/* Function: mdlInitializeSizes =============================================== * Abstract: * Setup sizes of the various vectors. */ static void mdlInitializeSizes(SimStruct *S) { DECL_AND_INIT_DIMSINFO(inputDimsInfo); DECL_AND_INIT_DIMSINFO(outputDimsInfo); ssSetNumSFcnParams(S, NPARAMS); if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { return; /* Parameter mismatch will be reported by Simulink */ } ssSetNumContStates(S, NUM_CONT_STATES); ssSetNumDiscStates(S, NUM_DISC_STATES); if (!ssSetNumInputPorts(S, NUM_INPUTS)) return; /*Input Port 0 */ ssSetInputPortWidth(S, 0, INPUT_0_WIDTH); /* */ ssSetInputPortDataType(S, 0, SS_DOUBLE); ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX); ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/ /*Input Port 1 */ ssSetInputPortWidth(S, 1, INPUT_1_WIDTH); /* */ ssSetInputPortDataType(S, 1, SS_DOUBLE); ssSetInputPortComplexSignal(S, 1, INPUT_1_COMPLEX); ssSetInputPortDirectFeedThrough(S, 1, INPUT_1_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 1, 1); /*direct input signal access*/ /*Input Port 2 */ ssSetInputPortWidth(S, 2, INPUT_2_WIDTH); /* */ ssSetInputPortDataType(S, 2, SS_DOUBLE); ssSetInputPortComplexSignal(S, 2, INPUT_2_COMPLEX); ssSetInputPortDirectFeedThrough(S, 2, INPUT_2_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 2, 1); /*direct input signal access*/ /*Input Port 3 */ ssSetInputPortWidth(S, 3, INPUT_3_WIDTH); /* */ ssSetInputPortDataType(S, 3, SS_DOUBLE); ssSetInputPortComplexSignal(S, 3, INPUT_3_COMPLEX); ssSetInputPortDirectFeedThrough(S, 3, INPUT_3_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 3, 1); /*direct input signal access*/ /*Input Port 4 */ ssSetInputPortWidth(S, 4, INPUT_4_WIDTH); /* */ ssSetInputPortDataType(S, 4, SS_DOUBLE); ssSetInputPortComplexSignal(S, 4, INPUT_4_COMPLEX); ssSetInputPortDirectFeedThrough(S, 4, INPUT_4_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 4, 1); /*direct input signal access*/ /*Input Port 5 */ ssSetInputPortWidth(S, 5, INPUT_5_WIDTH); /* */ ssSetInputPortDataType(S, 5, SS_DOUBLE); ssSetInputPortComplexSignal(S, 5, INPUT_5_COMPLEX); ssSetInputPortDirectFeedThrough(S, 5, INPUT_5_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 5, 1); /*direct input signal access*/ /*Input Port 6 */ ssSetInputPortWidth(S, 6, INPUT_6_WIDTH); /* */ ssSetInputPortDataType(S, 6, SS_DOUBLE); ssSetInputPortComplexSignal(S, 6, INPUT_6_COMPLEX); ssSetInputPortDirectFeedThrough(S, 6, INPUT_6_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 6, 1); /*direct input signal access*/ if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return; ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH); ssSetOutputPortDataType(S, 0, SS_DOUBLE); ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX); ssSetNumSampleTimes(S, 1); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 0); ssSetNumModes(S, 0); ssSetNumNonsampledZCs(S, 0); /* Take care when specifying exception free code - see sfuntmpl_doc.c */ ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_WORKS_WITH_CODE_REUSE)); }
/* 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) { /* Number of expected parameters */ ssSetNumSFcnParams(S, 0); /* * Set the number of pworks. */ ssSetNumPWork(S, 0); /* * Set the number of dworks. */ if (!ssSetNumDWork(S, 0)) return; /* * Set the number of input ports. */ if (!ssSetNumInputPorts(S, 0)) return; /* * Set the number of output ports. */ if (!ssSetNumOutputPorts(S, 1)) return; /* * Configure the output port 1 */ ssSetOutputPortDataType(S, 0, SS_SINGLE); ssSetOutputPortWidth(S, 0, 1); ssSetOutputPortComplexSignal(S, 