Обновление
This commit is contained in:
cfif
commit
eca1bd9aed
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//
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// Created by cfif on 19.12.2025.
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//
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#include "Model_Task.h"
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#include <SystemDelayInterface.h>
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#include <CmsisRtosThreadUtils.h>
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#include "Model_actuator.h"
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void ModelTask_Init(
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tModelTask *env
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) {
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Model_actuator_initialize();
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env->access = osMutexNew(NULL);
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InitThreadAtrStatic(&env->thread.attr, "ModelTask", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
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env->thread.id = 0;
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}
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static void setActuatorBusy() {
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for (uint8_t i = 0; i < 9; ++i) {
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if (rtY.Out1.COM[i] != 0) {
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rtU.in_Busy_Ch0 = 1;
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return;
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}
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}
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}
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static _Noreturn void ModelTask_Thread(tModelTask *env) {
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for (;;) {
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if (osMutexAcquire(env->access, 1000) == osOK) {
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Model_actuator_step();
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setActuatorBusy();
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osMutexRelease(env->access);
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}
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SystemDelayMs(100);
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}
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}
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void ModelTask_StartThread(tModelTask *env) {
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if (!env->thread.id) {
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env->thread.id = osThreadNew((osThreadFunc_t) (ModelTask_Thread), (void *) (env), &env->thread.attr);
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} else {
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osThreadResume(env->thread.id);
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}
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}
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void ModelTask_StopThread(tModelTask *env) {
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if (env->thread.id) {
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osThreadSuspend(env->thread.id);
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}
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}
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@ -0,0 +1,27 @@
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//
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// Created by cfif on 19.12.2025.
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//
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#ifndef HVAC_M7_MODEL_TASK_H
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#define HVAC_M7_MODEL_TASK_H
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#include <cmsis_os.h>
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typedef struct {
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osMutexId_t access;
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struct {
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osThreadId_t id;
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uint32_t stack[1024];
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StaticTask_t controlBlock;
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osThreadAttr_t attr;
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} thread;
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} tModelTask;
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void ModelTask_Init(tModelTask *env);
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void ModelTask_StartThread(tModelTask *env);
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void ModelTask_StopThread(tModelTask *env);
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#endif //HVAC_M7_MODEL_TASK_H
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/*
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* File: Model_actuator.c
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*
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* Code generated for Simulink model 'Model_actuator'.
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*
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* Model version : 1.538
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* Simulink Coder version : 24.1 (R2024a) 19-Nov-2023
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* C/C++ source code generated on : Fri Dec 19 14:23:04 2025
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex-M
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* Emulation hardware selection:
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* Differs from embedded hardware (MATLAB Host)
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* Code generation objectives: Unspecified
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* Validation result: Not run
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*/
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#include "Model_actuator.h"
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#include <stdint.h>
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#include "Model_actuator_private.h"
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#include "Model_actuator_types.h"
