251 lines
13 KiB
C
251 lines
13 KiB
C
/**************************************************************************
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Ãëàâíûé çàãîëîâî÷íûé ôàéë äëÿ ìàòëàáà. Âêëþ÷àåò äåéôàéíû äëÿ S-Function,
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îáúÿâëÿåò áàçîâûå ôóíêöèè äëÿ ñèìóëÿöèè ÌÊ è ïîäêëþ÷àåò áàçîâûå áèáëèîòåêè:
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äëÿ S-Function "simstruc.h"
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äëÿ ÌÊ "main.h"
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äëÿ ñèìóëÿöèè "stm32f4xx_matlab_conf.h"
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**************************************************************************/
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#ifndef _CONTROLLER_H_
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#define _CONTROLLER_H_
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typedef void* HANDLE;
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#include "mcu_wrapper_conf.h" // For stm simulate functions
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#include "simstruc.h" // For S-Function variables
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#include <process.h> // For threads
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// Parameters of S_Function
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#define NPARAMS 1 // number of input parametrs (only Ts)
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#define PORT_WIDTH 16 // width of one port
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#define PORT_NUMB 2 // amount of ports
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// Parametrs of MCU simulation
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#define MAX_STACK_SIZE 0xFFFF // If stack is bigger than this number - exit simulations.
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#define MAX_WHILE_TIMEOUT 0xFFF // timeout for while. If after this amount of cycles app stil in while - stop app and go to wrapper
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#define TIME_FOR_MCU_APP 0xFF //
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/** MCU HANDLE STRUCTURE */
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/**
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* @brief MCU handle Structure definition.
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* @var pStackPtr_Origin - pointer to the "beginning" of the stack (RSP before go to MCU app)
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* @vars Main stop context - context of MCU app at stop point.
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Included: registers, pointer to stack and saved stack.
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* @var Main start context - context of wrapper, before go to MCU app @ref setjmp/longjmp.
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* @vars Flags and counters - flags and counter that control MCU app.
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* @note Do not change stucrure before Stack_Buff, the assembly code uses fixed address offsets.
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*/
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typedef struct _DEL_MCUHandleTypeDef {
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uint64_t* pStackPtr_Origin; /* óêàçàòåëü íà "íà÷àëî" ñòåêà - êîíåö ñòåêà ó óïðàâëÿþùåé ÌÊîì ôóíêöèè */
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// Main stop context
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_JUMP_BUFFER REGS; /* ðåãèñòðû âî âðåìÿ ïðèîñòàíîâêè ïðîãðàììû ÌÊ */
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int long Stack_Size; /* ðàçìåð ñòåêà - îò "íà÷àëà" äî "âåðõíóøêè" */
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uint64_t* pStackPtr_Current; /* óêàçàòåëü íà ïîñëåäíèé ýëåìåíò ñòåêà */
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uint64_t Stack_Buff[MAX_STACK_SIZE]; /* ñîäåðæèìîå ñòåêà îò "íà÷àëà" äî "âåðõíóøêè" âî âðåìÿ ïðèîñòàíîâêè */
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// Main start context
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jmp_buf main_start; /* áóôôåð, äëÿ âûõîäà èç ïðîãðàììû ÌÊ - longjmp(main_start) */
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// Flags and counters
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int While_Timeout; /* ñ÷åò÷èê, ïîñëå èñòå÷åíèÿ êîòîðîãî while ïðåðûâàåòñÿ */
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unsigned Stop_MCU_App : 1; /* ôëàã äëÿ îñòàíîâêè ïðîãðàììû ÌÊ */
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unsigned Resume_MCU_App : 1; /* ôëàã äëÿ âîçîáíîâëåíèÿ ðàáîòû ïðîãðàììû ÌÊ */
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unsigned Get_RSP_Origin : 1; /* ôëàã äëÿ ïîëó÷åíèÿ óêàçàòåëÿ íà "íà÷àëî" ñòåêà */
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}DEL_MCUHandleTypeDef;
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extern DEL_MCUHandleTypeDef hmcu; /* extern äëÿ âèäèìîñòè ïåðåìåííîé âî âñåõ ôàéëàõ */
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// Variable for param of S-Function
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extern double SIM_Sample_Time; // sample time
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//-------------------------------------------------------------//
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//------------------- SAVE CONTEXT DEFINES ------------------//
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/** SAVE STACK */
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/**
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* @brief Save stack of running program.
