Simulink代码生成（二十一）——TSP开发之主函数定制

Simulink代码生成（二十一）——TSP开发之主函数定制

一、ert模板文件解读

代码生成文件的顺序分为以下几个部分

File and Function Banner 生成文件的注释部分，这里可以修改系统目标文件，增加一些自己的信息，如author等

ert.tlc代码生成main文件的模板入下，该文件是以timestwo模型代码生成为例

example_file_process.tlc文件解读如下：

• %% Add a new C file timestwo.c and put a simple function in it
  %assign cFile = LibCreateSourceFile(“Source”, “Custom”, “timestwo”)
  创建一个timestwo.c的文件
• %openfile typesBuf
  #include “rtwtypes.h”
  %closefile typesBuf
  %<LibSetSourceFileSection(cFile,“Includes”,typesBuf)>
  进行文件流操作，将需要添加的头文件放在c文件的Includes部分。
• %openfile tmpBuf
  /* Times two function */
  real_T timestwofcn(real_T input) {
  return (input * 2.0);
  }
  %closefile tmpBuf
  %<LibSetSourceFileSection(cFile,“Functions”,tmpBuf)>
  这里是将tmpBuf放在源文件的Functions部分
• %openfile tmpBuf
  /* Times two function */
  extern real_T timestwofcn(real_T input);
  %closefile tmpBuf
  %<LibSetSourceFileSection(hFile,“Includes”,typesBuf)>
  %<LibSetSourceFileSection(hFile,“Declarations”,tmpBuf)>
  这里是将typesBuf放在h文件的Includes部分，将tmpBuf放在Declarations部分，进行函数定义
• %% Add a #define to the model’s public header file model.h
  %assign pubName = LibGetMdlPubHdrBaseName()
  %assign modelH = LibCreateSourceFile(“Header”, “Simulink”, pubName)
  %openfile tmpBuf
  #define ACCELERATION 9.81
  %closefile tmpBuf
  %<LibSetSourceFileSection(modelH,“Defines”,tmpBuf)>
  这里是将tmpBuf放在Defines部分
• %% Add a #define to the model’s private header file model_private.h
  %assign prvName = LibGetMdlPrvHdrBaseName()
  %assign privateH = LibCreateSourceFile(“Header”, “Simulink”, prvName)
  %openfile tmpBuf
  #define STARTING_POINT 100.0
  %closefile tmpBuf
  %<LibSetSourceFileSection(privateH,“Defines”,tmpBuf)>
  这是将tmpBuf添加到model_private.h中的Defines部分
• %% Add a #include to the model’s C file model.c
  %assign srcName = LibGetMdlSrcBaseName()
  %assign modelC = LibCreateSourceFile(“Source”, “Simulink”, srcName)
  %openfile tmpBuf
  /* #include “mytables.h” */
  %closefile tmpBuf
  %<LibSetSourceFileSection(modelC,“Includes”,tmpBuf)>
  这里是将tmpBuf添加到 model.c的Includes部分
• %% Create a simple main. Files are located in MATLAB/rtw/c/tlc/mw.
  %if LibIsSingleRateModel() || LibIsSingleTasking()
  %include “bareboard_srmain.tlc”
  %<FcnSingleTaskingMain()>
  %else
  %include “bareboard_mrmain.tlc”
  %<FcnMultiTaskingMain()>
  %endif
  这里实际用处暂时不知。

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% 
%% 
%% 
%%
%% Abstract:
%%   Example Embedded Coder custom file processing template.
%%
%%   Note: This file can contain any valid TLC code, which Embedded Coder
%%   executes just prior to writing the generated source files to disk.
%%   Using this template "hook" file, you are able to augment the generated
%%   source code and create additional files.
%%
%% Copyright 1994-2021 The MathWorks, Inc.
%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%selectfile NULL_FILE

%%  Uncomment this TLC line to execute the example
%%   ||   ||
%%   ||   ||
%%   \/   \/
%%  %assign ERTCustomFileTest = TLC_TRUE

%if EXISTS(ERTCustomFileTest) && ERTCustomFileTest == TLC_TRUE
  
  %% Add a new C file timestwo.c and put a simple function in it
  
  %assign cFile = LibCreateSourceFile("Source", "Custom", "timestwo")
  
  %openfile typesBuf
  
  #include "rtwtypes.h"
  
  %closefile typesBuf
  
  %<LibSetSourceFileSection(cFile,"Includes",typesBuf)>

  %openfile tmpBuf

  /* Times two function */
  real_T timestwofcn(real_T input) {
    return (input * 2.0);
  }

  %closefile tmpBuf
  
  %<LibSetSourceFileSection(cFile,"Functions",tmpBuf)>
  
  %% Add a corresponding H file timestwo.h
  
  %assign hFile = LibCreateSourceFile("Header", "Custom", "timestwo")
  