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/* Exported block states */
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ActuatorCmdBus controllerData; /* '<Root>/Data Store Memory15' */
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/* Block signals (default storage) */
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B rtB;
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/* Block states (default storage) */
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DW rtDW;
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/* External inputs (root inport signals with default storage) */
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ExtU rtU;
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/* External outputs (root outports fed by signals with default storage) */
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ExtY rtY;
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/* Real-time model */
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static RT_MODEL rtM_;
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RT_MODEL *const rtM = &rtM_;
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/*
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* Output and update for action system:
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* '<S9>/If Action Subsystem2'
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* '<S8>/If Action Subsystem2'
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*/
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void IfActionSubsystem2(int8_t rtu_stepIn, int8_t *rty_step, uint8_t
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rtd_autos_set_loc[9], uint8_t rtd_coils_stop_set_loc[9], uint8_t rtd_com_loc[9],
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uint8_t rtd_lnoise_set_loc[9], uint8_t rtd_speed_set_loc[9], uint8_t
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rtd_stall_set_loc[9])
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{
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int32_t i;
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for (i = 0; i < 9; i++) {
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/* DataStoreWrite: '<S31>/Data Store Write1' incorporates:
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* Constant: '<S31>/Constant1'
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*/
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rtd_stall_set_loc[i] = 0U;
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/* DataStoreWrite: '<S31>/Data Store Write3' incorporates:
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* Constant: '<S31>/Constant2'
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*/
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rtd_lnoise_set_loc[i] = 0U;
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/* DataStoreWrite: '<S31>/Data Store Write2' */
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rtd_com_loc[i] = 2U;
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/* DataStoreWrite: '<S31>/Data Store Write4' incorporates:
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* Constant: '<S31>/Constant4'
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*/
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rtd_autos_set_loc[i] = 0U;
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/* DataStoreWrite: '<S31>/Data Store Write5' incorporates:
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* Constant: '<S31>/Constant5'
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*/
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rtd_speed_set_loc[i] = 0U;
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/* DataStoreWrite: '<S31>/Data Store Write6' incorporates:
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* Constant: '<S31>/Constant6'
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*/
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rtd_coils_stop_set_loc[i] = 0U;
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}
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/* Sum: '<S31>/step inc' incorporates:
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* Constant: '<S31>/Constant'
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*/
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*rty_step = (int8_t)(rtu_stepIn + 1);
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}
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/* Model step function */
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void Model_actuator_step(void)
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{
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int32_t i;
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uint16_t tmp;
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int8_t rtb_Switch;
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/* BusCreator: '<Root>/Bus Creator' incorporates:
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* DataStoreRead: '<Root>/Data Store Read1'
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* DataStoreRead: '<Root>/Data Store Read2'
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* DataStoreRead: '<Root>/Data Store Read3'
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* DataStoreRead: '<Root>/Data Store Read4'
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* DataStoreRead: '<Root>/Data Store Read5'
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* DataStoreRead: '<Root>/Data Store Read6'
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* DataStoreRead: '<Root>/Data Store Read7'
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* DataStoreRead: '<Root>/Data Store Read8'
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* DataStoreRead: '<Root>/Data Store Read9'
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* DataStoreWrite: '<Root>/Data Store Write'
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*/
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for (i = 0; i < 9; i++) {
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controllerData.POS[i] = rtDW.pos_loc[i];
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controllerData.BUS_ADR[i] = rtDW.busAdr_loc[i];
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controllerData.MODE[i] = rtDW.mode_loc[i];
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controllerData.COM[i] = rtDW.com_loc[i];
