hm/slhal
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
736afcd87ce50c44f4e8858a53c93c7ba0271d8c
slhal/hal_can_transfer.c
T
matt 29da9c0a49 ✨feat: add can transfer
2020-09-17 21:47:37 +08:00

459 lines
15 KiB
C
Raw Blame History

/*
* File: hal_can_transfer.c
*
*
* --- THIS FILE GENERATED BY S-FUNCTION BUILDER: 3.0 ---
*
* This file is an S-function produced by the S-Function
* Builder which only recognizes certain fields. Changes made
* outside these fields will be lost the next time the block is
* used to load, edit, and resave this file. This file will be overwritten
* by the S-function Builder block. If you want to edit this file by hand,
* you must change it only in the area defined as:
*
* %%%-SFUNWIZ_defines_Changes_BEGIN
* #define NAME 'replacement text'
* %%% SFUNWIZ_defines_Changes_END
*
* DO NOT change NAME--Change the 'replacement text' only.
*
* For better compatibility with the Simulink Coder, the
* "wrapper" S-function technique is used. This is discussed
* in the Simulink Coder's Manual in the Chapter titled,
* "Wrapper S-functions".
*
* -------------------------------------------------------------------------
* | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
* -------------------------------------------------------------------------
*
* Created: Thu Sep 17 18:10:49 2020
*/
#define S_FUNCTION_LEVEL 2
#define S_FUNCTION_NAME hal_can_transfer
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
/* %%%-SFUNWIZ_defines_Changes_BEGIN --- EDIT HERE TO _END */
#define NUM_INPUTS 1
/* Input Port 0 */
#define IN_PORT_0_NAME msg
#define INPUT_0_WIDTH 1
#define INPUT_DIMS_0_COL 1
#define INPUT_0_DTYPE real_T
#define INPUT_0_COMPLEX COMPLEX_NO
#define IN_0_FRAME_BASED FRAME_NO
#define IN_0_BUS_BASED 1
#define IN_0_BUS_NAME CAN_MESSAGE_BUS
#define IN_0_DIMS 1-D
#define INPUT_0_FEEDTHROUGH 1
#define IN_0_ISSIGNED 0
#define IN_0_WORDLENGTH 8
#define IN_0_FIXPOINTSCALING 1
#define IN_0_FRACTIONLENGTH 9
#define IN_0_BIAS 0
#define IN_0_SLOPE 0.125
#define NUM_OUTPUTS 1
/* Output Port 0 */
#define OUT_PORT_0_NAME ErrorCode
#define OUTPUT_0_WIDTH 1
#define OUTPUT_DIMS_0_COL 1
#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
#define OUT_0_BUS_NAME
#define OUT_0_DIMS 1-D
#define OUT_0_ISSIGNED 1
#define OUT_0_WORDLENGTH 8
#define OUT_0_FIXPOINTSCALING 1
#define OUT_0_FRACTIONLENGTH 3
#define OUT_0_BIAS 0
#define OUT_0_SLOPE 0.125
#define NPARAMS 1
/* Parameter 0 */
#define PARAMETER_0_NAME canbus_id
#define PARAMETER_0_DTYPE uint8_T
#define PARAMETER_0_COMPLEX COMPLEX_NO
#define SAMPLE_TIME_0 INHERITED_SAMPLE_TIME
#define NUM_DISC_STATES 0
#define DISC_STATES_IC [0]
#define NUM_CONT_STATES 0
#define CONT_STATES_IC [0]
#define SFUNWIZ_GENERATE_TLC 1
#define SOURCEFILES "__SFB__"
#define PANELINDEX 8
#define USE_SIMSTRUCT 0
#define SHOW_COMPILE_STEPS 0
#define CREATE_DEBUG_MEXFILE 0
#define SAVE_CODE_ONLY 0
#define SFUNWIZ_REVISION 3.0
/* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
#include "simstruc.h"
#include "hal_can_transfer_bus.h"
/*
* Code Generation Environment flag (simulation or standalone target).
