c1_servo_demo.c

simulink仿真学习的必备教程

           0,NULL,NULL);
        }
        _SFD_TRANS_COV_WTS(8,0,0,0,0);
        if(chartAlreadyPresent==0)
        {
          _SFD_TRANS_COV_MAPS(8,
           0,NULL,NULL,
           0,NULL,NULL,
           0,NULL,NULL,
           0,NULL,NULL);
        }
        _SFD_TRANS_COV_WTS(2,0,1,1,0);
        if(chartAlreadyPresent==0)
        {
          static unsigned int sStartGuardMap[] = {2};
          static unsigned int sEndGuardMap[] = {10};
          _SFD_TRANS_COV_MAPS(2,
           0,NULL,NULL,
           1,&(sStartGuardMap[0]),&(sEndGuardMap[0]),
           1,NULL,NULL,
           0,NULL,NULL);
        }
        _SFD_TRANS_COV_WTS(1,0,1,0,0);
        if(chartAlreadyPresent==0)
        {
          static unsigned int sStartGuardMap[] = {2};
          static unsigned int sEndGuardMap[] = {21};
          _SFD_TRANS_COV_MAPS(1,
           0,NULL,NULL,
           1,&(sStartGuardMap[0]),&(sEndGuardMap[0]),
           0,NULL,NULL,
           0,NULL,NULL);
        }
        _SFD_TRANS_COV_WTS(5,0,1,0,0);
        if(chartAlreadyPresent==0)
        {
          static unsigned int sStartGuardMap[] = {2};
          static unsigned int sEndGuardMap[] = {21};
          _SFD_TRANS_COV_MAPS(5,
           0,NULL,NULL,
           1,&(sStartGuardMap[0]),&(sEndGuardMap[0]),
           0,NULL,NULL,
           0,NULL,NULL);
        }
        _SFD_SET_DATA_VALUE_PTR(6U, c1_v());
        _SFD_SET_DATA_VALUE_PTR(0U, c1_duty_cycle());
        _SFD_SET_DATA_VALUE_PTR(3U, &chartInstance.c1_ton);
        _SFD_SET_DATA_VALUE_PTR(7U, &chartInstance.c1_toff);
        _SFD_SET_DATA_VALUE_PTR(5U, &chartInstance.c1_Tpwm);
        _SFD_SET_DATA_VALUE_PTR(1U, &chartInstance.c1_Ipull);
        _SFD_SET_DATA_VALUE_PTR(4U, &chartInstance.c1_Ihold);
        _SFD_SET_DATA_VALUE_PTR(11U, &chartInstance.c1_deltai);
        _SFD_SET_DATA_VALUE_PTR(8U, &chartInstance.c1_Vs);
        _SFD_SET_DATA_VALUE_PTR(9U, &chartInstance.c1_Vz);
        _SFD_SET_DATA_VALUE_PTR(2U, &chartInstance.c1_Vd);
        _SFD_SET_DATA_VALUE_PTR(10U, c1_i());
      }
    }
  } else {
    sf_debug_reset_current_state_configuration(_servo_demoMachineNumber_,chartInstance.chartNumber,chartInstance.instanceNumber);
  }
}

static void sf_opaque_initialize_c1_servo_demo(void *chartInstanceVar)
{
  chart_debug_initialization(chartInstance.S);
  initialize_c1_servo_demo();
}

static void sf_opaque_enable_c1_servo_demo(void *chartInstanceVar)
{
  enable_c1_servo_demo();
}

static void sf_opaque_disable_c1_servo_demo(void *chartInstanceVar)
{
  disable_c1_servo_demo();
}

static void sf_opaque_gateway_c1_servo_demo(void *chartInstanceVar)
{
  sf_c1_servo_demo();
}

static void sf_opaque_terminate_c1_servo_demo(void *chartInstanceVar)
{
  finalize_c1_servo_demo();
}

static void mdlSetWorkWidths_c1_servo_demo(SimStruct *S)
{
  /* Actual parameters from chart:
     Ihold Ipull Tpwm Vd Vs Vz deltai 
   */
  const char_T *rtParamNames[] = {"p1","p2","p3","p4","p5","p6","p7"};

