编写hal_api.h接口与相应bus定义

generate_hal_api_sldd.m

@@ -0,0 +1,21 @@
+
+clear all;
+hal_api_busdef;
+moveBase2DD('hal_api.sldd');
+
+function moveBase2DD(dictionaryName)
+% moveBase2DD move all data in base to sldd file
+openDDs = Simulink.data.dictionary.getOpenDictionaryPaths(dictionaryName);
+if ~isempty(openDDs)
+     Simulink.data.dictionary.closeAll(dictionaryName,'-discard');
+end
+if isfile(dictionaryName)
+delete(dictionaryName);
+end
+
+dictionaryObj = Simulink.data.dictionary.create(dictionaryName);
+importFromBaseWorkspace(dictionaryObj);
+saveChanges(dictionaryObj);
+close(dictionaryObj);
+evalin('base', 'clear all;');
+end

hal_api.h

@@ -0,0 +1,233 @@
+#ifndef _HAL_H_
+#define _HAL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdint.h>
+
+    /**
+     * \struct _HAL_gyro_SI_t
+     * \brief Gyroscope data with SI unit (rad/s)
+     * 
+     * seq - sample count
+     * v - latest gyro data
+     * vi - integrate gyro from last call for EKF(rad)
+     * dti - intergrate time from last call
+     * temperature - For Temperature Compensation
+     */
+    typedef struct _HAL_gyro_SI_t
+    {
+        uint32_t seq;
+        union {
+            float v[3];
+            struct
+            {
+                float x;
+                float y;
+                float z;
+            };
+        };
+        union {
+            float vi[3];
+            struct
+            {
+                float xi;
+                float yi;
+                float zi;
+            };
+        };
+        float dti;
+        float temperature; ///< Unit is Celsius
+    } HAL_gyro_SI_t;
+
+    /**
+     * \struct _HAL_acc_SI_t
+     * \brief Accelerometer data with SI unit (m/s2)
+     * 
+     * seq - sample count
+     * v - latest Accelerometer data 
+     * vi - integrated speed from last call for EKF(m/s)
+     * dti - intergrate time from last call
+     * temperature - For Temperature Compensation
+     */
+    typedef struct _HAL_acc_SI_t
+    {
+        uint32_t seq;
+        union {
+            float a[3];
+            struct
+            {
+                float x;
+                float y;
+                float z;
+            };
+        };
+        union {
+            float v[3];
+            struct
+            {
+                float xi;
+                float yi;
+                float zi;
+            };
+        };
+        float dti;
+        float temperature; ///< Unit is Celsius
+    } HAL_acc_SI_t;
+
+    /**
+     * \struct _HAL_magn_mg_t
+     * \brief Magnetic data with mG unit
+     * 
+     * seq - sample count
+     * v - latest Magnetic data 
+     */
+    typedef struct _HAL_magn_mG_t
+    {
+        uint32_t seq;
+        union {
+            float v[3];
+            struct
+            {
+                float x;
+                float y;
+                float z;
+            };
+        };
+    } HAL_magn_mG_t;
+
+    /**
+     * \struct _HAL_pressurePS_SI_t
+     * \brief Pressure data of pressure sensor with SI unit
+     * seq - sample count
+     * pressure - latest Magnetic data 
+     * temperature - For Temperature Compensation
+     */
+    typedef struct _HAL_pressure_SI_t
+    {
+        uint32_t seq;
+        float pressure;    ///< Unit is Pascal
+        float temperature; ///< Unit is Celsius
+    } HAL_pressure_SI_t;
+
+    typedef struct _HAL_sbus_in_t
+    {
+        uint16_t channels[18];
+        uint8_t seq;
+        uint8_t valid;
+    } HAL_sbus_in_t;
+
+    typedef struct _HAL_led_color_t
+    {
+        union {
+            uint8_t rgb[3];
+            struct
+            {
+                uint8_t r;