*/
static int_T isSimulationTarget;
/* Utility function prototypes. */
static int_T GetRTWEnvironmentMode(SimStruct *S);
/* Macro used to check if Simulation mode is set to accelerator */
#define isBusDWorkPresent ( ( ( !ssRTWGenIsCodeGen(S) || isSimulationTarget ) && !ssIsExternalSim(S) ) || ssIsRapidAcceleratorActive(S) )
typedef struct {
int_T offset;
int_T elemSize;
int_T numElems;
} busInfoStruct;
#define PARAM_DEF0(S) ssGetSFcnParam(S, 0)
#define IS_PARAM_UINT8(pVal) (mxIsNumeric(pVal) && !mxIsLogical(pVal) &&\
!mxIsEmpty(pVal) && !mxIsSparse(pVal) && !mxIsComplex(pVal) && mxIsUint8(pVal))
extern void hal_can_transfer_Outputs_wrapper(const CAN_MESSAGE_BUS *msg,
int32_T *ErrorCode,
const uint8_T *canbus_id, const int_T p_width0);
/*====================*
* S-function methods *
*====================*/
#define MDL_CHECK_PARAMETERS
#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
/* Function: mdlCheckParameters =============================================
* Abstract:
* Verify parameter definitions and types.
*/
static void mdlCheckParameters(SimStruct *S)
{
int paramIndex = 0;
bool invalidParam = false;
/* All parameters must match the S-function Builder Dialog */
{
const mxArray *pVal0 = ssGetSFcnParam(S, 0);
if (!IS_PARAM_UINT8(pVal0)) {
invalidParam = true;
paramIndex = 0;
goto EXIT_POINT;
}
}
EXIT_POINT:
if (invalidParam) {
char parameterErrorMsg[1024];
sprintf(parameterErrorMsg, "The data type and or complexity of parameter %d does not match the "
"information specified in the S-function Builder dialog. "
"For non-double parameters you will need to cast them using int8, int16, "
"int32, uint8, uint16, uint32 or boolean.", paramIndex + 1);
ssSetErrorStatus(S, parameterErrorMsg);
}
return;
}
#endif /* MDL_CHECK_PARAMETERS */
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(inputDimsInfo);
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS); /* Number of expected parameters */
#if defined(MATLAB_MEX_FILE)
if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
mdlCheckParameters(S);
if (ssGetErrorStatus(S) != NULL) {
return;
}
} else {
return; /* Parameter mismatch will be reported by Simulink */
}
#endif
ssSetArrayLayoutForCodeGen(S, SS_COLUMN_MAJOR);
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
/* Register CAN_MESSAGE_BUS datatype for Input port 0 */
#if defined(MATLAB_MEX_FILE)
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY)
{
DTypeId dataTypeIdReg;
ssRegisterTypeFromNamedObject(S, "CAN_MESSAGE_BUS", &dataTypeIdReg);
if(dataTypeIdReg == INVALID_DTYPE_ID) return;
ssSetInputPortDataType(S, 0, dataTypeIdReg);
}
#endif
ssSetInputPortWidth(S, 0, INPUT_0_WIDTH);
ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX);
ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH);
ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/
ssSetBusInputAsStruct(S, 0, IN_0_BUS_BASED);
ssSetInputPortBusMode(S, 0, SL_BUS_MODE);
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
ssSetOutputPortDataType(S, 0, SS_INT32);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
if (ssRTWGenIsCodeGen(S)) {
isSimulationTarget = GetRTWEnvironmentMode(S);
if (isSimulationTarget == -1) {
ssSetErrorStatus(S, " Unable to determine a valid code generation environment mode");
return;
}
isSimulationTarget |= ssRTWGenIsModelReferenceSimTarget(S);
}
/* Set the number of dworks */
if (!isBusDWorkPresent) {
if (!ssSetNumDWork(S, 0)) return;
} else {
if (!ssSetNumDWork(S, 1)) return;
}
if (isBusDWorkPresent) {
/*
* Configure the dwork 0 (msgBUS)
*/
#if defined(MATLAB_MEX_FILE)
if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) {
DTypeId dataTypeIdReg;
ssRegisterTypeFromNamedObject(S, "CAN_MESSAGE_BUS", &dataTypeIdReg);
if (dataTypeIdReg == INVALID_DTYPE_ID) return;
ssSetDWorkDataType(S, 0, dataTypeIdReg);
}
#endif
ssSetDWorkUsageType(S, 0, SS_DWORK_USED_AS_DWORK);
ssSetDWorkName(S, 0, "msgBUS");
ssSetDWorkWidth(S, 0, DYNAMICALLY_SIZED);
ssSetDWorkComplexSignal(S, 0, COMPLEX_NO);
}
ssSetNumPWork(S, 0);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimulinkVersionGeneratedIn(S, "9.2");
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_USE_TLC_WITH_ACCELERATOR |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
/* Function: mdlInitializeSampleTimes =========================================
* Abstract:
* Specifiy the sample time.
