目录

前言

一、安装Embedded Coder

二、Simulink中使用Embeded Coder 

三、获取编码器输入波形并显示

最终效果 

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前言

使用Embedded Coder Support for STMicroelectronics Discovery Boards and Simulink来编译，载入，运行simulation model 在stm32设备上

• 快速原型开发，部署，执行
• 实时参数整定和日志记录
• PIL处理器在环
• 访问外设等

共有二个产品

• Embedded Coder Support for STMicroelectronics Discovery Boards
• Simulink Coder Support for STMicroelectronics Nucleo Boards

 参考STMicroelectronics Hardware Support from Simulink - MATLAB & Simulink

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一、安装Embedded Coder

注意需要matlab 2017b及以上版本，下载过程中不要再点击获取硬件支持包，不然又得重新下载= = |,这里可能需要宁有个靠谱的和谐工具..

下载及配置STM32CubeMX路径

• STM32CubeProgrammer 
• STM32CubeMX 

这里我一直使用的是STM32CubeIDE,貌似目前还不支持，所以又下载了个Stm32CubeMX

 安装f4相关的fw,这里默认下载的安装路径位于 C:\Users\Administrator\STM32Cube\Repository

下载STM32F4DISCOVERY board firmware package, including 22 examples (covering USB Host, audio, MEMS accelerometer and microphone) ，并将其解压到 C:\Users\Administrator\STM32Cube\Repository\STM32F4-Discovery_FW_V1.1.0

二、Simulink中使用Embeded Coder 

新建模型，ctrl+ E打开参数配置

我这里使用的是odrive v3.5硬件的文件，点击Launch打开查看相关硬件配置

 这里的Do not generate the main()需要勾选

 这里后面证实，直接生成HAL代码也是可以，不一定要LL

三、获取编码器输入波形并显示

ctrl + shift + L 打开library，选择

从硬件连接中知道M0编码器ABZ信号分别接到了PB4, PB5 和PC9, 但实际上编码器使用的是stm32的正交解码，所以不能简单的通过Digital Port Read来获取

注意这部分没有成功实验，[TBD，成功后会删除]

再编译过程中遇到了一堆的编译出错，然后各种排查,首先是matlab 生成stm32代码的结构如下

├─.vscode
├─Core // cubeMX 生成的初始化文件
│  ├─Inc
│  └─Src
├─Drivers // cubeMX 生成的初始化文件
│  ├─CMSIS
│  │  ├─Device
│  │  │  └─ST
│  │  │      └─STM32F4xx
│  │  │          ├─Include
│  │  │          └─Source
│  │  │              └─Templates
│  │  └─Include
│  └─STM32F4xx_HAL_Driver
│      ├─Inc
│      │  └─Legacy
│      └─Src
├─Middlewares // cubeMX 生成的初始化文件
│  ├─ST
│  │  └─STM32_USB_Device_Library
│  │      ├─Class
│  │      │  └─CDC
│  │      │      ├─Inc
│  │      │      └─Src
│  │      └─Core
│  │          ├─Inc
│  │          └─Src
│  └─Third_Party
│      └─FreeRTOS
│          └─Source
│              ├─CMSIS_RTOS
│              ├─include
│              └─portable
│                  ├─GCC
│                  │  └─ARM_CM4F
│                  └─MemMang
├─slprj  // 这部分为simulink模型生成的临时文件，方式崩溃时候数据丢失，不用管
│  └─ert
│      ├─stm
│      │  └─tmwinternal
│      └─_sharedutils
├─stm_ert_rtw // 模型生成的c文件主要再这里
│  └─tmwinternal
├─SW4STM32
│  └─Odrive
└─USB_DEVICE // cubeMX 生成的初始化文件
    ├─App
    └─Target

错误一： 

srt_main.c中引用的各种函数没有定义，再排查后发现，比如MX_GPIO_Init()中定义再Core/inc/gpio.h中，但是ert_main.c 包含了main.h中没有#include "gpio.h", 导致没有找到

