how can I resolve the compiling issue ? Adding a custom block to the Lego EV3 Simulink package

I am trying to produce s-function of following code to run it on ev3(legomindstorm)platform but I had trouble compiling the code using MinGw compiler from gcc in matlabR15-windows7.The error I get is that sys/mman.h does not exist. What do you suggest to solve it?

#include <fcntl.h>  
#include <stdio.h> 
#include  <string.h> 
#include  <sys/mman.h> 
#include  <sys/ioctl.h> 
#include "lms2012.h" 
#include "driver_ev3.h"
#include "driver_ev3_camera_sensor.h"  

//Runtime constants 
const int MAX_SAMPLES  = 100; 
const char XGL_PORT = 0x0; //EV3 label minus 1 
const int XGL_PACKET_SIZE = 10; //2(gyyro angle) + 2(gyro rate) + 2(acc x) + 2(acc y) + 2(acc z)  

float functionCdriver(void) 
{
//int main() 
//{ 
  //DEFINE VARIABLES 
  int xgl_device_file; 
  IIC     *pXgl; 
  IICDAT IicDat; 
  int i; 
  float angle; 
  float rate; 
  float acc_x; 
  float acc_y; 
  float acc_z; 

  //INITIALIZE DEVICE 
  //Open the device xgl_device_file 
  if((xgl_device_file = open(IIC_DEVICE_NAME, O_RDWR | O_SYNC)) == -1) 
  { 
    printf("Failed to open device\n"); 
    return -1;  
  } 
  pXgl  =(IIC*)mmap(0, sizeof(IIC), PROT_READ | PROT_WRITE, MAP_FILE | MAP_SHARED, xgl_device_file, 0); 
  if (pXgl == MAP_FAILED) 
  { 
    printf("Map failed\n"); 
    return -1; 
  } 

  //SPECIAL CONFIGURATION 
  //Setup IIC to read 2 packets 
  IicDat.Port = XGL_PORT; 
  IicDat.Time = 0; 
  IicDat.Repeat = 0; 
  IicDat.RdLng = XGL_PACKET_SIZE; 
  IicDat.WrLng = 2; 
  // Set the device I2C address 
  IicDat.WrData[0] = 0x02; 
  // Specify the register that will be read (0x42 = angle) 
  IicDat.WrData[1] = 0x42; 
  // Setup I2C comunication 
  ioctl(xgl_device_file,IIC_SETUP,&IicDat); 
  printf("Device is ready\n"); 
   
  //PROCESS SENSOR DATA 
  for(i = 0;i<MAX_SAMPLES;i++) 
  { 
    //Compute angle, angular rate and accelerations 
    //acc_z = (pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][0]*256+pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][1])/100.0; 
    //acc_y = (pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][2]*256+pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][3])/100.0; 
    //acc_x = (pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][4]*256+pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][5])/100.0; 
    //rate =  (pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][6]*256+pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][7])/100.0; 
    //angle = (pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][8]*256+pXgl->Raw[XGL_PORT][pXgl->Actual[XGL_PORT]][9])/100.0; 
        angle = (unsigned char)pIic->Raw[IIC_PORT][pIic->Actual[IIC_PORT]][0]; 
    //printf("Angle = %0.2f [deg], Rate = %0.2f [deg/s]\n", angle,rate); 
    //printf("AccX = %0.2f, AccY = %0.2f,AccZ = %0.2f [m/s^2g]\n\n", acc_x, acc_y, acc_z); 
    //sleep(1); 
  } 

  //CLOSE DEVICE 
  printf("Clossing device\n"); 
  //close(xgl_device_file); 
//  return 0; 
//}
    return(angle);
}

[john schlitz]

Hi, Anybody has a solution?

I have the same problem. sys/mman.h is missing when I compile with 64 bit gcc compiler.

Answer 1

[Shruti Sapre]

Hi,

I understand that you are using the MinGw on Windows7. The sys/mman.h is a Unix header file not available on Windows. You may have to use a Windows equivalent:

<http://stackoverflow.com/questions/29660492/windows-equivalent-for-sys-mman-h>

Hope this helps!

-Shruti

[Shdn]

Thanks for the reply. I tried to use mman.win also, but it leads to another errors of undeclared flags. As an example: 'O_SYNC' undeclared