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stripped out RTM Model interface and custom types from matlab

tags/FSM1.0
Simon Schmidt 3 years ago
parent
754da9f931
commit
f28aa2df8b
7 changed files with 27 additions and 343 deletions
Split View Show Diff Stats
  1. 4
    11
      lib/treppe/FSMTreppe/FSMTreppe.cpp
  2. 12
    32
      lib/treppe/FSMTreppe/FSMTreppe.h
  3. 0
    28
      lib/treppe/FSMTreppe/FSMTreppe_private.h
  4. 0
    109
      lib/treppe/FSMTreppe/ert_main.cpp
  5. 0
    160
      lib/treppe/FSMTreppe/rtwtypes.h
  6. 1
    0
      lib/treppe/treppe.cpp
  7. 10
    3
      lib/treppe/treppe.h

+ 4
- 11
lib/treppe/FSMTreppe/FSMTreppe.cpp View File

@@ -17,12 +17,11 @@
// 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;
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()
@@ -33,7 +32,7 @@ void FSMTreppeModelClass::step()
// Inport: '<Root>/sensor_unten'

if (FSMTreppe_DW.temporalCounter_i1 < 511U) {
FSMTreppe_DW.temporalCounter_i1 = static_cast<uint16_T>
FSMTreppe_DW.temporalCounter_i1 = static_cast<uint16_t>
(FSMTreppe_DW.temporalCounter_i1 + 1U);
}

@@ -165,12 +164,6 @@ 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.
//

+ 12
- 32
lib/treppe/FSMTreppe/FSMTreppe.h View File

@@ -18,17 +18,8 @@
//
#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
#include <stdint.h>

// Class declaration for model FSMTreppe
class FSMTreppeModelClass {
@@ -36,30 +27,25 @@ class FSMTreppeModelClass {
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'
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'
bool sensor_unten; // '<Root>/sensor_unten'
bool sensor_oben; // '<Root>/sensor_oben'
bool 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;
uint8_t anim_active; // '<Root>/anim_active'
};

// model initialize function
@@ -93,9 +79,6 @@ class FSMTreppeModelClass {
return FSMTreppe_Y;
}

// Real-Time Model get method
FSMTreppeModelClass::RT_MODEL_FSMTreppe_T * getRTM();

// private data and function members
private:
// Block states
@@ -106,9 +89,6 @@ class FSMTreppeModelClass {

// External outputs
ExtY_FSMTreppe_T FSMTreppe_Y;

// Real-Time Model
RT_MODEL_FSMTreppe_T FSMTreppe_M;
};

//-

+ 0
- 28
lib/treppe/FSMTreppe/FSMTreppe_private.h View File

@@ -1,28 +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_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]
//

+ 0
- 109
lib/treppe/FSMTreppe/ert_main.cpp View File

@@ -1,109 +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: 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]
//

+ 0
- 160
lib/treppe/FSMTreppe/rtwtypes.h View File

@@ -1,160 +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: 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]
//

+ 1
- 0
lib/treppe/treppe.cpp View File

@@ -155,6 +155,7 @@ void Treppe::setup(){
}

void Treppe::task(){
FSMTreppe_Obj.step();

if(finish){
direction = switch_direction;

+ 10
- 3
lib/treppe/treppe.h View File

@@ -1,5 +1,6 @@
#pragma once

#include "FSMTreppe/FSMTreppe.h"
#include "PCA9685.h"

#define SENSOR1 2
@@ -10,6 +11,10 @@

class Treppe {
private:
// initialize with i2c-Address 0, use Wire Library
PCA9685 pwmController;
FSMTreppeModelClass FSMTreppe_Obj;// Instance of model class

uint8_t stairs;
uint16_t time_per_stair = 300; // dimmtime per stair [ms]
uint16_t idle_brightness = 100;
@@ -31,21 +36,23 @@ private:
float differenz_pwm_pro_tick = 0.0;
// alternative


// initialize with i2c-Address 0, use Wire Library
PCA9685 pwmController;
uint8_t softstart_led(uint8_t led, uint16_t startval, uint16_t stopval);
void ledsequence();
void rampe();

public:
Treppe(uint8_t _stairs) : stairs(_stairs){
FSMTreppe_Obj.initialize();

ticks_pro_stufe = time_per_stair / 20; // [ms]
ticks_treppe = ticks_pro_stufe * stairs;

differenz_pwm_pro_tick = (float) (active_brightness - idle_brightness)
/ (float) ticks_pro_stufe;
}
~Treppe() {
FSMTreppe_Obj.terminate();
}

void setup();
void task(); // call periodically

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