1 | /* |
2 | * RaspberryMagmanModelTest.h |
3 | * |
4 | * Classroom License -- for classroom instructional use only. Not for |
5 | * government, commercial, academic research, or other organizational use. |
6 | * |
7 | * Code generation for model "RaspberryMagmanModelTest". |
8 | * |
9 | * Model version : 1.19 |
10 | * Simulink Coder version : 8.11 (R2016b) 25-Aug-2016 |
11 | * C source code generated on : Wed Dec 21 17:46:56 2016 |
12 | * |
13 | * Target selection: ert.tlc |
14 | * Note: GRT includes extra infrastructure and instrumentation for prototyping |
15 | * Embedded hardware selection: ARM Compatible->ARM Cortex |
16 | * Code generation objectives: Unspecified |
17 | * Validation result: Not run |
18 | */ |
19 | |
20 | #ifndef RTW_HEADER_RaspberryMagmanModelTest_h_ |
21 | #define RTW_HEADER_RaspberryMagmanModelTest_h_ |
22 | #include <string.h> |
23 | #include <math.h> |
24 | #include <float.h> |
25 | #include <stddef.h> |
26 | #ifndef RaspberryMagmanModelTest_COMMON_INCLUDES_ |
27 | # define RaspberryMagmanModelTest_COMMON_INCLUDES_ |
28 | #include "rtwtypes.h" |
29 | #include "rtw_extmode.h" |
30 | #include "sysran_types.h" |
31 | #include "rtw_continuous.h" |
32 | #include "rtw_solver.h" |
33 | #include "dt_info.h" |
34 | #include "ext_work.h" |
35 | #endif /* RaspberryMagmanModelTest_COMMON_INCLUDES_ */ |
36 | |
37 | #include "RaspberryMagmanModelTest_types.h" |
38 | |
39 | /* Shared type includes */ |
40 | #include "multiword_types.h" |
41 | #include "rt_nonfinite.h" |
42 | #include "rtGetInf.h" |
43 | |
44 | /* Macros for accessing real-time model data structure */ |
45 | #ifndef rtmGetFinalTime |
46 | # define rtmGetFinalTime(rtm) ((rtm)->Timing.tFinal) |
47 | #endif |
48 | |
49 | #ifndef rtmGetRTWExtModeInfo |
50 | # define rtmGetRTWExtModeInfo(rtm) ((rtm)->extModeInfo) |
51 | #endif |
52 | |
53 | #ifndef rtmGetErrorStatus |
54 | # define rtmGetErrorStatus(rtm) ((rtm)->errorStatus) |
55 | #endif |
56 | |
57 | #ifndef rtmSetErrorStatus |
58 | # define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val)) |
59 | #endif |
60 | |
61 | #ifndef rtmGetStopRequested |
62 | # define rtmGetStopRequested(rtm) ((rtm)->Timing.stopRequestedFlag) |
63 | #endif |
64 | |
65 | #ifndef rtmSetStopRequested |
66 | # define rtmSetStopRequested(rtm, val) ((rtm)->Timing.stopRequestedFlag = (val)) |
67 | #endif |
68 | |
69 | #ifndef rtmGetStopRequestedPtr |
70 | # define rtmGetStopRequestedPtr(rtm) (&((rtm)->Timing.stopRequestedFlag)) |
71 | #endif |
72 | |
73 | #ifndef rtmGetT |
74 | # define rtmGetT(rtm) (rtmGetTPtr((rtm))[0]) |
75 | #endif |
76 | |
77 | #ifndef rtmGetTFinal |
78 | # define rtmGetTFinal(rtm) ((rtm)->Timing.tFinal) |
79 | #endif |
80 | |
81 | /* Block signals for system '<S1>/Position transformation1' */ |
82 | typedef struct { |
83 | real_T X; /* '<S1>/Position transformation1' */ |
84 | real_T Y; /* '<S1>/Position transformation1' */ |
85 | } B_Positiontransformation1_Ras_T; |
86 | |
87 | /* Block signals (auto storage) */ |
88 | typedef struct { |
89 | real_T Switch[16]; /* '<Root>/Switch' */ |
90 | real_T MagManFoilwitherror_o1; /* '<S4>/MagMan Foil with error' */ |
91 | real_T MagManFoilwitherror_o2; /* '<S4>/MagMan Foil with error' */ |
92 | real_T MagManFoilwitherror_o3; /* '<S4>/MagMan Foil with error' */ |
93 | real_T DataTypeConversion1; /* '<S5>/Data Type Conversion1' */ |
94 | real_T DataTypeConversion2; /* '<S5>/Data Type Conversion2' */ |