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controllerData.Stall_SET[i] = rtDW.stall_set_loc[i];
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controllerData.Lnoise_SET[i] = rtDW.lnoise_set_loc[i];
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controllerData.Autos_SET[i] = rtDW.autos_set_loc[i];
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controllerData.Speed_SET[i] = rtDW.speed_set_loc[i];
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controllerData.Coils_Stop_SET[i] = rtDW.coils_stop_set_loc[i];
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}
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/* End of BusCreator: '<Root>/Bus Creator' */
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/* Switch: '<Root>/Switch' incorporates:
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* Constant: '<Root>/Constant1'
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* DataStoreRead: '<Root>/Data Store Read'
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* UnitDelay: '<Root>/Unit Delay'
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*/
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if (rtDW.stepSig >= 1) {
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rtb_Switch = rtDW.UnitDelay_DSTATE;
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} else {
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rtb_Switch = 1;
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}
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/* End of Switch: '<Root>/Switch' */
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/* SwitchCase: '<Root>/Switch Case' */
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switch (rtb_Switch) {
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case 1:
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/* Outputs for IfAction SubSystem: '<Root>/Stop Mode' incorporates:
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* ActionPort: '<S12>/Action Port'
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*/
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/* If: '<S12>/If1' incorporates:
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* Inport: '<Root>/in_Busy_Ch0'
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* Inport: '<Root>/in_Error_Connect_Ch0'
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*/
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if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
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/* Outputs for IfAction SubSystem: '<S12>/If Action Subsystem2' incorporates:
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* ActionPort: '<S37>/Action Port'
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*/
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for (i = 0; i < 9; i++) {
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/* DataStoreWrite: '<S37>/Data Store Write2' */
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rtDW.mode_loc[i] = 2U;
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/* DataStoreWrite: '<S37>/Data Store Write3' */
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rtDW.com_loc[i] = 0U;
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}
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/* Merge: '<Root>/Merge' incorporates:
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* Constant: '<S37>/Constant'
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* Merge: '<S12>/Merge'
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* Sum: '<S37>/step inc'
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*/
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rtB.Merge = (int8_t)(rtb_Switch + 1);
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/* End of Outputs for SubSystem: '<S12>/If Action Subsystem2' */
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} else {
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/* Outputs for IfAction SubSystem: '<S12>/If Action Subsystem3' incorporates:
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* ActionPort: '<S38>/Action Port'
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*/
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/* Merge: '<Root>/Merge' incorporates:
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* Merge: '<S12>/Merge'
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* SignalConversion generated from: '<S38>/stepIn'
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*/
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rtB.Merge = rtb_Switch;
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/* End of Outputs for SubSystem: '<S12>/If Action Subsystem3' */
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}
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/* End of If: '<S12>/If1' */
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/* MATLAB Function: '<S12>/stop mode' */
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/* : y = step; */
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/* : fprintf('Stop Mode\n'); */
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printf("Stop Mode\n");
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fflush(stdout);
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/* End of Outputs for SubSystem: '<Root>/Stop Mode' */
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break;
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case 2:
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/* Outputs for IfAction SubSystem: '<Root>/Initial CPOS Min' incorporates:
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* ActionPort: '<S7>/Action Port'
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*/
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/* If: '<S7>/If' incorporates:
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* Inport: '<Root>/in_Busy_Ch0'
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* Inport: '<Root>/in_Error_Connect_Ch0'
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*/
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if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
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/* Outputs for IfAction SubSystem: '<S7>/If Action Subsystem' incorporates:
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* ActionPort: '<S24>/Action Port'
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*/
