diff --git a/doku.md b/doku.md index d533679..374452d 100644 --- a/doku.md +++ b/doku.md @@ -97,3 +97,10 @@ new easier script needed to just convert to .gz maybe measure timings on ESP __=> use serveStatic because way simpler !__ + + + +AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAARHRRHRGH +Two implementations of FSM are not that good, +linker puts them together ?!? +:):):):):):):) \ No newline at end of file diff --git a/lib/treppe/FSMTreppe2/FSMTreppe2.cpp b/lib/treppe/FSMTreppe2/FSMTreppe2.cpp deleted file mode 100644 index 3be61a5..0000000 --- a/lib/treppe/FSMTreppe2/FSMTreppe2.cpp +++ /dev/null @@ -1,237 +0,0 @@ -// -// 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 : 1.29 -// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020 -// C/C++ source code generated on : Sat Jul 3 17:39:25 2021 -// -// Target selection: ert.tlc -// Embedded hardware selection: ARM Compatible->ARM Cortex-M -// Code generation objectives: Unspecified -// Validation result: Not run -// -#include "FSMTreppe2.h" -#include - -// Named constants for Chart: '/FSMTreppe' -const uint8_t FSMTreppe_IN_abdimmen_hoch = 1U; -const uint8_t FSMTreppe_IN_abdimmen_runter = 2U; -const uint8_t FSMTreppe_IN_aufdimmen_hoch = 3U; -const uint8_t FSMTreppe_IN_aufdimmen_runter = 4U; -const uint8_t FSMTreppe_IN_inaktiv = 5U; -const uint8_t FSMTreppe_IN_ruhezustand = 6U; -const uint8_t FSMTreppe_IN_warten_hoch = 7U; -const uint8_t FSMTreppe_IN_warten_runter = 8U; - -// Model step function -void FSMTreppeModelClass::step() -{ - // Chart: '/FSMTreppe' incorporates: - // Inport: '/anim_beendet' - // Inport: '/ldr_schwelle' - // Inport: '/sensor_oben' - // Inport: '/sensor_unten' - - if (FSMTreppe_DW.temporalCounter_i1 < 511U) { - FSMTreppe_DW.temporalCounter_i1 = static_cast - (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_inaktiv; - - // Outport: '/status' - FSMTreppe_Y.status = 0U; - } else { - switch (FSMTreppe_DW.is_c3_FSMTreppe) { - case FSMTreppe_IN_abdimmen_hoch: - // Outport: '/dimmrichtung' - FSMTreppe_Y.dimmrichtung = 0U; - - // Outport: '/status' - FSMTreppe_Y.status = 4U; - if (FSMTreppe_U.anim_beendet || (FSMTreppe_DW.temporalCounter_i1 >= 500U)) - { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand; - - // Outport: '/status' - FSMTreppe_Y.status = 1U; - } - break; - - case FSMTreppe_IN_abdimmen_runter: - // Outport: '/dimmrichtung' - FSMTreppe_Y.dimmrichtung = 0U; - - // Outport: '/status' - FSMTreppe_Y.status = 7U; - if (FSMTreppe_U.anim_beendet || (FSMTreppe_DW.temporalCounter_i1 >= 500U)) - { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand; - - // Outport: '/status' - FSMTreppe_Y.status = 1U; - } - break; - - case FSMTreppe_IN_aufdimmen_hoch: - // Outport: '/laufrichtung' - FSMTreppe_Y.laufrichtung = 1U; - - // Outport: '/dimmrichtung' - FSMTreppe_Y.dimmrichtung = 1U; - - // Outport: '/status' - FSMTreppe_Y.status = 2U; - if (FSMTreppe_U.anim_beendet || (FSMTreppe_DW.temporalCounter_i1 >= 500U)) - { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_warten_hoch; - FSMTreppe_DW.temporalCounter_i1 = 0U; - - // Outport: '/status' - FSMTreppe_Y.status = 3U; - } - break; - - case FSMTreppe_IN_aufdimmen_runter: - // Outport: '/laufrichtung' - FSMTreppe_Y.laufrichtung = 0U; - - // Outport: '/dimmrichtung' - FSMTreppe_Y.dimmrichtung = 1U; - - // Outport: '/status' - FSMTreppe_Y.status = 5U; - if (FSMTreppe_U.anim_beendet || (FSMTreppe_DW.temporalCounter_i1 >= 500U)) - { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_warten_runter; - FSMTreppe_DW.temporalCounter_i1 = 0U; - - // Outport: '/status' - FSMTreppe_Y.status = 6U; - } - break; - - case FSMTreppe_IN_inaktiv: - // Outport: '/status' - FSMTreppe_Y.status = 0U; - if (FSMTreppe_U.ldr_schwelle) { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand; - - // Outport: '/status' - FSMTreppe_Y.status = 1U; - } - break; - - case FSMTreppe_IN_ruhezustand: - // Outport: '/status' - FSMTreppe_Y.status = 1U; - if (FSMTreppe_U.sensor_unten) { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_hoch; - FSMTreppe_DW.temporalCounter_i1 = 0U; - - // Outport: '/laufrichtung' - FSMTreppe_Y.laufrichtung = 1U; - - // Outport: '/dimmrichtung' - FSMTreppe_Y.dimmrichtung = 1U; - - // Outport: '/status' - FSMTreppe_Y.status = 2U; - } else if (FSMTreppe_U.sensor_oben) { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_runter; - FSMTreppe_DW.temporalCounter_i1 = 0U; - - // Outport: '/laufrichtung' - FSMTreppe_Y.laufrichtung = 0U; - - // Outport: '/dimmrichtung' - FSMTreppe_Y.dimmrichtung = 1U; - - // Outport: '/status' - FSMTreppe_Y.status = 5U; - } else if (!FSMTreppe_U.ldr_schwelle) { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_inaktiv; - - // Outport: '/status' - FSMTreppe_Y.status = 0U; - } - break; - - case FSMTreppe_IN_warten_hoch: - // Outport: '/status' - FSMTreppe_Y.status = 3U; - if (FSMTreppe_U.sensor_oben || (FSMTreppe_DW.temporalCounter_i1 >= 500U)) - { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_hoch; - FSMTreppe_DW.temporalCounter_i1 = 0U; - - // Outport: '/dimmrichtung' - FSMTreppe_Y.dimmrichtung = 0U; - - // Outport: '/status' - FSMTreppe_Y.status = 4U; - } - break; - - default: - // Outport: '/status' - // case IN_warten_runter: - FSMTreppe_Y.status = 6U; - if (FSMTreppe_U.sensor_unten || (FSMTreppe_DW.temporalCounter_i1 >= 500U)) - { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_runter; - FSMTreppe_DW.temporalCounter_i1 = 0U; - - // Outport: '/dimmrichtung' - FSMTreppe_Y.dimmrichtung = 0U; - - // Outport: '/status' - FSMTreppe_Y.status = 7U; - } - break; - } - } - - // End of Chart: '/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() -{ - // Currently there is no constructor body generated. -} - -// Destructor -FSMTreppeModelClass::~FSMTreppeModelClass() -{ - // Currently there is no destructor body generated. -} - -// -// File trailer for generated code. -// -// [EOF] -// diff --git a/lib/treppe/FSMTreppe2/FSMTreppe2.h b/lib/treppe/FSMTreppe2/FSMTreppe2.h deleted file mode 100644 index 08541d2..0000000 --- a/lib/treppe/FSMTreppe2/FSMTreppe2.h +++ /dev/null @@ -1,119 +0,0 @@ -// -// 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 : 1.28 -// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020 -// C/C++ source code generated on : Sat Jul 3 13:50:17 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 - -// Class declaration for model FSMTreppe -class FSMTreppeModelClass { - // public data and function members - public: - // Block states (default storage) for system '' - struct DW_FSMTreppe_T { - uint16_t temporalCounter_i1; // '/FSMTreppe' - uint8_t is_active_c3_FSMTreppe; // '/FSMTreppe' - uint8_t is_c3_FSMTreppe; // '/FSMTreppe' - }; - - // External inputs (root inport signals with default storage) - struct ExtU_FSMTreppe_T { - bool sensor_unten; // '/sensor_unten' - bool sensor_oben; // '/sensor_oben' - bool anim_beendet; // '/anim_beendet' - bool ldr_schwelle; // '/ldr_schwelle' - }; - - // External outputs (root outports fed by signals with default storage) - struct ExtY_FSMTreppe_T { - uint8_t laufrichtung; // '/laufrichtung' - uint8_t status; // '/status' - uint8_t dimmrichtung; // '/dimmrichtung' - }; - - // 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; - } - - // 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; -}; - -//- -// The generated code includes comments that allow you to trace directly -// back to the appropriate location in the model. The basic format -// is /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 -// -// '' : 'FSM_Treppenlicht' -// '' : 'FSM_Treppenlicht/FSMTreppe' - -#endif // RTW_HEADER_FSMTreppe_h_ - -// -// File trailer for generated code. -// -// [EOF] -// diff --git a/lib/treppe/FSMTreppe3/FSMTreppe3.cpp b/lib/treppe/FSMTreppe3/FSMTreppe3.cpp index 93530cc..02d7bad 100644 --- a/lib/treppe/FSMTreppe3/FSMTreppe3.cpp +++ b/lib/treppe/FSMTreppe3/FSMTreppe3.cpp @@ -7,9 +7,9 @@ // // Code generated for Simulink model 'FSMTreppe'. // -// Model version : 1.49 +// Model version : 1.51 // Simulink Coder version : 9.5 (R2021a) 14-Nov-2020 -// C/C++ source code generated on : Wed Jul 7 15:27:06 2021 +// C/C++ source code generated on : Wed Jul 7 18:54:01 2021 // // Target selection: ert.tlc // Embedded hardware selection: ARM Compatible->ARM Cortex-M @@ -19,16 +19,16 @@ #include "FSMTreppe3.h" // Named constants for Chart: '/FSMTreppe' -const uint8_t FSMTreppe_IN_abdimmen_hoch = 1U; -const uint8_t FSMTreppe_IN_abdimmen_ldr = 2U; -const uint8_t FSMTreppe_IN_abdimmen_runter = 3U; -const uint8_t FSMTreppe_IN_aufdimmen_hoch = 4U; -const uint8_t FSMTreppe_IN_aufdimmen_ldr = 5U; -const uint8_t FSMTreppe_IN_aufdimmen_runter = 6U; -const uint8_t FSMTreppe_IN_inaktiv = 7U; -const uint8_t FSMTreppe_IN_ruhezustand = 8U; -const uint8_t FSMTreppe_IN_warten_hoch = 9U; -const uint8_t FSMTreppe_IN_warten_runter = 10U; +const uint32_t FSMTreppe_IN_abdimmen_hoch = 1U; +const uint32_t FSMTreppe_IN_abdimmen_ldr = 2U; +const uint32_t FSMTreppe_IN_abdimmen_runter = 3U; +const uint32_t FSMTreppe_IN_aufdimmen_hoch = 4U; +const uint32_t FSMTreppe_IN_aufdimmen_ldr = 5U; +const uint32_t