1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
|
package Internal "Internal classes that should not be used directly by the user"
extends Modelica.Icons.Package;
package Icons "Icons used in ModelPlug"
extends Modelica.Icons.IconsPackage;
partial model Block "Icon for blocks"
annotation(
experiment(NumberOfIntervals = -1),
preferredView = "icon",
Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -80}, {100, 80}}, radius = 40), Rectangle(visible = true, origin = {5, -5}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, -75}, {95, 75}}, radius = 40), Rectangle(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -70}, {90, 70}}, radius = 30)}),
Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})));
end Block;
annotation(
Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})));
end Icons;
package ExternalFunctions "External functions used to communicate with the boards"
extends Modelica.Icons.Package;
function readAnalogPin
input Integer pin;
input Real min;
input Real max;
input Real init;
input Integer board;
input Integer adcResolution;
output Real value;
external "C" value = readAnalogPin(pin, min, max, init, board, adcResolution) annotation(
Include = "#include \"modelPlugFirmata.h\"",
Library = "modelPlugFirmata",
IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include",
LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library");
end readAnalogPin;
class FirmataBoardObject
extends ExternalObject;
function constructor "Function that call the external constructor"
input String port;
input Boolean showCapabilities;
input Integer samplingMs;
input Integer BaudRate;
input Boolean UseDTR;
output FirmataBoardObject board;
external "C" board = boardConstructor(port, showCapabilities, samplingMs, BaudRate, UseDTR) annotation(
Include = "#include \"modelPlugFirmata.h\"",
Library = "modelPlugFirmata",
IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include",
LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library");
end constructor;
function destructor "Function to destroy the object"
input FirmataBoardObject board;
external "C" boardDestructor(board) annotation(
Include = "#include \"modelPlugFirmata.h\"",
Library = "modelPlugFirmata",
IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include",
LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library");
end destructor;
end FirmataBoardObject;
function getBoardId
input FirmataBoardObject board;
output Integer id;
external "C" id = getBoardId(board) annotation(
Include = "#include \"modelPlugFirmata.h\"",
Library = "modelPlugFirmata",
IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include",
LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library");
end getBoardId;
function readDigitalPin
input Integer pin;
input Boolean init;
input Integer board;
output Boolean value;
external "C" value = readDigitalPin(pin, init, board) annotation(
Include = "#include \"modelPlugFirmata.h\"",
Library = "modelPlugFirmata",
IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include",
LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library");
end readDigitalPin;
function writeAnalogPin
input Integer pin;
input Integer board;
input Real value;
external "C" writeAnalogPin(pin, board, value) annotation(
Include = "#include \"modelPlugFirmata.h\"",
Library = "modelPlugFirmata",
IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include",
LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library");
end writeAnalogPin;
function writeDigitalPin
input Integer pin;
input Integer board;
input Boolean value;
external "C" writeDigitalPin(pin, board, value) annotation(
Include = "#include \"modelPlugFirmata.h\"",
Library = "modelPlugFirmata",
IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include",
LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library");
end writeDigitalPin;
function updateBoard
input Integer board;
external "C" updateBoard(board) annotation(
Include = "#include \"modelPlugFirmata.h\"",
Library = "modelPlugFirmata",
IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include",
LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library");
end updateBoard;
function writeServoPin
input Integer pin;
input Integer board;
input Real value;
input Integer MinPulse;
input Integer MaxPulse;
external "C" writeServoPin(pin, board, value, MinPulse, MaxPulse) annotation(
Include = "#include \"modelPlugFirmata.h\"",
Library = "modelPlugFirmata",
IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include",
LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library");
end writeServoPin;
annotation(
Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Text(visible = true, origin = {11.425, 9.596}, extent = {{-101.424, -59.596}, {78.57599999999999, 40.404}}, textString = "EF")}),
Documentation(info = "", revisions = ""),
Diagram(coordinateSystem(extent = {{-148.5, 105}, {148.5, -105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10})),
Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}), graphics = {Rectangle(visible = true, fillColor = {209, 209, 209}, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {75, 75}}), Polygon(visible = true, fillColor = {236, 236, 236}, fillPattern = FillPattern.Solid, points = {{-100, 75}, {-75, 100}, {100, 100}, {75, 75}}), Polygon(visible = true, fillColor = {177, 177, 177}, fillPattern = FillPattern.Solid, points = {{75, -100}, {75, 75}, {100, 100}, {100, -75}}), Text(visible = true, extent = {{-95.95, -91.88}, {63.97, 71.52}}, textString = "C")}));
end ExternalFunctions;
package Types "Type and unit definitions"
extends Modelica.Icons.TypesPackage;
type ServoUnit = enumeration(None, Degrees, Radians);
type SerialPort = String annotation(
Dialog(__Wolfram_serialPortSelector = true));
annotation(
Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})));
end Types;
package Interfaces "Package with connectors and partial models"
extends Modelica.Icons.InterfacesPackage;
connector BoardConnector = output Integer annotation(
Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})}),
Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})}));
connector PinConnector = input Integer annotation(
Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})}),
Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})}));
end Interfaces;
annotation(
Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(visible = true, origin = {1.383, -4.142}, rotation = 45, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-15, 93.333}, {-15, 68.333}, {0, 58.333}, {15, 68.333}, {15, 93.333}, {20, 93.333}, {25, 83.333}, {25, 58.333}, {10, 43.333}, {10, -41.667}, {25, -56.667}, {25, -76.667}, {10, -91.667}, {0, -91.667}, {0, -81.667}, {5, -81.667}, {15, -71.667}, {15, -61.667}, {5, -51.667}, {-5, -51.667}, {-15, -61.667}, {-15, -71.667}, {-5, -81.667}, {0, -81.667}, {0, -91.667}, {-10, -91.667}, {-25, -76.667}, {-25, -56.667}, {-10, -41.667}, {-10, 43.333}, {-25, 58.333}, {-25, 83.333}, {-20, 93.333}}), Polygon(visible = true, origin = {10.102, 5.218}, rotation = -45, fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, points = {{-15, 87.273}, {15, 87.273}, {20, 82.273}, {20, 27.273}, {10, 17.273}, {10, 7.273}, {20, 2.273}, {20, -2.727}, {5, -2.727}, {5, -77.727}, {10, -87.727}, {5, -112.727}, {-5, -112.727}, {-10, -87.727}, {-5, -77.727}, {-5, -2.727}, {-20, -2.727}, {-20, 2.273}, {-10, 7.273}, {-10, 17.273}, {-20, 27.273}, {-20, 82.273}})}));
end Internal;
|
