Pushing entire Modelica HIL Tasks repoHEADmaster

13 files changed, 1170 insertions, 0 deletions

diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_analog.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_analog.c
new file mode 100755
index 0000000..5a8cf2f
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_analog.c
@@ -0,0 +1,61 @@
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h> /* memset */
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include "../Include/serial.h"
+#include "../Include/analog.h"
+
+uint16_t cmd_analog_in(int h,int pin_no)
+{	
+	char pin[5],v1[2];
+	int stat;
+	int read[3];
+	sprintf(v1,"%c",pin_no+48);
+	strcpy(pin,"A");
+	strcat(pin,v1);
+    int wr=write_serial(h,pin,2);
+    stat=status_serial(h,read);
+    //printf("Read:%d\n",read[0] );
+    while (read[0] < 2)
+    	stat=status_serial(h,read);
+    char values[5];
+    int a_rd=read_serial(h,values,2);
+    values[2]='\0';
+    printf("%s\n",values);
+    int l=strlen(values);
+    //printf("%d\n",l );
+    uint8_t temp[l+1];
+    int i;
+    for (i = 0; i < l; ++i)
+    {
+    	temp[i]=(uint8_t)(values[i]);
+    }
+    //printf("%u %u\n",temp[0],temp[1]);
+    uint16_t result=(uint16_t)(256*temp[1]+temp[0]);
+    //printf("%u\n",result);
+    return result;
+}
+
+int cmd_analog_out(int h,int pin_no,double val)
+{
+	char v1[2],v2[2];
+	if(val > 255)
+    	val = 255;
+    else if(val < 0)
+        val = 0;
+    //printf("%f\n",val);
+    char code_sent[10];
+    strcpy(code_sent,"W");
+    sprintf(v1,"%c",pin_no+48);
+    sprintf(v2,"%c",abs(ceil(val)));
+    strcat(code_sent,v1);
+    strcat(code_sent,v2);
+    //printf("%s\n",code_sent);
+    return write_serial(h,code_sent,3);
+
+}
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_analog_volt.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_analog_volt.c
new file mode 100755
index 0000000..701c0c0
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_analog_volt.c
@@ -0,0 +1,63 @@
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h> /* memset */
+#include <stdio.h>
+#include <math.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include "../Include/serial.h"
+#include "../Include/analogv.h"
+
+uint16_t cmd_analog_in_volt(int h,int pin_no)
+{	
+    char pin[5]="A",v1[2];
+    int stat;
+    int read[3];
+    sprintf(v1,"%c",pin_no+48);
+    //strcpy(pin,"A");
+    strcat(pin,v1);
+    int wr=write_serial(h,pin,2);
+    stat=status_serial(h,read);
+    //printf("Read:%d\n",read[0] );
+    while (read[0] < 2)
+        stat=status_serial(h,read);
+    char values[5];
+    int a_rd=read_serial(h,values,2);
+    values[2]='\0';
+    printf("%s\n",values);
+    int l=strlen(values);
+    //printf("%d\n",l );
+    uint8_t temp[l+1];
+    int i;
+    for (i = 0; i < l; ++i)
+    {
+        temp[i]=(uint8_t)(values[i]);
+    }
+    //printf("%u %u\n",temp[0],temp[1]);
+    uint16_t result=(uint16_t)(256*temp[1]+temp[0]);
+    result/=1023;
+    //printf("%u\n",result);
+    return result;
+}
+
+int cmd_analog_out_volt(int h,int pin_no,double val)
+{
+	char v1[2],v2[2];
+	if(val > 5)
+    	val = 5;
+    else if(val < 0)
+        val = 0;
+    val=val*255/5;
+    //printf("%f\n",val);
+    char code_sent[10];
+    strcpy(code_sent,"W");
+    sprintf(v1,"%c",pin_no+48);
+    sprintf(v2,"%c",abs(ceil(val)));
+    strcat(code_sent,v1);
+    strcat(code_sent,v2);
+    //printf("%s\n",code_sent);
+    return write_serial(h,code_sent,3);
+
+}
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_digital.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_digital.c
new file mode 100755
