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This commit is contained in:
matt
2020-10-18 19:46:38 +08:00
parent 8548865b0f
commit 90ed1af184
18 changed files with 2038 additions and 0 deletions
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X7/hal_3axis_magn_wrapper.c
+131
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/*
* Include Files
*
*/
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif
#include "hal_api.h"
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
#include "spi_devs.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 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;
case 1:
if (!magn_inited[1])
{
#ifdef HAL_IMPL
// TODO initialize 3axis-magn No.1
magn_inited[1] = 1;
#endif
}
break;
case 2:
if (!magn_inited[2])
{
#ifdef HAL_IMPL
// TODO initialize 3axis-magn No.2
magn_inited[2] = 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
if (cps_rm3100.success)
{
magn->x = cps_rm3100.magx;
magn->y = cps_rm3100.magy;
magn->z = cps_rm3100.magz;
magn->seq = cps_rm3100.seq;
ErrorCode[0] = 0;
}
else
ErrorCode[0] = -1;
#endif
}
break;
case 1:
if (magn_inited[1])
{
#ifdef HAL_IMPL
ErrorCode[0] = -1;
#endif
}
break;
case 2:
if (magn_inited[2])
{
#ifdef HAL_IMPL
ErrorCode[0] = -1;
#endif
}
break;
default:
break;
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_6axis_imu_wrapper.c
+176
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/*
* Include Files
*
*/
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif
#include "hal_api.h"
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
#include "spi_devs.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 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;
case 1:
if (!imu_inited[1])
{
#ifdef HAL_IMPL
// TODO initialize 6axis-IMU No.1
imu_inited[1] = 1;
#endif
}
break;
case 2:
if (!imu_inited[2])
{
#ifdef HAL_IMPL
// TODO initialize 6axis-IMU No.2
imu_inited[2] = 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
// read 6axis-IMU
if (imu_adis1647x.success)
{
acc->a[0] = imu_adis1647x.accel[0];
acc->a[1] = imu_adis1647x.accel[1];
acc->a[2] = imu_adis1647x.accel[2];
gyro->v[0] = imu_adis1647x.gyro[0];
gyro->v[1] = imu_adis1647x.gyro[1];
gyro->v[2] = imu_adis1647x.gyro[2];
acc->seq = imu_adis1647x.seq;
gyro->seq = imu_adis1647x.seq;
acc->temperature = imu_adis1647x.temp;
gyro->temperature = imu_adis1647x.temp;
ErrorCode[0] = 0;
}
else if (imu_icm20689.success)
{
acc->a[0] = imu_icm20689.accel[0];
acc->a[1] = imu_icm20689.accel[1];
acc->a[2] = imu_icm20689.accel[2];
gyro->v[0] = imu_icm20689.gyro[0];
gyro->v[1] = imu_icm20689.gyro[1];
gyro->v[2] = imu_icm20689.gyro[2];
acc->seq = imu_icm20689.seq;
gyro->seq = imu_icm20689.seq;
acc->temperature = imu_icm20689.temp_degc;
gyro->temperature = imu_icm20689.temp_degc;
ErrorCode[0] = 0;
}
else
ErrorCode[0] = -1;
#endif
}
break;
case 1:
if (imu_inited[1])
{
#ifdef HAL_IMPL
// read 6axis-IMU
if (imu_bmi088.success)
{
acc->a[0] = imu_bmi088.accel[0];
acc->a[1] = imu_bmi088.accel[1];
acc->a[2] = imu_bmi088.accel[2];
gyro->v[0] = imu_bmi088.gyro[0];
gyro->v[1] = imu_bmi088.gyro[1];
gyro->v[2] = imu_bmi088.gyro[2];
acc->seq = imu_bmi088.accel_seq;
gyro->seq = imu_bmi088.gyro_seq;
acc->temperature = imu_bmi088.temp_degc;
gyro->temperature = imu_bmi088.temp_degc;
ErrorCode[0] = 0;
}
else
ErrorCode[0] = -1;
#endif
}
break;
case 2:
if (imu_inited[2])
{
#ifdef HAL_IMPL
// TODO read 6axis-IMU
ErrorCode[0] = -1;
#endif
}
break;
default:
break;
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_ai_wrapper.c
+88
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/*
* 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 "adc_devs.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.
