static void mdlSetWorkWidths(SimStruct *S) { int_T nq = 0; if( mxGetNumberOfElements(paramQuaternionIndex) == 2 ) { nq = intval(mxGetPr(paramQuaternionIndex)[1]) - intval(mxGetPr(paramQuaternionIndex)[0]) + 1; nq = nq / 4; } ssSetNumContStates(S, 0); ssSetNumDiscStates(S, 0); ssSetNumRWork(S, 0); ssSetNumIWork(S, 1); ssSetNumPWork(S, 1); ssSetNumDWork(S, (nq > 0 ? 3 : 2)); ssSetDWorkWidth(S, 0, ssGetInputPortWidth(S, 0)); ssSetDWorkWidth(S, 1, ssGetInputPortWidth(S, 0)); ssSetDWorkDataType(S, 0, SS_DOUBLE); ssSetDWorkDataType(S, 1, SS_DOUBLE); if( nq ) { ssSetDWorkWidth(S, 2, ssGetInputPortWidth(S, 0)); ssSetDWorkDataType(S, 2, SS_DOUBLE); } ssSetNumModes(S, 0); }
/* 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) { /* See sfuntmpl.doc for more details on the macros below */ ssSetNumSFcnParams(S, 0); /* Number of expected parameters */ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { /* Return if number of expected != number of actual parameters */ return; } ssSetNumContStates(S, 1); /* how many continuous states? */ ssSetNumDiscStates(S, 0); if (!ssSetNumInputPorts(S, 1)) return; ssSetInputPortWidth(S, 0, 1); /* * 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. * See matlabroot/simulink/src/sfuntmpl_directfeed.txt. */ ssSetInputPortDirectFeedThrough(S, 0, 1); if (!ssSetNumOutputPorts(S, 1)) return; ssSetOutputPortWidth(S, 0, 1); ssSetNumSampleTimes(S, 1); /* * If your Fortran code uses REAL for the state, input, and/or output * datatypes, use these DWorks as work areas to downcast continuous * states from double to REAL before calling your code. You could * also put the work vectors in hard-coded local (stack) variables. * * For fixed step code, keep a copy of the variables to be output * in a DWork vector so the mdlOutputs() function can provide output * data when needed. You can use as many DWork vectors as you like * for both input and output (or hard-code local variables). */ if(!ssSetNumDWork( S, 3)) return; ssSetDWorkWidth( S, 0, ssGetOutputPortWidth(S,0)); ssSetDWorkDataType( S, 0, SS_SINGLE); /* use SS_DOUBLE if needed */ ssSetDWorkWidth( S, 1, ssGetInputPortWidth(S,0)); ssSetDWorkDataType( S, 1, SS_SINGLE); ssSetDWorkWidth( S, 2, ssGetNumContStates(S)); ssSetDWorkDataType( S, 2, SS_SINGLE); ssSetNumNonsampledZCs(S, 0); /* Specify the sim state compliance to be same as a built-in block */ /* see sfun_simstate.c for example of other possible settings */ ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE); ssSetOptions(S, 0); }
static void mdlSetWorkWidths(SimStruct *S) { /* Set the width of DWork(s) used for marshalling the IOs */ if (isDWorkPresent) { /* Update dwork 0 */ ssSetDWorkWidth(S, 0, ssGetInputPortWidth(S, 0)); /* Update dwork 1 */ ssSetDWorkWidth(S, 1, ssGetOutputPortWidth(S, 0)); } }
/* 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) { ssSetNumSFcnParams(S, 0); /* Number of expected parameters */ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { /* Return if number of expected != number of actual parameters */ return; } if (!ssSetNumInputPorts(S, 1)) return; ssSetInputPortWidth(S, 0, 1); ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/ ssSetInputPortDirectFeedThrough(S, 0, 0); if (!ssSetNumOutputPorts(S, 2)) return; ssSetOutputPortWidth(S, 0, 1); ssSetOutputPortWidth(S, 1, 1); ssSetNumSampleTimes(S, 1); /* * Create a DWork data structure. */ { int dtId; /* * Use caution to avoid name conflicts when registering the * data type name. The suggested naming convention is to use * a common prefix based on your Blockset's name for each data type * registered by S-functions in your blocks set. If the S-function * is not part of a blockset, then use your company's name as a prefix. * The data type name is limited to 31 characters. */ dtId = ssRegisterDataType(S, "ExampleCounterStateStruct"); if (dtId == INVALID_DTYPE_ID ) return; /* Register the size of the udt */ if (!ssSetDataTypeSize(S, dtId, sizeof(CounterStateStruct))) return; ssSetNumDWork(S,1); ssSetDWorkDataType(S, 0, dtId); ssSetDWorkWidth(S, 0, 1); ssSetDWorkName(S, 0, "CSStruct"); /*optional name, less than 16 chars*/ } /* specify the sim state compliance to be same as a built-in block */ ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE); ssSetOptions(S, SS_OPTION_WORKS_WITH_CODE_REUSE | SS_OPTION_RUNTIME_EXCEPTION_FREE_CODE | SS_OPTION_USE_TLC_WITH_ACCELERATOR); }
// Function: mdlInitializeSizes =============================================== // Abstract: // The sizes information is used by Simulink to determine the S-function // block's characteristics (number of inputs, s, states, etc.). static void mdlInitializeSizes(SimStruct *S) { ssSetNumSFcnParams(S, NPARAMS); #if defined(MATLAB_MEX_FILE) if(ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)){ mdlCheckParameters(S); if(ssGetErrorStatus(S)!=NULL){ return; } else{ cout<<"All parameters have been checked and passed correctly"<<endl; } } else{ return; // Parameter mismatch reported by Simulink } #endif // Parameter mismatch will be reported by Simulink if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { return; } // Specify I/O // INPUTS if(!ssSetNumInputPorts(S,0)) return; // OUTPUTS if (!ssSetNumOutputPorts(S,SIZE_READING_PORT)) return; for (int i = 0; i < SIZE_READING_PORT; i++) { ssSetOutputPortWidth (S, i, 1); ssSetOutputPortDataType(S, i, 0); } ssSetNumSampleTimes(S, 1); // Reserve place for C++ object ssSetNumPWork(S, 1); // DWork vectors ssSetNumDWork(S, 1); ssSetDWorkWidth(S, 0, 1); ssSetDWorkDataType(S, 0, SS_DOUBLE); ssSetSimStateCompliance(S, USE_CUSTOM_SIM_STATE); ssSetOptions(S, SS_OPTION_WORKS_WITH_CODE_REUSE | SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_ALLOW_INPUT_SCALAR_EXPANSION | SS_OPTION_USE_TLC_WITH_ACCELERATOR); }
static void mdlInitializeSizes(SimStruct *S) { ssSetNumSFcnParams(S, 2); ssSetNumContStates(S, 0); ssSetNumDiscStates(S, 0); ssSetNumInputPorts(S, 0); ssSetNumOutputPorts(S, 0); ssSetNumSampleTimes(S, 1); ssSetNumDWork(S, 1); // wall t0 ssSetDWorkWidth(S, 0, 1); ssSetDWorkDataType(S, 0, SS_DOUBLE); }
static void mdlInitializeSizes(SimStruct *S) { ssSetNumSFcnParams(S, 0); /* Number of expected parameters */ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { return; } ssSetNumContStates(S, 0); ssSetNumDiscStates(S, 0); if (!ssSetNumInputPorts(S, 1)) return; ssSetInputPortWidth(S, 0, 3); ssSetInputPortRequiredContiguous(S, 0, true); ssSetInputPortDirectFeedThrough(S, 0, 0); //ssSetInputPortDataType(S,0,SS_DOUBLE); if (!ssSetNumOutputPorts(S, 1)) return; ssSetOutputPortWidth(S, 0, 3); ssSetNumSampleTimes(S, 1); ssSetNumDWork(S, 2); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 0); ssSetNumModes(S, 0); //Pointer SHM_IN ssSetDWorkWidth(S, DVECSHMIN, 1); ssSetDWorkDataType(S, DVECSHMIN, SS_POINTER); //Pointer SHM_OUT ssSetDWorkWidth(S, DVECSHMOUT, 1); ssSetDWorkDataType(S, DVECSHMOUT, SS_POINTER); ssSetOptions(S, 0); }
static void mdlInitializeSizes(SimStruct *S) { ssSetNumSFcnParams(S, 5); /* Number of expected parameters */ #ifndef TRES_SIMULINK_DISABLE_MASK_PROTECTION // Perform mask params validity check // TODO very basic error check (to be improved). const mxArray *mxMsdVarName = ssGetSFcnParam(S,MSG_DESCR_VARNAME); if ((mxGetM(mxMsdVarName) != 1) || (mxGetN(mxMsdVarName) == 0)) { ssSetErrorStatus(S, "The message-set description variable cannot be empty"); return; } const mxArray *mxNdVarName = ssGetSFcnParam(S,NTWK_DESCR_VARNAME); if ((mxGetM(mxNdVarName) != 1) || (mxGetN(mxNdVarName) == 0)) { ssSetErrorStatus(S, "The network description variable cannot be empty (you must specify at least the network topology!)"); return; } const mxArray *mxAddLibsPath = ssGetSFcnParam(S,OTHER_DEPS); if ((mxGetM(mxAddLibsPath) != 1) || (mxGetN(mxAddLibsPath) == 0)) { ssSetErrorStatus(S, "The Additional Libraries (see the Simulator tab) field cannot be empty"); return; } #endif ssSetNumContStates(S, 0); ssSetNumDiscStates(S, 0); // Set the number of input ports to 0 if (!ssSetNumInputPorts(S, 0)) return; // Set the output port to have a dynamic dimension if (!ssSetNumOutputPorts(S, 1)) return; ssSetOutputPortWidth(S, 0, DYNAMICALLY_SIZED); ssSetNumSampleTimes(S, 1); ssSetNumDWork(S, 1); // store the `New pending activations available' flag ssSetDWorkWidth(S, 0, 1); ssSetDWorkDataType(S, 0, SS_BOOLEAN); ssSetNumPWork(S, 1); // store the tres::Network ssSetNumRWork(S, 1); // store the time_resolution ssSetNumNonsampledZCs(S, 1); // next hit }
static void mdlSetWorkWidths_c3_MPC_framework(SimStruct *S) { if(sim_mode_is_rtw_gen(S)) { int_T chartIsInlinable = (int_T)sf_is_chart_inlinable("MPC_framework",3); ssSetStateflowIsInlinable(S,chartIsInlinable); ssSetEnableFcnIsTrivial(S,1); ssSetDisableFcnIsTrivial(S,1); ssSetNotMultipleInlinable(S,sf_rtw_info_uint_prop("MPC_framework",3,"gatewayCannotBeInlinedMultipleTimes")); if(chartIsInlinable) { ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 1, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 2, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 3, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 4, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 5, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 6, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 7, SS_REUSABLE_AND_LOCAL); sf_mark_chart_expressionable_inputs(S,"MPC_framework",3,8); sf_mark_chart_reusable_outputs(S,"MPC_framework",3,3); } if (!sf_is_chart_instance_optimized_out("MPC_framework",3)) { int dtId; char *chartInstanceTypedefName = sf_chart_instance_typedef_name("MPC_framework",3); dtId = ssRegisterDataType(S, chartInstanceTypedefName); if (dtId == INVALID_DTYPE_ID ) return; /* Register the size of the udt */ if (!ssSetDataTypeSize(S, dtId, 8)) return; if(!ssSetNumDWork(S,1)) return; ssSetDWorkDataType(S, 0, dtId); ssSetDWorkWidth(S, 0, 1); ssSetDWorkName(S, 0, "ChartInstance"); /*optional name, less than 16 chars*/ sf_set_rtw_identifier(S); } ssSetHasSubFunctions(S,!(chartIsInlinable)); ssSetOptions(S,ssGetOptions(S)|SS_OPTION_WORKS_WITH_CODE_REUSE); } ssSetChecksum0(S,(1607393255U)); ssSetChecksum1(S,(1677787762U)); ssSetChecksum2(S,(2097080131U)); ssSetChecksum3(S,(3166642993U)); ssSetExplicitFCSSCtrl(S,1); }
static void mdlSetWorkWidths_c2_object_tracker_intensity(SimStruct *S) { if(sim_mode_is_rtw_gen(S)) { int_T chartIsInlinable = (int_T)sf_is_chart_inlinable("object_tracker_intensity",2); ssSetStateflowIsInlinable(S,chartIsInlinable); ssSetEnableFcnIsTrivial(S,1); ssSetDisableFcnIsTrivial(S,1); ssSetNotMultipleInlinable(S,sf_rtw_info_uint_prop("object_tracker_intensity",2,"gatewayCannotBeInlinedMultipleTimes")); if(chartIsInlinable) { ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 1, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 2, SS_REUSABLE_AND_LOCAL); ssSetInputPortOptimOpts(S, 3, SS_REUSABLE_AND_LOCAL); sf_mark_chart_expressionable_inputs(S,"object_tracker_intensity",2,4); sf_mark_chart_reusable_outputs(S,"object_tracker_intensity",2,3); } if (!sf_is_chart_instance_optimized_out("object_tracker_intensity",2)) { int dtId; char *chartInstanceTypedefName = sf_chart_instance_typedef_name("object_tracker_intensity",2); dtId = ssRegisterDataType(S, chartInstanceTypedefName); if (dtId == INVALID_DTYPE_ID ) return; /* Register the size of the udt */ if (!ssSetDataTypeSize(S, dtId, 8)) return; if(!ssSetNumDWork(S,1)) return; ssSetDWorkDataType(S, 0, dtId); ssSetDWorkWidth(S, 0, 1); ssSetDWorkName(S, 0, "ChartInstance"); /*optional name, less than 16 chars*/ sf_set_rtw_identifier(S); } ssSetHasSubFunctions(S,!(chartIsInlinable)); ssSetOptions(S,ssGetOptions(S)|SS_OPTION_WORKS_WITH_CODE_REUSE); } ssSetChecksum0(S,(1312153194U)); ssSetChecksum1(S,(1014398065U)); ssSetChecksum2(S,(1024726701U)); ssSetChecksum3(S,(2475745997U)); ssSetExplicitFCSSCtrl(S,1); }
/* 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) { 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; if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return; /* Output Port 0 */ ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH); ssSetOutputPortDataType(S, 0, SS_DOUBLE); ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX); /* Output Port 1 */ /* Register SL_ROS_SUB_MSG datatype for Output port 1 */ #if defined(MATLAB_MEX_FILE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { DTypeId dataTypeIdReg; ssRegisterTypeFromNamedObject(S, "SL_ROS_SUB_MSG", &dataTypeIdReg); if(dataTypeIdReg == INVALID_DTYPE_ID) return; ssSetOutputPortDataType(S,1, dataTypeIdReg); } #endif ssSetBusOutputObjectName(S, 1, (void *) "SL_ROS_SUB_MSG"); ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH); ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX); ssSetBusOutputAsStruct(S, 1, OUT_1_BUS_BASED); ssSetOutputPortBusMode(S, 1, SL_BUS_MODE); if (ssRTWGenIsCodeGen(S)) { isSimulationTarget = GetRTWEnvironmentMode(S); if (isSimulationTarget == -1) { ssSetErrorStatus(S, " Unable to determine a valid code generation environment mode"); return; } isSimulationTarget |= ssRTWGenIsModelReferenceSimTarget(S); } /* Set the number of dworks */ if (!isDWorkPresent) { if (!ssSetNumDWork(S, 0)) return; } else { if (!ssSetNumDWork(S, 1)) return; } if (isDWorkPresent) { /* * Configure the dwork 0 (y1BUS) */ #if defined(MATLAB_MEX_FILE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { DTypeId dataTypeIdReg; ssRegisterTypeFromNamedObject(S, "SL_ROS_SUB_MSG", &dataTypeIdReg); if (dataTypeIdReg == INVALID_DTYPE_ID) return; ssSetDWorkDataType(S, 0, dataTypeIdReg); } #endif ssSetDWorkUsageType(S, 0, SS_DWORK_USED_AS_DWORK); ssSetDWorkName(S, 0, "y1BUS"); ssSetDWorkWidth(S, 0, DYNAMICALLY_SIZED); ssSetDWorkComplexSignal(S, 0, COMPLEX_NO); } ssSetNumSampleTimes(S, 1); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 0); ssSetNumModes(S, 0); ssSetNumNonsampledZCs(S, 0); ssSetSimulinkVersionGeneratedIn(S, "8.7"); /* Take care when specifying exception free code - see sfuntmpl_doc.c */ ssSetOptions(S, 0); }
