1 | /* |
2 | * Academic License - for use in teaching, academic research, and meeting |
3 | * course requirements at degree granting institutions only. Not for |
4 | * government, commercial, or other organizational use. |
5 | * |
6 | * File: integ_Accel_and_Gyro.h |
7 | * |
8 | * Code generated for Simulink model 'integ_Accel_and_Gyro'. |
9 | * |
10 | * Model version : 1.8 |
11 | * Simulink Coder version : 8.12 (R2017a) 16-Feb-2017 |
12 | * C/C++ source code generated on : Wed Dec 06 13:43:27 2017 |
13 | * |
14 | * Target selection: ert.tlc |
15 | * Embedded hardware selection: ARM Compatible->ARM Cortex |
16 | * Code generation objectives: Unspecified |
17 | * Validation result: Not run |
18 | */ |
19 | |
20 | #ifndef RTW_HEADER_integ_Accel_and_Gyro_h_ |
21 | #define RTW_HEADER_integ_Accel_and_Gyro_h_ |
22 | #include <string.h> |
23 | #include <float.h> |
24 | #include <stddef.h> |
25 | #ifndef integ_Accel_and_Gyro_COMMON_INCLUDES_ |
26 | # define integ_Accel_and_Gyro_COMMON_INCLUDES_ |
27 | #include <stddef.h> |
28 | #include "rtwtypes.h" |
29 | #include "rtw_extmode.h" |
30 | #include "sysran_types.h" |
31 | #include "rtw_continuous.h" |
32 | #include "rtw_solver.h" |
33 | #include "dt_info.h" |
34 | #include "ext_work.h" |
35 | #include "MW_I2C.h" |
36 | #endif /* integ_Accel_and_Gyro_COMMON_INCLUDES_ */ |
37 | |
38 | #include "integ_Accel_and_Gyro_types.h" |
39 | |
40 | /* Shared type includes */ |
41 | #include "multiword_types.h" |
42 | |
43 | /* Macros for accessing real-time model data structure */ |
44 | #ifndef rtmGetFinalTime |
45 | # define rtmGetFinalTime(rtm) ((rtm)->Timing.tFinal) |
46 | #endif |
47 | |
48 | #ifndef rtmGetRTWExtModeInfo |
49 | # define rtmGetRTWExtModeInfo(rtm) ((rtm)->extModeInfo) |
50 | #endif |
51 | |
52 | #ifndef rtmGetErrorStatus |
53 | # define rtmGetErrorStatus(rtm) ((rtm)->errorStatus) |
54 | #endif |
55 | |
56 | #ifndef rtmSetErrorStatus |
57 | # define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val)) |
58 | #endif |
59 | |
60 | #ifndef rtmGetStopRequested |
61 | # define rtmGetStopRequested(rtm) ((rtm)->Timing.stopRequestedFlag) |
62 | #endif |
63 | |
64 | #ifndef rtmSetStopRequested |
65 | # define rtmSetStopRequested(rtm, val) ((rtm)->Timing.stopRequestedFlag = (val)) |
66 | #endif |
67 | |
68 | #ifndef rtmGetStopRequestedPtr |
69 | # define rtmGetStopRequestedPtr(rtm) (&((rtm)->Timing.stopRequestedFlag)) |
70 | #endif |
71 | |
72 | #ifndef rtmGetT |
73 | # define rtmGetT(rtm) ((rtm)->Timing.taskTime0) |
74 | #endif |
75 | |
76 | #ifndef rtmGetTFinal |
77 | # define rtmGetTFinal(rtm) ((rtm)->Timing.tFinal) |
78 | #endif |
79 | |
80 | /* Block states (auto storage) for system '<S14>/i2cWr' */ |
81 | typedef struct { |
82 | freedomk64f_I2CMasterWrite_in_T obj; /* '<S16>/I2C Master Write' */ |
83 | void *I2CMasterWrite_PWORK; /* '<S16>/I2C Master Write' */ |
84 | int8_T i2cWr_SubsysRanBC; /* '<S14>/i2cWr' */ |
85 | } DW_i2cWr_integ_Accel_and_Gyro_T; |
86 | |
87 | /* Block signals (auto storage) */ |
88 | typedef struct { |
89 | real_T FXOS87006AxesSensor[3]; /* '<Root>/FXOS8700 6-Axes Sensor' */ |
90 | uint16_T output[7]; |
91 | real32_T Gain[3]; /* '<S2>/Gain' */ |
92 | real32_T Gain2[3]; /* '<S2>/Gain2' */ |
93 | real32_T Sum; /* '<S2>/Sum' */ |
94 | real32_T DiscreteTimeIntegrator; /* '<Root>/Discrete-Time Integrator' */ |
95 | real32_T DiscreteTimeIntegrator1; /* '<Root>/Discrete-Time Integrator1' */ |
96 | int16_T acc[3]; /* '<S2>/MPU6050' */ |
97 | int16_T gyro[3]; /* '<S2>/MPU6050' */ |
98 | int16_T temp; /* '<S2>/MPU6050' */ |
