Test program for master controller
Dependencies: Controller_Master mbed
Controller_Master.c
- Committer:
- AndreaAndreoli
- Date:
- 2016-06-04
- Revision:
- 0:ae1df001727e
File content as of revision 0:ae1df001727e:
/* * 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: Controller_Master.c * * Code generated for Simulink model 'Controller_Master'. * * Model version : 1.0 * Simulink Coder version : 8.10 (R2016a) 10-Feb-2016 * C/C++ source code generated on : Sat Jun 04 17:59:52 2016 * * Target selection: ert.tlc * Embedded hardware selection: NXP->Cortex-M4 * Code generation objectives: Unspecified * Validation result: Not run */ #include "Controller_Master.h" /* Named constants for Chart: '<S1>/AEB' */ #define Controller_M_IN_NO_ACTIVE_CHILD ((uint8_T)0U) #define Controller_Master_IN_ACTIVE ((uint8_T)1U) #define Controller_Master_IN_BRAKE ((uint8_T)1U) #define Controller_Master_IN_ERR ((uint8_T)1U) #define Controller_Master_IN_IDLE ((uint8_T)2U) #define Controller_Master_IN_OK ((uint8_T)2U) #define Controller_Master_IN_READY ((uint8_T)2U) #define Controller_Master_IN_WARNING ((uint8_T)3U) /* Named constants for Chart: '<S1>/select_command' */ #define Controller_Master_IN_BLINK ((uint8_T)1U) #define Controller_Master_IN_BLINK_OFF ((uint8_T)1U) #define Controller_Master_IN_BLINK_ON ((uint8_T)2U) #define Controller_Master_IN_OFF1 ((uint8_T)2U) #define Controller_Master_IN_ON ((uint8_T)3U) /*===========* * Constants * *===========*/ #define RT_PI 3.14159265358979323846 #define RT_PIF 3.1415927F #define RT_LN_10 2.30258509299404568402 #define RT_LN_10F 2.3025851F #define RT_LOG10E 0.43429448190325182765 #define RT_LOG10EF 0.43429449F #define RT_E 2.7182818284590452354 #define RT_EF 2.7182817F /* * UNUSED_PARAMETER(x) * Used to specify that a function parameter (argument) is required but not * accessed by the function body. */ #ifndef UNUSED_PARAMETER # if defined(__LCC__) # define UNUSED_PARAMETER(x) /* do nothing */ # else /* * This is the semi-ANSI standard way of indicating that an * unused function parameter is required. */ # define UNUSED_PARAMETER(x) (void) (x) # endif #endif /* Model step function */ void Controller_Master_step(RT_MODEL_Controller_Master_T *const Controller_Master_M, real_T Controller_Master_U_V, real_T Controller_Master_U_D_M, uint8_T Controller_Master_U_Slave, uint8_T *Controller_Master_Y_BRAKE, uint8_T *Controller_Master_Y_LED_BLUE, uint8_T *Controller_Master_Y_LED_RED, uint8_T *Controller_Master_Y_MASTER) { B_Controller_Master_T *Controller_Master_B = ((B_Controller_Master_T *) Controller_Master_M->ModelData.blockIO); DW_Controller_Master_T *Controller_Master_DW = ((DW_Controller_Master_T *) Controller_Master_M->ModelData.dwork); real_T K; /* Outputs for Atomic SubSystem: '<Root>/Controller_Master' */ /* Chart: '<S1>/AEB' incorporates: * Inport: '<Root>/D_M' * Inport: '<Root>/V' * Memory: '<S1>/Memory' */ /* Gateway: Controller_Master/AEB */ /* During: Controller_Master/AEB */ if (Controller_Master_DW->is_active_c3_Controller_Master == 0U) { /* Entry: Controller_Master/AEB */ Controller_Master_DW->is_active_c3_Controller_Master = 1U; /* Entry Internal: Controller_Master/AEB */ /* Entry Internal 'AEB': '<S2>:35' */ /* Entry Internal 'ERRORS_CHECK_THREAD': '<S2>:33' */ /* Transition: '<S2>:38' */ Controller_Master_DW->is_ERRORS_CHECK_THREAD = Controller_Master_IN_OK; /* Outport: '<Root>/LED_RED' */ /* Entry 'OK': '<S2>:37' */ /* '<S2>:37:1' Led_Red =uint8(0); */ *Controller_Master_Y_LED_RED = 0U; /* Outport: '<Root>/MASTER' */ /* '<S2>:37:1' Master = uint8(1); */ *Controller_Master_Y_MASTER = 1U; /* Entry Internal 'APPLICATION_THREAD': '<S2>:32' */ /* Transition: '<S2>:27' */ Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY; /* Outport: '<Root>/BRAKE' */ /* Entry 'READY': '<S2>:21' */ /* '<S2>:21:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:21:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; } else { /* During 'AEB': '<S2>:35' */ /* During 'ERRORS_CHECK_THREAD': '<S2>:33' */ if (Controller_Master_DW->is_ERRORS_CHECK_THREAD != Controller_Master_IN_ERR) { /* During 'OK': '<S2>:37' */ /* '<S2>:46:1' sf_internal_predicateOutput = ... */ /* '<S2>:46:1' V > 180 || D > 200 || D < 0; */ if ((Controller_Master_U_V > 180.0) || (Controller_Master_U_D_M > 200.0) || (Controller_Master_U_D_M < 0.0)) { /* Transition: '<S2>:46' */ Controller_Master_DW->is_ERRORS_CHECK_THREAD = Controller_Master_IN_ERR; /* Outport: '<Root>/LED_RED' */ /* Entry 'ERR': '<S2>:42' */ /* '<S2>:42:1' Led_Red = uint8(1); */ *Controller_Master_Y_LED_RED = 1U; /* Outport: '<Root>/MASTER' */ /* Entry 'SENSOR_ERR': '<S2>:39' */ /* '<S2>:39:1' Master = uint8(0) ; */ /* '<S2>:39:1' En = false; */ /* '<S2>:39:1' Brake = uint8(0); */ /* '<S2>:39:3' Led_Blue = 0; */ /* Entry 'MCU_ERR': '<S2>:40' */ /* '<S2>:40:1' Master = uint8(0) ; */ *Controller_Master_Y_MASTER = 0U; /* '<S2>:40:1' En = false; */ Controller_Master_DW->En = false; /* Outport: '<Root>/BRAKE' */ /* '<S2>:40:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:40:3' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; } else { /* '<S2>:43:1' sf_internal_predicateOutput = ... */ /* '<S2>:43:1' D == 0; */ if (Controller_Master_U_D_M == 0.0) { /* Transition: '<S2>:43' */ Controller_Master_DW->is_ERRORS_CHECK_THREAD = Controller_Master_IN_ERR; /* Outport: '<Root>/LED_RED' */ /* Entry 'ERR': '<S2>:42' */ /* '<S2>:42:1' Led_Red = uint8(1); */ *Controller_Master_Y_LED_RED = 1U; /* Outport: '<Root>/MASTER' */ /* Entry 'SENSOR_ERR': '<S2>:39' */ /* '<S2>:39:1' Master = uint8(0) ; */ /* '<S2>:39:1' En = false; */ /* '<S2>:39:1' Brake = uint8(0); */ /* '<S2>:39:3' Led_Blue = 0; */ /* Entry 'MCU_ERR': '<S2>:40' */ /* '<S2>:40:1' Master = uint8(0) ; */ *Controller_Master_Y_MASTER = 0U; /* '<S2>:40:1' En = false; */ Controller_Master_DW->En = false; /* Outport: '<Root>/BRAKE' */ /* '<S2>:40:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:40:3' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; } else { /* '<S2>:45:1' sf_internal_predicateOutput = ... */ /* '<S2>:45:1' Slave ~= 1; */ if (Controller_Master_DW->Memory_PreviousInput != 1) { /* Transition: '<S2>:45' */ Controller_Master_DW->is_ERRORS_CHECK_THREAD = Controller_Master_IN_ERR; /* Outport: '<Root>/LED_RED' */ /* Entry 'ERR': '<S2>:42' */ /* '<S2>:42:1' Led_Red = uint8(1); */ *Controller_Master_Y_LED_RED = 1U; /* Outport: '<Root>/MASTER' */ /* Entry 'SENSOR_ERR': '<S2>:39' */ /* '<S2>:39:1' Master = uint8(0) ; */ /* '<S2>:39:1' En = false; */ /* '<S2>:39:1' Brake = uint8(0); */ /* '<S2>:39:3' Led_Blue = 0; */ /* Entry 'MCU_ERR': '<S2>:40' */ /* '<S2>:40:1' Master = uint8(0) ; */ *Controller_Master_Y_MASTER = 0U; /* '<S2>:40:1' En = false; */ Controller_Master_DW->En = false; /* Outport: '<Root>/BRAKE' */ /* '<S2>:40:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:40:3' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; } } } } else { /* During 'ERR': '<S2>:42' */ /* During 'SENSOR_ERR': '<S2>:39' */ /* During 'MCU_ERR': '<S2>:40' */ /* During 