/* Registration function */ RT_MODEL_DI_model_T *DI_model(void) { /* Registration code */ /* initialize non-finites */ rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */ (void) memset((void *)DI_model_M, 0, sizeof(RT_MODEL_DI_model_T)); { /* Setup solver object */ rtsiSetSimTimeStepPtr(&DI_model_M->solverInfo, &DI_model_M->Timing.simTimeStep); rtsiSetTPtr(&DI_model_M->solverInfo, &rtmGetTPtr(DI_model_M)); rtsiSetStepSizePtr(&DI_model_M->solverInfo, &DI_model_M->Timing.stepSize0); rtsiSetErrorStatusPtr(&DI_model_M->solverInfo, (&rtmGetErrorStatus (DI_model_M))); rtsiSetRTModelPtr(&DI_model_M->solverInfo, DI_model_M); } rtsiSetSimTimeStep(&DI_model_M->solverInfo, MAJOR_TIME_STEP); rtsiSetSolverName(&DI_model_M->solverInfo,"FixedStepDiscrete"); DI_model_M->solverInfoPtr = (&DI_model_M->solverInfo); /* Initialize timing info */ { int_T *mdlTsMap = DI_model_M->Timing.sampleTimeTaskIDArray; mdlTsMap[0] = 0; mdlTsMap[1] = 1; DI_model_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]); DI_model_M->Timing.sampleTimes = (&DI_model_M->Timing.sampleTimesArray[0]); DI_model_M->Timing.offsetTimes = (&DI_model_M->Timing.offsetTimesArray[0]); /* task periods */ DI_model_M->Timing.sampleTimes[0] = (0.0); DI_model_M->Timing.sampleTimes[1] = (0.01); /* task offsets */ DI_model_M->Timing.offsetTimes[0] = (0.0); DI_model_M->Timing.offsetTimes[1] = (0.0); } rtmSetTPtr(DI_model_M, &DI_model_M->Timing.tArray[0]); { int_T *mdlSampleHits = DI_model_M->Timing.sampleHitArray; mdlSampleHits[0] = 1; mdlSampleHits[1] = 1; DI_model_M->Timing.sampleHits = (&mdlSampleHits[0]); } rtmSetTFinal(DI_model_M, 30.0); DI_model_M->Timing.stepSize0 = 0.01; DI_model_M->Timing.stepSize1 = 0.01; /* External mode info */ DI_model_M->Sizes.checksums[0] = (643900350U); DI_model_M->Sizes.checksums[1] = (2770069371U); DI_model_M->Sizes.checksums[2] = (2746067867U); DI_model_M->Sizes.checksums[3] = (3163517665U); { static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE; static RTWExtModeInfo rt_ExtModeInfo; static const sysRanDType *systemRan[1]; DI_model_M->extModeInfo = (&rt_ExtModeInfo); rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan); systemRan[0] = &rtAlwaysEnabled; rteiSetModelMappingInfoPtr(DI_model_M->extModeInfo, &DI_model_M->SpecialInfo.mappingInfo); rteiSetChecksumsPtr(DI_model_M->extModeInfo, DI_model_M->Sizes.checksums); rteiSetTPtr(DI_model_M->extModeInfo, rtmGetTPtr(DI_model_M)); } DI_model_M->solverInfoPtr = (&DI_model_M->solverInfo); DI_model_M->Timing.stepSize = (0.01); rtsiSetFixedStepSize(&DI_model_M->solverInfo, 0.01); rtsiSetSolverMode(&DI_model_M->solverInfo, SOLVER_MODE_SINGLETASKING); /* states (dwork) */ DI_model_M->ModelData.dwork = ((void *) &DI_model_DW); (void) memset((void *)&DI_model_DW, 0, sizeof(DW_DI_model_T)); /* data type transition information */ { static DataTypeTransInfo dtInfo; (void) memset((char_T *) &dtInfo, 0, sizeof(dtInfo)); DI_model_M->SpecialInfo.mappingInfo = (&dtInfo); dtInfo.numDataTypes = 14; dtInfo.dataTypeSizes = &rtDataTypeSizes[0]; dtInfo.dataTypeNames = &rtDataTypeNames[0]; /* Block I/O transition table */ dtInfo.B = &rtBTransTable; } /* child S-Function registration */ { RTWSfcnInfo *sfcnInfo = &DI_model_M->NonInlinedSFcns.sfcnInfo; DI_model_M->sfcnInfo = (sfcnInfo); rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(DI_model_M))); rtssSetNumRootSampTimesPtr(sfcnInfo, &DI_model_M->Sizes.numSampTimes); DI_model_M->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(DI_model_M)[0]); DI_model_M->NonInlinedSFcns.taskTimePtrs[1] = &(rtmGetTPtr(DI_model_M)[1]); rtssSetTPtrPtr(sfcnInfo,DI_model_M->NonInlinedSFcns.taskTimePtrs); rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(DI_model_M)); rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(DI_model_M)); rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(DI_model_M)); rtssSetStepSizePtr(sfcnInfo, &DI_model_M->Timing.stepSize); rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(DI_model_M)); rtssSetDerivCacheNeedsResetPtr(sfcnInfo, &DI_model_M->ModelData.derivCacheNeedsReset); rtssSetZCCacheNeedsResetPtr(sfcnInfo, &DI_model_M->ModelData.zCCacheNeedsReset); rtssSetBlkStateChangePtr(sfcnInfo, &DI_model_M->ModelData.blkStateChange); rtssSetSampleHitsPtr(sfcnInfo, &DI_model_M->Timing.sampleHits); rtssSetPerTaskSampleHitsPtr(sfcnInfo, &DI_model_M->Timing.perTaskSampleHits); rtssSetSimModePtr(sfcnInfo, &DI_model_M->simMode); rtssSetSolverInfoPtr(sfcnInfo, &DI_model_M->solverInfoPtr); } DI_model_M->Sizes.numSFcns = (1); /* register each child */ { (void) memset((void *)&DI_model_M->NonInlinedSFcns.childSFunctions[0], 0, 1*sizeof(SimStruct)); DI_model_M->childSfunctions = (&DI_model_M->NonInlinedSFcns.childSFunctionPtrs[0]); DI_model_M->childSfunctions[0] = (&DI_model_M->NonInlinedSFcns.childSFunctions[0]); /* Level2 S-Function Block: DI_model/<Root>/S-Function (DI_v1) */ { SimStruct *rts = DI_model_M->childSfunctions[0]; /* timing info */ time_T *sfcnPeriod = DI_model_M->NonInlinedSFcns.Sfcn0.sfcnPeriod; time_T *sfcnOffset = DI_model_M->NonInlinedSFcns.Sfcn0.sfcnOffset; int_T *sfcnTsMap = DI_model_M->NonInlinedSFcns.Sfcn0.sfcnTsMap; (void) memset((void*)sfcnPeriod, 0, sizeof(time_T)*1); (void) memset((void*)sfcnOffset, 0, sizeof(time_T)*1); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &DI_model_M->NonInlinedSFcns.blkInfo2[0]); } ssSetRTWSfcnInfo(rts, DI_model_M->sfcnInfo); /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &DI_model_M->NonInlinedSFcns.methods2[0]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &DI_model_M->NonInlinedSFcns.methods3[0]); } /* Allocate memory for states auxilliary information */ { ssSetStatesInfo2(rts, &DI_model_M->NonInlinedSFcns.statesInfo2[0]); } /* inputs */ { _ssSetNumInputPorts(rts, 1); ssSetPortInfoForInputs(rts, &DI_model_M->NonInlinedSFcns.Sfcn0.inputPortInfo[0]); /* port 0 */ { ssSetInputPortRequiredContiguous(rts, 0, 1); ssSetInputPortSignal(rts, 0, (real_T*)&DI_model_RGND); _ssSetInputPortNumDimensions(rts, 0, 1); ssSetInputPortWidth(rts, 0, 1); } } /* path info */ ssSetModelName(rts, "S-Function"); ssSetPath(rts, "DI_model/S-Function"); ssSetRTModel(rts,DI_model_M); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* work vectors */ ssSetIWork(rts, (int_T *) &DI_model_DW.SFunction_IWORK); { struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *) &DI_model_M->NonInlinedSFcns.Sfcn0.dWork; struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *) &DI_model_M->NonInlinedSFcns.Sfcn0.dWorkAux; ssSetSFcnDWork(rts, dWorkRecord); ssSetSFcnDWorkAux(rts, dWorkAuxRecord); _ssSetNumDWork(rts, 1); /* IWORK */ ssSetDWorkWidth(rts, 0, 1); ssSetDWorkDataType(rts, 0,SS_INTEGER); ssSetDWorkComplexSignal(rts, 0, 0); ssSetDWork(rts, 0, &DI_model_DW.SFunction_IWORK); } /* registration */ DI_v1(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.0); ssSetOffsetTime(rts, 0, 0.0); sfcnTsMap[0] = 0; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetInputPortConnected(rts, 0, 0); /* Update the BufferDstPort flags for each input port */ ssSetInputPortBufferDstPort(rts, 0, -1); } } /* Initialize Sizes */ DI_model_M->Sizes.numContStates = (0);/* Number of continuous states */ DI_model_M->Sizes.numY = (0); /* Number of model outputs */ DI_model_M->Sizes.numU = (0); /* Number of model inputs */ DI_model_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */ DI_model_M->Sizes.numSampTimes = (2);/* Number of sample times */ DI_model_M->Sizes.numBlocks = (1); /* Number of blocks */ return DI_model_M; }
static void mdlInitializeSizes(SimStruct *S) { ssSetNumSFcnParams(S, 0); if (S->mdlInfo->genericFcn != NULL) { _GenericFcn fcn = S->mdlInfo->genericFcn; (fcn)(S, GEN_FCN_CHK_MODELREF_SOLVER_TYPE_EARLY, 2, NULL); } ssSetRTWGeneratedSFcn(S, 2); ssSetNumContStates(S, 0); ssSetNumDiscStates(S, 0); if (!ssSetNumInputPorts(S, 2)) return; if (!ssSetInputPortVectorDimension(S, 0, 1)) return; ssSetInputPortFrameData(S, 0, FRAME_NO); ssSetInputPortBusMode(S, 0, SL_NON_BUS_MODE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { ssSetInputPortDataType(S, 0, SS_DOUBLE); } ssSetInputPortDirectFeedThrough(S, 0, 1); ssSetInputPortRequiredContiguous(S, 0, 1); ssSetInputPortOptimOpts(S, 0, SS_NOT_REUSABLE_AND_GLOBAL); ssSetInputPortOverWritable(S, 0, FALSE); ssSetInputPortSampleTime(S, 0, 0.0); ssSetInputPortOffsetTime(S, 0, 0.0); if (!ssSetInputPortVectorDimension(S, 1, 1)) return; ssSetInputPortFrameData(S, 1, FRAME_NO); ssSetInputPortBusMode(S, 1, SL_NON_BUS_MODE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { ssSetInputPortDataType(S, 1, SS_DOUBLE); } ssSetInputPortDirectFeedThrough(S, 1, 1); ssSetInputPortRequiredContiguous(S, 1, 1); ssSetInputPortOptimOpts(S, 1, SS_NOT_REUSABLE_AND_GLOBAL); ssSetInputPortOverWritable(S, 1, FALSE); ssSetInputPortSampleTime(S, 1, 0.0); ssSetInputPortOffsetTime(S, 1, 0.0); if (!ssSetNumOutputPorts(S, 1)) return; if (!ssSetOutputPortVectorDimension(S, 0, 1)) return; ssSetOutputPortFrameData(S, 0, FRAME_NO); ssSetOutputPortBusMode(S, 0, SL_NON_BUS_MODE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { ssSetOutputPortDataType(S, 0, SS_DOUBLE); } ssSetOutputPortSampleTime(S, 0, 0.0); ssSetOutputPortOffsetTime(S, 0, 0.0); ssSetOutputPortOkToMerge(S, 0, SS_OK_TO_MERGE); ssSetOutputPortOptimOpts(S, 0, SS_NOT_REUSABLE_AND_GLOBAL); rt_InitInfAndNaN(sizeof(real_T)); { real_T minValue = rtMinusInf; real_T maxValue = rtInf; ssSetModelRefInputSignalDesignMin(S,0,&minValue); ssSetModelRefInputSignalDesignMax(S,0,&maxValue); } { real_T minValue = rtMinusInf; real_T maxValue = rtInf; ssSetModelRefInputSignalDesignMin(S,1,&minValue); ssSetModelRefInputSignalDesignMax(S,1,&maxValue); } { real_T minValue = rtMinusInf; real_T maxValue = rtInf; ssSetModelRefOutputSignalDesignMin(S,0,&minValue); ssSetModelRefOutputSignalDesignMax(S,0,&maxValue); } { static ssRTWStorageType storageClass[3] = { SS_RTW_STORAGE_AUTO, SS_RTW_STORAGE_AUTO, SS_RTW_STORAGE_AUTO }; ssSetModelRefPortRTWStorageClasses(S, storageClass); } ssSetNumSampleTimes(S, PORT_BASED_SAMPLE_TIMES); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 0); ssSetNumModes(S, 0); ssSetNumZeroCrossingSignals(S, 0); ssSetOutputPortIsNonContinuous(S, 0, 0); ssSetOutputPortIsFedByBlockWithModesNoZCs(S, 0, 0); ssSetInputPortIsNotDerivPort(S, 0, 1); ssSetInputPortIsNotDerivPort(S, 1, 1); ssSetModelReferenceSampleTimeInheritanceRule(S, DISALLOW_SAMPLE_TIME_INHERITANCE); ssSetOptimizeModelRefInitCode(S, 0); ssSetModelReferenceNormalModeSupport(S, MDL_START_AND_MDL_PROCESS_PARAMS_OK); ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_DISALLOW_CONSTANT_SAMPLE_TIME | SS_OPTION_SUPPORTS_ALIAS_DATA_TYPES | SS_OPTION_WORKS_WITH_CODE_REUSE | SS_OPTION_CALL_TERMINATE_ON_EXIT); if (S->mdlInfo->genericFcn != NULL) { ssRegModelRefChildModel(S,1,childModels); } #if SS_SFCN_FOR_SIM if (S->mdlInfo->genericFcn != NULL && ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { mr_vdmultRM_MdlInfoRegFcn(S, "vdmultRM"); } #endif if (!ssSetNumDWork(S, 1)) { return; } #if SS_SFCN_FOR_SIM { int mdlrefDWTypeId; ssRegMdlRefDWorkType(S, &mdlrefDWTypeId); if (mdlrefDWTypeId == INVALID_DTYPE_ID ) return; if (!ssSetDataTypeSize(S, mdlrefDWTypeId, sizeof(rtMdlrefDWork_mr_vdmultRM))) return; ssSetDWorkDataType(S, 0, mdlrefDWTypeId); ssSetDWorkWidth(S, 0, 1); } #endif ssSetNeedAbsoluteTime(S, 1); }
/* 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) { /* See sfuntmpl_doc.c for more details on the macros below */ 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, NUM_INPUT)) return; //ssSetInputPortWidth(S, INPUT_PARTICLE, INPUT_PARTICLE_WIDTH); /* SHARED MEMORY */ /* pmd_data */ ssSetInputPortWidth(S, INPUT_PMD_DATA, 2); ssSetInputPortDataType(S, INPUT_PMD_DATA, SS_UINT32); /* POSITION */ ssSetInputPortWidth(S, INPUT_POSITION, 3); //ssSetInputPortDataType(S, INPUT_ALTITUDE, SS_UINT32); /* DCM */ ssSetInputPortWidth(S, INPUT_DCM, 9); /* Walls */ ssSetInputPortWidth(S, INPUT_WALLS, 47*9); /* Measured Velocity */ ssSetInputPortWidth(S, INPUT_MEASURED_VELOCITY, 3); /* general settings for input ports */ int i = 0; for ( i=0; i < NUM_INPUT; i++) { /*direct input signal access*/ ssSetInputPortRequiredContiguous(S, i, true); /* * 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. * See matlabroot/simulink/src/sfuntmpl_directfeed.txt. */ ssSetInputPortDirectFeedThrough(S, i, 1); } if (!ssSetNumOutputPorts(S, NUM_OUTPUT)) return; //ssSetOutputPortMatrixDimensions(S, OUTPUT_UAVENV, OUTPUT_UAVENV_HEIGHT, OUTPUT_UAVENV_WIDTH); // The data type of an output port is double(real_t) by default - and thats perfectly fine here. ssSetNumSampleTimes(S, 1); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 0); ssSetNumModes(S, 0); ssSetNumNonsampledZCs(S, 0); ssSetOptions(S, 0); ssSetNumDWork(S,1); ssSetDWorkWidth(S,0,1); }
/* 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) { /* See sfuntmpl_doc.c for more details on the macros below */ ssSetNumSFcnParams(S, 9); /* Number of expected parameter vectors*/ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { /* Return if number of expected != number of actual parameters */ return; } //ssSetNumContStates(S, 12); ssSetNumDiscStates(S, 12); /* if (!ssSetNumInputPorts(S, 1)) return; */ ssSetNumInputPorts(S, 1); ssSetInputPortWidth(S, 0, 8);//[thr ail el rud mxtr run flap gear] /* 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. * See matlabroot/simulink/src/sfuntmpl_directfeed.txt. */ /* ssSetInputPortDirectFeedThrough(S, 0, 1); */ if (!ssSetNumOutputPorts(S, 6)) return; ssSetOutputPortWidth(S, 0, 12);//The model has 12 states:[u v w p q r h-sl-ft long lat phi theta psi] /* Flight Controls output [thr-pos-norm left-ail-pos-rad el-pos-rad tvc-pos-rad rud-pos-rad flap-pos-norm right-ail-pos-rad * speedbrake-pos-rad spoiler-pos-rad lef-pos-rad gear-pos-norm Nose-gear-steering-pos-deg gear-unit-WOW] */ ssSetOutputPortWidth(S, 1, 13); /* Propulsion output piston (per engine) [prop-rpm prop-thrust-lbs mixture fuel-flow-gph advance-ratio power-hp pt-lbs_sqft * volumetric-efficiency bsfc-lbs_hphr prop-torque blade-angle prop-pitch] * Propulsion output turbine (per engine) [thrust-lbs n1 n2 fuel-flow-pph fuel-flow-pps pt-lbs_sqft pitch-rad reverser-rad yaw-rad inject-cmd * set-running fuel-dump] */ ssSetOutputPortWidth(S, 2, 48); ssSetOutputPortWidth(S, 3, 11);//Calculated outputs [pilot-Nz alpha alpha-dot beta beta-dot vc-fps vc-kts // Vt-fps vg-fps mach climb-rate] ssSetOutputPortWidth(S, 4, 6);//JSBSim Calculated State derivatives output [u_dot v_dot w_dot p_dot q_dot r_dot] ssSetOutputPortWidth(S, 5, 6);//JSBSim Calculated Aerodynamic forces and monents output [X Y Z L M C] //ssSetNumSampleTimes(S, 1); if(!ssSetNumDWork( S, 7)) return; ssSetDWorkWidth( S, 0, ssGetInputPortWidth(S,0));//Work vector for input port ssSetDWorkDataType( S, 0, SS_DOUBLE); /* use SS_DOUBLE if needed */ ssSetDWorkWidth( S, 1, ssGetNumDiscStates(S));//Work vector for states * may need to add actuator states! ssSetDWorkDataType( S, 1, SS_DOUBLE); ssSetDWorkWidth( S, 2, ssGetOutputPortWidth(S,4)); //Work vector derivatives ssSetDWorkDataType( S, 2, SS_DOUBLE); ssSetDWorkWidth( S, 3, ssGetOutputPortWidth(S,1));//Work vector for flight controls outputs ssSetDWorkDataType( S, 3, SS_DOUBLE); ssSetDWorkWidth( S, 4, ssGetOutputPortWidth(S,2));//Work vector for propulsion outputs ssSetDWorkDataType( S, 4, SS_DOUBLE); ssSetDWorkWidth( S, 5, ssGetOutputPortWidth(S,3));//Work vector for calculated outputs ssSetDWorkDataType( S, 5, SS_DOUBLE); ssSetDWorkWidth( S, 6, ssGetOutputPortWidth(S,5));//Work vector for aerodynamic outputs ssSetDWorkDataType( S, 6, SS_DOUBLE); ssSetNumPWork(S, 1); // reserve element in the pointers vector // to store a C++ object ssSetNumNonsampledZCs(S, 0); ssSetOptions(S, 0); }