index 0000000..f19d23b
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_digital.c
@@ -0,0 +1,63 @@
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h> /* memset */
+#include <stdio.h>
+#include <stdlib.h>
+#include "../Include/serial.h"
+#include "../Include/digital.h"
+
+int cmd_digital_out(int h,int pin_no,int val)
+{   
+	int wr;
+	char pin[6]="Da";
+    char v[2],temp[2];
+	sprintf(temp,"%c",pin_no+48);
+	strcat(pin,temp);
+	strcat(pin,"1");
+    //printf("%s",pin);
+  	wr=write_serial(h,pin,4);
+  	if (val > 0.5)
+    	val = 1;
+  	else
+    	val = 0;
+
+	sprintf(v,"%d",val);
+  	strcpy(pin,"Dw");
+    strcat(pin,temp);
+	strcat(pin,v);
+    //printf("%s",pin);
+  	wr=write_serial(h,pin,4);
+    return wr;
+}
+
+int cmd_digital_in(int h,int pin_no)
+{
+    int value = 0;
+        char pin[6]="Da";
+        char v1[2],v2[2];
+        int wr1, wr2;
+        sprintf(v1,"%c",pin_no+48);
+        strcat(pin,v1);
+        strcat(pin,"0");
+        //printf("%s\n",pin);
+        wr1=write_serial(h,pin,4);
+
+        strcpy(pin,"Dr");
+        sprintf(v2,"%c",pin_no+48);
+        strcat(pin,v2);
+        wr2=write_serial(1,pin,3);
+        //binary transfer
+        int stat;
+        int num_bytes[2];
+        char st[10];
+        stat=status_serial(h,num_bytes);
+        while(num_bytes[0]<1)
+            stat=status_serial(h,num_bytes);
+        char* temp;
+        int wr=read_serial(h,st,1);
+        value=strtod(st,&temp);
+        //printf("%d\n",value);
+        return value;
+}
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_encoder_init.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_encoder_init.c
new file mode 100755
index 0000000..89a53dd
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/cmd_encoder_init.c
@@ -0,0 +1,39 @@
+#include <errno.h> 
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+#include "../Include/encoder.h"
+#include "../Include/serial.h"
+
+void cmd_encoder_init(int h,int enc_mode,int pin_no_1,int pin_no_2)
+{   
+    
+    int wr;
+    char code_sent[10]="Ea";
+    char c[2];
+
+    sprintf(c,"%c",48+corresp[block->rpar[2]]);
+    strcat(code_sent,c);
+    if(block.rpar(2)==4)
+    { 
+    	char c1[2],c2[2],v[10];
+    	sprintf(c1,"%c",48+0+corresp[block->rpar[3]]);
+    	sprintf(v,"%s",(block->rpar[1]));
+        strcat(code_sent,c1);
+        strcat(code_sent,v);
+    }
+    else
+    {
+       	char c2[2],v[10];
+    	sprintf(c2,"%c",48+0+corresp[block->rpar[3]]);
+    	sprintf(v,"%s",block->rpar[1]);
+    	strcat(code_sent,c1);
+        strcat(code_sent,v);
+    }
+    wr=write_serial(1,code_sent,5);
+    strcpy(code_sent,"Ez");
+    sprintf(c,"%c",corresp[block->rpar[2]])
+    strcat(code_sent,c);
+    wr=write_serial(1,code_sent,3)
+}
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/dcmotor.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/dcmotor.c
new file mode 100755
index 0000000..ac6775c
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/dcmotor.c
@@ -0,0 +1,117 @@
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+#include "../Include/serial.h"
+#include "../Include/dcmotor.h"
+
+#define abs(x) (x>=0?x:-x)
+
+void cmd_dcmotor_setup(int h,int driver_type,int motor_no,int pin_no_1,int pin_no_2)
+{
+	printf("init DCmotor\n");
+	char code_sent[10]="C";
+	int wr;
+	char v1[2],v2[2],motor[2];
+    if(driver_type==1)
+    {
+    	sprintf(v1,"%c",pin_no_1+48);
+    	sprintf(v2,"%c",pin_no_2+48);
+    	sprintf(motor,"%c",motor_no+48);
+    	strcat(code_sent,motor);
+    	strcat(code_sent,v1);
+    	strcat(code_sent,v2);
+    	strcat(code_sent,"1");
+    }