*/
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, SAMPLE_TIME_0);
ssSetModelReferenceSampleTimeDefaultInheritance(S);
ssSetOffsetTime(S, 0, 0.0);
}
#define MDL_SET_INPUT_PORT_DATA_TYPE
static void mdlSetInputPortDataType(SimStruct *S, int port, DTypeId dType)
{
ssSetInputPortDataType(S, 0, dType);
}
#define MDL_SET_OUTPUT_PORT_DATA_TYPE
static void mdlSetOutputPortDataType(SimStruct *S, int port, DTypeId dType)
{
ssSetOutputPortDataType(S, 0, dType);
}
#define MDL_SET_DEFAULT_PORT_DATA_TYPES
static void mdlSetDefaultPortDataTypes(SimStruct *S)
{
ssSetInputPortDataType(S, 0, SS_DOUBLE);
ssSetOutputPortDataType(S, 0, SS_DOUBLE);
}
#define MDL_SET_WORK_WIDTHS
#if defined(MDL_SET_WORK_WIDTHS) && defined(MATLAB_MEX_FILE)
static void mdlSetWorkWidths(SimStruct *S)
{
/* Set the width of DWork(s) used for marshalling the IOs */
if (isBusDWorkPresent) {
/* Update dwork 0 */
ssSetDWorkWidth(S, 0, ssGetInputPortWidth(S, 0));
}
{
const char_T *rtParamNames[] = {"P1"};
ssRegAllTunableParamsAsRunTimeParams(S, rtParamNames);
}
}
#endif
#define MDL_START /* Change to #undef to remove function */
#if defined(MDL_START)
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
/* Bus Information */
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
const char *bpath = ssGetPath(S);
DTypeId CAN_MESSAGE_BUSId = ssGetDataTypeId(S, "CAN_MESSAGE_BUS");
busInfoStruct *busInfo = (busInfoStruct *)malloc(14*sizeof(busInfoStruct));
if(busInfo==NULL) {
ssSetErrorStatus(S, "Memory allocation failure");
return;
}
/* Calculate offsets of all primitive elements of the bus */
busInfo[0].offset = dtaGetDataTypeElementOffset(dta, bpath, CAN_MESSAGE_BUSId, 0);
busInfo[0].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
busInfo[0].numElems = 1;
busInfo[1].offset = dtaGetDataTypeElementOffset(dta, bpath, CAN_MESSAGE_BUSId, 1);
busInfo[1].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
busInfo[1].numElems = 1;
busInfo[2].offset = dtaGetDataTypeElementOffset(dta, bpath, CAN_MESSAGE_BUSId, 2);
busInfo[2].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
busInfo[2].numElems = 1;
busInfo[3].offset = dtaGetDataTypeElementOffset(dta, bpath, CAN_MESSAGE_BUSId, 3);
busInfo[3].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
busInfo[3].numElems = 1;
busInfo[4].offset = dtaGetDataTypeElementOffset(dta, bpath, CAN_MESSAGE_BUSId, 4);
busInfo[4].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint32"));
busInfo[4].numElems = 1;
busInfo[5].offset = dtaGetDataTypeElementOffset(dta, bpath, CAN_MESSAGE_BUSId, 5);
busInfo[5].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[5].numElems = 1;
busInfo[6].offset = dtaGetDataTypeElementOffset(dta, bpath, CAN_MESSAGE_BUSId, 6);
busInfo[6].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
busInfo[6].numElems = 8;
ssSetUserData(S, busInfo);
}
#endif /* MDL_START */