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* @param _hmcu_ - MCU Handle structure with registers and stack buff for filling.
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*
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* @code @ref _SAVE_STACK_CODE_ to see for replace _SAVE_STACK_ macros (for debug).
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*/
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#define _SAVE_STACK_(_hmcu_) if(1){ \
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/* Ñáðîñ èíäåêñà áóôåðà äëÿ ñòåêà */ _hmcu_.Stack_Size = 0; \
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/* Ïîêà âåñü íåîáõîäèìûé ñòåê íå ñîõðàíåí */ native_while( _hmcu_.pStackPtr_Current != _hmcu_.pStackPtr_Origin) \
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/* Åñëè áóôåð íå ïåðåïîëíåí: */ if(_hmcu_.Stack_Size <= MAX_STACK_SIZE) \
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/* Ñîõðàíåíèå ñòåêà */ _hmcu_.Stack_Buff[_hmcu_.Stack_Size++] = *_hmcu_.pStackPtr_Current++; \
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/* Åñëè áóôåð ïåðåïîëíåí: */ else { \
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/* Ñîîáùåíèå îá îøèáêå è âûõîä èç ïðîãðàììû */ printf("Max stack size is reached\n"); \
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exit(0); \
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}}else
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/***************************************************************/
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/** SAVE PROGRAMM COUNTER */
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/**
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* @brief Save programm counter (RIP register) of running program.
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* @param _hmcu_ - MCU Handle structure with registers and stack buff for filling
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* @note Èñïîëüçóåòñÿ âìåñòå ñ @ref _SAVE_CONTEXT_ äëÿ îïðåäåëåíèÿ òî÷êè âîçâðàòà.
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* Âûçûâàåòñÿ äî èëè ïîñëå _SAVE_CONTEXT_, êàê âàì íóæíî.
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* @ret Store address of next instruction after this macros in Rip
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*/
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#define _SAVE_RIP_(_hmcu_) _hmcu_.REGS.Rip = getNextAddr()
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/***************************************************************/
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//------------------- SAVE CONTEXT DEFINES ------------------//
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//-------------------------------------------------------------//
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//-------------------------------------------------------------//
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//------------------ SIMULINK WHILE DEFINES -----------------//
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/** DEFINE TO WHILE WITH SIMULINK WHILE */
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/**
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* @brief Redefine C while statement with sim_while() macro.
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* @param _expression_ - expression for while.
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* @note @ref sim_while äëÿ ïîäðîáíîñòåé.
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*/
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#define while(_expression_) sim_while(_expression_) /* while êîòîðûé áóäåò èñïîëüçîâàòüñÿ â ñèìóëèíêå */
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/** DEFAULT WHILE */
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/**
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* @brief Default/Native C while statement.
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* @param _expression_ - expression for while.
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* @note Äàííûé while - àíàëîã îáû÷íîãî while, áåç äîïîëíèòåëüíîãî ôóíêöèîíàëà.
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*/
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#define native_while(_expression_) for(; (_expression_); )
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/***************************************************************/
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/** SIMULINK WHILE */
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/**
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* @brief While statement for emulate MCU code in Simulink.
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* @param _expression_ - expression for while.
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* @note Äàííûé while, ïðè óñëîâèè, ÷òî ïðîãðàììà â íåãî âõîäèò (_expression_ != 0)
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* ñîõðàíÿåò êîíòåêñò ïðîãðàììû è óñòàíàâëèâàåò òàéìàóò (îïðåäåëåííîå êîë-âî öèêëîâ).
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* Åñëè òàéìàóò èñòåêàåò ïðîèñõîäèò ïðåðûâàíèå ïðîãðàììû. È îíà âîçâðàùàåòñÿ â îáîëî÷êó,
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* êîòîðàÿ ïåðåéäåò íà ñëåäóþùèé òàêò è ñíîâà ïîïðîáóåò ïðîéòè óñëîâèå. È òàê äàëåå
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* Òàêèì îáðàçîì ïðîãðàììà ÌÊ çàâèñíåò íà ýòîì while, íî ïåðåôèðèÿ ïðîäîëæèò ðàáîòàòü.