0, COMPLEX_NO); ssSetOutputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL); ssSetOutputPortOutputExprInRTW(S, 0, 1); /* * Register reserved identifiers to avoid name conflict */ if (ssRTWGenIsCodeGen(S) || ssGetSimMode(S)==SS_SIMMODE_EXTERNAL) { /* * Register reserved identifier for StartFcnSpec */ ssRegMdlInfo(S, "Accelero_Initialization", MDL_INFO_ID_RESERVED, 0, 0, ssGetPath(S)); /* * Register reserved identifier for OutputFcnSpec */ ssRegMdlInfo(S, "Accelero_Get_Y", MDL_INFO_ID_RESERVED, 0, 0, ssGetPath(S)); /* * Register reserved identifier for wrappers */ if (ssRTWGenIsModelReferenceSimTarget(S)) { /* * Register reserved identifier for StartFcnSpec for SimulationTarget */ ssRegMdlInfo(S, "ARDrone_Acc_Y_wrapper_start", MDL_INFO_ID_RESERVED, 0, 0, ssGetPath(S)); /* * Register reserved identifier for OutputFcnSpec for SimulationTarget */ ssRegMdlInfo(S, "ARDrone_Acc_Y_wrapper_output", MDL_INFO_ID_RESERVED, 0, 0, ssGetPath(S)); } } /* * This S-function can be used in referenced model simulating in normal mode. */ ssSetModelReferenceNormalModeSupport(S, MDL_START_AND_MDL_PROCESS_PARAMS_OK); /* * Set the number of sample time. */ ssSetNumSampleTimes(S, 1); /* * All options have the form SS_OPTION_<name> and are documented in * matlabroot/simulink/include/simstruc.h. The options should be * bitwise or'd together as in * ssSetOptions(S, (SS_OPTION_name1 | SS_OPTION_name2)) */ ssSetOptions(S, SS_OPTION_USE_TLC_WITH_ACCELERATOR | SS_OPTION_CAN_BE_CALLED_CONDITIONALLY | SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_WORKS_WITH_CODE_REUSE | SS_OPTION_SFUNCTION_INLINED_FOR_RTW | SS_OPTION_DISALLOW_CONSTANT_SAMPLE_TIME); }
/* Function: mdlInitializeSizes =============================================== * Abstract: * Setup sizes of the various vectors. */ static void mdlInitializeSizes(SimStruct *S) { DECL_AND_INIT_DIMSINFO(inputDimsInfo); DECL_AND_INIT_DIMSINFO(outputDimsInfo); ssSetNumSFcnParams(S, NPARAMS); /* Number of expected parameters */ #if defined(MATLAB_MEX_FILE) if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) { mdlCheckParameters(S); if (ssGetErrorStatus(S) != NULL) { return; } } else { return; /* Parameter mismatch will be reported by Simulink */ } #endif ssSetNumContStates(S, NUM_CONT_STATES); ssSetNumDiscStates(S, NUM_DISC_STATES); if (!ssSetNumInputPorts(S, NUM_INPUTS)) return; /*Input Port 0 */ ssSetInputPortWidth(S, 0, INPUT_0_WIDTH); /* */ ssSetInputPortDataType(S, 0, SS_UINT32); ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX); ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/ /*Input Port 1 */ ssSetInputPortWidth(S, 1, INPUT_1_WIDTH); /* */ ssSetInputPortDataType(S, 1, SS_UINT32); ssSetInputPortComplexSignal(S, 1, INPUT_1_COMPLEX); ssSetInputPortDirectFeedThrough(S, 1, INPUT_1_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 1, 1); /*direct input signal access*/ /*Input Port 2 */ ssSetInputPortWidth(S, 2, INPUT_2_WIDTH); /* */ ssSetInputPortDataType(S, 2, SS_UINT32); ssSetInputPortComplexSignal(S, 2, INPUT_2_COMPLEX); ssSetInputPortDirectFeedThrough(S, 2, INPUT_2_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 2, 1); /*direct input signal access*/ /*Input Port 3 */ ssSetInputPortWidth(S, 3, INPUT_3_WIDTH); /* */ ssSetInputPortDataType(S, 3, SS_UINT32); ssSetInputPortComplexSignal(S, 3, INPUT_3_COMPLEX); ssSetInputPortDirectFeedThrough(S, 3, INPUT_3_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 3, 1); /*direct input signal access*/ if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return; /* Output Port 0 */ ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH); ssSetOutputPortDataType(S, 