Simulink仿真入门到精通（十） S函数

main
{
    初始化模型;
    计算下一个采样时间点（大步长）;
    while(未到达仿真终止时间）
    {
        计算模块的输出;
        更新离散状态量;
        if(此模型带有连续状态模块)
        {
        here:计算微分;
            计算模块的输出;
            if(精度未达标)
                goto here;
            过零检测;
            计算写一个采样时间点（大步长）;
        }
    }
    执行仿真终止动作;    
}

A=[-0.5572,-0.7814;0.7814,0];
B=[1,-1;0,2];
C=[1.9691,6.4493];

function [sys,x0,str,ts,simStateCompliance] = sfun_state01(t,x,u,flag,A,B,C)
switch flag,
case 0,
[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;
case 1,
sys=mdlDerivatives(t,x,u);
case 2,
sys=mdlUpdate(t,x,u,A,B);
case 3,
sys=mdlOutputs(t,x,u,C);
case 4,
sys=mdlGetTimeOfNextVarHit(t,x,u);
case 9,
sys=mdlTerminate(t,x,u);
otherwise
DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 2;
sizes.NumOutputs     = 1;
sizes.NumInputs      = 2;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0  = [0 0]';
str = [];
ts  = [0,0];
simStateCompliance = 'UnknownSimState';
function sys=mdlDerivatives(t,x,u)

sys = [];
function sys=mdlUpdate(t,x,u,A,B)
% update state variable
sys = A * x + B * u;

function sys=mdlOutputs(t,x,u,C)
% update output 
sys = C * x;

function sys=mdlGetTimeOfNextVarHit(t,x,u)

sampleTime = 1; 
sys = t + sampleTime;
function sys=mdlTerminate(t,x,u)

sys = [];

function [sys,x0,str,ts,simStateCompliance] = int_hyo(t,x,u,flag)
switch flag,
    case 0,
        [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;
    case 1,
        sys=mdlDerivatives(t,x,u);
    case 2,
        sys=mdlUpdate(t,x,u);
    case 3,
        sys=mdlOutputs(t,x,u);
    case 4,
        sys=mdlGetTimeOfNextVarHit(t,x,u);
    case 9,
        sys=mdlTerminate(t,x,u);
    otherwise
        DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates  = 1;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 1;
sizes.NumInputs      = 1;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1;   % at least one sample time is needed
sys = simsizes(sizes);
x0  = [0];
str = [];
ts  = [0 0];
simStateCompliance = 'UnknownSimState';
function sys=mdlDerivatives(t,x,u)
sys = u;
function sys=mdlUpdate(t,x,u)
sys=[];
function sys=mdlOutputs(t,x,u)
sys=x;
function sys=mdlGetTimeOfNextVarHit(t,x,u)
sampleTime = 1;    %  Example, set the next hit to be one second later.
sys = t + sampleTime;
function sys=mdlTerminate(t,x,u)
sys = [];

m1=imread('阿布罗狄.jpg');
m1=m1(:,:,1);
m2=imread('艾欧里亚.jpg');
m2=m2(:,:,1);

function sfun_image_merge(block)

setup(block);

function setup(block)
block.BlockHandle
% Register number of ports
block.NumInputPorts  = 2;
block.NumOutputPorts = 0;

% Setup port properties to be inherited or dynamic
block.SetPreCompInpPortInfoToDynamic;

% Override input port properties
block.InputPort(1).Dimensions        = [375 500];
block.InputPort(1).DatatypeID  = 3;  % uint8
block.InputPort(1).Complexity  = 'Real';
block.InputPort(1).DirectFeedthrough = false;


block.InputPort(2).Dimensions        = [375 500];

block.InputPort(2).DatatypeID  = 3;  % uint8
block.InputPort(2).Complexity  = 'Real';
block.InputPort(2).DirectFeedthrough = false;


% Register parameters
block.NumDialogPrms     = 0;

% Register sample times
%  [0 offset]            : Continuous sample time
%  [positive_num offset] : Discrete sample time
%
%  [-1, 0]               : Inherited sample time
%  [-2, 0]               : Variable sample time
block.SampleTimes = [0 0];

