Pushing entire Modelica HIL Tasks repoHEADmaster

16 files changed, 1388 insertions, 0 deletions

diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_init.mos b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_init.mos
new file mode 100755
index 0000000..be5ff81
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_init.mos
@@ -0,0 +1,11 @@
+loadModel(Modelica);
+getErrorString();
+
+loadFile("/home/souradip/Modelica_DeviceDrivers/Modelica_DeviceDrivers/package.mo");
+getErrorString();
+
+loadFile("/home/souradip/OpenModelica/Arduino.mo");
+getErrorString();
+
+translateModel(Arduino.SerialCommunication.MDD_Examples.MDD_servo.MDD_servo_init, fileNamePrefix="servo_init");
+getErrorString();
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_loop.mos b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_loop.mos
new file mode 100755
index 0000000..23b035f
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_loop.mos
@@ -0,0 +1,11 @@
+loadModel(Modelica);
+getErrorString();
+
+loadFile("/home/souradip/Modelica_DeviceDrivers/Modelica_DeviceDrivers/package.mo");
+getErrorString();
+
+loadFile("/home/souradip/OpenModelica/Arduino.mo");
+getErrorString();
+
+translateModel(Arduino.SerialCommunication.MDD_Examples.MDD_servo.MDD_servo_loop, fileNamePrefix="servo_loop");
+getErrorString();
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_pot.mos b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_pot.mos
new file mode 100755
index 0000000..a7e6ac1
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_pot.mos
@@ -0,0 +1,11 @@
+loadModel(Modelica);
+getErrorString();
+
+loadFile("/home/souradip/Modelica_DeviceDrivers/Modelica_DeviceDrivers/package.mo");
+getErrorString();
+
+loadFile("/home/souradip/OpenModelica/Arduino.mo");
+getErrorString();
+
+translateModel(Arduino.SerialCommunication.MDD_Examples.MDD_servo.MDD_servo_pot, fileNamePrefix="servo_pot");
+getErrorString();
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_reverse.mos b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_reverse.mos
new file mode 100755
index 0000000..4d6b950
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/runMDD_servo_reverse.mos
@@ -0,0 +1,11 @@
+loadModel(Modelica);
+getErrorString();
+
+loadFile("/home/souradip/Modelica_DeviceDrivers/Modelica_DeviceDrivers/package.mo");
+getErrorString();
+
+loadFile("/home/souradip/OpenModelica/Arduino.mo");
+getErrorString();
+
+translateModel(Arduino.SerialCommunication.MDD_Examples.MDD_servo.MDD_servo_reverse, fileNamePrefix="servo_reverse");
+getErrorString();
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init
new file mode 100755
index 0000000..ba1b63b
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init.hex b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init.hex
new file mode 100755
index 0000000..667f2cc
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init.hex
@@ -0,0 +1,94 @@
+:100000000C9434000C9451000C9451000C94510049

+:100010000C9451000C9451000C9451000C94E50088

+:100020000C9451000C9451000C9451000C94B400A9

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+:100040000C9451000C9451000C9451000C945100EC

