
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uint8_t fixtype_att;
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uint8_t satnum;
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} HAL_GPS_SI_t;
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/**
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* \struct _HAL_INS_SI_t
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* \brief INS device output with SI unit
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*/
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typedef struct _HAL_INS_SI_t
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{
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double latitude; ///< Unit is degree
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double longitude; ///< Unit is degree
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float altitude; ///< aititude from MSL, Unit is meter
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union {
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float vNED[3]; ///< Unit is meter per second, in NED axes
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struct
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{
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float vel_north;
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float vel_east;
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float vel_down;
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};
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};
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union {
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float attitude[3]; ///<Unit is radian
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struct
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{
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float roll; ///< Unit is radian
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float pitch; ///< Unit is radian
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float yaw; ///< Unit is radian
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};
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};
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uint32_t seq; ///< update count
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uint8_t status; ///< working status
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///< bit0 - attitude valid
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///< bit1 - speed valid
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///< bit2 - position valid
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///< bit7 - calibration
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uint8_t integration_status; ///< integration method
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///< 0 - pure Inertial mode
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///< bit0(1) - GPS assist
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///< bit1(2) - baro assist
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///< bit2(4) - radar assist
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uint8_t BIT; ///< health status 0-health; otherwise-unhealth.
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} HAL_INS_SI_t;
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#ifdef __cplusplus
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}
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#endif
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#endif // _HAL_H_
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Binary file not shown.
@@ -0,0 +1,151 @@
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function cellInfo = hal_api_busdef(varargin)
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% HAL_API_BUSDEF2 returns a cell array containing bus object information
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%
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% Optional Input: 'false' will suppress a call to Simulink.Bus.cellToObject
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% when the MATLAB file is executed.
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% The order of bus element attributes is as follows:
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% ElementName, Dimensions, DataType, SampleTime, Complexity, SamplingMode, DimensionsMode, Min, Max, DocUnits, Description
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suppressObject = false;
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if nargin == 1 && islogical(varargin{1}) && varargin{1} == false
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suppressObject = true;
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elseif nargin > 1
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error('Invalid input argument(s) encountered');
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end
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cellInfo = { ...
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{ ...
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'HAL_GPS_SI_t', ...
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'hal_api.h', ...
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'', ...
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'Imported', ...
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'-1', {...
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{'latitude', 1, 'double', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('deg'), sprintf('纬度')}; ...
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{'longitude', 1, 'double', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('deg'), sprintf('经度')}; ...
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{'altitude', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m'), sprintf('MSL海拔高度')}; ...
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{'vel_north', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('北向速度')}; ...
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{'vel_east', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('东向速度')}; ...
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{'vel_down', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('地向速度')}; ...
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{'heading', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('双天线测向获得的航向')}; ...
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{'pitch', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('双天线测向获得的俯仰')}; ...
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{'h_acc', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m'), sprintf('水平方向定位精度')}; ...
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{'v_acc', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m'), sprintf('竖直方向定位精度')}; ...
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{'vel_acc', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('GPS定速精度')}; ...
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{'att_acc', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('GPS双天线定向精度')}; ...
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{'TOW', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('ms'), sprintf('GPS周内秒')}; ...
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{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('接收包计数')}; ...
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{'seq_att', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('双天线测向接收包计数')}; ...
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{'HDOP', 1, 'uint16', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('GPS HDOP horizontal dilution of position')}; ...
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{'VDOP', 1, 'uint16', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('GPS VDOP vertical dilution of position')}; ...
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{'WN', 1, 'uint16', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('GPS周计数')}; ...
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{'fixtype', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('GPS定位模式fixtype:\n 0 - No GPS connected\n 1 - No position information, GPS is connected\n 2 - 2D position\n 3 - 3D position\n 4 - DGPS/SBAS aided 3D position\n 5 - RTK float, 3D position\n 6 - RTK Fixed, 3D position\n 7 - Static fixed, typically used for base stations\n 8 - PPP, 3D position.')}; ...
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{'fixtype_att', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('GPS定向模式att_fixtype:\n 0 - attitude invalid\n 1 - pitch/heading valid')}; ...
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{'satnum', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('定位星数')}; ...
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} ...
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} ...
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{ ...
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'HAL_INS_SI_t', ...
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'hal_api.h', ...