% Specify the block simStateCompliance. The allowed values are:
%    'UnknownSimState', < The default setting; warn and assume DefaultSimState
%    'DefaultSimState', < Same sim state as a built-in block
%    'HasNoSimState',   < No sim state
%    'CustomSimState',  < Has GetSimState and SetSimState methods
%    'DisallowSimState' < Error out when saving or restoring the model sim state
block.SimStateCompliance = 'DefaultSimState';


block.RegBlockMethod('Terminate', @Terminate); % Required


function Terminate(block)
imshow((block.InputPort(1).data + block.InputPort(2).data) / 2);

imshow((block.InputPort(1).data + block.InputPort(2).data) / 2);

>> mex -setup
MEX 配置为使用 'Microsoft Visual C++ 2010 (C)' 以进行 C 语言编译。
Warning: The MATLAB C and Fortran API has changed to support MATLAB
	 variables with more than 2^32-1 elements. In the near future
	 you will be required to update your code to utilize the
	 new API. You can find more information about this at:
	 http://www.mathworks.com/help/matlab/matlab_external/upgrading-mex-files-to-use-64-bit-api.html.

要选择不同的语言，请从以下选项中选择一种命令:
 mex -setup C++ 
 mex -setup FORTRAN
>> mex -setup C++
MEX 配置为使用 'Microsoft Visual C++ 2010' 以进行 C++ 语言编译。

>> mex sfun_c_filter.c
使用 'Microsoft Visual C++ 2010 (C)' 编译。
MEX 已成功完成。

//sfun_c_filter.c
#define S_FUNCTION_NAME  sfun_c_filter
#define S_FUNCTION_LEVEL 2

#include "simstruc.h"

#define COEF_IDX 0
#define COEF(S) mxGetScalar(ssGetSFcnParam(S,COEF_IDX))
/*================*
 * Build checking *
 *================*/


/* Function: mdlInitializeSizes ===============================================
 * Abstract:
 *   Setup sizes of the various vectors.
 */
static void mdlInitializeSizes(SimStruct *S)
{
    ssSetNumSFcnParams(S, 1);
    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
        return; /* Parameter mismatch will be reported by Simulink */
    }

    if (!ssSetNumInputPorts(S, 1)) return;
    ssSetInputPortWidth(S, 0, DYNAMICALLY_SIZED);
    ssSetInputPortDirectFeedThrough(S, 0, 1);

    if (!ssSetNumOutputPorts(S,1)) return;
    ssSetOutputPortWidth(S, 0, DYNAMICALLY_SIZED);

    ssSetNumDWork(S, 1);
    ssSetDWorkWidth(S, 0, DYNAMICALLY_SIZED); 

    
    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_USE_TLC_WITH_ACCELERATOR);
}


/* Function: mdlInitializeSampleTimes =========================================
 * Abstract:
 *    Specifiy that we inherit our sample time from the driving block.
 */
static void mdlInitializeSampleTimes(SimStruct *S)
{
    ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
    ssSetOffsetTime(S, 0, 0.0);
    ssSetModelReferenceSampleTimeDefaultInheritance(S); 
}

#define MDL_INITIALIZE_CONDITIONS
/* Function: mdlInitializeConditions ========================================
 * Abstract:
 *    Initialize both discrete states to one.
 */
static void mdlInitializeConditions(SimStruct *S)
{
    real_T *x = (real_T*) ssGetDWork(S,0);
    x[0] = 0.0;  // initial to 0.0
}
/* Function: mdlOutputs =======================================================
 * Abstract:
 *    y = 2*u
 */
static void mdlOutputs(SimStruct *S, int_T tid)
{
    int_T             i;
    InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);
    real_T            *y    = ssGetOutputPortRealSignal(S,0);
    int_T             width = ssGetOutputPortWidth(S,0);
    real_T            *x = (real_T*) ssGetDWork(S,0);
    real_T            Lc = COEF(S);
    
    for (i = 0; i < width; i++)
    {
         y[i] = (*uPtrs[i] - x[i]) * Lc + x[i];
    }
    
    /* save the current output as the DWork Vector */
    for (i=0; i<width; i++) {
         x[i] = y[i];
    }
}


/* Function: mdlTerminate =====================================================
 * Abstract:
 *    No termination needed, but we are required to have this routine.
 */
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

g_coef=0.005;

