/*
 * File: cartpend_sim.c
 *
  *
  *   --- THIS FILE GENERATED BY S-FUNCTION BUILDER: 3.0 ---
  *
  *   This file is an S-function produced by the S-Function
  *   Builder which only recognizes certain fields.  Changes made
  *   outside these fields will be lost the next time the block is
  *   used to load, edit, and resave this file. This file will be overwritten
  *   by the S-function Builder block. If you want to edit this file by hand, 
  *   you must change it only in the area defined as:  
  *
  *        %%%-SFUNWIZ_defines_Changes_BEGIN
  *        #define NAME 'replacement text' 
  *        %%% SFUNWIZ_defines_Changes_END
  *
  *   DO NOT change NAME--Change the 'replacement text' only.
  *
  *   For better compatibility with the Simulink Coder, the
  *   "wrapper" S-function technique is used.  This is discussed
  *   in the Simulink Coder's Manual in the Chapter titled,
  *   "Wrapper S-functions".
  *
  *  -------------------------------------------------------------------------
  * | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
  *  ------------------------------------------------------------------------- 
* Created: Mon Feb  6 10:57:16 2017
*/
#define S_FUNCTION_LEVEL 2
#define S_FUNCTION_NAME cartpend_sim
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
/* %%%-SFUNWIZ_defines_Changes_BEGIN --- EDIT HERE TO _END */
#define NUM_INPUTS          1
/* Input Port  0 */
#define IN_PORT_0_NAME      u0
#define INPUT_0_WIDTH       1
#define INPUT_DIMS_0_COL    1
#define INPUT_0_DTYPE       real_T
#define INPUT_0_COMPLEX     COMPLEX_NO
#define IN_0_FRAME_BASED    FRAME_NO
#define IN_0_BUS_BASED      0
#define IN_0_BUS_NAME       
#define IN_0_DIMS           1-D
#define INPUT_0_FEEDTHROUGH 1
#define IN_0_ISSIGNED        0
#define IN_0_WORDLENGTH      8
#define IN_0_FIXPOINTSCALING 1
#define IN_0_FRACTIONLENGTH  9
#define IN_0_BIAS            0
#define IN_0_SLOPE           0.125

#define NUM_OUTPUTS          1
/* Output Port  0 */
#define OUT_PORT_0_NAME      y0
#define OUTPUT_0_WIDTH       4
#define OUTPUT_DIMS_0_COL    1
#define OUTPUT_0_DTYPE       real_T
#define OUTPUT_0_COMPLEX     COMPLEX_NO
#define OUT_0_FRAME_BASED    FRAME_NO
#define OUT_0_BUS_BASED      0
#define OUT_0_BUS_NAME       
#define OUT_0_DIMS           1-D
#define OUT_0_ISSIGNED        1
#define OUT_0_WORDLENGTH      8
#define OUT_0_FIXPOINTSCALING 1
#define OUT_0_FRACTIONLENGTH  3
#define OUT_0_BIAS            0
#define OUT_0_SLOPE           0.125

#define NPARAMS              0

#define SAMPLE_TIME_0        0
#define NUM_DISC_STATES      0
#define DISC_STATES_IC       [0]
#define NUM_CONT_STATES      4
#define CONT_STATES_IC       [0,0,3.14,0]

#define SFUNWIZ_GENERATE_TLC 1
#define SOURCEFILES "__SFB__"
#define PANELINDEX           6
#define USE_SIMSTRUCT        0
#define SHOW_COMPILE_STEPS   1                   
#define CREATE_DEBUG_MEXFILE 0
#define SAVE_CODE_ONLY       0
#define SFUNWIZ_REVISION     3.0
/* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
#include "simstruc.h"

extern void cartpend_sim_Outputs_wrapper(const real_T *u0,
			real_T *y0,
			const real_T *xC);
extern void cartpend_sim_Derivatives_wrapper(const real_T *u0,
			const real_T *y0,
			real_T *dx,
			real_T *xC);

/*====================*
 * S-function methods *
 *====================*/
/* Function: mdlInitializeSizes ===============================================
 * Abstract:
 *   Setup sizes of the various vectors.
 */
static void mdlInitializeSizes(SimStruct *S)
{