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*
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* @code @ref sim_while_CODE_ to see for replace while sim_while (for debug).
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*/
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extern unsigned flag_to_end;
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#define sim_while(_expression_) while((_expression_)&&(flag_to_end == 0))
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//#define sim_while(_expression_) while(0);if(_expression_&&(hmcu.While_Timeout>-5)){ \
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///* Óñòàíîâêà òàéìàóòà äëÿ while */ hmcu.While_Timeout = MAX_WHILE_TIMEOUT; \
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// } \
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///* Öèêë while - for(;_expression_;) */ native_while(_expression_) \
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///* Åñëè òàéìàóò èñòåê */ if(hmcu.While_Timeout-- < 0 ) { \
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///* Cáðîñ òàéìàóòà, ÷òîáû íà ñëåä øàãå âîéòè â òåëî öèêëà */ hmcu.While_Timeout = 0; \
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///* Óñòàíîâêà ôëàãà äëÿ îñòàíîâêè ïðîãðàììû */ hmcu.Stop_MCU_App = 1; \
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///* Óñòàíîâêà ôëàãà äëÿ âîçâðàòà â êîä ÌÊ íà ñëåä øàãå */ hmcu.Resume_MCU_App = 1; \
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///* Ñîõðàíåíèå êîíòåêñòà */ saveProgramContext(); \
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// if(hmcu.Stop_MCU_App) \
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///* Âîçâðàò â îáîëî÷êó */ longjmp(hmcu.main_start, 1); \
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// } \
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///* Èíà÷å - âûïîëíåíèå òåëà öèêëà */ else
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//------------------ SIMULINK WHILE DEFINES -----------------//
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//-------------------------------------------------------------//
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//-------------------------------------------------------------//
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//---------------- SIMULATE FUNCTIONS PROTOTYPES -------------//
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/** MCU STEP SIMULATION */
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/**
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* @brief Read from simulink S-Block Inputs and write to MCU I/O ports.
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* @param in - inputs of S-Function.
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* @param disc - discrete array of S-Function. Outputs would be written from disc.
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* @param time - current time of simulation (in second).
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* @note Âûçûâàåò ãëàâíóþ ôóíêöèþ main èç ïîëüçîâàòåëüñêîãî êîäà è óïðàâëÿåò å¸ õîäîì:
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* Ïðåðûâàåò å¸, åñëè îíà ïîïàëà â áåñêîíå÷íûé while, ñèìóëèðóåò ïåðèôåðèþ
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* è âîçâðàùàåò â òî÷êó îñòàíîâêè íà ñëåäóþùåì øàãå.
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*/
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/* simulate controller step */
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void MCU_Step_Simulation(SimStruct *S, const real_T *in,
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real_T *disc, time_T time); /* step simulation */
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/** SIMULATE MCU PERIPHERAL */
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/**
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* @brief Simulate peripheral of MCU
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* @note Ïîëüçîâàòåëüñêèé êîä, êîòîðûé ñèìóëèðóåò ðàáîòó ïåðèôåðèè ÌÊ.
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*/
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void MCU_Periph_Simulation(void); /* MCU peripheral simulation */
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/** MCU WRAPPER INITIALIZATION */
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/**
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* @brief Initialize structures and variables for simulating MCU.
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* @note Ïîëüçîâàòåëüñêèé êîä, êîòîðûé áóäåò íàñòðàèâàòü âñå ñòðóêòóðû.
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*/
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void SIM_Initialize_Simulation(void); /* initialize MCU simulation */
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/** MCU WRAPPER DEINITIALIZATION */
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/**
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* @brief Deinitialize structures and variables for simulating MCU.
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* @note Ïîëüçîâàòåëüñêèé êîä, êîòîðûé áóäåò î÷èùàòü âñå ñòðóêòóðû.
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*/
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void SIM_deInitialize_Simulation(void); /* SIM_deInitialize_Simulation MCU simulation */
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/** READ INPUTS S-FUNCTION */
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/**
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* @brief Read from simulink S-Block Inputs and write to MCU I/O ports.
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* @param in - inputs of S-Function.