+        //code_sent="C"+string(motor_no)+ascii(48+pin_no_1)+ascii(48+pin_no_2)+"1";    //adafruit
+    else if(driver_type==2)
+    {
+    	sprintf(v1,"%c",pin_no_1+48);
+    	sprintf(v2,"%c",pin_no_2+48);
+    	sprintf(motor,"%c",motor_no+48);
+    	strcat(code_sent,motor);
+    	strcat(code_sent,v1);
+    	strcat(code_sent,v2);
+    	strcat(code_sent,"1");
+    }    
+        //code_sent="C"+string(motor_no)+ascii(48+pin_no_1)+ascii(48+pin_no_2)+"1";   //code pour initialiser L298
+    else if(driver_type==3)
+    {
+    	sprintf(v1,"%c",pin_no_1+48);
+    	sprintf(v2,"%c",pin_no_2+48);
+    	sprintf(motor,"%c",motor_no+48);
+    	strcat(code_sent,motor);
+    	strcat(code_sent,v1);
+    	strcat(code_sent,v2);
+    	strcat(code_sent,"0");
+
+    }
+    //    code_sent="C"+string(motor_no)+ascii(48+pin_no_1)+ascii(48+pin_no_2)+"0";   //code pour initialiser L293
+    //printf("%s\n",code_sent);
+    wr=write_serial(h,code_sent,5);
+
+    int stat;
+    int num_bytes[2];
+    //Attente que l'arduino reponde OK
+    stat=status_serial(1,num_bytes);
+    while (num_bytes[0] < 2) 
+        stat=status_serial(1,num_bytes);
+    char values[5];
+    int dcm_rd=read_serial(1,values,2);
+    if (dcm_rd == 0)
+        printf("Init motor successful\n");
+    else
+        printf("Init motor unsuccessful\n");
+}
+
+void cmd_dcmotor_run(int h,int motor_no,int u1)
+{
+	char code_dir[2];
+	char code_sent[10]="M";
+	char motor[2];
+    int val;
+	char v[2];
+    if(u1>=0)
+       	sprintf(code_dir,"%c",49);
+              //code_dir=ascii(49);
+    else
+        sprintf(code_dir,"%c",48);
+              //code_dir=ascii(48);
+    if(abs(u1)>255)
+        val=255;
+    else
+        val=abs(ceil(u1));
+    //printf("%d\n",val);
+    sprintf(motor,"%c",motor_no+48);
+    sprintf(v,"%c",val);
+    strcat(code_sent,motor);
+    strcat(code_sent,code_dir);
+    strcat(code_sent,v);
+    //printf("%s\n",code_sent);      
+          //code_sent="M"+ascii(48+motor_no)+code_dir+ascii(val);
+    int wr=write_serial(h,code_sent,4);
+}
+
+void cmd_dcmotor_release(int h,int motor_no)
+{
+	char code_sent[6]="M";
+	char motor[2];
+	char v[2];
+	sprintf(motor,"%c",motor_no+48);
+	sprintf(v,"%c",0);
+    strcat(code_sent,motor);
+    strcat(code_sent,"1");
+    strcat(code_sent,v);
+	//code_sent="M"+ascii(48+motor_no)+"1"+ascii(0);
+    //printf("%s\n",code_sent);
+    int wr=write_serial(h,code_sent,4);
+    strcpy(code_sent,"M");  
+    strcat(code_sent,motor);
+    strcat(code_sent,"r");
+    //printf("%s\n",code_sent);
+    //code_sent="M"+ascii(48+motor_no)+"r";
+    wr=write_serial(h,code_sent,3);
+}
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/delay.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/delay.c
new file mode 100755
index 0000000..db9c175
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/delay.c
@@ -0,0 +1,11 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <math.h>
+#include <unistd.h>
+
+void delay(long int t)
+{ 
+	usleep(abs(t*1000));	
+}
+
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/ieeesingle2num.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/ieeesingle2num.c
new file mode 100755
index 0000000..7331193
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/ieeesingle2num.c
@@ -0,0 +1,87 @@
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <ctype.h>
+#include "../Include/serial.h"
+
+#ifdef NAN
+/* NAN is supported */
+#endif
+#ifdef INFINITY
+/* INFINITY is supported */
+#endif
+
+
+long int hex2dec(char hexadecimal[])
+{
+	long int decimalNumber=0;
+    char hexDigits[16] = {'0', '1', '2', '3', '4', '5', '6', '7', '8',