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sprintf('组合惯导输出信号'), ...
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'Imported', ...
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'-1', {...
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{'latitude', 1, 'double', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('deg'), sprintf('纬度')}; ...
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{'longitude', 1, 'double', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('deg'), sprintf('经度')}; ...
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{'altitude', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m'), sprintf('MSL海拔高度')}; ...
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{'vel_north', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('北向速度')}; ...
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{'vel_east', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('东向速度')}; ...
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{'vel_down', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('地向速度')}; ...
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{'roll', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('滚转角')}; ...
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{'pitch', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('俯仰角')}; ...
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{'yaw', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('偏航角')}; ...
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{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('接收包计数')}; ...
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{'status', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('工作状态\nbit0 - 姿态可用\nbit1 - 速度可用\nbit2 - 位置可用\nbit7 - 正在对准')}; ...
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{'integration_status', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('惯导组合工作状态\nbit0 - GPS输入可用\nbit1 - 气压高度输入可用\nbit2 - 雷达高度输入可用')}; ...
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{'BIT', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('自检测\n0-健康\n其他-设备故障')}; ...
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} ...
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} ...
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{ ...
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'HAL_acc_SI_t', ...
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'hal_api.h', ...
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sprintf('加速度计输出信号'), ...
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'Imported', ...
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'-1', {...
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{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
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{'x', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s/s'), sprintf('x/y/z是当前的IMU的三轴加速度输出')}; ...
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{'y', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s/s'), ''}; ...
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{'z', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s/s'), ''}; ...
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{'xi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('xi/yi/zi是从上次到本次IMU的加速度积分输出，用于EKF输入')}; ...
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{'yi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), ''}; ...
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{'zi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), ''}; ...
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{'dti', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('s'), ''}; ...
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{'temperature', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('degC'), sprintf('用于温漂修正')}; ...
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} ...
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} ...
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{ ...
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'HAL_gyro_SI_t', ...
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'hal_api.h', ...
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sprintf('三轴陀螺输出信号'), ...
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'Imported', ...
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'-1', {...
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{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
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{'x', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad/s'), sprintf('x/y/z是当前的IMU的三轴角速度输出')}; ...
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{'y', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad/s'), ''}; ...
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{'z', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad/s'), ''}; ...
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{'xi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('xi/yi/zi是从上次到本次IMU的角速度积分输出，用于EKF输入')}; ...
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{'yi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), ''}; ...
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{'zi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), ''}; ...
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{'dti', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('s'), ''}; ...
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{'temperature', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('degC'), sprintf('用于温漂修正')}; ...
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} ...
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} ...
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{ ...
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'HAL_led_color_t', ...
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'hal_api.h', ...
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sprintf('三色LED信号灯'), ...
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'Imported', ...
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'-1', {...
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{'r', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
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{'g', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
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{'b', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
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} ...
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} ...
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{ ...
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'HAL_magn_mG_t', ...
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'hal_api.h', ...
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sprintf('三轴磁力计输出信号'), ...
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'Imported', ...
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'-1', {...
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{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
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{'x', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('mG'), sprintf('x/y/z是当前磁力计的三轴输出')}; ...
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||||
{'y', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('mG'), ''}; ...
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{'z', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('mG'), ''}; ...
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} ...
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||||
} ...
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||||
{ ...
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'HAL_pressure_SI_t', ...
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'hal_api.h', ...
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sprintf('气压计（差压及绝压）输出信号'), ...
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'Imported', ...
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||||
'-1', {...
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||||
{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
|
||||
{'pressure', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('Pa'), ''}; ...
|
||||
{'temperature', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('degC'), sprintf('用于温漂修正')}; ...
|
||||
} ...
|
||||
} ...
|
||||
{ ...
|
||||
'HAL_sbus_in_t', ...
|
||||
'hal_api.h', ...
|
||||
sprintf('sbus接收机输入信号'), ...
|
||||
'Imported', ...
|
||||
'-1', {...
|
||||
{'channels', 18, 'uint16', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('us'), ''}; ...
|
||||
{'seq', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
|
||||
{'valid', 1, 'boolean', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
|
||||
} ...
|
||||
} ...
|
||||
}';
|
||||
|
||||
if ~suppressObject
|
||||
% Create bus objects in the MATLAB base workspace
|
||||
Simulink.Bus.cellToObject(cellInfo)
|
||||
end
|
||||
Binary file not shown.
