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Matlab - Simulink - Keil ARM

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nguyendkhoa562003
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7 views7 pages

Matlab - Simulink - Keil ARM

Uploaded by

nguyendkhoa562003
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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-

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-
- -
- -

-
o
o (trong Real-Time Workshop \
Custom Code)
o
1
- :
o
o z O
(trong Real-Time Workshop \ Custom Code)
o -
(trong Simulink \ User-Defined Function)

3.
- - - -

o -Time Workshop Embedded Coder


o
- - -
.
o - : Fixed-step
o -> Solver : Discrete
o Solver options -> Fixed-step size: T

2
4.
-
o <model>.c
o <mode_data>.c
o ert_main.c <model>.c. S

o *.h

3
/*
* File: pid.c
* ....
*/
#include "pid.h"
#include "pid_private.h"
/* Exported block signals */
real_T In2; /* '<Root>/In2' */
real_T Out1; /* '<Root>/Saturation' */
real_T Out2; /* '<Root>/Pulse Generator' */
/* Block states (auto storage) */
D_Work_pid pid_DWork;
/* Real-time model */
RT_MODEL_pid pid_M_;
RT_MODEL_pid *pid_M = &pid_M_;

/* Model step function */


void pid_step(void)
{
real_T rtb_Add;
real_T rtb_Sum;
real_T rtb_FilterCoefficient;
...
/* Sum: '<Root>/Add' incorporates:
* Inport: '<Root>/In2'
*/
rtb_Add -= In2;
...
/* Saturate: '<Root>/Saturation' */
Out1 = rt_SATURATE(rtb_Sum, pid_P.Saturation_LowerSat,
pid_P.Saturation_UpperSat);
...
}

/* Model initialize function */


void pid_initialize(void)
{
...
/* exported global signals */
Out1 = 0.0;
Out2 = 0.0;
...
/* external inputs */
In2 = 0.0;
...
}

/* Model terminate function */


void pid_terminate(void)
{
/* (no terminate code required) */
}

4
/*
* File: pid_data.c
* . . .
*/

#include "pid.h"
#include "pid_private.h"

/* Block parameters (auto storage) */


Parameters_pid pid_P = {
1000.0, /* Expression: 1000
* Referenced by:
'<Root>/Setpoint (deg)'
*/
800.0, /* Computed Parameter:
Setpointdeg_Period
* Referenced by:
'<Root>/Setpoint (deg)'
*/
400.0, /* Computed Parameter:
Setpointdeg_Duty
* Referenced by:
'<Root>/Setpoint (deg)'
*/
0.0, /* Expression: 0
* Referenced by:
'<Root>/Setpoint (deg)'
*/
0.05, /* Expression: P
* Referenced by:
'<S1>/Proportional Gain'
*/
0.005, /* Computed Parameter:
Integrator_gainval
* Referenced by:
'<S1>/Integrator'
*/
0.0, /* Expression:
InitialConditionForIntegrator
* Referenced by:
'<S1>/Integrator'
*/
0.0, /* Expression: D
* Referenced by:
'<S1>/Derivative Gain'
*/
0.005, /* Computed Parameter:
Filter_gainval
* Referenced by:
'<S1>/Filter'
*/
. . .
};

5
/*
* File: ert_main.c
* . . .
*/
#include <stdio.h>
#include "pid.h" /* Model's header file */
#include "rtwtypes.h" /* MathWorks types */
static boolean_T OverrunFlag = 0;
. . .
void rt_OneStep(void)
{
...
/* Step the model */
pid_step();

/* Get model outputs here */

/* Indicate task complete */


OverrunFlag--;
}

int_T main(int_T argc, const char_T *argv[])


{
/* Initialize model */
pid_initialize();

/* Attach rt_OneStep to a timer or interrupt service routine with


* period 0.005 seconds (the model's base sample time) here. The
* call syntax for rt_OneStep is
*
* rt_OneStep();
*/
...

/* Terminate model */
pid_terminate();
return 0;
}

6
5. C
-
o \ User Defined Functions)
o \
User Defined Functions)
- Ch
o z O
-Time Workshop \ Custom Code)
o - \ User-Defined
Function)

6. T fil

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