#define fmi2TypesPlatform_h #define fmi2TypesPlatform "default" /* Compatible */ typedef struct servo_pot_fmi2Component_s* fmi2Component; typedef void* fmi2ComponentEnvironment; /* Pointer to FMU environment */ typedef void* fmi2FMUstate; /* Pointer to internal FMU state */ typedef unsigned int fmi2ValueReference; typedef double fmi2Real; typedef int fmi2Integer; typedef int fmi2Boolean; typedef char fmi2Char; typedef const fmi2Char* fmi2String; typedef char fmi2Byte; #define fmi2True 1 #define fmi2False 0 #include "fmi2/fmi2Functions.h" #include #include void ModelicaFormatMessage(const char *fmt, ...) { va_list args; va_start(args, fmt); vprintf(fmt, args); va_end(args); } typedef struct servo_pot_fmi2Component_s { fmi2Real currentTime; fmi2Real fmi2RealVars[1]; fmi2Integer fmi2IntegerVars[1]; fmi2Real fmi2RealParameter[1]; void* extObjs[5]; } servo_pot_fmi2Component; servo_pot_fmi2Component servo_pot_component = { .fmi2RealVars = { 0.0 /*adc._y*/, }, .fmi2IntegerVars = { 0 /*pwm._u[1]*/, }, .fmi2RealParameter = { 0.002 /*synchronizeRealtime1._actualInterval*/, }, }; #include /* TODO: Generate used builtin functions before SimCode */ static inline double om_mod(double x, double y) { return x-floor(x/y)*y; } static const char * const OMCLIT0 = "ElectricPotential"; static const char * const OMCLIT1 = "V"; #include "MDDAVRTimer.h" #include "MDDAVRRealTime.h" #include "MDDAVRAnalog.h" static inline fmi2Real Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Analog_read__voltage(fmi2Component comp, fmi2Integer om_analogPort, fmi2Real om_vref, fmi2Integer om_voltageResolution); static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Analog_Init_constructor(fmi2Component comp, fmi2Integer om_divisionFactor, fmi2Integer om_referenceVoltage); static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Analog_Init_destructor(fmi2Component comp, void* om_avr); static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(fmi2Component comp, void* om_pwm, fmi2Integer om_value); static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_pin, fmi2Integer om_initialValue, fmi2Boolean om_inverted); static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_destructor(fmi2Component comp, void* om_pwm); static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(fmi2Component comp, void* om_rt); static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_timerValue, fmi2Integer om_numTimerInterruptsPerCycle); static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_destructor(fmi2Component comp, void* om_rt); static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(fmi2Component comp, fmi2Integer om_timerSelect, fmi2Integer om_clockSelect, fmi2Boolean om_clearTimerOnMatch); static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_destructor(fmi2Component comp, void* om_timer); static inline fmi2Real Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Analog_read__voltage(fmi2Component comp, fmi2Integer om_analogPort, fmi2Real om_vref, fmi2Integer om_voltageResolution) { fmi2Real om_value; om_value = MDD_avr_analog_read(om_analogPort, om_vref, om_voltageResolution); return om_value; } static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Analog_Init_constructor(fmi2Component comp, fmi2Integer om_divisionFactor, fmi2Integer om_referenceVoltage) { void* om_avr; om_avr = MDD_avr_analog_init(om_divisionFactor, om_referenceVoltage); return om_avr; } static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Analog_Init_destructor(fmi2Component comp, void* om_avr) { MDD_avr_analog_close(om_avr); } static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(fmi2Component comp, void* om_pwm, fmi2Integer om_value) { MDD_avr_pwm_set(om_pwm, om_value); } static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_pin, fmi2Integer om_initialValue, fmi2Boolean om_inverted) { void* om_pwm; om_pwm = MDD_avr_pwm_init(om_timer, om_pin, om_initialValue, om_inverted); return om_pwm; } static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_destructor(fmi2Component comp, void* om_pwm) { MDD_avr_pwm_close(om_pwm); } static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(fmi2Component comp, void* om_rt) { MDD_avr_rt_wait(om_rt); } static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(fmi2Component comp, void* om_timer, fmi2Integer om_timerValue, fmi2Integer om_numTimerInterruptsPerCycle) { void* om_rt; om_rt = MDD_avr_rt_init(om_timer, om_timerValue, om_numTimerInterruptsPerCycle); return