/* Registration function */ RT_MODEL_RA4_student_T *RA4_student(void) { /* Registration code */ /* initialize non-finites */ rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */ (void) memset((void *)RA4_student_M, 0, sizeof(RT_MODEL_RA4_student_T)); { /* Setup solver object */ rtsiSetSimTimeStepPtr(&RA4_student_M->solverInfo, &RA4_student_M->Timing.simTimeStep); rtsiSetTPtr(&RA4_student_M->solverInfo, &rtmGetTPtr(RA4_student_M)); rtsiSetStepSizePtr(&RA4_student_M->solverInfo, &RA4_student_M->Timing.stepSize0); rtsiSetErrorStatusPtr(&RA4_student_M->solverInfo, (&rtmGetErrorStatus (RA4_student_M))); rtsiSetRTModelPtr(&RA4_student_M->solverInfo, RA4_student_M); } rtsiSetSimTimeStep(&RA4_student_M->solverInfo, MAJOR_TIME_STEP); rtsiSetSolverName(&RA4_student_M->solverInfo,"FixedStepDiscrete"); RA4_student_M->solverInfoPtr = (&RA4_student_M->solverInfo); /* Initialize timing info */ { int_T *mdlTsMap = RA4_student_M->Timing.sampleTimeTaskIDArray; mdlTsMap[0] = 0; mdlTsMap[1] = 1; RA4_student_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]); RA4_student_M->Timing.sampleTimes = (&RA4_student_M-> Timing.sampleTimesArray[0]); RA4_student_M->Timing.offsetTimes = (&RA4_student_M-> Timing.offsetTimesArray[0]); /* task periods */ RA4_student_M->Timing.sampleTimes[0] = (0.0); RA4_student_M->Timing.sampleTimes[1] = (0.000244140625); /* task offsets */ RA4_student_M->Timing.offsetTimes[0] = (0.0); RA4_student_M->Timing.offsetTimes[1] = (0.0); } rtmSetTPtr(RA4_student_M, &RA4_student_M->Timing.tArray[0]); { int_T *mdlSampleHits = RA4_student_M->Timing.sampleHitArray; mdlSampleHits[0] = 1; mdlSampleHits[1] = 1; RA4_student_M->Timing.sampleHits = (&mdlSampleHits[0]); } rtmSetTFinal(RA4_student_M, 1000.0); RA4_student_M->Timing.stepSize0 = 0.000244140625; RA4_student_M->Timing.stepSize1 = 0.000244140625; /* Setup for data logging */ { static RTWLogInfo rt_DataLoggingInfo; rt_DataLoggingInfo.loggingInterval = NULL; RA4_student_M->rtwLogInfo = &rt_DataLoggingInfo; } /* Setup for data logging */ { rtliSetLogXSignalInfo(RA4_student_M->rtwLogInfo, (NULL)); rtliSetLogXSignalPtrs(RA4_student_M->rtwLogInfo, (NULL)); rtliSetLogT(RA4_student_M->rtwLogInfo, "tout"); rtliSetLogX(RA4_student_M->rtwLogInfo, ""); rtliSetLogXFinal(RA4_student_M->rtwLogInfo, ""); rtliSetLogVarNameModifier(RA4_student_M->rtwLogInfo, "rt_"); rtliSetLogFormat(RA4_student_M->rtwLogInfo, 0); rtliSetLogMaxRows(RA4_student_M->rtwLogInfo, 0); rtliSetLogDecimation(RA4_student_M->rtwLogInfo, 1); rtliSetLogY(RA4_student_M->rtwLogInfo, ""); rtliSetLogYSignalInfo(RA4_student_M->rtwLogInfo, (NULL)); rtliSetLogYSignalPtrs(RA4_student_M->rtwLogInfo, (NULL)); } /* External mode info */ RA4_student_M->Sizes.checksums[0] = (2785597085U); RA4_student_M->Sizes.checksums[1] = (79388889U); RA4_student_M->Sizes.checksums[2] = (3150282079U); RA4_student_M->Sizes.checksums[3] = (1201550713U); { static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE; static RTWExtModeInfo rt_ExtModeInfo; static const sysRanDType *systemRan[2]; RA4_student_M->extModeInfo = (&rt_ExtModeInfo); rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan); systemRan[0] = &rtAlwaysEnabled; systemRan[1] = (sysRanDType *)&RA4_student_DW.Controller_SubsysRanBC; rteiSetModelMappingInfoPtr(RA4_student_M->extModeInfo, &RA4_student_M->SpecialInfo.mappingInfo); rteiSetChecksumsPtr(RA4_student_M->extModeInfo, RA4_student_M->Sizes.checksums); rteiSetTPtr(RA4_student_M->extModeInfo, rtmGetTPtr(RA4_student_M)); } RA4_student_M->solverInfoPtr = (&RA4_student_M->solverInfo); RA4_student_M->Timing.stepSize = (0.000244140625); rtsiSetFixedStepSize(&RA4_student_M->solverInfo, 0.000244140625); rtsiSetSolverMode(&RA4_student_M->solverInfo, SOLVER_MODE_SINGLETASKING); /* block I/O */ RA4_student_M->ModelData.blockIO = ((void *) &RA4_student_B); (void) memset(((void *) &RA4_student_B), 0, sizeof(B_RA4_student_T)); { RA4_student_B.UnitDelay2[0] = 0.0; RA4_student_B.UnitDelay2[1] = 0.0; RA4_student_B.UnitDelay2[2] = 0.0; RA4_student_B.UnitDelay1 = 0.0; RA4_student_B.RobotArm_sfcn_o1 = 0.0; RA4_student_B.RobotArm_sfcn_o2[0] = 0.0; RA4_student_B.RobotArm_sfcn_o2[1] = 0.0; RA4_student_B.RobotArm_sfcn_o2[2] = 0.0; RA4_student_B.RobotArm_sfcn_o4 = 0.0; RA4_student_B.Sum4 = 0.0; RA4_student_B.Sum5 = 0.0; RA4_student_B.Sum6 = 0.0; RA4_student_B.ReferenceSolenoid = 0.0; RA4_student_B.SFunction[0] = 0.0; RA4_student_B.SFunction[1] = 0.0; RA4_student_B.SFunction[2] = 0.0; RA4_student_B.SFunction[3] = 0.0; } /* parameters */ RA4_student_M->ModelData.defaultParam = ((real_T *)&RA4_student_P); /* states (dwork) */ RA4_student_M->ModelData.dwork = ((void *) &RA4_student_DW); (void) memset((void *)&RA4_student_DW, 0, sizeof(DW_RA4_student_T)); RA4_student_DW.UnitDelay2_DSTATE[0] = 0.0; RA4_student_DW.UnitDelay2_DSTATE[1] = 0.0; RA4_student_DW.UnitDelay2_DSTATE[2] = 0.0; RA4_student_DW.UnitDelay1_DSTATE = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK0 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK1 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK2 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK3 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK4 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK5 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK6 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK7 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK8 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK9 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK10 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK11 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK12 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK13 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK14 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK15 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK16[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK16[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK17[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK17[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK18[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK18[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK18[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK18[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK19[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK19[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK19[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK19[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK20[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK20[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK21[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK21[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK21[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK21[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK22[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK22[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK22[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK22[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK23[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK23[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK24[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK24[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK25[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK25[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK25[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK25[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK26[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK26[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK26[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK26[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK27[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK27[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK28[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK28[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK28[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK28[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK29[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK29[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK29[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK29[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK30[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK30[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK31[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK31[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK32[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK32[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK32[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK32[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK33[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK33[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK33[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK33[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK34[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK34[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK35[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK35[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK35[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK35[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK36[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK36[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK36[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK36[3] = 0.0; /* data type transition information */ { static DataTypeTransInfo dtInfo; (void) memset((char_T *) &dtInfo, 0, sizeof(dtInfo)); RA4_student_M->SpecialInfo.mappingInfo = (&dtInfo); dtInfo.numDataTypes = 14; dtInfo.dataTypeSizes = &rtDataTypeSizes[0]; dtInfo.dataTypeNames = &rtDataTypeNames[0]; /* Block I/O transition table */ dtInfo.B = &rtBTransTable; /* Parameters transition table */ dtInfo.P = &rtPTransTable; } /* child S-Function registration */ { RTWSfcnInfo *sfcnInfo = &RA4_student_M->NonInlinedSFcns.sfcnInfo; RA4_student_M->sfcnInfo = (sfcnInfo); rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(RA4_student_M))); rtssSetNumRootSampTimesPtr(sfcnInfo, &RA4_student_M->Sizes.numSampTimes); RA4_student_M->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(RA4_student_M) [0]); RA4_student_M->NonInlinedSFcns.taskTimePtrs[1] = &(rtmGetTPtr(RA4_student_M) [1]); rtssSetTPtrPtr(sfcnInfo,RA4_student_M->NonInlinedSFcns.taskTimePtrs); rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(RA4_student_M)); rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(RA4_student_M)); rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(RA4_student_M)); rtssSetStepSizePtr(sfcnInfo, &RA4_student_M->Timing.stepSize); rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(RA4_student_M)); rtssSetDerivCacheNeedsResetPtr(sfcnInfo, &RA4_student_M->ModelData.derivCacheNeedsReset); rtssSetZCCacheNeedsResetPtr(sfcnInfo, &RA4_student_M->ModelData.zCCacheNeedsReset); rtssSetBlkStateChangePtr(sfcnInfo, &RA4_student_M->ModelData.blkStateChange); rtssSetSampleHitsPtr(sfcnInfo, &RA4_student_M->Timing.sampleHits); rtssSetPerTaskSampleHitsPtr(sfcnInfo, &RA4_student_M->Timing.perTaskSampleHits); rtssSetSimModePtr(sfcnInfo, &RA4_student_M->simMode); rtssSetSolverInfoPtr(sfcnInfo, &RA4_student_M->solverInfoPtr); } RA4_student_M->Sizes.numSFcns = (2); /* register each child */ { (void) memset((void *)&RA4_student_M->NonInlinedSFcns.childSFunctions[0], 0, 2*sizeof(SimStruct)); RA4_student_M->childSfunctions = (&RA4_student_M->NonInlinedSFcns.childSFunctionPtrs[0]); RA4_student_M->childSfunctions[0] = (&RA4_student_M->NonInlinedSFcns.childSFunctions[0]); RA4_student_M->childSfunctions[1] = (&RA4_student_M->NonInlinedSFcns.childSFunctions[1]); /* Level2 S-Function Block: RA4_student/<S6>/S-Function (sf_rt_scope) */ { SimStruct *rts = RA4_student_M->childSfunctions[0]; /* timing info */ time_T *sfcnPeriod = RA4_student_M->NonInlinedSFcns.Sfcn0.sfcnPeriod; time_T *sfcnOffset = RA4_student_M->NonInlinedSFcns.Sfcn0.sfcnOffset; int_T *sfcnTsMap = RA4_student_M->NonInlinedSFcns.Sfcn0.sfcnTsMap; (void) memset((void*)sfcnPeriod, 0, sizeof(time_T)*1); (void) memset((void*)sfcnOffset, 0, sizeof(time_T)*1); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &RA4_student_M->NonInlinedSFcns.blkInfo2[0]); } ssSetRTWSfcnInfo(rts, RA4_student_M->sfcnInfo); /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &RA4_student_M->NonInlinedSFcns.methods2[0]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &RA4_student_M->NonInlinedSFcns.methods3[0]); } /* Allocate