/* Model initialize function */
void model1_initialize(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)model1_M, 0,
sizeof(RT_MODEL_model1_T));
rtmSetTFinal(model1_M, 2.0);
model1_M->Timing.stepSize0 = 5.0E-5;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
model1_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
rtliSetLogXSignalInfo(model1_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(model1_M->rtwLogInfo, (NULL));
rtliSetLogT(model1_M->rtwLogInfo, "tout");
rtliSetLogX(model1_M->rtwLogInfo, "");
rtliSetLogXFinal(model1_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(model1_M->rtwLogInfo, "rt_");
rtliSetLogFormat(model1_M->rtwLogInfo, 0);
rtliSetLogMaxRows(model1_M->rtwLogInfo, 1000);
rtliSetLogDecimation(model1_M->rtwLogInfo, 1);
rtliSetLogY(model1_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(model1_M->rtwLogInfo, (NULL));
rtliSetLogYSignalPtrs(model1_M->rtwLogInfo, (NULL));
}
/* states (dwork) */
(void) memset((void *)&model1_DW, 0,
sizeof(DW_model1_T));
/* Matfile logging */
rt_StartDataLoggingWithStartTime(model1_M->rtwLogInfo, 0.0, rtmGetTFinal
(model1_M), model1_M->Timing.stepSize0, (&rtmGetErrorStatus(model1_M)));
/* Enable for Sin: '<S11>/Sine Wave A' */
model1_DW.systemEnable = 1;
/* Enable for Sin: '<S11>/Sine Wave B' */
model1_DW.systemEnable_i = 1;
/* Enable for Sin: '<S11>/Sine Wave C' */
model1_DW.systemEnable_g = 1;
}
/* Model initialize function */
void udpRead_initialize(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)udpRead_M, 0,
sizeof(RT_MODEL_udpRead_T));
rtmSetTFinal(udpRead_M, -1);
udpRead_M->Timing.stepSize0 = 0.001;
/* External mode info */
udpRead_M->Sizes.checksums[0] = (597430241U);
udpRead_M->Sizes.checksums[1] = (1019470990U);
udpRead_M->Sizes.checksums[2] = (4143940322U);
udpRead_M->Sizes.checksums[3] = (93090447U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[5];
udpRead_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
systemRan[1] = (sysRanDType *)&udpRead_DW.ForIteratorSubsystem_SubsysRanB;
systemRan[2] = (sysRanDType *)&udpRead_DW.ForIteratorSubsystem1_SubsysRan;
systemRan[3] = (sysRanDType *)&udpRead_DW.EnabledSubsystem_SubsysRanBC;
systemRan[4] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(udpRead_M->extModeInfo,
&udpRead_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(udpRead_M->extModeInfo, udpRead_M->Sizes.checksums);
rteiSetTPtr(udpRead_M->extModeInfo, rtmGetTPtr(udpRead_M));
}
/* block I/O */
(void) memset(((void *) &udpRead_B), 0,
sizeof(B_udpRead_T));
/* states (dwork) */
(void) memset((void *)&udpRead_DW, 0,
sizeof(DW_udpRead_T));
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
udpRead_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
{
char_T *sErr;
/* Start for S-Function (sdspFromNetwork): '<Root>/UDP Receive' */
sErr = GetErrorBuffer(&udpRead_DW.UDPReceive_NetworkLib[0U]);
CreateUDPInterface(&udpRead_DW.UDPReceive_NetworkLib[0U]);
if (*sErr == 0) {
LibCreate_Network(&udpRead_DW.UDPReceive_NetworkLib[0U], 0, "0.0.0.0",
25000, "0.0.0.0", -1, 8192, 4, 0);
}
if (*sErr == 0) {
LibStart(&udpRead_DW.UDPReceive_NetworkLib[0U]);
}
if (*sErr != 0) {
DestroyUDPInterface(&udpRead_DW.UDPReceive_NetworkLib[0U]);
if (*sErr != 0) {
rtmSetErrorStatus(udpRead_M, sErr);
rtmSetStopRequested(udpRead_M, 1);
}
}
/* End of Start for S-Function (sdspFromNetwork): '<Root>/UDP Receive' */
/* InitializeConditions for UnitDelay: '<S3>/FixPt Unit Delay2' */
udpRead_DW.FixPtUnitDelay2_DSTATE =
udpRead_P.FixPtUnitDelay2_InitialConditio;
/* InitializeConditions for UnitDelay: '<S3>/FixPt Unit Delay1' */
udpRead_DW.FixPtUnitDelay1_DSTATE = udpRead_P.UnitDelayResettable_vinit;
}
}
/* Model initialize function */
void HConstfolding_initialize(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)HConstfolding_M, 0,
sizeof(RT_MODEL_HConstfolding));
/* Initialize timing info */
{
int_T *mdlTsMap = HConstfolding_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
HConstfolding_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
HConstfolding_M->Timing.sampleTimes =
(&HConstfolding_M->Timing.sampleTimesArray[0]);
HConstfolding_M->Timing.offsetTimes =
(&HConstfolding_M->Timing.offsetTimesArray[0]);
/* task periods */
HConstfolding_M->Timing.sampleTimes[0] = (1.0);
/* task offsets */
HConstfolding_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(HConstfolding_M, &HConstfolding_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = HConstfolding_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
HConstfolding_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(HConstfolding_M, 1.0E+8);
HConstfolding_M->Timing.stepSize0 = 1.0;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
HConstfolding_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
rtliSetLogXSignalInfo(HConstfolding_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(HConstfolding_M->rtwLogInfo, (NULL));
rtliSetLogT(HConstfolding_M->rtwLogInfo, "tout");
rtliSetLogX(HConstfolding_M->rtwLogInfo, "");
rtliSetLogXFinal(HConstfolding_M->rtwLogInfo, "");
rtliSetSigLog(HConstfolding_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(HConstfolding_M->rtwLogInfo, "rt_");
rtliSetLogFormat(HConstfolding_M->rtwLogInfo, 0);
rtliSetLogMaxRows(HConstfolding_M->rtwLogInfo, 1000);
rtliSetLogDecimation(HConstfolding_M->rtwLogInfo, 1);
/*
* Set pointers to the data and signal info for each output
*/
{
static void * rt_LoggedOutputSignalPtrs[] = {
&HConstfolding_Y.Out1
};
rtliSetLogYSignalPtrs(HConstfolding_M->rtwLogInfo, ((LogSignalPtrsType)
rt_LoggedOutputSignalPtrs));
}
{
static int_T rt_LoggedOutputWidths[] = {
1
};
static int_T rt_LoggedOutputNumDimensions[] = {
1
};
static int_T rt_LoggedOutputDimensions[] = {
1
};
static boolean_T rt_LoggedOutputIsVarDims[] = {
0
};
static void* rt_LoggedCurrentSignalDimensions[] = {
(NULL)
};
static int_T rt_LoggedCurrentSignalDimensionsSize[] = {
4
};
static BuiltInDTypeId rt_LoggedOutputDataTypeIds[] = {
SS_DOUBLE
};
static int_T rt_LoggedOutputComplexSignals[] = {
0
};
static const char_T *rt_LoggedOutputLabels[] = {
"" };
static const char_T *rt_LoggedOutputBlockNames[] = {
"HConstfolding/Out1" };
static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = {
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 }
};
static RTWLogSignalInfo rt_LoggedOutputSignalInfo[] = {
{
1,
rt_LoggedOutputWidths,
rt_LoggedOutputNumDimensions,
rt_LoggedOutputDimensions,
rt_LoggedOutputIsVarDims,
rt_LoggedCurrentSignalDimensions,
rt_LoggedCurrentSignalDimensionsSize,
rt_LoggedOutputDataTypeIds,
rt_LoggedOutputComplexSignals,
(NULL),
{ rt_LoggedOutputLabels },
(NULL),
(NULL),
(NULL),
{ rt_LoggedOutputBlockNames },
{ (NULL) },
(NULL),
rt_RTWLogDataTypeConvert
}
};
rtliSetLogYSignalInfo(HConstfolding_M->rtwLogInfo,
rt_LoggedOutputSignalInfo);
/* set currSigDims field */
rt_LoggedCurrentSignalDimensions[0] = &rt_LoggedOutputWidths[0];
}
rtliSetLogY(HConstfolding_M->rtwLogInfo, "yout");
}
HConstfolding_M->solverInfoPtr = (&HConstfolding_M->solverInfo);
HConstfolding_M->Timing.stepSize = (1.0);
rtsiSetFixedStepSize(&HConstfolding_M->solverInfo, 1.0);
rtsiSetSolverMode(&HConstfolding_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* states (dwork) */
(void) memset((void *)&HConstfolding_DWork, 0,
sizeof(D_Work_HConstfolding));
/* external outputs */
HConstfolding_Y.Out1 = 0.0;
/* Matfile logging */
rt_StartDataLoggingWithStartTime(HConstfolding_M->rtwLogInfo, 0.0,
rtmGetTFinal(HConstfolding_M), HConstfolding_M->Timing.stepSize0,
(&rtmGetErrorStatus(HConstfolding_M)));
/* Initialize Sizes */
HConstfolding_M->Sizes.numContStates = (0);/* Number of continuous states */
HConstfolding_M->Sizes.numY = (1); /* Number of model outputs */
HConstfolding_M->Sizes.numU = (0); /* Number of model inputs */
HConstfolding_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */
HConstfolding_M->Sizes.numSampTimes = (1);/* Number of sample times */
HConstfolding_M->Sizes.numBlocks = (14);/* Number of blocks */
HConstfolding_M->Sizes.numBlockIO = (0);/* Number of block outputs */
HConstfolding_M->Sizes.numBlockPrms = (10);/* Sum of parameter "widths" */
/* InitializeConditions for UnitDelay: '<Root>/Unit Delay' */
HConstfolding_DWork.UnitDelay_DSTATE = HConstfolding_P.UnitDelay_X0;
/* InitializeConditions for UnitDelay: '<Root>/Unit Delay1' */
HConstfolding_DWork.UnitDelay1_DSTATE = HConstfolding_P.UnitDelay1_X0;
}
/* Model initialize function */
void motor_hr_initialize(void)
{
/* Registration code */
/* initialize real-time model */
(void) memset((void *)motor_hr_M, 0,
sizeof(RT_MODEL_motor_hr_T));
rtmSetTFinal(motor_hr_M, 1000.0);
motor_hr_M->Timing.stepSize0 = 20.0;
/* External mode info */
motor_hr_M->Sizes.checksums[0] = (822641153U);
motor_hr_M->Sizes.checksums[1] = (2911569967U);
motor_hr_M->Sizes.checksums[2] = (108929926U);
motor_hr_M->Sizes.checksums[3] = (297514658U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[3];
motor_hr_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
systemRan[1] = &rtAlwaysEnabled;
systemRan[2] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(motor_hr_M->extModeInfo,
&motor_hr_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(motor_hr_M->extModeInfo, motor_hr_M->Sizes.checksums);
rteiSetTPtr(motor_hr_M->extModeInfo, rtmGetTPtr(motor_hr_M));
}
/* states (dwork) */
(void) memset((void *)&motor_hr_DW, 0,
sizeof(DW_motor_hr_T));
/* external inputs */
(void) memset((void *)&motor_hr_U, 0,
sizeof(ExtU_motor_hr_T));
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
motor_hr_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
/* Start for S-Function (arduinodigitaloutput_sfcn): '<S1>/Digital Output' */
MW_pinModeOutput(motor_hr_P.DigitalOutput_pinNumber);
/* Start for S-Function (arduinoanalogoutput_sfcn): '<S2>/PWM' */
MW_pinModeOutput(motor_hr_P.PWM_pinNumber);
}
/* Model initialize function */
void BP_MC1_initialize(boolean_T firstTime)
{
(void)firstTime;
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)BP_MC1_M,0,
sizeof(RT_MODEL_BP_MC1));
/* Initialize timing info */
{
int_T *mdlTsMap = BP_MC1_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
BP_MC1_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
BP_MC1_M->Timing.sampleTimes = (&BP_MC1_M->Timing.sampleTimesArray[0]);
BP_MC1_M->Timing.offsetTimes = (&BP_MC1_M->Timing.offsetTimesArray[0]);
/* task periods */
BP_MC1_M->Timing.sampleTimes[0] = (0.05);
/* task offsets */
BP_MC1_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(BP_MC1_M, &BP_MC1_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = BP_MC1_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
BP_MC1_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(BP_MC1_M, -1);
BP_MC1_M->Timing.stepSize0 = 0.05;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
BP_MC1_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
rtliSetLogXSignalInfo(BP_MC1_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(BP_MC1_M->rtwLogInfo, (NULL));
rtliSetLogT(BP_MC1_M->rtwLogInfo, "");
rtliSetLogX(BP_MC1_M->rtwLogInfo, "");
rtliSetLogXFinal(BP_MC1_M->rtwLogInfo, "");
rtliSetSigLog(BP_MC1_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(BP_MC1_M->rtwLogInfo, "rt_");
rtliSetLogFormat(BP_MC1_M->rtwLogInfo, 0);
rtliSetLogMaxRows(BP_MC1_M->rtwLogInfo, 1000);
rtliSetLogDecimation(BP_MC1_M->rtwLogInfo, 1);
rtliSetLogY(BP_MC1_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(BP_MC1_M->rtwLogInfo, (NULL));
rtliSetLogYSignalPtrs(BP_MC1_M->rtwLogInfo, (NULL));
}
BP_MC1_M->solverInfoPtr = (&BP_MC1_M->solverInfo);
BP_MC1_M->Timing.stepSize = (0.05);
rtsiSetFixedStepSize(&BP_MC1_M->solverInfo, 0.05);
rtsiSetSolverMode(&BP_MC1_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
BP_MC1_M->ModelData.blockIO = ((void *) &BP_MC1_B);
(void) memset(((void *) &BP_MC1_B),0,
sizeof(BlockIO_BP_MC1));
{
BP_MC1_B.u1 = 0.0;
BP_MC1_B.Sign = 0.0;
BP_MC1_B.PortVPS_X = 0.0;
BP_MC1_B.PortVPS_X_g = 0.0;
BP_MC1_B.u1_p = 0.0;
BP_MC1_B.PortVSP_Y = 0.0;
BP_MC1_B.PortVSP_Y_i = 0.0;
BP_MC1_B.u1_g = 0.0;
BP_MC1_B.StarboardVSP_X = 0.0;
BP_MC1_B.u1_pj = 0.0;
BP_MC1_B.StarboardVSP_Y = 0.0;
BP_MC1_B.Servo1 = 0.0;
BP_MC1_B.Servo2 = 0.0;
BP_MC1_B.Servo3 = 0.0;
BP_MC1_B.Servo4 = 0.0;
BP_MC1_B.VPS_Speed_Gain = 0.0;
BP_MC1_B.Sum = 0.0;
BP_MC1_B.BowThrusterdirection = 0.0;
BP_MC1_B.BT_D_Gain1 = 0.0;
BP_MC1_B.BT_D_Gain2 = 0.0;
BP_MC1_B.Add = 0.0;
BP_MC1_B.BT_L_Gain1 = 0.0;
BP_MC1_B.BT_L_Gain2 = 0.0;
BP_MC1_B.Sum1 = 0.0;
BP_MC1_B.Sum2 = 0.0;
BP_MC1_B.Switch = 0.0;
BP_MC1_B.Switch2 = 0.0;
}
/* parameters */
BP_MC1_M->ModelData.defaultParam = ((real_T *) &BP_MC1_P);
/* states (dwork) */
BP_MC1_M->Work.dwork = ((void *) &BP_MC1_DWork);
(void) memset((void *)&BP_MC1_DWork, 0,
sizeof(D_Work_BP_MC1));
}
/* Model initialize function */
void CelpSimulink_initialize(boolean_T firstTime)
{
(void)firstTime;
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((char_T *)CelpSimulink_M,0,
sizeof(RT_MODEL_CelpSimulink));
/* Initialize timing info */
{
int_T *mdlTsMap = CelpSimulink_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
CelpSimulink_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
CelpSimulink_M->Timing.sampleTimes =
(&CelpSimulink_M->Timing.sampleTimesArray[0]);
CelpSimulink_M->Timing.offsetTimes =
(&CelpSimulink_M->Timing.offsetTimesArray[0]);
/* task periods */
CelpSimulink_M->Timing.sampleTimes[0] = (0.01);
/* task offsets */
CelpSimulink_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(CelpSimulink_M, &CelpSimulink_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = CelpSimulink_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
CelpSimulink_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(CelpSimulink_M, -1);
CelpSimulink_M->Timing.stepSize0 = 0.01;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
CelpSimulink_M->rtwLogInfo = &rt_DataLoggingInfo;
rtliSetLogXSignalInfo(CelpSimulink_M->rtwLogInfo, NULL);
rtliSetLogXSignalPtrs(CelpSimulink_M->rtwLogInfo, NULL);
rtliSetLogT(CelpSimulink_M->rtwLogInfo, "tout");
rtliSetLogX(CelpSimulink_M->rtwLogInfo, "");
rtliSetLogXFinal(CelpSimulink_M->rtwLogInfo, "");
rtliSetSigLog(CelpSimulink_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(CelpSimulink_M->rtwLogInfo, "rt_");
rtliSetLogFormat(CelpSimulink_M->rtwLogInfo, 0);
rtliSetLogMaxRows(CelpSimulink_M->rtwLogInfo, 1000);
rtliSetLogDecimation(CelpSimulink_M->rtwLogInfo, 1);
rtliSetLogY(CelpSimulink_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(CelpSimulink_M->rtwLogInfo, NULL);
rtliSetLogYSignalPtrs(CelpSimulink_M->rtwLogInfo, NULL);
}
CelpSimulink_M->solverInfoPtr = (&CelpSimulink_M->solverInfo);
CelpSimulink_M->Timing.stepSize = (0.01);
rtsiSetFixedStepSize(&CelpSimulink_M->solverInfo, 0.01);
rtsiSetSolverMode(&CelpSimulink_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
CelpSimulink_M->ModelData.blockIO = ((void *) &CelpSimulink_B);
(void) memset(((void *) &CelpSimulink_B),0,
sizeof(BlockIO_CelpSimulink));
{
int_T i;
void *pVoidBlockIORegion;
pVoidBlockIORegion = (void *)(&CelpSimulink_B.FromWaveFile[0]);
for (i = 0; i < 411; i++) {
((real32_T*)pVoidBlockIORegion)[i] = 0.0F;
}
}
/* parameters */
CelpSimulink_M->ModelData.defaultParam = ((real_T *) &CelpSimulink_P);
/* states (dwork) */
CelpSimulink_M->Work.dwork = ((void *) &CelpSimulink_DWork);
(void) memset((char_T *) &CelpSimulink_DWork,0,
sizeof(D_Work_CelpSimulink));
CelpSimulink_DWork.Maximum1_Valdata = 0.0;
{
int_T i;
real32_T *dwork_ptr = (real32_T *)
&CelpSimulink_DWork.PreEmphasis_FILT_STATES[0];
for (i = 0; i < 1122; i++) {
dwork_ptr[i] = 0.0F;
}
}
}
/* Registration function */
RT_MODEL_DI_model_T *DI_model(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)DI_model_M, 0,
sizeof(RT_MODEL_DI_model_T));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&DI_model_M->solverInfo,
&DI_model_M->Timing.simTimeStep);
rtsiSetTPtr(&DI_model_M->solverInfo, &rtmGetTPtr(DI_model_M));
rtsiSetStepSizePtr(&DI_model_M->solverInfo, &DI_model_M->Timing.stepSize0);
rtsiSetErrorStatusPtr(&DI_model_M->solverInfo, (&rtmGetErrorStatus
(DI_model_M)));
rtsiSetRTModelPtr(&DI_model_M->solverInfo, DI_model_M);
}
rtsiSetSimTimeStep(&DI_model_M->solverInfo, MAJOR_TIME_STEP);
rtsiSetSolverName(&DI_model_M->solverInfo,"FixedStepDiscrete");
DI_model_M->solverInfoPtr = (&DI_model_M->solverInfo);
/* Initialize timing info */
{
int_T *mdlTsMap = DI_model_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
mdlTsMap[1] = 1;
DI_model_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
DI_model_M->Timing.sampleTimes = (&DI_model_M->Timing.sampleTimesArray[0]);
DI_model_M->Timing.offsetTimes = (&DI_model_M->Timing.offsetTimesArray[0]);
/* task periods */
DI_model_M->Timing.sampleTimes[0] = (0.0);
DI_model_M->Timing.sampleTimes[1] = (0.01);
/* task offsets */
DI_model_M->Timing.offsetTimes[0] = (0.0);
DI_model_M->Timing.offsetTimes[1] = (0.0);
}
rtmSetTPtr(DI_model_M, &DI_model_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = DI_model_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
mdlSampleHits[1] = 1;
DI_model_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(DI_model_M, 30.0);
DI_model_M->Timing.stepSize0 = 0.01;
DI_model_M->Timing.stepSize1 = 0.01;
/* External mode info */
DI_model_M->Sizes.checksums[0] = (943881189U);
DI_model_M->Sizes.checksums[1] = (2376373844U);
DI_model_M->Sizes.checksums[2] = (1356612486U);
DI_model_M->Sizes.checksums[3] = (687118842U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[1];
DI_model_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(DI_model_M->extModeInfo,
&DI_model_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(DI_model_M->extModeInfo, DI_model_M->Sizes.checksums);
rteiSetTPtr(DI_model_M->extModeInfo, rtmGetTPtr(DI_model_M));
}
DI_model_M->solverInfoPtr = (&DI_model_M->solverInfo);
DI_model_M->Timing.stepSize = (0.01);
rtsiSetFixedStepSize(&DI_model_M->solverInfo, 0.01);
rtsiSetSolverMode(&DI_model_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
DI_model_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
}
/* child S-Function registration */
{
RTWSfcnInfo *sfcnInfo = &DI_model_M->NonInlinedSFcns.sfcnInfo;
DI_model_M->sfcnInfo = (sfcnInfo);
rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(DI_model_M)));
rtssSetNumRootSampTimesPtr(sfcnInfo, &DI_model_M->Sizes.numSampTimes);
DI_model_M->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(DI_model_M)[0]);
DI_model_M->NonInlinedSFcns.taskTimePtrs[1] = &(rtmGetTPtr(DI_model_M)[1]);
rtssSetTPtrPtr(sfcnInfo,DI_model_M->NonInlinedSFcns.taskTimePtrs);
rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(DI_model_M));
rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(DI_model_M));
rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(DI_model_M));
rtssSetStepSizePtr(sfcnInfo, &DI_model_M->Timing.stepSize);
rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(DI_model_M));
rtssSetDerivCacheNeedsResetPtr(sfcnInfo,
&DI_model_M->ModelData.derivCacheNeedsReset);
rtssSetZCCacheNeedsResetPtr(sfcnInfo,
&DI_model_M->ModelData.zCCacheNeedsReset);
rtssSetBlkStateChangePtr(sfcnInfo, &DI_model_M->ModelData.blkStateChange);
rtssSetSampleHitsPtr(sfcnInfo, &DI_model_M->Timing.sampleHits);
rtssSetPerTaskSampleHitsPtr(sfcnInfo, &DI_model_M->Timing.perTaskSampleHits);
rtssSetSimModePtr(sfcnInfo, &DI_model_M->simMode);
rtssSetSolverInfoPtr(sfcnInfo, &DI_model_M->solverInfoPtr);
}
DI_model_M->Sizes.numSFcns = (1);
/* register each child */
{
(void) memset((void *)&DI_model_M->NonInlinedSFcns.childSFunctions[0], 0,
1*sizeof(SimStruct));
DI_model_M->childSfunctions =
(&DI_model_M->NonInlinedSFcns.childSFunctionPtrs[0]);
DI_model_M->childSfunctions[0] =
(&DI_model_M->NonInlinedSFcns.childSFunctions[0]);
/* Level2 S-Function Block: DI_model/<Root>/S-Function (DI_v1) */
{
SimStruct *rts = DI_model_M->childSfunctions[0];
/* timing info */
time_T *sfcnPeriod = DI_model_M->NonInlinedSFcns.Sfcn0.sfcnPeriod;
time_T *sfcnOffset = DI_model_M->NonInlinedSFcns.Sfcn0.sfcnOffset;
int_T *sfcnTsMap = DI_model_M->NonInlinedSFcns.Sfcn0.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &DI_model_M->NonInlinedSFcns.blkInfo2[0]);
}
ssSetRTWSfcnInfo(rts, DI_model_M->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &DI_model_M->NonInlinedSFcns.methods2[0]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &DI_model_M->NonInlinedSFcns.methods3[0]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &DI_model_M->NonInlinedSFcns.statesInfo2[0]);
}
/* inputs */
