1 | /* |
2 | * File: GlobalPosition_demo_ec.h |
3 | * |
4 | * Code generated for Simulink model 'GlobalPosition_demo_ec'. |
5 | * |
6 | * Model version : 1.25 |
7 | * Simulink Coder version : 9.0 (R2018b) 24-May-2018 |
8 | * C/C++ source code generated on : Tue Oct 29 09:31:22 2019 |
9 | * |
10 | * Target selection: ert.tlc |
11 | * Embedded hardware selection: Intel->x86-64 (Windows64) |
12 | * Code generation objectives: |
13 | * 1. Execution efficiency |
14 | * 2. RAM efficiency |
15 | * Validation result: Not run |
16 | */ |
17 | |
18 | #ifndef RTW_HEADER_GlobalPosition_demo_ec_h_ |
19 | #define RTW_HEADER_GlobalPosition_demo_ec_h_ |
20 | #include "rtwtypes.h" |
21 | #include <math.h> |
22 | #ifndef GlobalPosition_demo_ec_COMMON_INCLUDES_ |
23 | # define GlobalPosition_demo_ec_COMMON_INCLUDES_ |
24 | #include "rtwtypes.h" |
25 | #endif /* GlobalPosition_demo_ec_COMMON_INCLUDES_ */ |
26 | |
27 | /* Forward declaration for rtModel */ |
28 | typedef struct tag_RTM_GlobalPosition_demo_e_T RT_MODEL_GlobalPosition_demo__T; |
29 | |
30 | #ifndef DEFINED_TYPEDEF_FOR_sensorBus_ |
31 | #define DEFINED_TYPEDEF_FOR_sensorBus_ |
32 | |
33 | typedef struct { |
34 | int8_T remoteCtrlCmd; |
35 | int32_T steeringEncoder; |
36 | int32_T driveEncoder; |
37 | real_T gyroAngleRad; |
38 | uint8_T usSensorFront; |
39 | uint8_T usSensorRight; |
40 | uint8_T usSensorLeft; |
41 | } sensorBus; |
42 | |
43 | #endif |
44 | |
45 | /* Block signals and states (default storage) for model 'GlobalPosition_demo_ec' */ |
46 | typedef struct { |
47 | real_T UnitDelay_DSTATE; /* '<S1>/Unit Delay' */ |
48 | real_T UnitDelay1_DSTATE; /* '<S1>/Unit Delay1' */ |
49 | } DW_GlobalPosition_demo_ec_f_T; |
50 | |
51 | /* Parameters (default storage) */ |
52 | struct P_GlobalPosition_demo_ec_T_ { |
53 | real_T UnitDelay_InitialCondition; /* Expression: 0 |
54 | * Referenced by: '<S1>/Unit Delay' |
55 | */ |
56 | real_T UnitDelay1_InitialCondition; /* Expression: 0 |
57 | * Referenced by: '<S1>/Unit Delay1' |
58 | */ |
59 | }; |
60 | |
61 | /* Parameters (default storage) */ |
62 | typedef struct P_GlobalPosition_demo_ec_T_ P_GlobalPosition_demo_ec_T; |
63 | |
64 | /* Real-time Model Data Structure */ |
65 | struct tag_RTM_GlobalPosition_demo_e_T { |
66 | const char_T **errorStatus; |
67 | }; |
68 | |
69 | typedef struct { |
70 | DW_GlobalPosition_demo_ec_f_T rtdw; |
71 | RT_MODEL_GlobalPosition_demo__T rtm; |
72 | } MdlrefDW_GlobalPosition_demo__T; |
73 | |
74 | /* Model block global parameters (default storage) */ |
75 | extern real_T rtP_MOTOR_DRIVE_TRANSMISSION_RATIO;/* Variable: MOTOR_DRIVE_TRANSMISSION_RATIO |
76 | * Referenced by: '<S1>/WHEEL_SIZE_DEG1' |
77 | */ |
78 | extern real_T rtP_WHEEL_SIZE_DEG; /* Variable: WHEEL_SIZE_DEG |
79 | * Referenced by: '<S1>/WHEEL_SIZE_DEG' |
80 | */ |
81 | extern P_GlobalPosition_demo_ec_T GlobalPosition_demo_ec_P; |
82 | |
83 | /* Model reference registration function */ |
84 | extern void GlobalPosition_demo__initialize(const char_T **rt_errorStatus, |
85 | RT_MODEL_GlobalPosition_demo__T *const GlobalPosition_demo_ec_M); |
86 | extern void GlobalPosition_demo_ec_Init(DW_GlobalPosition_demo_ec_f_T *localDW); |
87 | extern void GlobalPosition_demo_ec(const int32_T *rtu_sensorBus_driveEncoder, |
88 | const real_T *rtu_sensorBus_gyroAngleRad, real_T rty_posGlobal[2], |
89 | DW_GlobalPosition_demo_ec_f_T *localDW); |
90 | |
91 | /*- |
92 | * The generated code includes comments that allow you to trace directly |
93 | * back to the appropriate location in the model. The basic format |
94 | * is <system>/block_name, where system is the system number (uniquely |
95 | * assigned by Simulink) and block_name is the name of the block. |
96 | * |
97 | * Use the MATLAB hilite_system command to trace the generated code back |
98 | * to the model. For example, |
99 | * |
100 | * hilite_system('<S3>') - opens system 3 |
101 | * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3 |
102 | * |
103 | * Here is the system hierarchy for this model |
104 | * |
105 | * '<Root>' : 'GlobalPosition_demo_ec' |
106 | * '<S1>' : 'GlobalPosition_demo_ec/GlobalPosition' |
107 | * '<S2>' : 'GlobalPosition_demo_ec/Model_Info' |
108 | * '<S3>' : 'GlobalPosition_demo_ec/GlobalPosition/Model_Info' |
109 | */ |
110 | #endif /* RTW_HEADER_GlobalPosition_demo_ec_h_ */ |
111 | |
112 | /* |
113 | * File trailer for generated code. |
114 | * |
115 | * [EOF] |
116 | */ |
117 |