为了实现通过S-function调用C代码
前期准备
- 官网-关于外部代码集成的一些方法
- 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 。
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
- 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
- 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
- 这个博客里有简单的S-function的模板使用说明
- 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
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