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der linker dieser sack, double declatartion of FSM, FSM3.0 implemented !

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Simon Schmidt 2021-07-07 20:52:20 +02:00
parent f677f18681
commit d55da4e6d7
7 changed files with 65 additions and 427 deletions
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7
doku.md
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@ -97,3 +97,10 @@ new easier script needed to just convert to .gz
maybe measure timings on ESP maybe measure timings on ESP
__=> use serveStatic because way simpler !__ __=> use serveStatic because way simpler !__
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAARHRRHRGH
Two implementations of FSM are not that good,
linker puts them together ?!?
:):):):):):):)

237
lib/treppe/FSMTreppe2/FSMTreppe2.cpp
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@ -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 <stdint.h>
// Named constants for Chart: '<Root>/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: '<Root>/FSMTreppe' incorporates:
// Inport: '<Root>/anim_beendet'
// Inport: '<Root>/ldr_schwelle'
// 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_inaktiv;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 0U;
} else {
switch (FSMTreppe_DW.is_c3_FSMTreppe) {
case FSMTreppe_IN_abdimmen_hoch:
// Outport: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 0U;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 4U;
if (FSMTreppe_U.anim_beendet || (FSMTreppe_DW.temporalCounter_i1 >= 500U))
{
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 1U;
}
break;
case FSMTreppe_IN_abdimmen_runter:
// Outport: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 0U;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 7U;
if (FSMTreppe_U.anim_beendet || (FSMTreppe_DW.temporalCounter_i1 >= 500U))
{
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 1U;
}
break;
case FSMTreppe_IN_aufdimmen_hoch:
// Outport: '<Root>/laufrichtung'
FSMTreppe_Y.laufrichtung = 1U;
// Outport: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 1U;
// Outport: '<Root>/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: '<Root>/status'
FSMTreppe_Y.status = 3U;
}
break;
case FSMTreppe_IN_aufdimmen_runter:
// Outport: '<Root>/laufrichtung'
FSMTreppe_Y.laufrichtung = 0U;
// Outport: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 1U;
// Outport: '<Root>/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: '<Root>/status'
FSMTreppe_Y.status = 6U;
}
break;
case FSMTreppe_IN_inaktiv:
// Outport: '<Root>/status'
FSMTreppe_Y.status = 0U;
if (FSMTreppe_U.ldr_schwelle) {
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 1U;
}
break;
case FSMTreppe_IN_ruhezustand:
// Outport: '<Root>/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: '<Root>/laufrichtung'
FSMTreppe_Y.laufrichtung = 1U;
// Outport: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 1U;
// Outport: '<Root>/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: '<Root>/laufrichtung'
FSMTreppe_Y.laufrichtung = 0U;
// Outport: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 1U;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 5U;
} else if (!FSMTreppe_U.ldr_schwelle) {
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_inaktiv;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 0U;
}
break;
case FSMTreppe_IN_warten_hoch:
// Outport: '<Root>/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: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 0U;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 4U;
}
break;
default:
// Outport: '<Root>/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: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 0U;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 7U;
}
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()
{
// Currently there is no constructor body generated.
}
// Destructor
FSMTreppeModelClass::~FSMTreppeModelClass()
{
// Currently there is no destructor body generated.
}
//
// File trailer for generated code.
//
// [EOF]
//

119
lib/treppe/FSMTreppe2/FSMTreppe2.h
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@ -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 <stdint.h>
// 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'
};
// External inputs (root inport signals with default storage)
struct ExtU_FSMTreppe_T {
bool sensor_unten; // '<Root>/sensor_unten'
bool sensor_oben; // '<Root>/sensor_oben'
bool anim_beendet; // '<Root>/anim_beendet'
bool ldr_schwelle; // '<Root>/ldr_schwelle'
};
// External outputs (root outports fed by signals with default storage)
struct ExtY_FSMTreppe_T {
uint8_t laufrichtung; // '<Root>/laufrichtung'
uint8_t status; // '<Root>/status'
uint8_t dimmrichtung; // '<Root>/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 <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]
//

