481 lines
18 KiB
C
481 lines
18 KiB
C
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/*
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* Arduino_skal.h
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*
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* Academic License - for use in teaching, academic research, and meeting
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* course requirements at degree granting institutions only. Not for
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* government, commercial, or other organizational use.
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*
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* Code generation for model "Arduino_skal".
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*
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* Model version : 1.1
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* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
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* C++ source code generated on : Thu Apr 15 15:56:50 2021
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*
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* Target selection: grt.tlc
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* Note: GRT includes extra infrastructure and instrumentation for prototyping
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* Embedded hardware selection: Intel->x86-64 (Windows64)
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* Code generation objective: Debugging
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* Validation result: Not run
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*/
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#ifndef RTW_HEADER_Arduino_skal_h_
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#define RTW_HEADER_Arduino_skal_h_
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#include <cstring>
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#include <cfloat>
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#include <stddef.h>
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#include "rtwtypes.h"
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#include "rtw_continuous.h"
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#include "rtw_solver.h"
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#include "rt_logging.h"
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#include "Arduino_skal_types.h"
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/* Shared type includes */
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#include "multiword_types.h"
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#include "rt_nonfinite.h"
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/* Macros for accessing real-time model data structure */
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#ifndef rtmGetContStateDisabled
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#define rtmGetContStateDisabled(rtm) ((rtm)->contStateDisabled)
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#endif
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#ifndef rtmSetContStateDisabled
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#define rtmSetContStateDisabled(rtm, val) ((rtm)->contStateDisabled = (val))
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#endif
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#ifndef rtmGetContStates
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#define rtmGetContStates(rtm) ((rtm)->contStates)
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#endif
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#ifndef rtmSetContStates
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#define rtmSetContStates(rtm, val) ((rtm)->contStates = (val))
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#endif
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#ifndef rtmGetContTimeOutputInconsistentWithStateAtMajorStepFlag
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#define rtmGetContTimeOutputInconsistentWithStateAtMajorStepFlag(rtm) ((rtm)->CTOutputIncnstWithState)
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#endif
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#ifndef rtmSetContTimeOutputInconsistentWithStateAtMajorStepFlag
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#define rtmSetContTimeOutputInconsistentWithStateAtMajorStepFlag(rtm, val) ((rtm)->CTOutputIncnstWithState = (val))
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#endif
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#ifndef rtmGetDerivCacheNeedsReset
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#define rtmGetDerivCacheNeedsReset(rtm) ((rtm)->derivCacheNeedsReset)
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#endif
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#ifndef rtmSetDerivCacheNeedsReset
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#define rtmSetDerivCacheNeedsReset(rtm, val) ((rtm)->derivCacheNeedsReset = (val))
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#endif
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#ifndef rtmGetFinalTime
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#define rtmGetFinalTime(rtm) ((rtm)->Timing.tFinal)
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#endif
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#ifndef rtmGetIntgData
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#define rtmGetIntgData(rtm) ((rtm)->intgData)
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#endif
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#ifndef rtmSetIntgData
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#define rtmSetIntgData(rtm, val) ((rtm)->intgData = (val))
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#endif
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#ifndef rtmGetOdeF
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#define rtmGetOdeF(rtm) ((rtm)->odeF)
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#endif
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#ifndef rtmSetOdeF
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#define rtmSetOdeF(rtm, val) ((rtm)->odeF = (val))
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#endif
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#ifndef rtmGetOdeY
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#define rtmGetOdeY(rtm) ((rtm)->odeY)
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#endif
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#ifndef rtmSetOdeY
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#define rtmSetOdeY(rtm, val) ((rtm)->odeY = (val))
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#endif
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#ifndef rtmGetPeriodicContStateIndices
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#define rtmGetPeriodicContStateIndices(rtm) ((rtm)->periodicContStateIndices)
