sfun_eom.c

这也是一个关于导弹目标的Matlab程序

#define S_FUNCTION_LEVEL 2
#define S_FUNCTION_NAME sfun_eom

#include "simstruc.h"
#include <math.h>

#define U(element) (*uPtrs[element])  /* Pointer to Input Port0 */

static void mdlInitializeSizes(SimStruct *S)
{
   ssSetNumSFcnParams(S, 2);  
   if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { return; }

   ssSetNumContStates(S, 6);
   ssSetNumDiscStates(S, 0);

   if (!ssSetNumInputPorts(S, 1)) { return; }
   ssSetInputPortWidth(S, 0, 10);

   if (!ssSetNumOutputPorts(S, 1)) { return; }
   ssSetOutputPortWidth(S, 0, 6);

   ssSetNumSampleTimes(S, 1);

   ssSetNumRWork(S, 0);
   ssSetNumIWork(S, 0);
   ssSetNumPWork(S, 0);
   ssSetNumModes(S, 0);
   ssSetNumNonsampledZCs(S, 0);

   ssSetOptions(S, (SS_OPTION_WORKS_WITH_CODE_REUSE |
                    SS_OPTION_USE_TLC_WITH_ACCELERATOR));
   return;
}

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

#define MDL_INITIALIZE_CONDITIONS
static void mdlInitializeConditions(SimStruct *S)
{
  real_T *x0    = ssGetContStates(S);

  x0[0]=mxGetPr(ssGetSFcnParam(S, 0))[0];
  x0[1]=mxGetPr(ssGetSFcnParam(S, 0))[1];
  x0[2]=mxGetPr(ssGetSFcnParam(S, 0))[2];
  x0[3]=mxGetPr(ssGetSFcnParam(S, 1))[0];
  x0[4]=mxGetPr(ssGetSFcnParam(S, 1))[1];
  x0[5]=mxGetPr(ssGetSFcnParam(S, 1))[2];

}

static void mdlOutputs(SimStruct *S, int_T tid)
{
  real_T *y = ssGetOutputPortRealSignal(S, 0);
  real_T *x = ssGetContStates(S);
  
  y[0]=x[0];
  y[1]=x[1];
  y[2]=x[2];
  y[3]=x[3];
  y[4]=x[4];
  y[5]=x[5];

}

#define MDL_DERIVATIVES
static void mdlDerivatives(SimStruct *S)
{
  real_T *dx = ssGetdX(S);
  real_T *x = ssGetContStates(S);
  InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S, 0);
  
  double Jxx,Jyy,Jzz,m,Fx,Fy,Fz,Mx,My,Mz,vx,vy,vz,wx,wy,wz;

  Jxx=U(0);
  Jyy=U(1);
  Jzz=U(2);
  m=U(3);
  Fx=U(4);
  Fy=U(5);
  Fz=U(6);
  Mx=U(7);
  My=U(8);
  Mz=U(9);

  vx=x[0];
  vy=x[1];
  vz=x[2];
  wx=x[3];
  wy=x[4];
  wz=x[5];

  dx[0]=Fx/m - vz*wy + vy*wz;
  dx[1]=Fy/m - vx*wz + vz*wx;
  dx[2]=Fz/m - vy*wx + vx*wy;;
  dx[3]=(Mx - (Jzz-Jyy)*wy*wz)/Jxx;
  dx[4]=(My - (Jxx-Jzz)*wz*wx)/Jyy;
  dx[5]=(Mz - (Jyy-Jxx)*wx*wy)/Jzz;
  
}

static void mdlTerminate(SimStruct *S)
{
}

#ifdef	MATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
#include "simulink.c"      /* MEX-file interface mechanism */
#else
#include "cg_sfun.h"       /* Code generation registration function */
#endif