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EENX15/simulink_export/Arduino_skal.h
Thefeli73 0de3be94eb simulink model export
2021-04-15 16:54:53 +02:00

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