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S-function用户手册.pdf
Dynamically Sized Arrays
Valid C MEX S-Function Sample Times
Guidelines for Choosing a Sample Time
Features of Hand-Written S-Functions
Simulink®
Developing S-Functions
R2016b
How to Contact MathWorks
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The MathWorks, Inc.
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Developing S-Functions
© COPYRIGHT 1998–2016 by The MathWorks, Inc.
The software described in this document is furnished under a license agreement. The software may be used
or copied only under the terms of the license agreement. No part of this manual may be photocopied or
reproduced in any form without prior written consent from The MathWorks, Inc.
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Revision History
First printing
October 1998
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November 2000
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Revised for Version 3.0 (Release R11)
Revised for Version 4.0 (Release R12)
Revised for Version 5.0 Release R13)
Revised for Version 5.1 (Release R13SP1)
Revised for Version 5.1.1 (Release R13SP1+)
Revised for Version 6.0 (Release R14)
Revised for Version 6.1 (Release R14SP1)
Revised for Version 6.2 (Release R14SP2)
Revised for Version 6.3 (Release R14SP3)
Revised for Version 6.4 (Release 2006a)
Revised for Version 6.5 (Release 2006b)
Revised for Version 6.6 (Release 2007a)
Revised for Version 7.0 (Release 2007b)
Revised for Version 7.1 (Release 2008a)
Revised for Version 7.2 (Release 2008b)
Revised for Version 7.3 (Release 2009a)
Revised for Version 7.4 (Release 2009b)
Revised for Version 7.5 (Release 2010a)
Revised for Version 7.6 (Release 2010b)
Revised for Version 7.7 (Release 2011a)
Revised for Version 7.8 (Release 2011b)
Revised for Version 7.9 (Release 2012a)
Revised for Version 8.0 (Release 2012b)
Revised for Version 8.1 (Release 2013a)
Revised for Version 8.2 (Release 2013b)
Revised for Version 8.3 (Release 2014a)
Revised for Version 8.4 (Release 2014b)
Revised for Version 8.5 (Release 2015a)
Revised for Version 8.6 (Release 2015b)
Rereleased for Simulink 8.5.1 (Release
2015aSP1)
Revised for Version 8.7 (Release 2016a)
Revised for Version 8.8 (Release 2016b)
Contents
1
Overview of S-Functions
What Is an S-Function? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Use S-Functions in Models . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Passing Parameters to S-Functions . . . . . . . . . . . . . . . . . . . .
When to Use an S-Function . . . . . . . . . . . . . . . . . . . . . . . . .
How S-Functions Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mathematics of Simulink Blocks . . . . . . . . . . . . . . . . . . . . . .
Simulation Stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
S-Function Callback Methods . . . . . . . . . . . . . . . . . . . . . . .
Implementing S-Functions . . . . . . . . . . . . . . . . . . . . . . . . . . .
MATLAB S-Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MEX S-Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
S-Function Callback Methods . . . . . . . . . . . . . . . . . . . . . . . .
Callback Methods Overview . . . . . . . . . . . . . . . . . . . . . . . .
Callback Methods for C MEX S-Functions . . . . . . . . . . . . . .
Callback Methods for Level-2 MATLAB S-Functions . . . . . .
S-Function Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . .
S-Function Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Direct Feedthrough . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dynamically Sized Arrays . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting Sample Times and Offsets . . . . . . . . . . . . . . . . . . .
S-Function Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Level-2 MATLAB S-Function Examples . . . . . . . . . . . . . . .
1-2
1-3
1-3
1-5
1-7
1-8
1-8
1-8
1-8
1-11
1-12
1-12
1-13
1-14
1-14
1-15
1-16
1-19
1-20
1-20
1-21
1-22
1-26
1-26
1-29
v
Level-1 MATLAB S-Function Examples . . . . . . . . . . . . . . .
C S-Function Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fortran S-Function Examples . . . . . . . . . . . . . . . . . . . . . . .
C++ S-Function Examples . . . . . . . . . . . . . . . . . . . . . . . . . .
1-29
1-31
1-34
1-35
2
3
Selecting an S-Function Implementation
Available S-Function Implementations . . . . . . . . . . . . . . . . . .
S-Function Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Implement S-Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
S-Function Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
S-Function Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
S-Functions Incorporate Legacy C Code . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using a Hand-Written S-Function to Incorporate Legacy
Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using the S-Function Builder to Incorporate Legacy Code . .
Using the Legacy Code Tool to Incorporate Legacy Code . . .
2-2
2-3
2-4
2-6
2-10
2-12
2-12
2-13
2-15
2-18
Writing S-Functions in MATLAB
Custom Blocks using MATLAB S-Functions . . . . . . . . . . . . . .
Write Level-2 MATLAB S-Functions . . . . . . . . . . . . . . . . . . . .
