How to output on custom device block?

Greetings,

I am having trouble with my Device Driver Block.

It never outputs a 1 even though I have confirmed that the device is connecting via the Arduino IDE and a Logic Analyzer. Where am I going wrong?

Have a look at the wrapper code:

#include "C:\Users\Coach\MATLAB Drive\DriverBlocks\RoboClaw\RoboClawDriver.h"
#include <Arduino.h>
#include "RoboClaw.h"

// SerialPins uint8 [2,1] Non tunable

HardwareSerial *hSerial = &Serial1;
RoboClaw myRoboClaw(hSerial, 2000);

void setupFunctionRoboClawDriver(uint8_T * SerialPins,int size_vector__1){

    hSerial->begin(38400);
    Serial.println("Testing Connection");

    char version[32];
    if (myRoboClaw.ReadVersion(0x80, version)) {
        Serial.println("Connected to the RoboClaw!");
    } else {
        Serial.println("Failed to read RoboClaw version.");
    }
}

void stepFunctionRoboClawDriver(boolean_T *Connected,int size_vector_1){
    int retries = 3;
    char version[32];

    while(retries-- > 0){
        if(myRoboClaw.ReadVersion(0x80, version)) {
            *Connected = true;
            Serial.println(*Connected);
            break;
        } else {
            *Connected = false;
            Serial.println("Error");
        }
    }

    if (!*Connected) {
        Serial.println("Failed to connect to RoboClaw after retries.");
    }
    delay(10);
}

In my System Object Code, I am asking it to send the output of the wrapper to the output port on my block. I can see it works in simulation mode. However, it does not work in external mode.

classdef RoboClawDriver < matlab.System ...
        & coder.ExternalDependency ...
        & matlabshared.sensors.simulink.internal.BlockSampleTime

    % RoboClaw Arduino Driver
    %#codegen
    %#ok<*EMCA>

    properties

    end

    properties(Access = protected)
        Logo = 'IO Device Builder';
    end

    properties (Nontunable)
        SerialPins = uint8([10;11]);
    end

    properties (Access = private)


    end

    methods
        % Constructor
        function obj = RoboClawDriver(varargin)
            setProperties(obj,nargin,varargin{:});
        end
    end

    methods (Access=protected)
        function setupImpl(obj)
            if ~coder.target('MATLAB')
                coder.cinclude('RoboClawDriver.h');
                coder.ceval('setupFunctionRoboClawDriver', (obj.SerialPins),2);
            end
        end

        function validateInputsImpl(obj,varargin)
            %  Check the input size
            if nargin ~=0



            end
        end

        function Connected = stepImpl(obj)
            Connected = boolean(zeros(1,1));

            if isempty(coder.target)
                Connected = true;
            else
                coder.ceval('stepFunctionRoboClawDriver',coder.ref(Connected),1);
            end
        end

        function releaseImpl(obj)
            if isempty(coder.target)
            else

            end
        end
    end

    methods (Access=protected)
        %% Define output properties
        function num = getNumInputsImpl(~)
            num = 0;
        end

        function num = getNumOutputsImpl(~)
            num = 1;
        end

        function varargout = getInputNamesImpl(obj)

        end

        function varargout = getOutputNamesImpl(obj)
            varargout{1} = 'Connected';
        end

        function flag = isOutputSizeLockedImpl(~,~)
            flag = true;
        end

        function varargout = isOutputFixedSizeImpl(~,~)
            varargout{1} = true;
        end

        function varargout = isOutputComplexImpl(~)
            varargout{1} = false;
        end

        function varargout = getOutputSizeImpl(~)
            varargout{1} = [1,1];
        end

        function varargout = getOutputDataTypeImpl(~)
            varargout{1} = 'boolean';
        end

