static void mdlInitializeSizes (SimStruct *S) /* Init sizes array */
{
int nU = NCONTROLINPUTS;
/* Specify the number of continuous and discrete states */
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
/* Specify the number of parameters */
ssSetNumSFcnParams(S, 1); /* H */
if ( ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S) )
return;
/* Specify the number of intput ports */
if ( !ssSetNumInputPorts(S, 3) )
return;
/* Specify the number of output ports */
if ( !ssSetNumOutputPorts(S, 4) )
return;
/* Specify dimension information for the input ports */
ssSetInputPortVectorDimension(S, 0, DYNAMICALLY_SIZED); /* g */
ssSetInputPortVectorDimension(S, 1, DYNAMICALLY_SIZED); /* lb */
ssSetInputPortVectorDimension(S, 2, DYNAMICALLY_SIZED); /* ub */
/* Specify dimension information for the output ports */
ssSetOutputPortVectorDimension(S, 0, nU ); /* uOpt */
ssSetOutputPortVectorDimension(S, 1, 1 ); /* fval */
ssSetOutputPortVectorDimension(S, 2, 1 ); /* exitflag */
ssSetOutputPortVectorDimension(S, 3, 1 ); /* iter */
/* Specify the direct feedthrough status */
ssSetInputPortDirectFeedThrough(S, 0, 1);
ssSetInputPortDirectFeedThrough(S, 1, 1);
ssSetInputPortDirectFeedThrough(S, 2, 1);
/* One sample time */
ssSetNumSampleTimes(S, 1);
/* global variables:
* 0: problem
* 1: H
* 2: g
* 3: lb
* 4: ub
*/
/* Specify the size of the block's pointer work vector */
ssSetNumPWork(S, 5);
}
static void mdlInitializeSizes(SimStruct *S)
{
ssSetNumSFcnParams(S, NUM_PARAMS);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) return;
/* Inputs: */
if (!ssSetNumInputPorts(S, 2)) return;
ssSetInputPortDataType(S, 0, DYNAMICALLY_TYPED);
ssSetInputPortDataType(S, 1, DYNAMICALLY_TYPED);
if(!ssSetInputPortDimensionInfo(S, 0, DYNAMIC_DIMENSION)) return;
if(!ssSetInputPortDimensionInfo(S, 1, DYNAMIC_DIMENSION)) return;
ssSetInputPortFrameData(S, 0, FRAME_INHERITED);
ssSetInputPortFrameData(S, 1, FRAME_INHERITED);
ssSetInputPortComplexSignal(S, 0, COMPLEX_INHERITED);
ssSetInputPortComplexSignal(S, 1, COMPLEX_INHERITED);
ssSetInputPortDirectFeedThrough(S, 0, 1);
ssSetInputPortDirectFeedThrough(S, 1, 1);
ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL);
ssSetInputPortOptimOpts(S, 1, SS_REUSABLE_AND_LOCAL);
ssSetInputPortOverWritable(S, 0, 1);
ssSetInputPortOverWritable(S, 1, 1);
/* Outputs: */
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortDataType(S, 0, DYNAMICALLY_TYPED);
if(!ssSetOutputPortVectorDimension(S, 0, 1)) return;