95 | real_T DiscreteStateSpace[2]; /* '<Root>/Discrete State-Space' */ |
96 | real_T Gain[2]; /* '<S2>/Gain' */ |
97 | real_T PWM[16]; /* '<Root>/Currents to PWM' */ |
98 | real_T minval[16]; |
99 | real_T b_a; |
100 | int32_T MagManFoilwitherror_o4; /* '<S4>/MagMan Foil with error' */ |
101 | int32_T Sharedmemorycameraposition_o1;/* '<S5>/Shared memory camera position' */ |
102 | int32_T Sharedmemorycameraposition_o2;/* '<S5>/Shared memory camera position' */ |
103 | B_Positiontransformation1_Ras_T sf_Positiontransformation;/* '<S4>/Position transformation' */ |
104 | B_Positiontransformation1_Ras_T sf_Positiontransformation1;/* '<S1>/Position transformation1' */ |
105 | } B_RaspberryMagmanModelTest_T; |
106 | |
107 | /* Block states (auto storage) for system '<Root>' */ |
108 | typedef struct { |
109 | real_T MagManFoilwitherror_DSTATE; /* '<S4>/MagMan Foil with error' */ |
110 | real_T Sharedmemorycameraposition_DSTA;/* '<S5>/Shared memory camera position' */ |
111 | real_T DiscreteStateSpace_DSTATE[4]; /* '<Root>/Discrete State-Space' */ |
112 | real_T MagManCoils_DSTATE; /* '<Root>/MagMan Coils' */ |
113 | struct { |
114 | void *LoggedData[3]; |
115 | } Position_PWORK; /* '<Root>/Position' */ |
116 | |
117 | struct { |
118 | void *LoggedData[2]; |
119 | } Nomalizedposition1_PWORK; /* '<S1>/Nomalized position1' */ |
120 | |
121 | struct { |
122 | void *LoggedData[2]; |
123 | } Rawposition_PWORK; /* '<S1>/Raw position' */ |
124 | |
125 | struct { |
126 | void *LoggedData[2]; |
127 | } Nomalizedposition_PWORK; /* '<S4>/Nomalized position' */ |
128 | |
129 | struct { |
130 | void *LoggedData[3]; |
131 | } Scope1_PWORK; /* '<S4>/Scope1' */ |
132 | } DW_RaspberryMagmanModelTest_T; |
133 | |
134 | /* Parameters (auto storage) */ |
135 | struct P_RaspberryMagmanModelTest_T_ { |
136 | real_T km4pi[9]; /* Variable: km4pi |
137 | * Referenced by: '<S4>/Sentinel Calibration matrix' |
138 | */ |
139 | real_T km4piCam[9]; /* Variable: km4piCam |
140 | * Referenced by: '<S1>/Sentinel Calibration matrix1' |
141 | */ |
142 | real_T Coilexcitationfactors_Value[16];/* Expression: [0 0 0 0;0 0 0 0;0 1 0 0;0 0 0 0] |
143 | * Referenced by: '<Root>/Coil excitation factors' |
144 | */ |
145 | real_T Step_Time; /* Expression: 3 |
146 | * Referenced by: '<Root>/Step' |
147 | */ |
148 | real_T Step_Y0; /* Expression: 0 |
149 | * Referenced by: '<Root>/Step' |
150 | */ |
151 | real_T Step_YFinal; /* Expression: 1 |
152 | * Referenced by: '<Root>/Step' |
153 | */ |
154 | real_T Coilexcitationfactors1_Value[16];/* Expression: [0 0 0 0;0 1 0 0;0 0 0 0;0 0 0 0] |
155 | * Referenced by: '<Root>/Coil excitation factors1' |
156 | */ |
157 | real_T Switch_Threshold; /* Expression: 0 |
158 | * Referenced by: '<Root>/Switch' |
159 | */ |
160 | real_T DiscreteStateSpace_A[6]; /* Computed Parameter: DiscreteStateSpace_A |
161 | * Referenced by: '<Root>/Discrete State-Space' |
162 | */ |
163 | real_T DiscreteStateSpace_B[4]; /* Computed Parameter: DiscreteStateSpace_B |
164 | * Referenced by: '<Root>/Discrete State-Space' |
165 | */ |
166 | real_T DiscreteStateSpace_C[2]; /* Computed Parameter: DiscreteStateSpace_C |
167 | * Referenced by: '<Root>/Discrete State-Space' |
168 | */ |
169 | real_T DiscreteStateSpace_X0[4]; /* Expression: [0,2,0,2] |
170 | * Referenced by: '<Root>/Discrete State-Space' |
171 | */ |
172 | real_T Gain_Gain; /* Expression: 1/68 |
