pid.c

rtai-3.1-test3的源代码(Real-Time Application Interface )

 
  /* Generated constants */
  integer nrd_0 = 0;
  integer nrd_1 = 1;
  integer nrd_2 = 2;
  integer nrd_3 = 3;
  integer nrd_4 = 4;
  integer nrd_5 = 5;
  integer nrd_6 = 6;
  integer nrd_7 = 7;
  integer nrd_8 = 8;
  integer nrd_9 = 9;
  /* Parameter adjustments */ 
  --z; 
  --zptr; 
  --tevts; 
  --evtspt; 
  --outptr; 
  --clkptr; 
  --ordptr; 
  --rpar; 
  --ipar; 
  --funptr; 
  --funtyp; 
  --iwa; 
  --outtb; 
 
  /* Function Body */ 
  
  flag=4 ;
  args[0]=&(outtb[15]);
  args[1]=&(outtb[2]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[1]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0] = &(outtb[9]);
  sz[0] = 1;
  args[1] = &(outtb[8]);
  sz[1] = 1;
  args[2] = &(outtb[10]);
  sz[2] = 1;
  plusblk(&flag, &nevprt, told,&(w[1]), &(x[1]), &nrd_0, &(z[1]),&nrd_0,
     tvec, &ntvec, &(rpar[1]), &nrd_0,&(ipar[1]), &nrd_0, &(args[0]),
     &(sz[0]), &nrd_2,&(args[2]),&(sz[2]),&nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[12]);
  args[1]=&(outtb[13]);
  C2F(dsslti)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_2, tvec, &ntvec, &(rpar[2]), &nrd_9, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[6]);
  args[1]=&(outtb[11]);
  C2F(lusat)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[11]), &nrd_3, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[4]);
  args[1]=&(outtb[9]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[14]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[5]);
  args[1]=&(outtb[6]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[15]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[7]);
  args[1]=&(outtb[8]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[16]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[7]);
  args[1]=&(outtb[4]);
  C2F(dsslti)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[3]),
     &nrd_1, tvec, &ntvec, &(rpar[17]), &nrd_4, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[7]);
  args[1]=&(outtb[5]);
  C2F(dsslti)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[4]),
     &nrd_1, tvec, &ntvec, &(rpar[21]), &nrd_4, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[2]);
  args[1]=&(outtb[3]);
  C2F(samphold)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[1]), &nrd_0, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[13]);
  args[1]=&(outtb[14]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[25]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0] = &(outtb[11]);
  sz[0] = 1;
  args[1] = &(outtb[10]);
  sz[1] = 1;
  args[2] = &(outtb[12]);
  sz[2] = 1;
  plusblk(&flag, &nevprt, told,&(w[1]), &(x[1]), &nrd_0, &(z[1]),&nrd_0,
     tvec, &ntvec, &(rpar[1]), &nrd_0,&(ipar[1]), &nrd_0, &(args[0]),
     &(sz[0]), &nrd_2,&(args[2]),&(sz[2]),&nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0] = &(outtb[3]);
  sz[0] = 1;
  args[1] = &(outtb[14]);
  sz[1] = 1;
  args[2] = &(outtb[7]);
  sz[2] = 1;
  plusblk(&flag, &nevprt, told,&(w[1]), &(x[1]), &nrd_0, &(z[1]),&nrd_0,
     tvec, &ntvec, &(rpar[1]), &nrd_0,&(ipar[1]), &nrd_0, &(args[0]),
     &(sz[0]), &nrd_2,&(args[2]),&(sz[2]),&nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[1]=&(outtb[15]);
  nport = 1;
  pid_sensor(&flag, &nport, &nevprt, told, (double *)args[1], &nrd_1);
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[13]);
  nport = 1;
  pid_actuator(&flag, &nport, &nevprt, told, (double *)args[0], &nrd_1);
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[1]);
  args[1]=&(outtb[1]);
  C2F(bidon)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[1]), &nrd_0, &(ipar[3]), &nrd_1,
     (double *)args[0], &nrd_0, (double *)args[1], &nrd_0);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[15]);
  nport = 2;
  pid_actuator(&flag, &nport, &nevprt, told, (double *)args[0], &nrd_1);
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[16]);
  nport = 3;
  pid_actuator(&flag, &nport, &nevprt, told, (double *)args[0], &nrd_1);
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[15]);
  nport = 4;
  pid_actuator(&flag, &nport, &nevprt, told, (double *)args[0], &nrd_1);
   if(flag < 0 )  return(5 - flag);
  