About Level-2 MATLAB S-Functions . . . . . . . . . . . . . . . . . .
About Run-Time Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Level-2 MATLAB S-Function Template . . . . . . . . . . . . . . . . .
Level-2 MATLAB S-Function Callback Methods . . . . . . . . . .
Using the setup Method . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example of Writing a Level-2 MATLAB S-Function . . . . . . .
3-2
3-3
3-3
3-4
3-4
3-5
3-6
3-7
vi
Contents
Instantiating a Level-2 MATLAB S-Function . . . . . . . . . . .
Operations for Variable-Size Signals . . . . . . . . . . . . . . . . . .
Generating Code from a Level-2 MATLAB S-Function . . . . .
MATLAB S-Function Examples . . . . . . . . . . . . . . . . . . . . . .
Maintain Level-1 MATLAB S-Functions . . . . . . . . . . . . . . . .
About the Maintenance of Level-1 MATLAB S-Functions . .
Level-1 MATLAB S-Function Arguments . . . . . . . . . . . . . .
Level-1 MATLAB S-Function Outputs . . . . . . . . . . . . . . . . .
Define S-Function Block Characteristics . . . . . . . . . . . . . . .
Processing S-Function Parameters . . . . . . . . . . . . . . . . . . .
Convert Level-1 MATLAB S-Functions to Level-2 . . . . . . . .
3-10
3-11
3-11
3-11
3-12
3-12
3-13
3-14
3-15
3-15
3-16
4
Writing S-Functions in C
About C S-Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Creating C MEX S-Functions . . . . . . . . . . . . . . . . . . . . . . . . . .
Build S-Functions Automatically . . . . . . . . . . . . . . . . . . . . . . .
About Building S-Functions Automatically . . . . . . . . . . . . . .
Deploying the Generated S-Function . . . . . . . . . . . . . . . . . . .
How the S-Function Builder Builds an S-Function . . . . . . . .
S-Function Builder Dialog Box . . . . . . . . . . . . . . . . . . . . . . .
About S-Function Builder . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameters/S-Function Name Pane . . . . . . . . . . . . . . . . . . .
Port/Parameter Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initialization Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Properties Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Ports Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output Ports Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameters Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Type Attributes Pane . . . . . . . . . . . . . . . . . . . . . . . . .
Libraries Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Outputs Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Continuous Derivatives Pane . . . . . . . . . . . . . . . . . . . . . . .
Discrete Update Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Build Info Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2
4-4
4-5
4-5
4-9
4-9
4-11
4-11
4-13
4-14
4-14
4-15
4-16
4-17
4-18
4-19
4-19
4-21
4-24
4-25
4-26
vii
Example: Modeling a Two-Input/Two-Output System . . . . .
Basic C MEX S-Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introducing an Example of a Basic C MEX S-Function . . . .
Defines and Includes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Callback Method Implementations . . . . . . . . . . . . . . . . . . .
Simulink/Simulink Coder Interfaces . . . . . . . . . . . . . . . . . .
Building the Timestwo Example . . . . . . . . . . . . . . . . . . . . .
Templates for C S-Functions . . . . . . . . . . . . . . . . . . . . . . . . .
About the Templates for C S-Functions . . . . . . . . . . . . . . . .
S-Function Source File Requirements . . . . . . . . . . . . . . . . .
The SimStruct . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Types in S-Functions . . . . . . . . . . . . . . . . . . . . . . . . .
Compiling C S-Functions . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integrate C Functions Using Legacy Code Tool . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integrate C Functions into Simulink Models with Legacy Code
Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integrate C Function Whose Arguments Are Pointers to
Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Registering Legacy Code Tool Data Structures . . . . . . . . . .
Declaring Legacy Code Tool Function Specifications . . . . . .
Generating and Compiling the S-Functions . . . . . . . . . . . . .
Generating a Masked S-Function Block for Calling a Generated
S-Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Forcing Simulink Accelerator Mode to Use S-Function TLC
Inlining Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Calling Legacy C++ Functions . . . . . . . . . . . . . . . . . . . . . . .
Handling Multiple Registration Files . . . . . . . . . . . . . . . . .
Deploying Generated S-Functions . . . . . . . . . . . . . . . . . . . .
Legacy Code Tool Examples . . . . . . . . . . . . . . . . . . . . . . . .
Legacy Code Tool Limitations . . . . . . . . . . . . . . . . . . . . . . .
Simulink Engine Interaction with C S-Functions . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Process View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Write Callback Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
viii
Contents
4-27
4-33
4-33
4-35
4-36
4-38
4-38
4-39
4-39
4-39
4-41
4-42
4-42
4-43
4-43
4-46
4-49
4-54
4-55
4-62
4-63
4-64
4-64
4-65
4-66
4-66
4-66
4-68
4-68
4-68
4-76
4-80
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