{
_ssSetNumInputPorts(rts, 1);
ssSetPortInfoForInputs(rts,
&DI_model_M->NonInlinedSFcns.Sfcn0.inputPortInfo[0]);
/* port 0 */
{
ssSetInputPortRequiredContiguous(rts, 0, 1);
ssSetInputPortSignal(rts, 0, (real_T*)&DI_model_RGND);
_ssSetInputPortNumDimensions(rts, 0, 1);
ssSetInputPortWidth(rts, 0, 1);
}
}
/* path info */
ssSetModelName(rts, "S-Function");
ssSetPath(rts, "DI_model/S-Function");
ssSetRTModel(rts,DI_model_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* registration */
DI_v1(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.0);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 0;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetInputPortConnected(rts, 0, 0);
/* Update the BufferDstPort flags for each input port */
ssSetInputPortBufferDstPort(rts, 0, -1);
}
}
/* Initialize Sizes */
DI_model_M->Sizes.numContStates = (0);/* Number of continuous states */
DI_model_M->Sizes.numY = (0); /* Number of model outputs */
DI_model_M->Sizes.numU = (0); /* Number of model inputs */
DI_model_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */
DI_model_M->Sizes.numSampTimes = (2);/* Number of sample times */
DI_model_M->Sizes.numBlocks = (1); /* Number of blocks */
return DI_model_M;
}
/* Model initialize function */
void arbeitspunkt_initialize(boolean_T firstTime)
{
(void)firstTime;
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */
(void) memset((char_T *)arbeitspunkt_M,0,
sizeof(RT_MODEL_arbeitspunkt));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&arbeitspunkt_M->solverInfo,
&arbeitspunkt_M->Timing.simTimeStep);
rtsiSetTPtr(&arbeitspunkt_M->solverInfo, &rtmGetTPtr(arbeitspunkt_M));
rtsiSetStepSizePtr(&arbeitspunkt_M->solverInfo,
&arbeitspunkt_M->Timing.stepSize0);
rtsiSetErrorStatusPtr(&arbeitspunkt_M->solverInfo, (&rtmGetErrorStatus
(arbeitspunkt_M)));
rtsiSetRTModelPtr(&arbeitspunkt_M->solverInfo, arbeitspunkt_M);
}
rtsiSetSimTimeStep(&arbeitspunkt_M->solverInfo, MAJOR_TIME_STEP);
rtsiSetSolverName(&arbeitspunkt_M->solverInfo,"FixedStepDiscrete");
/* Initialize timing info */
{
int_T *mdlTsMap = arbeitspunkt_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
mdlTsMap[1] = 1;
arbeitspunkt_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
arbeitspunkt_M->Timing.sampleTimes =
(&arbeitspunkt_M->Timing.sampleTimesArray[0]);
arbeitspunkt_M->Timing.offsetTimes =
(&arbeitspunkt_M->Timing.offsetTimesArray[0]);
/* task periods */
arbeitspunkt_M->Timing.sampleTimes[0] = (0.0);
arbeitspunkt_M->Timing.sampleTimes[1] = (0.001);
/* task offsets */
arbeitspunkt_M->Timing.offsetTimes[0] = (0.0);
arbeitspunkt_M->Timing.offsetTimes[1] = (0.0);
}
rtmSetTPtr(arbeitspunkt_M, &arbeitspunkt_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = arbeitspunkt_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
mdlSampleHits[1] = 1;
arbeitspunkt_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(arbeitspunkt_M, 10.0);
arbeitspunkt_M->Timing.stepSize0 = 0.001;
arbeitspunkt_M->Timing.stepSize1 = 0.001;
/* external mode info */
arbeitspunkt_M->Sizes.checksums[0] = (51356583U);
arbeitspunkt_M->Sizes.checksums[1] = (1228941243U);
arbeitspunkt_M->Sizes.checksums[2] = (1622391598U);
arbeitspunkt_M->Sizes.checksums[3] = (3849823737U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[1];
arbeitspunkt_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(&rt_ExtModeInfo,
&arbeitspunkt_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(&rt_ExtModeInfo, arbeitspunkt_M->Sizes.checksums);
rteiSetTPtr(&rt_ExtModeInfo, rtmGetTPtr(arbeitspunkt_M));
}
arbeitspunkt_M->solverInfoPtr = (&arbeitspunkt_M->solverInfo);
arbeitspunkt_M->Timing.stepSize = (0.001);
rtsiSetFixedStepSize(&arbeitspunkt_M->solverInfo, 0.001);
rtsiSetSolverMode(&arbeitspunkt_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
arbeitspunkt_M->ModelData.blockIO = ((void *) &arbeitspunkt_B);
{
int_T i;
void *pVoidBlockIORegion;
pVoidBlockIORegion = (void *)(&arbeitspunkt_B.V_Step);
for (i = 0; i < 3; i++) {
((real_T*)pVoidBlockIORegion)[i] = 0.0;
}
}
/* parameters */
arbeitspunkt_M->ModelData.defaultParam = ((real_T *) &arbeitspunkt_P);
/* states (dwork) */
arbeitspunkt_M->Work.dwork = ((void *) &arbeitspunkt_DWork);
(void) memset((char_T *) &arbeitspunkt_DWork,0,
sizeof(D_Work_arbeitspunkt));
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo,0,
sizeof(dtInfo));
arbeitspunkt_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
}
/* Registration function */
RT_MODEL_Force_ctrl_sixaxis_T *Force_ctrl_sixaxis(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)Force_ctrl_sixaxis_M, 0,
sizeof(RT_MODEL_Force_ctrl_sixaxis_T));
/* Initialize timing info */
{
int_T *mdlTsMap = Force_ctrl_sixaxis_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
Force_ctrl_sixaxis_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
Force_ctrl_sixaxis_M->Timing.sampleTimes =
(&Force_ctrl_sixaxis_M->Timing.sampleTimesArray[0]);
Force_ctrl_sixaxis_M->Timing.offsetTimes =
(&Force_ctrl_sixaxis_M->Timing.offsetTimesArray[0]);
/* task periods */
Force_ctrl_sixaxis_M->Timing.sampleTimes[0] = (0.01);
/* task offsets */
Force_ctrl_sixaxis_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(Force_ctrl_sixaxis_M, &Force_ctrl_sixaxis_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = Force_ctrl_sixaxis_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
Force_ctrl_sixaxis_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(Force_ctrl_sixaxis_M, -1);
Force_ctrl_sixaxis_M->Timing.stepSize0 = 0.01;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
Force_ctrl_sixaxis_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
rtliSetLogXSignalInfo(Force_ctrl_sixaxis_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(Force_ctrl_sixaxis_M->rtwLogInfo, (NULL));
rtliSetLogT(Force_ctrl_sixaxis_M->rtwLogInfo, "tout");
rtliSetLogX(Force_ctrl_sixaxis_M->rtwLogInfo, "");
rtliSetLogXFinal(Force_ctrl_sixaxis_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(Force_ctrl_sixaxis_M->rtwLogInfo, "rt_");
rtliSetLogFormat(Force_ctrl_sixaxis_M->rtwLogInfo, 0);
rtliSetLogMaxRows(Force_ctrl_sixaxis_M->rtwLogInfo, 1000);
rtliSetLogDecimation(Force_ctrl_sixaxis_M->rtwLogInfo, 1);
rtliSetLogY(Force_ctrl_sixaxis_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(Force_ctrl_sixaxis_M->rtwLogInfo, (NULL));
rtliSetLogYSignalPtrs(Force_ctrl_sixaxis_M->rtwLogInfo, (NULL));
}
Force_ctrl_sixaxis_M->solverInfoPtr = (&Force_ctrl_sixaxis_M->solverInfo);
Force_ctrl_sixaxis_M->Timing.stepSize = (0.01);
rtsiSetFixedStepSize(&Force_ctrl_sixaxis_M->solverInfo, 0.01);
rtsiSetSolverMode(&Force_ctrl_sixaxis_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
Force_ctrl_sixaxis_M->ModelData.blockIO = ((void *) &Force_ctrl_sixaxis_B);
(void) memset(((void *) &Force_ctrl_sixaxis_B), 0,
sizeof(B_Force_ctrl_sixaxis_T));
/* parameters */
Force_ctrl_sixaxis_M->ModelData.defaultParam = ((real_T *)
&Force_ctrl_sixaxis_P);
/* states (dwork) */
Force_ctrl_sixaxis_M->ModelData.dwork = ((void *) &Force_ctrl_sixaxis_DW);
(void) memset((void *)&Force_ctrl_sixaxis_DW, 0,
sizeof(DW_Force_ctrl_sixaxis_T));
/* Initialize Sizes */
Force_ctrl_sixaxis_M->Sizes.numContStates = (0);/* Number of continuous states */
Force_ctrl_sixaxis_M->Sizes.numY = (0);/* Number of model outputs */
Force_ctrl_sixaxis_M->Sizes.numU = (0);/* Number of model inputs */
Force_ctrl_sixaxis_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */
Force_ctrl_sixaxis_M->Sizes.numSampTimes = (1);/* Number of sample times */
Force_ctrl_sixaxis_M->Sizes.numBlocks = (22);/* Number of blocks */
Force_ctrl_sixaxis_M->Sizes.numBlockIO = (12);/* Number of block outputs */
Force_ctrl_sixaxis_M->Sizes.numBlockPrms = (96);/* Sum of parameter "widths" */
return Force_ctrl_sixaxis_M;
}
/* Model initialize function */
void m1006_initialize(boolean_T firstTime)
{
if (firstTime) {
/* registration code */
/* initialize real-time model */
(void)memset((char_T *)m1006_M, 0, sizeof(rtModel_m1006));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&m1006_M->solverInfo, &m1006_M->Timing.simTimeStep);
rtsiSetTPtr(&m1006_M->solverInfo, &rtmGetTPtr(m1006_M));
rtsiSetStepSizePtr(&m1006_M->solverInfo, &m1006_M->Timing.stepSize0);
rtsiSetdXPtr(&m1006_M->solverInfo, &m1006_M->ModelData.derivs);
rtsiSetContStatesPtr(&m1006_M->solverInfo, &m1006_M->ModelData.contStates);
rtsiSetNumContStatesPtr(&m1006_M->solverInfo,
&m1006_M->Sizes.numContStates);
rtsiSetErrorStatusPtr(&m1006_M->solverInfo, &rtmGetErrorStatus(m1006_M));
rtsiSetRTModelPtr(&m1006_M->solverInfo, m1006_M);
}
rtsiSetSimTimeStep(&m1006_M->solverInfo, MAJOR_TIME_STEP);
m1006_M->ModelData.intgData.y = m1006_M->ModelData.odeY;
m1006_M->ModelData.intgData.f[0] = m1006_M->ModelData.odeF[0];
m1006_M->ModelData.intgData.f[1] = m1006_M->ModelData.odeF[1];
m1006_M->ModelData.intgData.f[2] = m1006_M->ModelData.odeF[2];
m1006_M->ModelData.intgData.f[3] = m1006_M->ModelData.odeF[3];
m1006_M->ModelData.contStates = ((real_T *) &m1006_X);
rtsiSetSolverData(&m1006_M->solverInfo, (void
*)&m1006_M->ModelData.intgData);
rtsiSetSolverName(&m1006_M->solverInfo,"ode4");
/* Initialize timing info */
{
int_T *mdlTsMap = m1006_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
mdlTsMap[1] = 1;
m1006_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
m1006_M->Timing.sampleTimes = (&m1006_M->Timing.sampleTimesArray[0]);
m1006_M->Timing.offsetTimes = (&m1006_M->Timing.offsetTimesArray[0]);
/* task periods */
m1006_M->Timing.sampleTimes[0] = (0.0);
m1006_M->Timing.sampleTimes[1] = (0.1);
/* task offsets */
m1006_M->Timing.offsetTimes[0] = (0.0);
m1006_M->Timing.offsetTimes[1] = (0.0);
}
rtmSetTPtr(m1006_M, &m1006_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = m1006_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
mdlSampleHits[1] = 1;
m1006_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(m1006_M, 10.0);
m1006_M->Timing.stepSize0 = 0.1;
m1006_M->Timing.stepSize1 = 0.1;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
m1006_M->rtwLogInfo = &rt_DataLoggingInfo;
rtliSetLogFormat(m1006_M->rtwLogInfo, 0);
rtliSetLogMaxRows(m1006_M->rtwLogInfo, 1000);
rtliSetLogDecimation(m1006_M->rtwLogInfo, 1);
rtliSetLogVarNameModifier(m1006_M->rtwLogInfo, "rt_");
rtliSetLogT(m1006_M->rtwLogInfo, "tout");
rtliSetLogX(m1006_M->rtwLogInfo, "");
rtliSetLogXFinal(m1006_M->rtwLogInfo, "");
rtliSetSigLog(m1006_M->rtwLogInfo, "");
rtliSetLogXSignalInfo(m1006_M->rtwLogInfo, NULL);
rtliSetLogXSignalPtrs(m1006_M->rtwLogInfo, NULL);
rtliSetLogY(m1006_M->rtwLogInfo, "yout");
/*
* Set pointers to the data and signal info for each output
*/
{
static void * rt_LoggedOutputSignalPtrs[] = {
&m1006_Y.Out1
};
rtliSetLogYSignalPtrs(m1006_M->rtwLogInfo,
((LogSignalPtrsType)rt_LoggedOutputSignalPtrs));
}
{
static int_T rt_LoggedOutputWidths[] = {
1
};
static int_T rt_LoggedOutputNumDimensions[] = {
1
};
static int_T rt_LoggedOutputDimensions[] = {
1
};
static BuiltInDTypeId rt_LoggedOutputDataTypeIds[] = {
SS_DOUBLE
};
static int_T rt_LoggedOutputComplexSignals[] = {
0
};
static const char_T *rt_LoggedOutputLabels[] = {
""};
static const char_T *rt_LoggedOutputBlockNames[] = {
"m1006/Out1"};
static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = {
{ 0, SS_DOUBLE, SS_DOUBLE, 1.0, 0, 0.0}
};
static RTWLogSignalInfo rt_LoggedOutputSignalInfo[] = {
{
1,
rt_LoggedOutputWidths,
rt_LoggedOutputNumDimensions,
rt_LoggedOutputDimensions,
rt_LoggedOutputDataTypeIds,
rt_LoggedOutputComplexSignals,
NULL,
rt_LoggedOutputLabels,
NULL,
NULL,
NULL,
rt_LoggedOutputBlockNames,
NULL,
rt_RTWLogDataTypeConvert
}
};
rtliSetLogYSignalInfo(m1006_M->rtwLogInfo, rt_LoggedOutputSignalInfo);
}
}
m1006_M->solverInfoPtr = (&m1006_M->solverInfo);
m1006_M->Timing.stepSize = (0.1);
rtsiSetFixedStepSize(&m1006_M->solverInfo, 0.1);
rtsiSetSolverMode(&m1006_M->solverInfo, SOLVER_MODE_SINGLETASKING);
{
/* block I/O */
void *b = (void *) &m1006_B;
m1006_M->ModelData.blockIO = (b);
{
int_T i;
b =&m1006_B.SineWave;
for (i = 0; i < 2; i++) {
((real_T*)b)[i] = 0.0;
}
}
}
/* parameters */
m1006_M->ModelData.defaultParam = ((real_T *) &m1006_P);
/* states */
{
real_T *x = (real_T *) &m1006_X;
m1006_M->ModelData.contStates = (x);
(void)memset((char_T *)x, 0, sizeof(ContinuousStates_m1006));
}
/* external outputs */
m1006_M->ModelData.outputs = (&m1006_Y);
m1006_Y.Out1 = 0.0;
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
}
}
/* Model initialize function */
void omni_interface_initialize(boolean_T firstTime)
{
(void)firstTime;
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */
(void) memset((char_T *)omni_interface_M,0,
sizeof(RT_MODEL_omni_interface));
/* Initialize timing info */
{
int_T *mdlTsMap = omni_interface_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
omni_interface_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
omni_interface_M->Timing.sampleTimes =
(&omni_interface_M->Timing.sampleTimesArray[0]);
omni_interface_M->Timing.offsetTimes =
(&omni_interface_M->Timing.offsetTimesArray[0]);
/* task periods */
omni_interface_M->Timing.sampleTimes[0] = (0.001);
/* task offsets */
omni_interface_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(omni_interface_M, &omni_interface_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = omni_interface_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
omni_interface_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(omni_interface_M, -1);
omni_interface_M->Timing.stepSize0 = 0.001;
/* external mode info */
omni_interface_M->Sizes.checksums[0] = (3515672156U);
omni_interface_M->Sizes.checksums[1] = (4130000490U);
omni_interface_M->Sizes.checksums[2] = (2703472843U);
omni_interface_M->Sizes.checksums[3] = (3284165155U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[13];
omni_interface_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
systemRan[1] = &rtAlwaysEnabled;
systemRan[2] = &rtAlwaysEnabled;
systemRan[3] = &rtAlwaysEnabled;
systemRan[4] = &rtAlwaysEnabled;
systemRan[5] = &rtAlwaysEnabled;
systemRan[6] = &rtAlwaysEnabled;
systemRan[7] = &rtAlwaysEnabled;
systemRan[8] = &rtAlwaysEnabled;
systemRan[9] = &rtAlwaysEnabled;
systemRan[10] = &rtAlwaysEnabled;
systemRan[11] = &rtAlwaysEnabled;
systemRan[12] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(&rt_ExtModeInfo,
&omni_interface_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(&rt_ExtModeInfo, omni_interface_M->Sizes.checksums);
rteiSetTPtr(&rt_ExtModeInfo, rtmGetTPtr(omni_interface_M));
}
omni_interface_M->solverInfoPtr = (&omni_interface_M->solverInfo);
omni_interface_M->Timing.stepSize = (0.001);
rtsiSetFixedStepSize(&omni_interface_M->solverInfo, 0.001);
rtsiSetSolverMode(&omni_interface_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
omni_interface_M->ModelData.blockIO = ((void *) &omni_interface_B);
(void) memset(((void *) &omni_interface_B),0,
sizeof(BlockIO_omni_interface));
{
int_T i;
void *pVoidBlockIORegion;
pVoidBlockIORegion = (void *)(&omni_interface_B.Gain2[0]);
for (i = 0; i < 12; i++) {
((real_T*)pVoidBlockIORegion)[i] = 0.0;
}
}
/* parameters */
omni_interface_M->ModelData.defaultParam = ((real_T *) &omni_interface_P);
/* states (dwork) */
omni_interface_M->Work.dwork = ((void *) &omni_interface_DWork);
(void) memset((char_T *) &omni_interface_DWork,0,
sizeof(D_Work_omni_interface));
{
int_T i;
real_T *dwork_ptr = (real_T *) &omni_interface_DWork.FixPtUnitDelay1_DSTATE;
for (i = 0; i < 19; i++) {
dwork_ptr[i] = 0.0;
}
}
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo,0,
sizeof(dtInfo));
omni_interface_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 18;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
}
/* Model initialize function */
void motor_control_initialize(void)
{
/* Registration code */
/* initialize real-time model */
(void) memset((void *)motor_control_M, 0,
sizeof(RT_MODEL_motor_control_T));
rtmSetTFinal(motor_control_M, -1);
motor_control_M->Timing.stepSize0 = 0.05;
/* External mode info */
motor_control_M->Sizes.checksums[0] = (2107225776U);
motor_control_M->Sizes.checksums[1] = (1965539276U);
motor_control_M->Sizes.checksums[2] = (1036431389U);
motor_control_M->Sizes.checksums[3] = (618126809U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[1];
motor_control_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(motor_control_M->extModeInfo,
&motor_control_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(motor_control_M->extModeInfo,
motor_control_M->Sizes.checksums);
rteiSetTPtr(motor_control_M->extModeInfo, rtmGetTPtr(motor_control_M));
}
/* block I/O */
(void) memset(((void *) &motor_control_B), 0,
sizeof(B_motor_control_T));
/* states (dwork) */
(void) memset((void *)&motor_control_DW, 0,
sizeof(DW_motor_control_T));
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
motor_control_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
/* Start for DiscretePulseGenerator: '<Root>/Pulse Generator' */
motor_control_DW.clockTickCounter = 0L;
/* S-Function Block: <Root>/Encoder */
{
real_T initVector[1] = { 0 };
{
int_T i1;
for (i1=0; i1 < 1; i1++) {
motor_control_DW.Encoder_DSTATE = initVector[0];
}
}
}
/* InitializeConditions for DiscreteIntegrator: '<S1>/Integrator' */
motor_control_DW.Integrator_DSTATE = motor_control_P.Integrator_IC;
/* InitializeConditions for DiscreteIntegrator: '<S1>/Filter' */
motor_control_DW.Filter_DSTATE = motor_control_P.Filter_IC;
/* S-Function Block: <Root>/PWM */
{
real_T initVector[1] = { 0 };
{
int_T i1;
for (i1=0; i1 < 1; i1++) {
motor_control_DW.PWM_DSTATE = initVector[0];
}
}
}
}
/* Model initialize function */
void motor_test_hierarchies_initialize(void)
{
/* Registration code */
/* initialize real-time model */
(void) memset((void *)motor_test_hierarchies_M, 0,
sizeof(RT_MODEL_motor_test_hierarchi_T));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&motor_test_hierarchies_M->solverInfo,
&motor_test_hierarchies_M->Timing.simTimeStep);
rtsiSetTPtr(&motor_test_hierarchies_M->solverInfo, &rtmGetTPtr
(motor_test_hierarchies_M));
rtsiSetStepSizePtr(&motor_test_hierarchies_M->solverInfo,
&motor_test_hierarchies_M->Timing.stepSize0);
rtsiSetErrorStatusPtr(&motor_test_hierarchies_M->solverInfo,
(&rtmGetErrorStatus(motor_test_hierarchies_M)));
rtsiSetRTModelPtr(&motor_test_hierarchies_M->solverInfo,
motor_test_hierarchies_M);
}
rtsiSetSimTimeStep(&motor_test_hierarchies_M->solverInfo, MAJOR_TIME_STEP);
rtsiSetSolverName(&motor_test_hierarchies_M->solverInfo,"FixedStepDiscrete");
rtmSetTPtr(motor_test_hierarchies_M, &motor_test_hierarchies_M->Timing.tArray
[0]);
rtmSetTFinal(motor_test_hierarchies_M, 200.0);
motor_test_hierarchies_M->Timing.stepSize0 = 1.0;
/* External mode info */
motor_test_hierarchies_M->Sizes.checksums[0] = (1277721381U);
motor_test_hierarchies_M->Sizes.checksums[1] = (3056422068U);
motor_test_hierarchies_M->Sizes.checksums[2] = (826496824U);
motor_test_hierarchies_M->Sizes.checksums[3] = (767811506U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[9];
motor_test_hierarchies_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
systemRan[1] = &rtAlwaysEnabled;
systemRan[2] = &rtAlwaysEnabled;
systemRan[3] = &rtAlwaysEnabled;
systemRan[4] = &rtAlwaysEnabled;
systemRan[5] = &rtAlwaysEnabled;
systemRan[6] = &rtAlwaysEnabled;
systemRan[7] = &rtAlwaysEnabled;
systemRan[8] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(motor_test_hierarchies_M->extModeInfo,
&motor_test_hierarchies_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(motor_test_hierarchies_M->extModeInfo,
motor_test_hierarchies_M->Sizes.checksums);
rteiSetTPtr(motor_test_hierarchies_M->extModeInfo, rtmGetTPtr
(motor_test_hierarchies_M));
}
/* block I/O */
(void) memset(((void *) &motor_test_hierarchies_B), 0,
sizeof(B_motor_test_hierarchies_T));
/* states (dwork) */
(void) memset((void *)&motor_test_hierarchies_DW, 0,
sizeof(DW_motor_test_hierarchies_T));
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
motor_test_hierarchies_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
/* Start for FromWorkspace: '<S3>/FromWs' */
{
static real_T pTimeValues0[] = { 0.0, 1.0, 1.0, 2.0, 2.0, 4.0, 4.0, 6.0, 6.0,
7.0 } ;
static real_T pDataValues0[] = { 0.0, 128.0, 128.0, 128.0, 128.0, 255.0,
255.0, 255.0, 255.0, 0.0 } ;
motor_test_hierarchies_DW.FromWs_PWORK.TimePtr = (void *) pTimeValues0;
motor_test_hierarchies_DW.FromWs_PWORK.DataPtr = (void *) pDataValues0;
motor_test_hierarchies_DW.FromWs_IWORK.PrevIndex = 0;
}
