diff --git a/adaptors/matlab/Makefile b/adaptors/matlab/Makefile
index 393415e9e28c90ed06d40fe9607dbe5b2d9e30dd..561bfd6da50cf58ee9fecd5e3cb29de9a65785bf 100644
--- a/adaptors/matlab/Makefile
+++ b/adaptors/matlab/Makefile
@@ -1,22 +1,9 @@
LIBRARIES=libmoberg4simulink.so
-SFUNC=analogin analogout digitalin digitalout encoderin
-MATLAB_VERSION=
-MEX=MATLAB_VERSION=$(MATLAB_VERSION) mex
-MEX_SUFFIX=$(shell $(MEX) -v -n analogin.c \
- | sed -e 's/^.*LDEXTENSION.*[.]\(mex.*\)/\1/p;d')
-
-CCFLAGS+=-Wall -Werror -I. -I../.. -g
+CCFLAGS+=-Wall -Werror -O3 -I. -I../.. -g
all: $(LIBRARIES:%=../../build/%)
-.PHONY: SFUNC
-SFUNC: $(SFUNC:%=../../build/%.$(MEX_SUFFIX))
-
../../build/libmoberg4simulink.so: moberg4simulink.c Makefile
$(CC) -o $@ $(CCFLAGS) -L../../build -shared -fPIC -lmoberg $<
../../build/libmoberg4simulink.so: ../../moberg.h
-
-../../build/%.$(MEX_SUFFIX): %.c Makefile
- $(MEX) CFLAGS="$(CCFLAGS) -fPIC" \
- -outdir ../../build -L../../build -lmoberg4simulink $<
diff --git a/adaptors/matlab/Makefile.mex b/adaptors/matlab/Makefile.mex
new file mode 100644
index 0000000000000000000000000000000000000000..322bed350e3c0a2a193c886f1085559d82a4a03e
--- /dev/null
+++ b/adaptors/matlab/Makefile.mex
@@ -0,0 +1,26 @@
+MATLAB_VERSION=
+MEX=MATLAB_VERSION=$(MATLAB_VERSION) mex
+SUFFIX=$(shell $(MEX) -v -n analogin.c 2>&1 | \
+ sed -e 's/^.*LDEXTENSION.*[.]\(mex.*\)/\1/p;d')
+TARGETS=realtimer \
+ analogin analogout \
+ digitalin digitalout \
+ encoderin
+
+EXTRAFLAGS_realtimer=
+EXTRAFLAGS_analogin=-lmoberg4simulink
+EXTRAFLAGS_analogout=-lmoberg4simulink
+EXTRAFLAGS_digitalin=-lmoberg4simulink
+EXTRAFLAGS_digitalout=-lmoberg4simulink
+EXTRAFLAGS_encoderin=-lmoberg4simulink
+
+all: $(TARGETS:%=%.$(SUFFIX))
+
+%.$(SUFFIX): %.c Makefile
+ $(MEX) CFLAGS='$$CFLAGS -Wall -Werror -I.' $< $(EXTRAFLAGS_$*)
+
+clean:
+ rm -f *~
+
+realclean: clean
+ rm -f $(TARGETS:%=%.mex*)
diff --git a/adaptors/matlab/realtimer.c b/adaptors/matlab/realtimer.c
new file mode 100644
index 0000000000000000000000000000000000000000..2f7b1e82ea5d6ec8781fe15bc428467131197b49
--- /dev/null
+++ b/adaptors/matlab/realtimer.c
@@ -0,0 +1,137 @@
+/*
+ realtimer.c,
+ a MEX file for syncing elapsed Simulink time to elapsed wall time.
+
+ Copyright (C) 1999-2005 Anders Blomdell <anders.blomdell@control.lth.se>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+
+*/
+
+#define S_FUNCTION_LEVEL 2
+#define S_FUNCTION_NAME realtimer
+
+#include "simstruc.h"
+#include <sys/time.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <time.h>
+
+static unsigned long long TIME2ULL(struct timeval t)
+{
+ unsigned long long result;
+ result = (unsigned long long)t.tv_sec * 1000000 + t.tv_usec;
+ return result;
+}
+
+#if 0
+static struct timeval ULL2TIME(unsigned long long t)
+{
+ struct timeval result;
+ result.tv_sec = t / 1000000;
+ result.tv_usec = t % 1000000;
+ return result;
+}
+#endif
+
+static struct timespec ULL2TIMESPEC(unsigned long long t)
+{
+ struct timespec result;
+ result.tv_sec = t / 1000000;
+ result.tv_nsec = (t % 1000000) * 1000;
+ return result;
+}
+
+static void mdlInitializeSizes(SimStruct *S)
+{
+ ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
+ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { return; }
+
+ ssSetNumContStates(S, 0);
+ ssSetNumDiscStates(S, 0);
+
+ if (!ssSetNumInputPorts(S, 0)) { return; }
+
+ if (!ssSetNumOutputPorts(S, 1)) { return; }
+ ssSetOutputPortWidth(S, 0, 1);
+
+ ssSetNumSampleTimes(S, 1);
+
+ ssSetNumRWork(S, 0);
+ ssSetNumIWork(S, 6); /* 0,1: long long h
+ 2,3: long long t
+ 4,5: long long diff */
+ ssSetNumPWork(S, 0);
+ ssSetNumModes(S, 0);
+
+ ssSetNumNonsampledZCs(S, 0);
+
+ ssSetOptions(S, 0);
+}
+