44
lib/treppe/FSMTreppe3/FSMTreppe3.cpp
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@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'FSMTreppe'. // Code generated for Simulink model 'FSMTreppe'.
// //
// Model version : 1.49 // Model version : 1.51
// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020 // 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 // Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M // Embedded hardware selection: ARM Compatible->ARM Cortex-M
@ -19,16 +19,16 @@
#include "FSMTreppe3.h" #include "FSMTreppe3.h"
// Named constants for Chart: '<Root>/FSMTreppe' // Named constants for Chart: '<Root>/FSMTreppe'
const uint8_t FSMTreppe_IN_abdimmen_hoch = 1U; const uint32_t FSMTreppe_IN_abdimmen_hoch = 1U;
const uint8_t FSMTreppe_IN_abdimmen_ldr = 2U; const uint32_t FSMTreppe_IN_abdimmen_ldr = 2U;
const uint8_t FSMTreppe_IN_abdimmen_runter = 3U; const uint32_t FSMTreppe_IN_abdimmen_runter = 3U;
const uint8_t FSMTreppe_IN_aufdimmen_hoch = 4U; const uint32_t FSMTreppe_IN_aufdimmen_hoch = 4U;
const uint8_t FSMTreppe_IN_aufdimmen_ldr = 5U; const uint32_t FSMTreppe_IN_aufdimmen_ldr = 5U;
const uint8_t FSMTreppe_IN_aufdimmen_runter = 6U; const uint32_t FSMTreppe_IN_aufdimmen_runter = 6U;
const uint8_t FSMTreppe_IN_inaktiv = 7U; const uint32_t FSMTreppe_IN_inaktiv = 7U;
const uint8_t FSMTreppe_IN_ruhezustand = 8U; const uint32_t FSMTreppe_IN_ruhezustand = 8U;
const uint8_t FSMTreppe_IN_warten_hoch = 9U; const uint32_t FSMTreppe_IN_warten_hoch = 9U;
const uint8_t FSMTreppe_IN_warten_runter = 10U; const uint32_t FSMTreppe_IN_warten_runter = 10U;
// Model step function // Model step function
void FSMTreppeModelClass::step() void FSMTreppeModelClass::step()
@ -168,16 +168,7 @@ void FSMTreppeModelClass::step()
case FSMTreppe_IN_ruhezustand: case FSMTreppe_IN_ruhezustand:
// Outport: '<Root>/status' // Outport: '<Root>/status'
FSMTreppe_Y.status = 3U; FSMTreppe_Y.status = 3U;
if (FSMTreppe_U.ldr_schwelle == 0U) { if (FSMTreppe_U.sensor_unten == 1U) {
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_abdimmen_ldr;
FSMTreppe_DW.temporalCounter_i1 = 0U;
// Outport: '<Root>/status'
FSMTreppe_Y.status = 2U;
// Outport: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 0U;
} else if (FSMTreppe_U.sensor_unten == 1U) {
FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_hoch; FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_aufdimmen_hoch;
FSMTreppe_DW.temporalCounter_i1 = 0U; FSMTreppe_DW.temporalCounter_i1 = 0U;
@ -201,6 +192,15 @@ void FSMTreppeModelClass::step()
// Outport: '<Root>/status' // Outport: '<Root>/status'
FSMTreppe_Y.status = 7U; 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: '<Root>/status'
FSMTreppe_Y.status = 2U;
// Outport: '<Root>/dimmrichtung'
FSMTreppe_Y.dimmrichtung = 0U;
} }
break; break;

34
lib/treppe/FSMTreppe3/FSMTreppe3.h
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@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'FSMTreppe'. // Code generated for Simulink model 'FSMTreppe'.
// //
// Model version : 1.49 // Model version : 1.51
// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020 // 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 // Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M // Embedded hardware selection: ARM Compatible->ARM Cortex-M
@ -27,24 +27,24 @@ class FSMTreppeModelClass {
public: public:
// Block states (default storage) for system '<Root>' // Block states (default storage) for system '<Root>'
struct DW_FSMTreppe_T { struct DW_FSMTreppe_T {
uint16_t temporalCounter_i1; // '<Root>/FSMTreppe' uint16_t temporalCounter_i1=0; // '<Root>/FSMTreppe'
uint8_t is_active_c3_FSMTreppe; // '<Root>/FSMTreppe' uint8_t is_active_c3_FSMTreppe=0; // '<Root>/FSMTreppe'
uint8_t is_c3_FSMTreppe; // '<Root>/FSMTreppe' uint8_t is_c3_FSMTreppe=0; // '<Root>/FSMTreppe'
}; };
// External inputs (root inport signals with default storage) // External inputs (root inport signals with default storage)
struct ExtU_FSMTreppe_T { struct ExtU_FSMTreppe_T {
uint32_t sensor_unten; // '<Root>/sensor_unten' uint32_t sensor_unten=0; // '<Root>/sensor_unten'
uint32_t sensor_oben; // '<Root>/sensor_oben' uint32_t sensor_oben=0; // '<Root>/sensor_oben'
uint32_t anim_beendet; // '<Root>/anim_beendet' uint32_t anim_beendet=0; // '<Root>/anim_beendet'
uint32_t ldr_schwelle; // '<Root>/ldr_schwelle' uint32_t ldr_schwelle=0; // '<Root>/ldr_schwelle'
}; };
// External outputs (root outports fed by signals with default storage) // External outputs (root outports fed by signals with default storage)
struct ExtY_FSMTreppe_T { struct ExtY_FSMTreppe_T {
uint32_t laufrichtung; // '<Root>/laufrichtung' uint32_t laufrichtung=0; // '<Root>/laufrichtung'
uint32_t status; // '<Root>/status' uint32_t status=0; // '<Root>/status'
uint32_t dimmrichtung; // '<Root>/dimmrichtung' uint32_t dimmrichtung=0; // '<Root>/dimmrichtung'
}; };
// model initialize function // model initialize function
@ -67,13 +67,16 @@ class FSMTreppeModelClass {
// Root inports set method // Root inports set method
void setExternalInputs(const ExtU_FSMTreppe_T* pExtU_FSMTreppe_T) 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-level structure-based outputs get method
// Root outports get method // Root outports get method
const FSMTreppeModelClass::ExtY_FSMTreppe_T & getExternalOutputs() const const FSMTreppeModelClass::ExtY_FSMTreppe_T getExternalOutputs() const
{ {
return FSMTreppe_Y; return FSMTreppe_Y;
} }
@ -88,7 +91,6 @@ class FSMTreppeModelClass {
// External outputs // External outputs
ExtY_FSMTreppe_T FSMTreppe_Y; ExtY_FSMTreppe_T FSMTreppe_Y;
}; };
//- //-