/* Function: mdlOutputs =======================================================
*
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
const char *msg = (char *) ssGetInputPortSignal(S, 0);
int32_T *ErrorCode = (int32_T *) ssGetOutputPortRealSignal(S, 0);
const int_T p_width0 = mxGetNumberOfElements(PARAM_DEF0(S));
const uint8_T *canbus_id = (const uint8_T *) mxGetData(PARAM_DEF0(S));
busInfoStruct* busInfo = (busInfoStruct *) ssGetUserData(S);
/* Temporary bus copy declarations */
CAN_MESSAGE_BUS _msgBUS;
/* Copy input bus into temporary structure */
(void) memcpy(&_msgBUS.Extended, msg + busInfo[0].offset, busInfo[0].elemSize * busInfo[0].numElems);
(void) memcpy(&_msgBUS.Length, msg + busInfo[1].offset, busInfo[1].elemSize * busInfo[1].numElems);
(void) memcpy(&_msgBUS.Remote, msg + busInfo[2].offset, busInfo[2].elemSize * busInfo[2].numElems);
(void) memcpy(&_msgBUS.Error, msg + busInfo[3].offset, busInfo[3].elemSize * busInfo[3].numElems);
(void) memcpy(&_msgBUS.ID, msg + busInfo[4].offset, busInfo[4].elemSize * busInfo[4].numElems);
(void) memcpy(&_msgBUS.Timestamp, msg + busInfo[5].offset, busInfo[5].elemSize * busInfo[5].numElems);
(void) memcpy(_msgBUS.Data, msg + busInfo[6].offset, busInfo[6].elemSize * busInfo[6].numElems);
hal_can_transfer_Outputs_wrapper(&_msgBUS, ErrorCode, canbus_id, p_width0);
/* Copy temporary structure into output bus */
}
/* Function: mdlTerminate =====================================================
* Abstract:
* In this function, you should perform any actions that are necessary
* at the termination of a simulation. For example, if memory was
* allocated in mdlStart, this is the place to free it.
*/
static void mdlTerminate(SimStruct *S)
{
/* Free stored bus information */
busInfoStruct *busInfo = (busInfoStruct *) ssGetUserData(S);
if(busInfo != NULL) {
free(busInfo);
}
}
static int_T GetRTWEnvironmentMode(SimStruct *S)
{
int_T status = -1;
mxArray *plhs[1];
mxArray *prhs[1];
mxArray * err;
/*
* Get the name of the Simulink block diagram
*/
prhs[0] = mxCreateString(ssGetModelName(ssGetRootSS(S)));
plhs[0] = NULL;
/*
* Call "isSimulationTarget = rtwenvironmentmode(modelName)" in MATLAB
*/
err = mexCallMATLABWithTrap(1, plhs, 1, prhs, "rtwenvironmentmode");
mxDestroyArray(prhs[0]);
/*
* Set the error status if an error occurred
*/
if (err) {
if (plhs[0]) {
mxDestroyArray(plhs[0]);
plhs[0] = NULL;
}
ssSetErrorStatus(S, "Unknown error during call to 'rtwenvironmentmode'.");
return -1;
}
/*
* Get the value returned by rtwenvironmentmode(modelName)
*/
if (plhs[0]) {
status = (int_T) (mxGetScalar(plhs[0]) != 0);
mxDestroyArray(plhs[0]);
plhs[0] = NULL;
}
return (status);
}
#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
#include "simulink.c" /* MEX-file interface mechanism */
#else
#include "cg_sfun.h" /* Code generation registration function */
#endif
Reference in New Issue View Git Blame Copy Permalink