memory for states auxilliary information */ { ssSetStatesInfo2(rts, &RA4_student_M->NonInlinedSFcns.statesInfo2[0]); ssSetPeriodicStatesInfo(rts, &RA4_student_M->NonInlinedSFcns.periodicStatesInfo[0]); } /* inputs */ { _ssSetNumInputPorts(rts, 1); ssSetPortInfoForInputs(rts, &RA4_student_M->NonInlinedSFcns.Sfcn0.inputPortInfo[0]); /* port 0 */ { real_T const **sfcnUPtrs = (real_T const **) &RA4_student_M->NonInlinedSFcns.Sfcn0.UPtrs0; sfcnUPtrs[0] = (real_T*)&RA4_student_RGND; sfcnUPtrs[1] = (real_T*)&RA4_student_RGND; sfcnUPtrs[2] = (real_T*)&RA4_student_RGND; sfcnUPtrs[3] = (real_T*)&RA4_student_RGND; sfcnUPtrs[4] = (real_T*)&RA4_student_RGND; sfcnUPtrs[5] = (real_T*)&RA4_student_RGND; sfcnUPtrs[6] = (real_T*)&RA4_student_RGND; sfcnUPtrs[7] = (real_T*)&RA4_student_RGND; ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 0, 1); ssSetInputPortWidth(rts, 0, 8); } } /* outputs */ { ssSetPortInfoForOutputs(rts, &RA4_student_M->NonInlinedSFcns.Sfcn0.outputPortInfo[0]); _ssSetNumOutputPorts(rts, 1); /* port 0 */ { _ssSetOutputPortNumDimensions(rts, 0, 1); ssSetOutputPortWidth(rts, 0, 4); ssSetOutputPortSignal(rts, 0, ((real_T *) RA4_student_B.SFunction)); } } /* path info */ ssSetModelName(rts, "S-Function"); ssSetPath(rts, "RA4_student/Controller/RTScope/S-Function"); ssSetRTModel(rts,RA4_student_M); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* parameters */ { mxArray **sfcnParams = (mxArray **) &RA4_student_M->NonInlinedSFcns.Sfcn0.params; ssSetSFcnParamsCount(rts, 1); ssSetSFcnParamsPtr(rts, &sfcnParams[0]); ssSetSFcnParam(rts, 0, (mxArray*)RA4_student_P.SFunction_P1_Size); } /* registration */ sf_rt_scope(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.0); ssSetOffsetTime(rts, 0, 0.0); sfcnTsMap[0] = 0; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetInputPortConnected(rts, 0, 1); _ssSetOutputPortConnected(rts, 0, 1); _ssSetOutputPortBeingMerged(rts, 0, 0); /* Update the BufferDstPort flags for each input port */ ssSetInputPortBufferDstPort(rts, 0, -1); } /* RTW Generated Level2 S-Function Block: RA4_student/<S2>/Robot Arm_sfcn (Robot_sf) */ { SimStruct *rts = RA4_student_M->childSfunctions[1]; /* timing info */ time_T *sfcnPeriod = RA4_student_M->NonInlinedSFcns.Sfcn1.sfcnPeriod; time_T *sfcnOffset = RA4_student_M->NonInlinedSFcns.Sfcn1.sfcnOffset; int_T *sfcnTsMap = RA4_student_M->NonInlinedSFcns.Sfcn1.sfcnTsMap; (void) memset((void*)sfcnPeriod, 0, sizeof(time_T)*2); (void) memset((void*)sfcnOffset, 0, sizeof(time_T)*2); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &RA4_student_M->NonInlinedSFcns.blkInfo2[1]); } ssSetRTWSfcnInfo(rts, RA4_student_M->sfcnInfo); /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &RA4_student_M->NonInlinedSFcns.methods2[1]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &RA4_student_M->NonInlinedSFcns.methods3[1]); } /* Allocate memory for states auxilliary information */ { ssSetStatesInfo2(rts, &RA4_student_M->NonInlinedSFcns.statesInfo2[1]); ssSetPeriodicStatesInfo(rts, &RA4_student_M->NonInlinedSFcns.periodicStatesInfo[1]); } /* inputs */ { _ssSetNumInputPorts(rts, 2); ssSetPortInfoForInputs(rts, &RA4_student_M->NonInlinedSFcns.Sfcn1.inputPortInfo[0]); /* port 0 */ { real_T const **sfcnUPtrs = (real_T const **) &RA4_student_M->NonInlinedSFcns.Sfcn1.UPtrs0; sfcnUPtrs[0] = RA4_student_B.UnitDelay2; sfcnUPtrs[1] = &RA4_student_B.UnitDelay2[1]; sfcnUPtrs[2] = &RA4_student_B.UnitDelay2[2]; ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 0, 1); ssSetInputPortWidth(rts, 0, 3); } /* port 1 */ { real_T const **sfcnUPtrs = (real_T const **) &RA4_student_M->NonInlinedSFcns.Sfcn1.UPtrs1; sfcnUPtrs[0] = &RA4_student_B.UnitDelay1; ssSetInputPortSignalPtrs(rts, 1, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 1, 1); ssSetInputPortWidth(rts, 1, 1); } } /* outputs */ { ssSetPortInfoForOutputs(rts, &RA4_student_M->NonInlinedSFcns.Sfcn1.outputPortInfo[0]); _ssSetNumOutputPorts(rts, 4); /* port 0 */ { _ssSetOutputPortNumDimensions(rts, 0, 1); ssSetOutputPortWidth(rts, 0, 1); ssSetOutputPortSignal(rts, 0, ((real_T *) &RA4_student_B.RobotArm_sfcn_o1)); } /* port 1 */ { _ssSetOutputPortNumDimensions(rts, 1, 1); ssSetOutputPortWidth(rts, 1, 3); ssSetOutputPortSignal(rts, 1, ((real_T *) RA4_student_B.RobotArm_sfcn_o2)); } /* port 2 */ { _ssSetOutputPortNumDimensions(rts, 2, 1); ssSetOutputPortWidth(rts, 2, 3); ssSetOutputPortSignal(rts, 2, ((boolean_T *) RA4_student_B.RobotArm_sfcn_o3)); } /* port 3 */ { _ssSetOutputPortNumDimensions(rts, 3, 1); ssSetOutputPortWidth(rts, 3, 1); ssSetOutputPortSignal(rts, 3, ((real_T *) &RA4_student_B.RobotArm_sfcn_o4)); } } /* path info */ ssSetModelName(rts, "Robot Arm_sfcn"); ssSetPath(rts, "RA4_student/Robot Arm1/Robot Arm_sfcn"); ssSetRTModel(rts,RA4_student_M); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* work vectors */ { struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *) &RA4_student_M->NonInlinedSFcns.Sfcn1.dWork; struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *) &RA4_student_M->NonInlinedSFcns.Sfcn1.dWorkAux; ssSetSFcnDWork(rts, dWorkRecord); ssSetSFcnDWorkAux(rts, dWorkAuxRecord); _ssSetNumDWork(rts, 47); /* DWORK0 */ ssSetDWorkWidth(rts, 0, 1); ssSetDWorkDataType(rts, 0,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 0, 0); ssSetDWorkUsedAsDState(rts, 0, 1); ssSetDWork(rts, 0, &RA4_student_DW.RobotArm_sfcn_DWORK0); /* DWORK1 */ ssSetDWorkWidth(rts, 1, 1); ssSetDWorkDataType(rts, 1,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 1, 0); ssSetDWorkUsedAsDState(rts, 1, 1); ssSetDWork(rts, 1, &RA4_student_DW.RobotArm_sfcn_DWORK1); /* DWORK2 */ ssSetDWorkWidth(rts, 2, 1); ssSetDWorkDataType(rts, 2,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 2, 0); ssSetDWorkUsedAsDState(rts, 2, 1); ssSetDWork(rts, 2, &RA4_student_DW.RobotArm_sfcn_DWORK2); /* DWORK3 */ ssSetDWorkWidth(rts, 3, 1); ssSetDWorkDataType(rts, 3,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 3, 0); ssSetDWorkUsedAsDState(rts, 3, 1); ssSetDWork(rts, 3, &RA4_student_DW.RobotArm_sfcn_DWORK3); /* DWORK4 */ ssSetDWorkWidth(rts, 4, 1); ssSetDWorkDataType(rts, 4,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 4, 0); ssSetDWorkUsedAsDState(rts, 4, 1); ssSetDWork(rts, 4, &RA4_student_DW.RobotArm_sfcn_DWORK4); /* DWORK5 */ ssSetDWorkWidth(rts, 5, 1); ssSetDWorkDataType(rts, 5,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 5, 0); ssSetDWorkUsedAsDState(rts, 5, 1); ssSetDWork(rts, 5, &RA4_student_DW.RobotArm_sfcn_DWORK5); /* DWORK6 */ ssSetDWorkWidth(rts, 6, 1); ssSetDWorkDataType(rts, 6,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 6, 0); ssSetDWorkUsedAsDState(rts, 6, 1); ssSetDWork(rts, 6, &RA4_student_DW.RobotArm_sfcn_DWORK6); /* DWORK7 */ ssSetDWorkWidth(rts, 7, 1); ssSetDWorkDataType(rts, 7,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 7, 0); ssSetDWorkUsedAsDState(rts, 7, 1); ssSetDWork(rts, 7, &RA4_student_DW.RobotArm_sfcn_DWORK7); /* DWORK8 */ ssSetDWorkWidth(rts, 8, 1); ssSetDWorkDataType(rts, 8,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 8, 0); ssSetDWorkUsedAsDState(rts, 8, 1); ssSetDWork(rts, 8, &RA4_student_DW.RobotArm_sfcn_DWORK8); /* DWORK9 */ ssSetDWorkWidth(rts, 9, 1); ssSetDWorkDataType(rts, 9,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 9, 0); ssSetDWorkUsedAsDState(rts, 9, 1); ssSetDWork(rts, 9, &RA4_student_DW.RobotArm_sfcn_DWORK9); /* DWORK10 */ ssSetDWorkWidth(rts, 10, 1); ssSetDWorkDataType(rts, 10,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 10, 0); ssSetDWork(rts, 10, &RA4_student_DW.RobotArm_sfcn_DWORK10); /* DWORK11 */ ssSetDWorkWidth(rts, 11, 1); ssSetDWorkDataType(rts, 11,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 11, 0); ssSetDWork(rts, 11, &RA4_student_DW.RobotArm_sfcn_DWORK11); /* DWORK12 */ ssSetDWorkWidth(rts, 12, 1); ssSetDWorkDataType(rts, 12,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 12, 0); ssSetDWork(rts, 12, &RA4_student_DW.RobotArm_sfcn_DWORK12); /* DWORK13 */ ssSetDWorkWidth(rts, 13, 1); ssSetDWorkDataType(rts, 13,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 13, 0); ssSetDWork(rts, 13, &RA4_student_DW.RobotArm_sfcn_DWORK13); /* DWORK14 */ ssSetDWorkWidth(rts, 14, 1); ssSetDWorkDataType(rts, 14,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 14, 0); ssSetDWork(rts, 14, &RA4_student_DW.RobotArm_sfcn_DWORK14); /* DWORK15 */ ssSetDWorkWidth(rts, 15, 1); ssSetDWorkDataType(rts, 15,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 15, 0); ssSetDWork(rts, 15, &RA4_student_DW.RobotArm_sfcn_DWORK15); /* DWORK16 */ ssSetDWorkWidth(rts, 16, 2); ssSetDWorkDataType(rts, 16,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 16, 0); ssSetDWork(rts, 16, &RA4_student_DW.RobotArm_sfcn_DWORK16[0]); /* DWORK17 */ ssSetDWorkWidth(rts, 17, 2); ssSetDWorkDataType(rts, 17,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 17, 0); ssSetDWork(rts, 17, &RA4_student_DW.RobotArm_sfcn_DWORK17[0]); /* DWORK18 */ ssSetDWorkWidth(rts, 18, 4); ssSetDWorkDataType(rts, 18,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 18, 0); ssSetDWork(rts, 18, &RA4_student_DW.RobotArm_sfcn_DWORK18[0]); /* DWORK19 */ ssSetDWorkWidth(rts, 19, 4); ssSetDWorkDataType(rts, 19,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 19, 0); ssSetDWork(rts, 19, &RA4_student_DW.RobotArm_sfcn_DWORK19[0]); /* DWORK20 */ ssSetDWorkWidth(rts, 20, 2); ssSetDWorkDataType(rts, 20,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 20, 0); ssSetDWork(rts, 20, &RA4_student_DW.RobotArm_sfcn_DWORK20[0]); /* DWORK21 */ ssSetDWorkWidth(rts, 21, 4); ssSetDWorkDataType(rts, 21,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 21, 0); ssSetDWork(rts, 21, &RA4_student_DW.RobotArm_sfcn_DWORK21[0]); /* DWORK22 */ ssSetDWorkWidth(rts, 22, 4); ssSetDWorkDataType(rts, 22,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 22, 0); ssSetDWork(rts, 22, &RA4_student_DW.RobotArm_sfcn_DWORK22[0]); /* DWORK23 */ ssSetDWorkWidth(rts, 23, 2); ssSetDWorkDataType(rts, 23,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 23, 0); ssSetDWork(rts, 23, &RA4_student_DW.RobotArm_sfcn_DWORK23[0]); /* DWORK24 */ ssSetDWorkWidth(rts, 24, 2); ssSetDWorkDataType(rts, 24,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 24, 0); ssSetDWork(rts, 24, &RA4_student_DW.RobotArm_sfcn_DWORK24[0]); /* DWORK25 */ ssSetDWorkWidth(rts, 25, 4); ssSetDWorkDataType(rts, 25,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 25, 0); ssSetDWork(rts, 25, &RA4_student_DW.RobotArm_sfcn_DWORK25[0]); /* DWORK26 */ ssSetDWorkWidth(rts, 26, 4); ssSetDWorkDataType(rts, 26,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 26, 0); ssSetDWork(rts, 26, &RA4_student_DW.RobotArm_sfcn_DWORK26[0]); /* DWORK27 */ ssSetDWorkWidth(rts, 27, 2); ssSetDWorkDataType(rts, 27,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 27, 0); ssSetDWork(rts, 27, &RA4_student_DW.RobotArm_sfcn_DWORK27[0]); /* DWORK28 */ ssSetDWorkWidth(rts, 28, 4); ssSetDWorkDataType(rts, 28,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 28, 0); ssSetDWork(rts, 28, &RA4_student_DW.RobotArm_sfcn_DWORK28[0]); /* DWORK29 */ ssSetDWorkWidth(rts, 29, 4); ssSetDWorkDataType(rts, 29,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 29, 0); ssSetDWork(rts, 29, &RA4_student_DW.RobotArm_sfcn_DWORK29[0]); /* DWORK30 */ ssSetDWorkWidth(rts, 30, 2); ssSetDWorkDataType(rts, 30,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 30, 0); ssSetDWork(rts, 30, &RA4_student_DW.RobotArm_sfcn_DWORK30[0]); /* DWORK31 */ ssSetDWorkWidth(rts, 31, 2); ssSetDWorkDataType(rts, 31,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 31, 0); ssSetDWork(rts, 31, &RA4_student_DW.RobotArm_sfcn_DWORK31[0]); /* DWORK32 */ ssSetDWorkWidth(rts, 32, 4); ssSetDWorkDataType(rts, 32,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 32, 0); ssSetDWork(rts, 32, &RA4_student_DW.RobotArm_sfcn_DWORK32[0]); /* DWORK33 */ ssSetDWorkWidth(rts, 33, 4); ssSetDWorkDataType(rts, 33,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 33, 0); ssSetDWork(rts, 33, &RA4_student_DW.RobotArm_sfcn_DWORK33[0]); /* DWORK34 */ ssSetDWorkWidth(rts, 34, 2); ssSetDWorkDataType(rts, 34,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 34, 0); ssSetDWork(rts, 34, &RA4_student_DW.RobotArm_sfcn_DWORK34[0]); /* DWORK35 */ ssSetDWorkWidth(rts, 35, 4); ssSetDWorkDataType(rts, 35,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 35, 0); ssSetDWork(rts, 35, &RA4_student_DW.RobotArm_sfcn_DWORK35[0]); /* DWORK36 */ ssSetDWorkWidth(rts, 36, 4); ssSetDWorkDataType(rts, 36,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 36, 0); ssSetDWork(rts, 36, &RA4_student_DW.RobotArm_sfcn_DWORK36[0]); /* DWORK37 */ ssSetDWorkWidth(rts, 37, 1); ssSetDWorkDataType(rts, 37,SS_INT32); ssSetDWorkComplexSignal(rts, 37, 0); ssSetDWork(rts, 37, &RA4_student_DW.RobotArm_sfcn_DWORK37); /* DWORK38 */ ssSetDWorkWidth(rts, 38, 1); ssSetDWorkDataType(rts, 38,SS_UINT16); ssSetDWorkComplexSignal(rts, 38, 0); ssSetDWork(rts, 38, &RA4_student_DW.RobotArm_sfcn_DWORK38); /* DWORK39 */ ssSetDWorkWidth(rts, 39, 1); ssSetDWorkDataType(rts, 39,SS_UINT16); ssSetDWorkComplexSignal(rts, 39, 0); ssSetDWork(rts, 39, &RA4_student_DW.RobotArm_sfcn_DWORK39); /* DWORK40 */ ssSetDWorkWidth(rts, 40, 1); ssSetDWorkDataType(rts, 40,SS_UINT16); ssSetDWorkComplexSignal(rts, 40, 0); ssSetDWork(rts, 40, &RA4_student_DW.RobotArm_sfcn_DWORK40); /* DWORK41 */ ssSetDWorkWidth(rts, 41, 1); ssSetDWorkDataType(rts, 41,SS_UINT8); ssSetDWorkComplexSignal(rts, 41, 0); ssSetDWork(rts, 41, &RA4_student_DW.RobotArm_sfcn_DWORK41); /* DWORK42 */ ssSetDWorkWidth(rts, 42, 1); ssSetDWorkDataType(rts, 42,SS_UINT8); ssSetDWorkComplexSignal(rts, 42, 0); ssSetDWork(rts, 42, &RA4_student_DW.RobotArm_sfcn_DWORK42); /* DWORK43 */ ssSetDWorkWidth(rts, 43, 1); ssSetDWorkDataType(rts, 43,SS_UINT8); ssSetDWorkComplexSignal(rts, 43, 0); ssSetDWork(rts, 43, &RA4_student_DW.RobotArm_sfcn_DWORK43); /* DWORK44 */ ssSetDWorkWidth(rts, 44, 1); ssSetDWorkDataType(rts, 44,SS_UINT8); ssSetDWorkComplexSignal(rts, 44, 0); ssSetDWork(rts, 44, &RA4_student_DW.RobotArm_sfcn_DWORK44); /* DWORK45 */ ssSetDWorkWidth(rts, 45, 1); ssSetDWorkDataType(rts, 45,SS_UINT8); ssSetDWorkComplexSignal(rts, 45, 0); ssSetDWork(rts, 45, &RA4_student_DW.RobotArm_sfcn_DWORK45); /* DWORK46 */ ssSetDWorkWidth(rts, 46, 1); ssSetDWorkDataType(rts, 46,SS_UINT8); ssSetDWorkComplexSignal(rts, 46, 0); ssSetDWork(rts, 46, &RA4_student_DW.RobotArm_sfcn_DWORK46); } /* registration */ Robot_sf(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.0); ssSetOffsetTime(rts, 0, 0.0); ssSetSampleTime(rts, 1, 0.000244140625); ssSetOffsetTime(rts, 1, 0.0); sfcnTsMap[0] = 0; sfcnTsMap[1] = 1; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetInputPortConnected(rts, 0, 1); _ssSetInputPortConnected(rts, 1, 1); _ssSetOutputPortConnected(rts, 0, 1); _ssSetOutputPortConnected(rts, 1, 1); _ssSetOutputPortConnected(rts, 2, 1); _ssSetOutputPortConnected(rts, 3, 1); _ssSetOutputPortBeingMerged(rts, 0, 0); _ssSetOutputPortBeingMerged(rts, 1, 0); _ssSetOutputPortBeingMerged(rts, 2, 0); _ssSetOutputPortBeingMerged(rts, 3, 0); /* Update the BufferDstPort flags for each input port */ ssSetInputPortBufferDstPort(rts, 0, -1); ssSetInputPortBufferDstPort(rts, 1, -1); /* Instance data for generated S-Function: Robot */ #include "Robot_sfcn_rtw/Robot_sid.h" } } /* Initialize Sizes */ RA4_student_M->Sizes.numContStates = (0);/* Number of continuous states */ RA4_student_M->Sizes.numY = (0); /* Number of model outputs */ RA4_student_M->Sizes.numU = (0); /* Number of model inputs */ RA4_student_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */ RA4_student_M->Sizes.numSampTimes = (2);/* Number of sample times */ RA4_student_M->Sizes.numBlocks = (24);/* Number of blocks */ RA4_student_M->Sizes.numBlockIO = (11);/* Number of block outputs */ RA4_student_M->Sizes.numBlockPrms = (16);/* Sum of parameter "widths" */ return RA4_student_M; }