ssSetOutputPortFrameData(S, 0, FRAME_NO);
ssSetOutputPortComplexSignal(S, 0, COMPLEX_INHERITED);
ssSetOutputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL);
ssSetNumSampleTimes(S, 1);
/* 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_EXCEPTION_FREE_CODE |
SS_OPTION_CAN_BE_CALLED_CONDITIONALLY |
SS_OPTION_USE_TLC_WITH_ACCELERATOR |
SS_OPTION_NONVOLATILE);
}
void mdlSetDefaultPortDimensionInfo(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(dimsInfo);
/* Either 2nd input or 2nd output should be already known */
if (ssGetOutputPortWidth(S, 0) != DYNAMICALLY_SIZED) {
/* It is the output that is known, get the dimensions first */
dimsInfo.width = ssGetOutputPortWidth(S, 0);
dimsInfo.numDims = ssGetOutputPortNumDimensions(S, 0);
dimsInfo.dims = ssGetOutputPortDimensions(S, 0);
/*set second input, first output if unknown */
if (ssGetInputPortWidth(S, 0) == DYNAMICALLY_SIZED) {
if(!ssSetInputPortDimensionInfo(S, 0, &dimsInfo)) return;
}
return;
}
else {
if (ssGetInputPortWidth(S, 0) != DYNAMICALLY_SIZED) {
/* It is the input that is known, get the dimensions */
dimsInfo.width = ssGetInputPortWidth(S, 0);
dimsInfo.numDims = ssGetInputPortNumDimensions(S, 0);
dimsInfo.dims = ssGetInputPortDimensions(S, 0);
/*set first and second output if unknown */
if (ssGetOutputPortWidth(S, 0) == DYNAMICALLY_SIZED) {
if(!ssSetOutputPortDimensionInfo(S, 0, &dimsInfo)) return;
}
return;
}
else
{
/* Default everything to a scalar signal */
ssSetOutputPortVectorDimension(S, 0, 1);
ssSetInputPortVectorDimension(S, 0, 1);
return;
}
}
} /* end mdlSetDefaultPortDimensionInfo */
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);
}
return ; } static void mdlInitializeSizes ( SimStruct * S ) {
ssSetNumSFcnParams ( S , 0 ) ; ssFxpSetU32BitRegionCompliant ( S , 1 ) ;
rt_InitInfAndNaN ( sizeof ( real_T ) ) ; if ( S -> mdlInfo -> genericFcn != (
NULL ) ) { _GenericFcn fcn = S -> mdlInfo -> genericFcn ; real_T lifeSpan =
rtInf ; real_T startTime = 0.0 ; real_T stopTime = rtInf ; int_T hwSettings [
15 ] ; int_T opSettings [ 1 ] ; boolean_T concurrTaskSupport = 0 ; boolean_T
hasDiscTs = 1 ; real_T fixedStep = 0.001 ; ( fcn ) ( S ,
GEN_FCN_CHK_MODELREF_SOLVER_TYPE_EARLY , 2 , ( NULL ) ) ; ( fcn ) ( S ,
GEN_FCN_MODELREF_RATE_GROUPED , 0 , ( NULL ) ) ; if ( ! ( fcn ) ( S ,
GEN_FCN_CHK_MODELREF_LIFE_SPAN , - 1 , & lifeSpan ) ) return ; if ( ! ( fcn )
( S , GEN_FCN_CHK_MODELREF_START_TIME , - 1 , & startTime ) ) return ; if ( !