/* Start for Atomic SubSystem: '<S1>/hl' */
motor_test_hierarchies_hl_Start((P_hl_motor_test_hierarchies_T *)
&motor_test_hierarchies_P.hl);
/* End of Start for SubSystem: '<S1>/hl' */
/* Start for Atomic SubSystem: '<S1>/hr' */
/* Start for S-Function (arduinodigitaloutput_sfcn): '<S10>/Digital Output' */
MW_pinModeOutput(motor_test_hierarchies_P.DigitalOutput_pinNumber);
/* Start for S-Function (arduinoanalogoutput_sfcn): '<S11>/PWM' */
MW_pinModeOutput(motor_test_hierarchies_P.PWM_pinNumber);
/* Start for Atomic SubSystem: '<S1>/vl' */
motor_test_hierarchies_hl_Start((P_hl_motor_test_hierarchies_T *)
&motor_test_hierarchies_P.vl);
/* End of Start for SubSystem: '<S1>/vl' */
/* Start for Atomic SubSystem: '<S1>/vr' */
/* Start for S-Function (arduinodigitaloutput_sfcn): '<S14>/Digital Output' */
MW_pinModeOutput(motor_test_hierarchies_P.DigitalOutput_pinNumber_a);
/* Start for S-Function (arduinoanalogoutput_sfcn): '<S15>/PWM' */
MW_pinModeOutput(motor_test_hierarchies_P.PWM_pinNumber_n);
}
void trajectory_test_initialize(boolean_T firstTime)
{
if (firstTime) {
/* Registration code */
/* initialize real-time model */
(void) memset((char_T *)trajectory_test_M,0,
sizeof(RT_MODEL_trajectory_test));
/* Initialize timing info */
{
int_T *mdlTsMap = trajectory_test_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
trajectory_test_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
trajectory_test_M->Timing.sampleTimes =
(&trajectory_test_M->Timing.sampleTimesArray[0]);
trajectory_test_M->Timing.offsetTimes =
(&trajectory_test_M->Timing.offsetTimesArray[0]);
/* task periods */
trajectory_test_M->Timing.sampleTimes[0] = (0.01);
/* task offsets */
trajectory_test_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(trajectory_test_M, &trajectory_test_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = trajectory_test_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
trajectory_test_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(trajectory_test_M, 20.0);
trajectory_test_M->Timing.stepSize0 = 0.01;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
trajectory_test_M->rtwLogInfo = &rt_DataLoggingInfo;
rtliSetLogFormat(trajectory_test_M->rtwLogInfo, 0);
rtliSetLogMaxRows(trajectory_test_M->rtwLogInfo, 1000);
rtliSetLogDecimation(trajectory_test_M->rtwLogInfo, 1);
rtliSetLogVarNameModifier(trajectory_test_M->rtwLogInfo, "rt_");
rtliSetLogT(trajectory_test_M->rtwLogInfo, "tout");
rtliSetLogX(trajectory_test_M->rtwLogInfo, "");
rtliSetLogXFinal(trajectory_test_M->rtwLogInfo, "");
rtliSetSigLog(trajectory_test_M->rtwLogInfo, "");
rtliSetLogXSignalInfo(trajectory_test_M->rtwLogInfo, NULL);
rtliSetLogXSignalPtrs(trajectory_test_M->rtwLogInfo, NULL);
rtliSetLogY(trajectory_test_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(trajectory_test_M->rtwLogInfo, NULL);
rtliSetLogYSignalPtrs(trajectory_test_M->rtwLogInfo, NULL);
}
trajectory_test_M->solverInfoPtr = (&trajectory_test_M->solverInfo);
trajectory_test_M->Timing.stepSize = (0.01);
rtsiSetFixedStepSize(&trajectory_test_M->solverInfo, 0.01);
rtsiSetSolverMode(&trajectory_test_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
trajectory_test_M->ModelData.blockIO = ((void *) &trajectory_test_B);
{
int_T i;
void *pVoidBlockIORegion;
pVoidBlockIORegion = (void *)(&trajectory_test_B.sf_Trajectorydesign2.a0);
for (i = 0; i < 6; i++) {
((real_T*)pVoidBlockIORegion)[i] = 0.0;
}
pVoidBlockIORegion = (void *)(&trajectory_test_B.sf_Trajectorydesign1.a0);
for (i = 0; i < 6; i++) {
((real_T*)pVoidBlockIORegion)[i] = 0.0;
}
((real_T*)&trajectory_test_B.sf_Jointreferencesi_m.qa)[0] = 0.0;
((real_T*)&trajectory_test_B.sf_Jointreferencesing.qa)[0] = 0.0;
}
/* parameters */
trajectory_test_M->ModelData.defaultParam = ((real_T *) &trajectory_test_P);
/* states (dwork) */
trajectory_test_M->Work.dwork = ((void *) &trajectory_test_DWork);
(void) memset((char_T *) &trajectory_test_DWork,0,
sizeof(D_Work_trajectory_test));
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
}
}
/* Model initialize function */
void trajectoryModel_initialize(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* non-finite (run-time) assignments */
trajectoryModel_P.stopRadius = rtInf;
/* initialize real-time model */
(void) memset((void *)trajectoryModel_M, 0,
sizeof(RT_MODEL_trajectoryModel_T));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&trajectoryModel_M->solverInfo,
&trajectoryModel_M->Timing.simTimeStep);
rtsiSetTPtr(&trajectoryModel_M->solverInfo, &rtmGetTPtr(trajectoryModel_M));
rtsiSetStepSizePtr(&trajectoryModel_M->solverInfo,
&trajectoryModel_M->Timing.stepSize0);
rtsiSetdXPtr(&trajectoryModel_M->solverInfo,
&trajectoryModel_M->ModelData.derivs);
rtsiSetContStatesPtr(&trajectoryModel_M->solverInfo, (real_T **)
&trajectoryModel_M->ModelData.contStates);
rtsiSetNumContStatesPtr(&trajectoryModel_M->solverInfo,
&trajectoryModel_M->Sizes.numContStates);
rtsiSetErrorStatusPtr(&trajectoryModel_M->solverInfo, (&rtmGetErrorStatus
(trajectoryModel_M)));
rtsiSetRTModelPtr(&trajectoryModel_M->solverInfo, trajectoryModel_M);
}
rtsiSetSimTimeStep(&trajectoryModel_M->solverInfo, MAJOR_TIME_STEP);
trajectoryModel_M->ModelData.intgData.y = trajectoryModel_M->ModelData.odeY;
trajectoryModel_M->ModelData.intgData.f[0] = trajectoryModel_M->
ModelData.odeF[0];
trajectoryModel_M->ModelData.intgData.f[1] = trajectoryModel_M->
ModelData.odeF[1];
trajectoryModel_M->ModelData.intgData.f[2] = trajectoryModel_M->
ModelData.odeF[2];
trajectoryModel_M->ModelData.contStates = ((X_trajectoryModel_T *)
&trajectoryModel_X);
rtsiSetSolverData(&trajectoryModel_M->solverInfo, (void *)
&trajectoryModel_M->ModelData.intgData);
rtsiSetSolverName(&trajectoryModel_M->solverInfo,"ode3");
rtmSetTPtr(trajectoryModel_M, &trajectoryModel_M->Timing.tArray[0]);
rtmSetTFinal(trajectoryModel_M, 12.0);
trajectoryModel_M->Timing.stepSize0 = 0.01;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
trajectoryModel_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
rtliSetLogXSignalInfo(trajectoryModel_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(trajectoryModel_M->rtwLogInfo, (NULL));
rtliSetLogT(trajectoryModel_M->rtwLogInfo, "tout");
rtliSetLogX(trajectoryModel_M->rtwLogInfo, "");
rtliSetLogXFinal(trajectoryModel_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(trajectoryModel_M->rtwLogInfo, "rt_");
rtliSetLogFormat(trajectoryModel_M->rtwLogInfo, 0);
rtliSetLogMaxRows(trajectoryModel_M->rtwLogInfo, 1000);
rtliSetLogDecimation(trajectoryModel_M->rtwLogInfo, 1);
rtliSetLogY(trajectoryModel_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(trajectoryModel_M->rtwLogInfo, (NULL));
rtliSetLogYSignalPtrs(trajectoryModel_M->rtwLogInfo, (NULL));
}
/* block I/O */
(void) memset(((void *) &trajectoryModel_B), 0,
sizeof(B_trajectoryModel_T));
/* states (continuous) */
{
(void) memset((void *)&trajectoryModel_X, 0,
sizeof(X_trajectoryModel_T));
}
/* states (dwork) */
(void) memset((void *)&trajectoryModel_DW, 0,
sizeof(DW_trajectoryModel_T));
/* Matfile logging */
rt_StartDataLoggingWithStartTime(trajectoryModel_M->rtwLogInfo, 0.0,
rtmGetTFinal(trajectoryModel_M), trajectoryModel_M->Timing.stepSize0,
(&rtmGetErrorStatus(trajectoryModel_M)));
/* Start for If: '<Root>/If' */
trajectoryModel_DW.If_ActiveSubsystem = -1;
/* Start for IfAction SubSystem: '<Root>/If Action Subsystem' */
traject_IfActionSubsystem_Start(&trajectoryModel_B.IfActionSubsystem,
(P_IfActionSubsystem_trajector_T *)&trajectoryModel_P.IfActionSubsystem);
/* End of Start for SubSystem: '<Root>/If Action Subsystem' */
/* Start for IfAction SubSystem: '<Root>/If Action Subsystem1' */
traject_IfActionSubsystem_Start(&trajectoryModel_B.IfActionSubsystem1,
(P_IfActionSubsystem_trajector_T *)&trajectoryModel_P.IfActionSubsystem1);
/* End of Start for SubSystem: '<Root>/If Action Subsystem1' */
/* InitializeConditions for Integrator: '<Root>/x' */
trajectoryModel_X.x_CSTATE = trajectoryModel_P.initialConditions[0];
/* InitializeConditions for Integrator: '<Root>/y ' */
trajectoryModel_X.y_CSTATE = trajectoryModel_P.initialConditions[2];
/* InitializeConditions for Integrator: '<Root>/dx' */
trajectoryModel_X.dx_CSTATE = trajectoryModel_P.initialConditions[1];
/* InitializeConditions for Integrator: '<Root>/dy' */
trajectoryModel_X.dy_CSTATE = trajectoryModel_P.initialConditions[3];
}
/* Model initialize function */
void Mechanics_initialize(boolean_T firstTime)
{
(void)firstTime;
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */
(void) memset((char_T *)Mechanics_M,0,
sizeof(RT_MODEL_Mechanics));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&Mechanics_M->solverInfo,
&Mechanics_M->Timing.simTimeStep);
rtsiSetTPtr(&Mechanics_M->solverInfo, &rtmGetTPtr(Mechanics_M));
rtsiSetStepSizePtr(&Mechanics_M->solverInfo, &Mechanics_M->Timing.stepSize0);
rtsiSetdXPtr(&Mechanics_M->solverInfo, &Mechanics_M->ModelData.derivs);
rtsiSetContStatesPtr(&Mechanics_M->solverInfo,
&Mechanics_M->ModelData.contStates);
rtsiSetNumContStatesPtr(&Mechanics_M->solverInfo,
&Mechanics_M->Sizes.numContStates);
rtsiSetErrorStatusPtr(&Mechanics_M->solverInfo, (&rtmGetErrorStatus
(Mechanics_M)));
rtsiSetRTModelPtr(&Mechanics_M->solverInfo, Mechanics_M);
}
rtsiSetSimTimeStep(&Mechanics_M->solverInfo, MAJOR_TIME_STEP);
Mechanics_M->ModelData.intgData.y = Mechanics_M->ModelData.odeY;
Mechanics_M->ModelData.intgData.f[0] = Mechanics_M->ModelData.odeF[0];
Mechanics_M->ModelData.intgData.f[1] = Mechanics_M->ModelData.odeF[1];
Mechanics_M->ModelData.intgData.f[2] = Mechanics_M->ModelData.odeF[2];
Mechanics_M->ModelData.contStates = ((real_T *) &Mechanics_X);
rtsiSetSolverData(&Mechanics_M->solverInfo, (void *)
&Mechanics_M->ModelData.intgData);
rtsiSetSolverName(&Mechanics_M->solverInfo,"ode3");
Mechanics_M->solverInfoPtr = (&Mechanics_M->solverInfo);
/* Initialize timing info */
{
int_T *mdlTsMap = Mechanics_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
mdlTsMap[1] = 1;
Mechanics_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
Mechanics_M->Timing.sampleTimes = (&Mechanics_M->Timing.sampleTimesArray[0]);
Mechanics_M->Timing.offsetTimes = (&Mechanics_M->Timing.offsetTimesArray[0]);
/* task periods */
Mechanics_M->Timing.sampleTimes[0] = (0.0);
Mechanics_M->Timing.sampleTimes[1] = (35.0);
/* task offsets */
Mechanics_M->Timing.offsetTimes[0] = (0.0);
Mechanics_M->Timing.offsetTimes[1] = (0.0);
}
rtmSetTPtr(Mechanics_M, &Mechanics_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = Mechanics_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
mdlSampleHits[1] = 1;
Mechanics_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(Mechanics_M, -1);
Mechanics_M->Timing.stepSize0 = 35.0;
Mechanics_M->Timing.stepSize1 = 35.0;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
Mechanics_M->rtwLogInfo = &rt_DataLoggingInfo;
rtliSetLogFormat(Mechanics_M->rtwLogInfo, 0);
rtliSetLogMaxRows(Mechanics_M->rtwLogInfo, 1000);
rtliSetLogDecimation(Mechanics_M->rtwLogInfo, 1);
rtliSetLogVarNameModifier(Mechanics_M->rtwLogInfo, "rt_");
rtliSetLogT(Mechanics_M->rtwLogInfo, "tout");
rtliSetLogX(Mechanics_M->rtwLogInfo, "");
rtliSetLogXFinal(Mechanics_M->rtwLogInfo, "");
rtliSetSigLog(Mechanics_M->rtwLogInfo, "");
rtliSetLogXSignalInfo(Mechanics_M->rtwLogInfo, NULL);
rtliSetLogXSignalPtrs(Mechanics_M->rtwLogInfo, NULL);
rtliSetLogY(Mechanics_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(Mechanics_M->rtwLogInfo, NULL);
rtliSetLogYSignalPtrs(Mechanics_M->rtwLogInfo, NULL);
}
Mechanics_M->solverInfoPtr = (&Mechanics_M->solverInfo);
Mechanics_M->Timing.stepSize = (35.0);
rtsiSetFixedStepSize(&Mechanics_M->solverInfo, 35.0);
rtsiSetSolverMode(&Mechanics_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
Mechanics_M->ModelData.blockIO = ((void *) &Mechanics_B);
{
int_T i;
void *pVoidBlockIORegion;
pVoidBlockIORegion = (void *)(&Mechanics_B.Arduino);
for (i = 0; i < 18; i++) {
((real_T*)pVoidBlockIORegion)[i] = 0.0;
}
}
/* parameters */
Mechanics_M->ModelData.defaultParam = ((real_T *) &Mechanics_P);
/* states (continuous) */
{
real_T *x = (real_T *) &Mechanics_X;
Mechanics_M->ModelData.contStates = (x);
(void) memset((char_T *)x,0,
sizeof(ContinuousStates_Mechanics));
}
/* states (dwork) */
Mechanics_M->Work.dwork = ((void *) &Mechanics_DWork);
(void) memset((char_T *) &Mechanics_DWork,0,
sizeof(D_Work_Mechanics));
/* child S-Function registration */
{
RTWSfcnInfo *sfcnInfo = &Mechanics_M->NonInlinedSFcns.sfcnInfo;
Mechanics_M->sfcnInfo = (sfcnInfo);
rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(Mechanics_M)));
rtssSetNumRootSampTimesPtr(sfcnInfo, &Mechanics_M->Sizes.numSampTimes);
rtssSetTPtrPtr(sfcnInfo, &rtmGetTPtr(Mechanics_M));
rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(Mechanics_M));
rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(Mechanics_M));
rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(Mechanics_M));
rtssSetStepSizePtr(sfcnInfo, &Mechanics_M->Timing.stepSize);
rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(Mechanics_M));
rtssSetDerivCacheNeedsResetPtr(sfcnInfo,
&Mechanics_M->ModelData.derivCacheNeedsReset);
rtssSetZCCacheNeedsResetPtr(sfcnInfo,
&Mechanics_M->ModelData.zCCacheNeedsReset);
rtssSetBlkStateChangePtr(sfcnInfo, &Mechanics_M->ModelData.blkStateChange);
rtssSetSampleHitsPtr(sfcnInfo, &Mechanics_M->Timing.sampleHits);
rtssSetPerTaskSampleHitsPtr(sfcnInfo, &Mechanics_M->Timing.perTaskSampleHits);
rtssSetSimModePtr(sfcnInfo, &Mechanics_M->simMode);
rtssSetSolverInfoPtr(sfcnInfo, &Mechanics_M->solverInfoPtr);
}
Mechanics_M->Sizes.numSFcns = (1);
/* register each child */
{
(void) memset((void *)&Mechanics_M->NonInlinedSFcns.childSFunctions[0],0,
1*sizeof(SimStruct));
Mechanics_M->childSfunctions =
(&Mechanics_M->NonInlinedSFcns.childSFunctionPtrs[0]);
Mechanics_M->childSfunctions[0] =
(&Mechanics_M->NonInlinedSFcns.childSFunctions[0]);
/* Level2 S-Function Block: Mechanics/<Root>/Arduino (QueryInstrument) */
{
SimStruct *rts = Mechanics_M->childSfunctions[0];
/* timing info */
time_T *sfcnPeriod = Mechanics_M->NonInlinedSFcns.Sfcn0.sfcnPeriod;
time_T *sfcnOffset = Mechanics_M->NonInlinedSFcns.Sfcn0.sfcnOffset;
int_T *sfcnTsMap = Mechanics_M->NonInlinedSFcns.Sfcn0.sfcnTsMap;
(void) memset((void*)sfcnPeriod,0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset,0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &Mechanics_M->NonInlinedSFcns.blkInfo2[0]);
ssSetRTWSfcnInfo(rts, Mechanics_M->sfcnInfo);
}
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &Mechanics_M->NonInlinedSFcns.methods2[0]);
}
/* outputs */
{
ssSetPortInfoForOutputs(rts,
&Mechanics_M->NonInlinedSFcns.Sfcn0.outputPortInfo[0]);
_ssSetNumOutputPorts(rts, 1);
/* port 0 */
{
_ssSetOutputPortNumDimensions(rts, 0, 1);
ssSetOutputPortWidth(rts, 0, 1);
ssSetOutputPortSignal(rts, 0, ((real_T *) &Mechanics_B.Arduino));
}
}
/* path info */
ssSetModelName(rts, "Arduino");
ssSetPath(rts, "Mechanics/Arduino");
ssSetRTModel(rts,Mechanics_M);
ssSetParentSS(rts, NULL);
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&Mechanics_M->NonInlinedSFcns.Sfcn0.params;
ssSetSFcnParamsCount(rts, 39);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)&Mechanics_P.Arduino_P1_Size[0]);
ssSetSFcnParam(rts, 1, (mxArray*)&Mechanics_P.Arduino_P2_Size[0]);
ssSetSFcnParam(rts, 2, (mxArray*)&Mechanics_P.Arduino_P3_Size[0]);
ssSetSFcnParam(rts, 3, (mxArray*)&Mechanics_P.Arduino_P4_Size[0]);
ssSetSFcnParam(rts, 4, (mxArray*)&Mechanics_P.Arduino_P5_Size[0]);
ssSetSFcnParam(rts, 5, (mxArray*)&Mechanics_P.Arduino_P6_Size[0]);
ssSetSFcnParam(rts, 6, (mxArray*)&Mechanics_P.Arduino_P7_Size[0]);
ssSetSFcnParam(rts, 7, (mxArray*)&Mechanics_P.Arduino_P8_Size[0]);
ssSetSFcnParam(rts, 8, (mxArray*)&Mechanics_P.Arduino_P9_Size[0]);
ssSetSFcnParam(rts, 9, (mxArray*)&Mechanics_P.Arduino_P10_Size[0]);
ssSetSFcnParam(rts, 10, (mxArray*)&Mechanics_P.Arduino_P11_Size[0]);
ssSetSFcnParam(rts, 11, (mxArray*)&Mechanics_P.Arduino_P12_Size[0]);
ssSetSFcnParam(rts, 12, (mxArray*)&Mechanics_P.Arduino_P13_Size[0]);
ssSetSFcnParam(rts, 13, (mxArray*)&Mechanics_P.Arduino_P14_Size[0]);
ssSetSFcnParam(rts, 14, (mxArray*)&Mechanics_P.Arduino_P15_Size[0]);
ssSetSFcnParam(rts, 15, (mxArray*)&Mechanics_P.Arduino_P16_Size[0]);
ssSetSFcnParam(rts, 16, (mxArray*)&Mechanics_P.Arduino_P17_Size[0]);
ssSetSFcnParam(rts, 17, (mxArray*)&Mechanics_P.Arduino_P18_Size[0]);
ssSetSFcnParam(rts, 18, (mxArray*)&Mechanics_P.Arduino_P19_Size[0]);
ssSetSFcnParam(rts, 19, (mxArray*)&Mechanics_P.Arduino_P20_Size[0]);
ssSetSFcnParam(rts, 20, (mxArray*)&Mechanics_P.Arduino_P21_Size[0]);
ssSetSFcnParam(rts, 21, (mxArray*)&Mechanics_P.Arduino_P22_Size[0]);
ssSetSFcnParam(rts, 22, (mxArray*)&Mechanics_P.Arduino_P23_Size[0]);
ssSetSFcnParam(rts, 23, (mxArray*)&Mechanics_P.Arduino_P24_Size[0]);
ssSetSFcnParam(rts, 24, (mxArray*)&Mechanics_P.Arduino_P25_Size[0]);
ssSetSFcnParam(rts, 25, (mxArray*)&Mechanics_P.Arduino_P26_Size[0]);
ssSetSFcnParam(rts, 26, (mxArray*)&Mechanics_P.Arduino_P27_Size[0]);
ssSetSFcnParam(rts, 27, (mxArray*)&Mechanics_P.Arduino_P28_Size[0]);
ssSetSFcnParam(rts, 28, (mxArray*)&Mechanics_P.Arduino_P29_Size[0]);
ssSetSFcnParam(rts, 29, (mxArray*)&Mechanics_P.Arduino_P30_Size[0]);
ssSetSFcnParam(rts, 30, (mxArray*)&Mechanics_P.Arduino_P31_Size[0]);
ssSetSFcnParam(rts, 31, (mxArray*)&Mechanics_P.Arduino_P32_Size[0]);
ssSetSFcnParam(rts, 32, (mxArray*)&Mechanics_P.Arduino_P33_Size[0]);
ssSetSFcnParam(rts, 33, (mxArray*)&Mechanics_P.Arduino_P34_Size[0]);
ssSetSFcnParam(rts, 34, (mxArray*)&Mechanics_P.Arduino_P35_Size[0]);
ssSetSFcnParam(rts, 35, (mxArray*)&Mechanics_P.Arduino_P36_Size[0]);
ssSetSFcnParam(rts, 36, (mxArray*)&Mechanics_P.Arduino_P37_Size[0]);
ssSetSFcnParam(rts, 37, (mxArray*)&Mechanics_P.Arduino_P38_Size[0]);
ssSetSFcnParam(rts, 38, (mxArray*)&Mechanics_P.Arduino_P39_Size[0]);
}
/* work vectors */
ssSetPWork(rts, (void **) &Mechanics_DWork.Arduino_PWORK);
{
struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *)
&Mechanics_M->NonInlinedSFcns.Sfcn0.dWork;
ssSetSFcnDWork(rts, dWorkRecord);
_ssSetNumDWork(rts, 1);
/* PWORK */
ssSetDWorkWidth(rts, 0, 1);
ssSetDWorkDataType(rts, 0,SS_POINTER);
ssSetDWorkComplexSignal(rts, 0, 0);
ssSetDWork(rts, 0, &Mechanics_DWork.Arduino_PWORK);
}
/* registration */
QueryInstrument(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 35.0);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 1;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetOutputPortConnected(rts, 0, 1);
_ssSetOutputPortBeingMerged(rts, 0, 0);
/* Update the BufferDstPort flags for each input port */
}
}
}
/* Registration function */
RT_MODEL_sfcndemo_sfunmem_T *sfcndemo_sfunmem(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)sfcndemo_sfunmem_M, 0,
sizeof(RT_MODEL_sfcndemo_sfunmem_T));
/* Initialize timing info */
{
int_T *mdlTsMap = sfcndemo_sfunmem_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
sfcndemo_sfunmem_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
sfcndemo_sfunmem_M->Timing.sampleTimes =
(&sfcndemo_sfunmem_M->Timing.sampleTimesArray[0]);
sfcndemo_sfunmem_M->Timing.offsetTimes =
(&sfcndemo_sfunmem_M->Timing.offsetTimesArray[0]);
/* task periods */
sfcndemo_sfunmem_M->Timing.sampleTimes[0] = (0.01);
/* task offsets */
sfcndemo_sfunmem_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(sfcndemo_sfunmem_M, &sfcndemo_sfunmem_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = sfcndemo_sfunmem_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
sfcndemo_sfunmem_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(sfcndemo_sfunmem_M, 0.5);
sfcndemo_sfunmem_M->Timing.stepSize0 = 0.01;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
sfcndemo_sfunmem_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
rtliSetLogXSignalInfo(sfcndemo_sfunmem_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(sfcndemo_sfunmem_M->rtwLogInfo, (NULL));
rtliSetLogT(sfcndemo_sfunmem_M->rtwLogInfo, "tout");
rtliSetLogX(sfcndemo_sfunmem_M->rtwLogInfo, "");
rtliSetLogXFinal(sfcndemo_sfunmem_M->rtwLogInfo, "");
rtliSetSigLog(sfcndemo_sfunmem_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(sfcndemo_sfunmem_M->rtwLogInfo, "rt_");
rtliSetLogFormat(sfcndemo_sfunmem_M->rtwLogInfo, 0);
rtliSetLogMaxRows(sfcndemo_sfunmem_M->rtwLogInfo, 0);
rtliSetLogDecimation(sfcndemo_sfunmem_M->rtwLogInfo, 1);
/*
* Set pointers to the data and signal info for each output
*/
{