SRC_PATH D:externalsource
LIB_PATH $ MATLABROOTcustomobjs
INC_PATH C:customfolder
customfunctions.lib

y[0]=(u[0]-xD[0])*filter_coef[0]+xD[0];

xD[0]=y[0];

>> lct_spec=legacy_code('initialize')

lct_spec = 

  包含以下字段的 struct:

                  SFunctionName: ''
    InitializeConditionsFcnSpec: ''
                  OutputFcnSpec: ''
                   StartFcnSpec: ''
               TerminateFcnSpec: ''
                    HeaderFiles: {}
                    SourceFiles: {}
                   HostLibFiles: {}
                 TargetLibFiles: {}
                       IncPaths: {}
                       SrcPaths: {}
                       LibPaths: {}
                     SampleTime: 'inherited'
                        Options: [1×1 struct]

//EmMath.c


#include"EmMath.h"

const unsigned short SinTbl[] = {0x0000,                               //0
0x0019, 0x0032, 0x004B, 0x0064, 0x007D, 0x0096, 0x00AF, 0x00C8, 0x00E2, 0x00FB,//10
0x0114, 0x012D, 0x0146, 0x015F, 0x0178, 0x0191, 0x01AA, 0x01C3, 0x01DC, 0x01F5,//20
0x020E, 0x0227, 0x0240, 0x0258, 0x0271, 0x028A, 0x02A3, 0x02BC, 0x02D4, 0x02ED,//30
0x0306, 0x031F, 0x0337, 0x0350, 0x0368, 0x0381, 0x0399, 0x03B2, 0x03CA, 0x03E3,//40
0x03FB, 0x0413, 0x042C, 0x0444, 0x045C, 0x0474, 0x048C, 0x04A4, 0x04BC, 0x04D4,//50
0x04EC, 0x0504, 0x051C, 0x0534, 0x054C, 0x0563, 0x057B, 0x0593, 0x05AA, 0x05C2,//60
0x05D9, 0x05F0, 0x0608, 0x061F, 0x0636, 0x064D, 0x0664, 0x067B, 0x0692, 0x06A9,//70
0x06C0, 0x06D7, 0x06ED, 0x0704, 0x071B, 0x0731, 0x0747, 0x075E, 0x0774, 0x078A,//80
0x07A0, 0x07B6, 0x07CC, 0x07E2, 0x07F8, 0x080E, 0x0824, 0x0839, 0x084F, 0x0864,//90
0x087A, 0x088F, 0x08A4, 0x08B9, 0x08CE, 0x08E3, 0x08F8, 0x090D, 0x0921, 0x0936,//100
0x094A, 0x095F, 0x0973, 0x0987, 0x099C, 0x09B0, 0x09C4, 0x09D7, 0x09EB, 0x09FF,//110
0x0A12, 0x0A26, 0x0A39, 0x0A4D, 0x0A60, 0x0A73, 0x0A86, 0x0A99, 0x0AAB, 0x0ABE,//120
0x0AD1, 0x0AE3, 0x0AF6, 0x0B08, 0x0B1A, 0x0B2C, 0x0B3E, 0x0B50, 0x0B61, 0x0B73,//130
0x0B85, 0x0B96, 0x0BA7, 0x0BB8, 0x0BC9, 0x0BDA, 0x0BEB, 0x0BFC, 0x0C0C, 0x0C1D,//140
0x0C2D, 0x0C3E, 0x0C4E, 0x0C5E, 0x0C6E, 0x0C7D, 0x0C8D, 0x0C9C, 0x0CAC, 0x0CBB,//150
0x0CCA, 0x0CD9, 0x0CE8, 0x0CF7, 0x0D06, 0x0D14, 0x0D23, 0x0D31, 0x0D3F, 0x0D4D,//160
0x0D5B, 0x0D69, 0x0D76, 0x0D84, 0x0D91, 0x0D9F, 0x0DAC, 0x0DB9, 0x0DC6, 0x0DD2,//170
0x0DDF, 0x0DEB, 0x0DF8, 0x0E04, 0x0E10, 0x0E1C, 0x0E28, 0x0E33, 0x0E3F, 0x0E4A,//180
0x0E55, 0x0E60, 0x0E6B, 0x0E76, 0x0E81, 0x0E8B, 0x0E96, 0x0EA0, 0x0EAA, 0x0EB4,//190
0x0EBE, 0x0EC8, 0x0ED1, 0x0EDB, 0x0EE4, 0x0EED, 0x0EF6, 0x0EFF, 0x0F07, 0x0F10,//200
0x0F18, 0x0F21, 0x0F29, 0x0F31, 0x0F39, 0x0F40, 0x0F48, 0x0F4F, 0x0F56, 0x0F5D,//210
0x0F64, 0x0F6B, 0x0F72, 0x0F78, 0x0F7F, 0x0F85, 0x0F8B, 0x0F91, 0x0F96, 0x0F9C,//220
0x0FA1, 0x0FA7, 0x0FAC, 0x0FB1, 0x0FB6, 0x0FBA, 0x0FBF, 0x0FC3, 0x0FC7, 0x0FCB,//230
0x0FCF, 0x0FD3, 0x0FD7, 0x0FDA, 0x0FDE, 0x0FE1, 0x0FE4, 0x0FE7, 0x0FE9, 0x0FEC,//240
0x0FEE, 0x0FF0, 0x0FF2, 0x0FF4, 0x0FF6, 0x0FF8, 0x0FF9, 0x0FFB, 0x0FFC, 0x0FFD,//250
0x0FFE, 0x0FFE, 0x0FFF, 0x0FFF, 0x0FFF, 0x0FFF};                               //256
    

