www.gusucode.com > Arduino_Engineering_Kit_Hardware_Support 工具箱matlab源码程序 > Arduino_Engineering_Kit_Hardware_Support/simulink/+motorcarrier/+blocks/mkrmotorcarrier_Encoder.m
classdef mkrmotorcarrier_Encoder < matlab.System ...
& coder.ExternalDependency ...
& matlab.system.mixin.Propagates ...
& matlab.system.mixin.internal.CustomIcon ...
& matlab.system.mixin.internal.SampleTime
%
% Encoder - MKR Motor Carrier
%
% Copyright 2018 The MathWorks, Inc.
%#codegen
%#ok<*EMCA>
properties (Nontunable)
% Encoder - Encoder
Encoder = '1';
% SlaveAddress_ - I2C Slave Address
SlaveAddress_ = hex2dec('66');
%SampleTime Sample time
SampleTime = 0.1;
end
properties (Nontunable, Logical)
% ShowSpeed - Show Speed output port
ShowSpeed = false;
% ResetOption - Reset at initialization
ResetOption = true;
end
properties(Constant, Hidden)
EncoderSet = matlab.system.StringSet({'1', '2'});
% --------------Commands for Encoder at D11---------------------
GET_RAW_COUNT_ENCODER = 7 ;
RESET_COUNT_ENCODER = 8 ;
GET_OVERFLOW_UNDERFLOW_STATUS_ENCODER = 9 ;
GET_COUNT_PER_SECOND_ENCODER = 10 ;
SET_INTERRUPT_ON_COUNT_ENCODER = 11 ;
SET_INTERRUPT_ON_VELOCITY_ENCODER = 12 ;
end
properties (Dependent,Hidden)
Encoder_num
end
methods
% Constructor
function obj = mkrmotorcarrier_Encoder(varargin)
coder.allowpcode('plain');
setProperties(obj,nargin,varargin{:});
end
function set.SampleTime(obj,sampleTime)
coder.extrinsic('error');
coder.extrinsic('message');
validateattributes(sampleTime,{'numeric'},...
{'nonnan', 'finite'},...
'','''Sample time''');
% Sample time must be a real scalar value or 2 element array.
if ~isreal(sampleTime(1)) || numel(sampleTime) > 2
error(message('arduino:build:InvalidSampleTimeNeedScalar'));
end
if numel(sampleTime) == 2 && sampleTime(1) > 0.0 && sampleTime(2) >= sampleTime(1)
error(message('arduino:build:InvalidSampleTimeNeedSmallerOffset'));
end
if numel(sampleTime) == 2 && sampleTime(1) == -1.0 && sampleTime(2) ~= 0.0
error(message('arduino:build:InvalidSampleTimeNeedZeroOffset'));
end
if numel(sampleTime) == 2 && sampleTime(1) == 0.0 && sampleTime(2) ~= 1.0
error(message('arduino:build:InvalidSampleTimeNeedOffsetOne'));
end
obj.SampleTime = sampleTime;
end
function val = get.Encoder_num(obj)
switch obj.Encoder
case '1'
val = 0;
case '2'
val = 1;
end
end
end
methods (Access = protected)
% Set data in D11
function D11_setData(obj, command, target, data)
% Convert int32 data to uint8 (Little Endian by default)
data_uint8 = typecast(int32(data), 'uint8');
% Data to write over I2C
final_data_to_write = [uint8(command), uint8(target), data_uint8];
if coder.target('Rtw')% done only for code gen
coder.cinclude('MW_arduinoI2C.h');
coder.ceval('MW_i2cWriteLoop', uint8(obj.SlaveAddress_), 0, 0, ...
coder.rref(final_data_to_write), 6);
elseif ( coder.target('RtwForRapid') || coder.target('RtwForSfun') )
end
end
% Get data from D11
function data = D11_getData(obj, command, target)
% First write the command and target over I2C
final_data_to_write = [uint8(command), uint8(target)];
% Number of bytes to read
num_bytes_to_read = 5;
% Allocate out
out_raw = coder.nullcopy(uint8(zeros(1, num_bytes_to_read)));
if coder.target('Rtw')% done only for code gen
coder.cinclude('MW_arduinoI2C.h');
coder.ceval('MW_i2cWriteLoop', uint8(obj.SlaveAddress_), 0, 0, ...
coder.rref(final_data_to_write), 2);
% Read the 5 bytes (irq_status + int32 data) of data over I2C
coder.ceval('MW_i2cReadLoop', uint8(obj.SlaveAddress_),...
0, 0, uint8(num_bytes_to_read), coder.wref(out_raw));
elseif ( coder.target('RtwForRapid') || coder.target('RtwForSfun') )
end
% Ignore the first irq_status byte received for the time being
out = out_raw(2:end);
% Concatenate received bytes to get int32 data
data = typecast(out, 'int32');
end
function Encoder_resetCounter(obj)
D11_setData(obj, uint8(obj.RESET_COUNT_ENCODER),...
uint8(obj.Encoder_num), int32(0));
end
function out = Encoder_getRawCount(obj)
out = D11_getData(obj, uint8(obj.GET_RAW_COUNT_ENCODER),...
uint8(obj.Encoder_num));
end
function out = Encoder_getCountPerSecond(obj)
out = D11_getData(obj, uint8(obj.GET_COUNT_PER_SECOND_ENCODER),...