static void * rt_LoggedOutputSignalPtrs[] = {
&sfcndemo_sfunmem_Y.Out1,
&sfcndemo_sfunmem_Y.Out2[0]
};
rtliSetLogYSignalPtrs(sfcndemo_sfunmem_M->rtwLogInfo, ((LogSignalPtrsType)
rt_LoggedOutputSignalPtrs));
}
{
static int_T rt_LoggedOutputWidths[] = {
1,
2
};
static int_T rt_LoggedOutputNumDimensions[] = {
1,
1
};
static int_T rt_LoggedOutputDimensions[] = {
1,
2
};
static boolean_T rt_LoggedOutputIsVarDims[] = {
0,
0
};
static void* rt_LoggedCurrentSignalDimensions[] = {
(NULL),
(NULL)
};
static int_T rt_LoggedCurrentSignalDimensionsSize[] = {
4,
4
};
static BuiltInDTypeId rt_LoggedOutputDataTypeIds[] = {
SS_DOUBLE,
SS_DOUBLE
};
static int_T rt_LoggedOutputComplexSignals[] = {
0,
0
};
static const char_T *rt_LoggedOutputLabels[] = {
"",
"" };
static const char_T *rt_LoggedOutputBlockNames[] = {
"sfcndemo_sfunmem/Out1",
"sfcndemo_sfunmem/Out2" };
static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = {
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 }
};
static RTWLogSignalInfo rt_LoggedOutputSignalInfo[] = {
{
2,
rt_LoggedOutputWidths,
rt_LoggedOutputNumDimensions,
rt_LoggedOutputDimensions,
rt_LoggedOutputIsVarDims,
rt_LoggedCurrentSignalDimensions,
rt_LoggedCurrentSignalDimensionsSize,
rt_LoggedOutputDataTypeIds,
rt_LoggedOutputComplexSignals,
(NULL),
{ rt_LoggedOutputLabels },
(NULL),
(NULL),
(NULL),
{ rt_LoggedOutputBlockNames },
{ (NULL) },
(NULL),
rt_RTWLogDataTypeConvert
}
};
rtliSetLogYSignalInfo(sfcndemo_sfunmem_M->rtwLogInfo,
rt_LoggedOutputSignalInfo);
/* set currSigDims field */
rt_LoggedCurrentSignalDimensions[0] = &rt_LoggedOutputWidths[0];
rt_LoggedCurrentSignalDimensions[1] = &rt_LoggedOutputWidths[1];
}
rtliSetLogY(sfcndemo_sfunmem_M->rtwLogInfo, "yout");
}
sfcndemo_sfunmem_M->solverInfoPtr = (&sfcndemo_sfunmem_M->solverInfo);
sfcndemo_sfunmem_M->Timing.stepSize = (0.01);
rtsiSetFixedStepSize(&sfcndemo_sfunmem_M->solverInfo, 0.01);
rtsiSetSolverMode(&sfcndemo_sfunmem_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
sfcndemo_sfunmem_M->ModelData.blockIO = ((void *) &sfcndemo_sfunmem_B);
{
sfcndemo_sfunmem_B.DiscretePulseGenerator = 0.0;
sfcndemo_sfunmem_B.Sum = 0.0;
}
/* parameters */
sfcndemo_sfunmem_M->ModelData.defaultParam = ((real_T *)&sfcndemo_sfunmem_P);
/* states (dwork) */
sfcndemo_sfunmem_M->ModelData.dwork = ((void *) &sfcndemo_sfunmem_DW);
(void) memset((void *)&sfcndemo_sfunmem_DW, 0,
sizeof(DW_sfcndemo_sfunmem_T));
sfcndemo_sfunmem_DW.SFunction1_RWORK.InputAtLastUpdate = 0.0;
sfcndemo_sfunmem_DW.SFunction2_RWORK.InputAtLastUpdate[0] = 0.0;
sfcndemo_sfunmem_DW.SFunction2_RWORK.InputAtLastUpdate[1] = 0.0;
/* external outputs */
sfcndemo_sfunmem_M->ModelData.outputs = (&sfcndemo_sfunmem_Y);
sfcndemo_sfunmem_Y.Out1 = 0.0;
sfcndemo_sfunmem_Y.Out2[0] = 0.0;
sfcndemo_sfunmem_Y.Out2[1] = 0.0;
/* Initialize Sizes */
sfcndemo_sfunmem_M->Sizes.numContStates = (0);/* Number of continuous states */
sfcndemo_sfunmem_M->Sizes.numY = (3);/* Number of model outputs */
sfcndemo_sfunmem_M->Sizes.numU = (0);/* Number of model inputs */
sfcndemo_sfunmem_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */
sfcndemo_sfunmem_M->Sizes.numSampTimes = (1);/* Number of sample times */
sfcndemo_sfunmem_M->Sizes.numBlocks = (7);/* Number of blocks */
sfcndemo_sfunmem_M->Sizes.numBlockIO = (4);/* Number of block outputs */
sfcndemo_sfunmem_M->Sizes.numBlockPrms = (4);/* Sum of parameter "widths" */
return sfcndemo_sfunmem_M;
}
/* Model initialize function */
void testSHM_initialize(boolean_T firstTime)
{
(void)firstTime;
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)testSHM_M,0,
sizeof(RT_MODEL_testSHM));
rtsiSetSolverName(&testSHM_M->solverInfo,"FixedStepDiscrete");
testSHM_M->solverInfoPtr = (&testSHM_M->solverInfo);
/* Initialize timing info */
{
int_T *mdlTsMap = testSHM_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
testSHM_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
testSHM_M->Timing.sampleTimes = (&testSHM_M->Timing.sampleTimesArray[0]);
testSHM_M->Timing.offsetTimes = (&testSHM_M->Timing.offsetTimesArray[0]);
/* task periods */
testSHM_M->Timing.sampleTimes[0] = (0.001);
/* task offsets */
testSHM_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(testSHM_M, &testSHM_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = testSHM_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
testSHM_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(testSHM_M, 10.0);
testSHM_M->Timing.stepSize0 = 0.001;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
testSHM_M->rtwLogInfo = &rt_DataLoggingInfo;
rtliSetLogXSignalInfo(testSHM_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(testSHM_M->rtwLogInfo, (NULL));
rtliSetLogT(testSHM_M->rtwLogInfo, "tout");
rtliSetLogX(testSHM_M->rtwLogInfo, "");
rtliSetLogXFinal(testSHM_M->rtwLogInfo, "");
rtliSetSigLog(testSHM_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(testSHM_M->rtwLogInfo, "rt_");
rtliSetLogFormat(testSHM_M->rtwLogInfo, 0);
rtliSetLogMaxRows(testSHM_M->rtwLogInfo, 1000);
rtliSetLogDecimation(testSHM_M->rtwLogInfo, 1);
rtliSetLogY(testSHM_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(testSHM_M->rtwLogInfo, (NULL));
rtliSetLogYSignalPtrs(testSHM_M->rtwLogInfo, (NULL));
}
testSHM_M->solverInfoPtr = (&testSHM_M->solverInfo);
testSHM_M->Timing.stepSize = (0.001);
rtsiSetFixedStepSize(&testSHM_M->solverInfo, 0.001);
rtsiSetSolverMode(&testSHM_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
testSHM_M->ModelData.blockIO = ((void *) &testSHM_B);
(void) memset(((void *) &testSHM_B),0,
sizeof(BlockIO_testSHM));
/* parameters */
testSHM_M->ModelData.defaultParam = ((real_T *) &testSHM_P);
/* states (dwork) */
testSHM_M->Work.dwork = ((void *) &testSHM_DWork);
(void) memset((void *)&testSHM_DWork, 0,
sizeof(D_Work_testSHM));
/* C API for Parameter Tuning and/or Signal Monitoring */
{
static ModelMappingInfo mapInfo;
(void) memset((char_T *) &mapInfo,0,
sizeof(mapInfo));
/* block signal monitoring map */
mapInfo.Signals.blockIOSignals = &rtBIOSignals[0];
mapInfo.Signals.numBlockIOSignals = 2;
/* parameter tuning maps */
mapInfo.Parameters.blockTuning = &rtBlockTuning[0];
mapInfo.Parameters.variableTuning = &rtVariableTuning[0];
mapInfo.Parameters.parametersMap = rtParametersMap;
mapInfo.Parameters.dimensionsMap = rtDimensionsMap;
mapInfo.Parameters.numBlockTuning = 4;
mapInfo.Parameters.numVariableTuning = 0;
testSHM_M->SpecialInfo.mappingInfo = (&mapInfo);
}
/* child S-Function registration */
{
RTWSfcnInfo *sfcnInfo = &testSHM_M->NonInlinedSFcns.sfcnInfo;
testSHM_M->sfcnInfo = (sfcnInfo);
rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(testSHM_M)));
rtssSetNumRootSampTimesPtr(sfcnInfo, &testSHM_M->Sizes.numSampTimes);
rtssSetTPtrPtr(sfcnInfo, &rtmGetTPtr(testSHM_M));
rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(testSHM_M));
rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(testSHM_M));
rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(testSHM_M));
rtssSetStepSizePtr(sfcnInfo, &testSHM_M->Timing.stepSize);
rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(testSHM_M));
rtssSetDerivCacheNeedsResetPtr(sfcnInfo,
&testSHM_M->ModelData.derivCacheNeedsReset);
rtssSetZCCacheNeedsResetPtr(sfcnInfo,
&testSHM_M->ModelData.zCCacheNeedsReset);
rtssSetBlkStateChangePtr(sfcnInfo, &testSHM_M->ModelData.blkStateChange);
rtssSetSampleHitsPtr(sfcnInfo, &testSHM_M->Timing.sampleHits);
rtssSetPerTaskSampleHitsPtr(sfcnInfo, &testSHM_M->Timing.perTaskSampleHits);
rtssSetSimModePtr(sfcnInfo, &testSHM_M->simMode);
rtssSetSolverInfoPtr(sfcnInfo, &testSHM_M->solverInfoPtr);
}
testSHM_M->Sizes.numSFcns = (2);
/* register each child */
{
(void) memset((void *)&testSHM_M->NonInlinedSFcns.childSFunctions[0],0,
2*sizeof(SimStruct));
testSHM_M->childSfunctions = (&testSHM_M->
NonInlinedSFcns.childSFunctionPtrs[0]);
testSHM_M->childSfunctions[0] = (&testSHM_M->
NonInlinedSFcns.childSFunctions[0]);
testSHM_M->childSfunctions[1] = (&testSHM_M->
NonInlinedSFcns.childSFunctions[1]);
/* Level2 S-Function Block: testSHM/<Root>/S-Function (sSHM) */
{
SimStruct *rts = testSHM_M->childSfunctions[0];
/* timing info */
time_T *sfcnPeriod = testSHM_M->NonInlinedSFcns.Sfcn0.sfcnPeriod;
time_T *sfcnOffset = testSHM_M->NonInlinedSFcns.Sfcn0.sfcnOffset;
int_T *sfcnTsMap = testSHM_M->NonInlinedSFcns.Sfcn0.sfcnTsMap;
(void) memset((void*)sfcnPeriod,0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset,0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &testSHM_M->NonInlinedSFcns.blkInfo2[0]);
ssSetRTWSfcnInfo(rts, testSHM_M->sfcnInfo);
}
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &testSHM_M->NonInlinedSFcns.methods2[0]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &testSHM_M->NonInlinedSFcns.methods3[0]);
}
/* inputs */
{
_ssSetNumInputPorts(rts, 1);
ssSetPortInfoForInputs(rts,
&testSHM_M->NonInlinedSFcns.Sfcn0.inputPortInfo[0]);
/* port 0 */
{
ssSetInputPortRequiredContiguous(rts, 0, 1);
ssSetInputPortSignal(rts, 0, testSHM_B.TmpHiddenBufferAtSFunctionInpor);
_ssSetInputPortNumDimensions(rts, 0, 1);
ssSetInputPortWidth(rts, 0, 3);
}
}
/* outputs */
{
ssSetPortInfoForOutputs(rts,
&testSHM_M->NonInlinedSFcns.Sfcn0.outputPortInfo[0]);
_ssSetNumOutputPorts(rts, 1);
/* port 0 */
{
_ssSetOutputPortNumDimensions(rts, 0, 1);
ssSetOutputPortWidth(rts, 0, 3);
ssSetOutputPortSignal(rts, 0, ((real_T *) testSHM_B.SFunction));
}
}
/* path info */
ssSetModelName(rts, "S-Function");
ssSetPath(rts, "testSHM/S-Function");
ssSetRTModel(rts,testSHM_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* work vectors */
{
struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *)
&testSHM_M->NonInlinedSFcns.Sfcn0.dWork;
struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *)
&testSHM_M->NonInlinedSFcns.Sfcn0.dWorkAux;
ssSetSFcnDWork(rts, dWorkRecord);
ssSetSFcnDWorkAux(rts, dWorkAuxRecord);
_ssSetNumDWork(rts, 2);
/* DWORK1 */
ssSetDWorkWidth(rts, 0, 1);
ssSetDWorkDataType(rts, 0,SS_POINTER);
ssSetDWorkComplexSignal(rts, 0, 0);
ssSetDWork(rts, 0, &testSHM_DWork.SFunction_DWORK1);
/* DWORK2 */
ssSetDWorkWidth(rts, 1, 1);
ssSetDWorkDataType(rts, 1,SS_POINTER);
ssSetDWorkComplexSignal(rts, 1, 0);
ssSetDWork(rts, 1, &testSHM_DWork.SFunction_DWORK2);
}
/* registration */
sSHM(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.001);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 0;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetInputPortConnected(rts, 0, 1);
_ssSetOutputPortConnected(rts, 0, 1);
_ssSetOutputPortBeingMerged(rts, 0, 0);
/* Update the BufferDstPort flags for each input port */
ssSetInputPortBufferDstPort(rts, 0, -1);
}
/* Level2 S-Function Block: testSHM/<Root>/RTAI_SCOPE (sfun_rtai_scope) */
{
SimStruct *rts = testSHM_M->childSfunctions[1];
/* timing info */
time_T *sfcnPeriod = testSHM_M->NonInlinedSFcns.Sfcn1.sfcnPeriod;
time_T *sfcnOffset = testSHM_M->NonInlinedSFcns.Sfcn1.sfcnOffset;
int_T *sfcnTsMap = testSHM_M->NonInlinedSFcns.Sfcn1.sfcnTsMap;
(void) memset((void*)sfcnPeriod,0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset,0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &testSHM_M->NonInlinedSFcns.blkInfo2[1]);
ssSetRTWSfcnInfo(rts, testSHM_M->sfcnInfo);
}
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &testSHM_M->NonInlinedSFcns.methods2[1]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &testSHM_M->NonInlinedSFcns.methods3[1]);
}
/* inputs */
{
_ssSetNumInputPorts(rts, 3);
ssSetPortInfoForInputs(rts,
&testSHM_M->NonInlinedSFcns.Sfcn1.inputPortInfo[0]);
/* port 0 */
{
real_T const **sfcnUPtrs = (real_T const **)
&testSHM_M->NonInlinedSFcns.Sfcn1.UPtrs0;
sfcnUPtrs[0] = &testSHM_B.SFunction[0];
ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]);
_ssSetInputPortNumDimensions(rts, 0, 1);
ssSetInputPortWidth(rts, 0, 1);
}
/* port 1 */
{
real_T const **sfcnUPtrs = (real_T const **)
&testSHM_M->NonInlinedSFcns.Sfcn1.UPtrs1;
sfcnUPtrs[0] = &testSHM_B.SFunction[1];
ssSetInputPortSignalPtrs(rts, 1, (InputPtrsType)&sfcnUPtrs[0]);
_ssSetInputPortNumDimensions(rts, 1, 1);
ssSetInputPortWidth(rts, 1, 1);
}
/* port 2 */
{
real_T const **sfcnUPtrs = (real_T const **)
&testSHM_M->NonInlinedSFcns.Sfcn1.UPtrs2;
sfcnUPtrs[0] = &testSHM_B.SFunction[2];
ssSetInputPortSignalPtrs(rts, 2, (InputPtrsType)&sfcnUPtrs[0]);
_ssSetInputPortNumDimensions(rts, 2, 1);
ssSetInputPortWidth(rts, 2, 1);
}
}
/* path info */
ssSetModelName(rts, "RTAI_SCOPE");
ssSetPath(rts, "testSHM/RTAI_SCOPE");
ssSetRTModel(rts,testSHM_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&testSHM_M->NonInlinedSFcns.Sfcn1.params;
ssSetSFcnParamsCount(rts, 2);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)&testSHM_P.RTAI_SCOPE_P1_Size[0]);
ssSetSFcnParam(rts, 1, (mxArray*)&testSHM_P.RTAI_SCOPE_P2_Size[0]);
}
/* work vectors */
ssSetPWork(rts, (void **) &testSHM_DWork.RTAI_SCOPE_PWORK);
{
struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *)
&testSHM_M->NonInlinedSFcns.Sfcn1.dWork;
struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *)
&testSHM_M->NonInlinedSFcns.Sfcn1.dWorkAux;
ssSetSFcnDWork(rts, dWorkRecord);
ssSetSFcnDWorkAux(rts, dWorkAuxRecord);
_ssSetNumDWork(rts, 1);
/* PWORK */
ssSetDWorkWidth(rts, 0, 1);
ssSetDWorkDataType(rts, 0,SS_POINTER);
ssSetDWorkComplexSignal(rts, 0, 0);
ssSetDWork(rts, 0, &testSHM_DWork.RTAI_SCOPE_PWORK);
}
/* registration */
sfun_rtai_scope(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.001);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 0;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetInputPortConnected(rts, 0, 1);
_ssSetInputPortConnected(rts, 1, 1);
_ssSetInputPortConnected(rts, 2, 1);
/* Update the BufferDstPort flags for each input port */
ssSetInputPortBufferDstPort(rts, 0, -1);
ssSetInputPortBufferDstPort(rts, 1, -1);
ssSetInputPortBufferDstPort(rts, 2, -1);
}
}
}
RT_MODEL_ALLOCATION *ALLOCATION(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)ALLOCATION_M, 0,
sizeof(RT_MODEL_ALLOCATION));
/* Initialize timing info */
{
int_T *mdlTsMap = ALLOCATION_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
ALLOCATION_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
ALLOCATION_M->Timing.sampleTimes = (&ALLOCATION_M->Timing.sampleTimesArray[0]);
ALLOCATION_M->Timing.offsetTimes = (&ALLOCATION_M->Timing.offsetTimesArray[0]);
/* task periods */
ALLOCATION_M->Timing.sampleTimes[0] = (0.01);
/* task offsets */
ALLOCATION_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(ALLOCATION_M, &ALLOCATION_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = ALLOCATION_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
ALLOCATION_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(ALLOCATION_M, -1);
ALLOCATION_M->Timing.stepSize0 = 0.01;
ALLOCATION_M->solverInfoPtr = (&ALLOCATION_M->solverInfo);
ALLOCATION_M->Timing.stepSize = (0.01);
rtsiSetFixedStepSize(&ALLOCATION_M->solverInfo, 0.01);
rtsiSetSolverMode(&ALLOCATION_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* external inputs */
ALLOCATION_M->ModelData.inputs = (((void*)&ALLOCATION_U));
(void) memset((void *)&ALLOCATION_U, 0,
sizeof(ExternalInputs_ALLOCATION));
/* external outputs */
ALLOCATION_M->ModelData.outputs = (&ALLOCATION_Y);
(void) memset(&ALLOCATION_Y.w[0], 0,
6U*sizeof(real32_T));
/* Initialize Sizes */
ALLOCATION_M->Sizes.numContStates = (0);/* Number of continuous states */
ALLOCATION_M->Sizes.numY = (6); /* Number of model outputs */
ALLOCATION_M->Sizes.numU = (34); /* Number of model inputs */
ALLOCATION_M->Sizes.sysDirFeedThru = (1);/* The model is direct feedthrough */
ALLOCATION_M->Sizes.numSampTimes = (1);/* Number of sample times */
ALLOCATION_M->Sizes.numBlocks = (71);/* Number of blocks */
ALLOCATION_M->Sizes.numBlockIO = (0);/* Number of block outputs */
return ALLOCATION_M;
}
/* Registration function */
RT_MODEL_RA4_student_T *RA4_student(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)RA4_student_M, 0,
sizeof(RT_MODEL_RA4_student_T));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&RA4_student_M->solverInfo,
&RA4_student_M->Timing.simTimeStep);
rtsiSetTPtr(&RA4_student_M->solverInfo, &rtmGetTPtr(RA4_student_M));
rtsiSetStepSizePtr(&RA4_student_M->solverInfo,
&RA4_student_M->Timing.stepSize0);
rtsiSetErrorStatusPtr(&RA4_student_M->solverInfo, (&rtmGetErrorStatus
(RA4_student_M)));
rtsiSetRTModelPtr(&RA4_student_M->solverInfo, RA4_student_M);
}
rtsiSetSimTimeStep(&RA4_student_M->solverInfo, MAJOR_TIME_STEP);
rtsiSetSolverName(&RA4_student_M->solverInfo,"FixedStepDiscrete");
RA4_student_M->solverInfoPtr = (&RA4_student_M->solverInfo);
/* Initialize timing info */
{
int_T *mdlTsMap = RA4_student_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
mdlTsMap[1] = 1;
RA4_student_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
RA4_student_M->Timing.sampleTimes = (&RA4_student_M->
Timing.sampleTimesArray[0]);
RA4_student_M->Timing.offsetTimes = (&RA4_student_M->
Timing.offsetTimesArray[0]);
/* task periods */
RA4_student_M->Timing.sampleTimes[0] = (0.0);
RA4_student_M->Timing.sampleTimes[1] = (0.000244140625);
/* task offsets */
RA4_student_M->Timing.offsetTimes[0] = (0.0);
RA4_student_M->Timing.offsetTimes[1] = (0.0);
}
rtmSetTPtr(RA4_student_M, &RA4_student_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = RA4_student_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
mdlSampleHits[1] = 1;
RA4_student_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(RA4_student_M, 1000.0);
RA4_student_M->Timing.stepSize0 = 0.000244140625;
RA4_student_M->Timing.stepSize1 = 0.000244140625;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
rt_DataLoggingInfo.loggingInterval = NULL;
RA4_student_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
rtliSetLogXSignalInfo(RA4_student_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(RA4_student_M->rtwLogInfo, (NULL));
rtliSetLogT(RA4_student_M->rtwLogInfo, "tout");
rtliSetLogX(RA4_student_M->rtwLogInfo, "");
rtliSetLogXFinal(RA4_student_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(RA4_student_M->rtwLogInfo, "rt_");
rtliSetLogFormat(RA4_student_M->rtwLogInfo, 0);
rtliSetLogMaxRows(RA4_student_M->rtwLogInfo, 0);
rtliSetLogDecimation(RA4_student_M->rtwLogInfo, 1);
rtliSetLogY(RA4_student_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(RA4_student_M->rtwLogInfo, (NULL));
rtliSetLogYSignalPtrs(RA4_student_M->rtwLogInfo, (NULL));
}
/* External mode info */
RA4_student_M->Sizes.checksums[0] = (2785597085U);
RA4_student_M->Sizes.checksums[1] = (79388889U);
RA4_student_M->Sizes.checksums[2] = (3150282079U);
RA4_student_M->Sizes.checksums[3] = (1201550713U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[2];
RA4_student_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
systemRan[1] = (sysRanDType *)&RA4_student_DW.Controller_SubsysRanBC;
rteiSetModelMappingInfoPtr(RA4_student_M->extModeInfo,
&RA4_student_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(RA4_student_M->extModeInfo,
RA4_student_M->Sizes.checksums);
rteiSetTPtr(RA4_student_M->extModeInfo, rtmGetTPtr(RA4_student_M));
}
RA4_student_M->solverInfoPtr = (&RA4_student_M->solverInfo);
RA4_student_M->Timing.stepSize = (0.000244140625);
rtsiSetFixedStepSize(&RA4_student_M->solverInfo, 0.000244140625);
rtsiSetSolverMode(&RA4_student_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
RA4_student_M->ModelData.blockIO = ((void *) &RA4_student_B);
(void) memset(((void *) &RA4_student_B), 0,
sizeof(B_RA4_student_T));
{
RA4_student_B.UnitDelay2[0] = 0.0;
RA4_student_B.UnitDelay2[1] = 0.0;
RA4_student_B.UnitDelay2[2] = 0.0;
RA4_student_B.UnitDelay1 = 0.0;
RA4_student_B.RobotArm_sfcn_o1 = 0.0;
RA4_student_B.RobotArm_sfcn_o2[0] = 0.0;
RA4_student_B.RobotArm_sfcn_o2[1] = 0.0;
RA4_student_B.RobotArm_sfcn_o2[2] = 0.0;
RA4_student_B.RobotArm_sfcn_o4 = 0.0;
RA4_student_B.Sum4 = 0.0;
RA4_student_B.Sum5 = 0.0;
RA4_student_B.Sum6 = 0.0;
RA4_student_B.ReferenceSolenoid = 0.0;
RA4_student_B.SFunction[0] = 0.0;
RA4_student_B.SFunction[1] = 0.0;
RA4_student_B.SFunction[2] = 0.0;
RA4_student_B.SFunction[3] = 0.0;
}
/* parameters */
RA4_student_M->ModelData.defaultParam = ((real_T *)&RA4_student_P);
/* states (dwork) */
RA4_student_M->ModelData.dwork = ((void *) &RA4_student_DW);
(void) memset((void *)&RA4_student_DW, 0,
sizeof(DW_RA4_student_T));
RA4_student_DW.UnitDelay2_DSTATE[0] = 0.0;
RA4_student_DW.UnitDelay2_DSTATE[1] = 0.0;
RA4_student_DW.UnitDelay2_DSTATE[2] = 0.0;