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#endif
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#ifndef rtmSetPeriodicContStateIndices
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#define rtmSetPeriodicContStateIndices(rtm, val) ((rtm)->periodicContStateIndices = (val))
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#endif
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#ifndef rtmGetPeriodicContStateRanges
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#define rtmGetPeriodicContStateRanges(rtm) ((rtm)->periodicContStateRanges)
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#endif
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#ifndef rtmSetPeriodicContStateRanges
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#define rtmSetPeriodicContStateRanges(rtm, val) ((rtm)->periodicContStateRanges = (val))
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#endif
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#ifndef rtmGetRTWLogInfo
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#define rtmGetRTWLogInfo(rtm) ((rtm)->rtwLogInfo)
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#endif
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#ifndef rtmGetZCCacheNeedsReset
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#define rtmGetZCCacheNeedsReset(rtm) ((rtm)->zCCacheNeedsReset)
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#endif
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#ifndef rtmSetZCCacheNeedsReset
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#define rtmSetZCCacheNeedsReset(rtm, val) ((rtm)->zCCacheNeedsReset = (val))
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#endif
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#ifndef rtmGetdX
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#define rtmGetdX(rtm) ((rtm)->derivs)
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#endif
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#ifndef rtmSetdX
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#define rtmSetdX(rtm, val) ((rtm)->derivs = (val))
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#endif
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#ifndef rtmGetErrorStatus
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#define rtmGetErrorStatus(rtm) ((rtm)->errorStatus)
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#endif
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#ifndef rtmSetErrorStatus
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#define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val))
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#endif
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#ifndef rtmGetStopRequested
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#define rtmGetStopRequested(rtm) ((rtm)->Timing.stopRequestedFlag)
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#endif
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#ifndef rtmSetStopRequested
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#define rtmSetStopRequested(rtm, val) ((rtm)->Timing.stopRequestedFlag = (val))
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#endif
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#ifndef rtmGetStopRequestedPtr
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#define rtmGetStopRequestedPtr(rtm) (&((rtm)->Timing.stopRequestedFlag))
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#endif
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#ifndef rtmGetT
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#define rtmGetT(rtm) (rtmGetTPtr((rtm))[0])
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#endif
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#ifndef rtmGetTFinal
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#define rtmGetTFinal(rtm) ((rtm)->Timing.tFinal)
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#endif
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#ifndef rtmGetTPtr
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#define rtmGetTPtr(rtm) ((rtm)->Timing.t)
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#endif
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/* Block signals (default storage) */
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struct B_Arduino_skal_T {
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real_T X0[4]; /* '<S1>/X0' */
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real_T MemoryX[4]; /* '<S1>/MemoryX' */
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real_T Gain; /* '<Root>/Gain' */
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real_T Akxhatkk1[4]; /* '<S22>/A[k]*xhat[k|k-1]' */
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real_T Step; /* '<Root>/Step' */
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real_T Kr; /* '<Root>/Kr' */
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real_T Sum5; /* '<Root>/Sum5' */
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real_T Saturation; /* '<Root>/Saturation' */
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real_T Bkuk[4]; /* '<S22>/B[k]*u[k]' */
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real_T Add[4]; /* '<S22>/Add' */
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real_T Ckxhatkk1[2]; /* '<S53>/C[k]*xhat[k|k-1]' */
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real_T Dkuk[2]; /* '<S53>/D[k]*u[k]' */
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real_T yhatkk1[2]; /* '<S53>/Add1' */
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real_T Sum[2]; /* '<S53>/Sum' */
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real_T Product3[4]; /* '<S53>/Product3' */
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real_T P[16]; /* '<S51>/SqrtUsedFcn' */
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};
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/* Block states (default storage) for system '<Root>' */
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struct DW_Arduino_skal_T {
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int_T MemoryX_IWORK; /* '<S1>/MemoryX' */
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boolean_T MeasurementUpdate_MODE; /* '<S22>/MeasurementUpdate' */
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};
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/* Continuous states (default storage) */
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struct X_Arduino_skal_T {
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real_T MemoryX_CSTATE[4]; /* '<S1>/MemoryX' */
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};
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/* State derivatives (default storage) */
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struct XDot_Arduino_skal_T {
