Using Arduino libraries for S-function in Simulink

I have been trying to implement an S-function block in my Simulink model to control multiple magnetometers through an I2C multiplexer. The board I am using is an Arduino Due. I keep running into issues that seem to be related to the compatibility of Arduino code and Matlab code. The code that I am using to build my S-function block works perfectly in Arduino IDE, but seems to have issues in Simulink. I have the support package for Arduino and in this S-function I have included the wire and Mag3110 libraries. Below is the error I am getting.

In file included from ../Mag_wrapper.cpp:25:0: 
  ../SparkFun_MAG3110.cpp:80:23: error: variable or field 'readMag' declared void 
   void MAG3110::readMag(int16* x, int16* y, int16* z){ 
                         ^ 
  ../SparkFun_MAG3110.cpp:80:23: error: 'int16' was not declared in this scope 
  ../SparkFun_MAG3110.cpp:80:30: error: 'x' was not declared in this scope 
   void MAG3110::readMag(int16* x, int16* y, int16* z){ 
                                ^ 
  ../SparkFun_MAG3110.cpp:80:33: error: 'int16' was not declared in this scope 
   void MAG3110::readMag(int16* x, int16* y, int16* z){ 
                                   ^ 
  ../SparkFun_MAG3110.cpp:80:40: error: 'y' was not declared in this scope 
   void MAG3110::readMag(int16* x, int16* y, int16* z){ 
                                          ^ 
  ../SparkFun_MAG3110.cpp:80:43: error: 'int16' was not declared in this scope 
   void MAG3110::readMag(int16* x, int16* y, int16* z){ 
                                             ^ 
  ../SparkFun_MAG3110.cpp:80:50: error: 'z' was not declared in this scope 
   void MAG3110::readMag(int16* x, int16* y, int16* z){ 
                                                    ^ 
  ../Mag_wrapper.cpp:30:2: error: 'int16' does not name a type 
    int16 x, y, z; 
    ^ 
  ../Mag_wrapper.cpp:31:11: error: 'int y1' redeclared as different kind of symbol 
     int x1, y1, z1; 
             ^ 
  In file included from ../Mag_wrapper.cpp:17:0: 
  c:\programdata\matlab\supportpackages\r2017a\3p.instrset\arduinoide.instrset\idepkgs\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1\arm-none-eabi\include\math.h:469:15: error: previous declaration of 'double y1(double)' 
   extern double y1 _PARAMS((double)); 
                 ^ 
  ../Mag_wrapper.cpp: In function 'void Mag_Outputs_wrapper(uint8_T*, uint8_T*, uint8_T*, const real_T*)': 
  ../Mag_wrapper.cpp:77:16: error: 'tcaselect' was not declared in this scope 
       tcaselect(1); 
                  ^ 
  ../Mag_wrapper.cpp:78:27: error: no matching function for call to 'MAG3110::readMag(uint8_T**, uint8_T**, uint8_T**)' 
       mag.readMag(&x, &y, &z); 
                             ^ 
  ../Mag_wrapper.cpp:78:27: note: candidate is: 
  In file included from ../Mag_wrapper.cpp:24:0: 
  ../SparkFun_MAG3110.h:134:8: note: void MAG3110::readMag(int*, int*, int*) 
     void readMag(int* x, int* y, int* z); 
          ^ 
  ../SparkFun_MAG3110.h:134:8: note:   no known conversion for argument 1 from 'uint8_T** {aka unsigned char**}' to 'int*' 
  ../Mag_wrapper.cpp:80:8: error: invalid conversion from 'uint8_T* {aka unsigned char*}' to 'int' [-fpermissive] 
       x1 = x; 
          ^ 
  ../Mag_wrapper.cpp:81:8: error: assignment of function 'double y1(double)' 
       y1 = y; 
          ^ 
  ../Mag_wrapper.cpp:81:8: error: cannot convert 'uint8_T* {aka unsigned char*}' to 'double(double)' in assignment 
  ../Mag_wrapper.cpp:82:8: error: invalid conversion from 'uint8_T* {aka unsigned char*}' to 'int' [-fpermissive] 
