www.gusucode.com > Arduino_Engineering_Kit_Hardware_Support 工具箱matlab源码程序 > Arduino_Engineering_Kit_Hardware_Support/simulink/+codertarget/+arduinobase/+internal/arduinoUltrasonic.m
classdef arduinoUltrasonic < matlab.System ...
& matlab.system.mixin.Propagates ...
& coder.ExternalDependency ...
& matlab.system.mixin.internal.SampleTime ...
& matlab.system.mixin.internal.CustomIcon
%Ultrasonic sensor.
%
% Copyright 2018 The MathWorks, Inc.
%#codegen
properties(Nontunable)
%NumSignalPins - Number of signal pins
NumSignalPins = '2';
%TrigPin - Trigger pin
TrigPin = 4;
%EchoPin - Echo pin
EchoPin = 5;
%SignalPin - Signal pin
SignalPin = 3;
%SampleTime_ - Sample time
SampleTime_ = 0.1;
%Block Platform
blockPlatform = 'ARDUINO';
end
properties(Constant, Hidden)
NumSignalPinsSet = matlab.system.StringSet({'1', '2'});
end
methods %constructor
function obj = arduinoUltrasonic(varargin)
%This would allow the code generation to proceed with the
%p-files in the installed location of the support package.
coder.allowpcode('plain');
% Support name-value pair arguments when constructing the object.
setProperties(obj,nargin,varargin{:});
end
function set.TrigPin(obj,val)
classes = {'numeric'};
attributes = {'nonempty','nonnan','finite','real','nonnegative','scalar','integer','<', 255};
paramName = 'Trigger pin';
validateattributes(val,classes,attributes,'',paramName);
obj.TrigPin = val;
end
function set.EchoPin(obj,val)
classes = {'numeric'};
attributes = {'nonempty','nonnan','finite','real','nonnegative','scalar','integer','<', 255};
paramName = 'Echo pin';
validateattributes(val,classes,attributes,'',paramName);
obj.EchoPin = val;
end
function set.SignalPin(obj,val)
classes = {'numeric'};
attributes = {'nonempty','nonnan','finite','real','nonnegative','scalar','integer','<', 255};
paramName = 'Signal pin';
validateattributes(val,classes,attributes,'',paramName);
obj.SignalPin = val;
end
function set.SampleTime_(obj, val)
coder.extrinsic('error');
coder.extrinsic('message');
validateattributes(val,{'numeric'},...
{'nonempty','nonnan', 'finite','real','>=',-1},...
'','''Sample time''');
% Sample time must be a real scalar value or 2 element array.
if ~isreal(val(1)) || numel(val) > 2
error(message('arduino:build:InvalidSampleTimeNeedScalar'));
end
if numel(val) == 2 && val(1) > 0.0 && val(2) >= val(1)
error(message('arduino:build:InvalidSampleTimeNeedSmallerOffset'));
end
if numel(val) == 2 && val(1) == -1.0 && val(2) ~= 0.0
error(message('arduino:build:InvalidSampleTimeNeedZeroOffset'));
end
if numel(val) == 2 && val(1) == 0.0 && val(2) ~= 1.0
error(message('arduino:build:InvalidSampleTimeNeedOffsetOne'));
end
if numel(val) ==1 && val(1) < 0 && val(1) ~= -1.0
error(message('arduino:build:InvalidSampleTimeNeedPositiveWiFi'));
end
obj.SampleTime_ = val;
end
end
methods (Access = protected)
%% Common functions
function setupImpl(obj)
% Call setup methods only when both Trigger and Echo pins are
% present on the sensor
if strcmp(obj.NumSignalPins, '2')
if coder.target('Rtw')
coder.cinclude('MW_Ultrasonic.h');
coder.ceval('MW_UltrasonicSetup',uint8(obj.TrigPin), uint8(obj.EchoPin));
end
else
% No need of setup for sensors have 1 signal pin
end
end
function out = stepImpl(obj)
% The output distance is of type double
out = zeros(1,1, 'double');
% Duration is the output of the pulseIn function in wrapper
duration = zeros(1,1,'uint32');
hasTrig = strcmp(obj.NumSignalPins, '2');
if hasTrig
Trig_Pin = obj.TrigPin;
Echo_Pin = obj.EchoPin;
Trigger_Pulse_Duration = 10; % in microseconds for sensors with trigger and echo pin
else
Trig_Pin = obj.SignalPin;
Echo_Pin = obj.SignalPin;
Trigger_Pulse_Duration = 5; % in microseconds for sensors with one signal pin
end
if coder.target('Rtw')
coder.ceval('MW_UltrasonicRead', coder.wref(duration), uint8(hasTrig), ...
uint8(Trig_Pin), uint8(Echo_Pin), uint8(Trigger_Pulse_Duration));
end
% Ultrasonic sensor gives the duration in microseconds between
% the advent of the pulse till it returns back after hitting
% the object. This implies 2 times the distance of the detected
% object. The speed of sound is 343 m/s or
% 343*1e-6 m per microsecond. Thus distance of the object is
% (duration * (343*1e-6)) /2 meters.