  ssSetNumRunTimeParams(S,ssGetSFcnParamsCount(S));
  /* registration for Ihold*/
  ssRegDlgParamAsRunTimeParam(S, 0, 0, rtParamNames[0], SS_DOUBLE);
  /* registration for Ipull*/
  ssRegDlgParamAsRunTimeParam(S, 1, 1, rtParamNames[1], SS_DOUBLE);
  /* registration for Tpwm*/
  ssRegDlgParamAsRunTimeParam(S, 2, 2, rtParamNames[2], SS_DOUBLE);
  /* registration for Vd*/
  ssRegDlgParamAsRunTimeParam(S, 3, 3, rtParamNames[3], SS_DOUBLE);
  /* registration for Vs*/
  ssRegDlgParamAsRunTimeParam(S, 4, 4, rtParamNames[4], SS_DOUBLE);
  /* registration for Vz*/
  ssRegDlgParamAsRunTimeParam(S, 5, 5, rtParamNames[5], SS_DOUBLE);
  /* registration for deltai*/
  ssRegDlgParamAsRunTimeParam(S, 6, 6, rtParamNames[6], SS_DOUBLE);

  if(sim_mode_is_rtw_gen(S)) {
    int_T chartIsInlinable =
      (int_T)sf_is_chart_inlinable("servo_demo",1);
    int_T chartIsMultiInstanced =
      (int_T)sf_is_chart_multi_instanced("servo_demo",1);
    ssSetStateflowIsInlinable(S,chartIsInlinable);
    ssSetEnableFcnIsTrivial(S,1);
    ssSetDisableFcnIsTrivial(S,1);
    if(chartIsInlinable) {
      ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL);
      ssSetInputPortOptimOpts(S, 1, SS_REUSABLE_AND_LOCAL);
      sf_mark_chart_expressionable_inputs(S,"servo_demo",1,2);
      sf_mark_chart_reusable_outputs(S,"servo_demo",1,1);
    }
    if (!sf_is_chart_instance_optimized_out("servo_demo",1)) {
      int dtId;
      char *chartInstanceTypedefName =
        sf_chart_instance_typedef_name("servo_demo",1);
      dtId = ssRegisterDataType(S, chartInstanceTypedefName);
      if (dtId == INVALID_DTYPE_ID ) return;
      /* Register the size of the udt */
      if (!ssSetDataTypeSize(S, dtId, 8)) return;
      if(!ssSetNumDWork(S,1)) return;
      ssSetDWorkDataType(S, 0, dtId);
      ssSetDWorkWidth(S, 0, 1);
      ssSetDWorkName(S, 0, "ChartInstance"); /*optional name, less than 16 chars*/
      sf_set_rtw_identifier(S);
    }
    ssSetHasSubFunctions(S,!(chartIsInlinable));
    ssSetOptions(S,ssGetOptions(S)|SS_OPTION_WORKS_WITH_CODE_REUSE);
  }

  ssSetChecksum0(S,(2490158668U));
  ssSetChecksum1(S,(1102783992U));
  ssSetChecksum2(S,(2657140794U));
  ssSetChecksum3(S,(3802580316U));

  ssSetExplicitFCSSCtrl(S,1);
}

static void mdlRTW_c1_servo_demo(SimStruct *S)
{
  sf_write_symbol_mapping(S, "servo_demo", 1);
  ssWriteRTWStrParam(S, "StateflowChartType", "Stateflow");
}

static void mdlStart_c1_servo_demo(SimStruct *S)
{
  chartInstance.chartInfo.chartInstance = NULL;
  chartInstance.chartInfo.isEMLChart = 0;
  chartInstance.chartInfo.chartInitialized = 0;
  chartInstance.chartInfo.sFunctionGateway = sf_opaque_gateway_c1_servo_demo;
  chartInstance.chartInfo.initializeChart = sf_opaque_initialize_c1_servo_demo;
  chartInstance.chartInfo.terminateChart = sf_opaque_terminate_c1_servo_demo;
  chartInstance.chartInfo.enableChart = sf_opaque_enable_c1_servo_demo;
  chartInstance.chartInfo.disableChart = sf_opaque_disable_c1_servo_demo;
  chartInstance.chartInfo.mdlRTW = mdlRTW_c1_servo_demo;
  chartInstance.chartInfo.mdlStart = mdlStart_c1_servo_demo;
  chartInstance.chartInfo.mdlSetWorkWidths = mdlSetWorkWidths_c1_servo_demo;
  chartInstance.chartInfo.restoreLastMajorStepConfiguration = NULL;
  chartInstance.chartInfo.restoreBeforeLastMajorStepConfiguration = NULL;
  chartInstance.chartInfo.storeCurrentConfiguration = NULL;
  chartInstance.S = S;
  ssSetUserData(S,(void *)(&(chartInstance.chartInfo))); /* register the chart instance with simstruct */

  if(!sim_mode_is_rtw_gen(S)) {
    init_test_point_mapping_info(S);
  }
}

void c1_servo_demo_method_dispatcher(SimStruct *S, int_T method, void *data)
{
  switch (method) {
   case SS_CALL_MDL_START:
    mdlStart_c1_servo_demo(S);
    break;
   case SS_CALL_MDL_SET_WORK_WIDTHS:
    mdlSetWorkWidths_c1_servo_demo(S);
    break;
   default:
    /* Unhandled method */
    sf_mex_error_message("Stateflow Internal Error:\n"
     "Error calling c1_servo_demo_method_dispatcher.\n"
     "Can't handle method %d.\n", method);
    break;
  }
}