RA4_student_DW.UnitDelay1_DSTATE = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK0 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK1 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK2 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK3 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK4 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK5 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK6 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK7 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK8 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK9 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK10 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK11 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK12 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK13 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK14 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK15 = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK16[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK16[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK17[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK17[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK18[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK18[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK18[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK18[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK19[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK19[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK19[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK19[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK20[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK20[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK21[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK21[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK21[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK21[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK22[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK22[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK22[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK22[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK23[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK23[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK24[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK24[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK25[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK25[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK25[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK25[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK26[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK26[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK26[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK26[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK27[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK27[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK28[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK28[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK28[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK28[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK29[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK29[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK29[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK29[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK30[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK30[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK31[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK31[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK32[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK32[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK32[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK32[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK33[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK33[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK33[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK33[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK34[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK34[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK35[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK35[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK35[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK35[3] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK36[0] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK36[1] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK36[2] = 0.0;
RA4_student_DW.RobotArm_sfcn_DWORK36[3] = 0.0;
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
RA4_student_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
/* child S-Function registration */
{
RTWSfcnInfo *sfcnInfo = &RA4_student_M->NonInlinedSFcns.sfcnInfo;
RA4_student_M->sfcnInfo = (sfcnInfo);
rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(RA4_student_M)));
rtssSetNumRootSampTimesPtr(sfcnInfo, &RA4_student_M->Sizes.numSampTimes);
RA4_student_M->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(RA4_student_M)
[0]);
RA4_student_M->NonInlinedSFcns.taskTimePtrs[1] = &(rtmGetTPtr(RA4_student_M)
[1]);
rtssSetTPtrPtr(sfcnInfo,RA4_student_M->NonInlinedSFcns.taskTimePtrs);
rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(RA4_student_M));
rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(RA4_student_M));
rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(RA4_student_M));
rtssSetStepSizePtr(sfcnInfo, &RA4_student_M->Timing.stepSize);
rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(RA4_student_M));
rtssSetDerivCacheNeedsResetPtr(sfcnInfo,
&RA4_student_M->ModelData.derivCacheNeedsReset);
rtssSetZCCacheNeedsResetPtr(sfcnInfo,
&RA4_student_M->ModelData.zCCacheNeedsReset);
rtssSetBlkStateChangePtr(sfcnInfo, &RA4_student_M->ModelData.blkStateChange);
rtssSetSampleHitsPtr(sfcnInfo, &RA4_student_M->Timing.sampleHits);
rtssSetPerTaskSampleHitsPtr(sfcnInfo,
&RA4_student_M->Timing.perTaskSampleHits);
rtssSetSimModePtr(sfcnInfo, &RA4_student_M->simMode);
rtssSetSolverInfoPtr(sfcnInfo, &RA4_student_M->solverInfoPtr);
}
RA4_student_M->Sizes.numSFcns = (2);
/* register each child */
{
(void) memset((void *)&RA4_student_M->NonInlinedSFcns.childSFunctions[0], 0,
2*sizeof(SimStruct));
RA4_student_M->childSfunctions =
(&RA4_student_M->NonInlinedSFcns.childSFunctionPtrs[0]);
RA4_student_M->childSfunctions[0] =
(&RA4_student_M->NonInlinedSFcns.childSFunctions[0]);
RA4_student_M->childSfunctions[1] =
(&RA4_student_M->NonInlinedSFcns.childSFunctions[1]);
/* Level2 S-Function Block: RA4_student/<S6>/S-Function (sf_rt_scope) */
{
SimStruct *rts = RA4_student_M->childSfunctions[0];
/* timing info */
time_T *sfcnPeriod = RA4_student_M->NonInlinedSFcns.Sfcn0.sfcnPeriod;
time_T *sfcnOffset = RA4_student_M->NonInlinedSFcns.Sfcn0.sfcnOffset;
int_T *sfcnTsMap = RA4_student_M->NonInlinedSFcns.Sfcn0.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &RA4_student_M->NonInlinedSFcns.blkInfo2[0]);
}
ssSetRTWSfcnInfo(rts, RA4_student_M->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &RA4_student_M->NonInlinedSFcns.methods2[0]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &RA4_student_M->NonInlinedSFcns.methods3[0]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &RA4_student_M->NonInlinedSFcns.statesInfo2[0]);
ssSetPeriodicStatesInfo(rts,
&RA4_student_M->NonInlinedSFcns.periodicStatesInfo[0]);
}
/* inputs */
{
_ssSetNumInputPorts(rts, 1);
ssSetPortInfoForInputs(rts,
&RA4_student_M->NonInlinedSFcns.Sfcn0.inputPortInfo[0]);
/* port 0 */
{
real_T const **sfcnUPtrs = (real_T const **)
&RA4_student_M->NonInlinedSFcns.Sfcn0.UPtrs0;
sfcnUPtrs[0] = (real_T*)&RA4_student_RGND;
sfcnUPtrs[1] = (real_T*)&RA4_student_RGND;
sfcnUPtrs[2] = (real_T*)&RA4_student_RGND;
sfcnUPtrs[3] = (real_T*)&RA4_student_RGND;
sfcnUPtrs[4] = (real_T*)&RA4_student_RGND;
sfcnUPtrs[5] = (real_T*)&RA4_student_RGND;
sfcnUPtrs[6] = (real_T*)&RA4_student_RGND;
sfcnUPtrs[7] = (real_T*)&RA4_student_RGND;
ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]);
_ssSetInputPortNumDimensions(rts, 0, 1);
ssSetInputPortWidth(rts, 0, 8);
}
}
/* outputs */
{
ssSetPortInfoForOutputs(rts,
&RA4_student_M->NonInlinedSFcns.Sfcn0.outputPortInfo[0]);
_ssSetNumOutputPorts(rts, 1);
/* port 0 */
{
_ssSetOutputPortNumDimensions(rts, 0, 1);
ssSetOutputPortWidth(rts, 0, 4);
ssSetOutputPortSignal(rts, 0, ((real_T *) RA4_student_B.SFunction));
}
}
/* path info */
ssSetModelName(rts, "S-Function");
ssSetPath(rts, "RA4_student/Controller/RTScope/S-Function");
ssSetRTModel(rts,RA4_student_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&RA4_student_M->NonInlinedSFcns.Sfcn0.params;
ssSetSFcnParamsCount(rts, 1);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)RA4_student_P.SFunction_P1_Size);
}
/* registration */
sf_rt_scope(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.0);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 0;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetInputPortConnected(rts, 0, 1);
_ssSetOutputPortConnected(rts, 0, 1);
_ssSetOutputPortBeingMerged(rts, 0, 0);
/* Update the BufferDstPort flags for each input port */
ssSetInputPortBufferDstPort(rts, 0, -1);
}
/* RTW Generated Level2 S-Function Block: RA4_student/<S2>/Robot Arm_sfcn (Robot_sf) */
{
SimStruct *rts = RA4_student_M->childSfunctions[1];
/* timing info */
time_T *sfcnPeriod = RA4_student_M->NonInlinedSFcns.Sfcn1.sfcnPeriod;
time_T *sfcnOffset = RA4_student_M->NonInlinedSFcns.Sfcn1.sfcnOffset;
int_T *sfcnTsMap = RA4_student_M->NonInlinedSFcns.Sfcn1.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*2);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*2);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &RA4_student_M->NonInlinedSFcns.blkInfo2[1]);
}
ssSetRTWSfcnInfo(rts, RA4_student_M->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &RA4_student_M->NonInlinedSFcns.methods2[1]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &RA4_student_M->NonInlinedSFcns.methods3[1]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &RA4_student_M->NonInlinedSFcns.statesInfo2[1]);
ssSetPeriodicStatesInfo(rts,
&RA4_student_M->NonInlinedSFcns.periodicStatesInfo[1]);
}
/* inputs */
{
_ssSetNumInputPorts(rts, 2);
ssSetPortInfoForInputs(rts,
&RA4_student_M->NonInlinedSFcns.Sfcn1.inputPortInfo[0]);
/* port 0 */
{
real_T const **sfcnUPtrs = (real_T const **)
&RA4_student_M->NonInlinedSFcns.Sfcn1.UPtrs0;
sfcnUPtrs[0] = RA4_student_B.UnitDelay2;
sfcnUPtrs[1] = &RA4_student_B.UnitDelay2[1];
sfcnUPtrs[2] = &RA4_student_B.UnitDelay2[2];
ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]);
_ssSetInputPortNumDimensions(rts, 0, 1);
ssSetInputPortWidth(rts, 0, 3);
}
/* port 1 */
{
real_T const **sfcnUPtrs = (real_T const **)
&RA4_student_M->NonInlinedSFcns.Sfcn1.UPtrs1;
sfcnUPtrs[0] = &RA4_student_B.UnitDelay1;
ssSetInputPortSignalPtrs(rts, 1, (InputPtrsType)&sfcnUPtrs[0]);
_ssSetInputPortNumDimensions(rts, 1, 1);
ssSetInputPortWidth(rts, 1, 1);
}
}
/* outputs */
{
ssSetPortInfoForOutputs(rts,
&RA4_student_M->NonInlinedSFcns.Sfcn1.outputPortInfo[0]);
_ssSetNumOutputPorts(rts, 4);
/* port 0 */
{
_ssSetOutputPortNumDimensions(rts, 0, 1);
ssSetOutputPortWidth(rts, 0, 1);
ssSetOutputPortSignal(rts, 0, ((real_T *)
&RA4_student_B.RobotArm_sfcn_o1));
}
/* port 1 */
{
_ssSetOutputPortNumDimensions(rts, 1, 1);
ssSetOutputPortWidth(rts, 1, 3);
ssSetOutputPortSignal(rts, 1, ((real_T *)
RA4_student_B.RobotArm_sfcn_o2));
}
/* port 2 */
{
_ssSetOutputPortNumDimensions(rts, 2, 1);
ssSetOutputPortWidth(rts, 2, 3);
ssSetOutputPortSignal(rts, 2, ((boolean_T *)
RA4_student_B.RobotArm_sfcn_o3));
}
/* port 3 */
{
_ssSetOutputPortNumDimensions(rts, 3, 1);
ssSetOutputPortWidth(rts, 3, 1);
ssSetOutputPortSignal(rts, 3, ((real_T *)
&RA4_student_B.RobotArm_sfcn_o4));
}
}
/* path info */
ssSetModelName(rts, "Robot Arm_sfcn");
ssSetPath(rts, "RA4_student/Robot Arm1/Robot Arm_sfcn");
ssSetRTModel(rts,RA4_student_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* work vectors */
{
struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *)
&RA4_student_M->NonInlinedSFcns.Sfcn1.dWork;
struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *)
&RA4_student_M->NonInlinedSFcns.Sfcn1.dWorkAux;
ssSetSFcnDWork(rts, dWorkRecord);
ssSetSFcnDWorkAux(rts, dWorkAuxRecord);
_ssSetNumDWork(rts, 47);
/* DWORK0 */
ssSetDWorkWidth(rts, 0, 1);
ssSetDWorkDataType(rts, 0,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 0, 0);
ssSetDWorkUsedAsDState(rts, 0, 1);
ssSetDWork(rts, 0, &RA4_student_DW.RobotArm_sfcn_DWORK0);
/* DWORK1 */
ssSetDWorkWidth(rts, 1, 1);
ssSetDWorkDataType(rts, 1,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 1, 0);
ssSetDWorkUsedAsDState(rts, 1, 1);
ssSetDWork(rts, 1, &RA4_student_DW.RobotArm_sfcn_DWORK1);
/* DWORK2 */
ssSetDWorkWidth(rts, 2, 1);
ssSetDWorkDataType(rts, 2,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 2, 0);
ssSetDWorkUsedAsDState(rts, 2, 1);
ssSetDWork(rts, 2, &RA4_student_DW.RobotArm_sfcn_DWORK2);
/* DWORK3 */
ssSetDWorkWidth(rts, 3, 1);
ssSetDWorkDataType(rts, 3,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 3, 0);
ssSetDWorkUsedAsDState(rts, 3, 1);
ssSetDWork(rts, 3, &RA4_student_DW.RobotArm_sfcn_DWORK3);
/* DWORK4 */
ssSetDWorkWidth(rts, 4, 1);
ssSetDWorkDataType(rts, 4,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 4, 0);
ssSetDWorkUsedAsDState(rts, 4, 1);
ssSetDWork(rts, 4, &RA4_student_DW.RobotArm_sfcn_DWORK4);
/* DWORK5 */
ssSetDWorkWidth(rts, 5, 1);
ssSetDWorkDataType(rts, 5,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 5, 0);
ssSetDWorkUsedAsDState(rts, 5, 1);
ssSetDWork(rts, 5, &RA4_student_DW.RobotArm_sfcn_DWORK5);
/* DWORK6 */
ssSetDWorkWidth(rts, 6, 1);
ssSetDWorkDataType(rts, 6,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 6, 0);
ssSetDWorkUsedAsDState(rts, 6, 1);
ssSetDWork(rts, 6, &RA4_student_DW.RobotArm_sfcn_DWORK6);
/* DWORK7 */
ssSetDWorkWidth(rts, 7, 1);
ssSetDWorkDataType(rts, 7,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 7, 0);
ssSetDWorkUsedAsDState(rts, 7, 1);
ssSetDWork(rts, 7, &RA4_student_DW.RobotArm_sfcn_DWORK7);
/* DWORK8 */
ssSetDWorkWidth(rts, 8, 1);
ssSetDWorkDataType(rts, 8,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 8, 0);
ssSetDWorkUsedAsDState(rts, 8, 1);
ssSetDWork(rts, 8, &RA4_student_DW.RobotArm_sfcn_DWORK8);
/* DWORK9 */
ssSetDWorkWidth(rts, 9, 1);
ssSetDWorkDataType(rts, 9,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 9, 0);
ssSetDWorkUsedAsDState(rts, 9, 1);
ssSetDWork(rts, 9, &RA4_student_DW.RobotArm_sfcn_DWORK9);
/* DWORK10 */
ssSetDWorkWidth(rts, 10, 1);
ssSetDWorkDataType(rts, 10,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 10, 0);
ssSetDWork(rts, 10, &RA4_student_DW.RobotArm_sfcn_DWORK10);
/* DWORK11 */
ssSetDWorkWidth(rts, 11, 1);
ssSetDWorkDataType(rts, 11,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 11, 0);
ssSetDWork(rts, 11, &RA4_student_DW.RobotArm_sfcn_DWORK11);
/* DWORK12 */
ssSetDWorkWidth(rts, 12, 1);
ssSetDWorkDataType(rts, 12,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 12, 0);
ssSetDWork(rts, 12, &RA4_student_DW.RobotArm_sfcn_DWORK12);
/* DWORK13 */
ssSetDWorkWidth(rts, 13, 1);
ssSetDWorkDataType(rts, 13,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 13, 0);
ssSetDWork(rts, 13, &RA4_student_DW.RobotArm_sfcn_DWORK13);
/* DWORK14 */
ssSetDWorkWidth(rts, 14, 1);
ssSetDWorkDataType(rts, 14,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 14, 0);
ssSetDWork(rts, 14, &RA4_student_DW.RobotArm_sfcn_DWORK14);
/* DWORK15 */
ssSetDWorkWidth(rts, 15, 1);
ssSetDWorkDataType(rts, 15,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 15, 0);
ssSetDWork(rts, 15, &RA4_student_DW.RobotArm_sfcn_DWORK15);
/* DWORK16 */
ssSetDWorkWidth(rts, 16, 2);
ssSetDWorkDataType(rts, 16,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 16, 0);
ssSetDWork(rts, 16, &RA4_student_DW.RobotArm_sfcn_DWORK16[0]);
/* DWORK17 */
ssSetDWorkWidth(rts, 17, 2);
ssSetDWorkDataType(rts, 17,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 17, 0);
ssSetDWork(rts, 17, &RA4_student_DW.RobotArm_sfcn_DWORK17[0]);
/* DWORK18 */
ssSetDWorkWidth(rts, 18, 4);
ssSetDWorkDataType(rts, 18,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 18, 0);
ssSetDWork(rts, 18, &RA4_student_DW.RobotArm_sfcn_DWORK18[0]);
/* DWORK19 */
ssSetDWorkWidth(rts, 19, 4);
ssSetDWorkDataType(rts, 19,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 19, 0);
ssSetDWork(rts, 19, &RA4_student_DW.RobotArm_sfcn_DWORK19[0]);
/* DWORK20 */
ssSetDWorkWidth(rts, 20, 2);
ssSetDWorkDataType(rts, 20,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 20, 0);
ssSetDWork(rts, 20, &RA4_student_DW.RobotArm_sfcn_DWORK20[0]);
/* DWORK21 */
ssSetDWorkWidth(rts, 21, 4);
ssSetDWorkDataType(rts, 21,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 21, 0);
ssSetDWork(rts, 21, &RA4_student_DW.RobotArm_sfcn_DWORK21[0]);
/* DWORK22 */
ssSetDWorkWidth(rts, 22, 4);
ssSetDWorkDataType(rts, 22,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 22, 0);
ssSetDWork(rts, 22, &RA4_student_DW.RobotArm_sfcn_DWORK22[0]);
/* DWORK23 */
ssSetDWorkWidth(rts, 23, 2);
ssSetDWorkDataType(rts, 23,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 23, 0);
ssSetDWork(rts, 23, &RA4_student_DW.RobotArm_sfcn_DWORK23[0]);
/* DWORK24 */
ssSetDWorkWidth(rts, 24, 2);
ssSetDWorkDataType(rts, 24,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 24, 0);
ssSetDWork(rts, 24, &RA4_student_DW.RobotArm_sfcn_DWORK24[0]);
/* DWORK25 */
ssSetDWorkWidth(rts, 25, 4);
ssSetDWorkDataType(rts, 25,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 25, 0);
ssSetDWork(rts, 25, &RA4_student_DW.RobotArm_sfcn_DWORK25[0]);
/* DWORK26 */
ssSetDWorkWidth(rts, 26, 4);
ssSetDWorkDataType(rts, 26,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 26, 0);
ssSetDWork(rts, 26, &RA4_student_DW.RobotArm_sfcn_DWORK26[0]);
/* DWORK27 */
ssSetDWorkWidth(rts, 27, 2);
ssSetDWorkDataType(rts, 27,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 27, 0);
ssSetDWork(rts, 27, &RA4_student_DW.RobotArm_sfcn_DWORK27[0]);
/* DWORK28 */
ssSetDWorkWidth(rts, 28, 4);
ssSetDWorkDataType(rts, 28,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 28, 0);
ssSetDWork(rts, 28, &RA4_student_DW.RobotArm_sfcn_DWORK28[0]);
/* DWORK29 */
ssSetDWorkWidth(rts, 29, 4);
ssSetDWorkDataType(rts, 29,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 29, 0);
ssSetDWork(rts, 29, &RA4_student_DW.RobotArm_sfcn_DWORK29[0]);
/* DWORK30 */
ssSetDWorkWidth(rts, 30, 2);
ssSetDWorkDataType(rts, 30,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 30, 0);
ssSetDWork(rts, 30, &RA4_student_DW.RobotArm_sfcn_DWORK30[0]);
/* DWORK31 */
ssSetDWorkWidth(rts, 31, 2);
ssSetDWorkDataType(rts, 31,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 31, 0);
ssSetDWork(rts, 31, &RA4_student_DW.RobotArm_sfcn_DWORK31[0]);
/* DWORK32 */
ssSetDWorkWidth(rts, 32, 4);
ssSetDWorkDataType(rts, 32,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 32, 0);
ssSetDWork(rts, 32, &RA4_student_DW.RobotArm_sfcn_DWORK32[0]);
/* DWORK33 */
ssSetDWorkWidth(rts, 33, 4);
ssSetDWorkDataType(rts, 33,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 33, 0);
ssSetDWork(rts, 33, &RA4_student_DW.RobotArm_sfcn_DWORK33[0]);
/* DWORK34 */
ssSetDWorkWidth(rts, 34, 2);
ssSetDWorkDataType(rts, 34,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 34, 0);
ssSetDWork(rts, 34, &RA4_student_DW.RobotArm_sfcn_DWORK34[0]);
/* DWORK35 */
ssSetDWorkWidth(rts, 35, 4);
ssSetDWorkDataType(rts, 35,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 35, 0);
ssSetDWork(rts, 35, &RA4_student_DW.RobotArm_sfcn_DWORK35[0]);
/* DWORK36 */
ssSetDWorkWidth(rts, 36, 4);
ssSetDWorkDataType(rts, 36,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 36, 0);
ssSetDWork(rts, 36, &RA4_student_DW.RobotArm_sfcn_DWORK36[0]);
/* DWORK37 */
ssSetDWorkWidth(rts, 37, 1);
ssSetDWorkDataType(rts, 37,SS_INT32);
ssSetDWorkComplexSignal(rts, 37, 0);
ssSetDWork(rts, 37, &RA4_student_DW.RobotArm_sfcn_DWORK37);
/* DWORK38 */
ssSetDWorkWidth(rts, 38, 1);
ssSetDWorkDataType(rts, 38,SS_UINT16);
ssSetDWorkComplexSignal(rts, 38, 0);
ssSetDWork(rts, 38, &RA4_student_DW.RobotArm_sfcn_DWORK38);
/* DWORK39 */
ssSetDWorkWidth(rts, 39, 1);
ssSetDWorkDataType(rts, 39,SS_UINT16);
ssSetDWorkComplexSignal(rts, 39, 0);