Binary file not shown.
+16
-16
@@ -26,7 +26,7 @@
|
||||
* | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Created: Mon Mar 23 12:38:55 2020
|
||||
* Created: Tue Mar 24 11:49:54 2020
|
||||
*/
|
||||
|
||||
#define S_FUNCTION_LEVEL 2
|
||||
@@ -42,7 +42,7 @@
|
||||
#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_BUS_NAME HAL_led_color_t
|
||||
#define IN_0_DIMS 1-D
|
||||
#define INPUT_0_FEEDTHROUGH 1
|
||||
#define IN_0_ISSIGNED 0
|
||||
@@ -57,7 +57,7 @@
|
||||
#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_DTYPE int32_T
|
||||
#define OUTPUT_0_COMPLEX COMPLEX_NO
|
||||
#define OUT_0_FRAME_BASED FRAME_NO
|
||||
#define OUT_0_BUS_BASED 0
|
||||
@@ -93,7 +93,7 @@
|
||||
/* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */
|
||||
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
|
||||
#include "simstruc.h"
|
||||
#include "hal_led_set_bus.h"
|
||||
#include "hal_api.h"
|
||||
/*
|
||||
* Code Generation Environment flag (simulation or standalone target).
|
||||
*/
|
||||
@@ -114,8 +114,8 @@ typedef struct {
|
||||
!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,
|
||||
extern void hal_led_set_Outputs_wrapper(const HAL_led_color_t *color,
|
||||
int32_T *ErrorCode,
|
||||
const uint8_T *id, const int_T p_width0);
|
||||
/*====================*
|
||||
* S-function methods *
|
||||
@@ -185,13 +185,13 @@ static void mdlInitializeSizes(SimStruct *S)
|
||||
|
||||
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
|
||||
|
||||
/* Register LedColorMsg datatype for Input port 0 */
|
||||
/* Register HAL_led_color_t datatype for Input port 0 */
|
||||
|
||||
#if defined(MATLAB_MEX_FILE)
|
||||
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY)
|
||||
{
|
||||
DTypeId dataTypeIdReg;
|
||||
ssRegisterTypeFromNamedObject(S, "LedColorMsg", &dataTypeIdReg);
|
||||
ssRegisterTypeFromNamedObject(S, "HAL_led_color_t", &dataTypeIdReg);
|
||||
if(dataTypeIdReg == INVALID_DTYPE_ID) return;
|
||||
ssSetInputPortDataType(S, 0, dataTypeIdReg);
|
||||
}
|
||||
@@ -205,7 +205,7 @@ static void mdlInitializeSizes(SimStruct *S)
|
||||
|
||||
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
|
||||
ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
|
||||
ssSetOutputPortDataType(S, 0, SS_DOUBLE);
|
||||
ssSetOutputPortDataType(S, 0, SS_INT32);
|
||||
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
|
||||
|
||||
if (ssRTWGenIsCodeGen(S)) {
|
||||
@@ -232,7 +232,7 @@ static void mdlInitializeSizes(SimStruct *S)
|
||||
#if defined(MATLAB_MEX_FILE)
|
||||
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) {
|
||||
DTypeId dataTypeIdReg;
|
||||
ssRegisterTypeFromNamedObject(S, "LedColorMsg", &dataTypeIdReg);
|
||||
ssRegisterTypeFromNamedObject(S, "HAL_led_color_t", &dataTypeIdReg);
|
||||
if (dataTypeIdReg == INVALID_DTYPE_ID) return;
|
||||
ssSetDWorkDataType(S, 0, dataTypeIdReg);
|
||||
}
|
||||
@@ -325,7 +325,7 @@ static void mdlStart(SimStruct *S)
|
||||
/* Bus Information */
|
||||
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
|
||||
const char *bpath = ssGetPath(S);
|
||||
DTypeId LedColorMsgId = ssGetDataTypeId(S, "LedColorMsg");
|
||||
DTypeId HAL_led_color_tId = ssGetDataTypeId(S, "HAL_led_color_t");
|
||||
|
||||
busInfoStruct *busInfo = (busInfoStruct *)malloc(6*sizeof(busInfoStruct));
|
||||
if(busInfo==NULL) {
|
||||
@@ -335,13 +335,13 @@ static void mdlStart(SimStruct *S)
|
||||
|
||||
/* Calculate offsets of all primitive elements of the bus */
|
||||
|
||||
