Pushing entire Modelica HIL Tasks repoHEADmaster

1 files changed, 235 insertions, 0 deletions

diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_loop_main.c b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_loop_main.c
new file mode 100755
index 0000000..2eb1630
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_loop_main.c
@@ -0,0 +1,235 @@
+#define fmi2TypesPlatform_h
+
+#define fmi2TypesPlatform "default" /* Compatible */
+
+typedef struct servo_loop_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 <stdint.h>
+#include <stdio.h>
+
+void ModelicaFormatMessage(const char *fmt, ...)
+{
+  va_list args;
+  va_start(args, fmt);
+  vprintf(fmt, args);
+  va_end(args);
+}
+
+typedef struct servo_loop_fmi2Component_s {
+  fmi2Real currentTime;
+  fmi2Integer fmi2IntegerVars[3];
+  fmi2Boolean fmi2BooleanVars[3];
+  fmi2Real fmi2RealParameter[1];
+  fmi2Integer fmi2IntegerParameter[1];
+  fmi2Boolean fmi2BooleanParameter[2];
+  fmi2String fmi2StringParameter[1];
+  void* extObjs[4];
+} servo_loop_fmi2Component;
+
+servo_loop_fmi2Component servo_loop_component = {
+  .fmi2IntegerVars = {
+    0 /*integerExpression1._y*/,
+    0 /*triggeredAdd1._local_set*/,
+    0 /*triggeredAdd1._y*/,
+  },
+  .fmi2BooleanVars = {
+    fmi2False /*$whenCondition1*/,
+    fmi2False /*booleanExpression1._y*/,
+    fmi2False /*triggeredAdd1._local_reset*/,
+  },
+  .fmi2RealParameter = {
+    0.002 /*synchronizeRealtime1._actualInterval*/,
+  },
+  .fmi2IntegerParameter = {
+    0 /*triggeredAdd1._y_start*/,
+  },
+  .fmi2BooleanParameter = {
+    fmi2False /*triggeredAdd1._use_reset*/,
+    fmi2False /*triggeredAdd1._use_set*/,
+  },
+};
+
+#include <math.h>
+/* TODO: Generate used builtin functions before SimCode */
+static inline double om_mod(double x, double y)
+{
+  return x-floor(x/y)*y;
+}
+
+#include "MDDAVRTimer.h"
+#include "MDDAVRRealTime.h"
+#include "MDDAVRAnalog.h"
+
+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 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_loop_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_loop_component;
+}
+
+fmi2Status servo_loop_fmi2SetupExperiment(fmi2Component comp, fmi2Boolean toleranceDefined, fmi2Real tolerance, fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime)
+{
+  return fmi2OK;
+}
+
+fmi2Status servo_loop_fmi2EnterInitializationMode(fmi2Component comp)
+{
+  comp->extObjs[0] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 2, 7, fmi2True);
+  comp->extObjs[1] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_Init_constructor(comp, comp->extObjs[0] /* pwm._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 1, 0, fmi2False);
+  comp->extObjs[2] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_Timers_Timer_constructor(comp, 1, 4, fmi2False);
+  comp->extObjs[3] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */ = Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_Init_constructor(comp, comp->extObjs[2] /* synchronizeRealtime1._clock EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.Timers.Timer */, 249, 2);
+  return fmi2OK;
+}
+
+fmi2Status servo_loop_fmi2ExitInitializationMode(fmi2Component comp)
+{
+  return fmi2OK;
+}
+
+static fmi2Status servo_loop_functionODE(fmi2Component comp)
+{
+}
+
+static fmi2Status servo_loop_functionOutputs(fmi2Component comp)
+{
+  comp->fmi2BooleanVars[0] /* $whenCondition1 DISCRETE */ = (om_mod(comp->currentTime,0.2))>(0.1); /* equation 9 */
+  
+  #error "[CodegenEmbeddedC.tpl:346:14-346:14] Unsupported equation: ..."
+
+  comp->fmi2BooleanVars[1] /* booleanExpression1._y DISCRETE */ = comp->fmi2BooleanVars[0] /* $whenCondition1 DISCRETE */; /* equation 11 */Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_RealTimeSynchronization_wait(comp, comp->extObjs[3] /* synchronizeRealtime1._sync EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.RealTimeSynchronization.Init */);Modelica__DeviceDrivers_EmbeddedTargets_AVR_Functions_PWM_set(comp, comp->extObjs[1] /* pwm._pwm[1] EXTOBJ: Modelica_DeviceDrivers.EmbeddedTargets.AVR.Functions.PWM.Init */, comp->fmi2IntegerVars[2] /* triggeredAdd1._y DISCRETE */);
+}
+
+fmi2Status servo_loop_fmi2DoStep(fmi2Component comp, fmi2Real currentCommunicationPoint, fmi2Real communicationStepSize, fmi2Boolean noSetFMUStatePriorToCurrentPoint)
+{
+  comp->currentTime = currentCommunicationPoint;
+  /* TODO: Calculate time/state-dependent variables here... */
+  servo_loop_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_loop_fmi2Instantiate("", fmi2CoSimulation, "", "", &cbf, fmi2False, fmi2False);
+  if (comp==NULL) {
+    return 1;
+  }
+  servo_loop_fmi2SetupExperiment(comp, fmi2False, 0.0, 0.0, fmi2False, 1.0);
+  servo_loop_fmi2EnterInitializationMode(comp);
+  // Set start-values? Nah...
+  servo_loop_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_loop_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
+}
+