+:100050000C9451000C9451000C9451000C945100DC

+:100060000C9451000C94510011241FBECFEFD8E026

+:10007000DEBFCDBF11E0A0E0B1E0E6EAF5E002C0EE

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diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init.sh b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init.sh
new file mode 100755
index 0000000..a8c1413
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init.sh
@@ -0,0 +1,61 @@
+#!/bin/bash
+clear
+if [ "$#" -ne 2 ]; then
+  echo "Usage: $0 port baudrate" >&2
+  exit 1
+fi
+
+re='^[0-9]+$'
+if ! [[ $1 =~ $re ]] ; then
+   echo "error: $1 -> Not a number" >&2; exit 1
+fi
+
+if ! [[ $2 =~ $re ]] ; then
+   echo "error: $2-> Not a number" >&2; exit 1
+fi
+
+b_rate=$2
+
+present=`pwd`
+unamestr=`uname`
+
+if [[ "$unamestr" == 'Linux' ]]; then
+	mdd_path=($(locate Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include))
+	om_path=($(locate /usr/include/omc/c))
+	port="/dev/ttyACM$1"
+	omc --simCodeTarget=ExperimentalEmbeddedC runMDD_servo_init.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+else
+	cd c:	
+	om_path=($(dir -d OpenModelica*/include/omc/c/))
+	path_to_om="C:$om_path"
+	cd f:
+	mdd_path=($(dir -d */Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include/))
+	if [ $? -eq 0 ]; then
+		path_to_mdd="F:/$mdd_path"
+	else
+		exit 1
+	fi
+	
+	port="COM$1"
+	cd $present
+	omc --simCodeTarget=ExperimentalEmbeddedC run_servo_init.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+fi
+
+avr-gcc -Os -std=c11 -ffunction-sections -fdata-sections -mmcu=atmega328p -DF_CPU=16000000UL -Wl,--gc-sections servo_init_main.c -o servo_init -I${mdd_path[0]} -I${path_to_om} -I${path_to_mdd} -I${om_path[0]}  
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+avr-objcopy -O ihex -R .eeprom servo_init servo_init.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi 
+avrdude -F -V -c arduino -p ATMEGA328P -P $port -b $b_rate -U flash:w:servo_init.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init_main.c b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init_main.c
new file mode 100755
index 0000000..b10d9af
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_init_main.c
@@ -0,0 +1,213 @@
+#define fmi2TypesPlatform_h
+
+#define fmi2TypesPlatform "default" /* Compatible */
+
+typedef struct servo_init_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_init_fmi2Component_s {
+  fmi2Real currentTime;
+  fmi2Integer fmi2IntegerVars[1];
+  fmi2Real fmi2RealParameter[1];
+  void* extObjs[4];
+} servo_init_fmi2Component;
+
+servo_init_fmi2Component servo_init_component = {
+  .fmi2IntegerVars = {
+    0 /*integerExpression1._y*/,
+  },
+  .fmi2RealParameter = {
+    0.002 /*synchronizeRealtime1._actualInterval*/,
+  },
+};
+
+#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_init_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_init_component;
+}
+
+fmi2Status servo_init_fmi2SetupExperiment(fmi2Component comp, fmi2Boolean toleranceDefined, fmi2Real tolerance, fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime)
+{
+  return fmi2OK;
+}
+
+fmi2Status servo_init_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_init_fmi2ExitInitializationMode(fmi2Component comp)
+{
+  return fmi2OK;
+}
+
+static fmi2Status servo_init_functionODE(fmi2Component comp)
+{
+}
+
+static fmi2Status servo_init_functionOutputs(fmi2Component comp)
+{
+  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 */, 30);
+}
+
+fmi2Status servo_init_fmi2DoStep(fmi2Component comp, fmi2Real currentCommunicationPoint, fmi2Real communicationStepSize, fmi2Boolean noSetFMUStatePriorToCurrentPoint)
+{
+  comp->currentTime = currentCommunicationPoint;
+  /* TODO: Calculate time/state-dependent variables here... */
+  servo_init_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_init_fmi2Instantiate("", fmi2CoSimulation, "", "", &cbf, fmi2False, fmi2False);
+  if (comp==NULL) {
+    return 1;
+  }
+  servo_init_fmi2SetupExperiment(comp, fmi2False, 0.0, 0.0, fmi2False, 1.0);
+  servo_init_fmi2EnterInitializationMode(comp);
+  // Set start-values? Nah...
+  servo_init_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_init_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
+}
+
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_loop.sh b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_loop.sh
new file mode 100755
index 0000000..4be3b84
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_loop.sh
@@ -0,0 +1,61 @@
+#!/bin/bash
+clear
+if [ "$#" -ne 2 ]; then
+  echo "Usage: $0 port baudrate" >&2
+  exit 1
+fi
+
+re='^[0-9]+$'
+if ! [[ $1 =~ $re ]] ; then
+   echo "error: $1 -> Not a number" >&2; exit 1
+fi
+
+if ! [[ $2 =~ $re ]] ; then
+   echo "error: $2-> Not a number" >&2; exit 1
+fi
+
+b_rate=$2
+
+present=`pwd`
+unamestr=`uname`
+
+if [[ "$unamestr" == 'Linux' ]]; then
+	mdd_path=($(locate Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include))
+	om_path=($(locate /usr/include/omc/c))
+	port="/dev/ttyACM$1"
+	omc --simCodeTarget=ExperimentalEmbeddedC runMDD_servo_loop.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+else
+	cd c:	
