sfun_comedi_data_write.c

rtai-3.1-test3的源代码(Real-Time Application Interface )

/*
COPYRIGHT (C) 2003  Lorenzo Dozio ([e-mail])

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/


#define S_FUNCTION_NAME		sfun_comedi_data_write
#define S_FUNCTION_LEVEL	2

#ifdef MATLAB_MEX_FILE
#include "mex.h"
#endif
#include "simstruc.h"

#define NUMBER_OF_PARAMS	(4)

#define COMEDI_DEVICE_PARAM	ssGetSFcnParam(S,0)
#define COMEDI_CHANNEL_PARAM	ssGetSFcnParam(S,1)
#define COMEDI_RANGE_PARAM	ssGetSFcnParam(S,2)
#define COMEDI_REFERENCE_PARAM	ssGetSFcnParam(S,3)

#define COMEDI_DEVICE		((uint_T) mxGetPr(COMEDI_DEVICE_PARAM)[0])
#define COMEDI_CHANNEL		((uint_T) mxGetPr(COMEDI_CHANNEL_PARAM)[0])
#define COMEDI_RANGE		((uint_T) mxGetPr(COMEDI_RANGE_PARAM)[0])
#define COMEDI_REFERENCE	((uint_T) mxGetPr(COMEDI_REFERENCE_PARAM)[0])

#ifndef MATLAB_MEX_FILE

#include <stdio.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <math.h>

#include <rtai_lxrt.h>
#include <rtai_comedi.h>

extern void *ComediDev[];
extern int ComediDev_InUse[];
extern int ComediDev_AOInUse[];

#endif

#define MDL_CHECK_PARAMETERS
#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
static void mdlCheckParameters(SimStruct *S)
{
	static char_T errMsg[256];
	boolean_T allParamsOK = 1;

	if (mxGetNumberOfElements(COMEDI_CHANNEL_PARAM) != 1) {
		sprintf(errMsg, "Channel parameter must be a scalar.\n");
		allParamsOK = 0;
		goto EXIT_POINT;
	}
	if (mxGetNumberOfElements(COMEDI_RANGE_PARAM) != 1) {
		sprintf(errMsg, "Range parameter must be a scalar\n");
		allParamsOK = 0;
		goto EXIT_POINT;
	}

EXIT_POINT:
	if (!allParamsOK) {
		ssSetErrorStatus(S, errMsg);
	}
}
#endif

static void mdlInitializeSizes(SimStruct *S)
{
	uint_T i;

	ssSetNumSFcnParams(S, NUMBER_OF_PARAMS);
#if defined(MATLAB_MEX_FILE)
	if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
		mdlCheckParameters(S);
		if (ssGetErrorStatus(S) != NULL) {
			return;
		}
	} else {
		return;
	}
#endif
	for (i = 0; i < NUMBER_OF_PARAMS; i++) {
		ssSetSFcnParamNotTunable(S, i);
	}
	ssSetNumInputPorts(S, 1);
	ssSetNumOutputPorts(S, 0);
	ssSetInputPortWidth(S, 0, 1);
	ssSetInputPortDirectFeedThrough(S, 0, 1);
	ssSetNumContStates(S, 0);
	ssSetNumDiscStates(S, 0);
	ssSetNumSampleTimes(S, 1);
	ssSetNumPWork(S,1);
	ssSetNumIWork(S,1);
	ssSetNumRWork(S,2);
}

static void mdlInitializeSampleTimes(SimStruct *S)
{
	ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
	ssSetOffsetTime(S, 0, 0.0);
}

#define MDL_START 
#if defined(MDL_START)
static void mdlStart(SimStruct *S)
{
	real_T u;

#ifndef MATLAB_MEX_FILE
	void *dev;
	int subdev;
	int index = (int)COMEDI_DEVICE - 1;
	unsigned int channel = (unsigned int)COMEDI_CHANNEL;
	unsigned int range   = (unsigned int)COMEDI_RANGE;
	unsigned int aref    = (unsigned int)COMEDI_REFERENCE - 1;
	int n_channels;
	char *devname[4] = {"/dev/comedi0","/dev/comedi1","/dev/comedi2","/dev/comedi3"};
	char board[50];
	static char_T errMsg[256];
	lsampl_t data, maxdata;
	comedi_krange krange;
	double range_min, range_max;
	double s;
	