busInfo[0].offset = dtaGetDataTypeElementOffset(dta, bpath, LedColorMsgId, 0);
|
||||
busInfo[0].offset = dtaGetDataTypeElementOffset(dta, bpath, HAL_led_color_tId, 0);
|
||||
busInfo[0].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
|
||||
busInfo[0].numElems = 1;
|
||||
busInfo[1].offset = dtaGetDataTypeElementOffset(dta, bpath, LedColorMsgId, 1);
|
||||
busInfo[1].offset = dtaGetDataTypeElementOffset(dta, bpath, HAL_led_color_tId, 1);
|
||||
busInfo[1].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
|
||||
busInfo[1].numElems = 1;
|
||||
busInfo[2].offset = dtaGetDataTypeElementOffset(dta, bpath, LedColorMsgId, 2);
|
||||
busInfo[2].offset = dtaGetDataTypeElementOffset(dta, bpath, HAL_led_color_tId, 2);
|
||||
busInfo[2].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
|
||||
busInfo[2].numElems = 1;
|
||||
ssSetUserData(S, busInfo);
|
||||
@@ -358,14 +358,14 @@ static void mdlStart(SimStruct *S)
|
||||
static void mdlOutputs(SimStruct *S, int_T tid)
|
||||
{
|
||||
const char *color = (char *) ssGetInputPortSignal(S, 0);
|
||||
real_T *ErrorCode = (real_T *) ssGetOutputPortRealSignal(S, 0);
|
||||
int32_T *ErrorCode = (int32_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;
|
||||
HAL_led_color_t _colorBUS;
|
||||
|
||||
/* Copy input bus into temporary structure */
|
||||
(void) memcpy(&_colorBUS.r, color + busInfo[0].offset, busInfo[0].elemSize * busInfo[0].numElems);
|
||||
|
||||
Binary file not shown.
+8
-8
@@ -1,5 +1,5 @@
|
||||
%% File : hal_led_set.tlc
|
||||
%% Created : Mon Mar 23 12:38:55 2020
|
||||
%% Created : Tue Mar 24 11:49:54 2020
|
||||
%%
|
||||
%% Description:
|
||||
%% Simulink Coder wrapper functions interface generated for
|
||||
@@ -37,7 +37,7 @@
|
||||
#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,
|
||||
int32_T *ErrorCode,
|
||||
const uint8_T *id, const int_T p_width0);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
@@ -50,18 +50,18 @@
|
||||
%selectfile cFile
|
||||
#include <string.h>
|
||||
#include "tmwtypes.h"
|
||||
#include "hal_led_set_bus.h"
|
||||
#include "hal_api.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,
|
||||
int32_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,
|
||||
%<SLibAssignSLStructToUserStruct(dTypeId, "(*(HAL_led_color_t *) __colorBUS)", "(char *) color", 0)>
|
||||
hal_led_set_Outputs_wrapper((HAL_led_color_t *) __colorBUS,
|
||||
ErrorCode,
|
||||
id, p_width0);
|
||||
}
|
||||
@@ -80,8 +80,8 @@
|
||||
|
||||
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,
|
||||
extern void hal_led_set_Outputs_wrapper(const HAL_led_color_t *color,
|
||||
int32_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);
|
||||
|
||||
@@ -1,26 +0,0 @@
|
||||
/* 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
|
||||
+13
-13
@@ -26,7 +26,7 @@
|
||||
* | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Created: Mon Mar 23 12:38:40 2020
|
||||
* Created: Tue Mar 24 11:50:58 2020
|
||||
*/
|
||||
|
||||
#define S_FUNCTION_LEVEL 2
|
||||
@@ -44,7 +44,7 @@
|
||||
#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_BUS_NAME HAL_sbus_in_t
|
||||
#define OUT_0_DIMS 1-D
|
||||
#define OUT_0_ISSIGNED 1
|
||||
#define OUT_0_WORDLENGTH 8
|
||||
@@ -92,7 +92,7 @@
|
||||
/* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */
|
||||
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
|
||||
#include "simstruc.h"
|
||||
#include "hal_sbus_in_bus.h"
|
||||
#include "hal_api.h"
|
||||
/*
|
||||
* Code Generation Environment flag (simulation or standalone target).