*/
for (int i=0; i<y_width;++i)
{
int ch = i+start_idx[0];
if (ch < ADC_CH_NUM && ch >= 0)
{
AI[i] = adc_values_v[ch]*1000;
}
else
{
AI[i] = 0;
}
}
ErrorCode[0] = 0;
#endif
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_ao_wrapper.c
+77
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/*
* 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 */
}
X7/hal_clock_wrapper.c
+77
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/*
* 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 */
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;
if(typ[0] == 0)
{
boot_time[0] = get_milliseconds();
}
else if(typ[0] == 1)
{
boot_time[0] = get_mircoseconds();
}
#endif
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_di_wrapper.c
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/*
* Include Files
*
*/
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
#include "gpio_devs.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.
*/
for (int i=0; i<y_width;++i)
{
DI[i] = GPIO_ReadPin(start_idx[0]+i);
}
ErrorCode[0] = 0;
#endif
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_do_wrapper.c
+81
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/*
* 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 "gpio_devs.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.
*/
for (int i=0; i<y_width;++i)
{
GPIO_WritePin(start_idx[0]+i, DO[i]);
}
ErrorCode[0] = 0;
#endif
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_gps_wrapper.c
+139
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/*
* Include Files
*
*/
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif
#include "hal_api.h"
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
#include "uart_fifos.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 gps_inited[2];
void initialize_gps(uint8_t id)
{
switch (id)
{
case 0:
if (!gps_inited[0])
{
#ifdef HAL_IMPL
gps_inited[0] = 1;
#endif
}
break;
case 1:
if (!gps_inited[1])
{
#ifdef HAL_IMPL
gps_inited[1] = 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[id[0]])
{
#ifdef HAL_IMPL
gps->latitude = g_Ublox.LatDeg*1e-7;
gps->longitude = g_Ublox.LonDeg*1e-7;
gps->altitude = g_Ublox.msl*0.001f;
gps->vel_north = g_Ublox.vn*0.001f;
gps->vel_east = g_Ublox.ve*0.001f;
gps->vel_down = g_Ublox.vd*0.001f;
gps->heading = 0; ///< Unit is radian, valid when fixtype_att>1
gps->pitch = 0; ///< Unit is radian, valid when fixtype_att>1
gps->h_acc = g_Ublox.hacc*0.001f;
gps->v_acc = g_Ublox.vacc*0.001f;
gps->vel_acc = g_Ublox.sacc*0.001f;
gps->att_acc = g_Ublox.cacc/57.3f;
gps->TOW = g_Ublox.towms;
gps->WN = (g_Ublox.utc.year%100)*10000+g_Ublox.utc.month*100+g_Ublox.utc.day;
gps->seq = g_Ublox.seq;
gps->seq_att = 0;
gps->HDOP = g_Ublox.pdop*100; //RTK传过来的只有pdop
gps->VDOP = g_Ublox.pdop*100; //RTK传过来的只有pdop
if (g_Ublox.RtkType & 0x01)
{
gps->fixtype = g_Ublox.GpsType;
}
else
{
gps->fixtype = 0;
}
gps->fixtype_att = 0; //普通GPS没意义 赋值0
gps->satnum = g_Ublox.SvNum;
ErrorCode[0] = 0;
#endif
}
else
ErrorCode[0] = 1;
break;
case 1:
if (gps_inited[1])
{
#ifdef HAL_IMPL
ErrorCode[0] = 1;
#endif
}
break;
default:
break;
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_ins_wrapper.c
+119
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/*
* Include Files
*
*/
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif
#include "hal_api.h"
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