        function maskDisplayCmds = getMaskDisplayImpl(obj)
            outport_label = [];
            num = getNumOutputsImpl(obj);
            if num > 0
                outputs = cell(1,num);
                [outputs{1:num}] = getOutputNamesImpl(obj);
                for i = 1:num
                    outport_label = [outport_label 'port_label(''output'',' num2str(i) ',''' outputs{i} ''');' ]; %#ok<AGROW>
                end
            end
            inport_label = [];
            num = getNumInputsImpl(obj);
            if num > 0
                inputs = cell(1,num);
                [inputs{1:num}] = getInputNamesImpl(obj);
                for i = 1:num
                    inport_label = [inport_label 'port_label(''input'',' num2str(i) ',''' inputs{i} ''');' ]; %#ok<AGROW>
                end
            end
            icon = 'RoboClawDriver';
            maskDisplayCmds = [ ...
                ['color(''white'');',...
                'plot([100,100,100,100]*1,[100,100,100,100]*1);',...
                'plot([100,100,100,100]*0,[100,100,100,100]*0);',...
                'color(''blue'');', ...
                ['text(38, 92, ','''',obj.Logo,'''',',''horizontalAlignment'', ''right'');',newline],...
                'color(''black'');'], ...
                ['text(52,50,' [''' ' icon ''',''horizontalAlignment'',''center'');' newline]]   ...
                inport_label ...
                outport_label
                ];
        end

        function sts = getSampleTimeImpl(obj)
            sts = [e-mail](obj);
        end
    end

    methods (Static, Access=protected)
        function simMode = getSimulateUsingImpl(~)
            simMode = 'Interpreted execution';
        end

        function isVisible = showSimulateUsingImpl
            isVisible = false;
        end
    end

    methods (Static)
        function name = getDescriptiveName(~)
            name = 'RoboClawDriver';
        end

        function tf = isSupportedContext(~)
            tf = true;
        end

        function updateBuildInfo(buildInfo, context)
            coder.extrinsic('codertarget.targethardware.getTargetHardware');
            hCS = coder.const(getActiveConfigSet(bdroot));
            targetInfo = coder.const(codertarget.targethardware.getTargetHardware(hCS));

            % Added this env variable to fetch the comm libraries required only for Arduino target.
            % The env variable is cleared at the end of
            % "GenerateWrapperMakefile.m" file.
            if contains(targetInfo.TargetName,'arduinotarget')
                setenv('Arduino_ML_Codegen_I2C', 'Y');
            end
            addDefines(buildInfo, '__AVR__');

            addIncludePaths(buildInfo, 'C:\ProgramData\MATLAB\SupportPackages\R2024b\aCLI\data\packages\arduino\hardware\avr\1.8.3\libraries\SoftwareSerial\src');
            addSourceFiles(buildInfo, 'SoftwareSerial.cpp', 'C:\ProgramData\MATLAB\SupportPackages\R2024b\aCLI\data\packages\arduino\hardware\avr\1.8.3\libraries\SoftwareSerial\src');

            buildInfo.addIncludePaths('C:\Users\Coach\Downloads\arduino\RoboClaw');

            buildInfo.addIncludePaths('C:\Users\Coach\MATLAB Drive\DriverBlocks\RoboClaw');
            addSourceFiles(buildInfo,'RoboClaw.cpp','C:\Users\Coach\Downloads\arduino\RoboClaw');
            addSourceFiles(buildInfo,'RoboClawDriver.cpp','C:\Users\Coach\MATLAB Drive\DriverBlocks\RoboClaw');

        end
    end
end

[Clayton Allen]

I can confirm that modifying the driver function to a hardcoded value such as:

void stepFunctionRoboClawDriver(uint8_T* Connected,int size_vector_1){
    Connected = 1;
    delay(10);
}

Will indeed update the output port on my driver block. So there must be an issue with my logic...

