c code and makefile to matlab

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Stefan Jakubjak
Stefan Jakubjak on 4 Jan 2022
Edited: Stefan Jakubjak on 4 Jan 2022
Hi i am on ubuntu 20.4. I have c file with code which i want to get to matlab. I have this in makefile:
CFLAGS += -I/opt/quanser/hil_sdk/include
LDFLAGS += -L/opt/quanser/hil_sdk/lib
LIBS += -lhil -lquanser_runtime -lquanser_common -lrt -lpthread -ldl -lm -lc
myhilapp: myhilapp.o
cc $(LDFLAGS) $< -o $@ $(LIBS)
myhilapp.o: myhilapp.c
When i write make in terminal it generates file from .c file and i can run it using ./
/opt/quanser/hil_sdk/include contains .h files which need to be included and /opt/quanser/hil_sdk/lib contains static link libraries (.a) which need to be linked.
I want to somehow use libraries and functions from these paths specified in makefile and eventually create my own blocks out of them and use them in symulink. I am not really sure how to do it. Any advice is appreciated.
How can i convert this makefile to use it in matlab and make it work altogether ?
This is header file included in c file
//////////////////////////////////////////////////////////////////
//
// qube_servo2_usb_read_example.h - header file
//
//////////////////////////////////////////////////////////////////
#include <stdio.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include "hil.h"
#include "quanser_signal.h"
#include "quanser_messages.h"
#include "quanser_thread.h"
This is my c file which i would like to turn into block scheme for symulink:
//////////////////////////////////////////////////////////////////
//
// qube_servo2_usb_read_example.c - C file
//
// This example reads one sample immediately from all the input
// channels of the Qube Servo2 USB.
//
// This example demonstrates the use of the following functions:
// hil_open
// hil_read
// hil_close
//
// Copyright (C) 2018 Quanser Inc.
//////////////////////////////////////////////////////////////////
#include "qube_servo2_usb_read_example.h"
int main(int argc, char* argv[])
{
static const char board_type[] = "qube_servo2_usb";
static const char board_identifier[] = "0";
static char message[512];
qsigaction_t action;
t_card board;
t_int result;
/* Prevent Ctrl+C from stopping the application so hil_close gets called */
action.sa_handler = SIG_IGN;
action.sa_flags = 0;
qsigemptyset(&action.sa_mask);
result = hil_open(board_type, board_identifier, &board);
if (result == 0)
{
const t_uint32 analog_channels[] = { 0 }; /* motor current sense (A) */
const t_uint32 encoder_channels[] = { 0, 1 }; /* motor encoder, pendulum encoder (counts) */
const t_uint32 digital_channels[] = { 0, 1, 2 }; /* amplifier fault, stall detected, stall error */
const t_uint32 other_channels[] = { 14000 }; /* tachometer (counts/sec) */
#define NUM_ANALOG_CHANNELS ARRAY_LENGTH(analog_channels)
#define NUM_ENCODER_CHANNELS ARRAY_LENGTH(encoder_channels)
#define NUM_DIGITAL_CHANNELS ARRAY_LENGTH(digital_channels)
#define NUM_OTHER_CHANNELS ARRAY_LENGTH(other_channels)
#define SAMPLES 20
t_double voltages[NUM_ANALOG_CHANNELS];
t_int32 counts[NUM_ENCODER_CHANNELS];
t_boolean states[NUM_DIGITAL_CHANNELS];
t_double values[NUM_OTHER_CHANNELS];
qsched_param_t scheduling_parameters;
/* Increase our thread priority so we respond to the USB packets fast enough */
scheduling_parameters.sched_priority = qsched_get_priority_max(QSCHED_FIFO);
qthread_setschedparam(qthread_self(), QSCHED_FIFO, &scheduling_parameters);
result = hil_read(board, analog_channels, NUM_ANALOG_CHANNELS, encoder_channels, NUM_ENCODER_CHANNELS,
digital_channels, NUM_DIGITAL_CHANNELS, other_channels, NUM_OTHER_CHANNELS,
&voltages[0], &counts[0], &states[0], &values[0]);
if (result >= 0)
{
t_uint32 channel;
for (channel = 0; channel < NUM_ANALOG_CHANNELS; channel++)
printf("ADC #%d: %7.4f ", analog_channels[channel], voltages[channel]);
printf("\n");
for (channel = 0; channel < NUM_ENCODER_CHANNELS; channel++)
printf("ENC #%d: %7d ", encoder_channels[channel], counts[channel]);
printf("\n");
for (channel = 0; channel < NUM_DIGITAL_CHANNELS; channel++)
printf("DIG #%d: %7d ", digital_channels[channel], states[channel]);
printf("\n");
for (channel = 0; channel < NUM_OTHER_CHANNELS; channel++)
printf("OTH #%d: %7.0f ", other_channels[channel], values[channel]);
printf("\n");
}
else
{
msg_get_error_message(NULL, result, message, ARRAY_LENGTH(message));
printf("Unable to read channels. %s Error %d.\n", message, -result);
}
hil_close(board);
}
else
{
msg_get_error_message(NULL, result, message, ARRAY_LENGTH(message));
printf("Unable to open board. %s Error %d.\n", message, -result);
}
printf("\nPress Enter to continue.\n");
getchar();
return 0;
}

Answers (1)

Yongjian Feng
Yongjian Feng on 4 Jan 2022
If you can compile it and run it from terminal, can you just use the system command?
  1 Comment
Stefan Jakubjak
Stefan Jakubjak on 4 Jan 2022
It's not really what i want. i am using hil sdk- https://github.com/quanser/hil_sdk_linux_x86_64 to comunicate with hardware qube servo 2 and i would like to create block scheme in symulink so i can easily send inputs in and get outputs out of that without need to always make new file with makefile.

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