/*
* ======== msTimer_init ========
* Sets up a BIOS timer with millisec period
*/
void msTimer_init(void)
{
Timer_Params params;
if (initialized) {
return;
}
Timer_Params_init(¶ms);
params.period = 1000;
params.periodType = Timer_PeriodType_MICROSECS;
params.runMode = Timer_RunMode_CONTINUOUS;
params.startMode = Timer_StartMode_AUTO;
hdl = Timer_create(-1, (ti_sysbios_hal_Timer_FuncPtr)tick,
¶ms, NULL);
if (!hdl) {
System_abort("msTimer_init: Timer creation failed.\n");
}
/* Set flag indicating that initialization has completed */
initialized = 1;
}
void Timer::begin(void (*timerFunction)(void), uint32_t timerPeriod_ms)
{
Error_Block eb;
Error_init(&eb);
// xdc_UInt TimerId = 3; // OK=3, NOK=2,1,0 MSP432=4 timers, only timer 3 available
// Timer_ANY to take any available timer
xdc_UInt TimerId = Timer_ANY;
Timer_Params params;
Timer_Params_init(¶ms);
params.periodType = Timer_PeriodType_MICROSECS;
params.period = timerPeriod_ms * 1000; // 1 ms = 1000 us
params.startMode = Timer_StartMode_USER; // Timer_start
TimerHandle = Timer_create(TimerId, (Timer_FuncPtr)timerFunction, ¶ms, &eb);
if (TimerHandle == NULL)
{
// Serial.println("*** Timer create failed");
System_abort("Timer create failed");
}
}
Int main()
{
Task_Handle signal_task;
Clock_Params clkParams;
Timer_Params user_sys_tick_params;
Timer_Handle user_sys_tick_timer;
Error_Block eb;
#ifdef MODEL_PROFILING
int32_t t_begin, t_end;
#endif
Error_init(&eb);
/* Create a periodic Clock Instance with period = 1 system time units */
Clock_Params_init(&clkParams);
clkParams.period = 1;
clkParams.startFlag = TRUE;
Clock_create(rt_task, 2, &clkParams, NULL);
/* Create timer for user system tick */
Timer_Params_init(&user_sys_tick_params);
model_is_running = 0.0;
if(model_tsamp <= 0.0)
model_tsamp = MODEL_TSAMP;
user_sys_tick_params.period = (uint32_t)(model_tsamp * USEC_PER_SEC);
user_sys_tick_params.periodType = Timer_PeriodType_MICROSECS;
user_sys_tick_params.arg = 1;
user_sys_tick_timer = Timer_create(1,
(ti_sysbios_hal_Timer_FuncPtr)Clock_tick,
&user_sys_tick_params, NULL);
if (user_sys_tick_timer == NULL)
System_abort("Unable to create user system tick timer!");
signal_task = (Task_Handle)signal_init(&eb);
if (signal_task == NULL)
System_abort("Signal task: Task_create() failed!\n");
#ifdef MODEL_PROFILING
mdaq_profile_init();
t_begin = mdaq_profile_read_timer32();
#endif
/* Init model */
NAME(MODEL, _init)();
#ifdef MODEL_PROFILING
t_end = mdaq_profile_read_timer32();
mdaq_profile_save(t_end - t_begin,0);
#endif
/* Open mdaqnet and wait for connection */
mdaqnet_open();
model_is_running = 1.0;
BIOS_start();
}
/* Function: main =============================================================
*
* Abstract:
* Execute model on a generic target such as a workstation.
*/
int_T main(int_T argc, const char *argv[])
{
/* External mode */
// rtParseArgsForExtMode(argc, argv);
/*******************************************
* warn if the model will run indefinitely *
*******************************************/
#if MAT_FILE==0 && EXT_MODE==0
printf("warning: the simulation will run with no stop time; "
"to change this behavior select the 'MAT-file logging' option\n");
fflush(NULL);
#endif
(void)printf("\n** starting the model **\n");
/************************
* Initialize the model *
************************/
rt_InitModel();
/* External mode */
rtSetTFinalForExtMode(&rtmGetTFinal(RT_MDL));
rtExtModeCheckInit(NUMST);
Clock_Params clkParams;
Timer_Params user_sys_tick_params;
Timer_Handle user_sys_tick_timer;
/* Create timer for user system tick */
Timer_Params_init(&user_sys_tick_params);
user_sys_tick_params.period = STEP_SIZE;
user_sys_tick_params.periodType = Timer_PeriodType_MICROSECS;
user_sys_tick_params.arg = 1;
user_sys_tick_timer = Timer_create(1,
(ti_sysbios_hal_Timer_FuncPtr)Clock_tick, &user_sys_tick_params, NULL);
if(user_sys_tick_timer == NULL)
{
System_abort("Unable to create user system tick timer!");
}
/* Create a periodic Clock Instance with period = 1 system time units */
Clock_Params_init(&clkParams);
clkParams.period = 1;
clkParams.startFlag = TRUE;
Clock_create(clk0Fxn, 10, &clkParams, NULL);
// rtExtModeWaitForStartPkt(rtmGetRTWExtModeInfo(RT_MDL),
// NUMST,
// (boolean_T *)&rtmGetStopRequested(RT_MDL));
/***********************************************************************
* Execute (step) the model. You may also attach rtOneStep to an ISR, *
* in which case you replace the call to rtOneStep with a call to a *
* background task. Note that the generated code sets error status *
* to "Simulation finished" when MatFileLogging is specified in TLC. *
***********************************************************************/
// while (rtmGetErrorStatus(RT_MDL) == NULL &&
// !rtmGetStopRequested(RT_MDL)) {
//
// // rtExtModePauseIfNeeded(rtmGetRTWExtModeInfo(RT_MDL),
// // NUMST,
// // (boolean_T *)&rtmGetStopRequested(RT_MDL));
//
// if (rtmGetStopRequested(RT_MDL)) break;
//
// /* external mode */
// rtExtModeOneStep(rtmGetRTWExtModeInfo(RT_MDL),
// NUMST,
// (boolean_T *)&rtmGetStopRequested(RT_MDL));
//
// rt_OneStep();
// }
rtExtModeC6000Startup(rtmGetRTWExtModeInfo(RT_MDL),
NUMST,
(boolean_T *)&rtmGetStopRequested(RT_MDL));
BIOS_start();
}