#ifdef HAL_IMPL
/* TODO include files */
#include "fuckQvar.h"
uint32_t g_ins_seq = 0;
#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
ins->latitude = Pack_EKF[EKF_for_FC].alldata.gps_latti; ///< Unit is degree
ins->longitude = Pack_EKF[EKF_for_FC].alldata.gps_longi;
ins->altitude = Pack_EKF[EKF_for_FC].alldata.gps_high;
ins->vel_north = Pack_EKF[EKF_for_FC].xEKF[3]; ///< Unit is meter per second, in NED axes
ins->vel_east = Pack_EKF[EKF_for_FC].xEKF[4];
ins->vel_down = Pack_EKF[EKF_for_FC].xEKF[5];
ins->roll = Pack_EKF[EKF_for_FC].alldata.true_roll/ deg; ///< Unit is radian
ins->pitch = Pack_EKF[EKF_for_FC].alldata.true_pitch/ deg;
ins->yaw = Pack_EKF[EKF_for_FC].alldata.true_yaw / deg;
ins->seq = g_ins_seq;
/** ÏÂÃæÕ⼸Ïî´ýʵÏÖ */
ins->status = 0xff; ///< working status
///< bit0 - attitude valid
///< bit1 - speed valid
///< bit2 - position valid
///< bit7 - calibration
ins->integration_status = 0xff; ///< integration method
///< 0 - pure Inertial mode
///< bit0(1) - GPS assist
///< bit1(2) - baro assist
///< bit2(4) - radar assist
ins->BIT = 0; ///< health status 0-health; otherwise-unhealth.
ErrorCode[0] = 0;
#endif
}
break;
default:
break;
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_led_set_wrapper.c
+91
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@@ -0,0 +1,91 @@
/*
* 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"
extern void DrvNuaaHalLedConfigSet(int TailRed,int TailGreen ,int TailBlue);
#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] = 0;
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
DrvNuaaHalLedConfigSet(color->r, color->g, color->b);
ErrorCode[0] = 0;
#endif
}
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_pressure_wrapper.c
+135
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@@ -0,0 +1,135 @@
/*
* 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 "spi_devs.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 pres_inited[3];
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;
case 1:
if (!pres_inited[1])
{
#ifdef HAL_IMPL
// TODO initialize pressure No.0
pres_inited[1] = 1;
#endif
}
break;
case 2:
if (!pres_inited[2])
{
#ifdef HAL_IMPL
// TODO initialize pressure No.0
pres_inited[2] = 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] = -1;
#endif
}
break;
case 1:
if (pres_inited[id[0]])
{
#ifdef HAL_IMPL
pres->pressure = baro_ms5611_1.pressure;
pres->temperature = baro_ms5611_1.temp*0.01f;
pres->seq = baro_ms5611_1.seq;
ErrorCode[0] = 0;
#endif
}
break;
case 2:
if (pres_inited[id[0]])
{
#ifdef HAL_IMPL
pres->pressure = baro_ms5611_2.pressure;
pres->temperature = baro_ms5611_2.temp*0.01f;
pres->seq = baro_ms5611_2.seq;
ErrorCode[0] = 0;
#endif
}
break;
default:
break;
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_pwm_in_wrapper.c
+77
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@@ -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 */
}
X7/hal_pwm_out_wrapper.c
+84
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@@ -0,0 +1,84 @@
/*
* 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 "tim_devs.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
#endif
int is_pwm_out_init = 0;
void pwm_out_init()
{
if (!is_pwm_out_init)
{
#ifdef HAL_IMPL
//TODO
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, othedrwise nonzero on failures.