/* 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, 1); /* * Set the number of dworks. */ if (!ssSetNumDWork(S, 1)) return; /* * Configure the dwork 1 (work2) */ ssSetDWorkDataType(S, 0, SS_UINT32); ssSetDWorkUsageType(S, 0, SS_DWORK_USED_AS_DWORK); ssSetDWorkName(S, 0, "work2"); ssSetDWorkWidth(S, 0, 1); ssSetDWorkComplexSignal(S, 0, COMPLEX_NO); /* * Set the number of input ports. */ if (!ssSetNumInputPorts(S, 1)) return; /* * Configure the input port 1 */ ssSetInputPortDataType(S, 0, SS_DOUBLE); ssSetInputPortWidth(S, 0, 1); ssSetInputPortComplexSignal(S, 0, COMPLEX_NO); ssSetInputPortDirectFeedThrough(S, 0, 1); ssSetInputPortAcceptExprInRTW(S, 0, 1); ssSetInputPortOverWritable(S, 0, 1); ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL); ssSetInputPortRequiredContiguous(S, 0, 1); /* * Set the number of output ports. */ if (!ssSetNumOutputPorts(S, 0)) return; /* * Register reserved identifiers to avoid name conflict */ if (ssRTWGenIsCodeGen(S)) { /* * Register reserved identifier for InitializeConditionsFcnSpec */ ssRegMdlInfo(S, (char*)"initFaultCounter", MDL_INFO_ID_RESERVED, 0, 0, (void*) ssGetPath(S)); /* * Register reserved identifier for StartFcnSpec */ ssRegMdlInfo(S, (char*)"openLogFile", MDL_INFO_ID_RESERVED, 0, 0, (void*) ssGetPath(S)); /* * Register reserved identifier for OutputFcnSpec */ ssRegMdlInfo(S, (char*)"incAndLogFaultCounter", MDL_INFO_ID_RESERVED, 0, 0, (void*) ssGetPath(S)); /* * Register reserved identifier for TerminateFcnSpec */ ssRegMdlInfo(S, (char*)"closeLogFile", MDL_INFO_ID_RESERVED, 0, 0, (void*) 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_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); }
/* Model initialize function */ void Mechanics_initialize(boolean_T firstTime) { (void)firstTime; /* Registration code */ /* initialize non-finites */ rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */ (void) memset((char_T *)Mechanics_M,0, sizeof(RT_MODEL_Mechanics)); { /* Setup solver object */ rtsiSetSimTimeStepPtr(&Mechanics_M->solverInfo, &Mechanics_M->Timing.simTimeStep); rtsiSetTPtr(&Mechanics_M->solverInfo, &rtmGetTPtr(Mechanics_M)); rtsiSetStepSizePtr(&Mechanics_M->solverInfo, &Mechanics_M->Timing.stepSize0); rtsiSetdXPtr(&Mechanics_M->solverInfo, &Mechanics_M->ModelData.derivs); rtsiSetContStatesPtr(&Mechanics_M->solverInfo, &Mechanics_M->ModelData.contStates); rtsiSetNumContStatesPtr(&Mechanics_M->solverInfo, &Mechanics_M->Sizes.numContStates); rtsiSetErrorStatusPtr(&Mechanics_M->solverInfo, (&rtmGetErrorStatus (Mechanics_M))); rtsiSetRTModelPtr(&Mechanics_M->solverInfo, Mechanics_M); } rtsiSetSimTimeStep(&Mechanics_M->solverInfo, MAJOR_TIME_STEP); Mechanics_M->ModelData.intgData.y = Mechanics_M->ModelData.odeY; Mechanics_M->ModelData.intgData.f[0] = Mechanics_M->ModelData.odeF[0]; Mechanics_M->ModelData.intgData.f[1] = Mechanics_M->ModelData.odeF[1]; Mechanics_M->ModelData.intgData.f[2] = Mechanics_M->ModelData.odeF[2]; Mechanics_M->ModelData.contStates = ((real_T *) &Mechanics_X); rtsiSetSolverData(&Mechanics_M->solverInfo, (void *) &Mechanics_M->ModelData.intgData); rtsiSetSolverName(&Mechanics_M->solverInfo,"ode3"); Mechanics_M->solverInfoPtr = (&Mechanics_M->solverInfo); /* Initialize timing info */ { int_T *mdlTsMap = Mechanics_M->Timing.sampleTimeTaskIDArray; mdlTsMap[0] = 0; mdlTsMap[1] = 1; Mechanics_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]); Mechanics_M->Timing.sampleTimes = (&Mechanics_M->Timing.sampleTimesArray[0]); Mechanics_M->Timing.offsetTimes = (&Mechanics_M->Timing.offsetTimesArray[0]); /* task periods */ Mechanics_M->Timing.sampleTimes[0] = (0.0); Mechanics_M->Timing.sampleTimes[1] = (35.0); /* task offsets */ Mechanics_M->Timing.offsetTimes[0] = (0.0); Mechanics_M->Timing.offsetTimes[1] = (0.0); } rtmSetTPtr(Mechanics_M, &Mechanics_M->Timing.tArray[0]); { int_T *mdlSampleHits = Mechanics_M->Timing.sampleHitArray; mdlSampleHits[0] = 1; mdlSampleHits[1] = 1; Mechanics_M->Timing.sampleHits = (&mdlSampleHits[0]); } rtmSetTFinal(Mechanics_M, -1); Mechanics_M->Timing.stepSize0 = 35.0; Mechanics_M->Timing.stepSize1 = 35.0; /* Setup for data logging */ { static RTWLogInfo rt_DataLoggingInfo; Mechanics_M->rtwLogInfo = &rt_DataLoggingInfo; rtliSetLogFormat(Mechanics_M->rtwLogInfo, 0); rtliSetLogMaxRows(Mechanics_M->rtwLogInfo, 1000); rtliSetLogDecimation(Mechanics_M->rtwLogInfo, 1); rtliSetLogVarNameModifier(Mechanics_M->rtwLogInfo, "rt_"); rtliSetLogT(Mechanics_M->rtwLogInfo, "tout"); rtliSetLogX(Mechanics_M->rtwLogInfo, ""); rtliSetLogXFinal(Mechanics_M->rtwLogInfo, ""); rtliSetSigLog(Mechanics_M->rtwLogInfo, ""); rtliSetLogXSignalInfo(Mechanics_M->rtwLogInfo, NULL); rtliSetLogXSignalPtrs(Mechanics_M->rtwLogInfo, NULL); rtliSetLogY(Mechanics_M->rtwLogInfo, ""); rtliSetLogYSignalInfo(Mechanics_M->rtwLogInfo, NULL); rtliSetLogYSignalPtrs(Mechanics_M->rtwLogInfo, NULL); } Mechanics_M->solverInfoPtr = (&Mechanics_M->solverInfo); Mechanics_M->Timing.stepSize = (35.0); rtsiSetFixedStepSize(&Mechanics_M->solverInfo, 35.0); rtsiSetSolverMode(&Mechanics_M->solverInfo, SOLVER_MODE_SINGLETASKING); /* block I/O */ Mechanics_M->ModelData.blockIO = ((void *) &Mechanics_B); { int_T i; void *pVoidBlockIORegion; pVoidBlockIORegion = (void *)(&Mechanics_B.Arduino); for (i = 0; i < 18; i++) { ((real_T*)pVoidBlockIORegion)[i] = 0.0; } } /* parameters */ Mechanics_M->ModelData.defaultParam = ((real_T *) &Mechanics_P); /* states (continuous) */ { real_T *x = (real_T *) &Mechanics_X; Mechanics_M->ModelData.contStates = (x); (void) memset((char_T *)x,0, sizeof(ContinuousStates_Mechanics)); } /* states (dwork) */ Mechanics_M->Work.dwork = ((void *) &Mechanics_DWork); (void) memset((char_T *) &Mechanics_DWork,0, sizeof(D_Work_Mechanics)); /* child S-Function registration */ { RTWSfcnInfo *sfcnInfo = &Mechanics_M->NonInlinedSFcns.sfcnInfo; Mechanics_M->sfcnInfo = (sfcnInfo); rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(Mechanics_M))); rtssSetNumRootSampTimesPtr(sfcnInfo, &Mechanics_M->Sizes.numSampTimes); rtssSetTPtrPtr(sfcnInfo, &rtmGetTPtr(Mechanics_M)); rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(Mechanics_M)); rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(Mechanics_M)); rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(Mechanics_M)); rtssSetStepSizePtr(sfcnInfo, &Mechanics_M->Timing.stepSize); rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(Mechanics_M)); rtssSetDerivCacheNeedsResetPtr(sfcnInfo, &Mechanics_M->ModelData.derivCacheNeedsReset); rtssSetZCCacheNeedsResetPtr(sfcnInfo, &Mechanics_M->ModelData.zCCacheNeedsReset); rtssSetBlkStateChangePtr(sfcnInfo, &Mechanics_M->ModelData.blkStateChange); rtssSetSampleHitsPtr(sfcnInfo, &Mechanics_M->Timing.sampleHits); rtssSetPerTaskSampleHitsPtr(sfcnInfo, &Mechanics_M->Timing.perTaskSampleHits); rtssSetSimModePtr(sfcnInfo, &Mechanics_M->simMode); rtssSetSolverInfoPtr(sfcnInfo, &Mechanics_M->solverInfoPtr); } Mechanics_M->Sizes.numSFcns = (1); /* register each child */ { (void) memset((void *)&Mechanics_M->NonInlinedSFcns.childSFunctions[0],0, 1*sizeof(SimStruct)); Mechanics_M->childSfunctions = (&Mechanics_M->NonInlinedSFcns.childSFunctionPtrs[0]); Mechanics_M->childSfunctions[0] = (&Mechanics_M->NonInlinedSFcns.childSFunctions[0]); /* Level2 S-Function Block: Mechanics/<Root>/Arduino (QueryInstrument) */ { SimStruct *rts = Mechanics_M->childSfunctions[0]; /* timing info */ time_T *sfcnPeriod = Mechanics_M->NonInlinedSFcns.Sfcn0.sfcnPeriod; time_T *sfcnOffset = Mechanics_M->NonInlinedSFcns.Sfcn0.sfcnOffset; int_T *sfcnTsMap = Mechanics_M->NonInlinedSFcns.Sfcn0.sfcnTsMap; (void) memset((void*)sfcnPeriod,0, sizeof(time_T)*1); (void) memset((void*)sfcnOffset,0, sizeof(time_T)*1); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &Mechanics_M->NonInlinedSFcns.blkInfo2[0]); ssSetRTWSfcnInfo(rts, Mechanics_M->sfcnInfo); } /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &Mechanics_M->NonInlinedSFcns.methods2[0]); } /* outputs */ { ssSetPortInfoForOutputs(rts, &Mechanics_M->NonInlinedSFcns.Sfcn0.outputPortInfo[0]); _ssSetNumOutputPorts(rts, 1); /* port 0 */ { _ssSetOutputPortNumDimensions(rts, 0, 1); ssSetOutputPortWidth(rts, 0, 1); ssSetOutputPortSignal(rts, 0, ((real_T *) &Mechanics_B.Arduino)); } } /* path info */ ssSetModelName(rts, "Arduino"); ssSetPath(rts, "Mechanics/Arduino"); ssSetRTModel(rts,Mechanics_M); ssSetParentSS(rts, NULL); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* parameters */ { mxArray **sfcnParams = (mxArray **) &Mechanics_M->NonInlinedSFcns.Sfcn0.params; ssSetSFcnParamsCount(rts, 39); ssSetSFcnParamsPtr(rts, &sfcnParams[0]); ssSetSFcnParam(rts, 0, (mxArray*)&Mechanics_P.Arduino_P1_Size[0]); ssSetSFcnParam(rts, 1, (mxArray*)&Mechanics_P.Arduino_P2_Size[0]); ssSetSFcnParam(rts, 2, (mxArray*)&Mechanics_P.Arduino_P3_Size[0]); ssSetSFcnParam(rts, 3, (mxArray*)&Mechanics_P.Arduino_P4_Size[0]); ssSetSFcnParam(rts, 4, (mxArray*)&Mechanics_P.Arduino_P5_Size[0]); ssSetSFcnParam(rts, 5, (mxArray*)&Mechanics_P.Arduino_P6_Size[0]); ssSetSFcnParam(rts, 6, (mxArray*)&Mechanics_P.Arduino_P7_Size[0]); ssSetSFcnParam(rts, 7, (mxArray*)&Mechanics_P.Arduino_P8_Size[0]); ssSetSFcnParam(rts, 8, (mxArray*)&Mechanics_P.Arduino_P9_Size[0]); ssSetSFcnParam(rts, 9, (mxArray*)&Mechanics_P.Arduino_P10_Size[0]); ssSetSFcnParam(rts, 10, (mxArray*)&Mechanics_P.Arduino_P11_Size[0]); ssSetSFcnParam(rts, 11, (mxArray*)&Mechanics_P.Arduino_P12_Size[0]); ssSetSFcnParam(rts, 12, (mxArray*)&Mechanics_P.Arduino_P13_Size[0]); ssSetSFcnParam(rts, 13, (mxArray*)&Mechanics_P.Arduino_P14_Size[0]); ssSetSFcnParam(rts, 14, (mxArray*)&Mechanics_P.Arduino_P15_Size[0]); ssSetSFcnParam(rts, 15, (mxArray*)&Mechanics_P.Arduino_P16_Size[0]); ssSetSFcnParam(rts, 16, (mxArray*)&Mechanics_P.Arduino_P17_Size[0]); ssSetSFcnParam(rts, 17, (mxArray*)&Mechanics_P.Arduino_P18_Size[0]); ssSetSFcnParam(rts, 18, (mxArray*)&Mechanics_P.Arduino_P19_Size[0]); ssSetSFcnParam(rts, 19, (mxArray*)&Mechanics_P.Arduino_P20_Size[0]); ssSetSFcnParam(rts, 20, (mxArray*)&Mechanics_P.Arduino_P21_Size[0]); ssSetSFcnParam(rts, 21, (mxArray*)&Mechanics_P.Arduino_P22_Size[0]); ssSetSFcnParam(rts, 22, (mxArray*)&Mechanics_P.Arduino_P23_Size[0]); ssSetSFcnParam(rts, 23, (mxArray*)&Mechanics_P.Arduino_P24_Size[0]); ssSetSFcnParam(rts, 24, (mxArray*)&Mechanics_P.Arduino_P25_Size[0]); ssSetSFcnParam(rts, 25, (mxArray*)&Mechanics_P.Arduino_P26_Size[0]); ssSetSFcnParam(rts, 26, (mxArray*)&Mechanics_P.Arduino_P27_Size[0]); ssSetSFcnParam(rts, 27, (mxArray*)&Mechanics_P.Arduino_P28_Size[0]); ssSetSFcnParam(rts, 28, (mxArray*)&Mechanics_P.Arduino_P29_Size[0]); ssSetSFcnParam(rts, 29, (mxArray*)&Mechanics_P.Arduino_P30_Size[0]); ssSetSFcnParam(rts, 30, (mxArray*)&Mechanics_P.Arduino_P31_Size[0]); ssSetSFcnParam(rts, 31, (mxArray*)&Mechanics_P.Arduino_P32_Size[0]); ssSetSFcnParam(rts, 32, (mxArray*)&Mechanics_P.Arduino_P33_Size[0]); ssSetSFcnParam(rts, 33, (mxArray*)&Mechanics_P.Arduino_P34_Size[0]); ssSetSFcnParam(rts, 34, (mxArray*)&Mechanics_P.Arduino_P35_Size[0]); ssSetSFcnParam(rts, 35, (mxArray*)&Mechanics_P.Arduino_P36_Size[0]); ssSetSFcnParam(rts, 36, (mxArray*)&Mechanics_P.Arduino_P37_Size[0]); ssSetSFcnParam(rts, 37, (mxArray*)&Mechanics_P.Arduino_P38_Size[0]); ssSetSFcnParam(rts, 38, (mxArray*)&Mechanics_P.Arduino_P39_Size[0]); } /* work vectors */ ssSetPWork(rts, (void **) &Mechanics_DWork.Arduino_PWORK); { struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *) &Mechanics_M->NonInlinedSFcns.Sfcn0.dWork; ssSetSFcnDWork(rts, dWorkRecord); _ssSetNumDWork(rts, 1); /* PWORK */ ssSetDWorkWidth(rts, 0, 1); ssSetDWorkDataType(rts, 0,SS_POINTER); ssSetDWorkComplexSignal(rts, 0, 0); ssSetDWork(rts, 0, &Mechanics_DWork.Arduino_PWORK); } /* registration */ QueryInstrument(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 35.0); ssSetOffsetTime(rts, 0, 0.0); sfcnTsMap[0] = 1; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetOutputPortConnected(rts, 0, 1); _ssSetOutputPortBeingMerged(rts, 0, 0); /* Update the BufferDstPort flags for each input port */ } } }
