Lookup Tables Implemented in Legacy Functions

Open Model

This example shows you how to use the Legacy Code Tool to integrate legacy C functions that implement N-dimensional table lookups.

The Legacy Code Tool allows you to:

Provide the legacy function specification,
Generate a C-MEX S-function that is used during simulation to call the legacy code, and
Compile and build the generated S-function for simulation.

Providing the Legacy Function Specification

Functions provided with the Legacy Code Tool take a specific data structure or array of structures as the argument. The data structure is initialized by calling the function legacy_code() using 'initialize' as the first input. After initializing the structure, you have to assign its properties to values corresponding to the legacy code being integrated. The prototype of the legacy function being called in this example is:

FLT directLookupTableND(const FLT *tableND, const UINT32 nbDims, const UINT32 *tableDims, const UINT32 *tableIdx)

where FLT is a typedef to float, and UINT32 is a typedef to unsigned int32. The legacy source code is found in the files your_types.h, lookupTable.h, and directLookupTableND.c.

defs = [];
evalin('base','load sldemo_lct_data.mat')

% sldemo_sfun_dlut3D
def = legacy_code('initialize');
def.SFunctionName = 'sldemo_sfun_dlut3D';
def.OutputFcnSpec = 'single y1 = DirectLookupTable3D(single p1[][][], uint32 p2[3], uint32 u1[3])';
def.HeaderFiles   = {'lookupTable.h'};
def.SourceFiles   = {'directLookupTableND.c'};
def.IncPaths      = {'sldemo_lct_src'};
def.SrcPaths      = {'sldemo_lct_src'};
defs = [defs; def];

% sldemo_sfun_dlut4D
def = legacy_code('initialize');
def.SFunctionName = 'sldemo_sfun_dlut4D';
def.OutputFcnSpec = 'single y1 = DirectLookupTable4D(single p1[][][][], uint32 p2[4], uint32 u1[4])';
def.HeaderFiles   = {'lookupTable.h'};
def.SourceFiles   = {'directLookupTableND.c'};
def.IncPaths      = {'sldemo_lct_src'};
def.SrcPaths      = {'sldemo_lct_src'};
defs = [defs; def];

Generating and Compiling an S-Function for Use During Simulation

The function legacy_code() is called again with the first input set to 'generate_for_sim' in order to automatically generate and compile the C-MEX S-function according to the description provided by the input argument 'defs'. This S-function is used to call the legacy functions in simulation. The source code for the S-function is found in the files sldemo_sfun_dlut3D.c and sldemo_sfun_dlut4D.c.

legacy_code('generate_for_sim', defs);

### Start Compiling sldemo_sfun_dlut3D
    mex('-I/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596/sldemo_lct_src', '-I/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596', '-c', '-outdir', '/tmp/Bdoc24a_2528353_1278045/tp9520a3eb_b2ab_476a_8a20_bc5dfbe3acf8', '/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596/sldemo_lct_src/directLookupTableND.c')
Building with 'gcc'.
MEX completed successfully.
    mex('sldemo_sfun_dlut3D.c', '-I/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596/sldemo_lct_src', '-I/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596', '/tmp/Bdoc24a_2528353_1278045/tp9520a3eb_b2ab_476a_8a20_bc5dfbe3acf8/directLookupTableND.o')
Building with 'gcc'.
MEX completed successfully.
### Finish Compiling sldemo_sfun_dlut3D
### Exit

### Start Compiling sldemo_sfun_dlut4D
    mex('-I/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596/sldemo_lct_src', '-I/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596', '-c', '-outdir', '/tmp/Bdoc24a_2528353_1278045/tp664a7d10_69b2_41ee_aed4_df91966c67a9', '/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596/sldemo_lct_src/directLookupTableND.c')
Building with 'gcc'.
MEX completed successfully.
    mex('sldemo_sfun_dlut4D.c', '-I/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596/sldemo_lct_src', '-I/tmp/Bdoc24a_2528353_1278045/tp459345a7/simulink_features-ex11439596', '/tmp/Bdoc24a_2528353_1278045/tp664a7d10_69b2_41ee_aed4_df91966c67a9/directLookupTableND.o')
Building with 'gcc'.
MEX completed successfully.
### Finish Compiling sldemo_sfun_dlut4D
### Exit

Generating an rtwmakecfg.m File for Code Generation

After the TLC block file is created, the function legacy_code() can be called again with the first input set to 'rtwmakecfg_generate' in order to generate an rtwmakecfg.m file to support code generation through Simulink® Coder™. Generate the rtwmakecfg.m file if the required source and header files for the S-functions are not in the same directory as the S-functions, and you want to add these dependencies in the makefile produced during code generation.

Note: Complete this step only if you are going to simulate the model in accelerated mode.

legacy_code('rtwmakecfg_generate', def);

Generating a Masked S-Function Block for Calling the Generated S-Function

After the C-MEX S-function source is compiled, the function legacy_code() can be called again with the first input set to 'slblock_generate' in order to generate a masked S-function block that is configured to call that S-function. The block is placed in a new model and can be copied to an existing model.

% legacy_code('slblock_generate', defs);

Integrate the Legacy Code

The model sldemo_lct_lut shows integration with the legacy code. The subsystem TestFixpt serves as a harness for the call to the legacy C function, and the Display blocks compare the output of the function with the output of the built-in Simulink® lookup blocks; the results are identical.

open_system('sldemo_lct_lut')
open_system('sldemo_lct_lut/TestLut1')
sim('sldemo_lct_lut');