99 | int16_T DataTypeConversion[7]; /* '<S15>/Data Type Conversion' */ |
100 | uint16_T dataw; /* '<S2>/MPU6050' */ |
101 | } B_integ_Accel_and_Gyro_T; |
102 | |
103 | /* Block states (auto storage) for system '<Root>' */ |
104 | typedef struct { |
105 | freedomk64f_fxos8700_integ_Ac_T obj; /* '<Root>/FXOS8700 6-Axes Sensor' */ |
106 | freedomk64f_I2CMasterRead_int_T obj_d;/* '<S15>/I2C Master Read' */ |
107 | struct { |
108 | void *LoggedData[3]; |
109 | } Scope_PWORK; /* '<Root>/Scope' */ |
110 | |
111 | struct { |
112 | void *LoggedData[3]; |
113 | } accelerometer_PWORK; /* '<Root>/accelerometer' */ |
114 | |
115 | struct { |
116 | void *LoggedData[2]; |
117 | } gyro_PWORK; /* '<Root>/gyro' */ |
118 | |
119 | struct { |
120 | void *LoggedData; |
121 | } temp_PWORK; /* '<Root>/temp' */ |
122 | |
123 | struct { |
124 | void *LoggedData; |
125 | } xang_PWORK; /* '<Root>/xang' */ |
126 | |
127 | struct { |
128 | void *LoggedData; |
129 | } yang_PWORK; /* '<Root>/yang' */ |
130 | |
131 | void *I2CMasterRead_PWORK; /* '<S15>/I2C Master Read' */ |
132 | void *FXOS87006AxesSensor_PWORK; /* '<Root>/FXOS8700 6-Axes Sensor' */ |
133 | real32_T DiscreteTimeIntegrator_DSTATE;/* '<Root>/Discrete-Time Integrator' */ |
134 | real32_T DiscreteTimeIntegrator1_DSTATE;/* '<Root>/Discrete-Time Integrator1' */ |
135 | int8_T i2cRd_SubsysRanBC; /* '<S14>/i2cRd' */ |
136 | uint8_T is_active_c3_integ_Accel_and_Gy;/* '<S2>/MPU6050' */ |
137 | uint8_T is_c3_integ_Accel_and_Gyro; /* '<S2>/MPU6050' */ |
138 | uint8_T n; /* '<S2>/MPU6050' */ |
139 | DW_i2cWr_integ_Accel_and_Gyro_T i2cWr;/* '<S14>/i2cWr' */ |
140 | } DW_integ_Accel_and_Gyro_T; |
141 | |
142 | /* Parameters (auto storage) */ |
143 | struct P_integ_Accel_and_Gyro_T_ { |
144 | real_T FXOS87006AxesSensor_SampleTime;/* Expression: -1 |
145 | * Referenced by: '<Root>/FXOS8700 6-Axes Sensor' |
146 | */ |
147 | real_T I2CMasterRead_SampleTime; /* Expression: -1 |
148 | * Referenced by: '<S15>/I2C Master Read' |
149 | */ |
150 | real32_T Constant_Value; /* Computed Parameter: Constant_Value |
151 | * Referenced by: '<S2>/Constant' |
152 | */ |
153 | real32_T DiscreteTimeIntegrator_gainval;/* Computed Parameter: DiscreteTimeIntegrator_gainval |
154 | * Referenced by: '<Root>/Discrete-Time Integrator' |
155 | */ |
156 | real32_T DiscreteTimeIntegrator_IC; /* Computed Parameter: DiscreteTimeIntegrator_IC |
157 | * Referenced by: '<Root>/Discrete-Time Integrator' |
158 | */ |
159 | real32_T DiscreteTimeIntegrator1_gainval;/* Computed Parameter: DiscreteTimeIntegrator1_gainval |
160 | * Referenced by: '<Root>/Discrete-Time Integrator1' |
161 | */ |
162 | real32_T DiscreteTimeIntegrator1_IC; /* Computed Parameter: DiscreteTimeIntegrator1_IC |
163 | * Referenced by: '<Root>/Discrete-Time Integrator1' |
164 | */ |
165 | int16_T datar_Y0; /* Computed Parameter: datar_Y0 |
166 | * Referenced by: '<S15>/datar' |
167 | */ |
168 | int16_T Gain_Gain; /* Computed Parameter: Gain_Gain |
169 | * Referenced by: '<S2>/Gain' |
170 | */ |
171 | int16_T Gain2_Gain; /* Computed Parameter: Gain2_Gain |
172 | * Referenced by: '<S2>/Gain2' |
173 | */ |
174 | int16_T Gain1_Gain; /* Computed Parameter: Gain1_Gain |
175 | * Referenced by: '<S2>/Gain1' |
176 | */ |
177 | }; |
178 | |
179 | /* Real-time Model Data Structure */ |
180 | struct tag_RTM_integ_Accel_and_Gyro_T { |
181 | const char_T *errorStatus; |
182 | RTWExtModeInfo *extModeInfo; |
183 | |
184 | /* |
185 | * Sizes: |
186 | * The following substructure contains sizes information |
187 | * for many of the model attributes such as inputs, outputs, |