20
lib/treppe/treppe.cpp
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@ -214,21 +214,17 @@ bool Treppe::check_ldr()
return active; return active;
} }
int i = 0;
void Treppe::task() void Treppe::task()
{ {
i = !i; // fsm_inputs.ldr_schwelle = 1UL;
fsm_inputs.ldr_schwelle = i; // fsm_inputs.sensor_oben = 0UL;
// fsm_inputs.sensor_unten = 0UL;
// fsm_inputs.anim_beendet = anim_beendet;
fsm_inputs.sensor_oben = 0UL; fsm_inputs.ldr_schwelle = check_ldr();
fsm_inputs.sensor_unten = 0UL; fsm_inputs.sensor_oben = read_sensor(SENSOR_OBEN);
fsm_inputs.anim_beendet = 1UL; fsm_inputs.sensor_unten = read_sensor(SENSOR_UNTEN);
fsm_inputs.anim_beendet = static_cast<bool>(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<bool>(anim_beendet);
FSMTreppe_Obj.setExternalInputs(&fsm_inputs); FSMTreppe_Obj.setExternalInputs(&fsm_inputs);
FSMTreppe_Obj.step(); FSMTreppe_Obj.step();

31
lib/treppe/treppe.h
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@ -1,7 +1,7 @@
#ifndef __TREPPE_H #ifndef __TREPPE_H
#define __TREPPE_H #define __TREPPE_H
#include "FSMTreppe2/FSMTreppe2.h" #include "FSMTreppe3/FSMTreppe3.h"
#include "PCA9685.h" #include "PCA9685.h"
// #define LDRDEBUG // comment in to override LDR measurement // #define LDRDEBUG // comment in to override LDR measurement
@ -39,27 +39,16 @@ private:
FSMTreppeModelClass::ExtU_FSMTreppe_T fsm_inputs; FSMTreppeModelClass::ExtU_FSMTreppe_T fsm_inputs;
FSMTreppeModelClass::ExtY_FSMTreppe_T fsm_outputs; FSMTreppeModelClass::ExtY_FSMTreppe_T fsm_outputs;
enum fsm_status_t { enum fsm_status_t {
// 2.0
ST_INAKTIV_LDR =0, ST_INAKTIV_LDR =0,
ST_RUHEZUSTAND =1, ST_AUFDIMMEN_LDR =1,
ST_AUFDIMMEN_HOCH =2, ST_ABDIMMEN_LDR =2,
ST_WARTEN_HOCH =3, ST_RUHEZUSTAND =3,
ST_ABDIMMEN_HOCH =4, ST_AUFDIMMEN_HOCH =4,
ST_AUFDIMMEN_RUNTER =5, ST_WARTEN_HOCH =5,
ST_WARTEN_RUNTER =6, ST_ABDIMMEN_HOCH =6,
ST_ABDIMMEN_RUNTER =7 ST_AUFDIMMEN_RUNTER =7,
ST_WARTEN_RUNTER =8,
// 3.0 ST_ABDIMMEN_RUNTER =9
// 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
}; };
enum fsm_laufrichtung_t { enum fsm_laufrichtung_t {
LR_RUNTER=0, LR_RUNTER=0,