ssSetDWork(rts, 39, &RA4_student_DW.RobotArm_sfcn_DWORK39);
/* DWORK40 */
ssSetDWorkWidth(rts, 40, 1);
ssSetDWorkDataType(rts, 40,SS_UINT16);
ssSetDWorkComplexSignal(rts, 40, 0);
ssSetDWork(rts, 40, &RA4_student_DW.RobotArm_sfcn_DWORK40);
/* DWORK41 */
ssSetDWorkWidth(rts, 41, 1);
ssSetDWorkDataType(rts, 41,SS_UINT8);
ssSetDWorkComplexSignal(rts, 41, 0);
ssSetDWork(rts, 41, &RA4_student_DW.RobotArm_sfcn_DWORK41);
/* DWORK42 */
ssSetDWorkWidth(rts, 42, 1);
ssSetDWorkDataType(rts, 42,SS_UINT8);
ssSetDWorkComplexSignal(rts, 42, 0);
ssSetDWork(rts, 42, &RA4_student_DW.RobotArm_sfcn_DWORK42);
/* DWORK43 */
ssSetDWorkWidth(rts, 43, 1);
ssSetDWorkDataType(rts, 43,SS_UINT8);
ssSetDWorkComplexSignal(rts, 43, 0);
ssSetDWork(rts, 43, &RA4_student_DW.RobotArm_sfcn_DWORK43);
/* DWORK44 */
ssSetDWorkWidth(rts, 44, 1);
ssSetDWorkDataType(rts, 44,SS_UINT8);
ssSetDWorkComplexSignal(rts, 44, 0);
ssSetDWork(rts, 44, &RA4_student_DW.RobotArm_sfcn_DWORK44);
/* DWORK45 */
ssSetDWorkWidth(rts, 45, 1);
ssSetDWorkDataType(rts, 45,SS_UINT8);
ssSetDWorkComplexSignal(rts, 45, 0);
ssSetDWork(rts, 45, &RA4_student_DW.RobotArm_sfcn_DWORK45);
/* DWORK46 */
ssSetDWorkWidth(rts, 46, 1);
ssSetDWorkDataType(rts, 46,SS_UINT8);
ssSetDWorkComplexSignal(rts, 46, 0);
ssSetDWork(rts, 46, &RA4_student_DW.RobotArm_sfcn_DWORK46);
}
/* registration */
Robot_sf(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.0);
ssSetOffsetTime(rts, 0, 0.0);
ssSetSampleTime(rts, 1, 0.000244140625);
ssSetOffsetTime(rts, 1, 0.0);
sfcnTsMap[0] = 0;
sfcnTsMap[1] = 1;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetInputPortConnected(rts, 0, 1);
_ssSetInputPortConnected(rts, 1, 1);
_ssSetOutputPortConnected(rts, 0, 1);
_ssSetOutputPortConnected(rts, 1, 1);
_ssSetOutputPortConnected(rts, 2, 1);
_ssSetOutputPortConnected(rts, 3, 1);
_ssSetOutputPortBeingMerged(rts, 0, 0);
_ssSetOutputPortBeingMerged(rts, 1, 0);
_ssSetOutputPortBeingMerged(rts, 2, 0);
_ssSetOutputPortBeingMerged(rts, 3, 0);
/* Update the BufferDstPort flags for each input port */
ssSetInputPortBufferDstPort(rts, 0, -1);
ssSetInputPortBufferDstPort(rts, 1, -1);
/* Instance data for generated S-Function: Robot */
#include "Robot_sfcn_rtw/Robot_sid.h"
}
}
/* Initialize Sizes */
RA4_student_M->Sizes.numContStates = (0);/* Number of continuous states */
RA4_student_M->Sizes.numY = (0); /* Number of model outputs */
RA4_student_M->Sizes.numU = (0); /* Number of model inputs */
RA4_student_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */
RA4_student_M->Sizes.numSampTimes = (2);/* Number of sample times */
RA4_student_M->Sizes.numBlocks = (24);/* Number of blocks */
RA4_student_M->Sizes.numBlockIO = (11);/* Number of block outputs */
RA4_student_M->Sizes.numBlockPrms = (16);/* Sum of parameter "widths" */
return RA4_student_M;
}
/* Registration function */
RT_MODEL_motor_io_position_T *motor_io_position(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)motor_io_position_M, 0,
sizeof(RT_MODEL_motor_io_position_T));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&motor_io_position_M->solverInfo,
&motor_io_position_M->Timing.simTimeStep);
rtsiSetTPtr(&motor_io_position_M->solverInfo, &rtmGetTPtr
(motor_io_position_M));
rtsiSetStepSizePtr(&motor_io_position_M->solverInfo,
&motor_io_position_M->Timing.stepSize0);
rtsiSetdXPtr(&motor_io_position_M->solverInfo,
&motor_io_position_M->ModelData.derivs);
rtsiSetContStatesPtr(&motor_io_position_M->solverInfo, (real_T **)
&motor_io_position_M->ModelData.contStates);
rtsiSetNumContStatesPtr(&motor_io_position_M->solverInfo,
&motor_io_position_M->Sizes.numContStates);
rtsiSetErrorStatusPtr(&motor_io_position_M->solverInfo, (&rtmGetErrorStatus
(motor_io_position_M)));
rtsiSetRTModelPtr(&motor_io_position_M->solverInfo, motor_io_position_M);
}
rtsiSetSimTimeStep(&motor_io_position_M->solverInfo, MAJOR_TIME_STEP);
motor_io_position_M->ModelData.intgData.f[0] =
motor_io_position_M->ModelData.odeF[0];
motor_io_position_M->ModelData.contStates = ((real_T *) &motor_io_position_X);
rtsiSetSolverData(&motor_io_position_M->solverInfo, (void *)
&motor_io_position_M->ModelData.intgData);
rtsiSetSolverName(&motor_io_position_M->solverInfo,"ode1");
/* Initialize timing info */
{
int_T *mdlTsMap = motor_io_position_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
mdlTsMap[1] = 1;
motor_io_position_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
motor_io_position_M->Timing.sampleTimes =
(&motor_io_position_M->Timing.sampleTimesArray[0]);
motor_io_position_M->Timing.offsetTimes =
(&motor_io_position_M->Timing.offsetTimesArray[0]);
/* task periods */
motor_io_position_M->Timing.sampleTimes[0] = (0.0);
motor_io_position_M->Timing.sampleTimes[1] = (0.03642463102798723);
/* task offsets */
motor_io_position_M->Timing.offsetTimes[0] = (0.0);
motor_io_position_M->Timing.offsetTimes[1] = (0.0);
}
rtmSetTPtr(motor_io_position_M, &motor_io_position_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = motor_io_position_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
mdlSampleHits[1] = 1;
motor_io_position_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(motor_io_position_M, -1);
motor_io_position_M->Timing.stepSize0 = 0.03642463102798723;
motor_io_position_M->Timing.stepSize1 = 0.03642463102798723;
motor_io_position_M->solverInfoPtr = (&motor_io_position_M->solverInfo);
motor_io_position_M->Timing.stepSize = (0.03642463102798723);
rtsiSetFixedStepSize(&motor_io_position_M->solverInfo, 0.03642463102798723);
rtsiSetSolverMode(&motor_io_position_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
motor_io_position_M->ModelData.blockIO = ((void *) &motor_io_position_B);
(void) memset(((void *) &motor_io_position_B), 0,
sizeof(B_motor_io_position_T));
{
motor_io_position_B.SFunction1 = 0.0;
motor_io_position_B.fi1_scaling = 0.0;
motor_io_position_B.Gfbreal = 0.0;
motor_io_position_B.SinGenerator = 0.0;
motor_io_position_B.SquareGenerator = 0.0;
motor_io_position_B.ref = 0.0;
motor_io_position_B.Gffreal = 0.0;
motor_io_position_B.Sum = 0.0;
motor_io_position_B.Gain = 0.0;
motor_io_position_B.Volt = 0.0;
motor_io_position_B.pwm_skalning = 0.0;
motor_io_position_B.Sum_f = 0.0;
motor_io_position_B.Gff = 0.0;
motor_io_position_B.Integrator1 = 0.0;
motor_io_position_B.Quantizer = 0.0;
motor_io_position_B.ZeroOrderHold = 0.0;
motor_io_position_B.Gfb = 0.0;
motor_io_position_B.Sum1 = 0.0;
motor_io_position_B.Saturation = 0.0;
motor_io_position_B.Integrator = 0.0;
motor_io_position_B.Gain1 = 0.0;
motor_io_position_B.Add = 0.0;
motor_io_position_B.kR = 0.0;
motor_io_position_B.Stickslipregion = 0.0;
motor_io_position_B.Abs = 0.0;
motor_io_position_B.Vicousfriction = 0.0;
motor_io_position_B.Sign = 0.0;
motor_io_position_B.Product = 0.0;
motor_io_position_B.Viscousregion = 0.0;
motor_io_position_B.Friction = 0.0;
motor_io_position_B.Add1 = 0.0;
motor_io_position_B.Gain2 = 0.0;
motor_io_position_B.Add2 = 0.0;
motor_io_position_B.Inertias1J = 0.0;
motor_io_position_B.Switch1 = 0.0;
motor_io_position_B.SFunction2 = 0.0;
motor_io_position_B.w1_scaling = 0.0;
}
/* parameters */
motor_io_position_M->ModelData.defaultParam = ((real_T *)&motor_io_position_P);
/* states (continuous) */
{
real_T *x = (real_T *) &motor_io_position_X;
motor_io_position_M->ModelData.contStates = (x);
(void) memset((void *)&motor_io_position_X, 0,
sizeof(X_motor_io_position_T));
}
/* states (dwork) */
motor_io_position_M->ModelData.dwork = ((void *) &motor_io_position_DW);
(void) memset((void *)&motor_io_position_DW, 0,
sizeof(DW_motor_io_position_T));
motor_io_position_DW.Gfbreal_states[0] = 0.0;
motor_io_position_DW.Gfbreal_states[1] = 0.0;
motor_io_position_DW.Gffreal_states[0] = 0.0;
motor_io_position_DW.Gffreal_states[1] = 0.0;
motor_io_position_DW.Gff_states[0] = 0.0;
motor_io_position_DW.Gff_states[1] = 0.0;
motor_io_position_DW.Gfb_states[0] = 0.0;
motor_io_position_DW.Gfb_states[1] = 0.0;
motor_io_position_DW.Gfbreal_tmp = 0.0;
motor_io_position_DW.Gffreal_tmp = 0.0;
motor_io_position_DW.Gff_tmp = 0.0;
motor_io_position_DW.Gfb_tmp = 0.0;
{
/* user code (registration function declaration) */
/*Call the macro that initializes the global TRC pointers
inside the model initialization/registration function. */
RTI_INIT_TRC_POINTERS();
}
/* Initialize Sizes */
motor_io_position_M->Sizes.numContStates = (2);/* Number of continuous states */
motor_io_position_M->Sizes.numY = (0);/* Number of model outputs */
motor_io_position_M->Sizes.numU = (0);/* Number of model inputs */
motor_io_position_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */
motor_io_position_M->Sizes.numSampTimes = (2);/* Number of sample times */
motor_io_position_M->Sizes.numBlocks = (58);/* Number of blocks */
motor_io_position_M->Sizes.numBlockIO = (39);/* Number of block outputs */
motor_io_position_M->Sizes.numBlockPrms = (58);/* Sum of parameter "widths" */
return motor_io_position_M;
}
/* Model initialize function */
void GyroskopAuswertung_initialize(void)
{
/* Registration code */
/* initialize real-time model */
(void) memset((void *)GyroskopAuswertung_M, 0,
sizeof(RT_MODEL_GyroskopAuswertung_T));
rtmSetTFinal(GyroskopAuswertung_M, 10.0);
GyroskopAuswertung_M->Timing.stepSize0 = 0.01;
/* External mode info */
GyroskopAuswertung_M->Sizes.checksums[0] = (1941814335U);
GyroskopAuswertung_M->Sizes.checksums[1] = (4017032776U);
GyroskopAuswertung_M->Sizes.checksums[2] = (2489100557U);
GyroskopAuswertung_M->Sizes.checksums[3] = (945044384U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[1];
GyroskopAuswertung_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(GyroskopAuswertung_M->extModeInfo,
&GyroskopAuswertung_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(GyroskopAuswertung_M->extModeInfo,
GyroskopAuswertung_M->Sizes.checksums);
rteiSetTPtr(GyroskopAuswertung_M->extModeInfo, rtmGetTPtr
(GyroskopAuswertung_M));
}
/* block I/O */
(void) memset(((void *) &GyroskopAuswertung_B), 0,
sizeof(B_GyroskopAuswertung_T));
/* states (dwork) */
(void) memset((void *)&GyroskopAuswertung_DW, 0,
sizeof(DW_GyroskopAuswertung_T));
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
GyroskopAuswertung_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.BTransTable = &rtBTransTable;
/* Parameters transition table */
dtInfo.PTransTable = &rtPTransTable;
}
/* S-Function Block: <Root>/Sensor1 */
{
real_T initVector[1] = { 0 };
{
int_T i1;
for (i1=0; i1 < 1; i1++) {
GyroskopAuswertung_DW.Sensor1_DSTATE = initVector[0];
}
}
}
/* S-Function Block: <Root>/Sensor2 */
{
real_T initVector[1] = { 0 };
{
int_T i1;
for (i1=0; i1 < 1; i1++) {
GyroskopAuswertung_DW.Sensor2_DSTATE = initVector[0];
}
}
}
}
/* Model initialize function */
void Crane_initialize(boolean_T firstTime)
{
(void)firstTime;
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */
(void) memset((char_T *)Crane_M,0,
sizeof(RT_MODEL_Crane));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&Crane_M->solverInfo, &Crane_M->Timing.simTimeStep);
rtsiSetTPtr(&Crane_M->solverInfo, &rtmGetTPtr(Crane_M));
rtsiSetStepSizePtr(&Crane_M->solverInfo, &Crane_M->Timing.stepSize0);
rtsiSetdXPtr(&Crane_M->solverInfo, &Crane_M->ModelData.derivs);
rtsiSetContStatesPtr(&Crane_M->solverInfo, &Crane_M->ModelData.contStates);
rtsiSetNumContStatesPtr(&Crane_M->solverInfo, &Crane_M->Sizes.numContStates);
rtsiSetErrorStatusPtr(&Crane_M->solverInfo, (&rtmGetErrorStatus(Crane_M)));
rtsiSetRTModelPtr(&Crane_M->solverInfo, Crane_M);
}
rtsiSetSimTimeStep(&Crane_M->solverInfo, MAJOR_TIME_STEP);
Crane_M->ModelData.intgData.f[0] = Crane_M->ModelData.odeF[0];
Crane_M->ModelData.contStates = ((real_T *) &Crane_X);
rtsiSetSolverData(&Crane_M->solverInfo, (void *)&Crane_M->ModelData.intgData);
rtsiSetSolverName(&Crane_M->solverInfo,"ode1");
/* Initialize timing info */
{
int_T *mdlTsMap = Crane_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
mdlTsMap[1] = 1;
Crane_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
Crane_M->Timing.sampleTimes = (&Crane_M->Timing.sampleTimesArray[0]);
Crane_M->Timing.offsetTimes = (&Crane_M->Timing.offsetTimesArray[0]);
/* task periods */
Crane_M->Timing.sampleTimes[0] = (0.0);
Crane_M->Timing.sampleTimes[1] = (0.001);
/* task offsets */
Crane_M->Timing.offsetTimes[0] = (0.0);
Crane_M->Timing.offsetTimes[1] = (0.0);
}
rtmSetTPtr(Crane_M, &Crane_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = Crane_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
mdlSampleHits[1] = 1;
Crane_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(Crane_M, -1);
Crane_M->Timing.stepSize0 = 0.001;
Crane_M->Timing.stepSize1 = 0.001;
/* external mode info */
Crane_M->Sizes.checksums[0] = (2478158774U);
Crane_M->Sizes.checksums[1] = (3803381746U);
Crane_M->Sizes.checksums[2] = (277883647U);
Crane_M->Sizes.checksums[3] = (670793414U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[1];
Crane_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(&rt_ExtModeInfo,
&Crane_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(&rt_ExtModeInfo, Crane_M->Sizes.checksums);
rteiSetTPtr(&rt_ExtModeInfo, rtmGetTPtr(Crane_M));
}
Crane_M->solverInfoPtr = (&Crane_M->solverInfo);
Crane_M->Timing.stepSize = (0.001);
rtsiSetFixedStepSize(&Crane_M->solverInfo, 0.001);
rtsiSetSolverMode(&Crane_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
Crane_M->ModelData.blockIO = ((void *) &Crane_B);
{
int_T i;
void *pVoidBlockIORegion;
pVoidBlockIORegion = (void *)(&Crane_B.Block1_o1[0]);
for (i = 0; i < 49; i++) {
((real_T*)pVoidBlockIORegion)[i] = 0.0;
}
}
/* parameters */
Crane_M->ModelData.defaultParam = ((real_T *) &Crane_P);
/* states (continuous) */
{
real_T *x = (real_T *) &Crane_X;
Crane_M->ModelData.contStates = (x);
(void) memset((char_T *)x,0,
sizeof(ContinuousStates_Crane));
}
/* states (dwork) */
Crane_M->Work.dwork = ((void *) &Crane_DWork);
(void) memset((char_T *) &Crane_DWork,0,
sizeof(D_Work_Crane));
{
int_T i;
real_T *dwork_ptr = (real_T *) &Crane_DWork.Memory_PreviousInput[0];
for (i = 0; i < 11; i++) {
dwork_ptr[i] = 0.0;
}
}
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo,0,
sizeof(dtInfo));
Crane_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 15;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
}
int
main(int argc, char * argv[])
{
RT_MODEL * S;
const char * status;
int_T count;
int exit_code = exit_success;
boolean_T parseError = FALSE;
real_T final_time = -2; /* Let model select final time */
int scheduling_priority;
struct qsched_param scheduling;
t_period timeout;
t_timer_notify notify;
t_error result;
/*
* Make controller threads higher priority than external mode threads:
* ext_priority = priority of lowest priority external mode thread
* min_priority = minimum allowable priority of lowest priority model task
* max_priority = maximum allowable priority of lowest priority model task
*/
int ext_priority = qsched_get_priority_min(QSCHED_FIFO);
int min_priority = ext_priority + 2;
int max_priority = qsched_get_priority_max(QSCHED_FIFO) - 0;
qsigset_t signal_set;
qsigaction_t action;
int_T stack_size = 0; /* default stack size */
(void) ssPrintf("Entered main(argc=%d, argv=%p)\n", argc, argv);
for (count = 0; count < argc; count++) {
(void) ssPrintf(" argv[%d] = %s\n", count, argv[count]);
}
scheduling_priority = 2; /* default priority */
if (scheduling_priority < min_priority)
scheduling_priority = min_priority;
else if (scheduling_priority > max_priority)
scheduling_priority = max_priority;
/*
* Parse the standard RTW parameters. Let all unrecognized parameters
* pass through to external mode for parsing. NULL out all args handled
* so that the external mode parsing can ignore them.
*/
for (count = 1; count < argc; ) {
const char *option = argv[count++];
char extraneous_characters[2];
if ((strcmp(option, "-tf") == 0) && (count != argc)) {/* final time */
const char * tf_argument = argv[count++];
double time_value; /* use a double for the sscanf since real_T may be a float or a double depending on the platform */
if (strcmp(tf_argument, "inf") == 0) {
time_value = RUN_FOREVER;
} else {
int items = sscanf(tf_argument, "%lf%1s", &time_value,
extraneous_characters);
if ((items != 1) || (time_value < 0.0) ) {
(void) fprintf(stderr,
"final_time must be a positive, real value or inf.\n");
parseError = true;
break;
}
}
final_time = (real_T) time_value;
argv[count-2] = NULL;
argv[count-1] = NULL;
} else if ((strcmp(option, "-pri") == 0) && (count != argc)) {/* base priority */
const char * tf_argument = argv[count++];
int priority; /* use an int for the sscanf since int_T may be the wrong size depending on the platform */
int items = sscanf(tf_argument, "%d%1s", &priority, extraneous_characters);
if ((items != 1) || (priority < min_priority) ) {
(void) fprintf(stderr,
"priority must be a greater than or equal to %d.\n",
min_priority);
parseError = true;
break;
}
if (priority > max_priority) {
(void) fprintf(stderr, "priority must be less than or equal to %d.\n",
max_priority);
parseError = true;
break;
}
scheduling_priority = priority;
argv[count-2] = NULL;
argv[count-1] = NULL;
} else if ((strcmp(option, "-ss") == 0) && (count != argc)) {/* stack size */
const char * stack_argument = argv[count++];
int stack; /* use an int for the sscanf since int_T may be the wrong size depending on the platform */
int items = sscanf(stack_argument, "%d%1s", &stack, extraneous_characters);
if ((items != 1) || (stack < QTHREAD_STACK_MIN) ) {
(void) fprintf(stderr,
"stack size must be a integral value greater than or equal to %d.\n",
QTHREAD_STACK_MIN);
parseError = true;
break;
}
stack_size = (int_T)stack;
argv[count-2] = NULL;
argv[count-1] = NULL;
} else if ((strcmp(option, "-d") == 0) && (count != argc)) {/* current directory */
const char * path_name = argv[count++];
_chdir(path_name);
argv[count-2] = NULL;
argv[count-1] = NULL;
}
}
rtExtModeQuarcParseArgs(argc, (const char **) argv, "shmem://Crane:1");
/*
* Check for unprocessed ("unhandled") args.
*/
for (count = 1; count < argc; count++) {
if (argv[count] != NULL) {
(void) fprintf(stderr, "Unexpected command line argument: \"%s\".\n",
argv[count]);
parseError = TRUE;
}
}
if (parseError) {
(void) fprintf(stderr,
"\nUsage: Crane -option1 val1 -option2 val2 -option3 ...\n\n");
(void) fprintf(stderr,
"\t-tf 20 - sets final time to 20 seconds\n");
(void) fprintf(stderr,
"\t-d C:\\data - sets current directory to C:\\data\n");
(void) fprintf(stderr,
"\t-pri 5 - sets the minimum thread priority\n");
(void) fprintf(stderr,
"\t-ss 65536 - sets the stack size for model threads\n");
(void) fprintf(stderr,
"\t-w - wait for host to connect before starting\n");
(void) fprintf(stderr,
"\t-uri shmem://mymodel - set external mode URL to \"shmem://mymodel\"\n");
(void) fprintf(stderr, "\n");
return (exit_failure);
}
/****************************
* Initialize global memory *
****************************/
(void)memset(&GBLbuf, 0, sizeof(GBLbuf));
/************************
* Initialize the model *
************************/
rt_InitInfAndNaN(sizeof(real_T));
S = Crane();
if (rtmGetErrorStatus(S) != NULL) {
(void) fprintf(stderr, "Error during model registration: %s\n",
rtmGetErrorStatus(S));
return (exit_failure);
}
if (final_time >= 0.0 || final_time == RUN_FOREVER) {
rtmSetTFinal(S, final_time);
} else {
rtmSetTFinal(S, rtInf);
}
action.sa_handler = control_c_handler;
action.sa_flags = 0;
qsigemptyset(&action.sa_mask);
qsigaction(SIGINT, &action, NULL);
qsigaction(SIGBREAK, &action, NULL);
qsigemptyset(&signal_set);
qsigaddset(&signal_set, SIGINT);
qsigaddset(&signal_set, SIGBREAK);
qthread_sigmask(QSIG_UNBLOCK, &signal_set, NULL);
initialize_sizes(S);
initialize_sample_times(S);
status = rt_SimInitTimingEngine(rtmGetNumSampleTimes(S),
rtmGetStepSize(S),
rtmGetSampleTimePtr(S),
rtmGetOffsetTimePtr(S),
rtmGetSampleHitPtr(S),
rtmGetSampleTimeTaskIDPtr(S),
rtmGetTStart(S),
&rtmGetSimTimeStep(S),
&rtmGetTimingData(S));
if (status != NULL) {
(void) fprintf(stderr, "Failed to initialize sample time engine: %s\n",
status);
return (exit_failure);
}
rt_CreateIntegrationData(S);
fflush(stdout);
if (rtExtModeQuarcStartup(rtmGetRTWExtModeInfo(S),
rtmGetNumSampleTimes(S),
&rtmGetStopRequested(S),
ext_priority, /* external mode thread priority */
stack_size,
SS_HAVESTDIO)) {
(void) ssPrintf("\n** starting the model **\n");
start(S);
if (rtmGetErrorStatus(S) == NULL) {
/*************************************************************************
* Execute the model.