( fcn ) ( S , GEN_FCN_CHK_MODELREF_STOP_TIME , - 1 , & stopTime ) ) return ;
hwSettings [ 0 ] = 16 ; hwSettings [ 1 ] = 16 ; hwSettings [ 2 ] = 16 ;
hwSettings [ 3 ] = 32 ; hwSettings [ 4 ] = 32 ; hwSettings [ 5 ] = 64 ;
hwSettings [ 6 ] = 16 ; hwSettings [ 7 ] = 0 ; hwSettings [ 8 ] = 1 ;
hwSettings [ 9 ] = 16 ; hwSettings [ 10 ] = 1 ; hwSettings [ 11 ] = 2 ;
hwSettings [ 12 ] = 2 ; hwSettings [ 13 ] = 64 ; hwSettings [ 14 ] = 0 ; if (
! ( fcn ) ( S , GEN_FCN_CHK_MODELREF_HARDWARE_SETTINGS , 15 , hwSettings ) )
return ; opSettings [ 0 ] = 0 ; if ( ! ( fcn ) ( S ,
GEN_FCN_CHK_MODELREF_OPTIM_SETTINGS , 1 , opSettings ) ) return ; if ( ! (
fcn ) ( S , GEN_FCN_CHK_MODELREF_CONCURRETNT_TASK_SUPPORT , ( int_T )
concurrTaskSupport , ( NULL ) ) ) return ; if ( ! ( fcn ) ( S ,
GEN_FCN_CHK_MODELREF_SOLVER_TYPE , 0 , & hasDiscTs ) ) return ; if ( ! ( fcn
) ( S , GEN_FCN_CHK_MODELREF_SOLVER_NAME , 0 , ( void * ) "FixedStepDiscrete"
) ) return ; if ( ! ( fcn ) ( S , GEN_FCN_CHK_MODELREF_SOLVER_MODE ,
SOLVER_MODE_SINGLETASKING , ( NULL ) ) ) return ; if ( ! ( fcn ) ( S ,
GEN_FCN_CHK_MODELREF_FIXED_STEP , 0 , & fixedStep ) ) return ; ( fcn ) ( S ,
GEN_FCN_CHK_MODELREF_FRAME_UPGRADE_DIAGNOSTICS , 1 , ( NULL ) ) ; } { static
const char * globalVarList [ ] = { "Cntrl_Status" , "DT_PRECISION_HI" ,
"DT_PRECISION_LO" , "EV_Param" , "Motor_Cmds" , "Power_Lims" ,
"brake_cmd_table" , "ctrlConst" , "decel_cmd_vec" , "regen_pwr_vec" } ;
ssRegModelRefGlobalVarUsage ( S , 10 , ( void * ) globalVarList ) ; }
ssSetRTWGeneratedSFcn ( S , 2 ) ; ssSetNumContStates ( S , 0 ) ;
ssSetNumDiscStates ( S , 0 ) ; if ( ! ssSetNumInputPorts ( S , 8 ) ) return ;
if ( ! ssSetInputPortVectorDimension ( S , 0 , 1 ) ) return ;
ssSetInputPortDimensionsMode ( S , 0 , FIXED_DIMS_MODE ) ;
ssSetInputPortFrameData ( S , 0 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) { ssSetInputPortDataType ( S , 0 , SS_SINGLE ) ;
} ssSetInputPortDirectFeedThrough ( S , 0 , 1 ) ;
ssSetInputPortRequiredContiguous ( S , 0 , 1 ) ; ssSetInputPortOptimOpts ( S
, 0 , SS_NOT_REUSABLE_AND_LOCAL ) ; ssSetInputPortOverWritable ( S , 0 ,
FALSE ) ; ssSetInputPortSampleTime ( S , 0 , 0.001 ) ;
ssSetInputPortOffsetTime ( S , 0 , 0.0 ) ; if ( !
ssSetInputPortVectorDimension ( S , 1 , 1 ) ) return ;
ssSetInputPortDimensionsMode ( S , 1 , FIXED_DIMS_MODE ) ;
ssSetInputPortFrameData ( S , 1 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) { ssSetInputPortDataType ( S , 1 , SS_SINGLE ) ;
} ssSetInputPortDirectFeedThrough ( S , 1 , 1 ) ;
ssSetInputPortRequiredContiguous ( S , 1 , 1 ) ; ssSetInputPortOptimOpts ( S
, 1 , SS_NOT_REUSABLE_AND_LOCAL ) ; ssSetInputPortOverWritable ( S , 1 ,
FALSE ) ; ssSetInputPortSampleTime ( S , 1 , 0.001 ) ;
ssSetInputPortOffsetTime ( S , 1 , 0.0 ) ; if ( !
