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