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for (i = 0; i < 9; i++) {
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/* DataStoreWrite: '<S24>/Data Store Write' */
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rtDW.pos_loc[i] = 6000U;
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/* DataStoreWrite: '<S24>/Data Store Write1' */
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rtDW.com_loc[i] = 1U;
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}
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/* Merge: '<Root>/Merge' incorporates:
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* Constant: '<S24>/Constant'
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* Merge: '<S7>/Merge'
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* Sum: '<S24>/step inc'
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*/
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rtB.Merge = (int8_t)(rtb_Switch + 1);
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/* End of Outputs for SubSystem: '<S7>/If Action Subsystem' */
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} else {
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/* Outputs for IfAction SubSystem: '<S7>/If Action Subsystem3' incorporates:
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* ActionPort: '<S25>/Action Port'
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*/
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/* Merge: '<Root>/Merge' incorporates:
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* Merge: '<S7>/Merge'
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* SignalConversion generated from: '<S25>/step'
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* SignalConversion generated from: '<S25>/stepIn1'
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*/
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/* : y = step; */
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/* : coder.extrinsic('fprintf'); */
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/* : fprintf('Actuator else: step = %d\n', step); */
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rtB.Merge = rtb_Switch;
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/* End of Outputs for SubSystem: '<S7>/If Action Subsystem3' */
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}
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/* End of If: '<S7>/If' */
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/* MATLAB Function: '<S7>/Initial CPOS Min' */
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/* : y = step; */
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/* : fprintf('Initial CPOS Min\n'); */
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printf("Initial CPOS Min\n");
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fflush(stdout);
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/* End of Outputs for SubSystem: '<Root>/Initial CPOS Min' */
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break;
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case 3:
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/* Outputs for IfAction SubSystem: '<Root>/Normal Mode' incorporates:
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* ActionPort: '<S10>/Action Port'
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*/
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/* If: '<S10>/If1' incorporates:
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* Inport: '<Root>/in_Busy_Ch0'
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* Inport: '<Root>/in_Error_Connect_Ch0'
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*/
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if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
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/* Outputs for IfAction SubSystem: '<S10>/If Action Subsystem2' incorporates:
|
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* ActionPort: '<S34>/Action Port'
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*/
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for (i = 0; i < 9; i++) {
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/* DataStoreWrite: '<S34>/Data Store Write' */
|
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rtDW.mode_loc[i] = 0U;
|
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|
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/* DataStoreWrite: '<S34>/Data Store Write2' */
|
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rtDW.com_loc[i] = 0U;
|
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}
|
||||
|
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/* Merge: '<Root>/Merge' incorporates:
|
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* Constant: '<S34>/Constant'
|
||||
* Merge: '<S10>/Merge'
|
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* Sum: '<S34>/step inc'
|
||||
*/
|
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rtB.Merge = (int8_t)(rtb_Switch + 1);
|
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|
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/* End of Outputs for SubSystem: '<S10>/If Action Subsystem2' */
|
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} else {
|
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/* Outputs for IfAction SubSystem: '<S10>/If Action Subsystem3' incorporates:
|
||||
* ActionPort: '<S35>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Merge: '<S10>/Merge'
|
||||
* SignalConversion generated from: '<S35>/stepIn'
|
||||
*/
|
||||
rtB.Merge = rtb_Switch;
|
||||
|
||||
/* End of Outputs for SubSystem: '<S10>/If Action Subsystem3' */
|
||||
}
|
||||
|
||||
/* End of If: '<S10>/If1' */
|
||||
|
||||
/* MATLAB Function: '<S10>/Normal Mode' */
|
||||
/* : y = step; */
|
||||
/* : fprintf('Normal Mode\n'); */
|
||||
printf("Normal Mode\n");
|
||||
fflush(stdout);
|
||||
|
||||
/* End of Outputs for SubSystem: '<Root>/Normal Mode' */
|
||||
break;
|
||||
|
||||
case 4:
|
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/* Outputs for IfAction SubSystem: '<Root>/Move to position Min' incorporates:
|
||||
* ActionPort: '<S9>/Action Port'
|
||||
*/
|
||||
/* If: '<S9>/If1' incorporates:
|
||||
* Inport: '<Root>/in_Busy_Ch0'
|
||||
* Inport: '<Root>/in_Error_Connect_Ch0'
|
||||
*/
|
||||
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
|
||||
/* Outputs for IfAction SubSystem: '<S9>/If Action Subsystem2' incorporates:
