外部惯导解包校验S_Function添加，固件可以生成

controllers/get_snc_crc32.c

@@ -26,7 +26,7 @@
  * | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
  *  -------------------------------------------------------------------------
  *
- * Created: Tue Jun 03 11:04:51 2025
+ * Created: Fri Jun 13 14:30:40 2025
  */
 
 #define S_FUNCTION_LEVEL               2
@@ -111,12 +111,10 @@
 /*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
 #include "simstruc.h"
 
-extern void get_snc_crc32_Start_wrapper(void);
 extern void get_snc_crc32_Outputs_wrapper(const uint8_T *ucBuffer,
   const uint32_T *u1Count,
   uint32_T *u1CRC,
   const int_T u_0_width);
-extern void get_snc_crc32_Terminate_wrapper(void);
 
 /*====================*
  * S-function methods *
@@ -250,7 +248,6 @@ static void mdlSetDefaultPortDataTypes(SimStruct *S)
  */
 static void mdlStart(SimStruct *S)
 {
-  get_snc_crc32_Start_wrapper();
 }
 
 #endif                                 /*  MDL_START */
@@ -275,7 +272,6 @@ static void mdlOutputs(SimStruct *S, int_T tid)
  */
 static void mdlTerminate(SimStruct *S)
 {
-  get_snc_crc32_Terminate_wrapper();
 }
 
 #ifdef MATLAB_MEX_FILE                 /* Is this file being compiled as a MEX-file? */

controllers/get_snc_crc32.tlc

@@ -0,0 +1,137 @@
+%% File : get_snc_crc32.tlc
+%% Created : Fri Jun 13 14:30:40 2025
+%%
+%% Description: 
+%%   Simulink Coder wrapper functions interface generated for 
+%%   S-function "get_snc_crc32.c".
+%%
+%%         File generated by S-function Builder Block
+%%
+%%   For more information on using the Target Language with the 
+%%   Simulink Coder, see the Target Language Compiler manual
+%%   (under Simulink Coder) in the "Inlining S-Functions"
+%%   chapter under the section and subsection:
+%%     "Writing Block Target Files to Inline S-Functions",
+%%        "Function-Based or Wrappered Code".
+%%
+%implements  get_snc_crc32 "C"
+%% Function: BlockTypeSetup ===================================================
+%%
+%% Purpose:
+%%      Set up external references for wrapper functions in the 
+%%      generated code.
+%%
+%function BlockTypeSetup(block, system) Output
+    %assign uint32Type = LibGetDataTypeNameFromId(::CompiledModel.tSS_UINT32)
+    %assign uint8Type = LibGetDataTypeNameFromId(::CompiledModel.tSS_UINT8)
+    %assign intType = LibGetDataTypeNameFromId(::CompiledModel.tSS_INTEGER)
+
+  %if IsModelReferenceSimTarget() || CodeFormat == "S-Function" || ::isRAccel
+    %assign hFileName = "get_snc_crc32_accel_wrapper"
+    %assign hFileNameMacro = FEVAL("upper", hFileName)
+    %openfile hFile = "%<hFileName>.h"
+    %selectfile hFile
+    #ifndef _%<hFileNameMacro>_H_
+    #define _%<hFileNameMacro>_H_
+
+    #ifdef MATLAB_MEX_FILE
+    #include "tmwtypes.h"
+    #else
+    #include "rtwtypes.h"
+    #endif
+    #ifdef __cplusplus
+    #define SFB_EXTERN_C extern "C"
+    #else
+    #define SFB_EXTERN_C extern
+    #endif
+    SFB_EXTERN_C void get_snc_crc32_Outputs_wrapper_accel(const %<uint8Type> *ucBuffer,
+			const %<uint32Type> *u1Count,
+			%<uint32Type> *u1CRC,
+			const %<intType> u_0_width);
+    #undef SFB_EXTERN_C
+    #endif
+    %closefile hFile
+
+    %assign cFileName = "get_snc_crc32_accel_wrapper"
+    %openfile cFile = "%<cFileName>.c"
+    %selectfile cFile
+    #include <string.h>
+    #ifdef MATLAB_MEX_FILE
+    #include "tmwtypes.h"
+    #else
+    #include "rtwtypes.h"
+    #endif
+    #include "%<hFileName>.h"
+    
+
+    extern void get_snc_crc32_Start_wrapper(void);
+    extern void get_snc_crc32_Outputs_wrapper(const %<uint8Type> *ucBuffer,
+			const %<uint32Type> *u1Count,
+			%<uint32Type> *u1CRC,
+			const %<intType> u_0_width);
+    extern void get_snc_crc32_Terminate_wrapper(void);
+    void get_snc_crc32_Outputs_wrapper_accel(const %<uint8Type> *ucBuffer,
+			const %<uint32Type> *u1Count,
+			%<uint32Type> *u1CRC,
+			const %<intType> u_0_width){
+    get_snc_crc32_Outputs_wrapper(ucBuffer,
+			u1Count,
+			u1CRC,
+			u_0_width);
+    }
+
+    %closefile cFile
+
+    %<LibAddToCommonIncludes("%<hFileName>.h")>
+
+  %else
+  %openfile externs
+
+    #ifdef __cplusplus
+    #define SFB_EXTERN_C extern "C"
+    #else
+    #define SFB_EXTERN_C extern
+    #endif
+
+    SFB_EXTERN_C void get_snc_crc32_Start_wrapper(void);
+
+    SFB_EXTERN_C void get_snc_crc32_Outputs_wrapper(const %<uint8Type> *ucBuffer,
+			const %<uint32Type> *u1Count,
+			%<uint32Type> *u1CRC,
+			const %<intType> u_0_width);
+
+    SFB_EXTERN_C void get_snc_crc32_Terminate_wrapper(void);
+
+    #undef SFB_EXTERN_C
+  %closefile externs
+  %<LibCacheExtern(externs)>
+
+  %endif
+  %%
+%endfunction
+
+
+%% Function: Outputs ==========================================================
+%%
+%% Purpose:
+%%      Code generation rules for mdlOutputs function.
+%%
+%function Outputs(block, system) Output
+  %%
+  %assign pu0 = LibBlockInputSignalAddr(0, "", "", 0)
+  %assign pu1 = LibBlockInputSignalAddr(1, "", "", 0)
+  %assign pu_0_width = LibBlockInputSignalWidth(0)
+  %assign py0 = LibBlockOutputSignalAddr(0, "", "", 0)
+  
+  %if IsModelReferenceSimTarget() || CodeFormat == "S-Function" || ::isRAccel
+    get_snc_crc32_Outputs_wrapper_accel(%<pu0>, %<pu1>, %<py0>, %<pu_0_width>);
+  %else
+    get_snc_crc32_Outputs_wrapper(%<pu0>, %<pu1>, %<py0>, %<pu_0_width>);
+  %endif
+
+  %%
+%endfunction
+
+
+%% [EOF] get_snc_crc32.tlc
+