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+ ssSetSampleTime(S, 0, mxGetScalar(ssGetSFcnParam(S, 0)));
+ ssSetOffsetTime(S, 0, 0.0);
+}
+
+#define MDL_START
+static void mdlStart(SimStruct *S)
+{
+ struct timeval now;
+ unsigned long long *work = (unsigned long long *)ssGetIWork(S);
+ gettimeofday(&now, 0);
+ work[0] = mxGetScalar(ssGetSFcnParam(S, 0)) * 1000000;
+ work[1] = TIME2ULL(now);
+ work[2] = 0;
+}
+
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+ unsigned long long *work = (unsigned long long *)ssGetIWork(S);
+ real_T *y = ssGetOutputPortRealSignal(S,0);
+
+ *y = 1.0 - ((real_T)work[2] / (real_T)work[0]);
+}
+
+#define MDL_UPDATE
+static void mdlUpdate(SimStruct *S, int_T tid)
+{
+ unsigned long long *work = (unsigned long long *)ssGetIWork(S);
+ long long diff;
+ struct timeval now;
+
+ work[1] += work[0];
+ gettimeofday(&now, 0);
+ diff = work[1] - TIME2ULL(now);
+ if ((diff) <= 0) {
+ diff = 0;
+ work[1] = TIME2ULL(now);
+ } else {
+ struct timespec delay = ULL2TIMESPEC(diff);
+ nanosleep(&delay, NULL);
+ }
+ work[2] = diff;
+}
+
+static void mdlTerminate(SimStruct *S)
+{
+}
+
+#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
+#include "simulink.c" /* MEX-file interface mechanism */
+#else
+#include "cg_sfun.h" /* Code generation registration function */
+#endif
diff --git a/moberg.spec.template b/moberg.spec.template
index 3254e98832f2cfd672a9e670db2c6739d61b95a6..36e54381770aed0586f9e451dfbac82797eef6d7 100644
--- a/moberg.spec.template
+++ b/moberg.spec.template
@@ -58,26 +58,28 @@ mkdir -p ${RPM_BUILD_ROOT}%{_includedir}
cp moberg.h ${RPM_BUILD_ROOT}%{_includedir}
mkdir -p ${RPM_BUILD_ROOT}/opt/matlab/src/moberg
-cp adaptors/matlab/*.h ${RPM_BUILD_ROOT}/opt/matlab/src/moberg
-cp adaptors/matlab/*in.c ${RPM_BUILD_ROOT}/opt/matlab/src/moberg
-cp adaptors/matlab/*out.c ${RPM_BUILD_ROOT}/opt/matlab/src/moberg
-cp adaptors/matlab/Makefile ${RPM_BUILD_ROOT}/opt/matlab/src/moberg
+mkdir -p ${RPM_BUILD_ROOT}%{_includedir}
+cp adaptors/matlab/moberg4simulink.h ${RPM_BUILD_ROOT}%{_includedir}
+cp adaptors/matlab/realtimer.c ${RPM_BUILD_ROOT}/opt/matlab/src/moberg
+cp adaptors/matlab/*in.c ${RPM_BUILD_ROOT}/opt/matlab/src/moberg
+cp adaptors/matlab/*out.c ${RPM_BUILD_ROOT}/opt/matlab/src/moberg
+cp adaptors/matlab/Makefile.mex ${RPM_BUILD_ROOT}/opt/matlab/src/moberg/Makefile
%files
%defattr(-,root,root,-)
-%attr(04755,root,root) %{_libdir}/libmoberg.so
-%attr(04755,root,root) %{_libdir}/libmoberg_serial2002.so
+%{_libdir}/libmoberg.so
+%{_libdir}/libmoberg_serial2002.so
%files comedi
%defattr(-,root,root,-)
-%attr(04755,root,root) %{_libdir}/libmoberg_comedi.so
+%{_libdir}/libmoberg_comedi.so
%files devel
%defattr(-,root,root,-)
-%attr(04755,root,root) %{_includedir}/moberg.h
+%{_includedir}/moberg.h
%files matlab
%defattr(-,root,root,-)
-%attr(04755,root,root) %{_libdir}/libmoberg4simulink.so
-%attr(04755,root,root) /opt/matlab/src/moberg/*
-
+%{_libdir}/libmoberg4simulink.so
+/opt/matlab/src/moberg/*
+%{_includedir}/moberg4simulink.h
diff --git a/moberg_config.c b/moberg_config.c
index 6349bdeebca06c99a399a4c4016a38b4c73775a6..e4f467d708d8d0b5723b26731da38664272e6c47 100644
--- a/moberg_config.c
+++ b/moberg_config.c
@@ -24,14 +24,16 @@ struct moberg_config *moberg_config_new()
void moberg_config_free(struct moberg_config *config)
{
- struct device_entry *entry = config->device_head;
- while (entry) {
- struct device_entry *tmp = entry;
- entry = entry->next;
- moberg_device_free(tmp->device);
- free(tmp);
+ if (config) {
+ struct device_entry *entry = config->device_head;
+ while (entry) {
+ struct device_entry *tmp = entry;
+ entry = entry->next;
+ moberg_device_free(tmp->device);
+ free(tmp);
+ }
+ free(config);
}
- free(config);
}
int moberg_config_join(struct moberg_config *dest,