Simulink 2016a compatibility with WiringPi
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I'm using S-functions in Simulink to call the WiringPi library installed on a Raspberry Pi Ver. 2 Model B. I have successfully implemented this in Matlab 2015b, but when trying to run a simple model which performs an SPI transmission in 2016a, I get the following error:
Error executing command "touch -c /home/pi/pi_test_ert_rtw/*.*;make -f pi_test.mk all -C /home/pi/pi_test_ert_rtw". Details:
STDERR: ert_main.c:8:29: fatal error: linuxinitialize.h: No such file or directory
compilation terminated.
make: *** [ert_main.c.o] Error 1
I have not manually included the linuxinitialize.h file in any of my s-Function code, nor is it included in the wiringPi library as far as I've been able to find, so I'm assuming it is included in some auto-generated code when the model is built. I have located a "linuxinitialize.h" file as well as a "linuxinitialize.c" in C:\Program Files\MATLAB\R2016a\toolbox\target\codertarget\rtos, in the inc and src folders, respectively. Moving the .h file into the active Matlab folder which contains my Simulink model and then building that produces the following error:
Error executing command "touch -c /home/pi/pi_test_ert_rtw/*.*;make -f pi_test.mk all -C /home/pi/pi_test_ert_rtw". Details:
STDERR: make: *** No rule to make target 'rt_main.c', needed by 'rt_main.c.o'. Stop.
I'm not sure what has changed that causes the build to fail between 2015b and 2016a, but the make process seems to be different. I don't know what rt_main.c refers to in the makefile (also not a script I've written) and so I'm running out of ideas on how to fix it. My s-function code is attached along with a picture of the model I am trying to run.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/161842/image.png)
SPI.c:
/*
* File: SPI.c
*
*
* --- THIS FILE GENERATED BY S-FUNCTION BUILDER: 3.0 ---
*
* This file is an S-function produced by the S-Function
* Builder which only recognizes certain fields. Changes made
* outside these fields will be lost the next time the block is
* used to load, edit, and resave this file. This file will be overwritten
* by the S-function Builder block. If you want to edit this file by hand,
* you must change it only in the area defined as:
*
* %%%-SFUNWIZ_defines_Changes_BEGIN
* #define NAME 'replacement text'
* %%%SFUNWIZ_defines_Changes_END
*
* DO NOT change NAME--Change the 'replacement text' only.
*
* For better compatibility with the Simulink Coder, the
* "wrapper" S-function technique is used. This is discussed
* in the Simulink Coder's Manual in the Chapter titled,
* "Wrapper S-functions".
*
* -------------------------------------------------------------------------
* | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
* -------------------------------------------------------------------------
* Created: Fri Mar 17 17:13:02 2017
*/
#define S_FUNCTION_LEVEL 2
#define S_FUNCTION_NAME SPI
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
/* %%%-SFUNWIZ_defines_Changes_BEGIN --- EDIT HERE TO _END */
#define NUM_INPUTS 1
/* Input Port 0 */
#define IN_PORT_0_NAME write
#define INPUT_0_WIDTH 1
#define INPUT_DIMS_0_COL 1
#define INPUT_0_DTYPE uint8_T
#define INPUT_0_COMPLEX COMPLEX_NO
#define IN_0_FRAME_BASED FRAME_NO
#define IN_0_BUS_BASED 0
#define IN_0_BUS_NAME
#define IN_0_DIMS 1-D
#define INPUT_0_FEEDTHROUGH 1
#define IN_0_ISSIGNED 0
#define IN_0_WORDLENGTH 8
#define IN_0_FIXPOINTSCALING 1
#define IN_0_FRACTIONLENGTH 9
#define IN_0_BIAS 0
#define IN_0_SLOPE 0.125
#define NUM_OUTPUTS 2
/* Output Port 0 */
#define OUT_PORT_0_NAME read
#define OUTPUT_0_WIDTH 1
#define OUTPUT_DIMS_0_COL 1
#define OUTPUT_0_DTYPE uint8_T
#define OUTPUT_0_COMPLEX COMPLEX_NO
#define OUT_0_FRAME_BASED FRAME_NO
#define OUT_0_BUS_BASED 0
#define OUT_0_BUS_NAME
#define OUT_0_DIMS 1-D
#define OUT_0_ISSIGNED 1
#define OUT_0_WORDLENGTH 8
#define OUT_0_FIXPOINTSCALING 1
#define OUT_0_FRACTIONLENGTH 3