ssSetInputPortVectorDimension ( S , 2 , 1 ) ) return ;
ssSetInputPortDimensionsMode ( S , 2 , FIXED_DIMS_MODE ) ;
ssSetInputPortFrameData ( S , 2 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) { ssSetInputPortDataType ( S , 2 , SS_SINGLE ) ;
} ssSetInputPortDirectFeedThrough ( S , 2 , 0 ) ;
ssSetInputPortRequiredContiguous ( S , 2 , 1 ) ; ssSetInputPortOptimOpts ( S
, 2 , SS_NOT_REUSABLE_AND_LOCAL ) ; ssSetInputPortOverWritable ( S , 2 ,
FALSE ) ; ssSetInputPortSampleTime ( S , 2 , 0.001 ) ;
ssSetInputPortOffsetTime ( S , 2 , 0.0 ) ; if ( !
ssSetInputPortVectorDimension ( S , 3 , 1 ) ) return ;
ssSetInputPortDimensionsMode ( S , 3 , FIXED_DIMS_MODE ) ;
ssSetInputPortFrameData ( S , 3 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) { ssSetInputPortDataType ( S , 3 , SS_SINGLE ) ;
} ssSetInputPortDirectFeedThrough ( S , 3 , 0 ) ;
ssSetInputPortRequiredContiguous ( S , 3 , 1 ) ; ssSetInputPortOptimOpts ( S
, 3 , SS_NOT_REUSABLE_AND_LOCAL ) ; ssSetInputPortOverWritable ( S , 3 ,
FALSE ) ; ssSetInputPortSampleTime ( S , 3 , 0.001 ) ;
ssSetInputPortOffsetTime ( S , 3 , 0.0 ) ; if ( !
ssSetInputPortVectorDimension ( S , 4 , 1 ) ) return ;
ssSetInputPortDimensionsMode ( S , 4 , FIXED_DIMS_MODE ) ;
ssSetInputPortFrameData ( S , 4 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) { ssSetInputPortDataType ( S , 4 , SS_SINGLE ) ;
} ssSetInputPortDirectFeedThrough ( S , 4 , 1 ) ;
ssSetInputPortRequiredContiguous ( S , 4 , 1 ) ; ssSetInputPortOptimOpts ( S
, 4 , SS_NOT_REUSABLE_AND_LOCAL ) ; ssSetInputPortOverWritable ( S , 4 ,
FALSE ) ; ssSetInputPortSampleTime ( S , 4 , 0.001 ) ;
ssSetInputPortOffsetTime ( S , 4 , 0.0 ) ; if ( !
ssSetInputPortVectorDimension ( S , 5 , 1 ) ) return ;
ssSetInputPortDimensionsMode ( S , 5 , FIXED_DIMS_MODE ) ;
ssSetInputPortFrameData ( S , 5 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) { ssSetInputPortDataType ( S , 5 , SS_SINGLE ) ;
} ssSetInputPortDirectFeedThrough ( S , 5 , 1 ) ;
ssSetInputPortRequiredContiguous ( S , 5 , 1 ) ; ssSetInputPortOptimOpts ( S
, 5 , SS_NOT_REUSABLE_AND_LOCAL ) ; ssSetInputPortOverWritable ( S , 5 ,
FALSE ) ; ssSetInputPortSampleTime ( S , 5 , 0.001 ) ;
ssSetInputPortOffsetTime ( S , 5 , 0.0 ) ; if ( !
