[转帖]解决在SIMULINK中不提供驱动模块的硬件的驱动问题(例程)

zym765 · 发表于 2006-4-13 16:34

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这是一个用C语言S函数在SIMULINK中写硬件驱动的例子,比较有参考意义 #define S_FUNCTION_LEVEL 2 #undef S_FUNCTION_NAME #define S_FUNCTION_NAME admultiq3
#include <stddef.h> #include <stdlib.h>
#include "simstruc.h"
#ifdef MATLAB_MEX_FILE #include "mex.h" #else #include <windows.h> #include "io_xpcimport.h" #endif
/* Input Arguments */
#define NUM_PARAMS (3) #define BASE_ADDRESS_ARG (ssGetSFcnParam(S,0)) #define CHANNEL_ARG (ssGetSFcnParam(S,1)) #define SAMPLE_TIME_PARAM (ssGetSFcnParam(S,2))
 /* Convert S Function Parameters to Variables of Unsigned Integer Type */
#define BASE ((uint_T) mxGetPr(BASE_ADDRESS_ARG)[0]) #define NUM_CHANNEL ((uint_T) mxGetNumberOfElements(CHANNEL_ARG)[0]) #define SAMPLE_TIME ((real_T) mxGetPr(SAMPLE_TIME_PARAM)[0]) #define SAMPLE_OFFSET ((real_T) mxGetPr(SAMPLE_TIME_PARAM)[1])
/* Definition of Quanser Register Adresses for AD conversion */
#define AD_CS (BASE + 0x04) /* a write to this address initiates conversion, provided the CONTROL REGISTER has been set up properly */ #define AD_DATA (BASE + 0x04) /* a double read from this 8 bit address first yields the high then the low 8 bits of the AD conversion */ #define CONTROL_REG (BASE + 0x06) /* the address of the CONTROL REGISTER */ #define STATUS_REG (BASE + 0x06) /* the address of the CONTROL REGISTER (or better STATUS REGISTER in case of reading) */
/* Definition of 16 bit CONTROL REGISTER values for the Quanser card */
#define AD_SH 0x200 /* (S/H) = disable sample and hold on the A/D (keep this 1 all the time) */ #define AD_AUTOCAL 0x100 /* (CAL) = enable autocalibartion on the A/D */ #define AD_AUTOZ 0x80 /* (AZ) = enable auto Zero on the A/D */ #define AD_MUX_EN 0x40 /* (MX) = enable the 8 channel multiplexer */ #define AD_CLOCK_4M 0x400 /* (CLK) = choose clock frequency of the A/D, (1 = 4MHz, 0 = 2 MHz) */ #define CONTROL_MUST (AD_SH | AD_CLOCK_4M) /* bit wise OR, so we keep both S/H and CLK high all the time */
/* Definition of msg string in case we need to report errors */
static char_T msg[256];
 /*====================* * S-function methods * *====================*/
static void mdlCheckParameters(SimStruct *S) { }
static void mdlInitializeSizes(SimStruct *S) { uint_T i;
#ifndef MATLAB_MEX_FILE #include "io_xpcimport.c" #endif
 ssSetNumSFcnParams(S, NUM_PARAMS); if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) { mdlCheckParameters(S); if (ssGetErrorStatus(S) != NULL) { return; } } else { return; /* Parameter mismatch will be reported by Simulink */ }
 ssSetNumContStates(S, 0); ssSetNumDiscStates(S, 0);

 if (!ssSetNumInputPorts(S, 0)) return;
 if (!ssSetNumOutputPorts(S, mxGetNumberOfElements(CHANNEL_ARG))) return;
 for (i=0;i<mxGetNumberOfElements(CHANNEL_ARG);i++) { ssSetOutputPortWidth(S, i, 1); }
 ssSetNumSampleTimes(S, 1);
 ssSetNumModes(S, 0); ssSetNumNonsampledZCs(S, 0);
 ssSetSFcnParamNotTunable(S,0); ssSetSFcnParamNotTunable(S,1); ssSetSFcnParamNotTunable(S,2);
 ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_PLACE_ASAP);
}

static void mdlInitializeSampleTimes(SimStruct *S) { ssSetSampleTime(S, 0, SAMPLE_TIME); ssSetOffsetTime(S, 0, SAMPLE_OFFSET); }

