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support two boards

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This commit is contained in:
matt
2020-09-06 22:23:09 +08:00
parent d059b0d584
commit d073c6be9c
12 changed files with 1130 additions and 0 deletions
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B3_AP_lite/hal_ai_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 "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 */
}
B3_AP_lite/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 "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 */
}
B3_AP_lite/hal_do_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 "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 */
}
B3_AP_lite/hal_pwm_in_wrapper.c
+91
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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 "tim_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_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)
{
switch (start_idx[0]+i)
{
case 0:
pwm[i] = RPM1.pps_acc;
break;
case 1:
pwm[i] = RPM2.pps_acc;
break;
default:
pwm[i] = 0;
}
}
ErrorCode[0] = 0;
#endif
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
B3_AP_lite/hal_pwm_out_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 "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 */
int is_pwm_out_init = 0;
void pwm_out_init()
{
if (!is_pwm_out_init)
{
#ifdef HAL_IMPL
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 */
}
B3_AP_lite/hal_uart_in_wrapper.c
+103
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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 "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(&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 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_IMU_NAV_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;
}
#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 */
}
B3_AP_lite/hal_uart_out_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 "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 */
/* %%%-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 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_IMU_NAV_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;
}
#else
/* dummy function for generate mex file for sim*/
ErrorCode[0] = 0;
#endif
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
fmc41/hal_ai_wrapper.c
+85
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@@ -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 */
}
fmc41/hal_di_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 "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 */
}
fmc41/hal_do_wrapper.c
+85
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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"
#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 */
}
fmc41/hal_uart_in_wrapper.c
+103
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@@ -0,0 +1,103 @@
/*
* 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(&uart1_RS422_1_rx, Data, y_width);
ErrorCode[0] = 0;
break;
case 1:
Data_len[0] = UART_RX_FIFO_read(&uart2_RS232_1_rx, Data, y_width);
ErrorCode[0] = 0;
break;
case 2:
Data_len[0] = UART_RX_FIFO_read(&uart3_RS422_2_rx, Data, y_width);
ErrorCode[0] = 0;
break;
case 3:
Data_len[0] = UART_RX_FIFO_read(&uart4_rx, Data, y_width);
ErrorCode[0] = 0;
break;
case 5:
Data_len[0] = UART_RX_FIFO_read(&uart6_RS422_3_rx, Data, y_width);
ErrorCode[0] = 0;
break;
case 6:
Data_len[0] = UART_RX_FIFO_read(&uart7_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 */
}
fmc41/hal_uart_out_wrapper.c
+122
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@@ -0,0 +1,122 @@
/*
* 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 */
/* %%%-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[8];
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_RS232_1_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_RS422_2_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_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_RS422_3_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_tx, (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 */
}