FSMTreppe_IN_aufdimmen_runter = 6U; +const uint32_t FSMTreppe_IN_inaktiv = 7U; +const uint32_t FSMTreppe_IN_ruhezustand = 8U; +const uint32_t FSMTreppe_IN_warten_hoch = 9U; +const uint32_t FSMTreppe_IN_warten_runter = 10U; // Model step function void FSMTreppeModelClass::step() @@ -168,16 +168,7 @@ void FSMTreppeModelClass::step() case FSMTreppe_IN_ruhezustand: // Outport: '/status' FSMTreppe_Y.status = 3U; - if (FSMTreppe_U.ldr_schwelle == 0U) { - FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_ldr; - FSMTreppe_DW.temporalCounter_i1 = 0U; - - // Outport: '/status' - FSMTreppe_Y.status = 2U; - - // Outport: '/dimmrichtung' - FSMTreppe_Y.dimmrichtung = 0U; - } else if (FSMTreppe_U.sensor_unten == 1U) { + if (FSMTreppe_U.sensor_unten == 1U) { FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_hoch; FSMTreppe_DW.temporalCounter_i1 = 0U; @@ -201,6 +192,15 @@ void FSMTreppeModelClass::step() // Outport: '/status' FSMTreppe_Y.status = 7U; + } else if (FSMTreppe_U.ldr_schwelle == 0U) { + FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_ldr; + FSMTreppe_DW.temporalCounter_i1 = 0U; + + // Outport: '/status' + FSMTreppe_Y.status = 2U; + + // Outport: '/dimmrichtung' + FSMTreppe_Y.dimmrichtung = 0U; } break; diff --git a/lib/treppe/FSMTreppe3/FSMTreppe3.h b/lib/treppe/FSMTreppe3/FSMTreppe3.h index 68bc72f..dd53dce 100644 --- a/lib/treppe/FSMTreppe3/FSMTreppe3.h +++ b/lib/treppe/FSMTreppe3/FSMTreppe3.h @@ -7,9 +7,9 @@ // // Code generated for Simulink model 'FSMTreppe'. // -// Model version : 1.49 +// Model version : 1.51 // Simulink Coder version : 9.5 (R2021a) 14-Nov-2020 -// C/C++ source code generated on : Wed Jul 7 15:27:06 2021 +// C/C++ source code generated on : Wed Jul 7 18:54:01 2021 // // Target selection: ert.tlc // Embedded hardware selection: ARM Compatible->ARM Cortex-M @@ -27,24 +27,24 @@ class FSMTreppeModelClass { public: // Block states (default storage) for system '' struct DW_FSMTreppe_T { - uint16_t temporalCounter_i1; // '/FSMTreppe' - uint8_t is_active_c3_FSMTreppe; // '/FSMTreppe' - uint8_t is_c3_FSMTreppe; // '/FSMTreppe' + uint16_t temporalCounter_i1=0; // '/FSMTreppe' + uint8_t is_active_c3_FSMTreppe=0; // '/FSMTreppe' + uint8_t is_c3_FSMTreppe=0; // '/FSMTreppe' }; // External inputs (root inport signals with default storage) struct ExtU_FSMTreppe_T { - uint32_t sensor_unten; // '/sensor_unten' - uint32_t sensor_oben; // '/sensor_oben' - uint32_t anim_beendet; // '/anim_beendet' - uint32_t ldr_schwelle; // '/ldr_schwelle' + uint32_t sensor_unten=0; // '/sensor_unten' + uint32_t sensor_oben=0; // '/sensor_oben' + uint32_t anim_beendet=0; // '/anim_beendet' + uint32_t ldr_schwelle=0; // '/ldr_schwelle' }; - + // External outputs (root outports fed by signals with default storage) struct ExtY_FSMTreppe_T { - uint32_t laufrichtung; // '/laufrichtung' - uint32_t status; // '/status' - uint32_t dimmrichtung; // '/dimmrichtung' + uint32_t laufrichtung=0; // '/laufrichtung' + uint32_t status=0; // '/status' + uint32_t dimmrichtung=0; // '/dimmrichtung' }; // model