|
||||
* ActionPort: '<S31>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' */
|
||||
IfActionSubsystem2(rtb_Switch, &rtB.Merge, rtDW.autos_set_loc,
|
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rtDW.coils_stop_set_loc, rtDW.com_loc,
|
||||
rtDW.lnoise_set_loc, rtDW.speed_set_loc,
|
||||
rtDW.stall_set_loc);
|
||||
|
||||
/* End of Outputs for SubSystem: '<S9>/If Action Subsystem2' */
|
||||
} else {
|
||||
/* Outputs for IfAction SubSystem: '<S9>/If Action Subsystem3' incorporates:
|
||||
* ActionPort: '<S32>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Merge: '<S9>/Merge'
|
||||
* SignalConversion generated from: '<S32>/stepIn'
|
||||
*/
|
||||
rtB.Merge = rtb_Switch;
|
||||
|
||||
/* End of Outputs for SubSystem: '<S9>/If Action Subsystem3' */
|
||||
}
|
||||
|
||||
/* End of If: '<S9>/If1' */
|
||||
|
||||
/* MATLAB Function: '<S9>/Move to position Min' */
|
||||
/* : y = step; */
|
||||
/* : fprintf('Move to position Min\n'); */
|
||||
printf("Move to position Min\n");
|
||||
fflush(stdout);
|
||||
|
||||
/* End of Outputs for SubSystem: '<Root>/Move to position Min' */
|
||||
break;
|
||||
|
||||
case 5:
|
||||
/* Outputs for IfAction SubSystem: '<Root>/Check Stall Min' incorporates:
|
||||
* ActionPort: '<S2>/Action Port'
|
||||
*/
|
||||
/* If: '<S2>/If1' incorporates:
|
||||
* Inport: '<Root>/in_Busy_Ch0'
|
||||
* Inport: '<Root>/in_Error_Connect_Ch0'
|
||||
*/
|
||||
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
|
||||
/* Outputs for IfAction SubSystem: '<S2>/If Action Subsystem2' incorporates:
|
||||
* ActionPort: '<S17>/Action Port'
|
||||
*/
|
||||
/* DataStoreWrite: '<S17>/Data Store Write1' incorporates:
|
||||
* DataStoreWrite: '<Root>/Data Store Write1'
|
||||
* Inport: '<Root>/in_CPOS_ALL_Ch0'
|
||||
*/
|
||||
for (i = 0; i < 9; i++) {
|
||||
rtDW.Min_position_Ch0[i] = rtU.in_CPOS_ALL_Ch0[i];
|
||||
}
|
||||
|
||||
/* End of DataStoreWrite: '<S17>/Data Store Write1' */
|
||||
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Constant: '<S17>/Constant'
|
||||
* Merge: '<S2>/Merge'
|
||||
* Sum: '<S17>/step inc'
|
||||
*/
|
||||
rtB.Merge = (int8_t)(rtb_Switch + 1);
|
||||
|
||||
/* End of Outputs for SubSystem: '<S2>/If Action Subsystem2' */
|
||||
} else {
|
||||
/* Outputs for IfAction SubSystem: '<S2>/If Action Subsystem3' incorporates:
|
||||
* ActionPort: '<S18>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Merge: '<S2>/Merge'
|
||||
* SignalConversion generated from: '<S18>/stepIn'
|
||||
*/
|
||||
rtB.Merge = rtb_Switch;
|
||||
|
||||
/* End of Outputs for SubSystem: '<S2>/If Action Subsystem3' */
|
||||
}
|
||||
|
||||
/* End of If: '<S2>/If1' */
|
||||
|
||||
/* MATLAB Function: '<S2>/Check Stall Min' */
|
||||
/* : y = step; */
|
||||
/* : fprintf('Check Stall Min\n'); */
|
||||
printf("Check Stall Min\n");
|
||||
fflush(stdout);
|
||||
|
||||
/* End of Outputs for SubSystem: '<Root>/Check Stall Min' */
|
||||
break;
|
||||
|
||||
case 6:
|
||||
/* Outputs for IfAction SubSystem: '<Root>/Initial CPOS Max' incorporates:
|
||||
* ActionPort: '<S6>/Action Port'
|
||||
*/
|
||||
/* If: '<S6>/If1' incorporates:
|
||||
* Inport: '<Root>/in_Busy_Ch0'
|
||||
* Inport: '<Root>/in_Error_Connect_Ch0'
|
||||
*/
|
||||
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
|
||||
/* Outputs for IfAction SubSystem: '<S6>/If Action Subsystem2' incorporates:
|
||||
* ActionPort: '<S21>/Action Port'
|
||||
*/
|
||||
for (i = 0; i < 9; i++) {
|
||||
/* DataStoreWrite: '<S21>/Data Store Write' */
|
||||
rtDW.pos_loc[i] = 0U;
|
||||
|
||||
/* DataStoreWrite: '<S21>/Data Store Write1' */
|
||||
rtDW.com_loc[i] = 1U;
|
||||
}
|
||||
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Constant: '<S21>/Constant'
|
||||
* Merge: '<S6>/Merge'
|
||||
* Sum: '<S21>/step inc'
|
||||
*/
|
||||
rtB.Merge = (int8_t)(rtb_Switch + 1);
|
||||
|
||||
/* End of Outputs for SubSystem: '<S6>/If Action Subsystem2' */
|
||||
} else {
|
||||
/* Outputs for IfAction SubSystem: '<S6>/If Action Subsystem3' incorporates:
|
||||
* ActionPort: '<S22>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Merge: '<S6>/Merge'
|
||||
* SignalConversion generated from: '<S22>/stepIn'
|
||||
*/
|
||||
rtB.Merge = rtb_Switch;
|
||||
|
||||
/* End of Outputs for SubSystem: '<S6>/If Action Subsystem3' */
|
||||
}
|
||||
|
||||
/* End of If: '<S6>/If1' */
|
||||
|
||||
/* MATLAB Function: '<S6>/Initial CPOS Max' */
|
||||
/* : y = step; */
|
||||
/* : fprintf('Initial CPOS Max\n'); */
|
||||
printf("Initial CPOS Max\n");
|
||||
fflush(stdout);
|
||||
|
||||
/* End of Outputs for SubSystem: '<Root>/Initial CPOS Max' */
|
||||
break;
|
||||
|
||||
case 7:
|
||||
/* Outputs for IfAction SubSystem: '<Root>/Move to position Max' incorporates:
|
||||
* ActionPort: '<S8>/Action Port'
|
||||
*/
|
||||
/* If: '<S8>/If1' incorporates:
|
||||
* Inport: '<Root>/in_Busy_Ch0'
|
||||
* Inport: '<Root>/in_Error_Connect_Ch0'
|
||||
*/
|
||||
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
|
||||
/* Outputs for IfAction SubSystem: '<S8>/If Action Subsystem2' incorporates:
|
||||
* ActionPort: '<S28>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' */
|
||||
IfActionSubsystem2(rtb_Switch, &rtB.Merge, rtDW.autos_set_loc,
|
||||
rtDW.coils_stop_set_loc, rtDW.com_loc,
|
||||
rtDW.lnoise_set_loc, rtDW.speed_set_loc,
|
||||
rtDW.stall_set_loc);
|
||||
|
||||
/* End of Outputs for SubSystem: '<S8>/If Action Subsystem2' */
|
||||
} else {
|
||||
/* Outputs for IfAction SubSystem: '<S8>/If Action Subsystem3' incorporates:
|
||||
* ActionPort: '<S29>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Merge: '<S8>/Merge'
|
||||
* SignalConversion generated from: '<S29>/stepIn'
|
||||
*/
|
||||
rtB.Merge = rtb_Switch;
|
||||
|
||||
/* End of Outputs for SubSystem: '<S8>/If Action Subsystem3' */
|
||||
}
|
||||
|
||||
/* End of If: '<S8>/If1' */
|
||||
|
||||
/* MATLAB Function: '<S8>/Move to position Max' */
|
||||
/* : y = step; */
|
||||
/* : fprintf('Move to position Max\n'); */
|
||||
printf("Move to position Max\n");
|
||||
fflush(stdout);
|
||||
|
||||
/* End of Outputs for SubSystem: '<Root>/Move to position Max' */
|
||||
break;
|
||||
|
||||
case 8:
|
||||
/* Outputs for IfAction SubSystem: '<Root>/Check Stall Max' incorporates:
|
||||
* ActionPort: '<S1>/Action Port'
|
||||
*/
|
||||
/* If: '<S1>/If1' incorporates:
|
||||
* Inport: '<Root>/in_Busy_Ch0'
|
||||
* Inport: '<Root>/in_Error_Connect_Ch0'
