diff --git a/B3_AP/hal_ai_wrapper.c b/B3_AP/hal_ai_wrapper.c
new file mode 100644
index 0000000..c442421
--- /dev/null
+++ b/B3_AP/hal_ai_wrapper.c
@@ -0,0 +1,85 @@
+
+/*
+ * 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"
+#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.
+    */
+    // TODO set analog inputs
+	  for (int_T i=0; i<y_width; ++i)
+	  {
+		  if (start_idx[0] + i <ADC_CH_NUM)
+		  {
+		      AI[i] = adc_values_v[start_idx[0]+i]*1000;
+		  }
+	  }
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/B3_AP/hal_di_wrapper.c b/B3_AP/hal_di_wrapper.c
new file mode 100644
index 0000000..30b78a8
--- /dev/null
+++ b/B3_AP/hal_di_wrapper.c
@@ -0,0 +1,84 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#include "rtwtypes.h"
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+//#include "param_mgr.h"
+#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_T i=0;i<y_width;++i)
+    {
+        if (start_idx[0]+i < GPIO_READPIN_SIZE)
+        {
+          DI[i] = GPIO_ReadPin(start_idx[0]+i);
+        }
+    }
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/B3_AP/hal_do_wrapper.c b/B3_AP/hal_do_wrapper.c
new file mode 100644
index 0000000..5fd22ef
--- /dev/null
+++ b/B3_AP/hal_do_wrapper.c
@@ -0,0 +1,85 @@
+
+/*
+ * 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"
+#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_T i=0;i<u_width;++i)
+    {
+        if (start_idx[0]+i < GPIO_WRITEPIN_SIZE)
+        {
+          GPIO_WritePin(start_idx[0]+i, DO[i]);
+        }
+    }
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/B3_AP/hal_pwm_in_wrapper.c b/B3_AP/hal_pwm_in_wrapper.c
new file mode 100644
index 0000000..9461422
--- /dev/null
+++ b/B3_AP/hal_pwm_in_wrapper.c
@@ -0,0 +1,86 @@
+
+/*
+ * 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"
+#include <stdint.h>
+extern uint16_t RPM[9];
+#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
+	  int_T i;
+    /*
+ * input *pwm* from pwm devices from *start_idx* to *start_idx*+y_width-1.
+ * 
+ * ErrorCode - return zero on success, otherwise nonzero on failures.
+ */
+	  for (i = 0; i< y_width; ++i)
+	  {
+		  if (start_idx[0]+i < 9)
+		  {
+		      pwm[i] = RPM[start_idx[0]+i];
+		  }
+	  }
+    ErrorCode[0] = 0;
+#endif
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/B3_AP/hal_pwm_out_wrapper.c b/B3_AP/hal_pwm_out_wrapper.c
new file mode 100644
index 0000000..ff3a9e7
--- /dev/null
+++ b/B3_AP/hal_pwm_out_wrapper.c
@@ -0,0 +1,105 @@
+
+/*
+ * 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"
+#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
+void get_pwm0peroid(param_value_ptr_t p)
+{
+  //TODO
+  p.I[0] = 400u;
+}
+
+void set_pwm0peroid(param_value_ptr_t p)
+{
+  uint32_t peroid_req;
+  peroid_req = p.I[0];
+  //TODO
+}
+#endif
+
+int is_pwm_out_init = 0;
+
+void pwm_out_init()
+{
+  if (!is_pwm_out_init)
+  {
+#ifdef HAL_IMPL
+    //TODO
+    param_prop p;
+    strncpy(p.name, "pwm_peroid_g0", 16);
+    p.val_ptr.s = NULL;
+    p.getter_ptr = &get_pwm0peroid;
+    p.setter_ptr = &set_pwm0peroid;
+    p.typ = PARAM_TYPE_UINT32;
+    //param_mgr_regist(&p);
+    is_pwm_out_init = 1;
+#endif
+  }
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_pwm_out_Start_wrapper(void)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+pwm_out_init();
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_pwm_out_Outputs_wrapper(const uint16_T *pwm,
+			const uint16_T *start_idx,
+			int32_T *ErrorCode,
+			const int_T u_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
+  if (is_pwm_out_init)
+  {
+#ifdef HAL_IMPL
+    /*
+ * output *pwm* to pwm devices from *start_idx* to *start_idx*+u_width-1.
+ * 
+ * ErrorCode - return zero on success, otherwise nonzero on failures.