+      '9', 'A', 'B', 'C', 'D', 'E', 'F'};
+    int i, j, power=0;    
+     
+    /* Converting hexadecimal number to decimal number */
+    for(i=strlen(hexadecimal)-1; i >= 0; i--) {
+        /*search currect character in hexDigits array */
+        if(isalpha(hexadecimal[i]))
+        		hexadecimal[i]=toupper(hexadecimal[i]);
+        for(j=0; j<16; j++){
+            if(hexadecimal[i] == hexDigits[j]){
+                decimalNumber += j*pow(16, power);
+            }
+        // }
+        power++;
+        }
+    }
+    return decimalNumber;
+}
+
+void dec2hex(long int decimalnum,char hexadecimalnum[])
+{
+	long quotient, remainder;
+    int j = 1;
+    quotient = decimalnum;
+ 
+    while (quotient != 0)
+    {
+        remainder = quotient % 16;
+        if (remainder < 10)
+            hexadecimalnum[j--] = 48 + remainder;
+        else
+            hexadecimalnum[j--] = 55 + remainder;
+        quotient = quotient / 16;
+    }
+    hexadecimalnum[2]='\0';
+}
+
+double ieeesingle2num(char hexa[])
+{
+	long int x=hex2dec(hexa);
+	long int k =(long int)pow(2,31);   //pow2(31);
+	int s = (x >= k);
+	if (s) 
+		x = x - k;
+	//t = pow2(x,-23);
+	double t = x*pow(2,-23);
+	long int e = floor(t);
+	double f = t - e;
+	double y;
+	if (e == 255)
+	 	if(f == 0)
+	 		y = INFINITY; 
+	 	else 
+	 		y = NAN;
+	else if(e > 0)
+		y = (1+f)*pow(2,e-127);
+	 //y = (1+f).*2.^(e-127);
+	else
+	    y = f*pow(2,-126);
+	//y = f.*2.^-126;
+	if (s) 
+		y = -y;
+	return y;
+}
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/mfloor.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/mfloor.c
new file mode 100755
index 0000000..3c9e884
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/mfloor.c
@@ -0,0 +1,6 @@
+#include <math.h>
+
+int mfloor(double x)
+{
+	return floor(x);
+}
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/modbus.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/modbus.c
new file mode 100755
index 0000000..160bfb5
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/modbus.c
@@ -0,0 +1,449 @@
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+#include "../Include/serial.h"
+#include "../Include/ieeesingle2num.h"
+#include "../Include/modbus.h"
+
+char ascii_n(int num)
+{
+	return (char)num;
+}
+
+int ascii_c(char c)
+{
+	return (int)c;
+}
+
+void read_voltage()
+{
+	char arr[9]={ascii_n(1),ascii_n(3),ascii_n(15),ascii_n(86),ascii_n(00),ascii_n(2),ascii_n(39),ascii_n(15),'\0'};
+	
+	//printf("%s\n",arr);//debug
+    
+	int x,wr,rd;
+    char buf[12];
+    for(x=0;x<5;x++)
+    {
+        wr=write_serial(1,arr,8);
+        rd = read_serial(1,buf,11);
+		usleep(500);
+	}
+	buf[11]='\0';
+    
+	//printf("%s\n",buf );//debug
+    
+	int b1=0,b2=0,b3=0,b4=0;
+    int myresult[12];
+    int i;
+    for (i = 0; i < 11; ++i)
+    {
+        myresult[i]=ascii_c(buf[i]);
+		//printf("%d",myresult[i]);//debug
+    }
+    
+	//printf("%d %d %d %d\n",myresult[4],myresult[5],myresult[6],myresult[7]);//debug
+    
+	int a1=myresult[4];
+    if (a1<16)
+    {
+        b1=1;
+    }
+    char v1[3];
+	dec2hex(a1,v1);
+    if (b1)
+    {
+        sprintf(v1,"0%s",v1);
+    }
+	else
+	{
+		sprintf(v1,"%s",v1);
+	}	
+    int a2=myresult[5];
+    if (a2<16)
+    {
+        b2=1;
+    }
+    char v2[3];
+	dec2hex(a2,v2);
+    if (b2)
+    {
+        sprintf(v2,"0%s",v2);
+    }
+	else
+	{
+		sprintf(v2,"%s",v2);
+	}
+    int a3=myresult[6];
+    if (a3<16)
+    {
+        b3=1;
+    }
+    char v3[3];
+	dec2hex(a3,v3);
+    if (b3)
+    {
+        sprintf(v3,"0%s",v3);
+    }
+	else
+	{
+		sprintf(v3,"%s",v3);
