MATLAB S-function

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为了实现通过S-function调用C代码

前期准备

  1. 官网-关于外部代码集成的一些方法
  2. 打开simulink,点击User-Defined Functions里面的S-Function Examples(MATLAB 2020b 在命令窗口输入也可以打开)
    从S-function模块中选择C-file S-functions里面的Basic C-MEX template。打开后,另存为自己的模块名字,如test.c 。

可以参考
有examples可以参考,但是这边的样例是要将C代码按模板写入,不是我想要的外部代码集成

  1. B站一个教学视频,可以大概了解一下如何在MATLAB里操作S-function
  2. S-Function Builder 如果是简单的C代码,可以调用S-FunctionBuilder去生成,但是同样不是我想要的外部代码集成
  3. 这个博客里有简单的S-function的模板使用说明
  4. 这个也是一个可以参考的链接

实现目标

实现调用S-function接受外部传进来的信号传递给已经编写好的外部的C代码,运算外部的C代码,将C代码输出的数据,返回给该S-function,通过S-function输出。

操作流程
S-function 连接的是可执行文件,文件需要编辑,用MinGW,MATLAB内没有,需要安装,设置环境变量。
在命令窗口设置’

setenv('MW_MINGW64_LOC','C:\mingw-w64\x86_64-8.1.0-posix-seh-rt_v6-rev0\mingw64')
mex -setup

再编译C代码

mex yourCCode.c

在Simulink中双击添加的S-function可以关联编译好的代码
在这里插入图片描述
是否在模板代码里include 自己的.c代码就可以调用的到
求教如何使用mex函数编译不同路径下的源文件?
个人草稿,不必看
先了解模板怎么写,这是绕不开的流程
include C 代码
mex C 代码

先调用ofm_int
再调用step

mex 被编译的代码的路径必须在同级目录下吗?
MEX一些指令
网上给出的方法
用deploytool命令把文件加入,打包。(没整明白)

autosar_swc_objfusion_private.h 文件修改,一个与硬件相关的错误。注释了
rtwtypes.h 注释掉了几个数据类型 /* T */
HWA_R.h include 相对位置
什么参数是更改S-function输入的接口、

if (!ssSetNumInputPorts(S, 2)) return;  //这里是设置输入的port端口数量的
设置port口数量的时候MATLAB出现bug
单个port口的多个维度设置正常,数据读取正常

以上是个人草稿,不必看

使用以下指令编译mex -output sfuntmpl_basic *.c

下面是样例代码

/*
 * sfuntmpl_basic.c: Basic 'C' template for a level 2 S-function.
 *
 * Copyright 1990-2018 The MathWorks, Inc.
 */


/*
 * You must specify the S_FUNCTION_NAME as the name of your S-function
 * (i.e. replace sfuntmpl_basic with the name of your S-function).
 */

#define S_FUNCTION_NAME  sfuntmpl_basic
#define S_FUNCTION_LEVEL 2

/*
 * Need to include simstruc.h for the definition of the SimStruct and
 * its associated macro definitions.
 */
#include "simstruc.h"
#include "autosar_swc_objfusion.h"
//#include "autosar_swc_objfusion.h"//程序里面要用到的头文件在这里引用,如“math.h”等。
//定义全局变量
/* Error handling
 * --------------
 *
 * You should use the following technique to report errors encountered within
 * an S-function:
 *
 *       ssSetErrorStatus(S,"Error encountered due to ...");
 *       return;
 *
 * Note that the 2nd argument to ssSetErrorStatus must be persistent memory.
 * It cannot be a local variable. For example the following will cause
 * unpredictable errors:
 *
 *      mdlOutputs()
 *      {
 *         char msg[256];         {ILLEGAL: to fix use "static char msg[256];"}
 *         sprintf(msg,"Error due to %s", string);
 *         ssSetErrorStatus(S,msg);
 *         return;
 *      }
 *
 */

