I found a partial solution to my problem. I believe I cannot change a continuous state (my saw-tooth slope) so I added a single discrete state to hold the value of the slope. In mdlUpdate I modify the discrete state based on the value of the continuous state. My issue now is the time delay from reaching the saw-tooth peak to the time the saw-tooth switches is too long.
This will work for low frequency applications but I am trying to generate a 30kHz sawtooth to use in the simulation of a SVPWM module.Is there an alternative to making a fixed short step time?
#define S_FUNCTION_NAME svpwm
#define S_FUNCTION_LEVEL 2
#include <math.h>
#include <string.h>
#include <stdio.h>
#include "simstruc.h"
#include "matrix.h"
#define U(element) (*uPtrs[element]) /* Pointer to Input Port0 */
#define Vbus_PARAM(S) ssGetSFcnParam(S,0)
#define NUM_CSTATES 4
#define NUM_DSTATES 1
#define PI M_PI
#define SLOPE (10000.0)
/* Error handling
* --------------
*
* You should use the following technique to report errors encountered within
* an S-function:
*
* ssSetErrorStatus(S,"Error encountered due to ...");
* return;
*
* Note that the 2nd argument to ssSetErrorStatus must be persistent memory.
* It cannot be a local variable. For example the following will cause
* unpredictable errors:
*
* mdlOutputs()
* {
* char msg[256]; {ILLEGAL: to fix use "static char msg[256];"}
* sprintf(msg,"Error due to %s", string);
* ssSetErrorStatus(S,msg);
* return;
* }
*
*/
#define IS_PARAM_DOUBLE(pVal) (mxIsNumeric(pVal) && !mxIsLogical(pVal) &&\
!mxIsEmpty(pVal) && !mxIsSparse(pVal) && !mxIsComplex(pVal) && mxIsDouble(pVal))
#define OK_EMPTY_DOUBLE_PARAM(pVal) (mxIsNumeric(pVal) && !mxIsLogical(pVal) &&\
!mxIsSparse(pVal) && !mxIsComplex(pVal) && mxIsDouble(pVal))
/*====================*
* S-function methods *
*====================*/
#define MDL_CHECK_PARAMETERS
#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
/* Function: mdlCheckParameters =============================================
* Abstract:
* Validate our parameters to verify they are okay.
*/
static void mdlCheckParameters(SimStruct *S)
{
/* Check 1st parameter: Vbus */
{
if ( (mxGetN(Vbus_PARAM(S)) != 1) || !IS_PARAM_DOUBLE(Vbus_PARAM(S)) ) {
ssSetErrorStatus(S,"1st parameter to S-function, Vbus, is in error ");
return;
}
}
}
#endif /* MDL_CHECK_PARAMETERS */
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S)
{
ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
ssSetNumContStates(S, NUM_CSTATES); // TBD
ssSetNumDiscStates(S, NUM_DSTATES);
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, 2);
ssSetInputPortDirectFeedThrough(S, 0, 1);
/*
* Set direct feedthrough flag (1=yes, 0=no).
* A port has direct feedthrough if the input is used in either
* the mdlOutputs or mdlGetTimeOfNextVarHit functions.
*/
ssSetInputPortRequiredContiguous(S, 0, 0);
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortWidth(S, 0, 5);
ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);
ssSetNumSampleTimes(S, 2);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Specify the operating point save/restore compliance to be same as a
* built-in block */
ssSetOperatingPointCompliance(S, USE_DEFAULT_OPERATING_POINT);
ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);
}
/* Function: mdlInitializeSampleTimes =========================================
* Abstract:
* This function is used to specify the sample time(s) for your
* S-function. You must register the same number of sample times as
* specified in ssSetNumSampleTimes.
*/
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
ssSetSampleTime(S, 1, 1E-3); //INHERITED_SAMPLE_TIME);
ssSetOffsetTime(S, 0, 0.0);
ssSetOffsetTime(S, 1, 0.0);
ssSetModelReferenceSampleTimeDefaultInheritance(S);
}
#define MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */
#if defined(MDL_INITIALIZE_CONDITIONS)
/* Function: mdlInitializeConditions ========================================
* Abstract:
* In this function, you should initialize the continuous and discrete
* states for your S-function block. The initial states are placed
* in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S).
* You can also perform any other initialization activities that your
* S-function may require. Note, this routine will be called at the
* start of simulation and if it is present in an enabled subsystem
* configured to reset states, it will be call when the enabled subsystem
* restarts execution to reset the states.
*/
static void mdlInitializeConditions(SimStruct *S)
{
real_T *xC0 = ssGetContStates(S);
real_T *xD0 = ssGetDiscStates(S);
xC0[0]= -1;
xC0[1]= 0;
xC0[2]= 0;
xC0[3]= 0;
xD0[0]= SLOPE;
}
#endif /* MDL_INITIALIZE_CONDITIONS */
#undef MDL_START /* Change to #undef to remove function */
#if defined(MDL_START)
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
}
#endif /* MDL_START */
/* Function: mdlOutputs =======================================================
* Abstract:
* In this function, you compute the outputs of your S-function
* block.
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
real_T *xD = ssGetRealDiscStates(S);
real_T *xC = ssGetContStates(S);
real_T *y = ssGetOutputPortRealSignal(S,0);
InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);
UNUSED_ARG(tid); /* not used in single tasking mode */
real_T Uw = U(0);
real_T Vw = U(1);
real_T Ww = U(2);
// compare vector components to ramp (x[0]) to generate U, V & W
// outputs here
y[0] = xC[0]; /* ramp, slope 4/Tfast */
y[1] = xD[0]; /* slope, fixed value of +m or -m */
y[2] = xC[1]; /* U */
y[3] = xC[2]; /* V */
y[4] = xC[3]; /* W */
}
#define MDL_UPDATE /* Change to #undef to remove function */
#if defined(MDL_UPDATE)
/* 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 *dx = ssGetdX(S);
real_T *xC = ssGetContStates(S);
real_T *xD = ssGetDiscStates(S);
InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);
real_T m = SLOPE;
UNUSED_ARG(tid); /* not used in single tasking mode */
// generate sawtooth ramp x[0], using slope x[1]
// if (ssIsSampleHit(S, 1, tid))//
{
if ((xC[0] > 1.0) && (xD[0]>0)) { xD[0] = -m;}
if ((xC[0] < -1.0) && (xD[0]<0)) { xD[0] = m;}
}
}
#endif /* MDL_UPDATE */
#define MDL_DERIVATIVES /* Change to #undef to remove function */
#if defined(MDL_DERIVATIVES)
/* Function: mdlDerivatives =============================================
* Abstract:
* In this function, you compute the S-function block's derivatives.
* The derivatives are placed in the derivative vector, ssGetdX(S).
*/
static void mdlDerivatives(SimStruct *S)
{
real_T *dx = ssGetdX(S);
real_T *xD = ssGetDiscStates(S);
InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);
real_T m = SLOPE;
// generate sawtooth ramp x[0], using slope xD[0]
dx[0] = xD[0];
dx[1] = 0;
dx[2] = 0;
dx[3] = 0;
}
#endif /* MDL_DERIVATIVES */
/* 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)
{
}
/*=============================*
* Required S-function trailer *
*=============================*/
#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