+	}
+    int a4=myresult[7];
+    if (a4<16)
+    {
+        b4=1;
+    }
+    char v4[3];
+	dec2hex(a4,v4);
+    if (b4)
+    {
+        sprintf(v4,"0%s",v4);
+    }
+	else
+	{
+		sprintf(v4,"%s",v4);
+	}	
+    char a6[20]="";
+	strcat(a6,v3);
+	strcat(a6,v4);
+	strcat(a6,v1);
+	strcat(a6,v2);
+	a6[8]='\0';
+	
+	//printf("%s",a6);//debug
+	
+    int cl=close_serial(1);
+    double p=ieeesingle2num(a6);
+    printf("Voltage(in V)=%f\n",p);
+}
+
+
+void read_current()
+{
+	char arr[9]={ascii_n(1),ascii_n(3),ascii_n(15),ascii_n(88),ascii_n(00),ascii_n(2),ascii_n(70),ascii_n(204),'\0'};
+	//printf("%s\n",arr);//debug
+    
+	int x,wr,rd;
+    char buf[12];
+    for(x=0;x<5;x++)
+    {
+        wr=write_serial(1,arr,8);
+        rd = read_serial(1,buf,11);
+		usleep(500);
+	}
+	buf[11]='\0';
+    
+	//printf("%s\n",buf );//debug
+    
+	int b1=0,b2=0,b3=0,b4=0;
+    int myresult[12];
+    int i;
+    for (i = 0; i < 11; ++i)
+    {
+        myresult[i]=ascii_c(buf[i]);
+		//printf("%d",myresult[i]);//debug
+    }
+    
+	//printf("%d %d %d %d\n",myresult[4],myresult[5],myresult[6],myresult[7]);//debug
+    
+	int a1=myresult[4];
+    if (a1<16)
+    {
+        b1=1;
+    }
+    char v1[3];
+	dec2hex(a1,v1);
+    if (b1)
+    {
+        sprintf(v1,"0%s",v1);
+    }
+	else
+	{
+		sprintf(v1,"%s",v1);
+	}	
+    int a2=myresult[5];
+    if (a2<16)
+    {
+        b2=1;
+    }
+    char v2[3];
+	dec2hex(a2,v2);
+    if (b2)
+    {
+        sprintf(v2,"0%s",v2);
+    }
+	else
+	{
+		sprintf(v2,"%s",v2);
+	}
+    int a3=myresult[6];
+    if (a3<16)
+    {
+        b3=1;
+    }
+    char v3[3];
+	dec2hex(a3,v3);
+    if (b3)
+    {
+        sprintf(v3,"0%s",v3);
+    }
+	else
+	{
+		sprintf(v3,"%s",v3);
+	}
+    int a4=myresult[7];
+    if (a4<16)
+    {
+        b4=1;
+    }
+    char v4[3];
+	dec2hex(a4,v4);
+    if (b4)
+    {
+        sprintf(v4,"0%s",v4);
+    }
+	else
+	{
+		sprintf(v4,"%s",v4);
+	}	
+    char a6[20]="";
+	strcat(a6,v3);
+	strcat(a6,v4);
+	strcat(a6,v1);
+	strcat(a6,v2);
+	a6[8]='\0';
+	
+	//printf("%s",a6);//debug
+	
+    int cl=close_serial(1);
+    double p=ieeesingle2num(a6);
+    printf("Current(in A)=%f\n",p);
+}
+
+void read_active_power()
+{
+    char arr[9]={ascii_n(1),ascii_n(3),ascii_n(15),ascii_n(78),ascii_n(00),ascii_n(2),ascii_n(167),ascii_n(8),'\0'};
+	//printf("%s\n",arr);//debug
+    
+	int x,wr,rd;
+    char buf[12];
+    for(x=0;x<5;x++)
+    {
+        wr=write_serial(1,arr,8);
+        rd = read_serial(1,buf,11);
+		usleep(500);
+	}
+	buf[11]='\0';
+    
+	//printf("%s\n",buf );//debug
+    
+	int b1=0,b2=0,b3=0,b4=0;
+    int myresult[12];
+    int i;
+    for (i = 0; i < 11; ++i)
+    {
+        myresult[i]=ascii_c(buf[i]);
+		//printf("%d",myresult[i]);//debug
+    }
+    
+	//printf("%d %d %d %d\n",myresult[4],myresult[5],myresult[6],myresult[7]);//debug
+    
+	int a1=myresult[4];
+    if (a1<16)
+    {
+        b1=1;
+    }
+    char v1[3];
+	dec2hex(a1,v1);
+    if (b1)
+    {
+        sprintf(v1,"0%s",v1);
+    }
+	else
+	{
+		sprintf(v1,"%s",v1);
+	}	
+    int a2=myresult[5];
+    if (a2<16)
+    {
+        b2=1;
+    }
+    char v2[3];
+	dec2hex(a2,v2);
+    if (b2)
+    {
+        sprintf(v2,"0%s",v2);
+    }
+	else
+	{
+		sprintf(v2,"%s",v2);
+	}
+    int a3=myresult[6];
+    if (a3<16)
+    {
+        b3=1;
+    }
+    char v3[3];
+	dec2hex(a3,v3);
+    if (b3)
+    {
+        sprintf(v3,"0%s",v3);
+    }
+	else
+	{
+		sprintf(v3,"%s",v3);
+	}
+    int a4=myresult[7];
+    if (a4<16)
+    {
+        b4=1;
+    }
+    char v4[3];
+	dec2hex(a4,v4);
+    if (b4)
+    {
+        sprintf(v4,"0%s",v4);