/* 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 ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE); 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*/ if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return; /* Output Port 0 */ ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH); ssSetOutputPortDataType(S, 0, SS_DOUBLE); ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX); /* Output Port 1 */ ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH); ssSetOutputPortDataType(S, 1, SS_DOUBLE); ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX); /* Output Port 2 */ ssSetOutputPortWidth(S, 2, OUTPUT_2_WIDTH); ssSetOutputPortDataType(S, 2, SS_DOUBLE); ssSetOutputPortComplexSignal(S, 2, OUTPUT_2_COMPLEX); /* Output Port 3 */ ssSetOutputPortWidth(S, 3, OUTPUT_3_WIDTH); ssSetOutputPortDataType(S, 3, SS_DOUBLE); ssSetOutputPortComplexSignal(S, 3, OUTPUT_3_COMPLEX); ssSetNumSampleTimes(S, 1); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 0); ssSetNumModes(S, 0); ssSetNumNonsampledZCs(S, 0); /*initialzation of sizes related to DWork Vectors*/ ssSetNumDWork(S,NDWORKS); /*DWork vector 1*/ ssSetDWorkWidth(S, 0, DWORK_0_WIDTH); ssSetDWorkDataType(S, 0, SS_DOUBLE); /*DWork vector 2*/ ssSetDWorkWidth(S, 1, DWORK_1_WIDTH); ssSetDWorkDataType(S, 1, SS_DOUBLE); /*DWork vector 3*/ ssSetDWorkWidth(S, 2, DWORK_2_WIDTH); ssSetDWorkDataType(S, 2, SS_DOUBLE); /* 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 to initialize sizes. */ static void mdlInitializeSizes(SimStruct *S) { ssSetNumSampleTimes(S, 1); /* Number of sample times */ ssSetNumContStates(S, 0); /* Number of continuous states */ ssSetNumNonsampledZCs(S, 0); /* Number of nonsampled ZCs */ /* Number of output ports */ if (!ssSetNumOutputPorts(S, 1)) return; /* outport number: 0 */ if (!ssSetOutputPortVectorDimension(S, 0, 1)) return; if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { ssSetOutputPortDataType(S, 0, SS_DOUBLE); } ssSetOutputPortSampleTime(S, 0, 0.06); ssSetOutputPortOffsetTime(S, 0, 0.0); ssSetOutputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL); /* Number of input ports */ if (!ssSetNumInputPorts(S, 1)) return; /* inport number: 0 */ { if (!ssSetInputPortVectorDimension(S, 0, 1)) return; if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { ssSetInputPortDataType(S, 0, SS_DOUBLE); } ssSetInputPortDirectFeedThrough(S, 0, 1); ssSetInputPortSampleTime(S, 0, 0.06); ssSetInputPortOffsetTime(S, 0, 0.0); ssSetInputPortOverWritable(S, 0, 0); ssSetInputPortOptimOpts(S, 0, SS_NOT_REUSABLE_AND_GLOBAL); } ssSetRTWGeneratedSFcn(S, 1); /* Generated S-function */ /* DWork */ if (!ssSetNumDWork(S, 1)) { return; } /* '<S1>/LinearModel': DSTATE */ ssSetDWorkName(S, 0, "DWORK0"); ssSetDWorkWidth(S, 0, 1); ssSetDWorkUsedAsDState(S, 0, 1); /* Tunable Parameters */ ssSetNumSFcnParams(S, 0); /* Number of expected parameters */ #if defined(MATLAB_MEX_FILE) if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) { #if defined(MDL_CHECK_PARAMETERS) mdlCheckParameters(S); #endif /* MDL_CHECK_PARAMETERS */ if (ssGetErrorStatus(S) != (NULL) ) { return; } } else { return; /* Parameter mismatch will be reported by Simulink */ } #endif /* MATLAB_MEX_FILE */ /* Options */ ssSetOptions(S, (SS_OPTION_RUNTIME_EXCEPTION_FREE_CODE | SS_OPTION_PORT_SAMPLE_TIMES_ASSIGNED )); #if SS_SFCN_FOR_SIM { ssSupportsMultipleExecInstances(S, false); ssRegisterMsgForNotSupportingMultiExecInst(S, "<diag_root><diag id=\"Simulink:blocks:BlockDoesNotSupportMultiExecInstances\"><arguments><arg type=\"encoded\">SABhAG0AbQBlAHIAcwB0AGUAaQBuAC8ASABhAG0AbQBlAHIAcwB0AGUAaQBuAC0AVwBpAGUAbgBlAHIAIABNAG8AZABlAGwAMQAvAFAAdwBsAGkAbgBlAGEAcgAxAAAA</arg><arg type=\"encoded\">PABfAF8AaQBpAFMAUwBfAF8APgA8AC8AXwBfAGkAaQBTAFMAXwBfAD4AAAA=</arg><arg type=\"encoded\">PABfAF8AaQB0AGUAcgBCAGwAawBfAF8APgA8AC8AXwBfAGkAdABlAHIAQgBsAGsAXwBfAD4AAAA=</arg></arguments></diag>\n</diag_root>"); ssHasStateInsideForEachSS(S, false); } #endif }
/* 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 */ /* Register xref_bus datatype for Input port 0 */ #if defined(MATLAB_MEX_FILE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { DTypeId dataTypeIdReg; ssRegisterTypeFromNamedObject(S, "xref_bus", &dataTypeIdReg); if(dataTypeIdReg == INVALID_DTYPE_ID) return; ssSetInputPortDataType(S,0, dataTypeIdReg); } #endif ssSetInputPortWidth(S, 0, INPUT_0_WIDTH); ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX); ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/ ssSetBusInputAsStruct(S, 0,IN_0_BUS_BASED); ssSetInputPortBusMode(S, 0, SL_BUS_MODE); /*Input Port 1 */ /* Register x_bus datatype for Input port 1 */ #if defined(MATLAB_MEX_FILE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { DTypeId dataTypeIdReg; ssRegisterTypeFromNamedObject(S, "x_bus", &dataTypeIdReg); if(dataTypeIdReg == INVALID_DTYPE_ID) return; ssSetInputPortDataType(S,1, dataTypeIdReg); } #endif ssSetInputPortWidth(S, 1, INPUT_1_WIDTH); ssSetInputPortComplexSignal(S, 1, INPUT_1_COMPLEX); ssSetInputPortDirectFeedThrough(S, 1, INPUT_1_FEEDTHROUGH); ssSetInputPortRequiredContiguous(S, 1, 1); /*direct input signal access*/ ssSetBusInputAsStruct(S, 1,IN_1_BUS_BASED); ssSetInputPortBusMode(S, 1, SL_BUS_MODE); if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return; /* Register u_bus datatype for Output port 0 */ #if defined(MATLAB_MEX_FILE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { DTypeId dataTypeIdReg; ssRegisterTypeFromNamedObject(S, "u_bus", &dataTypeIdReg); if(dataTypeIdReg == INVALID_DTYPE_ID) return; ssSetOutputPortDataType(S,0, dataTypeIdReg); } #endif ssSetBusOutputObjectName(S, 0, (void *) "u_bus"); ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH); ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX); ssSetBusOutputAsStruct(S, 0,OUT_0_BUS_BASED); ssSetOutputPortBusMode(S, 0, SL_BUS_MODE); if (ssRTWGenIsCodeGen(S)) { isSimulationTarget = GetRTWEnvironmentMode(S); if (isSimulationTarget==-1) { ssSetErrorStatus(S, " Unable to determine a valid code generation environment mode"); return; } isSimulationTarget |= ssRTWGenIsModelReferenceSimTarget(S); } /* Set the number of dworks */ if (!isDWorkPresent) { if (!ssSetNumDWork(S, 0)) return; } else { if (!ssSetNumDWork(S, 3)) return; } if (isDWorkPresent) { /* * Configure the dwork 0 (u0."BUS") */ #if defined(MATLAB_MEX_FILE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { DTypeId dataTypeIdReg; ssRegisterTypeFromNamedObject(S, "xref_bus", &dataTypeIdReg); if (dataTypeIdReg == INVALID_DTYPE_ID) return; ssSetDWorkDataType(S, 0, dataTypeIdReg); } #endif ssSetDWorkUsageType(S, 0, SS_DWORK_USED_AS_DWORK); ssSetDWorkName(S, 0, "u0BUS"); ssSetDWorkWidth(S, 0, DYNAMICALLY_SIZED); ssSetDWorkComplexSignal(S, 0, COMPLEX_NO); /* * Configure the dwork 1 (u1."BUS") */ #if defined(MATLAB_MEX_FILE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { DTypeId dataTypeIdReg; ssRegisterTypeFromNamedObject(S, "x_bus", &dataTypeIdReg); if (dataTypeIdReg == INVALID_DTYPE_ID) return; ssSetDWorkDataType(S, 1, dataTypeIdReg); } #endif ssSetDWorkUsageType(S, 1, SS_DWORK_USED_AS_DWORK); ssSetDWorkName(S, 1, "u1BUS"); ssSetDWorkWidth(S, 1, DYNAMICALLY_SIZED); ssSetDWorkComplexSignal(S, 1, COMPLEX_NO); /* * Configure the dwork 2 (y0BUS) */ #if defined(MATLAB_MEX_FILE) if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { DTypeId dataTypeIdReg; ssRegisterTypeFromNamedObject(S, "u_bus", &dataTypeIdReg); if (dataTypeIdReg == INVALID_DTYPE_ID) return; ssSetDWorkDataType(S, 2, dataTypeIdReg); } #endif ssSetDWorkUsageType(S, 2, SS_DWORK_USED_AS_DWORK); ssSetDWorkName(S, 2, "y0BUS"); ssSetDWorkWidth(S, 2, DYNAMICALLY_SIZED); ssSetDWorkComplexSignal(S, 2, COMPLEX_NO); } 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)); }
/* Model initialize function */ void testSHM_initialize(boolean_T firstTime) { (void)firstTime; /* Registration code */ /* initialize non-finites */ rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */ (void) memset((void *)testSHM_M,0, sizeof(RT_MODEL_testSHM)); rtsiSetSolverName(&testSHM_M->solverInfo,"FixedStepDiscrete"); testSHM_M->solverInfoPtr = (&testSHM_M->solverInfo); /* Initialize timing info */ { int_T *mdlTsMap = testSHM_M->Timing.sampleTimeTaskIDArray; mdlTsMap[0] = 0; testSHM_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]); testSHM_M->Timing.sampleTimes = (&testSHM_M->Timing.sampleTimesArray[0]); testSHM_M->Timing.offsetTimes = (&testSHM_M->Timing.offsetTimesArray[0]); /* task periods */ testSHM_M->Timing.sampleTimes[0] = (0.001); /* task offsets */ testSHM_M->Timing.offsetTimes[0] = (0.0); } rtmSetTPtr(testSHM_M, &testSHM_M->Timing.tArray[0]); { int_T *mdlSampleHits = testSHM_M->Timing.sampleHitArray; mdlSampleHits[0] = 1; testSHM_M->Timing.sampleHits = (&mdlSampleHits[0]); } rtmSetTFinal(testSHM_M, 10.0); testSHM_M->Timing.stepSize0 = 0.001; /* Setup for data logging */ { static RTWLogInfo rt_DataLoggingInfo; testSHM_M->rtwLogInfo = &rt_DataLoggingInfo; rtliSetLogXSignalInfo(testSHM_M->rtwLogInfo, (NULL)); rtliSetLogXSignalPtrs(testSHM_M->rtwLogInfo, (NULL)); rtliSetLogT(testSHM_M->rtwLogInfo, "tout"); rtliSetLogX(testSHM_M->rtwLogInfo, ""); rtliSetLogXFinal(testSHM_M->rtwLogInfo, ""); rtliSetSigLog(testSHM_M->rtwLogInfo, ""); rtliSetLogVarNameModifier(testSHM_M->rtwLogInfo, "rt_"); rtliSetLogFormat(testSHM_M->rtwLogInfo, 0); rtliSetLogMaxRows(testSHM_M->rtwLogInfo, 1000); rtliSetLogDecimation(testSHM_M->rtwLogInfo, 1); rtliSetLogY(testSHM_M->rtwLogInfo, ""); rtliSetLogYSignalInfo(testSHM_M->rtwLogInfo, (NULL)); rtliSetLogYSignalPtrs(testSHM_M->rtwLogInfo, (NULL)); } testSHM_M->solverInfoPtr = (&testSHM_M->solverInfo); testSHM_M->Timing.stepSize = (0.001); rtsiSetFixedStepSize(&testSHM_M->solverInfo, 0.001); rtsiSetSolverMode(&testSHM_M->solverInfo, SOLVER_MODE_SINGLETASKING); /* block I/O */ testSHM_M->ModelData.blockIO = ((void *) &testSHM_B); (void) memset(((void *) &testSHM_B),0, sizeof(BlockIO_testSHM)); /* parameters */ testSHM_M->ModelData.defaultParam = ((real_T *) &testSHM_P); /* states (dwork) */ testSHM_M->Work.dwork = ((void *) &testSHM_DWork); (void) memset((void *)&testSHM_DWork, 0, sizeof(D_Work_testSHM)); /* C API for Parameter Tuning and/or Signal Monitoring */ { static ModelMappingInfo mapInfo; (void) memset((char_T *) &mapInfo,0, sizeof(mapInfo)); /* block signal monitoring map */ mapInfo.Signals.blockIOSignals = &rtBIOSignals[0]; mapInfo.Signals.numBlockIOSignals = 2; /* parameter tuning maps */ mapInfo.Parameters.blockTuning = &rtBlockTuning[0]; mapInfo.Parameters.variableTuning = &rtVariableTuning[0]; mapInfo.Parameters.parametersMap = rtParametersMap; mapInfo.Parameters.dimensionsMap = rtDimensionsMap; mapInfo.Parameters.numBlockTuning = 4; mapInfo.Parameters.numVariableTuning = 0; testSHM_M->SpecialInfo.mappingInfo = (&mapInfo); } /* child S-Function registration */ { RTWSfcnInfo *sfcnInfo = &testSHM_M->NonInlinedSFcns.sfcnInfo; testSHM_M->sfcnInfo = (sfcnInfo); rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(testSHM_M))); rtssSetNumRootSampTimesPtr(sfcnInfo, &testSHM_M->Sizes.numSampTimes); rtssSetTPtrPtr(sfcnInfo, &rtmGetTPtr(testSHM_M)); rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(testSHM_M)); rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(testSHM_M)); rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(testSHM_M)); rtssSetStepSizePtr(sfcnInfo, &testSHM_M->Timing.stepSize); rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(testSHM_M)); rtssSetDerivCacheNeedsResetPtr(sfcnInfo, &testSHM_M->ModelData.derivCacheNeedsReset); rtssSetZCCacheNeedsResetPtr(sfcnInfo, &testSHM_M->ModelData.zCCacheNeedsReset); rtssSetBlkStateChangePtr(sfcnInfo, &testSHM_M->ModelData.blkStateChange); rtssSetSampleHitsPtr(sfcnInfo, &testSHM_M->Timing.sampleHits); rtssSetPerTaskSampleHitsPtr(sfcnInfo, &testSHM_M->Timing.perTaskSampleHits); rtssSetSimModePtr(sfcnInfo, &testSHM_M->simMode); rtssSetSolverInfoPtr(sfcnInfo, &testSHM_M->solverInfoPtr); } testSHM_M->Sizes.numSFcns = (2); /* register each child */ { (void) memset((void *)&testSHM_M->NonInlinedSFcns.childSFunctions[0],0, 2*sizeof(SimStruct)); testSHM_M->childSfunctions = (&testSHM_M-> NonInlinedSFcns.childSFunctionPtrs[0]); testSHM_M->childSfunctions[0] = (&testSHM_M-> NonInlinedSFcns.childSFunctions[0]); testSHM_M->childSfunctions[1] = (&testSHM_M-> NonInlinedSFcns.childSFunctions[1]); /* Level2 S-Function Block: testSHM/<Root>/S-Function (sSHM) */ { SimStruct *rts = testSHM_M->childSfunctions[0]; /* timing info */ time_T *sfcnPeriod = testSHM_M->NonInlinedSFcns.Sfcn0.sfcnPeriod; time_T *sfcnOffset = testSHM_M->NonInlinedSFcns.Sfcn0.sfcnOffset; int_T *sfcnTsMap = testSHM_M->NonInlinedSFcns.Sfcn0.sfcnTsMap; (void) memset((void*)sfcnPeriod,0, sizeof(time_T)*1); (void) memset((void*)sfcnOffset,0, sizeof(time_T)*1); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &testSHM_M->NonInlinedSFcns.blkInfo2[0]); ssSetRTWSfcnInfo(rts, testSHM_M->sfcnInfo); } /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &testSHM_M->NonInlinedSFcns.methods2[0]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &testSHM_M->NonInlinedSFcns.methods3[0]); } /* inputs */ { _ssSetNumInputPorts(rts, 1); ssSetPortInfoForInputs(rts, &testSHM_M->NonInlinedSFcns.Sfcn0.inputPortInfo[0]); /* port 0 */ { ssSetInputPortRequiredContiguous(rts, 0, 1); ssSetInputPortSignal(rts, 0, testSHM_B.TmpHiddenBufferAtSFunctionInpor); _ssSetInputPortNumDimensions(rts, 0, 1); ssSetInputPortWidth(rts, 0, 3); } } /* outputs */ { ssSetPortInfoForOutputs(rts, &testSHM_M->NonInlinedSFcns.Sfcn0.outputPortInfo[0]); _ssSetNumOutputPorts(rts, 1); /* port 0 */ { _ssSetOutputPortNumDimensions(rts, 0, 1); ssSetOutputPortWidth(rts, 0, 3); ssSetOutputPortSignal(rts, 0, ((real_T *) testSHM_B.SFunction)); } } /* path info */ ssSetModelName(rts, "S-Function"); ssSetPath(rts, "testSHM/S-Function"); ssSetRTModel(rts,testSHM_M); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* work vectors */ { struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *) &testSHM_M->NonInlinedSFcns.Sfcn0.dWork; struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *) &testSHM_M->NonInlinedSFcns.Sfcn0.dWorkAux; ssSetSFcnDWork(rts, dWorkRecord); ssSetSFcnDWorkAux(rts, dWorkAuxRecord); _ssSetNumDWork(rts, 2); /* DWORK1 */ ssSetDWorkWidth(rts, 0, 1); ssSetDWorkDataType(rts, 