  C2F(cstblk)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[26]), &nrd_1, &(ipar[1]), &nrd_0,
     &(outtb[1]), &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0] = &(outtb[18]);
  sz[0] = 1;
  args[1] = &(outtb[19]);
  sz[1] = 1;
  args[2] = &(outtb[16]);
  sz[2] = 1;
  selector(&flag, &nevprt, told,&(w[1]), &(x[1]), &nrd_0, &(z[5]),
    &nrd_1, tvec, &ntvec, &(rpar[1]), &nrd_0,&(ipar[1]), &nrd_0,
     &(args[0]), &(sz[0]), &nrd_2,&(args[2]),&(sz[2]),&nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  C2F(ifthel)(&flag, &nevprt, &ntvec, &(rpar[1]), &nrd_0, &(ipar[1]),
     &nrd_0, &(outtb[1]),  &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[1]);
  args[1]=&(outtb[17]);
  C2F(gensqr)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[6]),
     &nrd_1, tvec, &ntvec, &(rpar[1]), &nrd_0, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_0, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[17]);
  args[1]=&(outtb[18]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[27]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[20]);
  args[1]=&(outtb[19]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[28]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  args[0]=&(outtb[1]);
  args[1]=&(outtb[20]);
  C2F(rndblk)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_1, &(z[7]),
     &nrd_2, tvec, &ntvec, &(rpar[29]), &nrd_3, &(ipar[7]), &nrd_1,
     (double *)args[0], &nrd_0, (double *)args[1], &nrd_1);
   
   if(flag < 0 )  return(5 - flag);
  
  return 0;
} /* pid_initi */
/*---------------------------------------- endi */ 
/* file_end.c */ 
/* Subroutine */ int 
pid_endi( z, zptr, told, 
    tevts, evtspt, nevts, pointi, outptr, 
    clkptr, ordptr, ordclk, nordcl,  
    rpar, ipar, funptr, funtyp, outtb, iwa) 

     double  *z; 
     integer *zptr; 
     double  *told,  *tevts; 
     integer *evtspt, *nevts, *pointi, *outptr; 
     integer *clkptr, *ordptr, *ordclk, *nordcl; 
     double  *rpar, *outtb; 
     integer *ipar, *funptr, *funtyp; 
     integer *iwa; 
{ 
  /* Local variables */ 
  integer flag; 
  double  tvec[3]; 
  double  rdouttb[21]; 
  double  *args[100]; 
  integer sz[100]; 
  integer nport; 
  integer ntvec; 
  integer nevprt; 
 
  /* Generated constants */
  integer nrd_0 = 0;
  integer nrd_1 = 1;
  integer nrd_2 = 2;
  integer nrd_3 = 3;
  integer nrd_4 = 4;
  integer nrd_5 = 5;
  integer nrd_6 = 6;
  integer nrd_7 = 7;
  integer nrd_8 = 8;
  integer nrd_9 = 9;
  /* Parameter adjustments */ 
  --z; 
  --zptr; 
  --tevts; 
  --evtspt; 
  --outptr; 
  --clkptr; 
  --ordptr; 
  --rpar; 
  --ipar; 
  --funptr; 
  --funtyp; 
  --iwa; 
  --outtb; 
 
  /* Function Body */ 

  /*     ending  subroutine */
  flag=5 ;

