/* admultiq3.c - xPC Target, non-inlined S-function driver for: */
/*               D/A section of MultiQ3 ISA board (Quanser)     */
/* Written by R.A. de Callafon, Feb. 2004, Dept. of MAE, UCSD   */
/* xPC is Copyright 1996-2002 The MathWorks, Inc.               */

#define     S_FUNCTION_LEVEL    2
#undef      S_FUNCTION_NAME
#define     S_FUNCTION_NAME     damultiq3

#include    <stddef.h>
#include    <stdlib.h>

#include    "simstruc.h"

#ifdef      MATLAB_MEX_FILE
#include    "mex.h"
#else
#include    <windows.h>
#include    "io_xpcimport.h"
#endif

/* Input Arguments */

#define NUM_PARAMS             (3)
#define BASE_ADDRESS_ARG       (ssGetSFcnParam(S,0))
#define CHANNEL_ARG            (ssGetSFcnParam(S,1))
#define SAMPLE_TIME_PARAM      (ssGetSFcnParam(S,2))


/* Convert S Function Parameters to Variables of Unsigned Integer Type */

#define BASE                   ((uint_T) mxGetPr(BASE_ADDRESS_ARG)[0])
#define SAMPLE_TIME            ((real_T) mxGetPr(SAMPLE_TIME_PARAM)[0])
#define SAMPLE_OFFSET          ((real_T) mxGetPr(SAMPLE_TIME_PARAM)[1])

/* Definition of Quanser Register Adresses for DA conversion */

#define DA_DATA         (BASE + 0x02)   /* a 16 bit write (only lowest 12 bits matter) is the data for DA conversion */
#define CONTROL_REG     (BASE + 0x06)   /* the address of the CONTROL REGISTER */
#define STATUS_REG      (BASE + 0x06)   /* the address of the CONTROL REGISTER (or better STATUS REGISTER in case of reading) */

/* Definition of 16 bit CONTROL REGISTER values for the Quanser card */

#define AD_SH           0x200       /* (S/H) = disable sample and hold on the A/D (keep this 1 all the time) */
#define LATCH_ON        0x1800      /* LD0 and LD1 on the CONTROL REGISTER to be latched before DA conversion */
#define AD_CLOCK_4M     0x400       /* (CLK) = choose clock frequency of the A/D, (1 = 4MHz, 0 = 2 MHz) */
#define CONTROL_MUST    (AD_SH | AD_CLOCK_4M)  /* bit wise OR, so we keep both S/H and CLK high all the time */

/* Definition of msg string in case we need to report errors */

static char_T msg[256];

#ifndef MATLAB_MEX_FILE

static void DAOutput(SimStruct *S, uint_T channel, real_T value)
{
    real_T out;

    /* convert the real valued data (between -5 and 5) to a 12 bit integer value */

    out=4095*(value+5)/10;
    if (out<0)
        out=0;
    if (out>4096)
        out=4096;

    /* channel number to DA0 DA1 DA2 and latch with LD0 LD1 both high */
    /* also keep S/H and AD_CLOCK_4M high (CONTROL_MUST) */
    /* and write all these values to the control register */

    rl32eOutpW(CONTROL_REG, (CONTROL_MUST | LATCH_ON | channel));

    /* write the actual integer data (in 12 bits) to the DA_DATA register */

    rl32eOutpW(DA_DATA,(uint_T)out);

    /* release the latch by setting LD0 and LD1 back to low */
    /* which can be done by resetting the CONTROL_REGISTER */

    rl32eOutpW(CONTROL_REG, CONTROL_MUST);

}
#endif



/*====================*
 * S-function methods *
 *====================*/

static void mdlCheckParameters(SimStruct *S)
{
}

static void mdlInitializeSizes(SimStruct *S)
{
    uint_T i;

#ifndef MATLAB_MEX_FILE
#include "io_xpcimport.c"
#endif

    ssSetNumSFcnParams(S, NUM_PARAMS);
    if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
        mdlCheckParameters(S);
        if (ssGetErrorStatus(S) != NULL) {
            return;
        }
    } else {
        return; /* Parameter mismatch will be reported by Simulink */
    }

    ssSetNumContStates(S, 0);
    ssSetNumDiscStates(S, 0);

    if (!ssSetNumInputPorts(S, (mxGetNumberOfElements(CHANNEL_ARG)))) return;

    for (i=0;i<mxGetNumberOfElements(CHANNEL_ARG);i++) {
        ssSetInputPortWidth(S, i, 1);
        ssSetInputPortDirectFeedThrough(S,i,1);
    }

    if (!ssSetNumOutputPorts(S, 0)) return;

    ssSetNumSampleTimes(S, 1);

    ssSetSFcnParamNotTunable(S,0);
    ssSetSFcnParamNotTunable(S,1);
    ssSetSFcnParamNotTunable(S,2);

    ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_PLACE_ASAP);
}



static void mdlInitializeSampleTimes(SimStruct *S)
{
    ssSetSampleTime(S, 0, SAMPLE_TIME);
    ssSetOffsetTime(S, 0, SAMPLE_OFFSET);
}



#define MDL_START
static void mdlStart(SimStruct *S)
{

#ifndef MATLAB_MEX_FILE
    uint_T i;

    /* Set initial outputs to zero */

    for (i=0;i<mxGetNumberOfElements(CHANNEL_ARG);i++) {
        DAOutput(S, (uint_T)mxGetPr(CHANNEL_ARG)[i]-1, 0);
    }

#endif /* MATLAB_MEX_FILE */

}

static void mdlOutputs(SimStruct *S, int_T tid)
{
#ifndef MATLAB_MEX_FILE

InputRealPtrsType uPtrs;
uint_T i;

    for (i=0;i<mxGetNumberOfElements(CHANNEL_ARG);i++) {
        uPtrs = ssGetInputPortRealSignalPtrs(S,i);
        DAOutput(S, (uint_T)mxGetPr(CHANNEL_ARG)[i]-1, *uPtrs[0]);
    }

#endif /* MATLAB_MEX_FILE */

}


static void mdlTerminate(SimStruct *S)
{
#ifndef MATLAB_MEX_FILE
    uint_T i;

/* Set final outputs to zero */
    for (i=0;i < mxGetNumberOfElements(CHANNEL_ARG);i++) {
        DAOutput(S, (uint_T)mxGetPr(CHANNEL_ARG)[i]-1, 0);
    }

#endif /* MATLAB_MEX_FILE */
}

#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