S-Function to code Interrupts in Mega2560 fails for unknown reasons. Help requested.

Running S-Function to incorporate Arduino interrupts into Simulink for encoders. But the program errors out. It works fine at driving the motors but fails at getting encoder data when the S-Function is put in.

%%S-Function Parameters%%:

enc uint8 0 
pinA uint 8 18 
pinB uint8 19

%%Libraries%%:

# ifndef MATLAB_MEX_FILE 

# include <Arduino.h> 

typedef struct { int pinA; int pinB; int pos; int del;} Encoder; 
volatile Encoder Enc[1] = {0,0,0,0}; 

/* auxiliary function to handle encoder attachment */ 
int getIntNum(int pin) { 
/* returns the interrupt number for a given interrupt pin 
see http://arduino.cc/it/Reference/AttachInterrupt */ 
switch(pin) { 
case 2: 
return 0; 
case 3: 
return 1; 
case 21: 
return 2; 
case 20: 
return 3; 
case 19: 
return 4; 
case 18: 
return 5; 
default: 
return -1; 
} 
} 

/* Interrupt Service Routine: change on pin A for Encoder 0 */ 
void irsPinAEn0(){ 
Enc[0].pos++; /* going clockwise: increment */ 
} /* end ISR pin A Encoder 0 */ 

/* Interrupt Service Routine: change on pin B for Encoder 0 */ 
void isrPinBEn0(){ 
Enc[0].pos--; /* going counterclockwise: decrement */ 
} 

/* Interrupt Service Routine: change on pin A for Encoder 1 */ 
void irsPinAEn1(){ 
Enc[1].pos++; 
} /* end ISR pin A Encoder 1 */ 

/* Interrupt Service Routine: change on pin B for Encoder 1 */ 
void isrPinBEn1(){ 
Enc[1].pos--; */ 
} /* end ISR pin B Encoder 1 */ 

# endif

%%Outputs:%%

/* wait until after initialization is done */ 
if (xD[0]==1) { 

/* don't do anything for mex file generation */ 
# ifndef MATLAB_MEX_FILE 

/* get encoder position and set is as output */ 
pos[0]=Enc[enc[0]].pos; 

# endif 

}

%%Discrete Update%%:

if (xD[0]!=1) { 

/* don't do anything for MEX-file generation */ 
# ifndef MATLAB_MEX_FILE 

/* enc[0] is the encoder number and it can be 0,1 or 2 */ 
/* if other encoder blocks are present in the model */ 
/* up to a maximum of 3, they need to refer to a */ 
/* different encoder number */ 

/* store pinA and pinB in global encoder structure Enc */ 
/* they will be needed later by the interrupt routine */ 
/* that will not be able to access s-function parameters */ 

Enc[enc[0]].pinA=pinA[0]; /* set pin A */ 
Enc[enc[0]].pinB=pinB[0]; /* set pin B */ 

/* set encoder pins as inputs */ 
/*pinMode(Enc[enc[0]].pinA, INPUT); 
pinMode(Enc[enc[0]].pinB, INPUT); */ 

/* turn on pullup resistors */ 
/*digitalWrite(Enc[enc[0]].pinA, HIGH); 
digitalWrite(Enc[enc[0]].pinB, HIGH); */ 

/* attach interrupts */ 
switch(enc[0]) { 
case 0: 
attachInterrupt(getIntNum(Enc[0].pinA), irsPinAEn0, RISING); 
attachInterrupt(getIntNum(Enc[0].pinB), isrPinBEn0, RISING); 
break; 
case 1: 
attachInterrupt(getIntNum(Enc[1].pinA), irsPinAEn1, RISING); 
attachInterrupt(getIntNum(Enc[1].pinB), isrPinBEn1, RISING); 
break; 
} 

# endif 

/* initialization done */ 
xD[0]=1; 
}

%%ERRORMESSAGE%%:

The call to realtime_make_rtw_hook, during the after_make hook generated the following error: 
The build failed with the following message: "C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/tools/avr/bin/avr-gcc" -I"C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/include" -I"C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include" -I"C:/Users/Zeerek/SkyDrive/School Important/.Spring 2015/ME 107/final/Arduino/motorTest_rtt" -I"C:/Users/Zeerek/SkyDrive/School Important/.Spring 2015/ME 107/final/Arduino" -I"C:/Program Files/MATLAB/R2015a/extern/include" -I"C:/Program Files/MATLAB/R2015a/simulink/include" -I"C:/Program Files/MATLAB/R2015a/rtw/c/src" -I"C:/Program Files/MATLAB/R2015a/rtw/c/src/ext_mode/common" -I"C:/Program Files/MATLAB/R2015a/rtw/c/ert" -I"C:/Program Files/MATLAB/R2015a/toolbox/coder/rtiostream/src/utils" -I"C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/cores/arduino" -I"C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/variants/mega" -I"C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/libraries/Servo" -I"C:/Program Files/MATLAB/R2015a/rtw/c/src/ext_mode/serial" -I"C:/MATLAB/SupportPackages/R2015a/arduino/toolbox/realtime/targets/arduinomega2560/src" -mmcu=atmega2560 -ffunction-sections -fdata-sections -std=gnu99 -Wall -Wstrict-prototypes -g -Os -D"MODEL=motorTest" -D"NUMST=2" -D"NCSTATES=0" -D"HAVESTDIO=" -D"ON_TARGET_WAIT_FOR_START=1" -D"ONESTEPFCN=0" -D"EXT_MODE=1" -D"TERMFCN=1" -D"MAT_FILE=0" -D"MULTI_INSTANCE_CODE=0" -D"INTEGER_CODE=0" -D"MT=0" -D"CLASSIC_INTERFACE=0" -D"ALLOCATIONFCN=0" -D"TID01EQ=1" -D"F_CPU=16000000" -D"ARDUINO=105" -D"_RUNONTARGETHARDWARE_BUILD_=" -D"_ROTH_MEGA2560_=" -D"_RTT_NUMSERVOS_=0" -D"EXIT_FAILURE=1" -D"EXTMODE_DISABLEPRINTF=" -D"EXTMODE_DISABLETESTING=" -D"EXTMODE_DISABLE_ARGS_PROCESSING=1" -c -x none ./HardwareSerial.cpp ./IPAddress.cpp ./Print.cpp ./WInterrupts.c ./WMath.cpp ./WString.cpp ./new.cpp ./wiring.c ./wiring_analog.c ./wiring_digital.c ./rtiostream_serial.cpp ./io_wrappers.cpp ./ext_svr.c ./ext_work.c ./updown.c ./ext_serial_pkt.c ./ext_svr_serial_transport.c ./rtiostream_serial_interface.c ./rtiostream_utils.c ./ert_main.c ./motorTest.c ./motorTest_data.c ./sfcn_encoder_wrapper.c 
cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++ 
./HardwareSerial.cpp: In function 'void store_char(unsigned char, ring_buffer*)': 
./HardwareSerial.cpp:98: warning: comparison between signed and unsigned integer expressions 
./HardwareSerial.cpp: In function 'void __vector_25()': 
./HardwareSerial.cpp:127: warning: unused variable 'c' 
./HardwareSerial.cpp: In function 'void __vector_36()': 
./HardwareSerial.cpp:153: warning: unused variable 'c' 
./HardwareSerial.cpp: In function 'void __vector_51()': 
./HardwareSerial.cpp:168: warning: unused variable 'c' 
./HardwareSerial.cpp: In function 'void __vector_54()': 
./HardwareSerial.cpp:183: warning: unused variable 'c' 
./HardwareSerial.cpp: In member function 'void HardwareSerial::begin(long unsigned int, byte)': 
./HardwareSerial.cpp:368: warning: unused variable 'current_config' 
./HardwareSerial.cpp: In member function 'virtual size_t HardwareSerial::write(uint8_t)': 
./HardwareSerial.cpp:467: warning: comparison between signed and unsigned integer expressions 
cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++ 
./Print.cpp: In member function 'size_t Print::print(const __FlashStringHelper*)': 
./Print.cpp:44: warning: '__progmem__' attribute ignored 
cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++ 
./rtiostream_serial.cpp: In function 'int rtIOStreamOpen(int, void**)': 
./rtiostream_serial.cpp:28: warning: unused variable 'init_complete' 
cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++ 
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++ 
./io_wrappers.cpp: In function 'void Serial_read(int, int, uint8_t*, int16_t*)': 
./io_wrappers.cpp:70: warning: 'libFcnOutput' may be used uninitialized in this function 
./ext_work.c:259: warning: 'displayUsage' defined but not used 
In file included from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_blocks_abstraction.h:8,
from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_analogoutput_lct.h:11, 
from ./motorTest.h:36, 
from ./ert_main.c:21: 
C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/cores/arduino/Arduino.h:25:1: warning: "true" redefined 
In file included from ./motorTest.h:29, 
from ./ert_main.c:21: 
./rtwtypes.h:31:1: warning: this is the location of the previous definition 
In file included from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_blocks_abstraction.h:8,
from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_analogoutput_lct.h:11, 