	if (!ComediDev[index]) {
		dev = comedi_open(devname[index]);
		if (!dev) {
			sprintf(errMsg, "Comedi open failed\n");
			ssSetErrorStatus(S, errMsg);
			printf("%s", errMsg);
			return;
		}
		rt_comedi_get_board_name(dev, board);
		printf("COMEDI %s (%s) opened.\n\n", devname[index], board);
		ComediDev[index] = dev;
		if ((subdev = comedi_find_subdevice_by_type(dev, COMEDI_SUBD_AO, 0)) < 0) {
			sprintf(errMsg, "Comedi find_subdevice failed (No analog output)\n");
			ssSetErrorStatus(S, errMsg);
			printf("%s", errMsg);
			comedi_close(dev);
			return;
		}
		if ((comedi_lock(dev, subdev)) < 0) {
			sprintf(errMsg, "Comedi lock failed for subdevice %d\n", subdev);
			ssSetErrorStatus(S, errMsg);
			printf("%s", errMsg);
			comedi_close(dev);
			return;
		}
	} else {
		dev = ComediDev[index];
		subdev = comedi_find_subdevice_by_type(dev, COMEDI_SUBD_AO, 0);
	}
	if ((n_channels = comedi_get_n_channels(dev, subdev)) < 0) {
		sprintf(errMsg, "Comedi get_n_channels failed for subdevice %d\n", subdev);
		ssSetErrorStatus(S, errMsg);
		printf("%s", errMsg);
		comedi_unlock(dev, subdev);
		comedi_close(dev);
		return;
	}
	if (channel >= n_channels) {
		sprintf(errMsg, "Comedi channel not available for subdevice %d\n", subdev);
		ssSetErrorStatus(S, errMsg);
		printf("%s", errMsg);
		comedi_unlock(dev, subdev);
		comedi_close(dev);
		return;
	}
	maxdata = comedi_get_maxdata(dev, subdev, channel);
	if ((comedi_get_krange(dev, subdev, channel, range, &krange)) < 0) {
		sprintf(errMsg, "Comedi get range failed for subdevice %d\n", subdev);
		ssSetErrorStatus(S, errMsg);
		printf("%s", errMsg);
		comedi_unlock(dev, subdev);
		comedi_close(dev);
		return;
	}
	ComediDev_InUse[index]++;
	ComediDev_AOInUse[index]++;
	range_min = (double)(krange.min)*1.e-6;
	range_max = (double)(krange.max)*1.e-6;
	printf("AO Channel %d - Range : %1.2f [V] - %1.2f [V]\n", channel, range_min, range_max);
	u = 0.;
	s = (u - range_min)/(range_max - range_min)*maxdata;
	data = (lsampl_t)(floor(s+0.5));
	comedi_data_write(dev, subdev, channel, range, aref, data);
	ssGetPWork(S)[0] = (void *)dev;
	ssGetIWork(S)[0] = subdev;
	ssGetRWork(S)[0] = range_min;
	ssGetRWork(S)[1] = range_max;
#endif
}
#endif

static void mdlOutputs(SimStruct *S, int_T tid)
{
	InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);
	real_T u;

#ifndef MATLAB_MEX_FILE
	unsigned int channel = (unsigned int)COMEDI_CHANNEL;
	unsigned int range   = (unsigned int)COMEDI_RANGE;
	unsigned int aref    = (unsigned int)COMEDI_REFERENCE - 1;
	void *dev        = (void *)ssGetPWork(S)[0];
	int subdev       = ssGetIWork(S)[0];
	double range_min = ssGetRWork(S)[0];
	double range_max = ssGetRWork(S)[1];
	lsampl_t data, maxdata = comedi_get_maxdata(dev, subdev, COMEDI_CHANNEL);
	double s;
	
	u = *uPtrs[0];
	s = (u - range_min)/(range_max - range_min)*maxdata;
	if (s < 0) {
		data = 0;
	} else if (s > maxdata) {
		data = maxdata;
	} else {
		data = (lsampl_t)(floor(s+0.5));
	}
	comedi_data_write(dev, subdev, channel, range, aref, data);
#endif
}

static void mdlTerminate(SimStruct *S)
{
	real_T u;

#ifndef MATLAB_MEX_FILE
	int index = (int)COMEDI_DEVICE - 1;
	unsigned int channel = (unsigned int)COMEDI_CHANNEL;
	unsigned int range   = (unsigned int)COMEDI_RANGE;
	unsigned int aref    = (unsigned int)COMEDI_REFERENCE - 1;
	void *dev        = (void *)ssGetPWork(S)[0];
	int subdev       = ssGetIWork(S)[0];
	double range_min = ssGetRWork(S)[0];
	double range_max = ssGetRWork(S)[1];
	char *devname[4] = {"/dev/comedi0","/dev/comedi1","/dev/comedi2","/dev/comedi3"};
	lsampl_t data, maxdata;
	double s;

	if (ssGetErrorStatus(S) == NULL) {
		maxdata = comedi_get_maxdata(dev, subdev, channel);
		u = 0.;
		s = (u - range_min)/(range_max - range_min)*maxdata;
		data = (lsampl_t)(floor(s+0.5));
		comedi_data_write(dev, subdev, channel, range, aref, data);
		ComediDev_InUse[index]--;
		ComediDev_AOInUse[index]--;
		if (!ComediDev_AOInUse[index]) {
			comedi_unlock(dev, subdev);
		}
		if (!ComediDev_InUse[index]) {
			comedi_close(dev);
			printf("\nCOMEDI %s closed.\n\n", devname[index]);
			ComediDev[index] = NULL;
		}
	}
#endif
}

#ifdef  MATLAB_MEX_FILE
#include "simulink.c"
#else
#include "cg_sfun.h"
#endif