+	om_path=($(dir -d OpenModelica*/include/omc/c/))
+	path_to_om="C:$om_path"
+	cd f:
+	mdd_path=($(dir -d */Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include/))
+	if [ $? -eq 0 ]; then
+		path_to_mdd="F:/$mdd_path"
+	else
+		exit 1
+	fi
+	
+	port="COM$1"
+	cd $present
+	omc --simCodeTarget=ExperimentalEmbeddedC run_servo_loop.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+fi
+
+avr-gcc -Os -std=c11 -ffunction-sections -fdata-sections -mmcu=atmega328p -DF_CPU=16000000UL -Wl,--gc-sections servo_loop_main.c -o servo_loop -I${mdd_path[0]} -I${path_to_om} -I${path_to_mdd} -I${om_path[0]}  
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+avr-objcopy -O ihex -R .eeprom servo_loop servo_loop.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi 
+avrdude -F -V -c arduino -p ATMEGA328P -P $port -b $b_rate -U flash:w:servo_loop.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_loop_main.c b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_loop_main.c
new file mode 100755
index 0000000..2eb1630
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_loop_main.c
@@ -0,0 +1,235 @@
+#define fmi2TypesPlatform_h
+
+#define fmi2TypesPlatform "default" /* Compatible */
+
+typedef struct servo_loop_fmi2Component_s* fmi2Component;
+typedef void* fmi2ComponentEnvironment;    /* Pointer to FMU environment    */
+typedef void* fmi2FMUstate;                /* Pointer to internal FMU state */
+typedef unsigned int fmi2ValueReference;
+typedef double fmi2Real;
+typedef int fmi2Integer;
+typedef int fmi2Boolean;
+typedef char fmi2Char;
+typedef const fmi2Char* fmi2String;
+typedef char fmi2Byte;
+
+#define fmi2True 1
+#define fmi2False 0
+
+#include "fmi2/fmi2Functions.h"
+
+#include <stdint.h>
+#include <stdio.h>
+
+void ModelicaFormatMessage(const char *fmt, ...)
+{
+  va_list args;
+  va_start(args, fmt);
+  vprintf(fmt, args);
+  va_end(args);
+}
+
+typedef struct servo_loop_fmi2Component_s {
+  fmi2Real currentTime;
+  fmi2Integer fmi2IntegerVars[3];
+  fmi2Boolean fmi2BooleanVars[3];
+  fmi2Real fmi2RealParameter[1];
+  fmi2Integer fmi2IntegerParameter[1];
+  fmi2Boolean fmi2BooleanParameter[2];
+  fmi2String fmi2StringParameter[1];
+  void* extObjs[4];
+} servo_loop_fmi2Component;
+
+servo_loop_fmi2Component servo_loop_component = {
+  .fmi2IntegerVars = {
+    0 /*integerExpression1._y*/,
+    0 /*triggeredAdd1._local_set*/,
+    0 /*triggeredAdd1._y*/,
+  },
+  .fmi2BooleanVars = {
+    fmi2False /*$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
+}
+
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_pot.sh b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_pot.sh
new file mode 100755
index 0000000..41f9d90
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_pot.sh
@@ -0,0 +1,61 @@
+#!/bin/bash
+clear
+if [ "$#" -ne 2 ]; then
+  echo "Usage: $0 port baudrate" >&2
+  exit 1
+fi
+
+re='^[0-9]+$'
+if ! [[ $1 =~ $re ]] ; then
+   echo "error: $1 -> Not a number" >&2; exit 1
+fi
+
+if ! [[ $2 =~ $re ]] ; then
+   echo "error: $2-> Not a number" >&2; exit 1
+fi
+
+b_rate=$2
+
+present=`pwd`
+unamestr=`uname`
+
+if [[ "$unamestr" == 'Linux' ]]; then
+	mdd_path=($(locate Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include))
+	om_path=($(locate /usr/include/omc/c))
+	port="/dev/ttyACM$1"
+	omc --simCodeTarget=ExperimentalEmbeddedC runMDD_servo_pot.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+else
+	cd c:	
+	om_path=($(dir -d OpenModelica*/include/omc/c/))
+	path_to_om="C:$om_path"
+	cd f:
+	mdd_path=($(dir -d */Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include/))
+	if [ $? -eq 0 ]; then
+		path_to_mdd="F:/$mdd_path"
+	else
+		exit 1
+	fi
+	
+	port="COM$1"
+	cd $present
+	omc --simCodeTarget=ExperimentalEmbeddedC run_servo_pot.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+fi
+
+avr-gcc -Os -std=c11 -ffunction-sections -fdata-sections -mmcu=atmega328p -DF_CPU=16000000UL -Wl,--gc-sections servo_pot_main.c -o servo_pot -I${mdd_path[0]} -I${path_to_om} -I${path_to_mdd} -I${om_path[0]}  
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+avr-objcopy -O ihex -R .eeprom servo_pot servo_pot.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi 
+avrdude -F -V -c arduino -p ATMEGA328P -P $port -b $b_rate -U flash:w:servo_pot.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_pot_main.c b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_pot_main.c
new file mode 100755
index 0000000..4cb1705
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_pot_main.c
@@ -0,0 +1,244 @@
+#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 <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_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 <math.h>
+/* 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
+}
+
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse
new file mode 100755
index 0000000..67359ad
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse.hex b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse.hex
new file mode 100755
index 0000000..565bd99
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse.hex
@@ -0,0 +1,101 @@
+:100000000C9434000C9451000C9451000C94510049