out = (double(duration) * (343*1e-6)) / 2;
end
function flag = isInactivePropertyImpl(obj,prop)
% Return false if property is visible based on object
% configuration, for the command line and System block dialog
flag = false;
if strcmp(prop, 'TrigPin')
flag = strcmp(obj.NumSignalPins, '1');
end
if strcmp(prop, 'EchoPin')
flag = strcmp(obj.NumSignalPins, '1');
end
if strcmp(prop, 'SignalPin')
flag = strcmp(obj.NumSignalPins, '2');
end
end
function N = getNumInputsImpl(~)
% Specify number of System inputs
N = 0;
end
function N = getNumOutputsImpl(~)
% Specify number of System outputs
N = 1;
end
function out = getOutputNamesImpl(~)
% Return output port names for System block
out = 'Distance';
end
function out= getOutputSizeImpl(~)
% Return size for each output port
out = [1 1];
end
function out = getOutputDataTypeImpl(~)
out = 'double';
end
function out = isOutputComplexImpl(~)
out = false;
end
function out = isOutputFixedSizeImpl(~)
out = true;
end
function st = getSampleTimeImpl(obj)
st = obj.SampleTime_;
end
function maskDisplayCmds = getMaskDisplayImpl(~)
maskDisplayCmds = { ...
'color(''white'');',...
'plot([100,100,100,100]*1,[100,100,100,100]*1);',...
'plot([100,100,100,100]*0,[100,100,100,100]*0);',...
'color(''blue'');', ...
'text(99, 92, '' ARDUINO '', ''horizontalAlignment'', ''right'');', ...
'color(''black'');', ...
'sppkgroot = strrep(motorcarrier.internal.getSpPkgRootDir(),''\'',''/'');',...
'image(fullfile(sppkgroot,''resources'',''ultrasonic_sensor.png''),''center'')'
};
end
end
methods(Static, Access = protected)
% Note that this is ignored for the mask-on-mask
function header = getHeaderImpl
%getHeaderImpl Create mask header
% This only has an effect on the base mask.
header = matlab.system.display.Header(mfilename('class'), ...
'Title', 'Arduino Ultrasonic Sensor', ...
'Text', sprintf('Measure the distance to an object in meters. \n\nThe block outputs distance as a double-precision value. If the object is placed beyond the sensor''s range of detection, the block outputs 0.'), ...
'ShowSourceLink', false);
end
function simMode = getSimulateUsingImpl
% Return only allowed simulation mode in System block dialog
simMode = 'Interpreted execution';
end
function flag = showSimulateUsingImpl
% Return false if simulation mode hidden in System block dialog
flag = false;
end
function groups = getPropertyGroupsImpl(~)
% Define section for properties in System block dialog box.
NumSignalPinsProp = matlab.system.display.internal.Property(...
'NumSignalPins', 'Description', 'Number of signal pins');
TrigPinProp = matlab.system.display.internal.Property(...
'TrigPin', 'Description', 'Trigger pin');
EchoPinProp = matlab.system.display.internal.Property(...
'EchoPin', 'Description', 'Echo pin');
SignalPinProp = matlab.system.display.internal.Property(...
'SignalPin', 'Description', 'Signal pin');
SampleTimeProp = matlab.system.display.internal.Property(...
'SampleTime_', 'Description', 'Sample time');
blockPlatformProp = matlab.system.display.internal.Property(...
'blockPlatform', 'IsGraphical', false);
Group = matlab.system.display.Section(...
'Title', 'Parameters', 'PropertyList', ...
{NumSignalPinsProp,TrigPinProp,EchoPinProp,...
SignalPinProp, SampleTimeProp,blockPlatformProp});
groups = Group;
% Add the button for View Pin Map
viewPinMapAction = matlab.system.display.Action(@codertarget.arduinobase.blocks.openPinMapping, ...
'Alignment', 'right', ...
'Placement','NumSignalPins',...
'Label', 'View pin map');
matlab.system.display.internal.setCallbacks(viewPinMapAction, ...
'SystemDeletedFcn', @codertarget.arduinobase.blocks.closePinMapping);
groups(1).Actions = viewPinMapAction;
end
end
methods (Static)
function name = getDescriptiveName(~)
name = 'Arduino Ultrasonic Sensor';
end
function b = isSupportedContext(context)
b = context.isCodeGenTarget('rtw');
end
function updateBuildInfo(buildInfo, context)
if context.isCodeGenTarget('rtw')
% Include Paths
addIncludePaths(buildInfo, fullfile(motorcarrier.internal.getSpPkgRootDir, 'include'));
% Source Files
systemTargetFile = get_param(buildInfo.ModelName,'SystemTargetFile');
if isequal(systemTargetFile,'ert.tlc')
% Add the following when not in rapid-accel simulation
srcFilePath = fullfile(motorcarrier.internal.getSpPkgRootDir, 'src');
fileNameToAdd = {'MW_Ultrasonic.cpp'};
addSourceFiles(buildInfo, fileNameToAdd, srcFilePath);
end
end
end
end
end