void init() {
// Initialize TrueTime kernel
ttInitKernel(1, 0, prioFP); // nbrOfInputs, nbrOfOutputs, fixed priority
// Create task data (local memory)
data = new PD_Data;
data->K = 1.5;
data->Td = 0.035;
data->N = 100000.0;
data->h = 0.010;
data->ad = data->Td/(data->N*data->h+data->Td);
data->bd = data->N*data->K*data->Td/(data->N*data->h+data->Td);
data->yold = 0.0;
data->Dold = 0.0;
data->u = 0.0;
// Controller task
double deadline = 0.010;
double prio = 2.0;
ttCreateTask("pid_task", deadline, prio, ctrl_code, data);
ttCreateJob("pid_task");
// Disturbance task (uncomment to add disturbance task)
// double offset = 0.0002;
// double period = 0.007;
// prio = 1.0;
// ttCreatePeriodicTask("dummy", offset, period, prio, dummy_code);
// Initialize network
ttCreateInterruptHandler("msgRcv", prio, msgRcvhandler);
ttInitNetwork(3, "msgRcv"); // node #3 in the network
ttCreateSemaphore("sem", 0);
}
void ttInitKernelMATLAB(int dispatch) {
switch (dispatch) {
case EDF:
ttInitKernel(rtsys->prioEDF);
break;
case DM:
ttInitKernel(rtsys->prioDM);
break;
case FP:
ttInitKernel(rtsys->prioFP);
break;
default:
TT_MEX_ERROR("ttInitKernel: Invalid priority function!");
return;
}
}
void ttInitKernel(double (*prioFcn)(UserTask*), double contextSwitchOH) {
ttInitKernel(prioFcn);
if (contextSwitchOH < 0.0) {
TT_MEX_ERROR("ttInitKernel: Invalid context switch overhead!");
return;
}
if (contextSwitchOH > TT_TIME_RESOLUTION) {
rtsys->contextSwitchTime = contextSwitchOH;
rtsys->kernelHandler = createCShandler();
}
}
void init()
{
// Initialize TrueTime kernel
ttInitKernel(1, 0, prioFP); // nbrOfInputs, nbrOfOutputs, fixed priority
// Sensor task
double offset = 0.0;
double period = 0.010;
double prio = 1.0;
ttCreatePeriodicTask("sensor_task", offset, period, prio, sensor_code);
// Initialize network
ttCreateInterruptHandler("msgRcv", prio, msgRcvhandler);
ttInitNetwork(4, "msgRcv"); // node #4 in the network
}
void init() {
// Read the input argument from the block dialogue
mxArray *initarg = ttGetInitArg();
if (!mxIsDoubleScalar(initarg)) {
TT_MEX_ERROR("The init argument must be a number!\n");
return;
}
int implementation = (int)mxGetPr(initarg)[0];
// Allocate KernelData memory and store pointer in kernel
KernelData *kd = new KernelData;
ttSetUserData(kd);
// Allocate memory for implementation != 2
TaskData *d = new TaskData;
kd->d = d; // Store pointer in KernelData
// Allocate memory for implementation 2
double *d2 = new double;
kd->d2 = d2; // Store pointer in KernelData
// Allocate memory for implementation 4
int *hdl_data = new int;
kd->hdl_data = hdl_data; // Store pointer in KernelData
// Initialize TrueTime kernel
ttInitKernel(prioFP);
// Task attributes
double starttime = 0.0;
double period = 0.006;
double deadline = period;
// Controller parameters and states
d->K = 0.96;
d->Ti = 0.12;
d->Td = 0.049;
d->beta = 0.5;
d->N = 10.0;
d->h = period;
d->u = 0.0;
d->t = 0.0; // only used for implementation 3
d->Iold = 0.0;
d->Dold = 0.0;
d->yold = 0.0;
d->rChan = 1;
d->yChan = 2;
d->uChan = 1;
switch (implementation) {
case 1:
// IMPLEMENTATION 1: using the built-in support for periodic tasks
ttCreatePeriodicTask("pid_task", starttime, period, pid_code1, d);
break;
case 2:
// IMPLEMENTATION 2: calling Simulink block within code function
ttCreatePeriodicTask("pid_task", starttime, period, pid_code2, d2);
break;
case 3:
// IMPLEMENTATION 3: sleepUntil and loop back
ttCreateTask("pid_task", deadline, pid_code3, d);
ttCreateJob("pid_task");
break;
case 4:
// IMPLEMENTATION 4: sampling in timer handler, triggers task job
*hdl_data = 2; // y_chan for reading samples
ttCreateHandler("timer_handler", 1, sampler_code, hdl_data);
ttCreatePeriodicTimer("timer", starttime, period, "timer_handler");
ttCreateMailbox("Samples", 10);
ttCreateTask("pid_task", deadline, pid_code4, d);
break;
}
}
void mexFunction( int nlhs, mxArray *plhs[],
int nrhs, const mxArray *prhs[] )
{
rtsys = getrtsys(); // Get pointer to rtsys
if (rtsys==NULL) {
return;
}
// Check number and type of arguments.
if (nrhs < 3 || nrhs > 4) {
MEX_ERROR("ttInitKernel: Wrong number of input arguments! \nUsage: ttInitKernel(nbrInputs, nbrOutputs, prioFcn) or\n ttInitKernel(nbrInputs, nbrOutputs, prioFcn, contextSwitchOH)");
return;
}
if (!mxIsDoubleScalar(prhs[0])) {
MEX_ERROR("ttInitKernel: nbrInputs must be an integer");
return;
}
if (!mxIsDoubleScalar(prhs[1])) {
MEX_ERROR("ttInitKernel: nbrOutputs must be an integer");
return;
}
if (mxIsChar(prhs[2]) != 1 || mxGetM(prhs[2]) != 1) {
MEX_ERROR("ttInitKernel: prioFcn must be a string");
return;
}
if (nrhs == 4) {
if (!mxIsDoubleScalar(prhs[3])) {
MEX_ERROR("ttInitKernel: contextSwitchOH must be a number");
return;
}
}
int nbrInp = (int) *mxGetPr(prhs[0]);
int nbrOutp = (int) *mxGetPr(prhs[1]);
if ( nbrInp < 0 ) {
MEX_ERROR("ttInitKernel: nbrInputs must be positive or zero");
return;
}
if ( nbrOutp < 0 ) {
MEX_ERROR("ttInitKernel: nbrOutputs must be positive or zero");
return;
}
char buf[20];
mxGetString(prhs[2], buf, 20);
int dispatch;
if (strcmp(buf, "prioFP") == 0) {
dispatch = FP;
} else if (strcmp(buf, "prioRM") == 0) {
dispatch = RM;
} else if (strcmp(buf, "prioDM") == 0){
dispatch = DM;
} else if (strcmp(buf, "prioEDF") == 0) {
dispatch = EDF;
} else {
printf("ttInitKernel: Unknown priority function '%s', using fixed priority scheduling!\n",buf);
dispatch = FP; // default
}
if (nrhs == 3) {
ttInitKernel(nbrInp, nbrOutp, dispatch);
} else {
double contextSwitchOH = *mxGetPr(prhs[3]);
ttInitKernel(nbrInp, nbrOutp, dispatch, contextSwitchOH);
}
}