ssSetInputPortVectorDimension ( S , 6 , 1 ) ) return ;
ssSetInputPortDimensionsMode ( S , 6 , FIXED_DIMS_MODE ) ;
ssSetInputPortFrameData ( S , 6 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) { ssSetInputPortDataType ( S , 6 , SS_SINGLE ) ;
} ssSetInputPortDirectFeedThrough ( S , 6 , 1 ) ;
ssSetInputPortRequiredContiguous ( S , 6 , 1 ) ; ssSetInputPortOptimOpts ( S
, 6 , SS_REUSABLE_AND_LOCAL ) ; ssSetInputPortOverWritable ( S , 6 , FALSE )
; ssSetInputPortSampleTime ( S , 6 , 0.001 ) ; ssSetInputPortOffsetTime ( S ,
6 , 0.0 ) ; if ( ! ssSetInputPortVectorDimension ( S , 7 , 1 ) ) return ;
ssSetInputPortDimensionsMode ( S , 7 , FIXED_DIMS_MODE ) ;
ssSetInputPortFrameData ( S , 7 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) { ssSetInputPortDataType ( S , 7 , SS_SINGLE ) ;
} ssSetInputPortDirectFeedThrough ( S , 7 , 1 ) ;
ssSetInputPortRequiredContiguous ( S , 7 , 1 ) ; ssSetInputPortOptimOpts ( S
, 7 , SS_REUSABLE_AND_LOCAL ) ; ssSetInputPortOverWritable ( S , 7 , FALSE )
; ssSetInputPortSampleTime ( S , 7 , 0.001 ) ; ssSetInputPortOffsetTime ( S ,
7 , 0.0 ) ; if ( ! ssSetNumOutputPorts ( S , 3 ) ) return ; if ( !
ssSetOutputPortVectorDimension ( S , 0 , 1 ) ) return ;
ssSetOutputPortDimensionsMode ( S , 0 , FIXED_DIMS_MODE ) ;
ssSetOutputPortFrameData ( S , 0 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) {
#if defined (MATLAB_MEX_FILE)
{ DTypeId dataTypeIdReg ; ssRegisterTypeFromNamedObject ( S , "Cntrl_Status"
, & dataTypeIdReg ) ; if ( dataTypeIdReg == INVALID_DTYPE_ID ) return ;
ssSetOutputPortDataType ( S , 0 , dataTypeIdReg ) ; }
#endif
} ssSetOutputPortSampleTime ( S , 0 , 0.001 ) ; ssSetOutputPortOffsetTime ( S
, 0 , 0.0 ) ; ssSetOutputPortDiscreteValuedOutput ( S , 0 , 0 ) ;
ssSetOutputPortOkToMerge ( S , 0 , SS_OK_TO_MERGE ) ;
ssSetOutputPortOptimOpts ( S , 0 , SS_NOT_REUSABLE_AND_GLOBAL ) ; if ( !
ssSetOutputPortVectorDimension ( S , 1 , 1 ) ) return ;
ssSetOutputPortDimensionsMode ( S , 1 , FIXED_DIMS_MODE ) ;
ssSetOutputPortFrameData ( S , 1 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) {
#if defined (MATLAB_MEX_FILE)
{ DTypeId dataTypeIdReg ; ssRegisterTypeFromNamedObject ( S , "Motor_Cmds" ,
& dataTypeIdReg ) ; if ( dataTypeIdReg == INVALID_DTYPE_ID ) return ;
ssSetOutputPortDataType ( S , 1 , dataTypeIdReg ) ; }
#endif
} ssSetOutputPortSampleTime ( S , 1 , 0.001 ) ; ssSetOutputPortOffsetTime ( S
, 1 , 0.0 ) ; ssSetOutputPortDiscreteValuedOutput ( S , 1 , 0 ) ;
ssSetOutputPortOkToMerge ( S , 1 , SS_OK_TO_MERGE ) ;
ssSetOutputPortOptimOpts ( S , 1 , SS_NOT_REUSABLE_AND_LOCAL ) ; if ( !