uint8(obj.Encoder_num));
end
end
methods (Access=protected)
function setupImpl(obj)
if coder.target('Rtw')
% Reset the Encoder count if specified
if obj.ResetOption
Encoder_resetCounter(obj);
end
else
% Do nothing
end
end
function releaseImpl(~)
% Release resources, such as file handles
end
function varargout = stepImpl(obj)
count = int32(0);
speed = int32(0); %counts per second
if coder.target('Rtw')
count = Encoder_getRawCount(obj);
if obj.ShowSpeed
% Encoder_getCountPerSecond returns counts per
% centisecond (0.01s) so multiplication factor of 100
% for counts per second
speed = Encoder_getCountPerSecond(obj) * 100;
end
else
% Do nothing
end
varargout{1} = count;
varargout{2} = speed;
end
end
methods (Access=protected)
%% Define input properties
function num = getNumInputsImpl(~)
num = 0;
end
function num = getNumOutputsImpl(obj)
if obj.ShowSpeed
num = 2;
else
num = 1;
end
end
function varargout = getOutputNamesImpl(obj)
varargout{1} = 'Position';
if obj.ShowSpeed
varargout{2} = 'Speed';
end
end
function varargout= getOutputSizeImpl(obj)
varargout{1} = [1,1];
if obj.ShowSpeed
varargout{2} = [1,1];
end
end
function varargout= getOutputDataTypeImpl(obj)
for N = 1 : obj.getNumOutputsImpl
varargout{N} = 'int32';
end
end
function varargout = isOutputComplexImpl(obj)
for N = 1 : obj.getNumOutputsImpl
varargout{N} = false;
end
end
function varargout = isOutputFixedSizeImpl(obj)
for N = 1 : obj.getNumOutputsImpl
varargout{N} = true;
end
end
function st = getSampleTimeImpl(obj)
st = obj.SampleTime;
end
function maskDisplayCmds = getMaskDisplayImpl(obj)
encoder_name = ['sprintf(''Encoder: %X'',' obj.Encoder ')'];
if obj.ShowSpeed
names = getOutputNames(obj);
output_label = [ ...
['port_label(''output'',1,''', names{1}, ''');',newline], ...
['port_label(''output'',2,''', names{2}, ''');'],...
];
maskDisplayCmds = [ ...
['color(''white'');', newline]... % Fix min and max x,y co-ordinates for autoscale mask units
['plot([100,100,100,100],[100,100,100,100]);', newline]...
['plot([0,0,0,0],[0,0,0,0]);', newline]...
['sppkgroot = strrep(motorcarrier.internal.getSpPkgRootDir(),''\'',''/'');',newline]...
['image(fullfile(sppkgroot,''resources'',''encoder.png''),''center'')',newline]...
['color(''blue'');', newline] ... % Drawing mask layout of the block
['text(99, 92, ''ARDUINO'', ''horizontalAlignment'', ''right'');', newline] ...
['color(''black'');', newline] ...
['text(50,15,' encoder_name ',''horizontalAlignment'', ''center'');', newline], ...
output_label ,...
];
else
maskDisplayCmds = [ ...
['color(''white'');', newline]... % Fix min and max x,y co-ordinates for autoscale mask units
['plot([100,100,100,100],[100,100,100,100]);', newline]...
['plot([0,0,0,0],[0,0,0,0]);', newline]...
['sppkgroot = strrep(motorcarrier.internal.getSpPkgRootDir(),''\'',''/'');',newline]...
['image(fullfile(sppkgroot,''resources'',''encoder.png''),''center'')',newline]...
['color(''blue'');', newline] ... % Drawing mask layout of the block
['text(99, 92, ''ARDUINO'', ''horizontalAlignment'', ''right'');', newline] ...
['color(''black'');', newline] ...
['text(50,15,' encoder_name ',''horizontalAlignment'', ''center'');', newline], ...
];
end
end
end
methods (Static, Access=protected)
function simMode = getSimulateUsingImpl(~)
simMode = 'Interpreted execution';
end
function isVisible = showSimulateUsingImpl
isVisible = false;
end
function groups = getPropertyGroupsImpl(~)
% Define section for properties in System block dialog box.
EncoderProp = matlab.system.display.internal.Property(...
'Encoder', 'Description', 'Encoder');
SlaveAddressProp = matlab.system.display.internal.Property(...
'SlaveAddress_', 'IsGraphical', false);
ShowSpeedProp = matlab.system.display.internal.Property(...
'ShowSpeed', 'Description', 'Show Speed output port');
ResetOptionProp = matlab.system.display.internal.Property(...
'ResetOption', 'Description', 'Reset count at initialization');
SampleTimeProp = matlab.system.display.internal.Property(...
'SampleTime', 'Description', 'Sample time');
Group = matlab.system.display.Section(...
'Title', 'Parameters', 'PropertyList', ...
{EncoderProp, SlaveAddressProp,...
ShowSpeedProp, ResetOptionProp,...
SampleTimeProp,...
});
groups = Group;
end
% 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', 'Encoder', ...
'Text', sprintf('Measure the rotation of a motor in ticks.\n\nThe block outputs the position and rotational speed of the motor. The position is measured in ticks and the speed is measured in ticks per second of int32 datatype.\n\nEvery increment in the tick count indicates a clockwise rotation and every decrement in the tick count indicates a counterclockwise rotation.'), ...
'ShowSourceLink', false);
end
end
methods (Static)
function name = getDescriptiveName()
name = 'MKR Motor Carrier Encoder';
end
function b = isSupportedContext(context)
b = context.isCodeGenTarget('rtw');
end
function updateBuildInfo(buildInfo, context)
if context.isCodeGenTarget('rtw')
codertarget.arduinobase.internal.arduinoI2CWrite.updateBuildInfo(buildInfo, context);
end
end
end
end