[KUKENTEREN]

Here’s the complete implementation combining all necessary changes, both on the C++ and MATLAB sides:

---

C++ Implementation (RoboClawDriver.cpp)

#include "RoboClawDriver.h"

#include <SoftwareSerial.h>

#include "RoboClaw.h"

// Define RX and TX pins

SoftwareSerial mySerial(10, 11); // Replace with the correct pins

RoboClaw roboclaw(&mySerial, 10000);

void setupFunctionRoboClawDriver(uint8_T* SerialPins, int size_vector_1) {

mySerial.begin(9600); // Initialize the SoftwareSerial communication

}

void stepFunctionRoboClawDriver(uint8_T* Connected, int size_vector_1) {

uint8_t address = 0x80; // RoboClaw address (default is 0x80)

uint16_t version;

// Attempt to read the main battery voltage

if (roboclaw.ReadMainBatteryVoltage(address, version)) {

*Connected = 1; // Connection successful

} else {

*Connected = 0; // Connection failed

}

}

---

MATLAB System Object (RoboClawDriver.m)

classdef RoboClawDriver < matlab.System & coder.ExternalDependency

%#codegen

properties (Nontunable)

SerialPins = uint8([10; 11]); % Define Serial Pins

end

methods (Access = protected)

function setupImpl(obj)

if ~coder.target('MATLAB') % Code generation check

coder.cinclude('RoboClawDriver.h');

coder.ceval('setupFunctionRoboClawDriver', obj.SerialPins, 2);

end

end

function Connected = stepImpl(obj)

Connected = boolean(zeros(1, 1)); % Initialize output

if isempty(coder.target) % Simulate in MATLAB

Connected = true; % Always connected during simulation

else

coder.ceval('stepFunctionRoboClawDriver', coder.ref(Connected), 1);

end

end

end

methods (Static)

function name = getDescriptiveName()

name = 'RoboClawDriver';

end

function tf = isSupportedContext()

tf = true;

end

function updateBuildInfo(buildInfo, context)

addIncludePaths(buildInfo, 'path_to_RoboClaw_library');

addSourceFiles(buildInfo, 'RoboClawDriver.cpp', 'path_to_source');

 end

    end

end

[Clayton Allen]

I tried several permutations of the following solution. And still can't get the outputs to work.

extern "C" void stepFunctionRoboClaw_ReadTemp(uint8_t address, int32_t *temp, bool *valid) {
    delay(100);
    uint16_t temperature;
    bool isValid = myRoboClaw.ReadTemp(address, temperature);
    Serial.println(temperature);
    *temp = static_cast<int32_t>(temperature); // Convert uint16_t to int32_t for MATLAB compatibility
    *valid = isValid;

    Serial.print("Address: ");
    Serial.println(address);
    Serial.print("Temperature: ");
    Serial.println(*temp);
    Serial.print("Valid: ");
    Serial.println(*valid);
}

The above code will print to the Serial Monitor of the Arduino IDE just fine as long as I comment out the ReadVersion as seen below.

void stepFunctionRoboClaw_Basic_Driver(bool * Connected_Status,int size_vector_1,uint32_T * L_Encoder,int size_vector_2,uint32_T * R_Encoder,int size_vector_3,uint32_T * L_Motor_Speed,int size_vector_4,uint32_T * R_MotorSpeed,int size_vector_5,uint8_T L_Motor_Cmd,int size_vector_a,uint8_T R_Motor_Cmd,int size_vector_b){
    // delay(100);
    // char version[32];
    // Serial.println("Requesting Version...");
    // bool success = myRoboClaw.ReadVersion(0x80, version);
    // 
    // if (success) {
    //     Connected_Status = 1;
    //     Serial.print("Version: ");
    //     Serial.println(version);
    // } else {
    //     Connected_Status = 0;
    //     Serial.println("Failed to read version.");
    // }
}