    DECL_AND_INIT_DIMSINFO(inputDimsInfo);
    DECL_AND_INIT_DIMSINFO(outputDimsInfo);
    ssSetNumSFcnParams(S, NPARAMS);
     if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
	 return; /* Parameter mismatch will be reported by Simulink */
     }

    ssSetNumContStates(S, NUM_CONT_STATES);
    ssSetNumDiscStates(S, NUM_DISC_STATES);

    if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
    ssSetInputPortWidth(S, 0, INPUT_0_WIDTH);
    ssSetInputPortDataType(S, 0, SS_DOUBLE);
    ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX);
    ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH);
    ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/

    if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
    ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
    ssSetOutputPortDataType(S, 0, SS_DOUBLE);
    ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
    ssSetNumSampleTimes(S, 1);
    ssSetNumRWork(S, 0);
    ssSetNumIWork(S, 0);
    ssSetNumPWork(S, 0);
    ssSetNumModes(S, 0);
    ssSetNumNonsampledZCs(S, 0);

    ssSetSimulinkVersionGeneratedIn(S, "8.6");

    /* Take care when specifying exception free code - see sfuntmpl_doc.c */
    ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
                     SS_OPTION_USE_TLC_WITH_ACCELERATOR | 
		     SS_OPTION_WORKS_WITH_CODE_REUSE));
}

# define MDL_SET_INPUT_PORT_FRAME_DATA
static void mdlSetInputPortFrameData(SimStruct  *S, 
                                     int_T      port,
                                     Frame_T    frameData)
{
    ssSetInputPortFrameData(S, port, frameData);
}
/* Function: mdlInitializeSampleTimes =========================================
 * Abstract:
 *    Specifiy  the sample time.
 */
static void mdlInitializeSampleTimes(SimStruct *S)
{
    ssSetSampleTime(S, 0, SAMPLE_TIME_0);
    ssSetModelReferenceSampleTimeDefaultInheritance(S);
    ssSetOffsetTime(S, 0, 0.0);
}
#define MDL_INITIALIZE_CONDITIONS
 /* Function: mdlInitializeConditions ========================================
  * Abstract:
  *    Initialize the states
  */
 static void mdlInitializeConditions(SimStruct *S)
 {
   
   real_T *xC   = ssGetContStates(S);
    
    
    xC[0] =  0;
    xC[1] =  0;
    xC[2] =  3.14;
    xC[3] =  0;
 }
#define MDL_SET_INPUT_PORT_DATA_TYPE
static void mdlSetInputPortDataType(SimStruct *S, int port, DTypeId dType)
{
    ssSetInputPortDataType( S, 0, dType);
}
#define MDL_SET_OUTPUT_PORT_DATA_TYPE
static void mdlSetOutputPortDataType(SimStruct *S, int port, DTypeId dType)
{
    ssSetOutputPortDataType(S, 0, dType);
}

#define MDL_SET_DEFAULT_PORT_DATA_TYPES
static void mdlSetDefaultPortDataTypes(SimStruct *S)
{
  ssSetInputPortDataType( S, 0, SS_DOUBLE);
 ssSetOutputPortDataType(S, 0, SS_DOUBLE);
}
/* Function: mdlOutputs =======================================================
 *
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
    const real_T   *u0  = (const real_T*) ssGetInputPortSignal(S,0);
    real_T        *y0  = (real_T *)ssGetOutputPortRealSignal(S,0);
    const real_T   *xC = ssGetContStates(S);

    cartpend_sim_Outputs_wrapper(u0, y0, xC);

}

#define MDL_DERIVATIVES  /* Change to #undef to remove function */
/* 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)
  {
    const real_T   *u0  = (const real_T*) ssGetInputPortSignal(S,0);
    real_T         *dx  = ssGetdX(S);
    real_T         *xC  = ssGetContStates(S);
    real_T        *y0  = (real_T *) ssGetOutputPortRealSignal(S,0);

    cartpend_sim_Derivatives_wrapper(u0, y0,dx,  xC);
}

/* 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)
{

}

#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