0, SS_UINT32); ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX); /* Output Port 1 */ ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH); ssSetOutputPortDataType(S, 1, SS_UINT32); ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX); /* Output Port 2 */ ssSetOutputPortWidth(S, 2, OUTPUT_2_WIDTH); ssSetOutputPortDataType(S, 2, SS_UINT32); ssSetOutputPortComplexSignal(S, 2, OUTPUT_2_COMPLEX); ssSetNumSampleTimes(S, 1); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 0); ssSetNumModes(S, 0); ssSetNumNonsampledZCs(S, 0); /* Take care when specifying exception free code - see sfuntmpl_doc.c */ ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_USE_TLC_WITH_ACCELERATOR | SS_OPTION_WORKS_WITH_CODE_REUSE)); }
/* 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) { int_T nInputPorts = 1; /* number of input ports */ int_T dimInputPorts[1] = {6}; /* dimension array of input port sizes */ int_T needsInput[1] = {0}; /* array of direct feedthrough */ int_T nOutputPorts = 4; /* number of output ports */ int_T dimOutputPorts[4] = {3,3,3,8}; /* dimension array of output port sizes */ /* outputs are accel, magnetometer, gyro, ADC (channels 0-3,5-7), channel 4 will always be equal to 0 */ int_T nContStates = 0; /* number of continuous states */ int_T nDiscStates = 0; /* number of discrete states */ /* past pwm outputs */ int_T nDWork = 0; /* size of D (data) work vector */ int_T nRWork = 0; /* size of R (real) work vector */ int_T nIWork = 0; /* size of I (integer) work vector */ int_T nPWork = 7; /* size of P (pointer) work vector */ int_T nMWork = 0; /* size of M (mode) work vector */ int_T nZCWork = 0; /* size of ZC (zero crossings) work vector */ int_T i = 0; /* for loop counter */ ssSetNumSFcnParams(S, NPARAMS); /* Number of expected parameters */ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { /* * If the the number of expected input parameters is not * equal to the number of parameters entered in the * dialog box, return. Simulink will generate an error * indicating that there is aparameter mismatch. */ return; } else { /* check the parameters to make sure they're valid */ /* only works for simulation */ #if defined(MATLAB_MEX_FILE) mdlCheckParameters(S); if (ssGetErrorStatus(S) != NULL) return; #endif } /* Set the number of continuous and discrete states */ ssSetNumContStates(S, nContStates); ssSetNumDiscStates(S, nDiscStates); /* * Configure the input ports. First set the number of input * ports. */ if (!ssSetNumInputPorts(S, nInputPorts)) return; /* * Set input port dimensions for each input port index * starting at 0. */ for (i=0; i < nInputPorts; i++) { if(ssSetInputPortVectorDimension(S, i, dimInputPorts[i])==0) return; /* * Set direct feedthrough flag (1=yes, 0=no). */ ssSetInputPortDirectFeedThrough(S, i, needsInput[i]); } /* * Configure the output ports. First set the number of * output ports. */ if (!ssSetNumOutputPorts(S, nOutputPorts)) return; /* * Set output port dimensions for each output port index * starting at 0. */ for (i=0; i < nOutputPorts; i++) { if(ssSetOutputPortVectorDimension(S, i, dimOutputPorts[i])==0) return; } ssSetOutputPortDataType(S,3,SS_UINT16); /* * Set the number of sample times. */ ssSetNumSampleTimes(S, 1); /* * Set size of the work vectors. */ ssSetNumDWork(S, nDWork); /* data vector */ ssSetNumRWork(S, nRWork); /* real vector */ ssSetNumIWork(S, nIWork); /* integer vector */ ssSetNumPWork(S, nPWork); /* pointer vector */ ssSetNumModes(S, nMWork); /* mode vector */ ssSetNumNonsampledZCs(S, nZCWork); /* zero crossings */ ssSetOptions(S, 0); } /* end mdlInitializeSizes */