*/
for(uint8_T i = 0; i < u_width; ++i)
{
set_pwm(start_idx[0]+i, pwm[i]);
}
ErrorCode[0] = 0;
#endif
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_rec_wrapper.c
+77
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@@ -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_pre.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 */
static void pack(uint8_T *pkg, uint16_T *len, const int_T y_width, uint8_T *ts, uint8_T *src, uint16_T length)
{
uint8_T sum;
int16_T i,j;
sum = 0;
for (i = 0; i < 4; ++i)
{
pkg[i] = ts[i];
sum += ts[i];
}
if (length > y_width - 5)
{
length = y_width - 5;
}
for (i = 0, j = 4; i < length; ++i,++j)
{
pkg[j] = src[i];
sum += src[i];
}
pkg[j] = sum;
len[0] = length+4;
}
/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
/*
* Output function
*
*/
void hal_rec_Outputs_wrapper(const uint8_T *id,
const uint32_T *time_stamp,
uint8_T *pkg,
uint16_T *len,
const int_T y_width)
{
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
switch (id[0])
{
#ifdef HAL_IMPL
case 1:
pack(pkg, len, y_width, (uint8_T *)time_stamp, (uint8_T *)&rec_hi, sizeof(rec_hi));
break;
#endif
default:
pack(pkg, len, y_width, (uint8_T *)time_stamp, NULL, 0u);
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_sbus_in_wrapper.c
+99
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@@ -0,0 +1,99 @@
/*
* 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 "uart_fifos.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
sbus_in.valid;
if(sbus_in.valid)
{
for(uint8_T i = 0; i < 18; i++)
{
sbus->channels[i] = sbus_in.ch[i];
}
sbus->seq = sbus_in.seq;
sbus->valid = 1;
ErrorCode[0] = 0;
}
else
{
ErrorCode[0] = 1;
sbus->valid = 0;
}
#endif
}
break;
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
X7/hal_sen_read_wrapper.c
+275
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@@ -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 */
}
X7/hal_uart_in_wrapper.c
+95
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@@ -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 "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:
Data_len[0] = UART_RX_FIFO_read(&uart2_TELEM1_rx, Data, y_width);
ErrorCode[0] = 0;
break;
case 1:
Data_len[0] = UART_RX_FIFO_read(&uart6_TELEM2_rx, Data, y_width);
ErrorCode[0] = 0;
break;
case 2:
Data_len[0] = UART_RX_FIFO_read(&uart3_rx, 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 */
}
X7/hal_uart_out_wrapper.c
+137
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@@ -0,0 +1,137 @@
/*
* 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 "uart_fifos.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 */
#define REC_ZONE_LEN (2000)
extern uint8_t rec_zone[2][REC_ZONE_LEN];
extern int rec_sel;
extern int rec_head[2];
static int FAT_REC_write(uint8_t *buff, const uint16_t len)
{
if (rec_head[rec_sel] < REC_ZONE_LEN)
{
for (int i=0u;i<len;++i)
{
rec_zone[rec_sel][rec_head[rec_sel]++] = buff[i];
if (rec_head[rec_sel] >= REC_ZONE_LEN)
{
break;
}
}
}
return 0;
}
/* %%%-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(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;
static uint8_T seq_last[16];
switch (uart_id[0])
{
case 0:
// TODO write all data to fifo
if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart2_TELEM1_tx, (uint8_t *)buff, len[0]))
{
seq_last[uart_id[0]] = sep[0];
ErrorCode[0] = 0;
}
break;
case 1:
// TODO write all data to fifo
if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart6_TELEM2_tx, (uint8_t *)buff, len[0]))
{
seq_last[uart_id[0]] = sep[0];
ErrorCode[0] = 0;
}
break;
case 2:
// TODO write all data to fifo
if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart3_tx, (uint8_t *)buff, len[0]))
{
seq_last[uart_id[0]] = sep[0];
ErrorCode[0] = 0;
}
break;
case 4:
// TODO write all data to fifo
if (sep[0] != seq_last[uart_id[0]] && !FAT_REC_write((uint8_t *)buff, len[0]))
{
seq_last[uart_id[0]] = sep[0];
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 */
}