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real_T MemoryX_CSTATE[4]; /* '<S1>/MemoryX' */
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};
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/* State disabled */
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struct XDis_Arduino_skal_T {
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boolean_T MemoryX_CSTATE[4]; /* '<S1>/MemoryX' */
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};
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#ifndef ODE3_INTG
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#define ODE3_INTG
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/* ODE3 Integration Data */
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struct ODE3_IntgData {
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real_T *y; /* output */
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real_T *f[3]; /* derivatives */
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};
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#endif
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/* Parameters (default storage) */
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struct P_Arduino_skal_T_ {
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real_T K[4]; /* Variable: K
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* Referenced by: '<Root>/Gain'
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*/
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real_T Kr; /* Variable: Kr
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* Referenced by: '<Root>/Kr'
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*/
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real_T Lykyhatkk1_Y0; /* Expression: 0
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* Referenced by: '<S53>/L*(y[k]-yhat[k|k-1])'
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*/
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real_T Constant_Value[2]; /* Expression: [1,1]
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* Referenced by: '<Root>/Constant'
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*/
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real_T X0_Value[4]; /* Expression: pInitialization.X0
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* Referenced by: '<S1>/X0'
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*/
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real_T A_Value[16]; /* Expression: pInitialization.A
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* Referenced by: '<S1>/A'
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*/
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real_T B_Value[4]; /* Expression: pInitialization.B
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* Referenced by: '<S1>/B'
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*/
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real_T C_Value[8]; /* Expression: pInitialization.C
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* Referenced by: '<S1>/C'
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*/
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real_T CovarianceZ_Value[16]; /* Expression: pInitialization.Z
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* Referenced by: '<S2>/CovarianceZ'
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*/
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real_T KalmanGainL_Value[8]; /* Expression: pInitialization.L
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* Referenced by: '<S2>/KalmanGainL'
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*/
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real_T D_Value[2]; /* Expression: pInitialization.D
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* Referenced by: '<S1>/D'
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*/
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real_T Step_Time; /* Expression: 0
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* Referenced by: '<Root>/Step'
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*/
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real_T Step_Y0; /* Expression: 0
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* Referenced by: '<Root>/Step'
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*/
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real_T Step_YFinal; /* Expression: 0
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* Referenced by: '<Root>/Step'
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*/
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real_T Saturation_UpperSat; /* Expression: 11.5
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* Referenced by: '<Root>/Saturation'
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*/
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real_T Saturation_LowerSat; /* Expression: -11.5
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* Referenced by: '<Root>/Saturation'
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*/
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boolean_T isSqrtUsed_Value; /* Expression: pInitialization.isSqrtUsed
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* Referenced by: '<S51>/isSqrtUsed'
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*/
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boolean_T Enable_Value; /* Expression: true()
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* Referenced by: '<S1>/Enable'
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*/
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};
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/* Real-time Model Data Structure */
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struct tag_RTM_Arduino_skal_T {
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const char_T *errorStatus;
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RTWLogInfo *rtwLogInfo;
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RTWSolverInfo solverInfo;
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X_Arduino_skal_T *contStates;
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int_T *periodicContStateIndices;
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real_T *periodicContStateRanges;
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real_T *derivs;
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boolean_T *contStateDisabled;
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boolean_T zCCacheNeedsReset;
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boolean_T derivCacheNeedsReset;
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boolean_T CTOutputIncnstWithState;
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real_T odeY[4];
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real_T odeF[3][4];
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ODE3_IntgData intgData;