+    }
+	else
+	{
+		sprintf(v4,"%s",v4);
+	}	
+    char a6[20]="";
+	strcat(a6,v3);
+	strcat(a6,v4);
+	strcat(a6,v1);
+	strcat(a6,v2);
+	a6[8]='\0';
+	
+	//printf("%s",a6);//debug
+	
+    int cl=close_serial(1);
+    double p=ieeesingle2num(a6);
+    printf("Active Power(in W)=%f\n",p);
+}
+
+double read_val(int addr_byte)
+{	
+	char* arr;
+    if(addr_byte==86)
+    {   
+        char code[9]={ascii_n(1),ascii_n(3),ascii_n(15),ascii_n(86),ascii_n(00),ascii_n(2),ascii_n(39),ascii_n(15),'\0'};
+        arr = code;
+        printf("Voltage(in V)=");
+    }
+    else if(addr_byte==88)
+    {   
+        char code[9]={ascii_n(1),ascii_n(3),ascii_n(15),ascii_n(88),ascii_n(00),ascii_n(2),ascii_n(70),ascii_n(204),'\0'};
+        arr =code;
+        printf("Current(in A)=");
+    }
+    else if(addr_byte==78)
+    {   
+        char code[9]={ascii_n(1),ascii_n(3),ascii_n(15),ascii_n(78),ascii_n(00),ascii_n(2),ascii_n(167),ascii_n(8),'\0'};
+        arr = code;
+        printf("Active Power(in W)=");
+    }
+	//printf("%s\n",arr);//debug
+    
+	int x,wr,rd;
+    char buf[12];
+    for(x=0;x<5;x++)
+    {
+        wr=write_serial(1,arr,8);
+        rd = read_serial(1,buf,11);
+		usleep(500);
+	}
+	buf[11]='\0';
+    
+	//printf("%s\n",buf );//debug
+    
+	int b1=0,b2=0,b3=0,b4=0;
+    int myresult[12];
+    int i;
+    for (i = 0; i < 11; ++i)
+    {
+        myresult[i]=ascii_c(buf[i]);
+		//printf("%d",myresult[i]);//debug
+    }
+    
+	//printf("%d %d %d %d\n",myresult[4],myresult[5],myresult[6],myresult[7]);//debug
+    
+	int a1=myresult[4];
+    if (a1<16)
+    {
+        b1=1;
+    }
+    char v1[3];
+	dec2hex(a1,v1);
+    if (b1)
+    {
+        sprintf(v1,"0%s",v1);
+    }
+	else
+	{
+		sprintf(v1,"%s",v1);
+	}	
+    int a2=myresult[5];
+    if (a2<16)
+    {
+        b2=1;
+    }
+    char v2[3];
+	dec2hex(a2,v2);
+    if (b2)
+    {
+        sprintf(v2,"0%s",v2);
+    }
+	else
+	{
+		sprintf(v2,"%s",v2);
+	}
+    int a3=myresult[6];
+    if (a3<16)
+    {
+        b3=1;
+    }
+    char v3[3];
+	dec2hex(a3,v3);
+    if (b3)
+    {
+        sprintf(v3,"0%s",v3);
+    }
+	else
+	{
+		sprintf(v3,"%s",v3);
+	}
+    int a4=myresult[7];
+    if (a4<16)
+    {
+        b4=1;
+    }
+    char v4[3];
+	dec2hex(a4,v4);
+    if (b4)
+    {
+        sprintf(v4,"0%s",v4);
+    }
+	else
+	{
+		sprintf(v4,"%s",v4);
+	}	
+    char a6[20]="";
+	strcat(a6,v3);
+	strcat(a6,v4);
+	strcat(a6,v1);
+	strcat(a6,v2);
+	a6[8]='\0';
+	
+	//printf("%s",a6);//debug
+	
+    int cl=close_serial(1);
+    double p=ieeesingle2num(a6);
+    printf("%f\n",p);
+    return p;
+}
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/nointerrupts.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/nointerrupts.c
new file mode 100755
index 0000000..d8f26dd
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/nointerrupts.c
@@ -0,0 +1,15 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <math.h>
+#include <unistd.h>
+#include </home/mr_robot/arduino-1.8.5/hardware/arduino/avr/cores/arduino/Arduino.h>
+void nointerrupts()
+{ 
+	noInterrupts();
+}
+
+int main (void)
+{
+	return 0;
+}
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/serialComm.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/serialComm.c
new file mode 100755
index 0000000..6fd915a
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/serialComm.c
@@ -0,0 +1,156 @@
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h> /* memset */
+#include <stdio.h>
+#include <stropts.h>
+#include "../Include/serial.h"
+#define MAXPORTS 5
+static int fd;
+
+int set_interface_attribs (int fd, int speed, int parity)