+                uint8_t g;
+                uint8_t b;
+            };
+        };
+    } HAL_led_color_t;
+
+    /**
+     * \struct _HAL_GPS_SI_t
+     * \brief GPS receiver with SI unit
+     * 
+     * fixtype:
+     * 0 - No GPS connected
+     * 1 - No position information, GPS is connected
+     * 2 - 2D position
+     * 3 - 3D position
+     * 4 - DGPS/SBAS aided 3D position
+     * 5 - RTK float, 3D position
+     * 6 - RTK Fixed, 3D position
+     * 7 - Static fixed, typically used for base stations
+     * 8 - PPP, 3D position.
+     * 
+     * att_fixtype:
+     * 0 - attitude invalid
+     * 1 - pitch/heading valid
+     */
+    typedef struct _HAL_GPS_SI_t
+    {
+        double latitude;  ///< Unit is degree
+        double longitude; ///< Unit is degree
+        float altitude;   ///< aititude from MSL, Unit is meter
+        union {
+            float vNED[3]; ///< Unit is meter per second, in NED axes
+            struct
+            {
+                float vel_north;
+                float vel_east;
+                float vel_down;
+            };
+        };
+        float heading;    ///< Unit is radian, valid when fixtype_att>1
+        float pitch;      ///< Unit is radian, valid when fixtype_att>1
+        float h_acc;      ///< Unit is meter,  Position uncertainty
+        float v_acc;      ///< Unit is meter,  Altitude uncertainty
+        float vel_acc;    ///< Unit is m/s,  velocity uncertainty
+        float att_acc;    ///< Unit is radian,  attitude uncertainty when fixtype_att>1
+        uint32_t TOW;     ///< Unit is millisecond, Time of Week
+        uint32_t seq;     ///< update count
+        uint32_t seq_att; ///< attitude update count
+        uint16_t HDOP;    ///< GPS HDOP horizontal dilution of position
+        uint16_t VDOP;    ///< GPS VDOP vertical dilution of position
+        uint16_t WN;      ///< Week Number of GPS
+
+        uint8_t fixtype; ///< GPS fixtype
+        uint8_t fixtype_att;
+        uint8_t satnum;
+    } HAL_GPS_SI_t;
+
+    /**
+     * \struct _HAL_INS_SI_t
+     * \brief INS device output with SI unit
+     */
+    typedef struct _HAL_INS_SI_t
+    {
+        double latitude;  ///< Unit is degree
+        double longitude; ///< Unit is degree
+        float altitude;   ///< aititude from MSL, Unit is meter
+        union {
+            float vNED[3]; ///< Unit is meter per second, in NED axes
+            struct
+            {
+                float vel_north;
+                float vel_east;
+                float vel_down;
+            };
+        };
+        union {
+            float attitude[3]; ///<Unit is radian
+            struct
+            {
+                float roll;  ///< Unit is radian
+                float pitch; ///< Unit is radian
+                float yaw;   ///< Unit is radian
+            };
+        };
+        uint32_t seq;   ///< update count
+        uint8_t status; ///< working status
+                        ///< bit0 - attitude valid
+                        ///< bit1 - speed valid
+                        ///< bit2 - position valid
+                        ///< bit7 - calibration
+
+        uint8_t integration_status; ///< integration method
+                                    ///< 0 - pure Inertial mode
+                                    ///< bit0(1) - GPS assist
+                                    ///< bit1(2) - baro assist
+                                    ///< bit2(4) - radar assist
+        uint8_t BIT;                ///< health status 0-health; otherwise-unhealth.
+    } HAL_INS_SI_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // _HAL_H_