+:100010000C9451000C9451000C9451000C94E50088

+:100020000C9451000C9451000C9451000C94B400A9

+:100030000C9451000C9451000C9483000C945100CA

+:100040000C9451000C9451000C9451000C945100EC

+:100050000C9451000C9451000C9451000C945100DC

+:100060000C9451000C94510011241FBECFEFD8E026

+:10007000DEBFCDBF11E0A0E0B1E0ECE1F6E002C0F0

+:1000800005900D92A231B107D9F711E0A2E1B1E0DC

+:1000900001C01D92A731B107E1F70E9445010C9400

+:1000A0000C030C9400008230910561F083309105BF

+:1000B00099F00197C9F416BC80916E00826080931C

+:1000C0006E0016C0109285001092840080916F001F

+:1000D000826080936F000CC01092B200809170001B

+:1000E00082608093700004C081E090E00E940C0365

+:1000F00078949FB7F894809114019FBF8823C9F327

+:100100001092140108951F920F920FB60F921124AE

+:100110002F933F938F939F9380911201909113019E

+:100120000196909313018093120180911401813004

+:1001300091F020911201309113018091150190915D

+:1001400016012817390738F081E0809314011092C6

+:100150001301109212019F918F913F912F910F9057

+:100160000FBE0F901F9018951F920F920FB60F920F

+:1001700011242F933F938F939F938091120190911D

+:100180001301019690931301809312018091140141

+:10019000813091F02091120130911301809115016D

+:1001A000909116012817390738F081E080931401E7

+:1001B00010921301109212019F918F913F912F91F4

+:1001C0000F900FBE0F901F9018951F920F920FB6B1

+:1001D0000F9211242F933F938F939F93809112013D

+:1001E00090911301019690931301809312018091D5

+:1001F0001401813091F0209112013091130180910E

+:100200001501909116012817390738F081E0809385

+:10021000140110921301109212019F918F913F913E

+:100220002F910F900FBE0F901F901895FC01A1E821

+:10023000B0E08C918D608C9382E090E09387828710

+:10024000219AA0E8B0E08C9181688C93A8E8B0E096

+:1002500011961C921E921C92B587A48785B5836067

+:1002600085BD81E090E0978786872AE030E0309373

+:1002700016012093150124B5226024BD29EF27BD66

+:10028000918B808B80E090E00895CF92DF92EF9287

+:10029000FF9280E091E00E941601C12CD12C7601E2

+:1002A00060E070E0CB0160930001709301018093E6

+:1002B0000201909303012DEC3CEC4CE45EE30E94C0

+:1002C000F30187FF03C086E190E002C08FE090E079

+:1002D0009093050180930401809110019091110188

+:1002E0000E945300E0910C01F0910D0180910401F6

+:1002F00080838FEFC81AD80AE80AF80AC701B60146

+:100300000E94F7012FE632E143E05BE30E94A9027D

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+:1003C000731F841F48F4879577956795B795F795C0

+:1003D0009E3F08F0B3CF9395880F08F09927EE0F52

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+:1004900039F40A2661F0232B242B252B21F408950F

+:1004A0000A2609F4A140A6958FEF811D811D0895AC

+:1004B00097F99F6780E870E060E008959FEF80EC17

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+:1005D000E1F088234AF0EE0FFF1FBB1F661F771F55

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+:1005F000AACF5F3FECF3983EDCF38695779567953D