/****************************************************
Function name: Em_Sin
description:      calculate sin(theta)
input:              Angle(0x3FFFFF   equal  one Cycle          
output:            
****************************************************/
signed long Em_Sin(unsigned long Angle)
{
    unsigned long AngleTemp;
      signed long SineValue;
    
    AngleTemp =  Angle >> 12;
    AngleTemp &= 0x03FF;            //0~1024
    
    if (AngleTemp <= 256)
    {
        SineValue = SinTbl[AngleTemp];
    }
    else if (AngleTemp <= 512)
    {
        AngleTemp = 512 - AngleTemp;
        SineValue = SinTbl[AngleTemp];
    }
    else if (AngleTemp <= 768)
    {
        AngleTemp -= 512;
        SineValue = -SinTbl[AngleTemp];
    }
    else if (AngleTemp <= 1024)
    {
        AngleTemp = 1024 - AngleTemp;
        SineValue = -SinTbl[AngleTemp];
    }

    return (SineValue);
}

//EmMath.h

#ifndef __QM_MATH_H__
#define __QM_MATH_H__

#define PI           3.1415926

signed long Em_Sin(unsigned long Angle);

#endif

%lct_trial.m
clc;
clear all;
close all;
bdclose all;
%%
lct_spec = legacy_code('initialize');
lct_spec.SFunctionName = 'sfun_Em_Math';
lct_spec.HeaderFiles = {'EmMath.h'};
lct_spec.SourceFiles = {'EmMath.c'};
% signed long Q12_Sin(unsigned long Angle)
lct_spec.OutputFcnSpec = 'int32 y1 = Em_Sin(uint32 u1)';
legacy_code('sfcn_cmex_generate', lct_spec);
legacy_code('compile', lct_spec);
legacy_code('slblock_generate', lct_spec, 'lct_model');
%% struct model input
stop_time = get_param(gcs, 'StopTime');
simin.time = [0:str2num(stop_time)]';
simin.signals.values = [0:length(simin.time) - 1]';
simin.signals.demensions = [length(simin.time) 1];

### Start Compiling sfun_Em_Math
    mex('-IC:UserslenovoDesktop', '-c', '-outdir', 'C:UserslenovoAppDataLocalTemp	p90d85757_f87e_4031_a3f5_a7e8c4e1b287', 'C:UserslenovoDesktopEmMath.c')
使用 'Microsoft Visual C++ 2010 (C)' 编译。
MEX 已成功完成。

### Finish Compiling sfun_Em_Math
### Exit

//sfun_Em_Math.c
/**
 * sfun_Em_Math.c
 *
 *    ABSTRACT:
 *      The purpose of this sfunction is to call a simple legacy
 *      function during simulation:
 *
 *         int32 y1 = Em_Sin(uint32 u1)
 *
 *    Simulink version           : 9.1 (R2018a) 06-Feb-2018
 *    C source code generated on : 04-Feb-2020 11:38:21
 *
 * THIS S-FUNCTION IS GENERATED BY THE LEGACY CODE TOOL AND MAY NOT WORK IF MODIFIED
 */