  %openfile tmpBuf
  
  /* Times two function */
  extern real_T timestwofcn(real_T input);
  
  %closefile tmpBuf
  
  %<LibSetSourceFileSection(hFile,"Includes",typesBuf)>
  %<LibSetSourceFileSection(hFile,"Declarations",tmpBuf)>
  
  %% Add a #define to the model's public header file model.h
  
  %assign pubName = LibGetMdlPubHdrBaseName()
  %assign modelH  = LibCreateSourceFile("Header", "Simulink", pubName)
  
  %openfile tmpBuf

  #define ACCELERATION 9.81

  %closefile tmpBuf
  
  %<LibSetSourceFileSection(modelH,"Defines",tmpBuf)>
  
  %% Add a #define to the model's private header file model_private.h
  
  %assign prvName  = LibGetMdlPrvHdrBaseName()
  %assign privateH = LibCreateSourceFile("Header", "Simulink", prvName)
  
  %openfile tmpBuf

  #define STARTING_POINT 100.0

  %closefile tmpBuf
  
  %<LibSetSourceFileSection(privateH,"Defines",tmpBuf)>
  
  %% Add a #include to the model's C file model.c
  
  %assign srcName = LibGetMdlSrcBaseName()
  %assign modelC  = LibCreateSourceFile("Source", "Simulink", srcName)
  
  %openfile tmpBuf
  /* #include "mytables.h" */
  %closefile tmpBuf
  
  %<LibSetSourceFileSection(modelC,"Includes",tmpBuf)>
  
  %% Create a simple main.  Files are located in MATLAB/rtw/c/tlc/mw.
  
  %if LibIsSingleRateModel() || LibIsSingleTasking()
    %include "bareboard_srmain.tlc"
    %<FcnSingleTaskingMain()>
  %else
    %include "bareboard_mrmain.tlc"
    %<FcnMultiTaskingMain()>
  %endif
  
%endif

二、arduino文件模板解读

arduino采用的模板和ert的基本一致，除了这里的自定义模板

arduino_ec_file_process.tlc文件内容如下，主要是将arduino_ec_srmain.tlc文件inline进来，所以重点是解读 arduino_ec_srmain.tlc文件

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%
%% Abstract:
%%   Code generation custom file processing template.
%%
%%   Note: This file can contain any valid TLC code, which is
%%   executed just prior to writing the generated source files to disk.
%%
%% Copyright 1994-2014 The MathWorks, Inc.
%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%selectfile NULL_FILE

%% Need to set the template compliance flag before you can use the API
%<LibSetCodeTemplateComplianceLevel(1)>

%% Create a simple main.
%if UseRTOS == 0

  %if LibIsSingleRateModel() || LibIsSingleTasking()
  	%if ExtMode
        %assign board = FEVAL("arduino_ec.Prefs.getBoard")
        %if (board != "mega") && (board != "mega2560")
            %assign errTxt = "External Mode is supported on Mega/Mega2560 only (8kB RAM necessary)."
            %<LibReportError(errTxt)>         
        %endif
         %% We use extra file for main generation with External Mode
    	%include "arduino_ec_srmain_ExtMode.tlc"
    %else
        %% Simplified main generation w/o External Mode
    	%include "arduino_ec_srmain.tlc"
    %endif
    %<FcnSingleTaskingMain()>
  %else
  	%% For the moment, multitasking is not supported
    %include "arduino_ec_srmain.tlc"
    %<FcnSingleTaskingMain()>
    
  %endif

%else
   %% Prepared for the future
   %include "arduino_ec_RTOS_main.tlc"
   %<FcnSingleTaskingMain()>

%endif

arduino_ec_srmain.tlc文件内容如下：

• %if GenerateSampleERTMain
  %assign CompiledModel.GenerateSampleERTMain = TLC_FALSE
  %endif
  这里表示不生成ert的main文件
  -%assign cFile = LibCreateSourceFile(“Source”, “Custom”, “arduino_main”)
  %openfile tmpBuf
  #include “%<LibGetMdlPubHdrBaseName()>.h”
  #include “Arduino.h”
  %closefile tmpBuf
  %<LibSetSourceFileSection(cFile, “Includes”, tmpBuf)>
  这里表示生成arduino_main.c或者arduino_main.cpp文件，然后将tmpBuf放入arduino_main文件中的Includes部分
  #include "%<LibGetMdlPubHdrBaseName()>.h"表示的是模型名字的头文件
• %openfile tmpBuf
  %closefile tmpBuf
  %<LibSetSourceFileSection(cFile, “Declarations”, tmpBuf)>
  这里表示arduino_main的Declarations部分为空
  %openfile tmpBuf
  …
  %closefile tmpBuf
  %<LibSetSourceFileSection(cFile, “Functions”, tmpBuf)>
  这部分是将tmpBuf放入arduino_main的Functions部分