#define MDL_START static void mdlStart(SimStruct *S) {
#ifndef MATLAB_MEX_FILE
 uint_T i, channel, control_word, w, maxcnt;
 /* Do a calibration */
 rl32eOutpW(CONTROL_REG, (AD_AUTOCAL | CONTROL_MUST)); /* write 1 to CAL, S/H and CLK of CONTROL REGISTER */ rl32eOutpW(CONTROL_REG, (CONTROL_MUST)); /* write 1 to S/H and CLK of CONTROL REGISTER */
 /* Wait till EOC (End of Conversion = 3rd bit on STATUS REGISTER) goes high */
 w=0; maxcnt=0x10000; while (((rl32eInpW(STATUS_REG) &0x08) == 0x00 ) && (w < maxcnt)) w++; if (w==0x10000) { /* if no EOC was detected after all these loops, report an error */ sprintf(msg,"%s (0x%x): AD calibration failed", "MultiQ3 ASI", BASE); ssSetErrorStatus(S,msg); return; }
 #endif
}
static void mdlOutputs(SimStruct *S, int_T tid) {
#ifndef MATLAB_MEX_FILE
 uint_T i, channel, control_word, hb, lb; real_T *y; int_T int_data;
 for (i=0;i<mxGetNumberOfElements(CHANNEL_ARG);i++) { channel=(uint_T)mxGetPr(CHANNEL_ARG)-1;
 /* enable the multiplexer and select channel */ /* channel selection is done with shift left 3 operator */ /* to write the A0 (4th), A1 (5th) and A2 (6th) bits of the CONTROL REGISTER */
 control_word = CONTROL_MUST | AD_MUX_EN | (channel<<3); rl32eOutpW(CONTROL_REG, control_word);
 /* wait till EOC (End of Conversion = 3rd bit on STATUS REGISTER) goes high */
 while( ( rl32eInpW(STATUS_REG) &0x08) == 0x00 );
 /* do an actual conversion - any write to the AD_CS register will start the conversion */
 rl32eOutpW(AD_CS, 0);
 /* wait until data ready by observing the EOC_I = 4th bit on the STATUS REGISTER goes high */ /* in the mean time, select the output in the Simulink model */
 y=ssGetOutputPortSignal(S,i);
 while ((rl32eInpW(STATUS_REG) & 0x10) == 0x00);
 /* Get the data */
 hb = rl32eInpW(AD_DATA)&0xFF; /* the first read is the high byte */ lb = rl32eInpW(AD_DATA)&0xFF; /* the second read is the low byte */
 /* Reset the CONTROl REGISTER */ /* this is not really necessary and makes things go faster */
 /* rl32eOutpW(CONTROL_REG, CONTROL_MUST); */
 /* compute the actual value of the measured signal */ /* using the fixed range of -5/+5 Volts using 12 bits + 1 SGN bit */
 int_data = (hb<<8)|(lb); if (hb&0xF0) /* the 4 SGN bits on the high bit (hb) are 1, so the signal is negative */ y[0]=5.0*(int_data-0xF000)/4095.0-5.0; else /* signal is positive */ y[0]=5.0*(int_data)/4095.0;
 }
#endif
}
static void mdlTerminate(SimStruct *S) { }
 #ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */ #include "simulink.c" /* Mex glue */ #else #include "cg_sfun.h" /* Code generation glue */ #endif

sfen · 发表于 2006-5-25 19:31

不知道楼主还在吗？ 想请教下： rl32eInpW rl32eOutpW 这两个函数如何调用的 一直没弄清楚如何在S函数中完成对板卡的端口的操作，象input能用吗？ 这个例子MEX完后 MATLAB找不到rl32eInpW的定义

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