/**
     %%%-MATLAB_Construction_Commands_Start
     def = legacy_code('initialize');
     def.SFunctionName = 'sfun_Em_Math';
     def.OutputFcnSpec = 'int32 y1 = Em_Sin(uint32 u1)';
     def.HeaderFiles = {'EmMath.h'};
     def.SourceFiles = {'EmMath.c'};
     legacy_code('sfcn_cmex_generate', def);
     legacy_code('compile', def);
     %%%-MATLAB_Construction_Commands_End
 */

/* Must specify the S_FUNCTION_NAME as the name of the S-function */
#define S_FUNCTION_NAME  sfun_Em_Math
#define S_FUNCTION_LEVEL 2

/**
 * Need to include simstruc.h for the definition of the SimStruct and
 * its associated macro definitions.
 */
#include "simstruc.h"

/* Specific header file(s) required by the legacy code function */
#include "EmMath.h"


/* 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 work vectors */
    if (!ssSetNumDWork(S, 0)) return;
    ssSetNumPWork(S, 0);

    /* Set the number of input ports */
    if (!ssSetNumInputPorts(S, 1)) return;

    /* Configure the input port 1 */
    ssSetInputPortDataType(S, 0, SS_UINT32);
    {
        int_T u1Width = 1;
        ssSetInputPortWidth(S, 0, u1Width);
    }
    ssSetInputPortComplexSignal(S, 0, COMPLEX_NO);
    ssSetInputPortDirectFeedThrough(S, 0, 1);
    ssSetInputPortAcceptExprInRTW(S, 0, 1);
    ssSetInputPortOverWritable(S, 0, 1);
    ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL);
    ssSetInputPortRequiredContiguous(S, 0, 1);

    /* Set the number of output ports */
    if (!ssSetNumOutputPorts(S, 1)) return;

    /* Configure the output port 1 */
    ssSetOutputPortDataType(S, 0, SS_INT32);
    {
        int_T y1Width = 1;
        ssSetOutputPortWidth(S, 0, y1Width);
    }
    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  */
        ssRegMdlInfo(S, "Em_Sin", MDL_INFO_ID_RESERVED, 0, 0, ssGetPath(S));
    } /* if */

    /* 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);

    /* Set the compliance with the SimState feature */
    ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);

    ssSetSupportedForRowMajorCodeGen(S, true);

    ssSetArrayLayoutForCodeGen(S, SS_COLUMN_MAJOR);

    /* Set the Simulink version this S-Function has been generated in */
    ssSetSimulinkVersionGeneratedIn(S, "9.1");

    /**
     * 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: mdlInitializeSampleTimes =====================================
 * Abstract:
 *   This function is used to specify the sample time(s) for your
 *   S-function. You must register the same number of sample times as
 *   specified in ssSetNumSampleTimes.
 */
static void mdlInitializeSampleTimes(SimStruct *S)
{
    ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
    ssSetOffsetTime(S, 0, FIXED_IN_MINOR_STEP_OFFSET);

    #if defined(ssSetModelReferenceSampleTimeDefaultInheritance)
    ssSetModelReferenceSampleTimeDefaultInheritance(S);
    #endif
}

/* Function: mdlOutputs ===================================================
 * Abstract:
 *   In this function, you compute the outputs of your S-function
 *   block. Generally outputs are placed in the output vector(s),
 *   ssGetOutputPortSignal.
 */
static void mdlOutputs(SimStruct *S, int_T tid)
{

    /* Get access to Parameter/Input/Output/DWork data */
    int32_T* y1 = (int32_T*) ssGetOutputPortSignal(S, 0);
    uint32_T* u1 = (uint32_T*) ssGetInputPortSignal(S, 0);


    /* Call the legacy code function */
    *y1 = Em_Sin(*u1);
}

/* Function: mdlTerminate =================================================
 * Abstract:
 *   In this function, you should perform any actions that are necessary
 *   at the termination of a simulation.
 */
static void mdlTerminate(SimStruct *S)
{
}

/* Required S-function trailer */
#ifdef    MATLAB_MEX_FILE
# include "simulink.c"
#else
# include "cg_sfun.h"
#endif