from ./motorTest.h:36, 
from ./ert_main.c:21: 
C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/cores/arduino/Arduino.h:26:1: warning: "false" redefined 
In file included from ./motorTest.h:29, 
from ./ert_main.c:21: 
./rtwtypes.h:27:1: warning: this is the location of the previous definition 
./ert_main.c: In function '__vector_50': 
./ert_main.c:47: warning: implicit declaration of function 'rt_OneStep' 
./ert_main.c: At top level: 
./ert_main.c:54: warning: function declaration isn't a prototype 
./ert_main.c:71: warning: conflicting types for 'rt_OneStep' 
./ert_main.c:47: warning: previous implicit declaration of 'rt_OneStep' was here 
./ert_main.c: In function 'rt_OneStep': 
./ert_main.c:107: warning: 'eventFlags[1]' may be used uninitialized in this function 
In file included from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_blocks_abstraction.h:8,
from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_analogoutput_lct.h:11, 
from ./motorTest.h:36, 
from ./motorTest.c:21: 
C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/cores/arduino/Arduino.h:25:1: warning: "true" redefined 
In file included from ./motorTest.h:29, 
from ./motorTest.c:21: 
./rtwtypes.h:31:1: warning: this is the location of the previous definition 
In file included from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_blocks_abstraction.h:8,
from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_analogoutput_lct.h:11, 
from ./motorTest.h:36, 
from ./motorTest.c:21: 
C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/cores/arduino/Arduino.h:26:1: warning: "false" redefined 
In file included from ./motorTest.h:29, 
from ./motorTest.c:21: 
./rtwtypes.h:27:1: warning: this is the location of the previous definition 
In file included from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_blocks_abstraction.h:8,
from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_analogoutput_lct.h:11, 
from ./motorTest.h:36, 
from ./motorTest_data.c:21: 
C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/cores/arduino/Arduino.h:25:1: warning: "true" redefined 
In file included from ./motorTest.h:29, 
from ./motorTest_data.c:21: 
./rtwtypes.h:31:1: warning: this is the location of the previous definition 
In file included from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_blocks_abstraction.h:8,
from C:/MATLAB/SupportPackages/R2015a/arduinobase/toolbox/realtime/targets/arduino/blocks/sfcn/include/arduino_analogoutput_lct.h:11, 
from ./motorTest.h:36, 
from ./motorTest_data.c:21: 
C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/cores/arduino/Arduino.h:26:1: warning: "false" redefined 
In file included from ./motorTest.h:29, 
from ./motorTest_data.c:21: 
./rtwtypes.h:27:1: warning: this is the location of the previous definition 
In file included from ./sfcn_encoder_wrapper.c:17: 
C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/cores/arduino/Arduino.h:25:1: warning: "true" redefined 
In file included from ./sfcn_encoder_wrapper.c:11: 
./rtwtypes.h:31:1: warning: this is the location of the previous definition 
In file included from ./sfcn_encoder_wrapper.c:17: 
C:/MATLAB/SupportPackages/R2015a/arduino-1.0.5/hardware/arduino/cores/arduino/Arduino.h:26:1: warning: "false" redefined 
In file included from ./sfcn_encoder_wrapper.c:11: 
./rtwtypes.h:27:1: warning: this is the location of the previous definition 
./sfcn_encoder_wrapper.c:20: warning: missing braces around initializer 
./sfcn_encoder_wrapper.c:20: warning: (near initialization for 'Enc[0]') 
./sfcn_encoder_wrapper.c:45: warning: function declaration isn't a prototype 
./sfcn_encoder_wrapper.c:52: warning: function declaration isn't a prototype 
./sfcn_encoder_wrapper.c:57: warning: function declaration isn't a prototype 
./sfcn_encoder_wrapper.c:63: warning: function declaration isn't a prototype 
./sfcn_encoder_wrapper.c: In function 'isrPinBEn1': 
./sfcn_encoder_wrapper.c:64: error: expected expression before '/' token 
make: *** [HardwareSerial.o] Error 1

Answer 1

[Zeerek Ahmad]

Found the answer!

The line before the last one in the error excerpt says:

              "expected expression before '/' token"

That was a typo in the library part of the code. Checking other typos and fixing them, the error went away.

Notes to other users trying the same: Look at the bottom of the first half of the error message BEFORE the termination half.

[Anubhab Pal]

I am trying to do the same for few days. Can you please share the step by step procedure?

Answer 2

[mrydnz]

volatile Encoder Enc[1] = {0,0,0,0}; You need to initialize for 'Enc[0]'