I notice the Serial Monitor will eventually show 0s in the temp and valid lines

function [Connected_Status,L_Encoder,R_Encoder,L_Motor_Speed,R_MotorSpeed, Temperature] = stepImpl(obj ,L_Motor_Cmd,R_Motor_Cmd)
            Connected_Status = boolean(zeros(1,1));
            L_Encoder = uint32(zeros(1,1));
            R_Encoder = uint32(zeros(1,1));
            L_Motor_Speed = uint32(zeros(1,1));
            R_MotorSpeed = uint32(zeros(1,1));
            Temperature = int32(zeros(1, 1)); % Add Temperature as an output
            if isempty(coder.target)
            else
                temp = int32(0);
                valid = false;
                coder.ceval('stepFunctionRoboClaw_ReadTemp', uint8(128), coder.ref(temp), coder.ref(valid));
                Temperature = temp; % Assign output
                coder.ceval('stepFunctionRoboClaw_Basic_Driver',coder.ref(Connected_Status),1,coder.ref(L_Encoder),1,coder.ref(R_Encoder),1,coder.ref(L_Motor_Speed),1,coder.ref(R_MotorSpeed),1, L_Motor_Cmd,1, R_Motor_Cmd,1);
            end
end

This is how I am calling it in the object. Nothing but 0s...

[Clayton Allen]

This is so FRUSTRATING!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

I am STILL NOT getting the output ports to display anything!!!!!!!!!!!!!!!!!!!!! Even with hardcoded values.

#include "C:\Users\Coach\MATLAB Drive\DriverBlocks\motorDriver\include\motorDriver.h"
#include <Arduino.h>
#include "RoboClaw.h"

HardwareSerial *hSerial = &Serial1;
RoboClaw myRoboClaw(hSerial,2000);

extern "C" void setupFunction() {
    delay(100);
    hSerial->begin(38400);
    Serial.println("Setup");
}

extern "C" void stepFunction(uint8_T address, int32_T *temp, boolean_T *valid) {
    delay(100);
    uint16_t temperature;
    bool isValid = myRoboClaw.ReadTemp(address, temperature);
    *temp = static_cast<int32_t>(temperature);
    *valid = isValid;
    Serial.print("Temperature: ");
    Serial.println(temperature);
    Serial.print("Valid: ");
    Serial.println(isValid);
}

and

#ifndef _MOTORDRIVER_H
#define _MOTORDRIVER_H
#if !( defined(MATLAB_MEX_FILE) || defined(RSIM_PARAMETER_LOADING) ||  defined(RSIM_WITH_SL_SOLVER))
#include "rtwtypes.h"
#ifdef __cplusplus
extern "C" {
    #endif
    void stepFunction(uint8_T address, int32_T *temp, boolean_T *valid);
    void setupFunction();    
    #ifdef __cplusplus
}
#endif
#else
#define loop(void) (0)
#define setup(void) (0)
#endif
#endif

and

classdef MotorDriver < matlab.System & coder.ExternalDependency

    % Another attempt to implement the RoboClaw Driver at an ever futher
    % incremental level. I hope this doesn't suck.

    %#codegen
    %#ok<*EMCA>

    properties
        % Public, tunable properties.
    end

    properties (Nontunable)
        % Public, non-tunable properties.
    end

    properties (Access = private)
        % Pre-computed constants.
        Temperature
        Valid
    end

    methods
        % Constructor
        function obj = MotorDriver(varargin)
            % Support name-value pair arguments when constructing the object.
            setProperties(obj,nargin,varargin{:});
        end
    end

    methods (Access=protected)
        function setupImpl(obj) %#ok<MANU>
            if coder.target("Rtw")
                % Place simulation setup code here
                coder.cinclude("motorDriver.h");
                coder.ceval('setupFunction');
            else
                % Something
            end
        end

        function [Temperature, Valid] = stepImpl(obj,u)  %#ok<INUSD>
            if coder.target("Rtw")
                temp = int32(0);
                valid = false;
                coder.cinclude("motorDriver.h");
                coder.ceval('stepFunction',uint8(128), coder.ref(temp), coder.ref(valid));
                Temperature = temp;
                Valid = valid;
            else
                Temperature = int32(98);
                Valid = false;
            end
        end

