diff options
Diffstat (limited to 'Modelica-Arduino-MDD_Arduino_Revised/MDD_build/servo')
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 Binary files differnew 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
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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 Binary files differnew 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
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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 +} + |