+ */
+	  for (int 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 */
+}
+
+
diff --git a/B3_AP/hal_sbus_in_wrapper.c b/B3_AP/hal_sbus_in_wrapper.c
new file mode 100644
index 0000000..6eac5f6
--- /dev/null
+++ b/B3_AP/hal_sbus_in_wrapper.c
@@ -0,0 +1,92 @@
+
+/*
+ * 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"
+#include "sbus_conn.h"
+#include <string.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
+      sbus->valid = sbus_in.valid;
+      sbus->seq = sbus_in.seq;
+      sbus->id = id[0];
+      memcpy(sbus->channels, sbus_in.ch, sizeof(sbus->channels));
+      ErrorCode[0] = 0;
+#endif
+    }
+    break;
+  }
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/B3_AP/hal_uart_in_wrapper.c b/B3_AP/hal_uart_in_wrapper.c
new file mode 100644
index 0000000..143a4e9
--- /dev/null
+++ b/B3_AP/hal_uart_in_wrapper.c
@@ -0,0 +1,134 @@
+
+/*
+ * 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"
+
+extern uint8_t queue_in[8][256];
+extern uint8_t queue_hdr[8];
+extern uint8_t queue_tal[8];
+#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(&uart1_RS422_1_rx, Data, y_width);
+        	ErrorCode[0] = 0;
+            break;
+        case 1:
+        	Data_len[0] = UART_RX_FIFO_read(&uart2_RS422_2_rx, Data, y_width);
+        	ErrorCode[0] = 0;
+            break;
+        case 2:
+        	Data_len[0] = UART_RX_FIFO_read(&uart3_IMU_NAV_rx, Data, y_width);
+        	ErrorCode[0] = 0;
+            break;
+        case 3:
+        	Data_len[0] = UART_RX_FIFO_read(&uart4_TTL_1_rx, Data, y_width);
+        	ErrorCode[0] = 0;
+            break;
+        case 4:
+        	Data_len[0] = UART_RX_FIFO_read(&uart5_STORE_rx, Data, y_width);
+        	ErrorCode[0] = 0;
+            break;
+        case 5:
+        	Data_len[0] = UART_RX_FIFO_read(&uart6_RS485_1_rx, Data, y_width);
+        	ErrorCode[0] = 0;
+            break;
+        case 6:
+        	Data_len[0] = UART_RX_FIFO_read(&uart7_RS232_1_rx, Data, y_width);
+        	ErrorCode[0] = 0;
+            break;
+        case 7:
+        	Data_len[0] = UART_RX_FIFO_read(&uart8_RS232_2_rx, Data, y_width);
+        	ErrorCode[0] = 0;
+            break;
+        case 8:
+        case 9:
+        case 10:
+        case 11:
+        case 12:
+        case 13:
+        case 14:
+        case 15:
+			{
+				int id = uart_id[0]-8;
+				Data_len[0] = 0;
+				while (queue_tal[id] != queue_hdr[id])
+				{
+					Data[Data_len[0]++] = queue_in[id][queue_tal[id]++];
+				}
+
+			}
+        	ErrorCode[0] = 0;
+        	break;
+    }
+#else
+/* dummy function for generate mex file for sim*/
+Data_len[0] = 0u;
+ErrorCode[0] = 0;
+#endif
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+
diff --git a/B3_AP/hal_uart_out_wrapper.c b/B3_AP/hal_uart_out_wrapper.c
new file mode 100644
index 0000000..1746b50
--- /dev/null
+++ b/B3_AP/hal_uart_out_wrapper.c
@@ -0,0 +1,152 @@
+
+/*
+ * 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"
+#include "spi_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 */
+ 
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void hal_uart_out_Start_wrapper(const uint8_T *uart_id, const int_T p_width0)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+   //initialize_uart_device(uart_id[0]);
+#endif
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void hal_uart_out_Outputs_wrapper(const uint8_T *buff,
+			const uint16_T *len,
+			const uint8_T *sep,
+			int32_T *ErrorCode,
+			const uint8_T *uart_id, const int_T p_width0,
+			const int_T u_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef HAL_IMPL
+/* ***********************************************
+ * push all data to this uart output queue; 
+ *
+ * inputs:
+ * buff - data array to be sent
+ * len[0] - available length in the data array
+ * sep[0] - it means the data array updated when sep[0] changed,
+ * uart_id[0] - uart FIFO device which is required to send data 
+ *
+ * output:
+ * ErrorCode[0] - return zero for success, others for failail.
+ *
+ * constant:
+ * u_width - the maximum size of buff, do not read buff out of range.
+ *************************************************/
+ErrorCode[0] = -1;
+static uint8_T seq_last[16];
+    switch (uart_id[0])
+    {
+    case 0:
+    	if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart1_RS422_1_tx, (uint8_t *)buff, len[0]))
+    	{
+    		seq_last[uart_id[0]] = sep[0];
+            ErrorCode[0] = 0;
+        }
+        break;
+    case 1:
+    	if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart2_RS422_2_tx, (uint8_t *)buff, len[0]))
+    	{
+    		seq_last[uart_id[0]] = sep[0];
+            ErrorCode[0] = 0;
+        }
+        break;
+    case 2:
+    	if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart3_DBG_tx, (uint8_t *)buff, len[0]))
+    	{
+    		seq_last[uart_id[0]] = sep[0];
+            ErrorCode[0] = 0;
+        }
+        break;
+    case 3:
+    	if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart4_TTL_1_tx, (uint8_t *)buff, len[0]))
+    	{
+    		seq_last[uart_id[0]] = sep[0];
+            ErrorCode[0] = 0;
+        }
+        break;
+    case 4:
+    	if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart5_STORE_tx, (uint8_t *)buff, len[0]))
+    	{
+    		seq_last[uart_id[0]] = sep[0];
+            ErrorCode[0] = 0;
+        }
+        break;
+    case 5:
+    	if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart6_RS485_1_tx, (uint8_t *)buff, len[0]))
+    	{
+    		seq_last[uart_id[0]] = sep[0];
+            ErrorCode[0] = 0;
+        }
+        break;
+    case 6:
+    	if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart7_RS232_1_tx, (uint8_t *)buff, len[0]))
+    	{
+    		seq_last[uart_id[0]] = sep[0];
+            ErrorCode[0] = 0;
+        }
+        break;
+    case 7:
+    	if (sep[0] != seq_last[uart_id[0]] && UART_TX_FIFO_write(&uart8_RS232_2_tx, (uint8_t *)buff, len[0]))
+    	{
+    		seq_last[uart_id[0]] = sep[0];
+            ErrorCode[0] = 0;
+        }
+        break;
+    case 8:
+    case 9:
+    case 10:
+    case 11:
+    case 12:
+    case 13:
+    case 14:
+    case 15:
+    	if (sep[0] != seq_last[uart_id[0]])
+    	{
+    		SPI_Bridge_pack(&bdg, uart_id[0]-7, (uint8_t *)buff, len[0], 1);
+    		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 */
+}
+
+