static const rtwCAPI_DataTypeMap dataTypeMap[] = {
  /* cName, mwName, numElements, elemMapIndex, dataSize, slDataId, isComplex, isPointer */
  {"real_T", "real_T", 0, 0, sizeof(real_T), SS_DOUBLE, 0, 0},
  {"uint8_T", "uint8_T", 0, 0, sizeof(uint8_T), SS_UINT8, 0, 0}
};

static real_T fixPtSlopeBiasVals[2] = {
  0,
  1
};

static const rtwCAPI_FixPtMap fixedPointMap[] = {
  /* *fracSlope, *bias, scaleType, exponent, isSigned */
  {NULL, NULL, rtwCAPI_FIX_RESERVED, 0, 0}
};

static const rtwCAPI_DimensionMap dimensionMap[] = {
  /* dataOrientation, dimArrayIndex, numDims*/
  {rtwCAPI_SCALAR, 0, 2}
};

static const uint_T dimensionArray[] = {
  1, 1
};

static real_T sfCAPIsampleTimeZero = 0.0;
static const rtwCAPI_SampleTimeMap sampleTimeMap[] = {
  /* *period, *offset, taskId, contextTid, mode */
  {&sfCAPIsampleTimeZero, &sfCAPIsampleTimeZero, 0, 0, 0}
};

static const rtwCAPI_Signals testPointSignals[] = {
  /* addrMapIndex, sysNum, SFRelativePath, dataName, portNumber, dataTypeIndex, dimIndex, fixPtIdx, sTimeIndex */
  {0, 0,"StateflowChart/ton", "ton", 0, 0, 0, 0, 0},
  {1, 0,"StateflowChart/toff", "toff", 0, 0, 0, 0, 0},
  {2, 0, "StateflowChart/energize_solenoid", "energize_solenoid", 0, 1, 0, 0, 0},
  {3, 0, "StateflowChart/energize_solenoid.pull_in_current", "pull_in_current",
    0, 1, 0, 0, 0},
  {4, 0, "StateflowChart/energize_solenoid.regulate_hold_current",
    "regulate_hold_current", 0, 1, 0, 0, 0},
  {5, 0, "StateflowChart/energize_solenoid.regulate_hold_current.freewheel",
    "freewheel", 0, 1, 0, 0, 0},
  {6, 0, "StateflowChart/energize_solenoid.regulate_hold_current.hold", "hold",
    0, 1, 0, 0, 0},
  {7, 0, "StateflowChart/solenoid_off", "solenoid_off", 0, 1, 0, 0, 0}
};

static rtwCAPI_ModelMappingStaticInfo testPointMappingStaticInfo = {
  /* block signal monitoring */
  {
    testPointSignals,                   /* Block signals Array  */
    8                                   /* Num Block IO signals */
  },

  /* parameter tuning */
  {
    NULL,                               /* Block parameters Array    */
    0,                                  /* Num block parameters      */
    NULL,                               /* Variable parameters Array */
    0                                   /* Num variable parameters   */
  },

  /* block states */
  {
    NULL,                               /* Block States array        */
    0                                   /* Num Block States          */
  },

  /* Static maps */
  {
    dataTypeMap,                        /* Data Type Map            */
    dimensionMap,                       /* Data Dimension Map       */
    fixedPointMap,                      /* Fixed Point Map          */
    NULL,                               /* Structure Element map    */
    sampleTimeMap,                      /* Sample Times Map         */
    dimensionArray                      /* Dimension Array          */
  },

  /* Target type */
  "float"
};

static void init_test_point_mapping_info(SimStruct *S) {
  rtwCAPI_ModelMappingInfo *testPointMappingInfo;
  void **testPointAddrMap;

  init_test_point_addr_map();
  testPointMappingInfo = get_test_point_mapping_info();
  testPointAddrMap = get_test_point_address_map();

  rtwCAPI_SetStaticMap(*testPointMappingInfo, &testPointMappingStaticInfo);
  rtwCAPI_SetPath(*testPointMappingInfo, "");
  rtwCAPI_SetFullPath(*testPointMappingInfo, NULL);
  rtwCAPI_SetDataAddressMap(*testPointMappingInfo, testPointAddrMap);
  rtwCAPI_SetChildMMIArray(*testPointMappingInfo, NULL);
  rtwCAPI_SetChildMMIArrayLen(*testPointMappingInfo, 0);

  ssSetModelMappingInfoPtr(S, testPointMappingInfo);
}