+:10060000B795F795E7959F5FC1F7FE2B880F911D72

+:0C0610009695879597F90895F894FFCF10

+:10061C000000000016000AD7233C00000000000078

+:02062C000000CC

+:00000001FF

diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse.sh b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse.sh
new file mode 100755
index 0000000..9c5927d
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse.sh
@@ -0,0 +1,61 @@
+#!/bin/bash
+clear
+if [ "$#" -ne 2 ]; then
+  echo "Usage: $0 port baudrate" >&2
+  exit 1
+fi
+
+re='^[0-9]+$'
+if ! [[ $1 =~ $re ]] ; then
+   echo "error: $1 -> Not a number" >&2; exit 1
+fi
+
+if ! [[ $2 =~ $re ]] ; then
+   echo "error: $2-> Not a number" >&2; exit 1
+fi
+
+b_rate=$2
+
+present=`pwd`
+unamestr=`uname`
+
+if [[ "$unamestr" == 'Linux' ]]; then
+	mdd_path=($(locate Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include))
+	om_path=($(locate /usr/include/omc/c))
+	port="/dev/ttyACM$1"
+	omc --simCodeTarget=ExperimentalEmbeddedC runMDD_servo_reverse.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+else
+	cd c:	
+	om_path=($(dir -d OpenModelica*/include/omc/c/))
+	path_to_om="C:$om_path"
+	cd f:
+	mdd_path=($(dir -d */Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include/))
+	if [ $? -eq 0 ]; then
+		path_to_mdd="F:/$mdd_path"
+	else
+		exit 1
+	fi
+	
+	port="COM$1"
+	cd $present
+	omc --simCodeTarget=ExperimentalEmbeddedC run_servo_reverse.mos
+	if [ $? -ne 0 ]; then
+		exit 1
+	fi
+fi
+
+avr-gcc -Os -std=c11 -ffunction-sections -fdata-sections -mmcu=atmega328p -DF_CPU=16000000UL -Wl,--gc-sections servo_reverse_main.c -o servo_reverse -I${mdd_path[0]} -I${path_to_om} -I${path_to_mdd} -I${om_path[0]}  
+if [ $? -ne 0 ]; then
+	exit 1
+fi
+avr-objcopy -O ihex -R .eeprom servo_reverse servo_reverse.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi 
+avrdude -F -V -c arduino -p ATMEGA328P -P $port -b $b_rate -U flash:w:servo_reverse.hex
+if [ $? -ne 0 ]; then
+	exit 1
+fi
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse_main.c b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse_main.c
new file mode 100755
index 0000000..5382666
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo/servo_reverse_main.c
@@ -0,0 +1,213 @@
+#define fmi2TypesPlatform_h
+
+#define fmi2TypesPlatform "default" /* Compatible */
+
+typedef struct servo_reverse_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_reverse_fmi2Component_s {
+  fmi2Real currentTime;
+  fmi2Integer fmi2IntegerVars[1];
+  fmi2Real fmi2RealParameter[1];
+  void* extObjs[4];
+} servo_reverse_fmi2Component;
+
+servo_reverse_fmi2Component servo_reverse_component = {
+  .fmi2IntegerVars = {
+    22 /*pwm._u[1]*/,
+  },
+  .fmi2RealParameter = {
+    0.01 /*synchronizeRealtime1._actualInterval*/,
+  },
+};
+
+#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_reverse_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_reverse_component;
+}
+
+fmi2Status servo_reverse_fmi2SetupExperiment(fmi2Component comp, fmi2Boolean toleranceDefined, fmi2Real tolerance, fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime)
+{
+  return fmi2OK;
+}
+
+fmi2Status servo_reverse_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, 10);
+  return fmi2OK;
+}
+
+fmi2Status servo_reverse_fmi2ExitInitializationMode(fmi2Component comp)
+{
+  return fmi2OK;
+}
+
+static fmi2Status servo_reverse_functionODE(fmi2Component comp)
+{
+}
+
+static fmi2Status servo_reverse_functionOutputs(fmi2Component comp)
+{
+  comp->fmi2IntegerVars[0] /* pwm._u[1] DISCRETE */ = ((comp->currentTime)<(0.2)) ? (22) : (15); /* equation 3 */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[0] /* pwm._u[1] DISCRETE */);
+}
+
+fmi2Status servo_reverse_fmi2DoStep(fmi2Component comp, fmi2Real currentCommunicationPoint, fmi2Real communicationStepSize, fmi2Boolean noSetFMUStatePriorToCurrentPoint)
+{
+  comp->currentTime = currentCommunicationPoint;
+  /* TODO: Calculate time/state-dependent variables here... */
+  servo_reverse_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_reverse_fmi2Instantiate("", fmi2CoSimulation, "", "", &cbf, fmi2False, fmi2False);
+  if (comp==NULL) {
+    return 1;
+  }
+  servo_reverse_fmi2SetupExperiment(comp, fmi2False, 0.0, 0.0, fmi2False, 1.0);
+  servo_reverse_fmi2EnterInitializationMode(comp);
+  // Set start-values? Nah...
+  servo_reverse_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_reverse_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
+}
+