|
||||
*/
|
||||
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
|
||||
/* Outputs for IfAction SubSystem: '<S1>/If Action Subsystem2' incorporates:
|
||||
* ActionPort: '<S14>/Action Port'
|
||||
*/
|
||||
/* DataStoreWrite: '<S14>/Data Store Write1' incorporates:
|
||||
* DataStoreWrite: '<Root>/Data Store Write1'
|
||||
* Inport: '<Root>/in_CPOS_ALL_Ch0'
|
||||
*/
|
||||
for (i = 0; i < 9; i++) {
|
||||
rtDW.Max_position_Ch0[i] = rtU.in_CPOS_ALL_Ch0[i];
|
||||
}
|
||||
|
||||
/* End of DataStoreWrite: '<S14>/Data Store Write1' */
|
||||
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Constant: '<S14>/Constant'
|
||||
* Merge: '<S1>/Merge'
|
||||
* Sum: '<S14>/step inc'
|
||||
*/
|
||||
rtB.Merge = (int8_t)(rtb_Switch + 1);
|
||||
|
||||
/* End of Outputs for SubSystem: '<S1>/If Action Subsystem2' */
|
||||
} else {
|
||||
/* Outputs for IfAction SubSystem: '<S1>/If Action Subsystem3' incorporates:
|
||||
* ActionPort: '<S15>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Merge: '<S1>/Merge'
|
||||
* SignalConversion generated from: '<S15>/stepIn'
|
||||
*/
|
||||
rtB.Merge = rtb_Switch;
|
||||
|
||||
/* End of Outputs for SubSystem: '<S1>/If Action Subsystem3' */
|
||||
}
|
||||
|
||||
/* End of If: '<S1>/If1' */
|
||||
|
||||
/* MATLAB Function: '<S1>/Check Stall Max' */
|
||||
/* : y = step; */
|
||||
/* : fprintf('Check Stall Max\n'); */
|
||||
printf("Check Stall Max\n");
|
||||
fflush(stdout);
|
||||
|
||||
/* End of Outputs for SubSystem: '<Root>/Check Stall Max' */
|
||||
break;
|
||||
|
||||
case 9:
|
||||
/* Outputs for IfAction SubSystem: '<Root>/Homing' incorporates:
|
||||
* ActionPort: '<S4>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* Constant: '<S4>/Constant2'
|
||||
* SignalConversion generated from: '<S4>/step'
|
||||
*/
|
||||
rtB.Merge = 1;
|
||||
|
||||
/* MATLAB Function: '<S4>/MAX POSITION' incorporates:
|
||||
* DataStoreRead: '<S4>/Data Store Read2'
|
||||
*/
|
||||
/* : y = step; */
|
||||
/* : fprintf('MAX POSITION '); */
|
||||
printf("MAX POSITION ");
|
||||
fflush(stdout);
|
||||
|
||||
/* : for i = 1:numel(step) */
|
||||
for (i = 0; i < 9; i++) {
|
||||
/* : fprintf('%d ', int16(step(i))); */
|
||||
tmp = rtDW.Max_position_Ch0[i];
|
||||
if (tmp > 32767) {
|
||||
tmp = 32767U;
|
||||
}
|
||||
|
||||
printf("%d ", (int16_t)tmp);
|
||||
fflush(stdout);
|
||||
}
|
||||
|
||||
/* : fprintf('\n'); */
|
||||
printf("\n");
|
||||
fflush(stdout);
|
||||
|
||||
/* End of MATLAB Function: '<S4>/MAX POSITION' */
|
||||
|
||||
/* MATLAB Function: '<S4>/MIN POSITION' incorporates:
|
||||
* DataStoreRead: '<S4>/Data Store Read3'
|
||||
*/
|
||||
/* : y = step; */
|
||||
/* : fprintf('MIN POSITION '); */
|
||||
printf("MIN POSITION ");
|
||||
fflush(stdout);
|
||||
|
||||
/* : for i = 1:numel(step) */
|
||||
for (i = 0; i < 9; i++) {
|
||||
/* : fprintf('%d ', int16(step(i))); */
|
||||
tmp = rtDW.Min_position_Ch0[i];
|
||||
if (tmp > 32767) {
|
||||
tmp = 32767U;
|
||||
}
|
||||
|
||||
printf("%d ", (int16_t)tmp);
|
||||
fflush(stdout);
|
||||
}
|
||||
|
||||
/* : fprintf('\n'); */
|
||||
printf("\n");
|
||||
fflush(stdout);
|
||||
|
||||
/* End of MATLAB Function: '<S4>/MIN POSITION' */
|
||||
/* End of Outputs for SubSystem: '<Root>/Homing' */
|
||||
break;
|
||||
|
||||
case 0:
|
||||
/* Outputs for IfAction SubSystem: '<Root>/Homing1' incorporates:
|
||||
* ActionPort: '<S5>/Action Port'
|
||||
*/
|
||||
/* Merge: '<Root>/Merge' incorporates:
|
||||
* SignalConversion generated from: '<S5>/stepIn'
|
||||
*/
|
||||
rtB.Merge = rtb_Switch;
|
||||
|
||||
/* End of Outputs for SubSystem: '<Root>/Homing1' */
|
||||
break;
|
||||
}
|
||||
|
||||
/* End of SwitchCase: '<Root>/Switch Case' */
|
||||
|
||||
/* Outport: '<Root>/Out1' incorporates:
|
||||
* DataStoreRead: '<Root>/Data Store Read10'
|
||||
*/
|
||||
rtY.Out1 = controllerData;
|
||||
|
||||
/* DataStoreWrite: '<Root>/Start write stepSig' incorporates:
|
||||
* Constant: '<Root>/Constant1'
|
||||
*/
|
||||
rtDW.stepSig = 1;
|
||||
|
||||
/* MATLAB Function: '<Root>/Finish case' incorporates:
|
||||
* UnitDelay: '<Root>/Unit Delay'
|
||||
*/
|
||||
/* : y = step; */
|
||||
/* : fprintf('Finish case: step = %d\n', step); */
|
||||
printf("Finish case: step = %d\n", rtDW.UnitDelay_DSTATE);
|
||||
fflush(stdout);
|
||||
|
||||
/* MATLAB Function: '<Root>/Start case' */
|
||||
/* : y = step; */
|
||||
/* : fprintf('Start case: step = %d\n', step); */
|
||||
printf("Start case: step = %d\n", rtb_Switch);
|
||||
fflush(stdout);
|
||||
|
||||
/* Update for UnitDelay: '<Root>/Unit Delay' */
|
||||
rtDW.UnitDelay_DSTATE = rtB.Merge;
|
||||
}
|
||||
|
||||
/* Model initialize function */
|
||||
void Model_actuator_initialize(void)
|
||||
{
|
||||
/* (no initialization code required) */
|
||||
}
|
||||
|
||||
/* Model terminate function */
|
||||
void Model_actuator_terminate(void)
|
||||
{
|
||||
/* (no terminate code required) */
|
||||
}
|
||||
|
||||
/*
|
||||
* File trailer for generated code.
|
||||
*
|
||||
* [EOF]
|
||||
*/
|
||||
|
|
@ -0,0 +1,191 @@
|
|||
/*
|
||||
* File: Model_actuator.h
|
||||
*
|
||||
* Code generated for Simulink model 'Model_actuator'.
|
||||
*
|
||||
* Model version : 1.538
|
||||
* Simulink Coder version : 24.1 (R2024a) 19-Nov-2023
|
||||
* C/C++ source code generated on : Fri Dec 19 14:23:04 2025
|
||||
*
|
||||
* Target selection: ert.tlc
|
||||
* Embedded hardware selection: ARM Compatible->ARM Cortex-M
|
||||
* Emulation hardware selection:
|
||||
* Differs from embedded hardware (MATLAB Host)
|
||||
* Code generation objectives: Unspecified
|
||||
* Validation result: Not run
|
||||
*/
|
||||
|
||||
#ifndef Model_actuator_h_
|
||||
#define Model_actuator_h_
|
||||
#ifndef Model_actuator_COMMON_INCLUDES_
|
||||
#define Model_actuator_COMMON_INCLUDES_
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#endif /* Model_actuator_COMMON_INCLUDES_ */
|
||||
|
||||
#include "Model_actuator_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
|
||||
|
||||
/* user code (top of header file) */
|
||||
#include <stdio.h>
|
||||
|
||||
/* Block signals (default storage) */
|
||||
typedef struct {
|
||||
int8_t Merge; /* '<Root>/Merge' */
|
||||
} B;
|
||||
|
||||
/* Block states (default storage) for system '<Root>' */
|
||||
typedef struct {
|
||||
uint16_t Min_position_Ch0[9]; /* '<Root>/Data Store Memory12' */
|
||||
uint16_t Max_position_Ch0[9]; /* '<Root>/Data Store Memory13' */