'SLAVE_ERR': '<S2>:41' */ } /* During 'APPLICATION_THREAD': '<S2>:32' */ if (Controller_Master_DW->is_APPLICATION_THREAD == Controller_Master_IN_ACTIVE) { /* During 'ACTIVE': '<S2>:1' */ /* '<S2>:26:1' sf_internal_predicateOutput = ... */ /* '<S2>:26:1' En == false; */ if (!Controller_Master_DW->En) { /* Transition: '<S2>:26' */ /* Exit Internal 'ACTIVE': '<S2>:1' */ Controller_Master_DW->is_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD; Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY; /* Outport: '<Root>/BRAKE' */ /* Entry 'READY': '<S2>:21' */ /* '<S2>:21:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:21:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; } else { /* '<S2>:1:1' K = (V^2)/D; */ K = Controller_Master_U_V * Controller_Master_U_V / Controller_Master_U_D_M; switch (Controller_Master_DW->is_ACTIVE) { case Controller_Master_IN_BRAKE: /* During 'BRAKE': '<S2>:3' */ /* '<S2>:10:1' sf_internal_predicateOutput = ... */ /* '<S2>:10:1' K < 100; */ if (K < 100.0) { /* Transition: '<S2>:10' */ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_WARNING; /* Outport: '<Root>/BRAKE' */ /* Entry 'WARNING': '<S2>:5' */ /* '<S2>:5:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; } break; case Controller_Master_IN_IDLE: /* During 'IDLE': '<S2>:6' */ /* '<S2>:12:1' sf_internal_predicateOutput = ... */ /* '<S2>:12:1' K >= 70; */ if (K >= 70.0) { /* Transition: '<S2>:12' */ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_WARNING; /* Outport: '<Root>/BRAKE' */ /* Entry 'WARNING': '<S2>:5' */ /* '<S2>:5:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; } break; default: /* During 'WARNING': '<S2>:5' */ /* '<S2>:9:1' sf_internal_predicateOutput = ... */ /* '<S2>:9:1' K >= 100; */ if (K >= 100.0) { /* Transition: '<S2>:9' */ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_BRAKE; /* Outport: '<Root>/BRAKE' */ /* Entry 'BRAKE': '<S2>:3' */ /* '<S2>:3:1' Brake = uint8(1); */ *Controller_Master_Y_BRAKE = 1U; /* '<S2>:3:1' Led_Blue = 1; */ Controller_Master_B->Led_Blue = 1.0; } else { /* '<S2>:11:1' sf_internal_predicateOutput = ... */ /* '<S2>:11:1' K < 70; */ if (K < 70.0) { /* Transition: '<S2>:11' */ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_IDLE; /* Outport: '<Root>/BRAKE' */ /* Entry 'IDLE': '<S2>:6' */ /* '<S2>:6:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:6:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; } else { /* '<S2>:5:1' Led_Blue = (K-70)/30; */ Controller_Master_B->Led_Blue = (K - 70.0) / 30.0; } } break; } } } else { /* During 'READY': '<S2>:21' */ /* '<S2>:23:1' sf_internal_predicateOutput = ... */ /* '<S2>:23:1' En == true; */ if (Controller_Master_DW->En) { /* Transition: '<S2>:23' */ Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_ACTIVE; /* Entry 'ACTIVE': '<S2>:1' */ /* '<S2>:1:1' K = (V^2)/D; */ /* Entry Internal 'ACTIVE': '<S2>:1' */ /* Transition: '<S2>:51' */ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_IDLE; /* Outport: '<Root>/BRAKE' */ /* Entry 'IDLE': '<S2>:6' */ /* '<S2>:6:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:6:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; } } } /* End of Chart: '<S1>/AEB' */ /* Chart: '<S1>/select_command' */ if (Controller_Master_DW->temporalCounter_i1 < MAX_uint32_T) { Controller_Master_DW->temporalCounter_i1++; } /* Gateway: Controller_Master/select_command */ /* During: Controller_Master/select_command */ if (Controller_Master_DW->is_active_c2_Controller_Master == 0U) { /* Entry: Controller_Master/select_command */ Controller_Master_DW->is_active_c2_Controller_Master = 1U; /* Entry Internal: Controller_Master/select_command */ /* Transition: '<S3>:2' */ Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_OFF1; /* Outport: '<Root>/LED_BLUE' */ /* Entry 'OFF1': '<S3>:3' */ /* '<S3>:3:1' led = uint8(0); */ *Controller_Master_Y_LED_BLUE = 0U; } else { switch (Controller_Master_DW->is_c2_Controller_Master) { case Controller_Master_IN_BLINK: /* During 'BLINK': '<S3>:20' */ /* '<S3>:7:1' sf_internal_predicateOutput = ... */ /* '<S3>:7:1' enable == 1; */ if (Controller_Master_B->Led_Blue == 1.0) { /* Transition: '<S3>:7' */ /* Exit Internal 'BLINK': '<S3>:20' */ Controller_Master_DW->is_BLINK = Controller_M_IN_NO_ACTIVE_CHILD; Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_ON; /* Outport: '<Root>/LED_BLUE' */ /* Entry 'ON': '<S3>:6' */ /* '<S3>:6:1' led = uint8(1); */ *Controller_Master_Y_LED_BLUE = 1U; } else { /* '<S3>:21:1' sf_internal_predicateOutput = ... */ /* '<S3>:21:1' enable == 0; */ if (Controller_Master_B->Led_Blue == 0.0) { /* Transition: '<S3>:21' */ /* Exit Internal 'BLINK': '<S3>:20' */ Controller_Master_DW->is_BLINK = Controller_M_IN_NO_ACTIVE_CHILD; Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_OFF1; /* Outport: '<Root>/LED_BLUE' */ /* Entry 'OFF1': '<S3>:3' */ /* '<S3>:3:1' led = uint8(0); */ *Controller_Master_Y_LED_BLUE = 0U; } else if (Controller_Master_DW->is_BLINK == Controller_Master_IN_BLINK_OFF) { /* During 'BLINK_OFF': '<S3>:11' */ /* '<S3>:14:1' sf_internal_predicateOutput = ... */ /* '<S3>:14:1' after(1-enable,sec); */ if (Controller_Master_DW->temporalCounter_i1 >= (uint32_T)ceil((1.0 - Controller_Master_B->Led_Blue) / 0.2 - 2.0E-9)) { /* Transition: '<S3>:14' */ Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_ON; Controller_Master_DW->temporalCounter_i1 = 0U; /* Outport: '<Root>/LED_BLUE' */ /* Entry 'BLINK_ON': '<S3>:13' */ /* '<S3>:13:1' led = uint8(1); */ *Controller_Master_Y_LED_BLUE = 1U; } } else { /* During 'BLINK_ON': '<S3>:13' */ /* '<S3>:15:1' sf_internal_predicateOutput = ... */ /* '<S3>:15:1' after(0.1,sec); */ if (Controller_Master_DW->temporalCounter_i1 >= 1U) { /* Transition: '<S3>:15' */ Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_OFF; Controller_Master_DW->temporalCounter_i1 = 0U; /* Outport: '<Root>/LED_BLUE' */ /* Entry 'BLINK_OFF': '<S3>:11' */ /* '<S3>:11:1' led = uint8(0); */ *Controller_Master_Y_LED_BLUE = 0U; } } } break; case Controller_Master_IN_OFF1: /* During 'OFF1': '<S3>:3' */ /* '<S3>:22:1' sf_internal_predicateOutput = ... */ /* '<S3>:22:1' enable == 1; */ if (Controller_Master_B->Led_Blue == 1.0) { /* Transition: '<S3>:22' */ Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_ON; /* Outport: '<Root>/LED_BLUE' */ /* Entry 'ON': '<S3>:6' */ /* '<S3>:6:1' led = uint8(1); */ *Controller_Master_Y_LED_BLUE = 1U; } else { /* '<S3>:12:1' sf_internal_predicateOutput = ... */ /* '<S3>:12:1' enable >0 && enable <1; */ if ((Controller_Master_B->Led_Blue > 0.0) && (Controller_Master_B->Led_Blue < 1.0)) { /* Transition: '<S3>:12' */ Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_BLINK; /* Entry Internal 'BLINK': '<S3>:20' */ /* Transition: '<S3>:24' */ Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_OFF; Controller_Master_DW->temporalCounter_i1 = 0U; /* Outport: '<Root>/LED_BLUE' */ /* Entry 'BLINK_OFF': '<S3>:11' */ /* '<S3>:11:1' led = uint8(0); */ *Controller_Master_Y_LED_BLUE = 0U; } } break; default: /* During 'ON': '<S3>:6' */ /* '<S3>:4:1' sf_internal_predicateOutput = ... */ /* '<S3>:4:1' enable == 0; */ if (Controller_Master_B->Led_Blue == 0.0) { /* Transition: '<S3>:4' */ Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_OFF1; /* Outport: '<Root>/LED_BLUE' */ /* Entry 'OFF1': '<S3>:3' */ /* '<S3>:3:1' led = uint8(0); */ *Controller_Master_Y_LED_BLUE = 0U; } else { /* '<S3>:23:1' sf_internal_predicateOutput = ... */ /* '<S3>:23:1' enable >0 && enable <1; */ if ((Controller_Master_B->Led_Blue > 0.0) && (Controller_Master_B->Led_Blue < 1.0)) { /* Transition: '<S3>:23' */ Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_BLINK; /* Entry Internal 'BLINK': '<S3>:20' */ /* Transition: '<S3>:24' */ Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_OFF; Controller_Master_DW->temporalCounter_i1 = 0U; /* Outport: '<Root>/LED_BLUE' */ /* Entry 'BLINK_OFF': '<S3>:11' */ /* '<S3>:11:1' led = uint8(0); */ *Controller_Master_Y_LED_BLUE = 0U; } } break; } } /* End of Chart: '<S1>/select_command' */ /* Update for Memory: '<S1>/Memory' incorporates: * Update for Inport: '<Root>/SLAVE' */ Controller_Master_DW->Memory_PreviousInput = Controller_Master_U_Slave; /* End of Outputs for SubSystem: '<Root>/Controller_Master' */ } /* Model initialize function */ void Controller_Master_initialize(RT_MODEL_Controller_Master_T *const Controller_Master_M, real_T *Controller_Master_U_V, real_T *Controller_Master_U_D_M, uint8_T *Controller_Master_U_Slave, uint8_T *Controller_Master_Y_BRAKE, uint8_T *Controller_Master_Y_LED_BLUE, uint8_T *Controller_Master_Y_LED_RED, uint8_T *Controller_Master_Y_MASTER) { DW_Controller_Master_T *Controller_Master_DW = ((DW_Controller_Master_T *) Controller_Master_M->ModelData.dwork); B_Controller_Master_T *Controller_Master_B = ((B_Controller_Master_T *) Controller_Master_M->ModelData.blockIO); /* Registration code */ /* block I/O */ (void) memset(((void *) Controller_Master_B), 0, sizeof(B_Controller_Master_T)); /* states (dwork) */ (void) memset((void *)Controller_Master_DW, 0, sizeof(DW_Controller_Master_T)); /* external inputs */ (*Controller_Master_U_V) = 0.0; (*Controller_Master_U_D_M) = 0.0; (*Controller_Master_U_Slave) = 0U; /* external outputs */ (*Controller_Master_Y_BRAKE) = 0U; (*Controller_Master_Y_LED_BLUE) = 0U; (*Controller_Master_Y_LED_RED) = 0U; (*Controller_Master_Y_MASTER) = 0U; /* SystemInitialize for Atomic SubSystem: '<Root>/Controller_Master' */ /* InitializeConditions for Memory: '<S1>/Memory' */ Controller_Master_DW->Memory_PreviousInput = 1U; /* SystemInitialize for Chart: '<S1>/AEB' */ Controller_Master_DW->is_APPLICATION_THREAD = Controller_M_IN_NO_ACTIVE_CHILD; Controller_Master_DW->is_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD; Controller_Master_DW->is_ERRORS_CHECK_THREAD = Controller_M_IN_NO_ACTIVE_CHILD; Controller_Master_DW->is_active_c3_Controller_Master = 0U; Controller_Master_DW->En = true; /* SystemInitialize for Chart: '<S1>/select_command' */ Controller_Master_DW->is_BLINK = Controller_M_IN_NO_ACTIVE_CHILD; Controller_Master_DW->temporalCounter_i1 = 0U; Controller_Master_DW->is_active_c2_Controller_Master = 0U; Controller_Master_DW->is_c2_Controller_Master = Controller_M_IN_NO_ACTIVE_CHILD; /* End of SystemInitialize for SubSystem: '<Root>/Controller_Master' */ } /* Model terminate function */ void Controller_Master_terminate(RT_MODEL_Controller_Master_T *const Controller_Master_M) { /* (no terminate code required) */ UNUSED_PARAMETER(Controller_Master_M); } /* * File trailer for generated code. * * [EOF] */