173 | * Referenced by: '<S2>/Gain' |
174 | */ |
175 | }; |
176 | |
177 | /* Real-time Model Data Structure */ |
178 | struct tag_RTM_RaspberryMagmanModelT_T { |
179 | const char_T *errorStatus; |
180 | RTWExtModeInfo *extModeInfo; |
181 | RTWSolverInfo solverInfo; |
182 | |
183 | /* |
184 | * Sizes: |
185 | * The following substructure contains sizes information |
186 | * for many of the model attributes such as inputs, outputs, |
187 | * dwork, sample times, etc. |
188 | */ |
189 | struct { |
190 | uint32_T checksums[4]; |
191 | } Sizes; |
192 | |
193 | /* |
194 | * SpecialInfo: |
195 | * The following substructure contains special information |
196 | * related to other components that are dependent on RTW. |
197 | */ |
198 | struct { |
199 | const void *mappingInfo; |
200 | } SpecialInfo; |
201 | |
202 | /* |
203 | * Timing: |
204 | * The following substructure contains information regarding |
205 | * the timing information for the model. |
206 | */ |
207 | struct { |
208 | uint32_T clockTick0; |
209 | uint32_T clockTickH0; |
210 | time_T stepSize0; |
211 | uint32_T clockTick1; |
212 | uint32_T clockTickH1; |
213 | time_T tFinal; |
214 | SimTimeStep simTimeStep; |
215 | boolean_T stopRequestedFlag; |
216 | time_T *t; |
217 | time_T tArray[2]; |
218 | } Timing; |
219 | }; |
220 | |
221 | /* Block parameters (auto storage) */ |
222 | extern P_RaspberryMagmanModelTest_T RaspberryMagmanModelTest_P; |
223 | |
224 | /* Block signals (auto storage) */ |
225 | extern B_RaspberryMagmanModelTest_T RaspberryMagmanModelTest_B; |
226 | |
227 | /* Block states (auto storage) */ |
228 | extern DW_RaspberryMagmanModelTest_T RaspberryMagmanModelTest_DW; |
229 | |
230 | /* Model entry point functions */ |
231 | extern void RaspberryMagmanModelTest_initialize(void); |
232 | extern void RaspberryMagmanModelTest_step(void); |
233 | extern void RaspberryMagmanModelTest_terminate(void); |
234 | |
235 | /* Real-time Model object */ |
236 | extern RT_MODEL_RaspberryMagmanModel_T *const RaspberryMagmanModelTest_M; |
237 | |
238 | /*- |
239 | * The generated code includes comments that allow you to trace directly |
240 | * back to the appropriate location in the model. The basic format |
241 | * is <system>/block_name, where system is the system number (uniquely |
242 | * assigned by Simulink) and block_name is the name of the block. |
243 | * |
244 | * Use the MATLAB hilite_system command to trace the generated code back |
245 | * to the model. For example, |
246 | * |
247 | * hilite_system('<S3>') - opens system 3 |
248 | * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3 |
249 | * |
250 | * Here is the system hierarchy for this model |
251 | * |
252 | * '<Root>' : 'RaspberryMagmanModelTest' |
253 | * '<S1>' : 'RaspberryMagmanModelTest/Camera position' |
254 | * '<S2>' : 'RaspberryMagmanModelTest/Currents to Force1' |
255 | * '<S3>' : 'RaspberryMagmanModelTest/Currents to PWM' |
256 | * '<S4>' : 'RaspberryMagmanModelTest/Foil position ' |
257 | * '<S5>' : 'RaspberryMagmanModelTest/Camera position/Camera position from shared memory' |
258 | * '<S6>' : 'RaspberryMagmanModelTest/Camera position/Position transformation1' |
259 | * '<S7>' : 'RaspberryMagmanModelTest/Currents to Force1/Nonlinearity of magnetic force' |
260 | * '<S8>' : 'RaspberryMagmanModelTest/Foil position /Position transformation' |
261 | */ |
262 | #endif /* RTW_HEADER_RaspberryMagmanModelTest_h_ */ |
263 | |