FSM 2.0 einfacher xD lol: )

lib/treppe/FSMTreppe2/FSMTreppe2.cpp

+//
+// 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                  : 1.28
+// 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
+//
+#include "FSMTreppe.h"
+#include "FSMTreppe_private.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;
+  } 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 = 3U;
+      if (FSMTreppe_U.anim_beendet || (FSMTreppe_DW.temporalCounter_i1 >= 500U))
+      {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 0U;
+      }
+      break;
+
+     case FSMTreppe_IN_abdimmen_runter:
+      // Outport: '<Root>/dimmrichtung'
+      FSMTreppe_Y.dimmrichtung = 0U;
+
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 6U;
+      if (FSMTreppe_U.anim_beendet || (FSMTreppe_DW.temporalCounter_i1 >= 500U))
+      {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 0U;
+      }
+      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 = 1U;
+      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 = 2U;
+      }
+      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 = 4U;
+      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 = 5U;
+      }
+      break;
+
+     case FSMTreppe_IN_inaktiv:
+      if (FSMTreppe_U.ldr_schwelle == 1.0) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_ruhezustand;
+
+        // Outport: '<Root>/status'
+        FSMTreppe_Y.status = 0U;
+      }
+      break;
+
+     case FSMTreppe_IN_ruhezustand:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 0U;
+      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 = 1U;
+      } 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 = 4U;
+      } else if (FSMTreppe_U.ldr_schwelle == 0.0) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_inaktiv;
+      }
+      break;
+
+     case FSMTreppe_IN_warten_hoch:
+      // Outport: '<Root>/status'
+      FSMTreppe_Y.status = 2U;
+      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 = 3U;
+      }
+      break;
+
+     default:
+      // Outport: '<Root>/status'
+      // case IN_warten_runter:
+      FSMTreppe_Y.status = 5U;
+      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 = 6U;
+      }
+      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]
+//

lib/treppe/FSMTreppe2/FSMTreppe2.h

+//
+// 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 "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'
+  };
+
+  // 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_beendet;            // '<Root>/anim_beendet'
+    real_T 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'
+  };
+
+  // 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]
+//

lib/treppe/treppe.cpp

   if(finish){
     direction = switch_direction;
     state = switch_state;
-  }  
-  static uint8_t last_sensor_state[2] = {0,0}; 
-  uint8_t current_sensor_state[2] = {0,0};
-  current_sensor_state[0] = digitalRead(SENSOR_OBEN);
-  current_sensor_state[1] = digitalRead(SENSOR_UNTEN);
-
+  }
+  
   fsm_inputs.sensor_oben =  read_sensor(SENSOR_OBEN);
   fsm_inputs.sensor_unten = read_sensor(SENSOR_UNTEN);
   fsm_inputs.anim_finished = static_cast<bool>(finish);

lib/treppe/treppe.h

     FSMTreppeModelClass::ExtU_FSMTreppe_T fsm_inputs;
     FSMTreppeModelClass::ExtY_FSMTreppe_T fsm_outputs;
     void print_state_on_change();
+    
+    const uint8_t FSMTreppe_IN_animation_down = 1U;
+    const uint8_t FSMTreppe_IN_animation_up = 2U;
+    const uint8_t FSMTreppe_IN_idle = 3U;
 
 
     uint8_t softstart_led(uint8_t led, uint16_t startval, uint16_t stopval);