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#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
}
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