hal_api_busdef.m

@@ -0,0 +1,151 @@
+function cellInfo = hal_api_busdef(varargin) 
+% HAL_API_BUSDEF2 returns a cell array containing bus object information 
+% 
+% Optional Input: 'false' will suppress a call to Simulink.Bus.cellToObject 
+%                 when the MATLAB file is executed. 
+% The order of bus element attributes is as follows:
+%   ElementName, Dimensions, DataType, SampleTime, Complexity, SamplingMode, DimensionsMode, Min, Max, DocUnits, Description 
+
+suppressObject = false; 
+if nargin == 1 && islogical(varargin{1}) && varargin{1} == false 
+    suppressObject = true; 
+elseif nargin > 1 
+    error('Invalid input argument(s) encountered'); 
+end 
+
+cellInfo = { ... 
+  { ... 
+    'HAL_GPS_SI_t', ... 
+    'hal_api.h', ... 
+    '', ... 
+    'Imported', ... 
+    '-1', {... 
+{'latitude', 1, 'double', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('deg'), sprintf('纬度')}; ...
+{'longitude', 1, 'double', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('deg'), sprintf('经度')}; ...
+{'altitude', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m'), sprintf('MSL海拔高度')}; ...
+{'vel_north', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('北向速度')}; ...
+{'vel_east', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('东向速度')}; ...
+{'vel_down', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('地向速度')}; ...
+{'heading', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('双天线测向获得的航向')}; ...
+{'pitch', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('双天线测向获得的俯仰')}; ...
+{'h_acc', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m'), sprintf('水平方向定位精度')}; ...
+{'v_acc', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m'), sprintf('竖直方向定位精度')}; ...
+{'vel_acc', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('GPS定速精度')}; ...
+{'att_acc', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('GPS双天线定向精度')}; ...
+{'TOW', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('ms'), sprintf('GPS周内秒')}; ...
+{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('接收包计数')}; ...
+{'seq_att', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('双天线测向接收包计数')}; ...
+{'HDOP', 1, 'uint16', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('GPS HDOP horizontal dilution of position')}; ...
+{'VDOP', 1, 'uint16', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('GPS VDOP vertical dilution of position')}; ...
+{'WN', 1, 'uint16', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('GPS周计数')}; ...
+{'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.')}; ...
+{'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')}; ...
+{'satnum', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('定位星数')}; ...
+    } ...
+  } ...
+  { ... 
+    'HAL_INS_SI_t', ... 
+    'hal_api.h', ... 
+    sprintf('组合惯导输出信号'), ... 
+    'Imported', ... 
+    '-1', {... 
+{'latitude', 1, 'double', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('deg'), sprintf('纬度')}; ...
+{'longitude', 1, 'double', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('deg'), sprintf('经度')}; ...
+{'altitude', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m'), sprintf('MSL海拔高度')}; ...
+{'vel_north', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('北向速度')}; ...
+{'vel_east', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('东向速度')}; ...
+{'vel_down', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('地向速度')}; ...
+{'roll', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('滚转角')}; ...
+{'pitch', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('俯仰角')}; ...
+{'yaw', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), sprintf('偏航角')}; ...
+{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('接收包计数')}; ...
+{'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')}; ...
+{'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')}; ...
+{'BIT', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('自检测\n0-健康\n其他-设备故障')}; ...
+    } ...
+  } ...
+  { ... 
+    'HAL_acc_SI_t', ... 
+    'hal_api.h', ... 
+    sprintf('加速度计输出信号'), ... 
+    'Imported', ... 
+    '-1', {... 
+{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
+{'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')}; ...
+{'y', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s/s'), ''}; ...
+{'z', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s/s'), ''}; ...
+{'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')}; ...
+{'yi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), ''}; ...
+{'zi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), ''}; ...
+{'dti', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('s'), ''}; ...
+{'temperature', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('degC'), sprintf('用于温漂修正')}; ...
+    } ...
+  } ...
+  { ... 
+    'HAL_gyro_SI_t', ... 
+    'hal_api.h', ... 
+    sprintf('三轴陀螺输出信号'), ... 
+    'Imported', ... 
+    '-1', {... 
+{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
+{'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')}; ...
+{'y', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad/s'), ''}; ...
+{'z', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad/s'), ''}; ...
+{'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')}; ...
+{'yi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), ''}; ...
+{'zi', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('rad'), ''}; ...
+{'dti', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('s'), ''}; ...
+{'temperature', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('degC'), sprintf('用于温漂修正')}; ...
+    } ...
+  } ...
+  { ... 
+    'HAL_led_color_t', ... 
+    'hal_api.h', ... 
+    sprintf('三色LED信号灯'), ... 
+    'Imported', ... 
+    '-1', {... 
+{'r', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
+{'g', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
+{'b', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
+    } ...
+  } ...
+  { ... 
+    'HAL_magn_mG_t', ... 
+    'hal_api.h', ... 
+    sprintf('三轴磁力计输出信号'), ... 
+    'Imported', ... 
+    '-1', {... 
+{'seq', 1, 'uint32', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
+{'x', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('mG'), sprintf('x/y/z是当前磁力计的三轴输出')}; ...
+{'y', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('mG'), ''}; ...
+{'z', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('mG'), ''}; ...
+    } ...
+  } ...
+  { ... 
+    'HAL_pressure_SI_t', ... 
+    'hal_api.h', ... 
+    sprintf('气压计（差压及绝压）输出信号'), ... 
+    'Imported', ... 
+    '-1', {... 
+{'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 

hal_led_set.c

@@ -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,
+extern void hal_led_set_Outputs_wrapper(const HAL_led_color_t *color,
-			real_T *ErrorCode,
+			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);

hal_led_set.tlc

@@ -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)>
+    %<SLibAssignSLStructToUserStruct(dTypeId, "(*(HAL_led_color_t *) __colorBUS)", "(char *) color", 0)>
-    hal_led_set_Outputs_wrapper((LedColorMsg *) __colorBUS,
+    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,
+    extern void hal_led_set_Outputs_wrapper(const HAL_led_color_t *color,
-			real_T *ErrorCode,
+			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);

hal_led_set_bus.h

@@ -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

hal_sbus_in.c

@@ -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 */
 

hal_sbus_in.tlc

@@ -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);
 

hal_sbus_in_bus.h

@@ -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

template/hal_led_set_wrapper.c

@@ -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,
+void hal_led_set_Outputs_wrapper(const HAL_led_color_t *color,
-			real_T *ErrorCode,
+			int32_T *ErrorCode,
 			const uint8_T *id, const int_T p_width0)
 {
 /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */

template/hal_sbus_in_wrapper.c

@@ -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)
 {