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added simulink stateflow c++ fsm

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This commit is contained in:
Simon Schmidt 2021-07-03 11:21:18 +02:00
parent df2a8fa1e3
commit 754da9f931
7 changed files with 617 additions and 2 deletions
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178
lib/treppe/FSMTreppe/FSMTreppe.cpp Normal file
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//
// Academic License - for use in teaching, academic research, and meeting
// course requirements at degree granting institutions only. Not for
// government, commercial, or other organizational use.
//
// File: FSMTreppe.cpp
//
// Code generated for Simulink model 'FSMTreppe'.
//
// Model version : 1.22
// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
// C/C++ source code generated on : Fri Jul 2 17:45:36 2021
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
// Code generation objectives: Unspecified
// Validation result: Not run
//
#include "FSMTreppe.h"
#include "FSMTreppe_private.h"
// Named constants for Chart: '<Root>/FSMTreppe'
const uint8_T FSMTreppe_IN_animation_down = 1U;
const uint8_T FSMTreppe_IN_animation_up = 2U;
const uint8_T FSMTreppe_IN_idle = 3U;
// Model step function
void FSMTreppeModelClass::step()
{
// Chart: '<Root>/FSMTreppe' incorporates:
// Inport: '<Root>/anim_finished'
// Inport: '<Root>/sensor_oben'
// Inport: '<Root>/sensor_unten'
if (FSMTreppe_DW.temporalCounter_i1 < 511U) {
FSMTreppe_DW.temporalCounter_i1 = static_cast<uint16_T>
(FSMTreppe_DW.temporalCounter_i1 + 1U);
}
if (FSMTreppe_DW.is_active_c3_FSMTreppe == 0U) {
FSMTreppe_DW.is_active_c3_FSMTreppe = 1U;
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_idle;
// Outport: '<Root>/anim_active'
FSMTreppe_Y.anim_active = 0U;
FSMTreppe_DW.got_sensor = 0U;
FSMTreppe_DW.got_anim_finished = 0U;
FSMTreppe_DW.finished_up = 0U;
FSMTreppe_DW.finished_dn = 0U;
} else {
switch (FSMTreppe_DW.is_c3_FSMTreppe) {
case FSMTreppe_IN_animation_down:
// Outport: '<Root>/anim_active'
FSMTreppe_Y.anim_active = 2U;
if ((FSMTreppe_DW.finished_dn == 1) || (FSMTreppe_DW.temporalCounter_i1 >=
300U)) {
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_idle;
// Outport: '<Root>/anim_active'
FSMTreppe_Y.anim_active = 0U;
FSMTreppe_DW.got_sensor = 0U;
FSMTreppe_DW.got_anim_finished = 0U;
FSMTreppe_DW.finished_up = 0U;
FSMTreppe_DW.finished_dn = 0U;
} else {
if (FSMTreppe_U.sensor_unten) {
FSMTreppe_DW.got_sensor = 1U;
}
if (FSMTreppe_U.anim_finished) {
FSMTreppe_DW.got_anim_finished = 1U;
}
if ((FSMTreppe_DW.got_anim_finished == 1) && (FSMTreppe_DW.got_sensor ==
1)) {
FSMTreppe_DW.finished_dn = 1U;
}
}
break;
case FSMTreppe_IN_animation_up:
// Outport: '<Root>/anim_active'
FSMTreppe_Y.anim_active = 1U;
if ((FSMTreppe_DW.finished_up == 1) || (FSMTreppe_DW.temporalCounter_i1 >=
300U)) {
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_idle;
// Outport: '<Root>/anim_active'
FSMTreppe_Y.anim_active = 0U;
FSMTreppe_DW.got_sensor = 0U;
FSMTreppe_DW.got_anim_finished = 0U;
FSMTreppe_DW.finished_up = 0U;
FSMTreppe_DW.finished_dn = 0U;
} else {
if (FSMTreppe_U.sensor_oben) {
FSMTreppe_DW.got_sensor = 1U;
}
if (FSMTreppe_U.anim_finished) {
FSMTreppe_DW.got_anim_finished = 1U;
}
if ((FSMTreppe_DW.got_anim_finished == 1) && (FSMTreppe_DW.got_sensor ==
1)) {
FSMTreppe_DW.finished_up = 1U;
}
}
break;
default:
// Outport: '<Root>/anim_active'
// case IN_idle:
FSMTreppe_Y.anim_active = 0U;
if (FSMTreppe_U.sensor_oben) {
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_animation_down;
FSMTreppe_DW.temporalCounter_i1 = 0U;
// Outport: '<Root>/anim_active'
FSMTreppe_Y.anim_active = 2U;
FSMTreppe_DW.got_sensor = 0U;
FSMTreppe_DW.got_anim_finished = 0U;
FSMTreppe_DW.finished_dn = 0U;
} else if (FSMTreppe_U.sensor_unten) {
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_animation_up;
FSMTreppe_DW.temporalCounter_i1 = 0U;
// Outport: '<Root>/anim_active'
FSMTreppe_Y.anim_active = 1U;
FSMTreppe_DW.got_sensor = 0U;