  args[0]=&(outtb[15]);
  args[1]=&(outtb[2]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[1]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0] = &(outtb[9]);
  sz[0] = 1;
  args[1] = &(outtb[8]);
  sz[1] = 1;
  args[2] = &(outtb[10]);
  sz[2] = 1;
  plusblk(&flag, &nevprt, told,&(w[1]), &(x[1]), &nrd_0, &(z[1]),&nrd_0,
     tvec, &ntvec, &(rpar[1]), &nrd_0,&(ipar[1]), &nrd_0, &(args[0]),
     &(sz[0]), &nrd_2,&(args[2]),&(sz[2]),&nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[12]);
  args[1]=&(outtb[13]);
  C2F(dsslti)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_2, tvec, &ntvec, &(rpar[2]), &nrd_9, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[6]);
  args[1]=&(outtb[11]);
  C2F(lusat)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[11]), &nrd_3, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[4]);
  args[1]=&(outtb[9]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[14]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[5]);
  args[1]=&(outtb[6]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[15]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[7]);
  args[1]=&(outtb[8]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[16]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[7]);
  args[1]=&(outtb[4]);
  C2F(dsslti)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[3]),
     &nrd_1, tvec, &ntvec, &(rpar[17]), &nrd_4, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[7]);
  args[1]=&(outtb[5]);
  C2F(dsslti)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[4]),
     &nrd_1, tvec, &ntvec, &(rpar[21]), &nrd_4, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[2]);
  args[1]=&(outtb[3]);
  C2F(samphold)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[1]), &nrd_0, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[13]);
  args[1]=&(outtb[14]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[25]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0] = &(outtb[11]);
  sz[0] = 1;
  args[1] = &(outtb[10]);
  sz[1] = 1;
  args[2] = &(outtb[12]);
  sz[2] = 1;
  plusblk(&flag, &nevprt, told,&(w[1]), &(x[1]), &nrd_0, &(z[1]),&nrd_0,
     tvec, &ntvec, &(rpar[1]), &nrd_0,&(ipar[1]), &nrd_0, &(args[0]),
     &(sz[0]), &nrd_2,&(args[2]),&(sz[2]),&nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0] = &(outtb[3]);
  sz[0] = 1;
  args[1] = &(outtb[14]);
  sz[1] = 1;
  args[2] = &(outtb[7]);
  sz[2] = 1;
  plusblk(&flag, &nevprt, told,&(w[1]), &(x[1]), &nrd_0, &(z[1]),&nrd_0,
     tvec, &ntvec, &(rpar[1]), &nrd_0,&(ipar[1]), &nrd_0, &(args[0]),
     &(sz[0]), &nrd_2,&(args[2]),&(sz[2]),&nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[1]=&(outtb[15]);
  nport = 1;
  pid_sensor(&flag, &nport, &nevprt, told, (double *)args[1], &nrd_1);

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[13]);
  nport = 1;
  pid_actuator(&flag, &nport, &nevprt, told, (double *)args[0], &nrd_1);

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[1]);
  args[1]=&(outtb[1]);
  C2F(bidon)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[1]), &nrd_0, &(ipar[3]), &nrd_1,
     (double *)args[0], &nrd_0, (double *)args[1], &nrd_0);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[15]);
  nport = 2;
  pid_actuator(&flag, &nport, &nevprt, told, (double *)args[0], &nrd_1);

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[16]);
  nport = 3;
  pid_actuator(&flag, &nport, &nevprt, told, (double *)args[0], &nrd_1);

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[15]);
  nport = 4;
  pid_actuator(&flag, &nport, &nevprt, told, (double *)args[0], &nrd_1);

  if(flag < 0 ) return (5-flag);

  C2F(cstblk)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[26]), &nrd_1, &(ipar[1]), &nrd_0,
     &(outtb[1]), &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0] = &(outtb[18]);
  sz[0] = 1;
  args[1] = &(outtb[19]);
  sz[1] = 1;
  args[2] = &(outtb[16]);
  sz[2] = 1;
  selector(&flag, &nevprt, told,&(w[1]), &(x[1]), &nrd_0, &(z[5]),
    &nrd_1, tvec, &ntvec, &(rpar[1]), &nrd_0,&(ipar[1]), &nrd_0,
     &(args[0]), &(sz[0]), &nrd_2,&(args[2]),&(sz[2]),&nrd_1);
   

  if(flag < 0 ) return (5-flag);

  C2F(ifthel)(&flag, &nevprt, &ntvec, &(rpar[1]), &nrd_0, &(ipar[1]),
     &nrd_0, &(outtb[1]),  &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[1]);
  args[1]=&(outtb[17]);
  C2F(gensqr)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[6]),
     &nrd_1, tvec, &ntvec, &(rpar[1]), &nrd_0, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_0, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[17]);
  args[1]=&(outtb[18]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[27]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[20]);
  args[1]=&(outtb[19]);
  C2F(gain)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_0, &(z[1]),
     &nrd_0, tvec, &ntvec, &(rpar[28]), &nrd_1, &(ipar[1]), &nrd_0,
     (double *)args[0], &nrd_1, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);

  args[0]=&(outtb[1]);
  args[1]=&(outtb[20]);
  C2F(rndblk)(&flag, &nevprt,told, &(w[1]), &(x[1]), &nrd_1, &(z[7]),
     &nrd_2, tvec, &ntvec, &(rpar[29]), &nrd_3, &(ipar[7]), &nrd_1,
     (double *)args[0], &nrd_0, (double *)args[1], &nrd_1);
   

  if(flag < 0 ) return (5-flag);
  return 0;
} /* ending */