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* @note Ïîëüçîâàòåëüñêèé êîä, êîòîðûé çàïèñûâàåò â ïîðòû ââîäà-âûâîäà èç disc.
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*/
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void MCU_readInputs(real_T* in);
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/** WRITE OUTPUTS S-FUNCTION */
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/**
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* @brief Read from MCU I/O ports and write to simulink S-Block Outputs.
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* @param disc - discrete array of S-Function. Outputs would be written from disc.
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* @note Ïîëüçîâàòåëüñêèé êîä, êîòîðûé çàïèñûâàåò â disc ïîðòû ââîäà-âûâîäà.
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*/
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void MCU_writeOutputs(real_T* disc);
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/** SAVE CONTEXT OF PROGRAMM */
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/**
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* @brief Save context (stack, registers) of running program.
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* @note Äàííàÿ ôóíêöèÿ óñòàíàâëèâàåò ñ÷åò÷èê êîììàíä íà íà÷àëî ôóíêöèè.
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* Òàê ÷òî âîçâðàò áóäåò ïðîèçâåäåí â íà÷àëî ýòîé ôóíêöèè.
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*/
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void saveProgramContext(void);
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/** GET NEXT INSTRUCTION ADDRESS */
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/**
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* @brief Gives the address where this function will return.
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*/
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void* getNextAddr(void);
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//---------------- SIMULATE FUNCTIONS PROTOTYPES -------------//
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//-------------------------------------------------------------//
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#endif // _CONTROLLER_H_
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/** MACROSES REPLACEMENT CODE */
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/** _SAVE_STACK_CODE_
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* CODE TO REPLACE _SAVE_STACK_() MACROS (FOR DEBUG) */
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/*
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hmcu.Stack_Size = 0; // Ñáðîñ èíäåêñà áóôåðà äëÿ ñòåêà
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// Ïîêà âåñü íåîáõîäèìûé ñòåê íå ñîõðàíåí
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native_while(hmcu.pStackPtr_Current != hmcu.pStackPtr_Origin)
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if (hmcu.Stack_Size <= MAX_STACK_SIZE) // Åñëè áóôåð íå ïåðåïîëíåí
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hmcu.Stack_Buff[hmcu.Stack_Size++] = *hmcu.pStackPtr_Current++; // Ñîõðàíåíèå ñòåêà
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else { // Åñëè áóôåð ïåðåïîëíåí
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printf("Max stack size is reached\n"); // Ñîîáùåíèå îá îøèáêå è âûõîä èç ïðîãðàììû
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exit(0); }
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*/
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/***************************************************************/
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/** sim_while_CODE_
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* CODE TO REPLACE sim_while() MACROS (FOR DEBUG) */
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/*
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while(0);if(_expression_&&(hmcu.While_Timeout>-5)){
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hmcu.While_Timeout = MAX_WHILE_TIMEOUT; // Óñòàíîâêà òàéìàóòà äëÿ while
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}
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native_while(_expression_) // Öèêë while - for(;_expression_;)
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if (hmcu.While_Timeout-- < 0) { // Åñëè òàéìàóò èñòåê
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hmcu.While_Timeout = 0; // Ñáðîñ òàéìàóòà, ÷òîáû íà ñëåä øàãå âîéòè â òåëî öèêëà
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hmcu.Stop_MCU_App = 1; // Óñòàíîâêà ôëàãà äëÿ îñòàíîâêè ïðîãðàììû
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hmcu.Resume_MCU_App = 1; // Óñòàíîâêà ôëàãà äëÿ âîçâðàòà â êîä ÌÊ íà ñëåä øàãå
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saveProgramContext(); // Ñîõðàíåíèå êîíòåêñòà
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if(hmcu.Stop_MCU_App) // Åñëè ïðèëîæåíèå áûëî îñòàíîâëåíî
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longjmp(hmcu.main_start, 1); // Âîçâðàò â îáîëî÷êó
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// èíà÷å (ïðè âîçâðàùåíèè â êîä ÌÊ) ïðîäîëæèòü âûïîëíåíèå êîäà
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}
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else // Èíà÷å - âûïîëíåíèå òåëà öèêëà
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*/
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/***************************************************************/ |