#define OUT_0_BIAS 0
#define OUT_0_SLOPE 0.125
/* Output Port 1 */
#define OUT_PORT_1_NAME spi_test
#define OUTPUT_1_WIDTH 1
#define OUTPUT_DIMS_1_COL 1
#define OUTPUT_1_DTYPE real_T
#define OUTPUT_1_COMPLEX COMPLEX_NO
#define OUT_1_FRAME_BASED FRAME_NO
#define OUT_1_BUS_BASED 0
#define OUT_1_BUS_NAME
#define OUT_1_DIMS 1-D
#define OUT_1_ISSIGNED 1
#define OUT_1_WORDLENGTH 8
#define OUT_1_FIXPOINTSCALING 1
#define OUT_1_FRACTIONLENGTH 3
#define OUT_1_BIAS 0
#define OUT_1_SLOPE 0.125
#define NPARAMS 0
#define SAMPLE_TIME_0 INHERITED_SAMPLE_TIME
#define NUM_DISC_STATES 1
#define DISC_STATES_IC [0]
#define NUM_CONT_STATES 0
#define CONT_STATES_IC [0]
#define SFUNWIZ_GENERATE_TLC 1
#define SOURCEFILES "__SFB__"
#define PANELINDEX 6
#define USE_SIMSTRUCT 0
#define SHOW_COMPILE_STEPS 0
#define CREATE_DEBUG_MEXFILE 0
#define SAVE_CODE_ONLY 0
#define SFUNWIZ_REVISION 3.0
/* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
#include "simstruc.h"
extern void SPI_Outputs_wrapper(const uint8_T *write,
uint8_T *read,
real_T *spi_test,
const real_T *xD);
extern void SPI_Update_wrapper(const uint8_T *write,
uint8_T *read,
real_T *spi_test,
real_T *xD);
/*====================*
* S-function methods *
*====================*/
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(inputDimsInfo);
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
ssSetInputPortWidth(S, 0, INPUT_0_WIDTH);
ssSetInputPortDataType(S, 0, SS_UINT8);
ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX);
ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH);
ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
/* Output Port 0 */
ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
ssSetOutputPortDataType(S, 0, SS_UINT8);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
/* Output Port 1 */
ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH);
ssSetOutputPortDataType(S, 1, SS_DOUBLE);
ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimulinkVersionGeneratedIn(S, "8.7");
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_USE_TLC_WITH_ACCELERATOR |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
# define MDL_SET_INPUT_PORT_FRAME_DATA
static void mdlSetInputPortFrameData(SimStruct *S,
int_T port,
Frame_T frameData)
{
ssSetInputPortFrameData(S, port, frameData);
}
/* Function: mdlInitializeSampleTimes =========================================
* Abstract:
* Specifiy the sample time.
*/
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, SAMPLE_TIME_0);
ssSetModelReferenceSampleTimeDefaultInheritance(S);
ssSetOffsetTime(S, 0, 0.0);
}
#define MDL_INITIALIZE_CONDITIONS
/* Function: mdlInitializeConditions ========================================
* Abstract:
* Initialize the states
*/
static void mdlInitializeConditions(SimStruct *S)
{
real_T *xD = ssGetRealDiscStates(S);
xD[0] = 0;
}
#define MDL_SET_INPUT_PORT_DATA_TYPE
static void mdlSetInputPortDataType(SimStruct *S, int port, DTypeId dType)
{
ssSetInputPortDataType( S, 0, dType);
}
#define MDL_SET_OUTPUT_PORT_DATA_TYPE
static void mdlSetOutputPortDataType(SimStruct *S, int port, DTypeId dType)
{
ssSetOutputPortDataType(S, 0, dType);
}
#define MDL_SET_DEFAULT_PORT_DATA_TYPES
static void mdlSetDefaultPortDataTypes(SimStruct *S)
{
ssSetInputPortDataType( S, 0, SS_DOUBLE);
ssSetOutputPortDataType(S, 0, SS_DOUBLE);
}
/* Function: mdlOutputs =======================================================
*
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
const uint8_T *write = (const uint8_T*) ssGetInputPortSignal(S,0);
uint8_T *read = (uint8_T *)ssGetOutputPortRealSignal(S,0);
real_T *spi_test = (real_T *)ssGetOutputPortRealSignal(S,1);
const real_T *xD = ssGetDiscStates(S);
SPI_Outputs_wrapper(write, read, spi_test, xD);
}
#define MDL_UPDATE /* Change to #undef to remove function */
/* Function: mdlUpdate ======================================================
* Abstract:
* This function is called once for every major integration time step.