188 | * dwork, sample times, etc. |
189 | */ |
190 | struct { |
191 | uint32_T checksums[4]; |
192 | } Sizes; |
193 | |
194 | /* |
195 | * SpecialInfo: |
196 | * The following substructure contains special information |
197 | * related to other components that are dependent on RTW. |
198 | */ |
199 | struct { |
200 | const void *mappingInfo; |
201 | } SpecialInfo; |
202 | |
203 | /* |
204 | * Timing: |
205 | * The following substructure contains information regarding |
206 | * the timing information for the model. |
207 | */ |
208 | struct { |
209 | time_T taskTime0; |
210 | uint32_T clockTick0; |
211 | time_T stepSize0; |
212 | time_T tFinal; |
213 | boolean_T stopRequestedFlag; |
214 | } Timing; |
215 | }; |
216 | |
217 | /* Block parameters (auto storage) */ |
218 | extern P_integ_Accel_and_Gyro_T integ_Accel_and_Gyro_P; |
219 | |
220 | /* Block signals (auto storage) */ |
221 | extern B_integ_Accel_and_Gyro_T integ_Accel_and_Gyro_B; |
222 | |
223 | /* Block states (auto storage) */ |
224 | extern DW_integ_Accel_and_Gyro_T integ_Accel_and_Gyro_DW; |
225 | |
226 | /* Model entry point functions */ |
227 | extern void integ_Accel_and_Gyro_initialize(void); |
228 | extern void integ_Accel_and_Gyro_step(void); |
229 | extern void integ_Accel_and_Gyro_terminate(void); |
230 | |
231 | /* Real-time Model object */ |
232 | extern RT_MODEL_integ_Accel_and_Gyro_T *const integ_Accel_and_Gyro_M; |
233 | |
234 | /*- |
235 | * The generated code includes comments that allow you to trace directly |
236 | * back to the appropriate location in the model. The basic format |
237 | * is <system>/block_name, where system is the system number (uniquely |
238 | * assigned by Simulink) and block_name is the name of the block. |
239 | * |
240 | * Use the MATLAB hilite_system command to trace the generated code back |
241 | * to the model. For example, |
242 | * |
243 | * hilite_system('<S3>') - opens system 3 |
244 | * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3 |
245 | * |
246 | * Here is the system hierarchy for this model |
247 | * |
248 | * '<Root>' : 'integ_Accel_and_Gyro' |
249 | * '<S1>' : 'integ_Accel_and_Gyro/KF1' |
250 | * '<S2>' : 'integ_Accel_and_Gyro/MPU6050 sensor' |
251 | * '<S3>' : 'integ_Accel_and_Gyro/Subsystem1' |
252 | * '<S4>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1' |
253 | * '<S5>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1/Check Signal Attributes' |
254 | * '<S6>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1/Control' |
255 | * '<S7>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1/Control/Options' |
256 | * '<S8>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1/Control/Options/Core' |
257 | * '<S9>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1/Control/Options/P_prd_Assign' |
258 | * '<S10>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1/Control/Options/X_est_Assign' |
259 | * '<S11>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1/Control/Options/X_prd_Assign' |
260 | * '<S12>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1/Control/Options/Z_est_Assign' |
261 | * '<S13>' : 'integ_Accel_and_Gyro/KF1/Kalman Filter1/Control/Options/Core/LDL Solver' |
262 | * '<S14>' : 'integ_Accel_and_Gyro/MPU6050 sensor/MPU6050' |
263 | * '<S15>' : 'integ_Accel_and_Gyro/MPU6050 sensor/MPU6050/i2cRd' |
264 | * '<S16>' : 'integ_Accel_and_Gyro/MPU6050 sensor/MPU6050/i2cWr' |
265 | */ |
266 | #endif /* RTW_HEADER_integ_Accel_and_Gyro_h_ */ |
267 | |
268 | /* |
269 | * File trailer for generated code. |
270 | * |
271 | * [EOF] |
272 | */ |
273 | |