om_rt; } static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_destructor(fmi2Component comp, void* om_rt) { MDD_avr_rt_close(om_rt); } static inline void* Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(fmi2Component comp, fmi2Integer om_timerSelect, fmi2Integer om_clockSelect, fmi2Boolean om_clearTimerOnMatch) { void* om_timer; om_timer = MDD_avr_timer_init(om_timerSelect, om_clockSelect, om_clearTimerOnMatch); return om_timer; } static inline void Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_destructor(fmi2Component comp, void* om_timer) { MDD_avr_timer_close(om_timer); } fmi2Component servo_pot_fmi2Instantiate(fmi2String name, fmi2Type ty, fmi2String GUID, fmi2String resources, const fmi2CallbackFunctions* functions, fmi2Boolean visible, fmi2Boolean loggingOn) { static int initDone=0; if (initDone) { return NULL; } return &servo_pot_component; } fmi2Status servo_pot_fmi2SetupExperiment(fmi2Component comp, fmi2Boolean toleranceDefined, fmi2Real tolerance, fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime) { return fmi2OK; } fmi2Status servo_pot_fmi2EnterInitializationMode(fmi2Component comp) { comp->extObjs[1] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 2, 7, fmi2True); comp->extObjs[2] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(comp, comp->extObjs[1] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 1, 0, fmi2False); comp->extObjs[0] /* adc._analog EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Analog.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Analog_Init_constructor(comp, 7, 4); comp->extObjs[3] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 1, 4, fmi2False); comp->extObjs[4] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(comp, comp->extObjs[3] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 249, 2); return fmi2OK; } fmi2Status servo_pot_fmi2ExitInitializationMode(fmi2Component comp) { return fmi2OK; } static fmi2Status servo_pot_functionODE(fmi2Component comp) { } static fmi2Status servo_pot_functionOutputs(fmi2Component comp) { comp->fmi2RealVars[0] /* adc._y variable */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Analog_read__voltage(comp, 3, 180.0, 10); /* equation 4 */ comp->fmi2IntegerVars[0] /* pwm._u[1] DISCRETE */ = ((comp->fmi2RealVars[0] /* adc._y variable */)>(0.0)) ? (((int) #error "[CodegenEmbeddedC.tpl:490:28-490:28] daeExpCallBuiltin: Not supported: floor(0.5 + adc.y, 1)" )) : (((int) #error "[CodegenEmbeddedC.tpl:490:28-490:28] daeExpCallBuiltin: Not supported: ceil(-0.5 + adc.y, 3)" )); /* equation 5 */Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(comp, comp->extObjs[4] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */);Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(comp, comp->extObjs[2] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */, comp->fmi2IntegerVars[0] /* pwm._u[1] DISCRETE */); } fmi2Status servo_pot_fmi2DoStep(fmi2Component comp, fmi2Real currentCommunicationPoint, fmi2Real communicationStepSize, fmi2Boolean noSetFMUStatePriorToCurrentPoint) { comp->currentTime = currentCommunicationPoint; /* TODO: Calculate time/state-dependent variables here... */ servo_pot_functionOutputs(comp); return fmi2OK; } int main(int argc, char **argv) { int terminateSimulation = 0; fmi2Status status = fmi2OK; fmi2CallbackFunctions cbf = { .logger = NULL, .allocateMemory = NULL /*calloc*/, .freeMemory = NULL /*free*/, .stepFinished = NULL, //synchronous execution .componentEnvironment = NULL }; fmi2Component comp = servo_pot_fmi2Instantiate("", fmi2CoSimulation, "", "", &cbf, fmi2False, fmi2False); if (comp==NULL) { return 1; } servo_pot_fmi2SetupExperiment(comp, fmi2False, 0.0, 0.0, fmi2False, 1.0); servo_pot_fmi2EnterInitializationMode(comp); // Set start-values? Nah... servo_pot_fmi2ExitInitializationMode(comp); double currentTime = 0.0; double h = 0.002; uint32_t i = 0; while (status == fmi2OK) { //retrieve outputs // fmi2GetReal(m, ..., 1, &y1); //set inputs // fmi2SetReal(m, ..., 1, &y2); //call slave and check status status = servo_pot_fmi2DoStep(comp, currentTime, h, fmi2True); switch (status) { case fmi2Discard: case fmi2Error: case fmi2Fatal: case fmi2Pending /* Cannot happen */: terminateSimulation = 1; break; case fmi2OK: case fmi2Warning: break; } if (terminateSimulation) { break; } i++; /* increment master time */ currentTime = 0.0 + h*i; } #if 0 if ((status != fmi2Error) && (status != fmi2Fatal)) { fmi2Terminate(m); } if (status != fmi2Fatal) { fmi2FreeInstance(m); } #endif }