FSMTreppe_DW.got_anim_finished = 0U;
FSMTreppe_DW.finished_up = 0U;
}
break;
}
}
// End of Chart: '<Root>/FSMTreppe'
}
// Model initialize function
void FSMTreppeModelClass::initialize()
{
// (no initialization code required)
}
// Model terminate function
void FSMTreppeModelClass::terminate()
{
// (no terminate code required)
}
// Constructor
FSMTreppeModelClass::FSMTreppeModelClass() :
FSMTreppe_DW(),
FSMTreppe_U(),
FSMTreppe_Y(),
FSMTreppe_M()
{
// Currently there is no constructor body generated.
}
// Destructor
FSMTreppeModelClass::~FSMTreppeModelClass()
{
// Currently there is no destructor body generated.
}
// Real-Time Model get method
FSMTreppeModelClass::RT_MODEL_FSMTreppe_T * FSMTreppeModelClass::getRTM()
{
return (&FSMTreppe_M);
}
//
// File trailer for generated code.
//
// [EOF]
//

140
lib/treppe/FSMTreppe/FSMTreppe.h Normal file
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//
// Academic License - for use in teaching, academic research, and meeting
// course requirements at degree granting institutions only. Not for
// government, commercial, or other organizational use.
//
// File: FSMTreppe.h
//
// Code generated for Simulink model 'FSMTreppe'.
//
// Model version : 1.22
// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
// C/C++ source code generated on : Fri Jul 2 17:45:36 2021
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
// Code generation objectives: Unspecified
// Validation result: Not run
//
#ifndef RTW_HEADER_FSMTreppe_h_
#define RTW_HEADER_FSMTreppe_h_
#include "rtwtypes.h"
#include "FSMTreppe_types.h"
// Macros for accessing real-time model data structure
#ifndef rtmGetErrorStatus
#define rtmGetErrorStatus(rtm) ((rtm)->errorStatus)
#endif
#ifndef rtmSetErrorStatus
#define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val))
#endif
// Class declaration for model FSMTreppe
class FSMTreppeModelClass {
// public data and function members
public:
// Block states (default storage) for system '<Root>'
struct DW_FSMTreppe_T {
uint16_T temporalCounter_i1; // '<Root>/FSMTreppe'
uint8_T is_active_c3_FSMTreppe; // '<Root>/FSMTreppe'
uint8_T is_c3_FSMTreppe; // '<Root>/FSMTreppe'
uint8_T got_anim_finished; // '<Root>/FSMTreppe'
uint8_T finished_up; // '<Root>/FSMTreppe'
uint8_T finished_dn; // '<Root>/FSMTreppe'
uint8_T got_sensor; // '<Root>/FSMTreppe'
};
// External inputs (root inport signals with default storage)
struct ExtU_FSMTreppe_T {
boolean_T sensor_unten; // '<Root>/sensor_unten'
boolean_T sensor_oben; // '<Root>/sensor_oben'
boolean_T anim_finished; // '<Root>/anim_finished'
};
// External outputs (root outports fed by signals with default storage)
struct ExtY_FSMTreppe_T {
uint8_T anim_active; // '<Root>/anim_active'
};
// Real-time Model Data Structure
struct RT_MODEL_FSMTreppe_T {
const char_T * volatile errorStatus;
};
// model initialize function
void initialize();
// model step function
void step();
// model terminate function
void terminate();
// Constructor
FSMTreppeModelClass();
// Destructor
~FSMTreppeModelClass();
// Root-level structure-based inputs set method
// Root inports set method
void setExternalInputs(const ExtU_FSMTreppe_T* pExtU_FSMTreppe_T)
{
FSMTreppe_U = *pExtU_FSMTreppe_T;
}
// Root-level structure-based outputs get method
// Root outports get method
const FSMTreppeModelClass::ExtY_FSMTreppe_T & getExternalOutputs() const
{
return FSMTreppe_Y;
}
// Real-Time Model get method
FSMTreppeModelClass::RT_MODEL_FSMTreppe_T * getRTM();
// private data and function members
private:
// Block states
DW_FSMTreppe_T FSMTreppe_DW;
// External inputs
ExtU_FSMTreppe_T FSMTreppe_U;
// External outputs
ExtY_FSMTreppe_T FSMTreppe_Y;
// Real-Time Model
RT_MODEL_FSMTreppe_T FSMTreppe_M;
};
//-
// The generated code includes comments that allow you to trace directly
// back to the appropriate location in the model. The basic format
// is <system>/block_name, where system is the system number (uniquely
// assigned by Simulink) and block_name is the name of the block.