|
||||
uint16_t pos_loc[9]; /* '<Root>/Data Store Memory4' */
|
||||
int8_t UnitDelay_DSTATE; /* '<Root>/Unit Delay' */
|
||||
int8_t stepSig; /* '<Root>/Data Store Memory' */
|
||||
uint8_t mode_loc[9]; /* '<Root>/Data Store Memory1' */
|
||||
uint8_t com_loc[9]; /* '<Root>/Data Store Memory2' */
|
||||
uint8_t busAdr_loc[9]; /* '<Root>/Data Store Memory3' */
|
||||
uint8_t stall_set_loc[9]; /* '<Root>/Data Store Memory5' */
|
||||
uint8_t lnoise_set_loc[9]; /* '<Root>/Data Store Memory6' */
|
||||
uint8_t autos_set_loc[9]; /* '<Root>/Data Store Memory7' */
|
||||
uint8_t speed_set_loc[9]; /* '<Root>/Data Store Memory8' */
|
||||
uint8_t coils_stop_set_loc[9]; /* '<Root>/Data Store Memory9' */
|
||||
} DW;
|
||||
|
||||
/* External inputs (root inport signals with default storage) */
|
||||
typedef struct {
|
||||
uint16_t in_CPOS_ALL_Ch0[9]; /* '<Root>/in_CPOS_ALL_Ch0' */
|
||||
uint8_t in_Act_Emrf_Slave_Ch0[9]; /* '<Root>/in_Act_Emrf_Slave_Ch0' */
|
||||
uint8_t in_Mode_Slave_Ch0[9]; /* '<Root>/in_Mode_Slave_Ch0' */
|
||||
uint8_t in_Act_Err1_Supply_Ch0[9]; /* '<Root>/in_Act_Err1_Supply_Ch0' */
|
||||
uint8_t in_Act_Err2_Communication_Ch0[9];
|
||||
/* '<Root>/in_Act_Err2_Communication_Ch0' */
|
||||
uint8_t in_Act_Err3_Temperature_Ch0[9];
|
||||
/* '<Root>/in_Act_Err3_Temperature_Ch0' */
|
||||
uint8_t in_Act_Err4_Permanent_Electrical_Ch0[9];
|
||||
/* '<Root>/in_Act_Err4_Permanent_Electrical_Ch0' */
|
||||
uint8_t in_Act_Stall_Slave_Ch0[9]; /* '<Root>/in_Act_Stall_Slave_Ch0' */
|
||||
uint8_t in_Act_Reset_Ch0[9]; /* '<Root>/in_Act_Reset_Ch0' */
|
||||
uint8_t in_Busy_Ch0; /* '<Root>/in_Busy_Ch0' */
|
||||
uint8_t in_Error_Connect_Ch0; /* '<Root>/in_Error_Connect_Ch0' */
|
||||
} ExtU;
|
||||
|
||||
/* External outputs (root outports fed by signals with default storage) */
|
||||
typedef struct {
|
||||
ActuatorCmdBus Out1; /* '<Root>/Out1' */
|
||||
} ExtY;
|
||||
|
||||
/* Real-time Model Data Structure */
|
||||
struct tag_RTM {
|
||||
const char * volatile errorStatus;
|
||||
};
|
||||
|
||||
/* Block signals (default storage) */
|
||||
extern B rtB;
|
||||
|
||||
/* Block states (default storage) */
|
||||
extern DW rtDW;
|
||||
|
||||
/* External inputs (root inport signals with default storage) */
|
||||
extern ExtU rtU;
|
||||
|
||||
/* External outputs (root outports fed by signals with default storage) */
|
||||
extern ExtY rtY;
|
||||
|
||||
/*
|
||||
* Exported States
|
||||
*
|
||||
* Note: Exported states are block states with an exported global
|
||||
* storage class designation. Code generation will declare the memory for these
|
||||
* states and exports their symbols.
|
||||
*
|
||||
*/
|
||||
extern ActuatorCmdBus controllerData; /* '<Root>/Data Store Memory15' */
|
||||
|
||||
/* Model entry point functions */
|
||||
extern void Model_actuator_initialize(void);
|
||||
extern void Model_actuator_step(void);
|
||||
extern void Model_actuator_terminate(void);
|
||||
|
||||
/* Real-time Model object */
|
||||
extern RT_MODEL *const rtM;
|
||||
|
||||
/*-
|
||||
* These blocks were eliminated from the model due to optimizations:
|
||||
*
|
||||
* Block '<S7>/Display1' : Unused code path elimination
|
||||
* Block '<S7>/Display2' : Unused code path elimination
|
||||
* Block '<S7>/Display3' : Unused code path elimination
|
||||
* Block '<S12>/Display3' : Unused code path elimination
|
||||
*/
|
||||
|
||||
/*-
|
||||
* 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.
|
||||
*
|
||||
* Use the MATLAB hilite_system command to trace the generated code back
|
||||
* to the model. For example,
|
||||
*
|
||||
* hilite_system('<S3>') - opens system 3
|
||||
* hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
|
||||
*
|
||||
* Here is the system hierarchy for this model
|
||||
*
|
||||
* '<Root>' : 'Model_actuator'
|
||||
* '<S1>' : 'Model_actuator/Check Stall Max'
|
||||
* '<S2>' : 'Model_actuator/Check Stall Min'
|
||||
* '<S3>' : 'Model_actuator/Finish case'
|
||||
* '<S4>' : 'Model_actuator/Homing'
|
||||
* '<S5>' : 'Model_actuator/Homing1'
|
||||
* '<S6>' : 'Model_actuator/Initial CPOS Max'
|
||||
* '<S7>' : 'Model_actuator/Initial CPOS Min'
|
||||
* '<S8>' : 'Model_actuator/Move to position Max'
|
||||
* '<S9>' : 'Model_actuator/Move to position Min'
|
||||
* '<S10>' : 'Model_actuator/Normal Mode'
|
||||
* '<S11>' : 'Model_actuator/Start case'
|
||||
* '<S12>' : 'Model_actuator/Stop Mode'
|
||||
* '<S13>' : 'Model_actuator/Check Stall Max/Check Stall Max'
|
||||
* '<S14>' : 'Model_actuator/Check Stall Max/If Action Subsystem2'
|
||||
* '<S15>' : 'Model_actuator/Check Stall Max/If Action Subsystem3'
|
||||
* '<S16>' : 'Model_actuator/Check Stall Min/Check Stall Min'
|
||||
* '<S17>' : 'Model_actuator/Check Stall Min/If Action Subsystem2'
|
||||
* '<S18>' : 'Model_actuator/Check Stall Min/If Action Subsystem3'
|
||||
* '<S19>' : 'Model_actuator/Homing/MAX POSITION'
|
||||
* '<S20>' : 'Model_actuator/Homing/MIN POSITION'
|
||||
* '<S21>' : 'Model_actuator/Initial CPOS Max/If Action Subsystem2'
|
||||
* '<S22>' : 'Model_actuator/Initial CPOS Max/If Action Subsystem3'
|
||||
* '<S23>' : 'Model_actuator/Initial CPOS Max/Initial CPOS Max'
|
||||
* '<S24>' : 'Model_actuator/Initial CPOS Min/If Action Subsystem'
|
||||
* '<S25>' : 'Model_actuator/Initial CPOS Min/If Action Subsystem3'
|
||||
* '<S26>' : 'Model_actuator/Initial CPOS Min/Initial CPOS Min'
|
||||
* '<S27>' : 'Model_actuator/Initial CPOS Min/If Action Subsystem3/Log Ambient Lv3'
|
||||
* '<S28>' : 'Model_actuator/Move to position Max/If Action Subsystem2'
|
||||
* '<S29>' : 'Model_actuator/Move to position Max/If Action Subsystem3'
|
||||
* '<S30>' : 'Model_actuator/Move to position Max/Move to position Max'
|
||||
* '<S31>' : 'Model_actuator/Move to position Min/If Action Subsystem2'
|
||||
* '<S32>' : 'Model_actuator/Move to position Min/If Action Subsystem3'
|
||||
* '<S33>' : 'Model_actuator/Move to position Min/Move to position Min'
|
||||
* '<S34>' : 'Model_actuator/Normal Mode/If Action Subsystem2'
|
||||
* '<S35>' : 'Model_actuator/Normal Mode/If Action Subsystem3'
|
||||
* '<S36>' : 'Model_actuator/Normal Mode/Normal Mode'
|
||||
* '<S37>' : 'Model_actuator/Stop Mode/If Action Subsystem2'
|
||||
* '<S38>' : 'Model_actuator/Stop Mode/If Action Subsystem3'
|
||||
* '<S39>' : 'Model_actuator/Stop Mode/stop mode'
|
||||
*/
|
||||
#endif /* Model_actuator_h_ */
|
||||
|
||||
/*
|
||||
* File trailer for generated code.