|
||||
*/
|
||||
@@ -113,7 +113,7 @@ typedef struct {
|
||||
!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,
|
||||
extern void hal_sbus_in_Outputs_wrapper(HAL_sbus_in_t *sbus,
|
||||
int32_T *ErrorCode,
|
||||
const uint8_T *id, const int_T p_width0);
|
||||
/*====================*
|
||||
@@ -186,19 +186,19 @@ static void mdlInitializeSizes(SimStruct *S)
|
||||
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
|
||||
/* Output Port 0 */
|
||||
|
||||
/* Register SbusInMsg datatype for Output port 0 */
|
||||
/* Register HAL_sbus_in_t datatype for Output port 0 */
|
||||
|
||||
#if defined(MATLAB_MEX_FILE)
|
||||
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY)
|
||||
{
|
||||
DTypeId dataTypeIdReg;
|
||||
ssRegisterTypeFromNamedObject(S, "SbusInMsg", &dataTypeIdReg);
|
||||
ssRegisterTypeFromNamedObject(S, "HAL_sbus_in_t", &dataTypeIdReg);
|
||||
if(dataTypeIdReg == INVALID_DTYPE_ID) return;
|
||||
ssSetOutputPortDataType(S, 0, dataTypeIdReg);
|
||||
}
|
||||
#endif
|
||||
|
||||
ssSetBusOutputObjectName(S, 0, (void *) "SbusInMsg");
|
||||
ssSetBusOutputObjectName(S, 0, (void *) "HAL_sbus_in_t");
|
||||
ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
|
||||
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
|
||||
ssSetBusOutputAsStruct(S, 0,OUT_0_BUS_BASED);
|
||||
@@ -232,7 +232,7 @@ static void mdlInitializeSizes(SimStruct *S)
|
||||
#if defined(MATLAB_MEX_FILE)
|
||||
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) {
|
||||
DTypeId dataTypeIdReg;
|
||||
ssRegisterTypeFromNamedObject(S, "SbusInMsg", &dataTypeIdReg);
|
||||
ssRegisterTypeFromNamedObject(S, "HAL_sbus_in_t", &dataTypeIdReg);
|
||||
if (dataTypeIdReg == INVALID_DTYPE_ID) return;
|
||||
ssSetDWorkDataType(S, 0, dataTypeIdReg);
|
||||
}
|
||||
@@ -318,7 +318,7 @@ static void mdlStart(SimStruct *S)
|
||||
/* Bus Information */
|
||||
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
|
||||
const char *bpath = ssGetPath(S);
|
||||
DTypeId SbusInMsgId = ssGetDataTypeId(S, "SbusInMsg");
|
||||
DTypeId HAL_sbus_in_tId = ssGetDataTypeId(S, "HAL_sbus_in_t");
|
||||
|
||||
busInfoStruct *busInfo = (busInfoStruct *)malloc(6*sizeof(busInfoStruct));
|
||||
if(busInfo==NULL) {
|
||||
@@ -328,13 +328,13 @@ static void mdlStart(SimStruct *S)
|
||||
|
||||
/* Calculate offsets of all primitive elements of the bus */
|
||||
|
||||
busInfo[0].offset = dtaGetDataTypeElementOffset(dta, bpath, SbusInMsgId, 0);
|
||||
busInfo[0].offset = dtaGetDataTypeElementOffset(dta, bpath, HAL_sbus_in_tId, 0);
|
||||
busInfo[0].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint16"));
|
||||
busInfo[0].numElems = 18;
|
||||
busInfo[1].offset = dtaGetDataTypeElementOffset(dta, bpath, SbusInMsgId, 1);
|
||||
busInfo[1].offset = dtaGetDataTypeElementOffset(dta, bpath, HAL_sbus_in_tId, 1);
|
||||
busInfo[1].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
|
||||
busInfo[1].numElems = 1;
|
||||
busInfo[2].offset = dtaGetDataTypeElementOffset(dta, bpath, SbusInMsgId, 2);
|
||||
busInfo[2].offset = dtaGetDataTypeElementOffset(dta, bpath, HAL_sbus_in_tId, 2);
|
||||
busInfo[2].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "boolean"));
|
||||
busInfo[2].numElems = 1;
|
||||
ssSetUserData(S, busInfo);
|
||||
@@ -358,7 +358,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
|
||||
busInfoStruct* busInfo = (busInfoStruct *) ssGetUserData(S);
|
||||
|
||||
/* Temporary bus copy declarations */
|
||||
SbusInMsg _sbusBUS;
|
||||
HAL_sbus_in_t _sbusBUS;
|
||||
|
||||
/* Copy input bus into temporary structure */
|
||||
|
||||
|
||||
Binary file not shown.