       z1 = z; 
          ^ 
  ../Mag_wrapper.cpp:89:16: error: 'tcaselect' was not declared in this scope 
       tcaselect(3); 
                  ^ 
  ../Mag_wrapper.cpp:90:28: error: no matching function for call to 'MAG3110::readMag(uint8_T**, uint8_T**, uint8_T**)' 
       mag1.readMag(&x, &y, &z); 
                              ^ 
  ../Mag_wrapper.cpp:90:28: note: candidate is: 
  In file included from ../Mag_wrapper.cpp:24:0: 
  ../SparkFun_MAG3110.h:134:8: note: void MAG3110::readMag(int*, int*, int*) 
     void readMag(int* x, int* y, int* z); 
          ^ 
  ../SparkFun_MAG3110.h:134:8: note:   no known conversion for argument 1 from 'uint8_T** {aka unsigned char**}' to 'int*' 
  ../Mag_wrapper.cpp:93:8: error: invalid conversion from 'uint8_T* {aka unsigned char*}' to 'int' [-fpermissive] 
       x2 = x; 
          ^ 
  ../Mag_wrapper.cpp:94:8: error: invalid conversion from 'uint8_T* {aka unsigned char*}' to 'int' [-fpermissive] 
       y2 = y; 
          ^ 
  ../Mag_wrapper.cpp:95:8: error: invalid conversion from 'uint8_T* {aka unsigned char*}' to 'int' [-fpermissive] 
       z2 = z; 
          ^ 
  ../Mag_wrapper.cpp:102:16: error: 'tcaselect' was not declared in this scope 
       tcaselect(7); 
                  ^ 
  ../Mag_wrapper.cpp:103:28: error: no matching function for call to 'MAG3110::readMag(uint8_T**, uint8_T**, uint8_T**)' 
       mag2.readMag(&x, &y, &z); 
                              ^ 
  ../Mag_wrapper.cpp:103:28: note: candidate is: 
  In file included from ../Mag_wrapper.cpp:24:0: 
  ../SparkFun_MAG3110.h:134:8: note: void MAG3110::readMag(int*, int*, int*) 
     void readMag(int* x, int* y, int* z); 
          ^ 
  ../SparkFun_MAG3110.h:134:8: note:   no known conversion for argument 1 from 'uint8_T** {aka unsigned char**}' to 'int*' 
  ../Mag_wrapper.cpp:105:8: error: invalid conversion from 'uint8_T* {aka unsigned char*}' to 'int' [-fpermissive] 
       x3 = x; 
          ^ 
  ../Mag_wrapper.cpp:106:8: error: invalid conversion from 'uint8_T* {aka unsigned char*}' to 'int' [-fpermissive] 
       y3 = y; 
          ^ 
  ../Mag_wrapper.cpp:107:8: error: invalid conversion from 'uint8_T* {aka unsigned char*}' to 'int' [-fpermissive] 
       z3 = z; 
          ^ 
  ../Mag_wrapper.cpp: In function 'void Mag_Update_wrapper(uint8_T*, uint8_T*, uint8_T*, real_T*)': 
  ../Mag_wrapper.cpp:132:29: error: a function-definition is not allowed here before '{' token 
     void tcaselect(uint8_t i) { 
                               ^ 
  ../Mag_wrapper.cpp:142:1: error: expected '}' at end of input 
   } 
   ^ 
  gmake: *** [Mag_wrapper.o] Error 1 
  ### Creating HTML report file mag_test_codegen_rpt.html
  ### Build procedure for model: 'mag_test' aborted due to an error.
  Error(s) encountered while building "mag_test":
  ### Failed to generate all binary outputs.

[Gergo Igneczi]

Hi,

Did you manage to find a solution for this? I am running into the same porblems, although all headers and C files are in the same folder as my S-FUNCTION.

Thanks

[David Selorm]

Did you prefix the void statements in the wrapper.cpp file with extern 'C'? I think you should try that in the editor if you haven't done that yet

Answer 1

[Shashank]

Hi Sarah,

This might be a good starting point for your application:

Developing Simulink Device Driver Blocks: Step-By-Step Guide and Examples

- Shashank

Answer 2

[Michael Goebel]

Did anyone find a way to solve this?

i'm having the same problem.

i'm trying to define a function within the s-function output part.