matlab_stm_emulate/MCU_Wrapper/mcu_wrapper.c

/**************************************************************************
Äàííûé ôàéë ñîäåðæèò ôóíêöèè äëÿ ñèìóëÿöèè ÌÊ â Simulink (S-Function).

**************************************************************************/
#include "mcu_wrapper_conf.h"

SIM__MCUHandleTypeDef hmcu;         // äëÿ óïðàâëåíèÿ êîíòåêñòîì ïðîãðàììû ÌÊ

double SystemClockDouble = 0;       // äëÿ ñèìóëÿöèè ñèñòåìíûõ òèêîâ, ïðîêà ïðîñòî ïî ïðèêîëó
double SystemClock_step = 0;        // äëÿ ñèìóëÿöèè ñèñòåìíûõ òèêîâ, ïðîêà ïðîñòî ïî ïðèêîëó
uint64_t SystemClock;               // äëÿ ñèìóëÿöèè ñèñòåìíûõ òèêîâ, ïðîêà ïðîñòî ïî ïðèêîëó

//-------------------------------------------------------------//
//-----------------CONTROLLER SIMULATE FUNCTIONS---------------//
/** THREAD FOR MCU APP */
/**
  * @brief  Thread that run MCU code.
  * @note   Ïîòîê, êîòîðûé çàïóñêàåò è âûïîëíÿåò êîä ÌÊ.
  */
extern int main(void);                  // extern while from main.c
unsigned __stdcall MCU_App_Thread(void) {
    main();     // run MCU code
    return 0;   // end thread
    // note: this return will reached only at the end of simulation, when all whiles will be skipped due to @ref sim_while
}
/** SIMULATE MCU FOR ONE SIMULATION STEP */
/**
  * @brief  Read from simulink S-Block Inputs and write to MCU I/O ports.
  * @param  time - current time of simulation (in second).
  * @note   Âûçûâàåò ãëàâíóþ ôóíêöèþ main èç ïîëüçîâàòåëüñêîãî êîäà è óïðàâëÿåò å¸ õîäîì:
  *         Ïðåðûâàåò å¸, åñëè îíà ïîïàëà â áåñêîíå÷íûé while, ñèìóëèðóåò ïåðèôåðèþ 
  *         è âîçâðàùàåò â òî÷êó îñòàíîâêè íà ñëåäóþùåì øàãå.
  */
void MCU_Step_Simulation(SimStruct* S, time_T time)
{
    MCU_readInputs(S); // ñ÷èòûâàíèå ïîðòîâ

    MCU_Periph_Simulation(); // simulate peripheral

    ResumeThread(hmcu.hMCUThread);
    for (int i = DEKSTOP_CYCLES_FOR_MCU_APP; i > 0; i--)
    {
    }
    SuspendThread(hmcu.hMCUThread);

    MCU_writeOutputs(S); // çàïèñü ïîðòîâ (ïî ôàêòó çàïèñü â áóôåð. çàïèñü â ïîðòû â mdlOutputs)
}

/** SIMULATE MCU PERIPHERAL */
/**
  * @brief  Simulate peripheral of MCU
  * @note   Ïîëüçîâàòåëüñêèé êîä, êîòîðûé ñèìóëèðóåò ðàáîòó ïåðèôåðèè ÌÊ.
  */
void MCU_Periph_Simulation(void)
{
    SystemClockDouble += SystemClock_step; // emulate core clock 
    SystemClock = SystemClockDouble;
    uwTick = SystemClock / (SystemCoreClock / 1000);

    Simulate_TIMs();
}

/** READ INPUTS S-FUNCTION TO MCU REGS */
/**
  * @brief  Read from simulink S-Block Inputs and write to MCU I/O ports.
  * @note   Ïîëüçîâàòåëüñêèé êîä, êîòîðûé çàïèñûâàåò â ïîðòû ââîäà-âûâîäà èç disc.
  */
void MCU_readInputs(SimStruct* S)
{
    /* Get S-Function inputs */
    real_T* IN = ssGetInputPortRealSignal(S, 0);

