sfun_eulerupd.c

这也是一个关于导弹目标的Matlab程序

#define S_FUNCTION_NAME sfun_eulerupd
#define S_FUNCTION_LEVEL 2

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

#define FI0_IDX 0
#define PARAM_FI0(S) ssGetSFcnParam(S,FI0_IDX)

#define THETA0_IDX  1
#define PARAM_THETA0(S) ssGetSFcnParam(S,THETA0_IDX)

#define PSI0_IDX   2
#define PARAM_PSI0(S) ssGetSFcnParam(S,PSI0_IDX)

#define NPARAMS   3


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

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

   ssSetSFcnParamTunable(S, FI0_IDX, true);
   ssSetSFcnParamTunable(S, THETA0_IDX, true);
   ssSetSFcnParamTunable(S, PSI0_IDX, true);  

   ssSetNumContStates(S, 3);
   ssSetNumDiscStates(S, 0);

   if (!ssSetNumInputPorts(S, 1)) { return; }
   ssSetInputPortWidth(S, 0, 3);
   
   if (!ssSetNumOutputPorts(S, 1)) { return; }
   ssSetOutputPortWidth(S, 0, 3);

   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);
}

#define MDL_SET_WORK_WIDTHS   /* Change to #undef to remove function */
#if defined(MDL_SET_WORK_WIDTHS) && defined(MATLAB_MEX_FILE)
/* Function: mdlSetWorkWidths ===============================================
 * Abstract:
 *      Set up run-time parameters.
 */
static void mdlSetWorkWidths(SimStruct *S)
{
    const char_T *rtParamName_fi0 = "fi0";
    const char_T *rtParamName_theta0 = "theta0";
    const char_T *rtParamName_psi0 = "psi0";

    ssSetNumRunTimeParams(S, NPARAMS);
    if (ssGetErrorStatus(S) != NULL) return;

    ssRegDlgParamAsRunTimeParam(S, FI0_IDX, 0, rtParamName_fi0, SS_DOUBLE);
    ssRegDlgParamAsRunTimeParam(S, THETA0_IDX, 1, rtParamName_theta0, SS_DOUBLE);
    ssRegDlgParamAsRunTimeParam(S, PSI0_IDX, 2, rtParamName_psi0, SS_DOUBLE);
}
#endif /* MDL_SET_WORK_WIDTHS */

#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, 1))[0];
  x0[2]=mxGetPr(ssGetSFcnParam(S, 2))[0];
}

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];
}

#define MDL_DERIVATIVES
static void mdlDerivatives(SimStruct *S)
{
  real_T *dx = ssGetdX(S);
  real_T *x = ssGetContStates(S);
  InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S, 0);
  
  double wx,wy,wz,fi,theta,psi;

  wx=U(0);
  wy=U(1);
  wz=U(2);
  fi=x[0];
  theta=x[1];
  psi=x[2];

  dx[0] = wx+sin(fi)*tan(theta)*wy+cos(fi)*tan(theta)*wz;
  dx[1] = cos(fi)*wy-sin(fi)*wz;
  dx[2] = sin(fi)/cos(theta)*wy+cos(fi)/cos(theta)*wz;

}

static void mdlTerminate(SimStruct *S)
{
}

#define MDL_RTW
#if defined(MDL_RTW)&&(defined(MATLAB_MEX_FILE)||defined(NRT))
static void
mdlRTW(SimStruct *S)
{
/*
    if (!ssWriteRTWParameters(S, 1, SSWRITE_VALUE_VECT, "", "", 
                              mxGetPr(ssGetSFcnParam(S,0)), 1))
    {
        return;
    }
*/
/*
    if (!ssWriteRTWScalarParam(S, "fi0", ssGetSFcnParam(S, 0), SS_DOUBLE))
    {
        return;
    }
    if (!ssWriteRTWScalarParam(S, "theta0", ssGetSFcnParam(S, 1), SS_DOUBLE))
    {
        return;
    }
    if (!ssWriteRTWScalarParam(S, "psi0", ssGetSFcnParam(S, 2), SS_DOUBLE))
    {
        return;
    }
*/
}
#endif

#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