controllers/get_snc_crc32_wrapper.c

@@ -0,0 +1,83 @@
+
+/*
+ * Include Files
+ *
+ */
+#if defined(MATLAB_MEX_FILE)
+#include "tmwtypes.h"
+#include "simstruc_types.h"
+#else
+#define SIMPLIFIED_RTWTYPES_COMPATIBILITY
+#include "rtwtypes.h"
+#undef SIMPLIFIED_RTWTYPES_COMPATIBILITY
+#endif
+
+
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
+#include <math.h>
+#include <stdint.h>
+#include <stddef.h>
+/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
+#define u_1_width 1
+#define y_width 1
+
+/*
+ * Create external references here.  
+ *
+ */
+/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
+/* extern double func(double a); */
+uint32_t CRC32Value(int i)
+{
+	int j;
+	uint32_t u1CRC;
+	u1CRC=i;
+	for(j=8 ;j>0 ;j-- )
+	{
+		if(u1CRC& 1)
+			u1CRC =(u1CRC >> 1)^0xEDB88320L;
+		else
+			u1CRC >>= 1;
+	}
+	return u1CRC;
+
+}
+
+uint32_t CalculateBlockCRC32(uint32_t u1Count,uint8_t *ucBuffer)
+{
+	uint32_t u1Temp1;
+	uint32_t u1Temp2;
+	uint32_t u1CRC=0;
+	while(u1Count-- != 0)
+	{
+		u1Temp1 = u1CRC>>8 &0x00FFFFFFL;
+		u1Temp2 = CRC32Value(((int)u1CRC ^ *ucBuffer++) & 0xff);
+		u1CRC=u1Temp1 ^ u1Temp2;
+	}
+	return u1CRC;
+}
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Output function
+ *
+ */
+void get_snc_crc32_Outputs_wrapper(const uint8_T *ucBuffer,
+			const uint32_T *u1Count,
+			uint32_T *u1CRC,
+			const int_T u_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+/* This sample sets the output equal to the input
+      y0[0] = u0[0]; 
+ For complex signals use: y0[0].re = u0[0].re; 
+      y0[0].im = u0[0].im;
+      y1[0].re = u1[0].re;
+      y1[0].im = u1[0].im;
+ */
+ u1CRC[0] = CalculateBlockCRC32(u1Count[0], ucBuffer);
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+