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/*
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* Sizes:
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* The following substructure contains sizes information
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* for many of the model attributes such as inputs, outputs,
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* dwork, sample times, etc.
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*/
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struct {
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int_T numContStates;
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int_T numPeriodicContStates;
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int_T numSampTimes;
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} Sizes;
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/*
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* Timing:
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* The following substructure contains information regarding
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* the timing information for the model.
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*/
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struct {
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uint32_T clockTick0;
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uint32_T clockTickH0;
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time_T stepSize0;
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uint32_T clockTick1;
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uint32_T clockTickH1;
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boolean_T firstInitCondFlag;
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time_T tFinal;
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SimTimeStep simTimeStep;
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boolean_T stopRequestedFlag;
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time_T *t;
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time_T tArray[2];
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} Timing;
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};
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/* Class declaration for model Arduino_skal */
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class Arduino_skalModelClass {
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/* public data and function members */
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public:
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/* model initialize function */
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void initialize();
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/* model step function */
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void step();
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/* model terminate function */
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void terminate();
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/* Constructor */
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Arduino_skalModelClass();
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/* Destructor */
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~Arduino_skalModelClass();
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/* Real-Time Model get method */
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RT_MODEL_Arduino_skal_T * getRTM();
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/* private data and function members */
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private:
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/* Tunable parameters */
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static P_Arduino_skal_T Arduino_skal_P;
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/* Block signals */
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B_Arduino_skal_T Arduino_skal_B;
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/* Block states */
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DW_Arduino_skal_T Arduino_skal_DW;
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X_Arduino_skal_T Arduino_skal_X; /* Block continuous states */
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/* Real-Time Model */
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RT_MODEL_Arduino_skal_T Arduino_skal_M;
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/* Continuous states update member function*/
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void rt_ertODEUpdateContinuousStates(RTWSolverInfo *si );
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/* Derivatives member function */
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void Arduino_skal_derivatives();
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};
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/*-
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* These blocks were eliminated from the model due to optimizations:
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*
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* Block '<S45>/Data Type Duplicate' : Unused code path elimination
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* Block '<S46>/Conversion' : Unused code path elimination
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* Block '<S46>/Data Type Duplicate' : Unused code path elimination
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* Block '<S47>/Conversion' : Unused code path elimination
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* Block '<S47>/Data Type Duplicate' : Unused code path elimination
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* Block '<S48>/Data Type Duplicate' : Unused code path elimination
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* Block '<S2>/KalmanGainM' : Unused code path elimination
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* Block '<S5>/Data Type Duplicate' : Unused code path elimination
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* Block '<S6>/Data Type Duplicate' : Unused code path elimination
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* Block '<S7>/Data Type Duplicate' : Unused code path elimination
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* Block '<S8>/Data Type Duplicate' : Unused code path elimination
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* Block '<S10>/Data Type Duplicate' : Unused code path elimination
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* Block '<S11>/Data Type Duplicate' : Unused code path elimination
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* Block '<S12>/Data Type Duplicate' : Unused code path elimination
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* Block '<S13>/Conversion' : Unused code path elimination
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* Block '<S13>/Data Type Duplicate' : Unused code path elimination