//
// Note that this particular code originates from a subsystem build,
// and has its own system numbers different from the parent model.
// Refer to the system hierarchy for this subsystem below, and use the
// MATLAB hilite_system command to trace the generated code back
// to the parent model. For example,
//
// hilite_system('FSM_Treppenlicht/FSMTreppe') - opens subsystem FSM_Treppenlicht/FSMTreppe
// hilite_system('FSM_Treppenlicht/FSMTreppe/Kp') - opens and selects block Kp
//
// Here is the system hierarchy for this model
//
// '<Root>' : 'FSM_Treppenlicht'
// '<S1>' : 'FSM_Treppenlicht/FSMTreppe'
#endif // RTW_HEADER_FSMTreppe_h_
//
// File trailer for generated code.
//
// [EOF]
//

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lib/treppe/FSMTreppe/FSMTreppe_private.h Normal file
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//
// Academic License - for use in teaching, academic research, and meeting
// course requirements at degree granting institutions only. Not for
// government, commercial, or other organizational use.
//
// File: FSMTreppe_private.h
//
// Code generated for Simulink model 'FSMTreppe'.
//
// Model version : 1.22
// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
// C/C++ source code generated on : Fri Jul 2 17:45:36 2021
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
// Code generation objectives: Unspecified
// Validation result: Not run
//
#ifndef RTW_HEADER_FSMTreppe_private_h_
#define RTW_HEADER_FSMTreppe_private_h_
#include "rtwtypes.h"
#endif // RTW_HEADER_FSMTreppe_private_h_
//
// File trailer for generated code.
//
// [EOF]
//

109
lib/treppe/FSMTreppe/ert_main.cpp Normal file
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//
// Academic License - for use in teaching, academic research, and meeting
// course requirements at degree granting institutions only. Not for
// government, commercial, or other organizational use.
//
// File: ert_main.cpp
//
// Code generated for Simulink model 'FSMTreppe'.
//
// Model version : 1.22
// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
// C/C++ source code generated on : Fri Jul 2 17:45:36 2021
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
// Code generation objectives: Unspecified
// Validation result: Not run
//
#include <stddef.h>
#include <stdio.h> // This ert_main.c example uses printf/fflush
#include "FSMTreppe.h" // Model's header file
#include "rtwtypes.h"
static FSMTreppeModelClass FSMTreppe_Obj;// Instance of model class
//
// Associating rt_OneStep with a real-time clock or interrupt service routine
// is what makes the generated code "real-time". The function rt_OneStep is
// always associated with the base rate of the model. Subrates are managed
// by the base rate from inside the generated code. Enabling/disabling
// interrupts and floating point context switches are target specific. This
// example code indicates where these should take place relative to executing
// the generated code step function. Overrun behavior should be tailored to
// your application needs. This example simply sets an error status in the
// real-time model and returns from rt_OneStep.
//
void rt_OneStep(void);
void rt_OneStep(void)
{
static boolean_T OverrunFlag = false;
// Disable interrupts here
// Check for overrun
if (OverrunFlag) {
rtmSetErrorStatus(FSMTreppe_Obj.getRTM(), "Overrun");
return;
}
OverrunFlag = true;
// Save FPU context here (if necessary)
// Re-enable timer or interrupt here
// Set model inputs here
// Step the model
FSMTreppe_Obj.step();
// Get model outputs here
// Indicate task complete
OverrunFlag = false;
// Disable interrupts here
// Restore FPU context here (if necessary)
// Enable interrupts here
}
//
// The example "main" function illustrates what is required by your
// application code to initialize, execute, and terminate the generated code.