0,SS_POINTER); ssSetDWorkComplexSignal(rts, 0, 0); ssSetDWork(rts, 0, &testSHM_DWork.SFunction_DWORK1); /* DWORK2 */ ssSetDWorkWidth(rts, 1, 1); ssSetDWorkDataType(rts, 1,SS_POINTER); ssSetDWorkComplexSignal(rts, 1, 0); ssSetDWork(rts, 1, &testSHM_DWork.SFunction_DWORK2); } /* registration */ sSHM(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.001); ssSetOffsetTime(rts, 0, 0.0); sfcnTsMap[0] = 0; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetInputPortConnected(rts, 0, 1); _ssSetOutputPortConnected(rts, 0, 1); _ssSetOutputPortBeingMerged(rts, 0, 0); /* Update the BufferDstPort flags for each input port */ ssSetInputPortBufferDstPort(rts, 0, -1); } /* Level2 S-Function Block: testSHM/<Root>/RTAI_SCOPE (sfun_rtai_scope) */ { SimStruct *rts = testSHM_M->childSfunctions[1]; /* timing info */ time_T *sfcnPeriod = testSHM_M->NonInlinedSFcns.Sfcn1.sfcnPeriod; time_T *sfcnOffset = testSHM_M->NonInlinedSFcns.Sfcn1.sfcnOffset; int_T *sfcnTsMap = testSHM_M->NonInlinedSFcns.Sfcn1.sfcnTsMap; (void) memset((void*)sfcnPeriod,0, sizeof(time_T)*1); (void) memset((void*)sfcnOffset,0, sizeof(time_T)*1); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &testSHM_M->NonInlinedSFcns.blkInfo2[1]); ssSetRTWSfcnInfo(rts, testSHM_M->sfcnInfo); } /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &testSHM_M->NonInlinedSFcns.methods2[1]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &testSHM_M->NonInlinedSFcns.methods3[1]); } /* inputs */ { _ssSetNumInputPorts(rts, 3); ssSetPortInfoForInputs(rts, &testSHM_M->NonInlinedSFcns.Sfcn1.inputPortInfo[0]); /* port 0 */ { real_T const **sfcnUPtrs = (real_T const **) &testSHM_M->NonInlinedSFcns.Sfcn1.UPtrs0; sfcnUPtrs[0] = &testSHM_B.SFunction[0]; ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 0, 1); ssSetInputPortWidth(rts, 0, 1); } /* port 1 */ { real_T const **sfcnUPtrs = (real_T const **) &testSHM_M->NonInlinedSFcns.Sfcn1.UPtrs1; sfcnUPtrs[0] = &testSHM_B.SFunction[1]; ssSetInputPortSignalPtrs(rts, 1, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 1, 1); ssSetInputPortWidth(rts, 1, 1); } /* port 2 */ { real_T const **sfcnUPtrs = (real_T const **) &testSHM_M->NonInlinedSFcns.Sfcn1.UPtrs2; sfcnUPtrs[0] = &testSHM_B.SFunction[2]; ssSetInputPortSignalPtrs(rts, 2, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 2, 1); ssSetInputPortWidth(rts, 2, 1); } } /* path info */ ssSetModelName(rts, "RTAI_SCOPE"); ssSetPath(rts, "testSHM/RTAI_SCOPE"); ssSetRTModel(rts,testSHM_M); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* parameters */ { mxArray **sfcnParams = (mxArray **) &testSHM_M->NonInlinedSFcns.Sfcn1.params; ssSetSFcnParamsCount(rts, 2); ssSetSFcnParamsPtr(rts, &sfcnParams[0]); ssSetSFcnParam(rts, 0, (mxArray*)&testSHM_P.RTAI_SCOPE_P1_Size[0]); ssSetSFcnParam(rts, 1, (mxArray*)&testSHM_P.RTAI_SCOPE_P2_Size[0]); } /* work vectors */ ssSetPWork(rts, (void **) &testSHM_DWork.RTAI_SCOPE_PWORK); { struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *) &testSHM_M->NonInlinedSFcns.Sfcn1.dWork; struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *) &testSHM_M->NonInlinedSFcns.Sfcn1.dWorkAux; ssSetSFcnDWork(rts, dWorkRecord); ssSetSFcnDWorkAux(rts, dWorkAuxRecord); _ssSetNumDWork(rts, 1); /* PWORK */ ssSetDWorkWidth(rts, 0, 1); ssSetDWorkDataType(rts, 0,SS_POINTER); ssSetDWorkComplexSignal(rts, 0, 0); ssSetDWork(rts, 0, &testSHM_DWork.RTAI_SCOPE_PWORK); } /* registration */ sfun_rtai_scope(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.001); ssSetOffsetTime(rts, 0, 0.0); sfcnTsMap[0] = 0; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetInputPortConnected(rts, 0, 1); _ssSetInputPortConnected(rts, 1, 1); _ssSetInputPortConnected(rts, 2, 1); /* Update the BufferDstPort flags for each input port */ ssSetInputPortBufferDstPort(rts, 0, -1); ssSetInputPortBufferDstPort(rts, 1, -1); ssSetInputPortBufferDstPort(rts, 2, -1); } } }
/* Model initialize function */ void xpcosc_initialize(boolean_T firstTime) { (void)firstTime; /* Registration code */ /* initialize non-finites */ rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */ (void) memset((void *)xpcosc_rtM, 0, sizeof(rtModel_xpcosc)); { /* Setup solver object */ rtsiSetSimTimeStepPtr(&xpcosc_rtM->solverInfo, &xpcosc_rtM->Timing.simTimeStep); rtsiSetTPtr(&xpcosc_rtM->solverInfo, &rtmGetTPtr(xpcosc_rtM)); rtsiSetStepSizePtr(&xpcosc_rtM->solverInfo, &xpcosc_rtM->Timing.stepSize0); rtsiSetdXPtr(&xpcosc_rtM->solverInfo, &xpcosc_rtM->ModelData.derivs); rtsiSetContStatesPtr(&xpcosc_rtM->solverInfo, &xpcosc_rtM->ModelData.contStates); rtsiSetNumContStatesPtr(&xpcosc_rtM->solverInfo, &xpcosc_rtM->Sizes.numContStates); rtsiSetErrorStatusPtr(&xpcosc_rtM->solverInfo, (&rtmGetErrorStatus (xpcosc_rtM))); rtsiSetRTModelPtr(&xpcosc_rtM->solverInfo, xpcosc_rtM); } rtsiSetSimTimeStep(&xpcosc_rtM->solverInfo, MAJOR_TIME_STEP); xpcosc_rtM->ModelData.intgData.y = xpcosc_rtM->ModelData.odeY; xpcosc_rtM->ModelData.intgData.f[0] = xpcosc_rtM->ModelData.odeF[0]; xpcosc_rtM->ModelData.intgData.f[1] = xpcosc_rtM->ModelData.odeF[1]; xpcosc_rtM->ModelData.intgData.f[2] = xpcosc_rtM->ModelData.odeF[2]; xpcosc_rtM->ModelData.intgData.f[3] = xpcosc_rtM->ModelData.odeF[3]; xpcosc_rtM->ModelData.contStates = ((real_T *) &xpcosc_X); rtsiSetSolverData(&xpcosc_rtM->solverInfo, (void *) &xpcosc_rtM->ModelData.intgData); rtsiSetSolverName(&xpcosc_rtM->solverInfo,"ode4"); xpcosc_rtM->solverInfoPtr = (&xpcosc_rtM->solverInfo); /* Initialize timing info */ { int_T *mdlTsMap = xpcosc_rtM->Timing.sampleTimeTaskIDArray; mdlTsMap[0] = 0; mdlTsMap[1] = 1; xpcosc_rtM->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]); xpcosc_rtM->Timing.sampleTimes = (&xpcosc_rtM->Timing.sampleTimesArray[0]); xpcosc_rtM->Timing.offsetTimes = (&xpcosc_rtM->Timing.offsetTimesArray[0]); /* task periods */ xpcosc_rtM->Timing.sampleTimes[0] = (0.0); xpcosc_rtM->Timing.sampleTimes[1] = (0.001); /* task offsets */ xpcosc_rtM->Timing.offsetTimes[0] = (0.0); xpcosc_rtM->Timing.offsetTimes[1] = (0.0); } rtmSetTPtr(xpcosc_rtM, &xpcosc_rtM->Timing.tArray[0]); { int_T *mdlSampleHits = xpcosc_rtM->Timing.sampleHitArray; mdlSampleHits[0] = 1; mdlSampleHits[1] = 1; xpcosc_rtM->Timing.sampleHits = (&mdlSampleHits[0]); } rtmSetTFinal(xpcosc_rtM, 0.2); xpcosc_rtM->Timing.stepSize0 = 0.001; xpcosc_rtM->Timing.stepSize1 = 0.001; /* Setup for data logging */ { static RTWLogInfo rt_DataLoggingInfo; xpcosc_rtM->rtwLogInfo = &rt_DataLoggingInfo; } /* Setup for data logging */ { /* * Set pointers to the data and signal info each state */ { static int_T rt_LoggedStateWidths[] = { 1, 1 }; static int_T rt_LoggedStateNumDimensions[] = { 1, 1 }; static int_T rt_LoggedStateDimensions[] = { 1, 1 }; static boolean_T rt_LoggedStateIsVarDims[] = { 0, 0 }; static BuiltInDTypeId rt_LoggedStateDataTypeIds[] = { SS_DOUBLE, SS_DOUBLE }; static int_T rt_LoggedStateComplexSignals[] = { 0, 0 }; static const char_T *rt_LoggedStateLabels[] = { "CSTATE", "CSTATE" }; static const char_T *rt_LoggedStateBlockNames[] = { "xpcosc/Integrator1", "xpcosc/Integrator" }; static const char_T *rt_LoggedStateNames[] = { "", "" }; static boolean_T rt_LoggedStateCrossMdlRef[] = { 0, 0 }; static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = { { 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 }, { 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 } }; static RTWLogSignalInfo rt_LoggedStateSignalInfo = { 2, rt_LoggedStateWidths, rt_LoggedStateNumDimensions, rt_LoggedStateDimensions, rt_LoggedStateIsVarDims, (NULL), rt_LoggedStateDataTypeIds, rt_LoggedStateComplexSignals, (NULL), { rt_LoggedStateLabels }, (NULL), (NULL), (NULL), { rt_LoggedStateBlockNames }, { rt_LoggedStateNames }, rt_LoggedStateCrossMdlRef, rt_RTWLogDataTypeConvert }; static void * rt_LoggedStateSignalPtrs[2]; rtliSetLogXSignalPtrs(xpcosc_rtM->rtwLogInfo, (LogSignalPtrsType) rt_LoggedStateSignalPtrs); rtliSetLogXSignalInfo(xpcosc_rtM->rtwLogInfo, &rt_LoggedStateSignalInfo); rt_LoggedStateSignalPtrs[0] = (void*)&xpcosc_X.Integrator1_CSTATE; rt_LoggedStateSignalPtrs[1] = (void*)&xpcosc_X.Integrator_CSTATE; } rtliSetLogT(xpcosc_rtM->rtwLogInfo, "tout"); rtliSetLogX(xpcosc_rtM->rtwLogInfo, "xout"); rtliSetLogXFinal(xpcosc_rtM->rtwLogInfo, ""); rtliSetSigLog(xpcosc_rtM->rtwLogInfo, ""); rtliSetLogVarNameModifier(xpcosc_rtM->rtwLogInfo, "rt_"); rtliSetLogFormat(xpcosc_rtM->rtwLogInfo, 0); rtliSetLogMaxRows(xpcosc_rtM->rtwLogInfo, 0); rtliSetLogDecimation(xpcosc_rtM->rtwLogInfo, 1); /* * Set pointers to the data and signal info for each output */ { static void * rt_LoggedOutputSignalPtrs[] = { &xpcosc_Y.Outport[0] }; rtliSetLogYSignalPtrs(xpcosc_rtM->rtwLogInfo, ((LogSignalPtrsType) rt_LoggedOutputSignalPtrs)); } { static int_T rt_LoggedOutputWidths[] = { 2 }; static int_T rt_LoggedOutputNumDimensions[] = { 1 }; static int_T rt_LoggedOutputDimensions[] = { 2 }; static boolean_T rt_LoggedOutputIsVarDims[] = { 0 }; static int_T* rt_LoggedCurrentSignalDimensions[] = { (NULL) }; static BuiltInDTypeId rt_LoggedOutputDataTypeIds[] = { SS_DOUBLE }; static int_T rt_LoggedOutputComplexSignals[] = { 0 }; static const char_T *rt_LoggedOutputLabels[] = { "" }; static const char_T *rt_LoggedOutputBlockNames[] = { "xpcosc/Outport" }; static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = { { 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 } }; static RTWLogSignalInfo rt_LoggedOutputSignalInfo[] = { { 1, rt_LoggedOutputWidths, rt_LoggedOutputNumDimensions, rt_LoggedOutputDimensions, rt_LoggedOutputIsVarDims, rt_LoggedCurrentSignalDimensions, rt_LoggedOutputDataTypeIds, rt_LoggedOutputComplexSignals, (NULL), { rt_LoggedOutputLabels }, (NULL), (NULL), (NULL), { rt_LoggedOutputBlockNames }, { (NULL) }, (NULL), rt_RTWLogDataTypeConvert } }; rtliSetLogYSignalInfo(xpcosc_rtM->rtwLogInfo, rt_LoggedOutputSignalInfo); /* set currSigDims field */ rt_LoggedCurrentSignalDimensions[0] = &rt_LoggedOutputWidths[0]; } rtliSetLogY(xpcosc_rtM->rtwLogInfo, "yout"); } /* external mode info */ xpcosc_rtM->Sizes.checksums[0] = (1235351435U); xpcosc_rtM->Sizes.checksums[1] = (4143988505U); xpcosc_rtM->Sizes.checksums[2] = (362576123U); xpcosc_rtM->Sizes.checksums[3] = (1068881914U); { static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE; static RTWExtModeInfo rt_ExtModeInfo; static const sysRanDType *systemRan[1]; xpcosc_rtM->extModeInfo = (&rt_ExtModeInfo); rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan); systemRan[0] = &rtAlwaysEnabled; rteiSetModelMappingInfoPtr(xpcosc_rtM->extModeInfo, &xpcosc_rtM->SpecialInfo.mappingInfo); rteiSetChecksumsPtr(xpcosc_rtM->extModeInfo, xpcosc_rtM->Sizes.checksums); rteiSetTPtr(xpcosc_rtM->extModeInfo, rtmGetTPtr(xpcosc_rtM)); } xpcosc_rtM->solverInfoPtr = (&xpcosc_rtM->solverInfo); xpcosc_rtM->Timing.stepSize = (0.001); rtsiSetFixedStepSize(&xpcosc_rtM->solverInfo, 0.001); rtsiSetSolverMode(&xpcosc_rtM->solverInfo, SOLVER_MODE_SINGLETASKING); /* block I/O */ xpcosc_rtM->ModelData.blockIO = ((void *) &xpcosc_B); { xpcosc_B.Integrator1 = 0.0; xpcosc_B.PCI6221AD = 0.0; xpcosc_B.RateTransition1 = 0.0; xpcosc_B.SignalGenerator = 0.0; xpcosc_B.RateTransition = 0.0; xpcosc_B.Gain = 0.0; xpcosc_B.Integrator = 0.0; xpcosc_B.Gain1 = 0.0; xpcosc_B.Gain2 = 0.0; xpcosc_B.Sum = 0.0; } /* parameters */ xpcosc_rtM->ModelData.defaultParam = ((real_T *)&xpcosc_P); /* states (continuous) */ { real_T *x = (real_T *) &xpcosc_X; xpcosc_rtM->ModelData.contStates = (x); (void) memset((void *)&xpcosc_X, 0, sizeof(ContinuousStates_xpcosc)); } /* states (dwork) */ xpcosc_rtM->Work.dwork = ((void *) &xpcosc_DWork); (void) memset((void *)&xpcosc_DWork, 0, sizeof(D_Work_xpcosc)); xpcosc_DWork.PCI6713DA_RWORK = 0.0; /* external outputs */ xpcosc_rtM->ModelData.outputs = (&xpcosc_Y); xpcosc_Y.Outport[0] = 0.0; xpcosc_Y.Outport[1] = 0.0; /* data type transition information */ { static DataTypeTransInfo dtInfo; (void) memset((char_T *) &dtInfo, 0, sizeof(dtInfo)); xpcosc_rtM->SpecialInfo.mappingInfo = (&dtInfo); xpcosc_rtM->SpecialInfo.xpcData = ((void*) &dtInfo); dtInfo.numDataTypes = 14; dtInfo.dataTypeSizes = &rtDataTypeSizes[0]; dtInfo.dataTypeNames = &rtDataTypeNames[0]; /* Block I/O transition table */ dtInfo.B = &rtBTransTable; /* Parameters transition table */ dtInfo.P = &rtPTransTable; } /* Initialize DataMapInfo substructure containing ModelMap for C API */ xpcosc_InitializeDataMapInfo(xpcosc_rtM); /* child S-Function registration */ { RTWSfcnInfo *sfcnInfo = &xpcosc_rtM->NonInlinedSFcns.sfcnInfo; xpcosc_rtM->sfcnInfo = (sfcnInfo); rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(xpcosc_rtM))); rtssSetNumRootSampTimesPtr(sfcnInfo, &xpcosc_rtM->Sizes.numSampTimes); xpcosc_rtM->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(xpcosc_rtM)[0]); xpcosc_rtM->NonInlinedSFcns.taskTimePtrs[1] = &(rtmGetTPtr(xpcosc_rtM)[1]); rtssSetTPtrPtr(sfcnInfo,xpcosc_rtM->NonInlinedSFcns.taskTimePtrs); rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(xpcosc_rtM)); rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(xpcosc_rtM)); rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(xpcosc_rtM)); rtssSetStepSizePtr(sfcnInfo, &xpcosc_rtM->Timing.stepSize); rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(xpcosc_rtM)); rtssSetDerivCacheNeedsResetPtr(sfcnInfo, &xpcosc_rtM->ModelData.derivCacheNeedsReset); rtssSetZCCacheNeedsResetPtr(sfcnInfo, &xpcosc_rtM->ModelData.zCCacheNeedsReset); rtssSetBlkStateChangePtr(sfcnInfo, &xpcosc_rtM->ModelData.blkStateChange); rtssSetSampleHitsPtr(sfcnInfo, &xpcosc_rtM->Timing.sampleHits); rtssSetPerTaskSampleHitsPtr(sfcnInfo, &xpcosc_rtM->Timing.perTaskSampleHits); rtssSetSimModePtr(sfcnInfo, &xpcosc_rtM->simMode); rtssSetSolverInfoPtr(sfcnInfo, &xpcosc_rtM->solverInfoPtr); } xpcosc_rtM->Sizes.numSFcns = (2); /* register each child */ { (void) memset((void *)&xpcosc_rtM->NonInlinedSFcns.childSFunctions[0], 0, 2*sizeof(SimStruct)); xpcosc_rtM->childSfunctions = (&xpcosc_rtM->NonInlinedSFcns.childSFunctionPtrs[0]); xpcosc_rtM->childSfunctions[0] = (&xpcosc_rtM->NonInlinedSFcns.childSFunctions[0]); xpcosc_rtM->childSfunctions[1] = (&xpcosc_rtM->NonInlinedSFcns.childSFunctions[1]); /* Level2 