*************************************************************************/
if (rtmGetTFinal(S) == RUN_FOREVER) {
(void) ssPrintf("\n**May run forever. Model stop time set to infinity.**\n");
}
timeout.seconds = (t_long) (rtmGetStepSize(S));
timeout.nanoseconds = (t_int) ((rtmGetStepSize(S) - timeout.seconds) *
1000000000L);
result = qtimer_event_create(¬ify.notify_value.event);
if (result == 0) {
t_timer timer;
scheduling.sched_priority = scheduling_priority;
qthread_setschedparam(qthread_self(), QSCHED_FIFO, &scheduling);
notify.notify_type = TIMER_NOTIFY_EVENT;
result = qtimer_create(¬ify, &timer);
if (result == 0) {
result = qtimer_begin_resolution(timer, &timeout);
if (result == 0) {
t_period actual_timeout;
(void) ssPrintf("Creating main thread with priority %d and period %g...\n",
scheduling_priority, rtmGetStepSize(S));
result = qtimer_get_actual_period(timer, &timeout, &actual_timeout);
if (result == 0 && (timeout.nanoseconds !=
actual_timeout.nanoseconds || timeout.seconds !=
actual_timeout.seconds))
(void) ssPrintf("*** Actual period will be %g ***\n",
actual_timeout.seconds + 1e-9 *
actual_timeout.nanoseconds);
fflush(stdout);
result = qtimer_set_time(timer, &timeout, true);
if (result == 0) {
/* Enter the periodic loop */
while (result == 0) {
if (GBLbuf.stopExecutionFlag || rtmGetStopRequested(S)) {
break;
}
if (rtmGetTFinal(S) != RUN_FOREVER && rtmGetTFinal(S) - rtmGetT
(S) <= rtmGetT(S)*DBL_EPSILON) {
break;
}
if (qtimer_get_overrun(timer) > 0) {
(void) fprintf(stderr,
"Sampling rate is too fast for base rate\n");
fflush(stderr);
}
rt_OneStep(S);
result = qtimer_event_wait(notify.notify_value.event);
}
/* disarm the timer */
qtimer_cancel(timer);
if (rtmGetStopRequested(S) == false && rtmGetErrorStatus(S) ==
NULL) {
/* Execute model last time step if final time expired */
rt_OneStep(S);
}
(void) ssPrintf("Main thread exited\n");
} else {
msg_get_error_messageA(NULL, result, GBLbuf.submessage, sizeof
(GBLbuf.submessage));
string_format(GBLbuf.message, sizeof(GBLbuf.message),
"Unable to set base rate. %s", GBLbuf.submessage);
rtmSetErrorStatus(S, GBLbuf.message);
}
qtimer_end_resolution(timer);
} else {
msg_get_error_messageA(NULL, result, GBLbuf.submessage, sizeof
(GBLbuf.submessage));
string_format(GBLbuf.message, sizeof(GBLbuf.message),
"Sampling period of %lg is too fast for the system clock. %s",
rtmGetStepSize(S), GBLbuf.submessage);
rtmSetErrorStatus(S, GBLbuf.message);
}
qtimer_delete(timer);
} else {
msg_get_error_messageA(NULL, result, GBLbuf.submessage, sizeof
(GBLbuf.submessage));
string_format(GBLbuf.message, sizeof(GBLbuf.message),
"Unable to create timer for base rate. %s",
GBLbuf.submessage);
rtmSetErrorStatus(S, GBLbuf.message);
}
} else {
msg_get_error_messageA(NULL, result, GBLbuf.submessage, sizeof
(GBLbuf.submessage));
string_format(GBLbuf.message, sizeof(GBLbuf.message),
"Unable to create timer event for base rate. %s",
GBLbuf.submessage);
rtmSetErrorStatus(S, GBLbuf.message);
}
GBLbuf.stopExecutionFlag = 1;
}
} else {
rtmSetErrorStatus(S, "Unable to initialize external mode.");
}
rtExtSetReturnStatus(rtmGetErrorStatus(S));
rtExtModeQuarcCleanup(rtmGetNumSampleTimes(S));
/********************
* Cleanup and exit *
********************/
if (rtmGetErrorStatus(S) != NULL) {
(void) fprintf(stderr, "%s\n", rtmGetErrorStatus(S));
exit_code = exit_failure;
}
(void) ssPrintf("Invoking model termination function...\n");
terminate(S);
(void) ssPrintf("Exiting real-time code\n");
return (exit_code);
}
/* Model initialize function */
void motor_initialize(void)
{
/* Registration code */
/* initialize real-time model */
(void) memset((void *)motor_M, 0,
sizeof(RT_MODEL_motor_T));
rtmSetTFinal(motor_M, -1);
motor_M->Timing.stepSize0 = 0.2;
/* External mode info */
motor_M->Sizes.checksums[0] = (1008116136U);
motor_M->Sizes.checksums[1] = (3564589615U);
motor_M->Sizes.checksums[2] = (1322083197U);
motor_M->Sizes.checksums[3] = (1603772587U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[1];
motor_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(motor_M->extModeInfo,
&motor_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(motor_M->extModeInfo, motor_M->Sizes.checksums);
rteiSetTPtr(motor_M->extModeInfo, rtmGetTPtr(motor_M));
}
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
motor_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
{
uint8_T tmp;
uint8_T tmp_0;
uint8_T tmp_1;
uint8_T tmp_2;
uint8_T tmp_3;
uint8_T tmp_4;
/* Start for S-Function (linuxGpioWrite_sfcn): '<S1>/Left_high' */
tmp_4 = motor_P.Left_high_p4;
MW_gpioInit(motor_P.Left_high_p1, motor_P.Left_high_p2, motor_P.Left_high_p3,
&tmp_4);
/* Start for S-Function (linuxGpioWrite_sfcn): '<S1>/Left_low' */
tmp_3 = motor_P.Left_low_p4;
MW_gpioInit(motor_P.Left_low_p1, motor_P.Left_low_p2, motor_P.Left_low_p3,
&tmp_3);
/* Start for S-Function (linuxGpioWrite_sfcn): '<S1>/Right_high' */
tmp_2 = motor_P.Right_high_p4;
MW_gpioInit(motor_P.Right_high_p1, motor_P.Right_high_p2,
motor_P.Right_high_p3, &tmp_2);
/* Start for S-Function (linuxGpioWrite_sfcn): '<S1>/Right_low' */
tmp_1 = motor_P.Right_low_p4;
MW_gpioInit(motor_P.Right_low_p1, motor_P.Right_low_p2, motor_P.Right_low_p3,
&tmp_1);
/* Start for S-Function (linuxGpioWrite_sfcn): '<S1>/EN_Left' */
tmp_0 = motor_P.EN_Left_p4;
MW_gpioInit(motor_P.EN_Left_p1, motor_P.EN_Left_p2, motor_P.EN_Left_p3,
&tmp_0);
/* Start for S-Function (linuxGpioWrite_sfcn): '<S1>/EN_Right' */
tmp = motor_P.EN_Right_p4;
MW_gpioInit(motor_P.EN_Right_p1, motor_P.EN_Right_p2, motor_P.EN_Right_p3,
&tmp);
}
}
/* Model initialize function */
void Motor_Test_All_initialize(void)
{
/* Registration code */
/* initialize real-time model */
(void) memset((void *)Motor_Test_All_M, 0,
sizeof(RT_MODEL_Motor_Test_All_T));
rtmSetTFinal(Motor_Test_All_M, 100.0);
Motor_Test_All_M->Timing.stepSize0 = 10.0;
/* External mode info */
Motor_Test_All_M->Sizes.checksums[0] = (391574619U);
Motor_Test_All_M->Sizes.checksums[1] = (1808842219U);
Motor_Test_All_M->Sizes.checksums[2] = (99353943U);
Motor_Test_All_M->Sizes.checksums[3] = (1218331709U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[2];
Motor_Test_All_M->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
systemRan[1] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(Motor_Test_All_M->extModeInfo,
&Motor_Test_All_M->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(Motor_Test_All_M->extModeInfo,
Motor_Test_All_M->Sizes.checksums);
rteiSetTPtr(Motor_Test_All_M->extModeInfo, rtmGetTPtr(Motor_Test_All_M));
}
/* states (dwork) */
(void) memset((void *)&Motor_Test_All_DW, 0,
sizeof(DW_Motor_Test_All_T));
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
Motor_Test_All_M->SpecialInfo.mappingInfo = (&dtInfo);
dtInfo.numDataTypes = 18;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
/* Model Initialize fcn for ModelReference Block: '<Root>/Model' */
motor_hl_initialize(rtmGetErrorStatusPointer(Motor_Test_All_M),
&(Motor_Test_All_DW.Model_DWORK1.rtm));
/* Model Initialize fcn for ModelReference Block: '<Root>/Model1' */
motor_vr_initialize(rtmGetErrorStatusPointer(Motor_Test_All_M),
&(Motor_Test_All_DW.Model1_DWORK1.rtm));
/* Model Initialize fcn for ModelReference Block: '<Root>/Model2' */
motor_vl_initialize(rtmGetErrorStatusPointer(Motor_Test_All_M),
&(Motor_Test_All_DW.Model2_DWORK1.rtm));
/* Model Initialize fcn for ModelReference Block: '<Root>/Model3' */
motor_hr_initialize(rtmGetErrorStatusPointer(Motor_Test_All_M),
&(Motor_Test_All_DW.Model3_DWORK1.rtm));
/* Start for ModelReference: '<Root>/Model' */
motor_hl_Start();
/* Start for ModelReference: '<Root>/Model1' */
motor_vr_Start();
/* Start for ModelReference: '<Root>/Model2' */
motor_vl_Start();
/* Start for ModelReference: '<Root>/Model3' */
motor_hr_Start();
/* InitializeConditions for UnitDelay: '<S2>/Output' */
Motor_Test_All_DW.Output_DSTATE = Motor_Test_All_P.Output_InitialCondition;
}
/* Model initialize function */
void Koordinatentransfer3_initialize(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)Koordinatentransfer3_M, 0,
sizeof(RT_MODEL_Koordinatentransfer3_T));
rtmSetTFinal(Koordinatentransfer3_M, 0.1);
Koordinatentransfer3_M->Timing.stepSize0 = 0.02;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
Koordinatentransfer3_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
rtliSetLogXSignalInfo(Koordinatentransfer3_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(Koordinatentransfer3_M->rtwLogInfo, (NULL));
rtliSetLogT(Koordinatentransfer3_M->rtwLogInfo, "tout");
rtliSetLogX(Koordinatentransfer3_M->rtwLogInfo, "");
rtliSetLogXFinal(Koordinatentransfer3_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(Koordinatentransfer3_M->rtwLogInfo, "rt_");
rtliSetLogFormat(Koordinatentransfer3_M->rtwLogInfo, 0);
rtliSetLogMaxRows(Koordinatentransfer3_M->rtwLogInfo, 1000);
rtliSetLogDecimation(Koordinatentransfer3_M->rtwLogInfo, 1);
/*
* Set pointers to the data and signal info for each output
*/
{
static void * rt_LoggedOutputSignalPtrs[] = {
&Koordinatentransfer3_Y.a,
&Koordinatentransfer3_Y.b,
&Koordinatentransfer3_Y.c
};
rtliSetLogYSignalPtrs(Koordinatentransfer3_M->rtwLogInfo,
((LogSignalPtrsType)rt_LoggedOutputSignalPtrs));
}
{
static int_T rt_LoggedOutputWidths[] = {
1,
1,
1
};
static int_T rt_LoggedOutputNumDimensions[] = {
1,
1,
1
};
static int_T rt_LoggedOutputDimensions[] = {
1,
1,
1
};
static boolean_T rt_LoggedOutputIsVarDims[] = {
0,
0,
0
};
static void* rt_LoggedCurrentSignalDimensions[] = {
(NULL),
(NULL),
(NULL)
};
static int_T rt_LoggedCurrentSignalDimensionsSize[] = {
2,
2,
2
};
static BuiltInDTypeId rt_LoggedOutputDataTypeIds[] = {
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE
};
static int_T rt_LoggedOutputComplexSignals[] = {
0,
0,
0
};
static const char_T *rt_LoggedOutputLabels[] = {
"",
"",
"" };
static const char_T *rt_LoggedOutputBlockNames[] = {
"Koordinatentransfer3/a",
"Koordinatentransfer3/b",
"Koordinatentransfer3/c" };
static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = {
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 }
};
static RTWLogSignalInfo rt_LoggedOutputSignalInfo[] = {
{
3,
rt_LoggedOutputWidths,
rt_LoggedOutputNumDimensions,
rt_LoggedOutputDimensions,
rt_LoggedOutputIsVarDims,
rt_LoggedCurrentSignalDimensions,
rt_LoggedCurrentSignalDimensionsSize,
rt_LoggedOutputDataTypeIds,
rt_LoggedOutputComplexSignals,
(NULL),
{ rt_LoggedOutputLabels },
(NULL),
(NULL),
(NULL),
{ rt_LoggedOutputBlockNames },
{ (NULL) },
(NULL),
rt_RTWLogDataTypeConvert
}
};
rtliSetLogYSignalInfo(Koordinatentransfer3_M->rtwLogInfo,
rt_LoggedOutputSignalInfo);
/* set currSigDims field */
rt_LoggedCurrentSignalDimensions[0] = &rt_LoggedOutputWidths[0];
rt_LoggedCurrentSignalDimensions[1] = &rt_LoggedOutputWidths[1];
rt_LoggedCurrentSignalDimensions[2] = &rt_LoggedOutputWidths[2];
}
rtliSetLogY(Koordinatentransfer3_M->rtwLogInfo, "yout");
}
/* external inputs */
(void) memset((void *)&Koordinatentransfer3_U, 0,
sizeof(ExtU_Koordinatentransfer3_T));
/* external outputs */
(void) memset((void *)&Koordinatentransfer3_Y, 0,
sizeof(ExtY_Koordinatentransfer3_T));
/* Matfile logging */
rt_StartDataLoggingWithStartTime(Koordinatentransfer3_M->rtwLogInfo, 0.0,
rtmGetTFinal(Koordinatentransfer3_M),
Koordinatentransfer3_M->Timing.stepSize0, (&rtmGetErrorStatus
(Koordinatentransfer3_M)));
}
/* Model initialize function */
void fi_mdl_radix2fft_withscaling_initialize(boolean_T firstTime)
{
if (firstTime) {
/* registration code */
/* initialize real-time model */
(void)memset((char_T *)fi_mdl_radix2fft_withscaling_M, 0,
sizeof(rtModel_fi_mdl_radix2fft_withscaling));
/* Initialize timing info */
{
int_T *mdlTsMap =
fi_mdl_radix2fft_withscaling_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
fi_mdl_radix2fft_withscaling_M->Timing.sampleTimeTaskIDPtr =
(&mdlTsMap[0]);
fi_mdl_radix2fft_withscaling_M->Timing.sampleTimes =
(&fi_mdl_radix2fft_withscaling_M->Timing.sampleTimesArray[0]);
fi_mdl_radix2fft_withscaling_M->Timing.offsetTimes =
(&fi_mdl_radix2fft_withscaling_M->Timing.offsetTimesArray[0]);
/* task periods */
fi_mdl_radix2fft_withscaling_M->Timing.sampleTimes[0] = (0.25);
/* task offsets */
fi_mdl_radix2fft_withscaling_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(fi_mdl_radix2fft_withscaling_M,
&fi_mdl_radix2fft_withscaling_M->Timing.tArray[0]);
{
int_T *mdlSampleHits =
fi_mdl_radix2fft_withscaling_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
fi_mdl_radix2fft_withscaling_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(fi_mdl_radix2fft_withscaling_M, 0.0);
fi_mdl_radix2fft_withscaling_M->Timing.stepSize0 = 0.25;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
fi_mdl_radix2fft_withscaling_M->rtwLogInfo = &rt_DataLoggingInfo;
rtliSetLogFormat(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, 0);
rtliSetLogMaxRows(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, 1000);
rtliSetLogDecimation(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, 1);
rtliSetLogVarNameModifier(fi_mdl_radix2fft_withscaling_M->rtwLogInfo,
"rt_");
rtliSetLogT(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, "tout");
rtliSetLogX(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, "");
rtliSetLogXFinal(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, "");
rtliSetSigLog(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, "");
rtliSetLogXSignalInfo(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, NULL);
rtliSetLogXSignalPtrs(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, NULL);
rtliSetLogY(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, NULL);
rtliSetLogYSignalPtrs(fi_mdl_radix2fft_withscaling_M->rtwLogInfo, NULL);
}
fi_mdl_radix2fft_withscaling_M->solverInfoPtr =
(&fi_mdl_radix2fft_withscaling_M->solverInfo);
fi_mdl_radix2fft_withscaling_M->Timing.stepSize = (0.25);
rtsiSetFixedStepSize(&fi_mdl_radix2fft_withscaling_M->solverInfo, 0.25);
rtsiSetSolverMode(&fi_mdl_radix2fft_withscaling_M->solverInfo,
SOLVER_MODE_SINGLETASKING);
/* parameters */
fi_mdl_radix2fft_withscaling_M->ModelData.defaultParam = ((real_T *)
&fi_mdl_radix2fft_withscaling_P);
/* data type work */
fi_mdl_radix2fft_withscaling_M->Work.dwork = ((void *)
&fi_mdl_radix2fft_withscaling_DWork);
(void)memset((char_T *) &fi_mdl_radix2fft_withscaling_DWork, 0,
sizeof(D_Work_fi_mdl_radix2fft_withscaling));
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
}
}
/* Model initialize function */
void xpcosc_initialize(boolean_T firstTime)
{
(void)firstTime;
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)xpcosc_rtM, 0,
sizeof(rtModel_xpcosc));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&xpcosc_rtM->solverInfo,
&xpcosc_rtM->Timing.simTimeStep);
rtsiSetTPtr(&xpcosc_rtM->solverInfo, &rtmGetTPtr(xpcosc_rtM));
rtsiSetStepSizePtr(&xpcosc_rtM->solverInfo, &xpcosc_rtM->Timing.stepSize0);
rtsiSetdXPtr(&xpcosc_rtM->solverInfo, &xpcosc_rtM->ModelData.derivs);
rtsiSetContStatesPtr(&xpcosc_rtM->solverInfo,
&xpcosc_rtM->ModelData.contStates);
rtsiSetNumContStatesPtr(&xpcosc_rtM->solverInfo,
&xpcosc_rtM->Sizes.numContStates);
rtsiSetErrorStatusPtr(&xpcosc_rtM->solverInfo, (&rtmGetErrorStatus
(xpcosc_rtM)));
rtsiSetRTModelPtr(&xpcosc_rtM->solverInfo, xpcosc_rtM);
}
rtsiSetSimTimeStep(&xpcosc_rtM->solverInfo, MAJOR_TIME_STEP);
xpcosc_rtM->ModelData.intgData.y = xpcosc_rtM->ModelData.odeY;
xpcosc_rtM->ModelData.intgData.f[0] = xpcosc_rtM->ModelData.odeF[0];
xpcosc_rtM->ModelData.intgData.f[1] = xpcosc_rtM->ModelData.odeF[1];
xpcosc_rtM->ModelData.intgData.f[2] = xpcosc_rtM->ModelData.odeF[2];
xpcosc_rtM->ModelData.intgData.f[3] = xpcosc_rtM->ModelData.odeF[3];
xpcosc_rtM->ModelData.contStates = ((real_T *) &xpcosc_X);
rtsiSetSolverData(&xpcosc_rtM->solverInfo, (void *)
&xpcosc_rtM->ModelData.intgData);
rtsiSetSolverName(&xpcosc_rtM->solverInfo,"ode4");
xpcosc_rtM->solverInfoPtr = (&xpcosc_rtM->solverInfo);
/* Initialize timing info */
{
int_T *mdlTsMap = xpcosc_rtM->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
mdlTsMap[1] = 1;
xpcosc_rtM->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
xpcosc_rtM->Timing.sampleTimes = (&xpcosc_rtM->Timing.sampleTimesArray[0]);
xpcosc_rtM->Timing.offsetTimes = (&xpcosc_rtM->Timing.offsetTimesArray[0]);
/* task periods */
xpcosc_rtM->Timing.sampleTimes[0] = (0.0);
xpcosc_rtM->Timing.sampleTimes[1] = (0.001);
/* task offsets */
xpcosc_rtM->Timing.offsetTimes[0] = (0.0);
xpcosc_rtM->Timing.offsetTimes[1] = (0.0);
}
rtmSetTPtr(xpcosc_rtM, &xpcosc_rtM->Timing.tArray[0]);
{
int_T *mdlSampleHits = xpcosc_rtM->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
mdlSampleHits[1] = 1;
xpcosc_rtM->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(xpcosc_rtM, 0.2);
xpcosc_rtM->Timing.stepSize0 = 0.001;
xpcosc_rtM->Timing.stepSize1 = 0.001;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
xpcosc_rtM->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
/*
* Set pointers to the data and signal info each state
*/
{
static int_T rt_LoggedStateWidths[] = {
1,
1
};
static int_T rt_LoggedStateNumDimensions[] = {
1,
1
};
static int_T rt_LoggedStateDimensions[] = {
1,
1
};
static boolean_T rt_LoggedStateIsVarDims[] = {
0,
0
};
static BuiltInDTypeId rt_LoggedStateDataTypeIds[] = {
SS_DOUBLE,
SS_DOUBLE
};
static int_T rt_LoggedStateComplexSignals[] = {
0,
0
};
static const char_T *rt_LoggedStateLabels[] = {
"CSTATE",
"CSTATE"
};
static const char_T *rt_LoggedStateBlockNames[] = {
"xpcosc/Integrator1",
"xpcosc/Integrator"
};
static const char_T *rt_LoggedStateNames[] = {
"",
""
};
static boolean_T rt_LoggedStateCrossMdlRef[] = {
0,
0
};
static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = {
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 }
};
static RTWLogSignalInfo rt_LoggedStateSignalInfo = {
2,
rt_LoggedStateWidths,
rt_LoggedStateNumDimensions,
rt_LoggedStateDimensions,
rt_LoggedStateIsVarDims,
(NULL),
rt_LoggedStateDataTypeIds,
rt_LoggedStateComplexSignals,
(NULL),
{ rt_LoggedStateLabels },
(NULL),
(NULL),
(NULL),
{ rt_LoggedStateBlockNames },
{ rt_LoggedStateNames },
rt_LoggedStateCrossMdlRef,
rt_RTWLogDataTypeConvert
};
static void * rt_LoggedStateSignalPtrs[2];
rtliSetLogXSignalPtrs(xpcosc_rtM->rtwLogInfo, (LogSignalPtrsType)
rt_LoggedStateSignalPtrs);
rtliSetLogXSignalInfo(xpcosc_rtM->rtwLogInfo, &rt_LoggedStateSignalInfo);
rt_LoggedStateSignalPtrs[0] = (void*)&xpcosc_X.Integrator1_CSTATE;
rt_LoggedStateSignalPtrs[1] = (void*)&xpcosc_X.Integrator_CSTATE;
}
rtliSetLogT(xpcosc_rtM->rtwLogInfo, "tout");
rtliSetLogX(xpcosc_rtM->rtwLogInfo, "xout");
rtliSetLogXFinal(xpcosc_rtM->rtwLogInfo, "");
rtliSetSigLog(xpcosc_rtM->rtwLogInfo, "");
rtliSetLogVarNameModifier(xpcosc_rtM->rtwLogInfo, "rt_");
rtliSetLogFormat(xpcosc_rtM->rtwLogInfo, 0);
rtliSetLogMaxRows(xpcosc_rtM->rtwLogInfo, 0);
rtliSetLogDecimation(xpcosc_rtM->rtwLogInfo, 1);
/*
* Set pointers to the data and signal info for each output
*/
{
static void * rt_LoggedOutputSignalPtrs[] = {
&xpcosc_Y.Outport[0]
};
rtliSetLogYSignalPtrs(xpcosc_rtM->rtwLogInfo, ((LogSignalPtrsType)
rt_LoggedOutputSignalPtrs));
}
{
static int_T rt_LoggedOutputWidths[] = {
2
};
static int_T rt_LoggedOutputNumDimensions[] = {
1
};
static int_T rt_LoggedOutputDimensions[] = {
2
};
static boolean_T rt_LoggedOutputIsVarDims[] = {
0
};
static int_T* rt_LoggedCurrentSignalDimensions[] = {
(NULL)
};
static BuiltInDTypeId rt_LoggedOutputDataTypeIds[] = {
SS_DOUBLE
};
static int_T rt_LoggedOutputComplexSignals[] = {
0
};
static const char_T *rt_LoggedOutputLabels[] = {
"" };
static const char_T *rt_LoggedOutputBlockNames[] = {
"xpcosc/Outport" };
static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = {
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 }
};
static RTWLogSignalInfo rt_LoggedOutputSignalInfo[] = {
{
1,
rt_LoggedOutputWidths,
rt_LoggedOutputNumDimensions,
rt_LoggedOutputDimensions,
rt_LoggedOutputIsVarDims,
rt_LoggedCurrentSignalDimensions,
rt_LoggedOutputDataTypeIds,
rt_LoggedOutputComplexSignals,
(NULL),
{ rt_LoggedOutputLabels },
(NULL),
(NULL),
(NULL),
{ rt_LoggedOutputBlockNames },
{ (NULL) },
(NULL),
rt_RTWLogDataTypeConvert
}
};
rtliSetLogYSignalInfo(xpcosc_rtM->rtwLogInfo, rt_LoggedOutputSignalInfo);
/* set currSigDims field */
rt_LoggedCurrentSignalDimensions[0] = &rt_LoggedOutputWidths[0];
}
rtliSetLogY(xpcosc_rtM->rtwLogInfo, "yout");
}
/* external mode info */
xpcosc_rtM->Sizes.checksums[0] = (1235351435U);
xpcosc_rtM->Sizes.checksums[1] = (4143988505U);
xpcosc_rtM->Sizes.checksums[2] = (362576123U);
xpcosc_rtM->Sizes.checksums[3] = (1068881914U);
{
static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE;
static RTWExtModeInfo rt_ExtModeInfo;
static const sysRanDType *systemRan[1];
xpcosc_rtM->extModeInfo = (&rt_ExtModeInfo);
rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan);
systemRan[0] = &rtAlwaysEnabled;
rteiSetModelMappingInfoPtr(xpcosc_rtM->extModeInfo,
&xpcosc_rtM->SpecialInfo.mappingInfo);
rteiSetChecksumsPtr(xpcosc_rtM->extModeInfo, xpcosc_rtM->Sizes.checksums);
rteiSetTPtr(xpcosc_rtM->extModeInfo, rtmGetTPtr(xpcosc_rtM));
}
xpcosc_rtM->solverInfoPtr = (&xpcosc_rtM->solverInfo);