initialize function @@ -67,13 +67,16 @@ class FSMTreppeModelClass { // Root inports set method void setExternalInputs(const ExtU_FSMTreppe_T* pExtU_FSMTreppe_T) { - FSMTreppe_U = *pExtU_FSMTreppe_T; + FSMTreppe_U.anim_beendet = pExtU_FSMTreppe_T->anim_beendet; + FSMTreppe_U.ldr_schwelle = pExtU_FSMTreppe_T->ldr_schwelle; + FSMTreppe_U.sensor_oben = pExtU_FSMTreppe_T->sensor_oben; + FSMTreppe_U.sensor_unten = pExtU_FSMTreppe_T->sensor_unten; } // Root-level structure-based outputs get method // Root outports get method - const FSMTreppeModelClass::ExtY_FSMTreppe_T & getExternalOutputs() const + const FSMTreppeModelClass::ExtY_FSMTreppe_T getExternalOutputs() const { return FSMTreppe_Y; } @@ -88,7 +91,6 @@ class FSMTreppeModelClass { // External outputs ExtY_FSMTreppe_T FSMTreppe_Y; - }; //- diff --git a/lib/treppe/treppe.cpp b/lib/treppe/treppe.cpp index 658713d..a15e439 100644 --- a/lib/treppe/treppe.cpp +++ b/lib/treppe/treppe.cpp @@ -214,21 +214,17 @@ bool Treppe::check_ldr() return active; } -int i = 0; - void Treppe::task() { - i = !i; - fsm_inputs.ldr_schwelle = i; + // fsm_inputs.ldr_schwelle = 1UL; + // fsm_inputs.sensor_oben = 0UL; + // fsm_inputs.sensor_unten = 0UL; + // fsm_inputs.anim_beendet = anim_beendet; - fsm_inputs.sensor_oben = 0UL; - fsm_inputs.sensor_unten = 0UL; - fsm_inputs.anim_beendet = 1UL; - - // fsm_inputs.ldr_schwelle = check_ldr(); - // fsm_inputs.sensor_oben = read_sensor(SENSOR_OBEN); - // fsm_inputs.sensor_unten = read_sensor(SENSOR_UNTEN); - // fsm_inputs.anim_beendet = static_cast(anim_beendet); + fsm_inputs.ldr_schwelle = check_ldr(); + fsm_inputs.sensor_oben = read_sensor(SENSOR_OBEN); + fsm_inputs.sensor_unten = read_sensor(SENSOR_UNTEN); + fsm_inputs.anim_beendet = static_cast(anim_beendet); FSMTreppe_Obj.setExternalInputs(&fsm_inputs); FSMTreppe_Obj.step(); diff --git a/lib/treppe/treppe.h b/lib/treppe/treppe.h index 45ba4ea..2646024 100644 --- a/lib/treppe/treppe.h +++ b/lib/treppe/treppe.h @@ -1,7 +1,7 @@ #ifndef __TREPPE_H #define __TREPPE_H -#include "FSMTreppe2/FSMTreppe2.h" +#include "FSMTreppe3/FSMTreppe3.h" #include "PCA9685.h" // #define LDRDEBUG // comment in to override LDR measurement @@ -39,27 +39,16 @@ private: FSMTreppeModelClass::ExtU_FSMTreppe_T fsm_inputs; FSMTreppeModelClass::ExtY_FSMTreppe_T fsm_outputs; enum fsm_status_t { - // 2.0 ST_INAKTIV_LDR =0, - ST_RUHEZUSTAND =1, - ST_AUFDIMMEN_HOCH =2, - ST_WARTEN_HOCH =3, - ST_ABDIMMEN_HOCH =4, - ST_AUFDIMMEN_RUNTER =5, - ST_WARTEN_RUNTER =6, - ST_ABDIMMEN_RUNTER =7 - - // 3.0 - // ST_INAKTIV_LDR =0, - // ST_AUFDIMMEN_LDR =1, - // ST_ABDIMMEN_LDR =2, - // ST_RUHEZUSTAND =3, - // ST_AUFDIMMEN_HOCH =4, - // ST_WARTEN_HOCH =5, - // ST_ABDIMMEN_HOCH =6, - // ST_AUFDIMMEN_RUNTER =7, - // ST_WARTEN_RUNTER =8, - // ST_ABDIMMEN_RUNTER =9 + ST_AUFDIMMEN_LDR =1, + ST_ABDIMMEN_LDR =2, + ST_RUHEZUSTAND =3, + ST_AUFDIMMEN_HOCH =4, + ST_WARTEN_HOCH =5, + ST_ABDIMMEN_HOCH =6, + ST_AUFDIMMEN_RUNTER =7, + ST_WARTEN_RUNTER =8, + ST_ABDIMMEN_RUNTER =9 }; enum fsm_laufrichtung_t { LR_RUNTER=0,