// Attaching rt_OneStep to a real-time clock is target specific. This example
// illustrates how you do this relative to initializing the model.
//
int_T main(int_T argc, const char *argv[])
{
// Unused arguments
(void)(argc);
(void)(argv);
// Initialize model
FSMTreppe_Obj.initialize();
// Attach rt_OneStep to a timer or interrupt service routine with
// period 0.01 seconds (the model's base sample time) here. The
// call syntax for rt_OneStep is
//
// rt_OneStep();
printf("Warning: The simulation will run forever. "
"Generated ERT main won't simulate model step behavior. "
"To change this behavior select the 'MAT-file logging' option.\n");
fflush((NULL));
while (rtmGetErrorStatus(FSMTreppe_Obj.getRTM()) == (NULL)) {
// Perform other application tasks here
}
// Disable rt_OneStep() here
// Terminate model
FSMTreppe_Obj.terminate();
return 0;
}
//
// File trailer for generated code.
//
// [EOF]
//

160
lib/treppe/FSMTreppe/rtwtypes.h Normal file
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//
// Academic License - for use in teaching, academic research, and meeting
// course requirements at degree granting institutions only. Not for
// government, commercial, or other organizational use.
//
// File: rtwtypes.h
//
// Code generated for Simulink model 'FSMTreppe'.
//
// Model version : 1.22
// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
// C/C++ source code generated on : Fri Jul 2 17:45:36 2021
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
// Code generation objectives: Unspecified
// Validation result: Not run
//
#ifndef RTWTYPES_H
#define RTWTYPES_H
// Logical type definitions
#if (!defined(__cplusplus))
#ifndef false
#define false (0U)
#endif
#ifndef true
#define true (1U)
#endif
#endif
//=======================================================================*
// Target hardware information
// Device type: ARM Compatible->ARM Cortex-M
// Number of bits: char: 8 short: 16 int: 32
// long: 32
// native word size: 32
// Byte ordering: LittleEndian
// Signed integer division rounds to: Zero
// Shift right on a signed integer as arithmetic shift: on
// =======================================================================
//=======================================================================*
// Fixed width word size data types: *
// int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
// uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
// real32_T, real64_T - 32 and 64 bit floating point numbers *
// =======================================================================
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;
//===========================================================================*
// Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T, *
// real_T, time_T, ulong_T. *
// ===========================================================================
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef unsigned char uchar_T;
typedef char_T byte_T;
//===========================================================================*
// Complex number type definitions *
// ===========================================================================
#define CREAL_T
typedef struct {
real32_T re;
real32_T im;
} creal32_T;
typedef struct {
real64_T re;
real64_T im;
} creal64_T;
typedef struct {
real_T re;
real_T im;
} creal_T;
#define CINT8_T
typedef struct {
int8_T re;
int8_T im;
} cint8_T;
#define CUINT8_T
typedef struct {
uint8_T re;
uint8_T im;
} cuint8_T;
#define CINT16_T
typedef struct {
int16_T re;
int16_T im;
} cint16_T;
#define CUINT16_T
typedef struct {
uint16_T re;
uint16_T im;
} cuint16_T;
#define CINT32_T
typedef struct {
int32_T re;
int32_T im;
} cint32_T;
#define CUINT32_T
typedef struct {
uint32_T re;
uint32_T im;
} cuint32_T;
//=======================================================================*
// Min and Max: *
// int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
// uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
// =======================================================================
#define MAX_int8_T ((int8_T)(127))
#define MIN_int8_T ((int8_T)(-128))
#define MAX_uint8_T ((uint8_T)(255U))
#define MAX_int16_T ((int16_T)(32767))
#define MIN_int16_T ((int16_T)(-32768))
#define MAX_uint16_T ((uint16_T)(65535U))
#define MAX_int32_T ((int32_T)(2147483647))
#define MIN_int32_T ((int32_T)(-2147483647-1))
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
// Block D-Work pointer type
typedef void * pointer_T;
#endif // RTWTYPES_H
//
// File trailer for generated code.
//
// [EOF]
//

2
lib/treppe/treppe.cpp
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@ -86,7 +86,7 @@ void Treppe::rampe()
{ {
if(state) { if(state) {
finish = 0; finish = 0;
state = 0; // set parameter memory state = 0;// set parameter memory
} }
if(!finish) { if(!finish) {