diff options
Diffstat (limited to 'Modelica-Arduino-MDD_Arduino_Revised/Resources')
45 files changed, 1220 insertions, 0 deletions
diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Images/Icons/tqfp32.png b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Images/Icons/tqfp32.png Binary files differnew file mode 100755 index 0000000..f933f6a --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Images/Icons/tqfp32.png diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/analog.h b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/analog.h new file mode 100755 index 0000000..a761139 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/analog.h @@ -0,0 +1,2 @@ +int cmd_analog_out(int h,int pin_no,double val); +uint16_t cmd_analog_in(int h,int pin_no);
\ No newline at end of file diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/analogv.h b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/analogv.h new file mode 100755 index 0000000..a761139 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/analogv.h @@ -0,0 +1,2 @@ +int cmd_analog_out(int h,int pin_no,double val); +uint16_t cmd_analog_in(int h,int pin_no);
\ No newline at end of file diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/dcmotor.h b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/dcmotor.h new file mode 100755 index 0000000..90314fc --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/dcmotor.h @@ -0,0 +1,3 @@ +void cmd_dcmotor_setup(int h,int driver_type,int motor_no,int pin_no_1,int pin_no_2); +void cmd_dcmotor_run(int h,int motor_no,int u1); +void cmd_dcmotor_release(int h,int motor_no);
\ No newline at end of file diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/digital.h b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/digital.h new file mode 100755 index 0000000..c628bb8 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/digital.h @@ -0,0 +1,2 @@ +int cmd_digital_out(int h,int pin_no,int val); +int cmd_digital_in(int h,int pin_no);
\ No newline at end of file diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/encoder.h b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/encoder.h new file mode 100755 index 0000000..2559766 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/encoder.h @@ -0,0 +1 @@ +void cmd_encoder_init(int h,int enc_mode,int pin_no_1,int pin_no_2);
\ No newline at end of file diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/ieeesingle2num.h b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/ieeesingle2num.h new file mode 100755 index 0000000..27d701a --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/ieeesingle2num.h @@ -0,0 +1,3 @@ +long int hex2dec(char hexadecimal[]); +void dec2hex(long int decimalnum,char hexadecimalnum[]); +double ieeesingle2num(char hexa[]);
\ No newline at end of file diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/modbus.h b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/modbus.h new file mode 100755 index 0000000..7a5c8d1 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/modbus.h @@ -0,0 +1,4 @@ +double read_val(int addr_byte); +void read_voltage(); +void read_current(); +void read_active_power();
\ No newline at end of file diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/serial.h b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/serial.h new file mode 100755 index 0000000..4588f04 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/serial.h @@ -0,0 +1,30 @@ +#include <errno.h> +#include <termios.h> +#include <unistd.h> +#include <fcntl.h> +#include <string.h> /* memset */ +#include <stdio.h> +#include <signal.h> + +int set_interface_attribs (int fd, int speed, int parity); +void set_blocking (int b, int should_block); +int open_serial(int handle,int port, int baudrate); +int close_serial(int handle); +int write_serial(int handle, char str[],int size); +int status_serial(int handle,int nb[]); +int read_serial(int handle,char* buf,int size); +//int read_serial(int *handle,char buf[],int *size); + +void delay(long int t); +void interrupt(); + + + +/*int set_interface_attribs (int fd, int speed, int parity); +void set_blocking (int b, int should_block); +void open_serial(int *handle,int *port, int *baudrate, int *OK); +void close_serial(int *handle, int *OK); +void write_serial(int *handle, char str[],int *size, int *OK); +void status_serial(int *handle, int *OK,int *nbread, int *nbwrite); +void read_serial(int *handle,char buf[],int *size); +*/ diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/servomotor.h b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/servomotor.h new file mode 100755 index 0000000..53b7457 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Include/servomotor.h @@ -0,0 +1,3 @@ +void cmd_servo_attach(int h,int servo_no); +void cm_servo_move(int h,int servo_no,int u1); +void cmd_servo_detach(int h,int servo_no);
\ No newline at end of file diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/cmd_analog.o b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/cmd_analog.o Binary files differnew file mode 100755 index 0000000..47df91e --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/cmd_analog.o diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/cmd_analog_volt.o b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/cmd_analog_volt.o Binary files differnew file mode 100755 index 0000000..0f94393 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/cmd_analog_volt.o diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/cmd_digital.o b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/cmd_digital.o Binary files differnew file mode 100755 index 0000000..e05c668 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/cmd_digital.o diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/dcmotor.o b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/dcmotor.o Binary files differnew file mode 100755 index 0000000..f86e9c6 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/dcmotor.o diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/delay.o b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/delay.o Binary files differnew file mode 100755 index 0000000..5aa9222 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/delay.o diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/ieeesingle2num.o b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/ieeesingle2num.o Binary files differnew file mode 100755 index 0000000..9d35dc6 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/ieeesingle2num.o diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libAnalog.so b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libAnalog.so Binary files differnew file mode 100755 index 0000000..cefb472 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libAnalog.so diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libAnalogv.so b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libAnalogv.so Binary files differnew file mode 100755 index 0000000..c344625 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libAnalogv.so diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libDCMotor.so b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libDCMotor.so Binary files differnew file mode 100755 index 0000000..e1be915 --- /dev/null +++ b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libDCMotor.so diff --git a/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libDigital.so b/Modelica-Arduino-MDD_Arduino_Revised/Resources/Library/libDigital.so Binary files 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--- /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); +} + |