ssSetOutputPortVectorDimension ( S , 2 , 1 ) ) return ;
ssSetOutputPortDimensionsMode ( S , 2 , FIXED_DIMS_MODE ) ;
ssSetOutputPortFrameData ( S , 2 , FRAME_NO ) ; if ( ssGetSimMode ( S ) !=
SS_SIMMODE_SIZES_CALL_ONLY ) { ssSetOutputPortDataType ( S , 2 , SS_SINGLE )
; } ssSetOutputPortSampleTime ( S , 2 , 0.001 ) ; ssSetOutputPortOffsetTime (
S , 2 , 0.0 ) ; ssSetOutputPortDiscreteValuedOutput ( S , 2 , 0 ) ;
ssSetOutputPortOkToMerge ( S , 2 , SS_OK_TO_MERGE ) ;
ssSetOutputPortOptimOpts ( S , 2 , SS_NOT_REUSABLE_AND_LOCAL ) ; { 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 ;
ssSetModelRefInputSignalDesignMin ( S , 2 , & minValue ) ;
ssSetModelRefInputSignalDesignMax ( S , 2 , & maxValue ) ; } { real_T
minValue = rtMinusInf ; real_T maxValue = rtInf ;
ssSetModelRefInputSignalDesignMin ( S , 3 , & minValue ) ;
ssSetModelRefInputSignalDesignMax ( S , 3 , & maxValue ) ; } { real_T
minValue = rtMinusInf ; real_T maxValue = rtInf ;
ssSetModelRefInputSignalDesignMin ( S , 4 , & minValue ) ;
ssSetModelRefInputSignalDesignMax ( S , 4 , & maxValue ) ; } { real_T
minValue = rtMinusInf ; real_T maxValue = rtInf ;
ssSetModelRefInputSignalDesignMin ( S , 5 , & minValue ) ;
ssSetModelRefInputSignalDesignMax ( S , 5 , & maxValue ) ; } { real_T
minValue = rtMinusInf ; real_T maxValue = rtInf ;
ssSetModelRefInputSignalDesignMin ( S , 6 , & minValue ) ;
ssSetModelRefInputSignalDesignMax ( S , 6 , & maxValue ) ; } { real_T
minValue = rtMinusInf ; real_T maxValue = rtInf ;
ssSetModelRefInputSignalDesignMin ( S , 7 , & minValue ) ;
ssSetModelRefInputSignalDesignMax ( S , 7 , & maxValue ) ; } { real_T
minValue = rtMinusInf ; real_T maxValue = rtInf ;
ssSetModelRefOutputSignalDesignMin ( S , 0 , & minValue ) ;
ssSetModelRefOutputSignalDesignMax ( S , 0 , & maxValue ) ; } { real_T
minValue = rtMinusInf ; real_T maxValue = rtInf ;
ssSetModelRefOutputSignalDesignMin ( S , 1 , & minValue ) ;
ssSetModelRefOutputSignalDesignMax ( S , 1 , & maxValue ) ; } { real_T
minValue = rtMinusInf ; real_T maxValue = rtInf ;
ssSetModelRefOutputSignalDesignMin ( S , 2 , & minValue ) ;
ssSetModelRefOutputSignalDesignMax ( S , 2 , & maxValue ) ; } { static
ssRTWStorageType storageClass [ 11 ] = { SS_RTW_STORAGE_AUTO ,
SS_RTW_STORAGE_AUTO , SS_RTW_STORAGE_AUTO , SS_RTW_STORAGE_AUTO ,
SS_RTW_STORAGE_AUTO , SS_RTW_STORAGE_AUTO , SS_RTW_STORAGE_AUTO ,
SS_RTW_STORAGE_AUTO , SS_RTW_STORAGE_AUTO , SS_RTW_STORAGE_AUTO ,
SS_RTW_STORAGE_AUTO } ; ssSetModelRefPortRTWStorageClasses ( S , storageClass
) ; } ssSetModelRefSignalLoggingSaveFormat ( S , SS_DATASET_FORMAT ) ;
ssSetNumSampleTimes ( S , PORT_BASED_SAMPLE_TIMES ) ; ssSetNumRWork ( S , 0 )