C:/Users/Administrator/Documents/MATLAB/stm_ert_rtw/ert_main.c:60:3: warning: implicit declaration of function 'SystemClock_Config'; did you mean 'SysTick_Config'? [-Wimplicit-function-declaration]
   60 |   SystemClock_Config();
      |   ^~~~~~~~~~~~~~~~~~
      |   SysTick_Config
C:/Users/Administrator/Documents/MATLAB/stm_ert_rtw/ert_main.c:61:3: warning: implicit declaration of function 'MX_GPIO_Init'; did you mean 'LL_GPIO_Init'? [-Wimplicit-function-declaration]
   61 |   MX_GPIO_Init();
      |   ^~~~~~~~~~~~
      |   LL_GPIO_Init
C:/Users/Administrator/Documents/MATLAB/stm_ert_rtw/ert_main.c:62:3: warning: implicit declaration of function 'MX_DMA_Init'; did you mean 'LL_DMA_Init'? [-Wimplicit-function-declaration]
   62 |   MX_DMA_Init();
      |   ^~~~~~~~~~~
      |   LL_DMA_Init
C:/Users/Administrator/Documents/MATLAB/stm_ert_rtw/ert_main.c:63:3: warning: implicit declaration of function 'MX_ADC1_Init'; did you mean 'LL_ADC_Init'? [-Wimplicit-function-declaration]
   63 |   MX_ADC1_Init();
      |   ^~~~~~~~~~~~
      |   LL_ADC_Init
C:/Users/Administrator/Documents/MATLAB/stm_ert_rtw/ert_main.c:64:3: warning: implicit declaration of function 'MX_ADC2_Init'; did you mean 'LL_ADC_Init'? [-Wimplicit-function-declaration]
   64 |   MX_ADC2_Init();
      |   ^~~~~~~~~~~~
      |   LL_ADC_Init
C:/Users/Administrator/Documents/MATLAB/stm_ert_rtw/ert_main.c:65:3: warning: implicit declaration of function 'MX_CAN1_Init'; did you mean 'HAL_CAN_Init'? [-Wimplicit-function-declaration]
   65 |   MX_CAN1_Init();
      |   ^~~~~~~~~~~~
      |   HAL_CAN_Init
C:/Users/Administrator/Documents/MATLAB/stm_ert_rtw/ert_main.c:66:3: warning: implicit declaration of function 'MX_TIM1_Init' [-Wimplicit-function-declaration]
   66 |   MX_TIM1_Init();
      |   ^~~~~~~~~~~~

解决办法：

再main.h中添加

/* USER CODE BEGIN Includes */
#include "adc.h"
#include "can.h"
#include "dma.h"
#include "gpio.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
extern void SystemClock_Config(void);
/* USER CODE END Includes */

错误二

C:/ProgramData/MATLAB/SupportPackages/R2021b/3P.instrset/cmsis.instrset/CMSIS/DSP/Lib/GCC/libarm_cortexM4lf_math.a  -lm
c:/progra~3/matlab/suppor~1/r2021b/3p778c~1.ins/gnuarm~1.ins/win/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/bin/ld.exe: port.o: in function `SVC_Handler':
port.c:(.text.SVC_Handler+0x0): multiple definition of `SVC_Handler'; m3m4m4f_multitasking.o:m3m4m4f_multitasking.c:(.text.SVC_Handler+0x0): first defined here
c:/progra~3/matlab/suppor~1/r2021b/3p778c~1.ins/gnuarm~1.ins/win/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/bin/ld.exe: port.o: in function `PendSV_Handler':
port.c:(.text.PendSV_Handler+0x0): multiple definition of `PendSV_Handler'; m3m4m4f_multitasking.o:m3m4m4f_multitasking.c:(.text.PendSV_Handler+0x0): first defined here
c:/progra~3/matlab/suppor~1/r2021b/3p778c~1.ins/gnuarm~1.ins/win/bin/../lib/gcc/arm-none-eabi/9.3.1/../../../../arm-none-eabi/bin/ld.exe: port.o: in function `SysTick_Handler':
port.c:(.text.SysTick_Handler+0x0): multiple definition of `SysTick_Handler'; SysTickScheduler.o:SysTickScheduler.c:(.text.SysTick_Handler+0x0): first defined here
collect2.exe: error: ld returned 1 exit status
gmake: *** [../stm.elf] Error 1
C:\Users\Administrator\Documents\MATLAB\stm_ert_rtw>echo The make command returned an error of 2
The make command returned an error of 2
C:\Users\Administrator\Documents\MATLAB\stm_ert_rtw>exit /B 1
### Build procedure for stm aborted due to an error.

这里不确定这里为啥会有multiple definition ，具体原因还没有深究，解决办法是把这两个文件中关于SysTick_Handler和PendSV_Handler 两个函数备注了

C:\ProgramData\MATLAB\SupportPackages\R2021b\toolbox\target\supportpackages\armcortexmbase\scheduler\src\m3m4m4f_multitasking.c

C:\ProgramData\MATLAB\SupportPackages\R2021b\toolbox\target\supportpackages\armcortexmbase\scheduler\src\SysTickScheduler.c

后得以编译通过

最终效果 

编译，下载，运行

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