    SFUNC_to_GPIO(IN);
}

/** WRITE OUTPUTS BUFFER S-FUNCTION FROM MCU REGS*/
/**
  * @brief  Read from MCU I/O ports and write to simulink S-Block Outputs Buffer.
  * @note   Ïîëüçîâàòåëüñêèé êîä, êîòîðûé çàïèñûâàåò â disc ïîðòû ââîäà-âûâîäà.
  */
void MCU_writeOutputs(SimStruct* S)
{
    /* Get S-Function descrete array */
    real_T* DISC = ssGetDiscStates(S);

    GPIO_to_SFUNC(DISC);
}
//-----------------CONTROLLER SIMULATE FUNCTIONS---------------//
//-------------------------------------------------------------//



//-------------------------------------------------------------//
//----------------------SIMULINK FUNCTIONS---------------------//
/** WRITE OUTPUTS OF S-BLOCK */
/**
  * @brief  Write S-Function Output ports to inputs.
  * @param  disc - discrete array of S-Function. Outputs would be written from disc.
  * @note   Ïîëüçîâàòåëüñêèé êîä, êîòîðûé çàïèñûâàåò âûõîäû S-Function.
  */
void SIM_writeOutputs(SimStruct* S)
{
    real_T* GPIO;
    real_T* DISC = ssGetDiscStates(S);

    //-------------WRITTING GPIOS---------------
    for (int j = 0; j < PORT_NUMB; j++)
    {
        GPIO = ssGetOutputPortRealSignal(S, j);
        for (int i = 0; i < PORT_WIDTH; i++)
        {
            GPIO[i] = DISC[j * PORT_WIDTH + i];
            DISC[j * PORT_WIDTH + i] = 0;
        }
    }
    //------------------------------------------
}
/** MCU WRAPPER DEINITIALIZATION */
/**
  * @brief  Initialize structures and variables for simulating MCU.
  * @note   Ïîëüçîâàòåëüñêèé êîä, êîòîðûé áóäåò íàñòðàèâàòü âñå ñòðóêòóðû äëÿ ñèìóëÿöèè.
  */
void SIM_Initialize_Simulation(void)
{
    /* user initialization */
    Initialize_Periph_Sim();

    /* wrapper initialization */
    SystemClock_step = SystemCoreClock * SIM_Sample_Time;   // set system clock step
    // èíèöèàëèçàöèÿ ïîòîêà, êîòîðûé áóäåò âûïîëíÿòü êîä ÌÊ
    hmcu.hMCUThread = (HANDLE)CreateThread(NULL, 0, MCU_App_Thread, 0, CREATE_SUSPENDED, &hmcu.idMCUThread);
}
/** MCU WRAPPER DEINITIALIZATION */
/**
  * @brief  Deinitialize structures and variables for simulating MCU.
  * @note   Ïîëüçîâàòåëüñêèé êîä, êîòîðûé áóäåò î÷èùàòü âñå ñòðóêòóðû ïîñëå îêîí÷àíèÿ ñèìóëÿöèè.
  */
void SIM_deInitialize_Simulation(void)
{
    // simulate structures of peripheral deinitialization
    deInitialize_Periph_Sim();
    // mcu peripheral memory deinitialization
    deInitialize_MCU();
}
//-------------------------------------------------------------//

////-----------INIT WRAPPER-----------
//if (hmcu.MCU_Start)    // åñëè íàäî ïîëó÷òü óêàçàòåëü íà "íà÷àëî" ñòåêà
//{   // ñáðîñ ôëàøà, ÷òîáû ñþäà áîëüøå íå ïîïàäàòü
//    hmcu.MCU_Start = 0;
//    // èíèöèàëèçàöèÿ ïîòîêà, êîòîðûé áóäåò âûïîëíÿòü êîä ÌÊ
//    hmcu.hMCUThread = (HANDLE)_beginthreadex(NULL, 0, MCU_App_Thread, 0, 0x00000004, &hmcu.idMCUThread); /* 0x00000004 - CREATE_SUSPENDED */
//}
////----------------------------------