        function releaseImpl(obj) %#ok<MANU>
            if isempty(coder.target)
                % Place simulation termination code here
            else
                % Call C-function implementing device termination
                %coder.ceval('sink_terminate');
            end
        end
    end

    methods (Access=protected)
        %% Define input properties
        function num = getNumInputsImpl(~)
            num = 1;
        end

        function num = getNumOutputsImpl(~)
            num = 2;
        end

        function varargout = getOutputNamesImpl(obj)
            varargout{1} = 'Temperature';
            varargout{2} = 'Valid';
        end

        function flag = isOutputSizeLockedImpl(~,~)
            flag = true;
        end

        function varargout = isOutputFixedSizeImpl(~,~)
            varargout{1} = true;
            varargout{2} = true;
        end

        function varargout = isOutputComplexImpl(~)
            varargout{1} = false;
            varargout{2} = false;
        end

        function varargout = getOutputSizeImpl(~)
            varargout{1} = [1,1];
            varargout{2} = [1,1];
        end

        function varargout = getOutputDataTypeImpl(~)
            varargout{1} = 'int32';
            varargout{2} = 'boolean';
        end

        function icon = getIconImpl(~)
            % Define a string as the icon for the System block in Simulink.
            icon = 'Sink';
        end
    end

    methods (Static, Access=protected)
        function simMode = getSimulateUsingImpl(~)
            simMode = 'Interpreted execution';
        end

        function isVisible = showSimulateUsingImpl
            isVisible = false;
        end
    end

    methods (Static)
        function name = getDescriptiveName(~)
            name = 'motorDriver';
        end

        function tf = isSupportedContext(~)
            tf = true;
        end

        function updateBuildInfo(buildInfo, context)
            buildInfo.addDefines('USE_HARDWARESERIAL');
            if context.isCodeGenTarget("rtw")
                % Update buildInfo
                srcDir = fullfile(fileparts(mfilename("fullpath")), 'src');
                includeDir = fullfile(fileparts(mfilename("fullpath")), 'include');
                libDir = fullfile(fileparts(mfilename("fullpath")), 'libraries');

                % Include header files
                addIncludePaths(buildInfo, includeDir);
                addIncludePaths(buildInfo, libDir);

                addSourceFiles(buildInfo, 'motorDriver.cpp', srcDir);
                addSourceFiles(buildInfo, 'RoboClaw.cpp', libDir);
                boardInfo = arduino.supportpkg.getBoardInfo;

                switch boardInfo.Architecture
                    case 'avr'
                        addIncludePaths(buildInfo, 'C:\ProgramData\MATLAB\SupportPackages\R2024b\aCLI\data\packages\arduino\hardware\avr\1.8.3\libraries\SoftwareSerial\src');
                        addSourceFiles(buildInfo, 'SoftwareSerial.cpp', 'C:\ProgramData\MATLAB\SupportPackages\R2024b\aCLI\data\packages\arduino\hardware\avr\1.8.3\libraries\SoftwareSerial\src');
                        % case 'sam'
                        % case 'samd'
                    otherwise
                        warning('Unexpected board type. Please check your board and try again');
                end
            end
        end
    end
end

At this point I am posting this here as a function of git and version control posting to this community is basically futile.

Answer 1

[Aditya Shah]

Hello Clayton,

I've noticed that you've included numerous "Serial.println" statements in your code. Note that Simulink interfaces with Arduino in external mode using a serial connection over USB.

Try removing all the serial print statements and see if that resolves the issue.

[Clayton Allen]

I did just that last nite right after my last input and it works! I have been smacking my head against this problem for a week. And it was all about the serial.println... Thanks for you answer and I hope that is helps some other person in the future.