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* Block '<S14>/Data Type Duplicate' : Unused code path elimination
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* Block '<S15>/Data Type Duplicate' : Unused code path elimination
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* Block '<S16>/Data Type Duplicate' : Unused code path elimination
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* Block '<S18>/Data Type Duplicate' : Unused code path elimination
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* Block '<S19>/Data Type Duplicate' : Unused code path elimination
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* Block '<S1>/G' : Unused code path elimination
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* Block '<S1>/H' : Unused code path elimination
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* Block '<S1>/N' : Unused code path elimination
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* Block '<S1>/P0' : Unused code path elimination
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* Block '<S1>/Q' : Unused code path elimination
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* Block '<S1>/R' : Unused code path elimination
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* Block '<S43>/CheckSignalProperties' : Unused code path elimination
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* Block '<S44>/CheckSignalProperties' : Unused code path elimination
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* Block '<S45>/Conversion' : Eliminate redundant data type conversion
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* Block '<S48>/Conversion' : Eliminate redundant data type conversion
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* Block '<S18>/Conversion' : Eliminate redundant data type conversion
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* Block '<S22>/Reshape' : Reshape block reduction
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* Block '<S1>/ReshapeX0' : Reshape block reduction
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* Block '<S1>/Reshapeu' : Reshape block reduction
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* Block '<S1>/Reshapexhat' : Reshape block reduction
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* Block '<S1>/Reshapey' : Reshape block reduction
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*/
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/*-
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* The generated code includes comments that allow you to trace directly
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* back to the appropriate location in the model. The basic format
|
||
|
* is <system>/block_name, where system is the system number (uniquely
|
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|
* assigned by Simulink) and block_name is the name of the block.
|
||
|
*
|
||
|
* Use the MATLAB hilite_system command to trace the generated code back
|
||
|
* to the model. For example,
|
||
|
*
|
||
|
* hilite_system('<S3>') - opens system 3
|
||
|
* hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
|
||
|
*
|
||
|
* Here is the system hierarchy for this model
|
||
|
*
|
||
|
* '<Root>' : 'Arduino_skal'
|
||
|
* '<S1>' : 'Arduino_skal/Kalman Filter'
|
||
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* '<S2>' : 'Arduino_skal/Kalman Filter/CalculatePL'
|
||
|
* '<S3>' : 'Arduino_skal/Kalman Filter/CalculateYhat'
|
||
|
* '<S4>' : 'Arduino_skal/Kalman Filter/CovarianceOutputConfigurator'
|
||
|
* '<S5>' : 'Arduino_skal/Kalman Filter/DataTypeConversionA'
|
||
|
* '<S6>' : 'Arduino_skal/Kalman Filter/DataTypeConversionB'
|
||
|
* '<S7>' : 'Arduino_skal/Kalman Filter/DataTypeConversionC'
|
||
|
* '<S8>' : 'Arduino_skal/Kalman Filter/DataTypeConversionD'
|
||
|
* '<S9>' : 'Arduino_skal/Kalman Filter/DataTypeConversionEnable'
|
||
|
* '<S10>' : 'Arduino_skal/Kalman Filter/DataTypeConversionG'
|
||
|
* '<S11>' : 'Arduino_skal/Kalman Filter/DataTypeConversionH'
|
||
|
* '<S12>' : 'Arduino_skal/Kalman Filter/DataTypeConversionN'
|
||
|
* '<S13>' : 'Arduino_skal/Kalman Filter/DataTypeConversionP'
|
||
|
* '<S14>' : 'Arduino_skal/Kalman Filter/DataTypeConversionP0'
|
||
|
* '<S15>' : 'Arduino_skal/Kalman Filter/DataTypeConversionQ'
|
||
|
* '<S16>' : 'Arduino_skal/Kalman Filter/DataTypeConversionR'
|
||
|
* '<S17>' : 'Arduino_skal/Kalman Filter/DataTypeConversionReset'
|
||
|
* '<S18>' : 'Arduino_skal/Kalman Filter/DataTypeConversionX'
|
||
|
* '<S19>' : 'Arduino_skal/Kalman Filter/DataTypeConversionX0'
|
||
|
* '<S20>' : 'Arduino_skal/Kalman Filter/DataTypeConversionu'
|
||
|
* '<S21>' : 'Arduino_skal/Kalman Filter/MemoryP'
|
||
|
* '<S22>' : 'Arduino_skal/Kalman Filter/Observer'
|
||
|
* '<S23>' : 'Arduino_skal/Kalman Filter/ReducedQRN'
|
||
|
* '<S24>' : 'Arduino_skal/Kalman Filter/Reset'
|
||
|
* '<S25>' : 'Arduino_skal/Kalman Filter/Reshapeyhat'
|
||
|
* '<S26>' : 'Arduino_skal/Kalman Filter/ScalarExpansionP0'
|
||
|
* '<S27>' : 'Arduino_skal/Kalman Filter/ScalarExpansionQ'
|
||
|
* '<S28>' : 'Arduino_skal/Kalman Filter/ScalarExpansionR'
|
||
|
* '<S29>' : 'Arduino_skal/Kalman Filter/UseCurrentEstimator'
|
||
|
* '<S30>' : 'Arduino_skal/Kalman Filter/checkA'
|
||
|
* '<S31>' : 'Arduino_skal/Kalman Filter/checkB'
|
||
|
* '<S32>' : 'Arduino_skal/Kalman Filter/checkC'
|
||
|
* '<S33>' : 'Arduino_skal/Kalman Filter/checkD'
|
||
|
* '<S34>' : 'Arduino_skal/Kalman Filter/checkEnable'
|
||
|
* '<S35>' : 'Arduino_skal/Kalman Filter/checkG'
|
||
|
* '<S36>' : 'Arduino_skal/Kalman Filter/checkH'
|
||
|
* '<S37>' : 'Arduino_skal/Kalman Filter/checkN'
|
||
|
* '<S38>' : 'Arduino_skal/Kalman Filter/checkP0'
|
||
|
* '<S39>' : 'Arduino_skal/Kalman Filter/checkQ'
|
||
|
* '<S40>' : 'Arduino_skal/Kalman Filter/checkR'
|
||
|
* '<S41>' : 'Arduino_skal/Kalman Filter/checkReset'
|
||
|
* '<S42>' : 'Arduino_skal/Kalman Filter/checkX0'
|
||
|
* '<S43>' : 'Arduino_skal/Kalman Filter/checku'
|
||
|
* '<S44>' : 'Arduino_skal/Kalman Filter/checky'
|
||
|
* '<S45>' : 'Arduino_skal/Kalman Filter/CalculatePL/DataTypeConversionL'
|
||
|
* '<S46>' : 'Arduino_skal/Kalman Filter/CalculatePL/DataTypeConversionM'
|
||
|
* '<S47>' : 'Arduino_skal/Kalman Filter/CalculatePL/DataTypeConversionP'
|
||
|
* '<S48>' : 'Arduino_skal/Kalman Filter/CalculatePL/DataTypeConversionZ'
|
||
|
* '<S49>' : 'Arduino_skal/Kalman Filter/CalculatePL/Ground'
|
||
|
* '<S50>' : 'Arduino_skal/Kalman Filter/CalculateYhat/Ground'
|
||
|
* '<S51>' : 'Arduino_skal/Kalman Filter/CovarianceOutputConfigurator/decideOutput'
|
||
|
* '<S52>' : 'Arduino_skal/Kalman Filter/CovarianceOutputConfigurator/decideOutput/SqrtUsedFcn'
|
||
|
* '<S53>' : 'Arduino_skal/Kalman Filter/Observer/MeasurementUpdate'
|
||
|
* '<S54>' : 'Arduino_skal/Kalman Filter/ReducedQRN/Ground'
|
||
|
*/
|
||
|
#endif /* RTW_HEADER_Arduino_skal_h_ */
|