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#ifndef CRUISECONTROL_H_
#define CRUISECONTROL_H_
#include
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
typedef struct {
<09>double desiredSpeed;
<09>double actualSpeed;
} CruiseControl_Input;
typedef struct {
<09>double power;
} CruiseControl_Output;
void CruiseControl_initialize(void);
void CruiseControl_execute(const CruiseControl_Input *input, CruiseControl_Output *output);
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* CRUISECONTROL_H_ */
実装
#include
#include "CruiseControl.h"
typedef struct {
double sum[2];
uint_fast8_t sum_index;
} CruiseControl_DiscreteIntegrator_Context;
typedef struct {
CruiseControl_DiscreteIntegrator_Context CruiseControl_DiscreteIntegrator;
} CruiseControl_Context;
typedef struct { double data[2]; } CruiseControl_Vector;
static CruiseControl_Context CruiseControl_context;
void CruiseControl_initialize(void) {
/* DiscreteIntegrator */
{
CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index = 0;
{
CruiseControl_context.CruiseControl_DiscreteIntegrator.sum[CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index] = 0.0;
}
}
}
void CruiseControl_execute(const CruiseControl_Input *input, CruiseControl_Output *output) {
double CruiseControl_Sum_y;
double CruiseControl_Gain_y;
double CruiseControl_DiscreteIntegrator_y;
int32_t CruiseControl_Constant_y;
double CruiseControl_Sum2_y;
double CruiseControl_Saturation_y;
uint_fast8_t CruiseControl_Compare_y;
double CruiseControl_Switch_y;
/*
* Compute outputs
*/
/* Sum */
{
CruiseControl_Vector sum_input = { { input->desiredSpeed, input->actualSpeed } };
{
CruiseControl_Sum_y = (1.0 * sum_input.data[INT32_C(0)] + -1.0 * sum_input.data[INT32_C(1)]);
}
}
/* Gain */
{
{
CruiseControl_Gain_y = 0.1 * CruiseControl_Sum_y;
}
}
/* DiscreteIntegrator */
{
{
CruiseControl_DiscreteIntegrator_y = CruiseControl_context.CruiseControl_DiscreteIntegrator.sum[CruiseControl_context.CruiseControl_DiscreteIntegrator.s
}
}
/* Constant */
{
{
CruiseControl_Constant_y = INT32_C(0);
}
}
/* Sum2 */
{
CruiseControl_Vector sum2_input = { { CruiseControl_Gain_y, CruiseControl_DiscreteIntegrator_y } };
{
CruiseControl_Sum2_y = (1.0 * sum2_input.data[INT32_C(0)] + 1.0 * sum2_input.data[INT32_C(1)]);
}
}
/* Saturation */
{
{
double ifresult;
if (CruiseControl_Sum2_y > 1.0) {
ifresult = 1.0;
} else {
double ifresult2;
if (CruiseControl_Sum2_y < -1.0) {
ifresult2 = -1.0;
} else {
ifresult2 = CruiseControl_Sum2_y;
}
ifresult = ifresult2;
}
CruiseControl_Saturation_y = ifresult;
}
}
/* Compare */
{
{
CruiseControl_Compare_y = CruiseControl_Sum2_y == CruiseControl_Saturation_y;
}
}
/* Power */
{
output->power = CruiseControl_Saturation_y;
}
/* Switch */
{
{
double ifresult;
if (CruiseControl_Compare_y) {
ifresult = CruiseControl_Sum_y;
} else {
ifresult = ((double) (CruiseControl_Constant_y));
}
CruiseControl_Switch_y = ifresult;
}
}
/*
* Update states
*/
/* DiscreteIntegrator */
{
{
CruiseControl_context.CruiseControl_DiscreteIntegrator.sum[(CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index + 1) % 2] = CruiseControl_c
}
CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index = (CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index + 1) % 2;
}
}