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%
%% Abstract:
%%   Custom file processing to generate a "main" file.
%%
%% Copyright 1994-2014 The MathWorks, Inc.
%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%selectfile NULL_FILE

%function FcnSingleTaskingMain() void

  %if GenerateSampleERTMain
    %assign CompiledModel.GenerateSampleERTMain = TLC_FALSE
  %endif

  %if LibIsModelReferenceTarget()
    %return
  %endif

  %assign cFile = LibCreateSourceFile("Source", "Custom", "arduino_main")
  %openfile tmpBuf
  #include "%<LibGetMdlPubHdrBaseName()>.h"
  #include "Arduino.h"
  %closefile tmpBuf
  %<LibSetSourceFileSection(cFile, "Includes", tmpBuf)>

  %openfile tmpBuf
  %closefile tmpBuf
  %<LibSetSourceFileSection(cFile, "Declarations", tmpBuf)>

  %openfile tmpBuf
  /* Overrun counter */
  static uint8_t uOverrunCounter;

  uint8_t GetOverrunCounter(void)
  {
  	return uOverrunCounter;
  }

  %% Get fundamental step time
  %assign SAMPLETIME = CompiledModel.FundamentalStepSize
  %if SAMPLETIME < 0.00005
      %% Even 50 microseconds is too quick for Arduino
      %<LibReportError("The minimum supported sample time is 50 microseconds. Change the Sample time parameter in blocks that use incorrect sample times.")>
  %endif
  %assign SampleRate  = CAST("Number", %<SAMPLETIME> * 1000000)
  #define STEP_SIZE %<SampleRate>UL /* Sample Time in microseconds */

  int main(void)
  {
    unsigned long oldTime;
    unsigned long actualTime;

    /* Initialize Arduino */
    init();Init_Hyo_Peri();
    /%
    
    %/
    
    /* Initialize model */
    %<LibCallModelInitialize()>\

    oldTime = micros();
    while (true) {
	    %<LibCallModelStep(0)>\

        actualTime = micros();
        /* Overrun check */
        if ((actualTime - oldTime) >= STEP_SIZE) {
            /* We missed our time slot for actual step, report it! */
            if(uOverrunCounter < 255U){
                uOverrunCounter++;
            }
            oldTime = actualTime;               /* Update time stamp of last step */
            continue;                           /* We are late, continue with next step */
        }

        /* Waiting with pooling method */
        while((actualTime - oldTime) < STEP_SIZE){
            actualTime = micros();                  /* Get actual time */
        }
        oldTime = actualTime;                       /* Update time stamp of last step */
    }
    %<LibCallModelTerminate()>\
    return 0;
  }
  %closefile tmpBuf
  %<LibSetSourceFileSection(cFile, "Functions", tmpBuf)>

%endfunction

三、arduino_main.cpp文件

最终得到的arduino_main.cpp文件如下

//
// File: arduino_main.cpp
//
// Code generated for Simulink model 'hyo_7sec_count_demo'.
//
// Author  :           Hyowinner @ Sat Sep 19 21:42:53 2015
// Model version                  : 1.14
// Simulink Coder version         : 8.7 (R2014b) 08-Sep-2014
//
//
// Target selection: arduino_ec.tlc
// Embedded hardware selection: Atmel->AVR
// Code generation objectives: Unspecified
// Validation result: Not run
//
#include "hyo_7sec_count_demo.h"
#include "Arduino.h"

// Overrun counter
static uint8_t uOverrunCounter;
uint8_t GetOverrunCounter(void)
{
  return uOverrunCounter;
}

#define STEP_SIZE                      1000000UL                 // Sample Time in microseconds 

int main(void)
{
  unsigned long oldTime;
  unsigned long actualTime;

  // Initialize Arduino
  init();
  Init_Hyo_Peri();

  // Initialize model
  hyo_7sec_count_demo_initialize();
  oldTime = micros();
  while (true) {
    hyo_7sec_count_demo_step();

    // Get model outputs here
    actualTime = micros();

    // Overrun check
    if ((actualTime - oldTime) >= STEP_SIZE) {
      // We missed our time slot for actual step, report it!
      if (uOverrunCounter < 255U) {
        uOverrunCounter++;
      }

      oldTime = actualTime;            // Update time stamp of last step
      continue;                        // We are late, continue with next step
    }

    // Waiting with pooling method
    while ((actualTime - oldTime) < STEP_SIZE) {
      actualTime = micros();           // Get actual time
    }

    oldTime = actualTime;              // Update time stamp of last step
  }

  hyo_7sec_count_demo_terminate();
  return 0;
}

//
// File trailer for generated code.
//
// [EOF]
//