+{
+        struct termios tty;
+        memset (&tty, 0, sizeof(tty));
+        if (tcgetattr (fd, &tty) != 0)
+        {
+                return -1;
+        }
+        int posix_baudrate=0;
+
+        switch(speed) {
+        case 115200: posix_baudrate = B115200; break;
+        //default: return -1;
+        }
+        cfsetospeed (&tty, posix_baudrate);
+        cfsetispeed (&tty, posix_baudrate);
+
+        tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8;     // 8-bit chars
+        // disable IGNBRK for mismatched speed tests; otherwise receive break
+        // as \000 chars
+        tty.c_iflag &= ~IGNBRK;         // disable break processing
+        tty.c_lflag = 0;                // no signaling chars, no echo,
+                                        // no canonical processing
+        tty.c_oflag = 0;                // no remapping, no delays
+        tty.c_cc[VMIN]  = 0;            // read doesn't block
+        tty.c_cc[VTIME] = 5;            // 0.5 seconds read timeout
+
+        tty.c_iflag &= ~(IXON | IXOFF | IXANY); // shut off xon/xoff ctrl
+
+        tty.c_cflag |= (CLOCAL | CREAD);// ignore modem controls,
+                                        // enable reading
+        tty.c_cflag &= ~(PARENB | PARODD);      // shut off parity
+        tty.c_cflag |= parity;
+        tty.c_cflag &= ~CSTOPB;
+        tty.c_cflag &= ~CRTSCTS;
+
+        if (tcsetattr (fd, TCSANOW, &tty) != 0)
+        {
+                return -1;
+        }
+        return 0;
+}
+
+
+void set_blocking (int b, int should_block)
+{
+        struct termios tty;
+        memset (&tty, 0, sizeof tty);
+        if (tcgetattr (b, &tty) != 0)
+        {
+                return;
+        }
+
+        tty.c_cc[VMIN]  = should_block ? 1 : 0;
+        tty.c_cc[VTIME] = 5;            // 0.5 seconds read timeout
+
+        //if (tcsetattr (fd, TCSANOW, &tty) != 0)
+        //       error_message ("error %d setting term attributes", errno);
+}
+
+int open_serial(int handle,int port, int baudrate){
+        char* portname;
+        //printf("%d\n",port);
+        int OK;
+                switch(port){
+                case 0: portname = "//dev/ttyACM0";break;
+                case 1: portname = "//dev/ttyACM1";break;
+                case 2: portname = "//dev/ttyACM2";break;
+                case 3: portname = "//dev/ttyACM3";break;
+                case 4: portname = "//dev/ttyACM4";break;
+                case 5: portname = "//dev/ttyACM5";break;
+                case 6: portname = "//dev/ttyACM6";break;
+                case 7: portname = "//dev/ttyACM7";break;
+                //default : return 2;
+        }
+        OK = 0;
+        //printf("%s\n",portname);
+        fd = open (portname, O_RDWR | O_NOCTTY | O_SYNC);
+        //fd = open (portname, O_RDWR | O_NOCTTY); //srikant
+        //printf("%d\n",fd);
+        if (fd < 0)
+        {
+                OK=2;
+                return OK;
+        }
+        set_interface_attribs (fd, baudrate, 0);
+        set_blocking (fd, 0);                // set no blocking
+        //printf("Program running with status : %d\n",OK);
+        return OK;
+}
+
+int close_serial(int handle){
+        //usleep(1000);
+        close(fd);
+        //printf("Program closing....\n");
+        return 0;
+}
+
+int write_serial(int handle, char str[],int size){
+        if(write(fd, str, size)!=-1)
+        {        
+                //printf("serial write started.\n");
+                //printf("%s\n",str );
+                //printf("%d\n",(int)str[0] );
+        }
+        usleep(size*100);