rtwmakecfg.m

@@ -0,0 +1,66 @@
+function makeInfo=rtwmakecfg()
+%RTWMAKECFG.m adds include and source directories to rtw make files.
+%  makeInfo=RTWMAKECFG returns a structured array containing
+%  following field:
+%     makeInfo.includePath - cell array containing additional include
+%                            directories. Those directories will be
+%                            expanded into include instructions of Simulink
+%                            Coder generated make files.
+%
+%     makeInfo.sourcePath  - cell array containing additional source
+%                            directories. Those directories will be
+%                            expanded into rules of Simulink Coder generated 
+%                            make files.
+makeInfo.includePath = {};
+makeInfo.sourcePath  = {};
+makeInfo.linkLibsObjs = {};
+
+%<Generated by S-Function Builder 3.0. DO NOT REMOVE>
+
+sfBuilderBlocksByMaskType = find_system(bdroot,'FollowLinks','on','LookUnderMasks','on','MaskType','S-Function Builder');
+sfBuilderBlocksByCallback = find_system(bdroot,'OpenFcn','sfunctionwizard(gcbh)');
+sfBuilderBlocksDeployed   = find_system(bdroot,'BlockType','S-Function','SFunctionDeploymentMode','on');
+sfBuilderBlocks = {sfBuilderBlocksByMaskType{:} sfBuilderBlocksByCallback{:} sfBuilderBlocksDeployed{:}};
+sfBuilderBlocks = unique(sfBuilderBlocks);
+if isempty(sfBuilderBlocks)
+   return;
+end
+sfBuilderBlockNameMATFile = cell(1, length(sfBuilderBlocks));
+for idx = 1:length(sfBuilderBlocks)
+   sfBuilderBlockNameMATFile{idx} = get_param(sfBuilderBlocks{idx},'FunctionName');
+   sfBuilderBlockNameMATFile{idx} = ['.' filesep 'SFB__' char(sfBuilderBlockNameMATFile{idx}) '__SFB.mat'];
+end
+sfBuilderBlockNameMATFile = unique(sfBuilderBlockNameMATFile);
+for idx = 1:length(sfBuilderBlockNameMATFile)
+   if exist(sfBuilderBlockNameMATFile{idx}, 'file')
+      loadedData = load(sfBuilderBlockNameMATFile{idx});
+      if isfield(loadedData,'SFBInfoStruct')
+         makeInfo = UpdateMakeInfo(makeInfo,loadedData.SFBInfoStruct);
+         clear loadedData;
+      end
+   end
+end
+
+function updatedMakeInfo = UpdateMakeInfo(makeInfo,SFBInfoStruct)
+updatedMakeInfo = {};
+if isfield(makeInfo,'includePath')
+   if isfield(SFBInfoStruct,'includePath')
+      updatedMakeInfo.includePath = {makeInfo.includePath{:} SFBInfoStruct.includePath{:}};
+   else
+      updatedMakeInfo.includePath = {makeInfo.includePath{:}};
+   end
+end
+if isfield(makeInfo,'sourcePath')
+   if isfield(SFBInfoStruct,'sourcePath')
+      updatedMakeInfo.sourcePath = {makeInfo.sourcePath{:} SFBInfoStruct.sourcePath{:}};
+   else
+      updatedMakeInfo.sourcePath = {makeInfo.sourcePath{:}};
+   end
+end
+if isfield(makeInfo,'linkLibsObjs')
+   if isfield(SFBInfoStruct,'additionalLibraries')
+      updatedMakeInfo.linkLibsObjs = {makeInfo.linkLibsObjs{:} SFBInfoStruct.additionalLibraries{:}};
+   else
+      updatedMakeInfo.linkLibsObjs = {makeInfo.linkLibsObjs{:}};
+   end
+end