* Discrete states are typically updated here, but this function is useful
* for performing any tasks that should only take place once per
* integration step.
*/
static void mdlUpdate(SimStruct *S, int_T tid)
{
real_T *xD = ssGetDiscStates(S);
const uint8_T *write = (const uint8_T*) ssGetInputPortSignal(S,0);
uint8_T *read = (uint8_T *)ssGetOutputPortRealSignal(S,0);
real_T *spi_test = (real_T *)ssGetOutputPortRealSignal(S,1);
SPI_Update_wrapper(write, read, spi_test, xD);
}
/* Function: mdlTerminate =====================================================
* Abstract:
* In this function, you should perform any actions that are necessary
* at the termination of a simulation. For example, if memory was
* allocated in mdlStart, this is the place to free it.
*/
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
SPI_wrapper.c
/*
* Include Files
*
*/
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
# ifndef MATLAB_MEX_FILE
#include </home/pi/wiringPi/wiringPi/wiringPi.h>
#include </home/pi/wiringPi/wiringPi/wiringPiSPI.h>
#include </home/pi/wiringPi/wiringPi/wiringPi.c>
#include </home/pi/wiringPi/wiringPi/piHiPri.c>
#include </home/pi/wiringPi/wiringPi/piThread.c>
#include </home/pi/wiringPi/wiringPi/wiringPiSPI.c>
// global variables for address, high and low bits for data
int fd, inputSize;
# endif
/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
#define u_width 1
#define y_width 1
/*
* Create external references here.
*
*/
/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
/* extern double func(double a); */
/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
/*
* Output functions
*
*/
void SPI_Outputs_wrapper(const uint8_T *write,
uint8_T *read,
real_T *spi_test,
const real_T *xD)
{
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
if(xD[0] == 1)
{
#ifndef MATLAB_MEX_FILE
// Read high byte, low byte, then combine:
unsigned char spiData[1];
int n;
// inputSize = sizeof(write)/sizeof(write[0]);
// for (n = 0; n < 1; n++){
// spiData[n] = write[n];
// }
spiData[0] = write[0];
// spiData[1] = write[1];
// spiData[2] = write[2];
// spiData[3] = write[3];
// spiData[4] = write[4];
// spiData[5] = write[5];
// spiData[0] = 0x01;
// spiData[1] = 0x00;
// spiData[2] = 0x02;
// spiData[3] = 0x03;
// spiData[4] = 0x04;
// spiData[5] = 0x05;
// spiData [0] = 1 ; // Start bit
// spiData [1] = 0x80 ;
// spiData [2] = 0 ;
spi_test[0] = wiringPiSPIDataRW(0,spiData,1) ;
read[0] = spiData[0];
// read[0] = ((spiData[1] << 8) | spiData[2]) & 0x3FF;
#endif
}
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}
/*
* Updates function
*
*/
void SPI_Update_wrapper(const uint8_T *write,
uint8_T *read,
real_T *spi_test,
real_T *xD)
{
/* %%%-SFUNWIZ_wrapper_Update_Changes_BEGIN --- EDIT HERE TO _END */
if(xD[0] != 1){
# ifndef MATLAB_MEX_FILE
// Check that device is connected and setup:
wiringPiSetup ();
fd = wiringPiSPISetup(0,4000000,1);
#endif
//done with initialization
xD[0] = 1;
}
/* %%%-SFUNWIZ_wrapper_Update_Changes_END --- EDIT HERE TO _BEGIN */
}
2 Kommentare
Jerry Chiang
am 31 Okt. 2017
Hi mprice,
Did you find a solution to your issue?
I'm running into the same problem, and am currently installing 2015b just to use wiringPi with Simulink....
Thanks, Jerry
svenb
am 11 Feb. 2018
same here
STDERR: ert_main.c:26:29: fatal error: linuxinitialize.h: No such file or directory
#include "linuxinitialize.h"
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