; ssSetNumIWork ( S , 0 ) ; ssSetNumPWork ( S , 0 ) ; ssSetNumModes ( S , 0 )
; { int_T zcsIdx = 0 ; } ssSetOutputPortIsNonContinuous ( S , 0 , 0 ) ;
ssSetOutputPortIsFedByBlockWithModesNoZCs ( S , 0 , 0 ) ;
ssSetOutputPortIsNonContinuous ( S , 1 , 0 ) ;
ssSetOutputPortIsFedByBlockWithModesNoZCs ( S , 1 , 0 ) ;
ssSetOutputPortIsNonContinuous ( S , 2 , 0 ) ;
ssSetOutputPortIsFedByBlockWithModesNoZCs ( S , 2 , 0 ) ;
ssSetInputPortIsNotDerivPort ( S , 0 , 1 ) ; ssSetInputPortIsNotDerivPort ( S
, 1 , 1 ) ; ssSetInputPortIsNotDerivPort ( S , 2 , 1 ) ;
ssSetInputPortIsNotDerivPort ( S , 3 , 1 ) ; ssSetInputPortIsNotDerivPort ( S
, 4 , 1 ) ; ssSetInputPortIsNotDerivPort ( S , 5 , 1 ) ;
ssSetInputPortIsNotDerivPort ( S , 6 , 1 ) ; ssSetInputPortIsNotDerivPort ( S
, 7 , 1 ) ; ssSetModelReferenceSampleTimeInheritanceRule ( S ,
DISALLOW_SAMPLE_TIME_INHERITANCE ) ; ssSetOptimizeModelRefInitCode ( S , 1 )
; ssSetAcceptsFcnCallInputs ( S ) ; { static const char * inlinedVars [ ] = {
"EV_Param" , "brake_cmd_table" , "ctrlConst" , "decel_cmd_vec" ,
"regen_pwr_vec" } ; ssSetModelRefInlinedVars ( S , 5 , ( void * ) inlinedVars
) ; } ssSetModelReferenceNormalModeSupport ( S ,
MDL_START_AND_MDL_PROCESS_PARAMS_OK ) ; ssSupportsMultipleExecInstances ( S ,
FALSE ) ; ssRegisterMsgForNotSupportingMultiExecInst ( S ,
"<diag_root><diag id=\"Simulink:blocks:ImplicitIterSS_SigObjExpStorageClassNotSupportedInside\"><arguments><arg type=\"numeric\">1</arg><arg type=\"encoded\">RQBWAF8AUAB3AHIAXwBNAGEAbgBhAGcAZQByAC8AUABvAHcAZQByAF8AQwBvAG4AdAByAG8AbAAvAEUAcgByAG8AcgAgAFMAdQBtAAAA</arg><arg type=\"encoded\">cABvAHcAZQByAF8AZQByAHIAbwByAAAA</arg><arg type=\"encoded\">PABfAF8AaQBpAFMAUwBfAF8APgA8AC8AXwBfAGkAaQBTAFMAXwBfAD4AAAA=</arg><arg type=\"encoded\">PABfAF8AaQB0AGUAcgBCAGwAawBfAF8APgA8AC8AXwBfAGkAdABlAHIAQgBsAGsAXwBfAD4AAAA=</arg></arguments></diag>\n</diag_root>"
) ; ssHasStateInsideForEachSS ( S , FALSE ) ; ssSetModelRefHasParforForEachSS
( S , FALSE ) ; ssSetModelRefHasVariantModelOrSubsystem ( S , FALSE ) ;
ssSetNumAsyncTs ( S , 0 ) ; 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 ) ; 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 ) { int_T retVal = 1 ;
mr_EV_Pwr_Manager_MdlInfoRegFcn ( S , "EV_Pwr_Manager" , & retVal ) ; if ( !
retVal ) return ; }
#endif
ssSetNumDWork ( S , 0 ) ; slmrSetHasNonVirtualConstantTs ( S , true ) ;
ssSetNeedAbsoluteTime ( S , 1 ) ; ssSetModelRefHasEnablePort ( S , 0 ) ; }
/* 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:
* 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)
{
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 */