/* 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) { int_T npar = ssGetSFcnParamsCount(S); /* options are optional as a third parameter */ if ( npar==2 || npar==3 ) { ssSetNumSFcnParams(S, npar); /* Number of expected parameters */ } else { return; } #ifdef MATLAB_MEX_FILE if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) { mdlCheckParameters(S); if (ssGetErrorStatus(S) != NULL) { return; } } else { return; /* Parameter mismatch will be reported by Simulink */ } #endif /* no states because we do not need nothing to remember */ ssSetNumContStates(S, 0); /* the number of continuous states */ ssSetNumDiscStates(S, 0 ); /* the number of discrete states */ /* inputs are M, q*/ if (!ssSetNumInputPorts(S, 2)) return; /* input matrix M to port 0*/ ssSetInputPortWidth(S, 0, NSTATES(S)*NSTATES(S)); ssSetInputPortMatrixDimensions(S, 0, NSTATES(S), NSTATES(S)); ssSetInputPortDirectFeedThrough(S, 0, 1); /* direct feedtrough for port 0*/ /* input vector q to port 1*/ ssSetInputPortWidth(S, 1, NSTATES(S)); ssSetInputPortVectorDimension(S, 1, NSTATES(S)); ssSetInputPortDirectFeedThrough(S, 1, 1); /* direct feedtrough for port 1*/ /* outputs are z, w, basis, exitflag, pivots, time */ if (!ssSetNumOutputPorts(S, 6)) return; ssSetOutputPortWidth(S, 0, NSTATES(S)); /* output z to port 0 */ ssSetOutputPortVectorDimension(S, 0, NSTATES(S)); ssSetOutputPortWidth(S, 1, NSTATES(S)); /* output w to port 1 */ ssSetOutputPortVectorDimension(S, 1, NSTATES(S)); ssSetOutputPortWidth(S, 2, NSTATES(S)); /* basis to port 2 */ ssSetOutputPortVectorDimension(S, 2, NSTATES(S)); ssSetOutputPortWidth(S, 3, 1); /* exitflag to port 3 */ ssSetOutputPortWidth(S, 4, 1); /* pivots to port 4 */ ssSetOutputPortWidth(S, 5, 1); /* computation time to port 5 */ ssSetNumSampleTimes(S, 1); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 7); /* working vectors Mn, qn, r, c, x, pA, pB */ ssSetNumModes(S, 0); ssSetNumNonsampledZCs(S, 0); /* use PWorks to store values */ ssSetSimStateCompliance(S, HAS_NO_SIM_STATE); ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE ); }
/* 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) { /* Number of expected parameters */ ssSetNumSFcnParams(S, 0); /* * Set the number of pworks. */ ssSetNumPWork(S, 0); /* * Set the number of dworks. */ if (!ssSetNumDWork(S, 0)) return; /* * Set the number of input ports. */ if (!ssSetNumInputPorts(S, 0)) return; /* * Set the number of output ports. */ if (!ssSetNumOutputPorts(S, 0)) return; /* * Register reserved identifiers to avoid name conflict */ if (ssRTWGenIsCodeGen(S) || ssGetSimMode(S)==SS_SIMMODE_EXTERNAL) { /* * Register reserved identifier for StartFcnSpec */ ssRegMdlInfo(S, "Actuator_Initialization", MDL_INFO_ID_RESERVED, 0, 0, ssGetPath(S)); /* * Register reserved identifier for TerminateFcnSpec */ ssRegMdlInfo(S, "Actuator_Stop", MDL_INFO_ID_RESERVED, 0, 0, ssGetPath(S)); } /* * This S-function can be used in referenced model simulating in normal mode. */ ssSetModelReferenceNormalModeSupport(S, MDL_START_AND_MDL_PROCESS_PARAMS_OK); /* * Set the number of sample time. */ ssSetNumSampleTimes(S, 1); /* * All options have the form SS_OPTION_<name> and are documented in * matlabroot/simulink/include/simstruc.h. The options should be * bitwise or'd together as in * ssSetOptions(S, (SS_OPTION_name1 | SS_OPTION_name2)) */ ssSetOptions(S, SS_OPTION_USE_TLC_WITH_ACCELERATOR | SS_OPTION_CAN_BE_CALLED_CONDITIONALLY | SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_WORKS_WITH_CODE_REUSE | SS_OPTION_SFUNCTION_INLINED_FOR_RTW | SS_OPTION_DISALLOW_CONSTANT_SAMPLE_TIME); ssSetSimulinkVersionGeneratedIn(S, "8.3"); }