xpcosc_rtM->Timing.stepSize = (0.001);
rtsiSetFixedStepSize(&xpcosc_rtM->solverInfo, 0.001);
rtsiSetSolverMode(&xpcosc_rtM->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
xpcosc_rtM->ModelData.blockIO = ((void *) &xpcosc_B);
{
xpcosc_B.Integrator1 = 0.0;
xpcosc_B.PCI6221AD = 0.0;
xpcosc_B.RateTransition1 = 0.0;
xpcosc_B.SignalGenerator = 0.0;
xpcosc_B.RateTransition = 0.0;
xpcosc_B.Gain = 0.0;
xpcosc_B.Integrator = 0.0;
xpcosc_B.Gain1 = 0.0;
xpcosc_B.Gain2 = 0.0;
xpcosc_B.Sum = 0.0;
}
/* parameters */
xpcosc_rtM->ModelData.defaultParam = ((real_T *)&xpcosc_P);
/* states (continuous) */
{
real_T *x = (real_T *) &xpcosc_X;
xpcosc_rtM->ModelData.contStates = (x);
(void) memset((void *)&xpcosc_X, 0,
sizeof(ContinuousStates_xpcosc));
}
/* states (dwork) */
xpcosc_rtM->Work.dwork = ((void *) &xpcosc_DWork);
(void) memset((void *)&xpcosc_DWork, 0,
sizeof(D_Work_xpcosc));
xpcosc_DWork.PCI6713DA_RWORK = 0.0;
/* external outputs */
xpcosc_rtM->ModelData.outputs = (&xpcosc_Y);
xpcosc_Y.Outport[0] = 0.0;
xpcosc_Y.Outport[1] = 0.0;
/* data type transition information */
{
static DataTypeTransInfo dtInfo;
(void) memset((char_T *) &dtInfo, 0,
sizeof(dtInfo));
xpcosc_rtM->SpecialInfo.mappingInfo = (&dtInfo);
xpcosc_rtM->SpecialInfo.xpcData = ((void*) &dtInfo);
dtInfo.numDataTypes = 14;
dtInfo.dataTypeSizes = &rtDataTypeSizes[0];
dtInfo.dataTypeNames = &rtDataTypeNames[0];
/* Block I/O transition table */
dtInfo.B = &rtBTransTable;
/* Parameters transition table */
dtInfo.P = &rtPTransTable;
}
/* Initialize DataMapInfo substructure containing ModelMap for C API */
xpcosc_InitializeDataMapInfo(xpcosc_rtM);
/* child S-Function registration */
{
RTWSfcnInfo *sfcnInfo = &xpcosc_rtM->NonInlinedSFcns.sfcnInfo;
xpcosc_rtM->sfcnInfo = (sfcnInfo);
rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(xpcosc_rtM)));
rtssSetNumRootSampTimesPtr(sfcnInfo, &xpcosc_rtM->Sizes.numSampTimes);
xpcosc_rtM->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(xpcosc_rtM)[0]);
xpcosc_rtM->NonInlinedSFcns.taskTimePtrs[1] = &(rtmGetTPtr(xpcosc_rtM)[1]);
rtssSetTPtrPtr(sfcnInfo,xpcosc_rtM->NonInlinedSFcns.taskTimePtrs);
rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(xpcosc_rtM));
rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(xpcosc_rtM));
rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(xpcosc_rtM));
rtssSetStepSizePtr(sfcnInfo, &xpcosc_rtM->Timing.stepSize);
rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(xpcosc_rtM));
rtssSetDerivCacheNeedsResetPtr(sfcnInfo,
&xpcosc_rtM->ModelData.derivCacheNeedsReset);
rtssSetZCCacheNeedsResetPtr(sfcnInfo,
&xpcosc_rtM->ModelData.zCCacheNeedsReset);
rtssSetBlkStateChangePtr(sfcnInfo, &xpcosc_rtM->ModelData.blkStateChange);
rtssSetSampleHitsPtr(sfcnInfo, &xpcosc_rtM->Timing.sampleHits);
rtssSetPerTaskSampleHitsPtr(sfcnInfo, &xpcosc_rtM->Timing.perTaskSampleHits);
rtssSetSimModePtr(sfcnInfo, &xpcosc_rtM->simMode);
rtssSetSolverInfoPtr(sfcnInfo, &xpcosc_rtM->solverInfoPtr);
}
xpcosc_rtM->Sizes.numSFcns = (2);
/* register each child */
{
(void) memset((void *)&xpcosc_rtM->NonInlinedSFcns.childSFunctions[0], 0,
2*sizeof(SimStruct));
xpcosc_rtM->childSfunctions =
(&xpcosc_rtM->NonInlinedSFcns.childSFunctionPtrs[0]);
xpcosc_rtM->childSfunctions[0] =
(&xpcosc_rtM->NonInlinedSFcns.childSFunctions[0]);
xpcosc_rtM->childSfunctions[1] =
(&xpcosc_rtM->NonInlinedSFcns.childSFunctions[1]);
/* Level2 S-Function Block: xpcosc/<Root>/PCI-6221 AD (adnipcim) */
{
SimStruct *rts = xpcosc_rtM->childSfunctions[0];
/* timing info */
time_T *sfcnPeriod = xpcosc_rtM->NonInlinedSFcns.Sfcn0.sfcnPeriod;
time_T *sfcnOffset = xpcosc_rtM->NonInlinedSFcns.Sfcn0.sfcnOffset;
int_T *sfcnTsMap = xpcosc_rtM->NonInlinedSFcns.Sfcn0.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &xpcosc_rtM->NonInlinedSFcns.blkInfo2[0]);
}
ssSetRTWSfcnInfo(rts, xpcosc_rtM->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &xpcosc_rtM->NonInlinedSFcns.methods2[0]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &xpcosc_rtM->NonInlinedSFcns.methods3[0]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &xpcosc_rtM->NonInlinedSFcns.statesInfo2[0]);
}
/* outputs */
{
ssSetPortInfoForOutputs(rts,
&xpcosc_rtM->NonInlinedSFcns.Sfcn0.outputPortInfo[0]);
_ssSetNumOutputPorts(rts, 1);
/* port 0 */
{
_ssSetOutputPortNumDimensions(rts, 0, 1);
ssSetOutputPortWidth(rts, 0, 1);
ssSetOutputPortSignal(rts, 0, ((real_T *) &xpcosc_B.PCI6221AD));
}
}
/* path info */
ssSetModelName(rts, "PCI-6221 AD");
ssSetPath(rts, "xpcosc/PCI-6221 AD");
ssSetRTModel(rts,xpcosc_rtM);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&xpcosc_rtM->NonInlinedSFcns.Sfcn0.params;
ssSetSFcnParamsCount(rts, 7);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)xpcosc_P.PCI6221AD_P1_Size);
ssSetSFcnParam(rts, 1, (mxArray*)xpcosc_P.PCI6221AD_P2_Size);
ssSetSFcnParam(rts, 2, (mxArray*)xpcosc_P.PCI6221AD_P3_Size);
ssSetSFcnParam(rts, 3, (mxArray*)xpcosc_P.PCI6221AD_P4_Size);
ssSetSFcnParam(rts, 4, (mxArray*)xpcosc_P.PCI6221AD_P5_Size);
ssSetSFcnParam(rts, 5, (mxArray*)xpcosc_P.PCI6221AD_P6_Size);
ssSetSFcnParam(rts, 6, (mxArray*)xpcosc_P.PCI6221AD_P7_Size);
}
/* work vectors */
ssSetIWork(rts, (int_T *) &xpcosc_DWork.PCI6221AD_IWORK[0]);
ssSetPWork(rts, (void **) &xpcosc_DWork.PCI6221AD_PWORK);
{
struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *)
&xpcosc_rtM->NonInlinedSFcns.Sfcn0.dWork;
struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *)
&xpcosc_rtM->NonInlinedSFcns.Sfcn0.dWorkAux;
ssSetSFcnDWork(rts, dWorkRecord);
ssSetSFcnDWorkAux(rts, dWorkAuxRecord);
_ssSetNumDWork(rts, 2);
/* IWORK */
ssSetDWorkWidth(rts, 0, 41);
ssSetDWorkDataType(rts, 0,SS_INTEGER);
ssSetDWorkComplexSignal(rts, 0, 0);
ssSetDWork(rts, 0, &xpcosc_DWork.PCI6221AD_IWORK[0]);
/* PWORK */
ssSetDWorkWidth(rts, 1, 1);
ssSetDWorkDataType(rts, 1,SS_POINTER);
ssSetDWorkComplexSignal(rts, 1, 0);
ssSetDWork(rts, 1, &xpcosc_DWork.PCI6221AD_PWORK);
}
/* registration */
adnipcim(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.001);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 1;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetOutputPortConnected(rts, 0, 1);
_ssSetOutputPortBeingMerged(rts, 0, 0);
/* Update the BufferDstPort flags for each input port */
}
/* Level2 S-Function Block: xpcosc/<Root>/PCI-6713 DA (danipci671x) */
{
SimStruct *rts = xpcosc_rtM->childSfunctions[1];
/* timing info */
time_T *sfcnPeriod = xpcosc_rtM->NonInlinedSFcns.Sfcn1.sfcnPeriod;
time_T *sfcnOffset = xpcosc_rtM->NonInlinedSFcns.Sfcn1.sfcnOffset;
int_T *sfcnTsMap = xpcosc_rtM->NonInlinedSFcns.Sfcn1.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &xpcosc_rtM->NonInlinedSFcns.blkInfo2[1]);
}
ssSetRTWSfcnInfo(rts, xpcosc_rtM->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &xpcosc_rtM->NonInlinedSFcns.methods2[1]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &xpcosc_rtM->NonInlinedSFcns.methods3[1]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &xpcosc_rtM->NonInlinedSFcns.statesInfo2[1]);
}
/* inputs */
{
_ssSetNumInputPorts(rts, 1);
ssSetPortInfoForInputs(rts,
&xpcosc_rtM->NonInlinedSFcns.Sfcn1.inputPortInfo[0]);
/* port 0 */
{
real_T const **sfcnUPtrs = (real_T const **)
&xpcosc_rtM->NonInlinedSFcns.Sfcn1.UPtrs0;
sfcnUPtrs[0] = &xpcosc_B.RateTransition;
ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]);
_ssSetInputPortNumDimensions(rts, 0, 1);
ssSetInputPortWidth(rts, 0, 1);
}
}
/* path info */
ssSetModelName(rts, "PCI-6713 DA");
ssSetPath(rts, "xpcosc/PCI-6713 DA");
ssSetRTModel(rts,xpcosc_rtM);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&xpcosc_rtM->NonInlinedSFcns.Sfcn1.params;
ssSetSFcnParamsCount(rts, 6);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)xpcosc_P.PCI6713DA_P1_Size);
ssSetSFcnParam(rts, 1, (mxArray*)xpcosc_P.PCI6713DA_P2_Size);
ssSetSFcnParam(rts, 2, (mxArray*)xpcosc_P.PCI6713DA_P3_Size);
ssSetSFcnParam(rts, 3, (mxArray*)xpcosc_P.PCI6713DA_P4_Size);
ssSetSFcnParam(rts, 4, (mxArray*)xpcosc_P.PCI6713DA_P5_Size);
ssSetSFcnParam(rts, 5, (mxArray*)xpcosc_P.PCI6713DA_P6_Size);
}
/* work vectors */
ssSetRWork(rts, (real_T *) &xpcosc_DWork.PCI6713DA_RWORK);
ssSetIWork(rts, (int_T *) &xpcosc_DWork.PCI6713DA_IWORK[0]);
{
struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *)
&xpcosc_rtM->NonInlinedSFcns.Sfcn1.dWork;
struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *)
&xpcosc_rtM->NonInlinedSFcns.Sfcn1.dWorkAux;
ssSetSFcnDWork(rts, dWorkRecord);
ssSetSFcnDWorkAux(rts, dWorkAuxRecord);
_ssSetNumDWork(rts, 2);
/* RWORK */
ssSetDWorkWidth(rts, 0, 1);
ssSetDWorkDataType(rts, 0,SS_DOUBLE);
ssSetDWorkComplexSignal(rts, 0, 0);
ssSetDWork(rts, 0, &xpcosc_DWork.PCI6713DA_RWORK);
/* IWORK */
ssSetDWorkWidth(rts, 1, 2);
ssSetDWorkDataType(rts, 1,SS_INTEGER);
ssSetDWorkComplexSignal(rts, 1, 0);
ssSetDWork(rts, 1, &xpcosc_DWork.PCI6713DA_IWORK[0]);
}
/* registration */
danipci671x(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.001);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 1;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetInputPortConnected(rts, 0, 1);
/* Update the BufferDstPort flags for each input port */
ssSetInputPortBufferDstPort(rts, 0, -1);
}
}
}
/* Model initialize function */
void Hammerstein_initialize(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)Hammerstein_M, 0,
sizeof(RT_MODEL_Hammerstein));
rtsiSetSolverName(&Hammerstein_M->solverInfo,"FixedStepDiscrete");
Hammerstein_M->solverInfoPtr = (&Hammerstein_M->solverInfo);
/* Initialize timing info */
{
int_T *mdlTsMap = Hammerstein_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
Hammerstein_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
Hammerstein_M->Timing.sampleTimes = (&Hammerstein_M->
Timing.sampleTimesArray[0]);
Hammerstein_M->Timing.offsetTimes = (&Hammerstein_M->
Timing.offsetTimesArray[0]);
/* task periods */
Hammerstein_M->Timing.sampleTimes[0] = (0.06);
/* task offsets */
Hammerstein_M->Timing.offsetTimes[0] = (0.0);
}
rtmSetTPtr(Hammerstein_M, &Hammerstein_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = Hammerstein_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
Hammerstein_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(Hammerstein_M, 9.9599999999999991);
Hammerstein_M->Timing.stepSize0 = 0.06;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
Hammerstein_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
rtliSetLogXSignalInfo(Hammerstein_M->rtwLogInfo, (NULL));
rtliSetLogXSignalPtrs(Hammerstein_M->rtwLogInfo, (NULL));
rtliSetLogT(Hammerstein_M->rtwLogInfo, "tout");
rtliSetLogX(Hammerstein_M->rtwLogInfo, "");
rtliSetLogXFinal(Hammerstein_M->rtwLogInfo, "");
rtliSetSigLog(Hammerstein_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(Hammerstein_M->rtwLogInfo, "rt_");
rtliSetLogFormat(Hammerstein_M->rtwLogInfo, 0);
rtliSetLogMaxRows(Hammerstein_M->rtwLogInfo, 1000);
rtliSetLogDecimation(Hammerstein_M->rtwLogInfo, 1);
/*
* Set pointers to the data and signal info for each output
*/
{
static void * rt_LoggedOutputSignalPtrs[] = {
&Hammerstein_Y.Out1
};
rtliSetLogYSignalPtrs(Hammerstein_M->rtwLogInfo, ((LogSignalPtrsType)
rt_LoggedOutputSignalPtrs));
}
{
static int_T rt_LoggedOutputWidths[] = {
1
};
static int_T rt_LoggedOutputNumDimensions[] = {
1
};
static int_T rt_LoggedOutputDimensions[] = {
1
};
static boolean_T rt_LoggedOutputIsVarDims[] = {
0
};
static void* rt_LoggedCurrentSignalDimensions[] = {
(NULL)
};
static int_T rt_LoggedCurrentSignalDimensionsSize[] = {
4
};
static BuiltInDTypeId rt_LoggedOutputDataTypeIds[] = {
SS_DOUBLE
};
static int_T rt_LoggedOutputComplexSignals[] = {
0
};
static const char_T *rt_LoggedOutputLabels[] = {
"" };
static const char_T *rt_LoggedOutputBlockNames[] = {
"Hammerstein/Out1" };
static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = {
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 }
};
static RTWLogSignalInfo rt_LoggedOutputSignalInfo[] = {
{
1,
rt_LoggedOutputWidths,
rt_LoggedOutputNumDimensions,
rt_LoggedOutputDimensions,
rt_LoggedOutputIsVarDims,
rt_LoggedCurrentSignalDimensions,
rt_LoggedCurrentSignalDimensionsSize,
rt_LoggedOutputDataTypeIds,
rt_LoggedOutputComplexSignals,
(NULL),
{ rt_LoggedOutputLabels },
(NULL),
(NULL),
(NULL),
{ rt_LoggedOutputBlockNames },
{ (NULL) },
(NULL),
rt_RTWLogDataTypeConvert
}
};
rtliSetLogYSignalInfo(Hammerstein_M->rtwLogInfo, rt_LoggedOutputSignalInfo);
/* set currSigDims field */
rt_LoggedCurrentSignalDimensions[0] = &rt_LoggedOutputWidths[0];
}
rtliSetLogY(Hammerstein_M->rtwLogInfo, "yout");
}
Hammerstein_M->solverInfoPtr = (&Hammerstein_M->solverInfo);
Hammerstein_M->Timing.stepSize = (0.06);
rtsiSetFixedStepSize(&Hammerstein_M->solverInfo, 0.06);
rtsiSetSolverMode(&Hammerstein_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
(void) memset(((void *) &Hammerstein_B), 0,
sizeof(BlockIO_Hammerstein));
/* states (dwork) */
(void) memset((void *)&Hammerstein_DWork, 0,
sizeof(D_Work_Hammerstein));
/* external inputs */
Hammerstein_U.In1 = 0.0;
/* external outputs */
Hammerstein_Y.Out1 = 0.0;
/* child S-Function registration */
{
RTWSfcnInfo *sfcnInfo = &Hammerstein_M->NonInlinedSFcns.sfcnInfo;
Hammerstein_M->sfcnInfo = (sfcnInfo);
rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(Hammerstein_M)));
rtssSetNumRootSampTimesPtr(sfcnInfo, &Hammerstein_M->Sizes.numSampTimes);
Hammerstein_M->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(Hammerstein_M)
[0]);
rtssSetTPtrPtr(sfcnInfo,Hammerstein_M->NonInlinedSFcns.taskTimePtrs);
rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(Hammerstein_M));
rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(Hammerstein_M));
rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(Hammerstein_M));
rtssSetStepSizePtr(sfcnInfo, &Hammerstein_M->Timing.stepSize);
rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(Hammerstein_M));
rtssSetDerivCacheNeedsResetPtr(sfcnInfo,
&Hammerstein_M->ModelData.derivCacheNeedsReset);
rtssSetZCCacheNeedsResetPtr(sfcnInfo,
&Hammerstein_M->ModelData.zCCacheNeedsReset);
rtssSetBlkStateChangePtr(sfcnInfo, &Hammerstein_M->ModelData.blkStateChange);
rtssSetSampleHitsPtr(sfcnInfo, &Hammerstein_M->Timing.sampleHits);
rtssSetPerTaskSampleHitsPtr(sfcnInfo,
&Hammerstein_M->Timing.perTaskSampleHits);
rtssSetSimModePtr(sfcnInfo, &Hammerstein_M->simMode);
rtssSetSolverInfoPtr(sfcnInfo, &Hammerstein_M->solverInfoPtr);
}
Hammerstein_M->Sizes.numSFcns = (2);
/* register each child */
{
(void) memset((void *)&Hammerstein_M->NonInlinedSFcns.childSFunctions[0], 0,
2*sizeof(SimStruct));
Hammerstein_M->childSfunctions =
(&Hammerstein_M->NonInlinedSFcns.childSFunctionPtrs[0]);
Hammerstein_M->childSfunctions[0] =
(&Hammerstein_M->NonInlinedSFcns.childSFunctions[0]);
Hammerstein_M->childSfunctions[1] =
(&Hammerstein_M->NonInlinedSFcns.childSFunctions[1]);
/* Level2 S-Function Block: Hammerstein/<S1>/Pwlinear1 (sfunpwlinear) */
{
SimStruct *rts = Hammerstein_M->childSfunctions[0];
/* timing info */
time_T *sfcnPeriod = Hammerstein_M->NonInlinedSFcns.Sfcn0.sfcnPeriod;
time_T *sfcnOffset = Hammerstein_M->NonInlinedSFcns.Sfcn0.sfcnOffset;
int_T *sfcnTsMap = Hammerstein_M->NonInlinedSFcns.Sfcn0.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &Hammerstein_M->NonInlinedSFcns.blkInfo2[0]);
}
ssSetRTWSfcnInfo(rts, Hammerstein_M->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &Hammerstein_M->NonInlinedSFcns.methods2[0]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &Hammerstein_M->NonInlinedSFcns.methods3[0]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &Hammerstein_M->NonInlinedSFcns.statesInfo2[0]);
}
/* inputs */
{
_ssSetNumInputPorts(rts, 1);
ssSetPortInfoForInputs(rts,
&Hammerstein_M->NonInlinedSFcns.Sfcn0.inputPortInfo[0]);
/* port 0 */
{
ssSetInputPortRequiredContiguous(rts, 0, 1);
ssSetInputPortSignal(rts, 0, &Hammerstein_B.LinearModel);
_ssSetInputPortNumDimensions(rts, 0, 1);
ssSetInputPortWidth(rts, 0, 1);
}
}
/* outputs */
{
ssSetPortInfoForOutputs(rts,
&Hammerstein_M->NonInlinedSFcns.Sfcn0.outputPortInfo[0]);
_ssSetNumOutputPorts(rts, 1);
/* port 0 */
{
_ssSetOutputPortNumDimensions(rts, 0, 1);
ssSetOutputPortWidth(rts, 0, 1);
ssSetOutputPortSignal(rts, 0, ((real_T *) &Hammerstein_Y.Out1));
}
}
/* path info */
ssSetModelName(rts, "Pwlinear1");
ssSetPath(rts, "Hammerstein/Hammerstein-Wiener Model1/Pwlinear1");
ssSetRTModel(rts,Hammerstein_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&Hammerstein_M->NonInlinedSFcns.Sfcn0.params;
ssSetSFcnParamsCount(rts, 7);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)Hammerstein_P.Pwlinear1_P1_Size);
ssSetSFcnParam(rts, 1, (mxArray*)Hammerstein_P.Pwlinear1_P2_Size);
ssSetSFcnParam(rts, 2, (mxArray*)Hammerstein_P.Pwlinear1_P3_Size);
ssSetSFcnParam(rts, 3, (mxArray*)Hammerstein_P.Pwlinear1_P4_Size);
ssSetSFcnParam(rts, 4, (mxArray*)Hammerstein_P.Pwlinear1_P5_Size);
ssSetSFcnParam(rts, 5, (mxArray*)Hammerstein_P.Pwlinear1_P6_Size);
ssSetSFcnParam(rts, 6, (mxArray*)Hammerstein_P.Pwlinear1_P7_Size);
}
/* registration */
sfunpwlinear(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.06);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 0;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetInputPortConnected(rts, 0, 1);
_ssSetOutputPortConnected(rts, 0, 1);
_ssSetOutputPortBeingMerged(rts, 0, 0);
/* Update the BufferDstPort flags for each input port */
ssSetInputPortBufferDstPort(rts, 0, -1);
}
/* Level2 S-Function Block: Hammerstein/<S1>/Pwlinear (sfunpwlinear) */
{
SimStruct *rts = Hammerstein_M->childSfunctions[1];
/* timing info */
time_T *sfcnPeriod = Hammerstein_M->NonInlinedSFcns.Sfcn1.sfcnPeriod;
time_T *sfcnOffset = Hammerstein_M->NonInlinedSFcns.Sfcn1.sfcnOffset;
int_T *sfcnTsMap = Hammerstein_M->NonInlinedSFcns.Sfcn1.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
/* Set up the mdlInfo pointer */
{
ssSetBlkInfo2Ptr(rts, &Hammerstein_M->NonInlinedSFcns.blkInfo2[1]);
}
ssSetRTWSfcnInfo(rts, Hammerstein_M->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &Hammerstein_M->NonInlinedSFcns.methods2[1]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &Hammerstein_M->NonInlinedSFcns.methods3[1]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &Hammerstein_M->NonInlinedSFcns.statesInfo2[1]);
}
/* inputs */
{
_ssSetNumInputPorts(rts, 1);
ssSetPortInfoForInputs(rts,
&Hammerstein_M->NonInlinedSFcns.Sfcn1.inputPortInfo[0]);
/* port 0 */
{
ssSetInputPortRequiredContiguous(rts, 0, 1);
ssSetInputPortSignal(rts, 0, &Hammerstein_U.In1);
_ssSetInputPortNumDimensions(rts, 0, 1);
ssSetInputPortWidth(rts, 0, 1);
}
}
/* outputs */
{
ssSetPortInfoForOutputs(rts,
&Hammerstein_M->NonInlinedSFcns.Sfcn1.outputPortInfo[0]);
_ssSetNumOutputPorts(rts, 1);
/* port 0 */
{
_ssSetOutputPortNumDimensions(rts, 0, 1);
ssSetOutputPortWidth(rts, 0, 1);
ssSetOutputPortSignal(rts, 0, ((real_T *) &Hammerstein_B.Pwlinear));
}
}
/* path info */
ssSetModelName(rts, "Pwlinear");
ssSetPath(rts, "Hammerstein/Hammerstein-Wiener Model1/Pwlinear");
ssSetRTModel(rts,Hammerstein_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&Hammerstein_M->NonInlinedSFcns.Sfcn1.params;
ssSetSFcnParamsCount(rts, 7);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)Hammerstein_P.Pwlinear_P1_Size);
ssSetSFcnParam(rts, 1, (mxArray*)Hammerstein_P.Pwlinear_P2_Size);
ssSetSFcnParam(rts, 2, (mxArray*)Hammerstein_P.Pwlinear_P3_Size);
ssSetSFcnParam(rts, 3, (mxArray*)Hammerstein_P.Pwlinear_P4_Size);
ssSetSFcnParam(rts, 4, (mxArray*)Hammerstein_P.Pwlinear_P5_Size);
ssSetSFcnParam(rts, 5, (mxArray*)Hammerstein_P.Pwlinear_P6_Size);
ssSetSFcnParam(rts, 6, (mxArray*)Hammerstein_P.Pwlinear_P7_Size);
}
/* registration */
sfunpwlinear(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.06);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 0;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetInputPortConnected(rts, 0, 1);
_ssSetOutputPortConnected(rts, 0, 1);
_ssSetOutputPortBeingMerged(rts, 0, 0);
/* Update the BufferDstPort flags for each input port */
ssSetInputPortBufferDstPort(rts, 0, -1);
}
}
/* Matfile logging */
rt_StartDataLoggingWithStartTime(Hammerstein_M->rtwLogInfo, 0.0, rtmGetTFinal
(Hammerstein_M), Hammerstein_M->Timing.stepSize0, (&rtmGetErrorStatus
(Hammerstein_M)));
/* Level2 S-Function Block: '<S1>/Pwlinear1' (sfunpwlinear) */
{
SimStruct *rts = Hammerstein_M->childSfunctions[0];
sfcnStart(rts);
if (ssGetErrorStatus(rts) != (NULL))
return;
}
/* Level2 S-Function Block: '<S1>/Pwlinear' (sfunpwlinear) */
{
SimStruct *rts = Hammerstein_M->childSfunctions[1];
sfcnStart(rts);
if (ssGetErrorStatus(rts) != (NULL))
return;
}
/* InitializeConditions for DiscreteStateSpace: '<S1>/LinearModel' */
Hammerstein_DWork.LinearModel_DSTATE = Hammerstein_P.LinearModel_X0;
/* Level2 S-Function Block: '<S1>/Pwlinear1' (sfunpwlinear) */
{
SimStruct *rts = Hammerstein_M->childSfunctions[0];
sfcnInitializeConditions(rts);
if (ssGetErrorStatus(rts) != (NULL))
return;
}
/* Level2 S-Function Block: '<S1>/Pwlinear' (sfunpwlinear) */
{
SimStruct *rts = Hammerstein_M->childSfunctions[1];
sfcnInitializeConditions(rts);
if (ssGetErrorStatus(rts) != (NULL))
return;
}
}