/*====================*
 * S-function methods *
 *====================*/

/* Function: mdlInitializeSizes ===============================================
 * Abstract:
 *    The sizes information is used by Simulink to determine the S-function
 *    block's characteristics (number of inputs, outputs, states, etc.).
 */
static void mdlInitializeSizes(SimStruct *S)
{
     //这个函数用来设置输入、输出和参数的。
    ssSetNumSFcnParams(S, 0);  /* Number of expected parameters */
    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
        /* Return if number of expected != number of actual parameters */
        return;
    }

    ssSetNumContStates(S, 0);
    ssSetNumDiscStates(S, 0);

    if (!ssSetNumInputPorts(S, 2)) return;  //这里是设置输入的port端口数量的
    ssSetInputPortWidth(S, 0, 1);//设置端口0 输入变量0的维数为1
    ssSetInputPortWidth(S, 1, 1);//设置端口1输入变量0的维数为1
    ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/
    /*
     * Set direct feedthrough flag (1=yes, 0=no).
     * A port has direct feedthrough if the input is used in either
     * the mdlOutputs or mdlGetTimeOfNextVarHit functions.
     */
    ssSetInputPortDirectFeedThrough(S, 0, 1);

    if (!ssSetNumOutputPorts(S, 1)) return;
    ssSetOutputPortWidth(S, 0, 1);

    ssSetNumSampleTimes(S, 1);
    ssSetNumRWork(S, 0);
    ssSetNumIWork(S, 0);
    ssSetNumPWork(S, 0);
    ssSetNumModes(S, 0);
    ssSetNumNonsampledZCs(S, 0);

    /* Specify the operating point save/restore compliance to be same as a 
     * built-in block */
    ssSetOperatingPointCompliance(S, USE_DEFAULT_OPERATING_POINT);

    ssSetOptions(S, 0);
}



/* Function: mdlInitializeSampleTimes =========================================
 * Abstract:
 *    This function is used to specify the sample time(s) for your
 *    S-function. You must register the same number of sample times as
 *    specified in ssSetNumSampleTimes.
 */
static void mdlInitializeSampleTimes(SimStruct *S)
{
    ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
    ssSetOffsetTime(S, 0, 0.0);

}



#define MDL_INITIALIZE_CONDITIONS   /* Change to #undef to remove function */
#if defined(MDL_INITIALIZE_CONDITIONS)
  /* Function: mdlInitializeConditions ========================================
   * Abstract:
   *    In this function, you should initialize the continuous and discrete
   *    states for your S-function block.  The initial states are placed
   *    in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S).
   *    You can also perform any other initialization activities that your
   *    S-function may require. Note, this routine will be called at the
   *    start of simulation and if it is present in an enabled subsystem
   *    configured to reset states, it will be call when the enabled subsystem
   *    restarts execution to reset the states.
   */
  static void mdlInitializeConditions(SimStruct *S)
  {
      autosar_swc_objfusion_Init();
  }
#endif /* MDL_INITIALIZE_CONDITIONS */



#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)
  {
  }
#endif /*  MDL_START */



/* Function: mdlOutputs =======================================================
 * Abstract:
 *    In this function, you compute the outputs of your S-function
 *    block.
 */
static void mdlOutputs(SimStruct *S, int_T tid)
{
    const real_T *u = (const real_T*) ssGetInputPortSignal(S,0);
    real_T       *y = ssGetOutputPortSignal(S,0);
    
    autosar_swc_objfusion_Step();
    
    y[0] = u[0];
}



#define MDL_UPDATE  /* Change to #undef to remove function */
#if defined(MDL_UPDATE)
  /* Function: mdlUpdate ======================================================
   * Abstract:
   *    This function is called once for every major integration time step.
   *    Discrete states are typically updated here, but this function is useful
   *    for performing any tasks that should only take place once per
   *    integration step.
   */
  static void mdlUpdate(SimStruct *S, int_T tid)
  {
  }
#endif /* MDL_UPDATE */



#define MDL_DERIVATIVES  /* Change to #undef to remove function */
#if defined(MDL_DERIVATIVES)
  /* Function: mdlDerivatives =================================================
   * Abstract:
   *    In this function, you compute the S-function block's derivatives.
   *    The derivatives are placed in the derivative vector, ssGetdX(S).
   */
  static void mdlDerivatives(SimStruct *S)
  {
  }
#endif /* MDL_DERIVATIVES */



/* 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)
{
}


/*=============================*
 * Required S-function trailer *
 *=============================*/

#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

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