S-Function Block: xpcosc/<Root>/PCI-6221 AD (adnipcim) */ { SimStruct *rts = xpcosc_rtM->childSfunctions[0]; /* timing info */ time_T *sfcnPeriod = xpcosc_rtM->NonInlinedSFcns.Sfcn0.sfcnPeriod; time_T *sfcnOffset = xpcosc_rtM->NonInlinedSFcns.Sfcn0.sfcnOffset; int_T *sfcnTsMap = xpcosc_rtM->NonInlinedSFcns.Sfcn0.sfcnTsMap; (void) memset((void*)sfcnPeriod, 0, sizeof(time_T)*1); (void) memset((void*)sfcnOffset, 0, sizeof(time_T)*1); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &xpcosc_rtM->NonInlinedSFcns.blkInfo2[0]); } ssSetRTWSfcnInfo(rts, xpcosc_rtM->sfcnInfo); /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &xpcosc_rtM->NonInlinedSFcns.methods2[0]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &xpcosc_rtM->NonInlinedSFcns.methods3[0]); } /* Allocate memory for states auxilliary information */ { ssSetStatesInfo2(rts, &xpcosc_rtM->NonInlinedSFcns.statesInfo2[0]); } /* outputs */ { ssSetPortInfoForOutputs(rts, &xpcosc_rtM->NonInlinedSFcns.Sfcn0.outputPortInfo[0]); _ssSetNumOutputPorts(rts, 1); /* port 0 */ { _ssSetOutputPortNumDimensions(rts, 0, 1); ssSetOutputPortWidth(rts, 0, 1); ssSetOutputPortSignal(rts, 0, ((real_T *) &xpcosc_B.PCI6221AD)); } } /* path info */ ssSetModelName(rts, "PCI-6221 AD"); ssSetPath(rts, "xpcosc/PCI-6221 AD"); ssSetRTModel(rts,xpcosc_rtM); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* parameters */ { mxArray **sfcnParams = (mxArray **) &xpcosc_rtM->NonInlinedSFcns.Sfcn0.params; ssSetSFcnParamsCount(rts, 7); ssSetSFcnParamsPtr(rts, &sfcnParams[0]); ssSetSFcnParam(rts, 0, (mxArray*)xpcosc_P.PCI6221AD_P1_Size); ssSetSFcnParam(rts, 1, (mxArray*)xpcosc_P.PCI6221AD_P2_Size); ssSetSFcnParam(rts, 2, (mxArray*)xpcosc_P.PCI6221AD_P3_Size); ssSetSFcnParam(rts, 3, (mxArray*)xpcosc_P.PCI6221AD_P4_Size); ssSetSFcnParam(rts, 4, (mxArray*)xpcosc_P.PCI6221AD_P5_Size); ssSetSFcnParam(rts, 5, (mxArray*)xpcosc_P.PCI6221AD_P6_Size); ssSetSFcnParam(rts, 6, (mxArray*)xpcosc_P.PCI6221AD_P7_Size); } /* work vectors */ ssSetIWork(rts, (int_T *) &xpcosc_DWork.PCI6221AD_IWORK[0]); ssSetPWork(rts, (void **) &xpcosc_DWork.PCI6221AD_PWORK); { struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *) &xpcosc_rtM->NonInlinedSFcns.Sfcn0.dWork; struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *) &xpcosc_rtM->NonInlinedSFcns.Sfcn0.dWorkAux; ssSetSFcnDWork(rts, dWorkRecord); ssSetSFcnDWorkAux(rts, dWorkAuxRecord); _ssSetNumDWork(rts, 2); /* IWORK */ ssSetDWorkWidth(rts, 0, 41); ssSetDWorkDataType(rts, 0,SS_INTEGER); ssSetDWorkComplexSignal(rts, 0, 0); ssSetDWork(rts, 0, &xpcosc_DWork.PCI6221AD_IWORK[0]); /* PWORK */ ssSetDWorkWidth(rts, 1, 1); ssSetDWorkDataType(rts, 1,SS_POINTER); ssSetDWorkComplexSignal(rts, 1, 0); ssSetDWork(rts, 1, &xpcosc_DWork.PCI6221AD_PWORK); } /* registration */ adnipcim(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.001); ssSetOffsetTime(rts, 0, 0.0); sfcnTsMap[0] = 1; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetOutputPortConnected(rts, 0, 1); _ssSetOutputPortBeingMerged(rts, 0, 0); /* Update the BufferDstPort flags for each input port */ } /* Level2 S-Function Block: xpcosc/<Root>/PCI-6713 DA (danipci671x) */ { SimStruct *rts = xpcosc_rtM->childSfunctions[1]; /* timing info */ time_T *sfcnPeriod = xpcosc_rtM->NonInlinedSFcns.Sfcn1.sfcnPeriod; time_T *sfcnOffset = xpcosc_rtM->NonInlinedSFcns.Sfcn1.sfcnOffset; int_T *sfcnTsMap = xpcosc_rtM->NonInlinedSFcns.Sfcn1.sfcnTsMap; (void) memset((void*)sfcnPeriod, 0, sizeof(time_T)*1); (void) memset((void*)sfcnOffset, 0, sizeof(time_T)*1); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &xpcosc_rtM->NonInlinedSFcns.blkInfo2[1]); } ssSetRTWSfcnInfo(rts, xpcosc_rtM->sfcnInfo); /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &xpcosc_rtM->NonInlinedSFcns.methods2[1]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &xpcosc_rtM->NonInlinedSFcns.methods3[1]); } /* Allocate memory for states auxilliary information */ { ssSetStatesInfo2(rts, &xpcosc_rtM->NonInlinedSFcns.statesInfo2[1]); } /* inputs */ { _ssSetNumInputPorts(rts, 1); ssSetPortInfoForInputs(rts, &xpcosc_rtM->NonInlinedSFcns.Sfcn1.inputPortInfo[0]); /* port 0 */ { real_T const **sfcnUPtrs = (real_T const **) &xpcosc_rtM->NonInlinedSFcns.Sfcn1.UPtrs0; sfcnUPtrs[0] = &xpcosc_B.RateTransition; ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 0, 1); ssSetInputPortWidth(rts, 0, 1); } } /* path info */ ssSetModelName(rts, "PCI-6713 DA"); ssSetPath(rts, "xpcosc/PCI-6713 DA"); ssSetRTModel(rts,xpcosc_rtM); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* parameters */ { mxArray **sfcnParams = (mxArray **) &xpcosc_rtM->NonInlinedSFcns.Sfcn1.params; ssSetSFcnParamsCount(rts, 6); ssSetSFcnParamsPtr(rts, &sfcnParams[0]); ssSetSFcnParam(rts, 0, (mxArray*)xpcosc_P.PCI6713DA_P1_Size); ssSetSFcnParam(rts, 1, (mxArray*)xpcosc_P.PCI6713DA_P2_Size); ssSetSFcnParam(rts, 2, (mxArray*)xpcosc_P.PCI6713DA_P3_Size); ssSetSFcnParam(rts, 3, (mxArray*)xpcosc_P.PCI6713DA_P4_Size); ssSetSFcnParam(rts, 4, (mxArray*)xpcosc_P.PCI6713DA_P5_Size); ssSetSFcnParam(rts, 5, (mxArray*)xpcosc_P.PCI6713DA_P6_Size); } /* work vectors */ ssSetRWork(rts, (real_T *) &xpcosc_DWork.PCI6713DA_RWORK); ssSetIWork(rts, (int_T *) &xpcosc_DWork.PCI6713DA_IWORK[0]); { struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *) &xpcosc_rtM->NonInlinedSFcns.Sfcn1.dWork; struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *) &xpcosc_rtM->NonInlinedSFcns.Sfcn1.dWorkAux; ssSetSFcnDWork(rts, dWorkRecord); ssSetSFcnDWorkAux(rts, dWorkAuxRecord); _ssSetNumDWork(rts, 2); /* RWORK */ ssSetDWorkWidth(rts, 0, 1); ssSetDWorkDataType(rts, 0,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 0, 0); ssSetDWork(rts, 0, &xpcosc_DWork.PCI6713DA_RWORK); /* IWORK */ ssSetDWorkWidth(rts, 1, 2); ssSetDWorkDataType(rts, 1,SS_INTEGER); ssSetDWorkComplexSignal(rts, 1, 0); ssSetDWork(rts, 1, &xpcosc_DWork.PCI6713DA_IWORK[0]); } /* registration */ danipci671x(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.001); ssSetOffsetTime(rts, 0, 0.0); sfcnTsMap[0] = 1; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetInputPortConnected(rts, 0, 1); /* Update the BufferDstPort flags for each input port */ ssSetInputPortBufferDstPort(rts, 0, -1); } } }
/* Registration function */ RT_MODEL_AD_model_T *AD_model(void) { /* Registration code */ /* initialize non-finites */ rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */ (void) memset((void *)AD_model_M, 0, sizeof(RT_MODEL_AD_model_T)); rtsiSetSolverName(&AD_model_M->solverInfo,"FixedStepDiscrete"); AD_model_M->solverInfoPtr = (&AD_model_M->solverInfo); /* Initialize timing info */ { int_T *mdlTsMap = AD_model_M->Timing.sampleTimeTaskIDArray; mdlTsMap[0] = 0; AD_model_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]); AD_model_M->Timing.sampleTimes = (&AD_model_M->Timing.sampleTimesArray[0]); AD_model_M->Timing.offsetTimes = (&AD_model_M->Timing.offsetTimesArray[0]); /* task periods */ AD_model_M->Timing.sampleTimes[0] = (0.02); /* task offsets */ AD_model_M->Timing.offsetTimes[0] = (0.0); } rtmSetTPtr(AD_model_M, &AD_model_M->Timing.tArray[0]); { int_T *mdlSampleHits = AD_model_M->Timing.sampleHitArray; mdlSampleHits[0] = 1; AD_model_M->Timing.sampleHits = (&mdlSampleHits[0]); } rtmSetTFinal(AD_model_M, 10.0); AD_model_M->Timing.stepSize0 = 0.02; /* External mode info */ AD_model_M->Sizes.checksums[0] = (3901477771U); AD_model_M->Sizes.checksums[1] = (4057706284U); AD_model_M->Sizes.checksums[2] = (227477489U); AD_model_M->Sizes.checksums[3] = (819159214U); { static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE; static RTWExtModeInfo rt_ExtModeInfo; static const sysRanDType *systemRan[1]; AD_model_M->extModeInfo = (&rt_ExtModeInfo); rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan); systemRan[0] = &rtAlwaysEnabled; rteiSetModelMappingInfoPtr(AD_model_M->extModeInfo, &AD_model_M->SpecialInfo.mappingInfo); rteiSetChecksumsPtr(AD_model_M->extModeInfo, AD_model_M->Sizes.checksums); rteiSetTPtr(AD_model_M->extModeInfo, rtmGetTPtr(AD_model_M)); } AD_model_M->solverInfoPtr = (&AD_model_M->solverInfo); AD_model_M->Timing.stepSize = (0.02); rtsiSetFixedStepSize(&AD_model_M->solverInfo, 0.02); rtsiSetSolverMode(&AD_model_M->solverInfo, SOLVER_MODE_SINGLETASKING); /* block I/O */ AD_model_M->ModelData.blockIO = ((void *) &AD_model_B); (void) memset(((void *) &AD_model_B), 0, sizeof(B_AD_model_T)); /* parameters */ AD_model_M->ModelData.defaultParam = ((real_T *)&AD_model_P); /* states (dwork) */ AD_model_M->ModelData.dwork = ((void *) &AD_model_DW); (void) memset((void *)&AD_model_DW, 0, sizeof(DW_AD_model_T)); /* data type transition information */ { static DataTypeTransInfo dtInfo; (void) memset((char_T *) &dtInfo, 0, sizeof(dtInfo)); AD_model_M->SpecialInfo.mappingInfo = (&dtInfo); dtInfo.numDataTypes = 14; dtInfo.dataTypeSizes = &rtDataTypeSizes[0]; dtInfo.dataTypeNames = &rtDataTypeNames[0]; /* Block I/O transition table */ dtInfo.B = &rtBTransTable; /* Parameters transition table */ dtInfo.P = &rtPTransTable; } /* child S-Function registration */ { RTWSfcnInfo *sfcnInfo = &AD_model_M->NonInlinedSFcns.sfcnInfo; AD_model_M->sfcnInfo = (sfcnInfo); rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(AD_model_M))); rtssSetNumRootSampTimesPtr(sfcnInfo, &AD_model_M->Sizes.numSampTimes); AD_model_M->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(AD_model_M)[0]); rtssSetTPtrPtr(sfcnInfo,AD_model_M->NonInlinedSFcns.taskTimePtrs); rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(AD_model_M)); rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(AD_model_M)); rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(AD_model_M)); rtssSetStepSizePtr(sfcnInfo, &AD_model_M->Timing.stepSize); rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(AD_model_M)); rtssSetDerivCacheNeedsResetPtr(sfcnInfo, &AD_model_M->ModelData.derivCacheNeedsReset); rtssSetZCCacheNeedsResetPtr(sfcnInfo, &AD_model_M->ModelData.zCCacheNeedsReset); rtssSetBlkStateChangePtr(sfcnInfo, &AD_model_M->ModelData.blkStateChange); rtssSetSampleHitsPtr(sfcnInfo, &AD_model_M->Timing.sampleHits); rtssSetPerTaskSampleHitsPtr(sfcnInfo, &AD_model_M->Timing.perTaskSampleHits); rtssSetSimModePtr(sfcnInfo, &AD_model_M->simMode); rtssSetSolverInfoPtr(sfcnInfo, &AD_model_M->solverInfoPtr); } AD_model_M->Sizes.numSFcns = (1); /* register each child */ { (void) memset((void *)&AD_model_M->NonInlinedSFcns.childSFunctions[0], 0, 1*sizeof(SimStruct)); AD_model_M->childSfunctions = (&AD_model_M->NonInlinedSFcns.childSFunctionPtrs[0]); AD_model_M->childSfunctions[0] = (&AD_model_M->NonInlinedSFcns.childSFunctions[0]); /* Level2 S-Function Block: AD_model/<Root>/Get_Parameter (AD_v2) */ { SimStruct *rts = AD_model_M->childSfunctions[0]; /* timing info */ time_T *sfcnPeriod = AD_model_M->NonInlinedSFcns.Sfcn0.sfcnPeriod; time_T *sfcnOffset = AD_model_M->NonInlinedSFcns.Sfcn0.sfcnOffset; int_T *sfcnTsMap = AD_model_M->NonInlinedSFcns.Sfcn0.sfcnTsMap; (void) memset((void*)sfcnPeriod, 0, sizeof(time_T)*1); (void) memset((void*)sfcnOffset, 0, sizeof(time_T)*1); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &AD_model_M->NonInlinedSFcns.blkInfo2[0]); } ssSetRTWSfcnInfo(rts, AD_model_M->sfcnInfo); /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &AD_model_M->NonInlinedSFcns.methods2[0]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &AD_model_M->NonInlinedSFcns.methods3[0]); } /* Allocate memory for states auxilliary information */ { ssSetStatesInfo2(rts, &AD_model_M->NonInlinedSFcns.statesInfo2[0]); } /* outputs */ { ssSetPortInfoForOutputs(rts, &AD_model_M->NonInlinedSFcns.Sfcn0.outputPortInfo[0]); _ssSetNumOutputPorts(rts, 1); /* port 0 */ { _ssSetOutputPortNumDimensions(rts, 0, 1); ssSetOutputPortWidth(rts, 0, 1); ssSetOutputPortSignal(rts, 0, ((real_T *) &AD_model_B.Get_Parameter)); } } /* path info */ ssSetModelName(rts, "Get_Parameter\n"); ssSetPath(rts, "AD_model/Get_Parameter "); ssSetRTModel(rts,AD_model_M); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* parameters */ { mxArray **sfcnParams = (mxArray **) &AD_model_M->NonInlinedSFcns.Sfcn0.params; ssSetSFcnParamsCount(rts, 3); ssSetSFcnParamsPtr(rts, &sfcnParams[0]); ssSetSFcnParam(rts, 0, (mxArray*)AD_model_P.Get_Parameter_P1_Size); ssSetSFcnParam(rts, 1, (mxArray*)AD_model_P.Get_Parameter_P2_Size); ssSetSFcnParam(rts, 2, (mxArray*)AD_model_P.Get_Parameter_P3_Size); } /* work vectors */ ssSetRWork(rts, (real_T *) &AD_model_DW.Get_Parameter_RWORK[0]); ssSetIWork(rts, (int_T *) &AD_model_DW.Get_Parameter_IWORK[0]); { struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *) &AD_model_M->NonInlinedSFcns.Sfcn0.dWork; struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *) &AD_model_M->NonInlinedSFcns.Sfcn0.dWorkAux; ssSetSFcnDWork(rts, dWorkRecord); ssSetSFcnDWorkAux(rts, dWorkAuxRecord); _ssSetNumDWork(rts, 2); /* RWORK */ ssSetDWorkWidth(rts, 0, 2); ssSetDWorkDataType(rts, 0,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 0, 0); ssSetDWork(rts, 0, &AD_model_DW.Get_Parameter_RWORK[0]); /* IWORK */ ssSetDWorkWidth(rts, 1, 2); ssSetDWorkDataType(rts, 1,SS_INTEGER); ssSetDWorkComplexSignal(rts, 1, 0); ssSetDWork(rts, 1, &AD_model_DW.Get_Parameter_IWORK[0]); } /* registration */ AD_v2(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.02); ssSetOffsetTime(rts, 0, 0.0); sfcnTsMap[0] = 0; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetOutputPortConnected(rts, 0, 0); _ssSetOutputPortBeingMerged(rts, 0, 0); /* Update the BufferDstPort flags for each input port */ } } /* Initialize Sizes */ AD_model_M->Sizes.numContStates = (0);/* Number of continuous states */ AD_model_M->Sizes.numY = (0); /* Number of model outputs */ AD_model_M->Sizes.numU = (0); /* Number of model inputs */ AD_model_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */ AD_model_M->Sizes.numSampTimes = (1);/* Number of sample times */ AD_model_M->Sizes.numBlocks = (1); /* Number of blocks */ AD_model_M->Sizes.numBlockIO = (1); /* Number of block outputs */ AD_model_M->Sizes.numBlockPrms = (9);/* Sum of parameter "widths" */ return AD_model_M; }