+        return 0;
+}
+
+
+int status_serial(int handle,int nb[]){
+        nb[0] = 2; 
+        nb[1] = 2;
+        int OK=0;
+        //printf("Getting status.....\n");
+        return OK;
+}
+
+int read_serial(int handle,char buf[],int size){
+        
+        char readbuf[size+1];
+        //int fl=tcflush(fd,TCOFLUSH);
+        //int fl=ioctl(fd,I_FLUSH,FLUSHW);
+        if(read(fd, readbuf, size)!=-1)
+        {
+                readbuf[size]='\0';
+                int i;
+                for (i = 0; i < size; ++i)
+                {
+                        buf[i]=(readbuf[i]);
+                        //printf("%u\n",buf[i] );
+                }
+                buf[size]='\0';
+                //printf("Reading has commenced..\n");
+                //printf("%d\n",(int)strlen(readbuf));
+                //printf("%s\n",readbuf);
+                return 0;
+        }
+        else
+                return 2 ;
+}
+/*void read_serial(int *handle,char buf[],int *size){
+        read(fd, buf, *size);
+        printf("Reading has commenced..\n");
+}*/
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/servomotor.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/servomotor.c
new file mode 100755
index 0000000..74048a3
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/servomotor.c
@@ -0,0 +1,87 @@
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <math.h>
+#include "../Include/serial.h"
+#include "../Include/servomotor.h"
+
+void cmd_servo_attach(int h,int servo_no)
+{
+	char pin[5];
+	int wr;
+	printf("init servo write\n");
+    if(servo_no==1)//servo 1 on pin 9
+    {
+    	strcpy(pin,"Sa1");
+        //printf("%s\n",pin);
+        wr=write_serial(h,pin,3);
+    }     
+    else if(servo_no==2)//servo 2 on pin 10
+    {
+    	strcpy(pin,"Sa2");
+        wr=write_serial(h,pin,3);
+    }
+    else
+           perror("Error.");
+}
+
+
+void cmd_servo_move(int h,int servo_no,int u1)
+{
+	int wr;
+	char servo[2];
+	char v[2];
+	char pin[5]="Sw";
+	if (u1<0)
+	{
+		sprintf(servo,"%c",48+servo_no);
+		sprintf(v,"%c",0);
+		strcat(pin,servo);
+		strcat(pin,v);
+        //printf("%s\n",pin );
+          //pin="Sw"+ascii(48+servo_no)+ascii(0);
+	}
+    else if(u1>180)
+    {
+    	sprintf(servo,"%c",48+servo_no);
+		sprintf(v,"%c",180);
+		strcat(pin,servo);
+		strcat(pin,v);
+        //printf("%s\n",pin );
+    }      //pin="Sw"+ascii(48+servo_no)+ascii(180);
+    else
+    {
+    	sprintf(servo,"%c",48+servo_no);
+		sprintf(v,"%c",(uint8_t)u1);
+		strcat(pin,servo);
+		strcat(pin,v);
+        //printf("%s\n",pin );
+    }      //pin="Sw"+ascii(48+servo_no)+ascii(uint8(u1));
+    wr=write_serial(1,pin,4);
+}
+
+
+void cmd_servo_detach(int h,int servo_no)
+{
+	int wr;
+	char pin[5]="Sd";
+	if(servo_no==1) //servo 1 on pin 10
+    {
+    	strcat(pin,"1");
+           //pin="Sd1"
+        wr=write_serial(h,pin,3);
+    }
+    else if(servo_no==2) //servo 2 on pin 9
+    {
+    	strcat(pin,"2");
+           //pin="Sd2"
+        wr=write_serial(h,pin,3);
+    }
+    else
+    perror("Error.");
+
+}
\ No newline at end of file
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/wakeup.c b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/wakeup.c
new file mode 100755
index 0000000..43ceb48
--- /dev/null
+++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/src/wakeup.c
@@ -0,0 +1,16 @@
+#include <stdio.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include "../Include/serial.h"
+
+
+
+void wakeup() 
+{
+   /* Set signal to this function. */
+   signal(SIGALRM, wakeup);
+   /* Set alarm clock for 5 seconds. */
+   alarm(2);
+}
+