+5
-5
@@ -1,5 +1,5 @@
|
||||
%% File : hal_sbus_in.tlc
|
||||
%% Created : Mon Mar 23 12:38:40 2020
|
||||
%% Created : Tue Mar 24 11:50:58 2020
|
||||
%%
|
||||
%% Description:
|
||||
%% Simulink Coder wrapper functions interface generated for
|
||||
@@ -50,7 +50,7 @@
|
||||
%selectfile cFile
|
||||
#include <string.h>
|
||||
#include "tmwtypes.h"
|
||||
#include "hal_sbus_in_bus.h"
|
||||
#include "hal_api.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);
|
||||
@@ -58,12 +58,12 @@
|
||||
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,
|
||||
hal_sbus_in_Outputs_wrapper((HAL_sbus_in_t *) __sbusBUS,
|
||||
ErrorCode,
|
||||
id, p_width0);
|
||||
|
||||
%assign dTypeId = LibBlockOutputSignalDataTypeId(0)
|
||||
%<SLibAssignUserStructToSLStruct(dTypeId, "(char *) sbus", "(*(SbusInMsg *) __sbusBUS)", 0)>
|
||||
%<SLibAssignUserStructToSLStruct(dTypeId, "(char *) sbus", "(*(HAL_sbus_in_t *) __sbusBUS)", 0)>
|
||||
}
|
||||
|
||||
%closefile cFile
|
||||
@@ -80,7 +80,7 @@
|
||||
|
||||
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,
|
||||
extern void hal_sbus_in_Outputs_wrapper(HAL_sbus_in_t *sbus,
|
||||
int32_T *ErrorCode,
|
||||
const uint8_T *id, const int_T p_width0);
|
||||
|
||||
|
||||
@@ -1,26 +0,0 @@
|
||||
/* 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];
|
||||
uint8_T seq;
|
||||
boolean_T valid;
|
||||
} SbusInMsg;
|
||||
#endif
|
||||
|
||||
/* Read only - ENDS */
|
||||
|
||||
|
||||
#endif
|
||||
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Submodule param updated: a884588641...b4fdb74d94
@@ -10,7 +10,8 @@
|
||||
#include "rtwtypes.h"
|
||||
#endif
|
||||
|
||||
#include "hal_led_set_bus.h"
|
||||
#include "hal_api.h"
|
||||
|
||||
|
||||
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
|
||||
#ifdef HAL_IMPL
|
||||
@@ -29,8 +30,6 @@
|
||||
#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)
|
||||
{
|
||||
@@ -39,16 +38,6 @@ void led_set_init(uint8_t id)
|
||||
//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 */
|
||||
@@ -69,8 +58,8 @@ led_set_init(id[0]);
|
||||
* Output function
|
||||
*
|
||||
*/
|
||||
void hal_led_set_Outputs_wrapper(const LedColorMsg *color,
|
||||
real_T *ErrorCode,
|
||||
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 */
|
||||
|
||||
@@ -10,7 +10,8 @@
|
||||
#include "rtwtypes.h"
|
||||
#endif
|
||||
|
||||
#include "hal_sbus_in_bus.h"
|
||||
#include "hal_api.h"
|
||||
|
||||
|
||||
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
|
||||
#ifdef HAL_IMPL
|
||||
@@ -56,7 +57,7 @@ sbus_input_init(id[0]);
|
||||
* Output function
|
||||
*
|
||||
*/
|
||||
void hal_sbus_in_Outputs_wrapper(SbusInMsg *sbus,
|
||||
void hal_sbus_in_Outputs_wrapper(HAL_sbus_in_t *sbus,
|
||||
int32_T *ErrorCode,
|
||||
const uint8_T *id, const int_T p_width0)
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user