1/*
2 * File: GlobalPosition_sil_sil_ec.h
3 *
4 * Code generated for Simulink model 'GlobalPosition_sil_sil_ec'.
5 *
6 * Model version : 1.2
7 * Simulink Coder version : 9.0 (R2018b) 24-May-2018
8 * C/C++ source code generated on : Tue Oct 29 09:27:41 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_sil_sil_ec_h_
19#define RTW_HEADER_GlobalPosition_sil_sil_ec_h_
20#include "rtwtypes.h"
21#include <math.h>
22#ifndef GlobalPosition_sil_sil_ec_COMMON_INCLUDES_
23# define GlobalPosition_sil_sil_ec_COMMON_INCLUDES_
24#include "rtwtypes.h"
25#endif /* GlobalPosition_sil_sil_ec_COMMON_INCLUDES_ */
26
27/* Macros for accessing real-time model data structure */
28#ifndef rtmGetErrorStatus
29# define rtmGetErrorStatus(rtm) ((rtm)->errorStatus)
30#endif
31
32#ifndef rtmSetErrorStatus
33# define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val))
34#endif
35
36/* Forward declaration for rtModel */
37typedef struct tag_RTM_GlobalPosition_sil_si_T RT_MODEL_GlobalPosition_sil_s_T;
38
39/* Block signals and states (default storage) for system '<Root>' */
40typedef struct {
41 real_T UnitDelay_DSTATE; /* '<S1>/Unit Delay' */
42 real_T UnitDelay1_DSTATE; /* '<S1>/Unit Delay1' */
43} DW_GlobalPosition_sil_sil_ec_T;
44
45/* External inputs (root inport signals with default storage) */
46typedef struct {
47 real_T gyroAngleRad; /* '<Root>/gyroAngleRad' */
48 int32_T driveEncoder; /* '<Root>/driveEncoder' */
49} ExtU_GlobalPosition_sil_sil_e_T;
50
51/* External outputs (root outports fed by signals with default storage) */
52typedef struct {
53 real_T posGlobal[2]; /* '<Root>/posGlobal' */
54} ExtY_GlobalPosition_sil_sil_e_T;
55
56/* Parameters (default storage) */
57struct P_GlobalPosition_sil_sil_ec_T_ {
58 real_T MOTOR_DRIVE_TRANSMISSION_RATIO;/* Variable: MOTOR_DRIVE_TRANSMISSION_RATIO
59 * Referenced by: '<S1>/WHEEL_SIZE_DEG1'
60 */
61 real_T WHEEL_SIZE_DEG; /* Variable: WHEEL_SIZE_DEG
62 * Referenced by: '<S1>/WHEEL_SIZE_DEG'
63 */
64 real_T UnitDelay_InitialCondition; /* Expression: 0
65 * Referenced by: '<S1>/Unit Delay'
66 */
67 real_T UnitDelay1_InitialCondition; /* Expression: 0
68 * Referenced by: '<S1>/Unit Delay1'
69 */
70};
71
72/* Parameters (default storage) */
73typedef struct P_GlobalPosition_sil_sil_ec_T_ P_GlobalPosition_sil_sil_ec_T;
74
75/* Real-time Model Data Structure */
76struct tag_RTM_GlobalPosition_sil_si_T {
77 const char_T * volatile errorStatus;
78};
79
80/* Block parameters (default storage) */
81extern P_GlobalPosition_sil_sil_ec_T GlobalPosition_sil_sil_ec_P;
82
83/* Block signals and states (default storage) */
84extern DW_GlobalPosition_sil_sil_ec_T GlobalPosition_sil_sil_ec_DW;
85
86/* External inputs (root inport signals with default storage) */
87extern ExtU_GlobalPosition_sil_sil_e_T GlobalPosition_sil_sil_ec_U;
88
89/* External outputs (root outports fed by signals with default storage) */
90extern ExtY_GlobalPosition_sil_sil_e_T GlobalPosition_sil_sil_ec_Y;
91
92/* Model entry point functions */
93extern void GlobalPosition_sil_sil_ec_initialize(void);
94extern void GlobalPosition_sil_sil_ec_step(void);
95extern void GlobalPosition_sil_sil_ec_terminate(void);
96
97/* Real-time Model object */
98extern RT_MODEL_GlobalPosition_sil_s_T *const GlobalPosition_sil_sil_ec_M;
99
100/*-
101 * The generated code includes comments that allow you to trace directly
102 * back to the appropriate location in the model. The basic format
103 * is <system>/block_name, where system is the system number (uniquely
104 * assigned by Simulink) and block_name is the name of the block.
105 *
106 * Note that this particular code originates from a subsystem build,
107 * and has its own system numbers different from the parent model.
108 * Refer to the system hierarchy for this subsystem below, and use the
109 * MATLAB hilite_system command to trace the generated code back
110 * to the parent model. For example,
111 *
112 * hilite_system('Frame_Glob_ec/GlobalPosition_sil_sil_ec') - opens subsystem Frame_Glob_ec/GlobalPosition_sil_sil_ec
113 * hilite_system('Frame_Glob_ec/GlobalPosition_sil_sil_ec/Kp') - opens and selects block Kp
114 *
115 * Here is the system hierarchy for this model
116 *
117 * '<Root>' : 'Frame_Glob_ec'
118 * '<S1>' : 'Frame_Glob_ec/GlobalPosition_sil_sil_ec'
119 * '<S2>' : 'Frame_Glob_ec/GlobalPosition_sil_sil_ec/Model_Info'
120 */
121#endif /* RTW_HEADER_GlobalPosition_sil_sil_ec_h_ */
122
123/*
124 * File trailer for generated code.
125 *
126 * [EOF]
127 */
128