|
||||
*
|
||||
* [EOF]
|
||||
*/
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
/*
|
||||
* File: Model_actuator_private.h
|
||||
*
|
||||
* Code generated for Simulink model 'Model_actuator'.
|
||||
*
|
||||
* Model version : 1.538
|
||||
* Simulink Coder version : 24.1 (R2024a) 19-Nov-2023
|
||||
* C/C++ source code generated on : Fri Dec 19 14:23:04 2025
|
||||
*
|
||||
* Target selection: ert.tlc
|
||||
* Embedded hardware selection: ARM Compatible->ARM Cortex-M
|
||||
* Emulation hardware selection:
|
||||
* Differs from embedded hardware (MATLAB Host)
|
||||
* Code generation objectives: Unspecified
|
||||
* Validation result: Not run
|
||||
*/
|
||||
|
||||
#ifndef Model_actuator_private_h_
|
||||
#define Model_actuator_private_h_
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include "Model_actuator_types.h"
|
||||
#include "Model_actuator.h"
|
||||
|
||||
extern void IfActionSubsystem2(int8_t rtu_stepIn, int8_t *rty_step, uint8_t
|
||||
rtd_autos_set_loc[9], uint8_t rtd_coils_stop_set_loc[9], uint8_t rtd_com_loc[9],
|
||||
uint8_t rtd_lnoise_set_loc[9], uint8_t rtd_speed_set_loc[9], uint8_t
|
||||
rtd_stall_set_loc[9]);
|
||||
|
||||
#endif /* Model_actuator_private_h_ */
|
||||
|
||||
/*
|
||||
* File trailer for generated code.
|
||||
*
|
||||
* [EOF]
|
||||
*/
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
/*
|
||||
* File: Model_actuator_types.h
|
||||
*
|
||||
* Code generated for Simulink model 'Model_actuator'.
|
||||
*
|
||||
* Model version : 1.538
|
||||
* Simulink Coder version : 24.1 (R2024a) 19-Nov-2023
|
||||
* C/C++ source code generated on : Fri Dec 19 14:23:04 2025
|
||||
*
|
||||
* Target selection: ert.tlc
|
||||
* Embedded hardware selection: ARM Compatible->ARM Cortex-M
|
||||
* Emulation hardware selection:
|
||||
* Differs from embedded hardware (MATLAB Host)
|
||||
* Code generation objectives: Unspecified
|
||||
* Validation result: Not run
|
||||
*/
|
||||
|
||||
#ifndef Model_actuator_types_h_
|
||||
#define Model_actuator_types_h_
|
||||
#include <stdint.h>
|
||||
#ifndef DEFINED_TYPEDEF_FOR_ActuatorCmdBus_
|
||||
#define DEFINED_TYPEDEF_FOR_ActuatorCmdBus_
|
||||
|
||||
typedef struct {
|
||||
uint16_t POS[9];
|
||||
uint8_t BUS_ADR[9];
|
||||
uint8_t MODE[9];
|
||||
uint8_t COM[9];
|
||||
uint8_t Stall_SET[9];
|
||||
uint8_t Lnoise_SET[9];
|
||||
uint8_t Autos_SET[9];
|
||||
uint8_t Speed_SET[9];
|
||||
uint8_t Coils_Stop_SET[9];
|
||||
} ActuatorCmdBus;
|
||||
|
||||
#endif
|
||||
|
||||
/* Forward declaration for rtModel */
|
||||
typedef struct tag_RTM RT_MODEL;
|
||||
|
||||
#endif /* Model_actuator_types_h_ */
|
||||
|
||||
/*
|
||||
* File trailer for generated code.
|
||||
*
|
||||
* [EOF]
|
||||
*/
|
||||
|
|
@ -0,0 +1,13 @@
|
|||
{
|
||||
"dep": [
|
||||
|
||||
],
|
||||
"cmake": {
|
||||
"inc_dirs": [
|
||||
"./"
|
||||
],
|
||||
"srcs": [
|
||||
"./**.c"
|
||||
]
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue