电路仿真基于matlab Simulink四旋翼PID控制【含Matlab源码 454期】.zip

/* Include files */ #include <stddef.h> #include "blas.h" #include "PID2_sfun.h" #include "c3_PID2.h" #include "mwmathutil.h" #define CHARTINSTANCE_CHARTNUMBER (chartInstance->chartNumber) #define CHARTINSTANCE_INSTANCENUMBER (chartInstance->instanceNumber) #include "PID2_sfun_debug_macros.h" #define _SF_MEX_LISTEN_FOR_CTRL_C(S) sf_mex_listen_for_ctrl_c(sfGlobalDebugInstanceStruct,S); /* Type Definitions */ /* Named Constants */ #define CALL_EVENT (-1) /* Variable Declarations */ /* Variable Definitions */ static real_T _sfTime_; static const char * c3_debug_family_names[33] = { "l", "m", "g", "Ix", "Iy", "Iz", "Jr", "d", "b", "w2", "w4", "w1", "w3", "uu", "nargin", "nargout", "u1", "u2", "u3", "u4", "p", "q", "r", "p1", "q1", "r1", "u5", "dx2", "dy2", "dz2", "dp2", "dq2", "dr2" }; /* Function Declarations */ static void initialize_c3_PID2(SFc3_PID2InstanceStruct *chartInstance); static void initialize_params_c3_PID2(SFc3_PID2InstanceStruct *chartInstance); static void enable_c3_PID2(SFc3_PID2InstanceStruct *chartInstance); static void disable_c3_PID2(SFc3_PID2InstanceStruct *chartInstance); static void c3_update_debugger_state_c3_PID2(SFc3_PID2InstanceStruct *chartInstance); static const mxArray *get_sim_state_c3_PID2(SFc3_PID2InstanceStruct *chartInstance); static void set_sim_state_c3_PID2(SFc3_PID2InstanceStruct *chartInstance, const mxArray *c3_st); static void finalize_c3_PID2(SFc3_PID2InstanceStruct *chartInstance); static void sf_gateway_c3_PID2(SFc3_PID2InstanceStruct *chartInstance); static void c3_chartstep_c3_PID2(SFc3_PID2InstanceStruct *chartInstance); static void initSimStructsc3_PID2(SFc3_PID2InstanceStruct *chartInstance); static void init_script_number_translation(uint32_T c3_machineNumber, uint32_T c3_chartNumber, uint32_T c3_instanceNumber); static const mxArray *c3_sf_marshallOut(void *chartInstanceVoid, void *c3_inData); static real_T c3_emlrt_marshallIn(SFc3_PID2InstanceStruct *chartInstance, const mxArray *c3_dr2, const char_T *c3_identifier); static real_T c3_b_emlrt_marshallIn(SFc3_PID2InstanceStruct *chartInstance, const mxArray *c3_u, const emlrtMsgIdentifier *c3_parentId); static void c3_sf_marshallIn(void *chartInstanceVoid, const mxArray *c3_mxArrayInData, const char_T *c3_varName, void *c3_outData); static void c3_info_helper(const mxArray **c3_info); static const mxArray *c3_emlrt_marshallOut(const char * c3_u); static const mxArray *c3_b_emlrt_marshallOut(const uint32_T c3_u); static const mxArray *c3_b_sf_marshallOut(void *chartInstanceVoid, void *c3_inData); static int32_T c3_c_emlrt_marshallIn(SFc3_PID2InstanceStruct *chartInstance, const mxArray *c3_u, const emlrtMsgIdentifier *c3_parentId); static void c3_b_sf_marshallIn(void *chartInstanceVoid, const mxArray *c3_mxArrayInData, const char_T *c3_varName, void *c3_outData); static uint8_T c3_d_emlrt_marshallIn(SFc3_PID2InstanceStruct *chartInstance, const mxArray *c3_b_is_active_c3_PID2, const char_T *c3_identifier); static uint8_T c3_e_emlrt_marshallIn(SFc3_PID2InstanceStruct *chartInstance, const mxArray *c3_u, const emlrtMsgIdentifier *c3_parentId); static void init_dsm_address_info(SFc3_PID2InstanceStruct *chartInstance); /* Function Definitions */ static void initialize_c3_PID2(SFc3_PID2InstanceStruct *chartInstance) { chartInstance->c3_sfEvent = CALL_EVENT; _sfTime_ = sf_get_time(chartInstance->S); chartInstance->c3_is_active_c3_PID2 = 0U; } static void initialize_params_c3_PID2(SFc3_PID2InstanceStruct *chartInstance) { (void)chartInstance; } static void enable_c3_PID2(SFc3_PID2InstanceStruct *chartInstance) { _sfTime_ = sf_get_time(chartInstance->S); } static void disable_c3_PID2(SFc3_PID2InstanceStruct *chartInstance) { _sfTime_ = sf_get_time(chartInstance->S); } static void c3_update_debugger_state_c3_PID2(SFc3_PID2InstanceStruct *chartInstance) { (void)chartInstance; } static const mxArray *get_sim_state_c3_PID2(SFc3_PID2InstanceStruct *chartInstance) { const mxArray *c3_st; const mxArray *c3_y = NULL; real_T c3_hoistedGlobal; real_T c3_u; const mxArray *c3_b_y = NULL; real_T c3_b_hoistedGlobal; real_T c3_b_u; const mxArray *c3_c_y = NULL; real_T c3_c_hoistedGlobal; real_T c3_c_u; const mxArray *c3_d_y = NULL; real_T c3_d_hoistedGlobal; real_T c3_d_u; const mxArray *c3_e_y = NULL; real_T c3_e_hoistedGlobal; real_T c3_e_u; const mxArray *c3_f_y = NULL; real_T c3_f_hoistedGlobal; real_T c3_f_u; const mxArray *c3_g_y = NULL; real_T c3_g_hoistedGlobal; real_T c3_g_u; const mxArray *c3_h_y = NULL; uint8_T c3_h_hoistedGlobal; uint8_T c3_h_u; const mxArray *c3_i_y = NULL; real_T *c3_dp2; real_T *c3_dq2; real_T *c3_dr2; real_T *c3_dx2; real_T *c3_dy2; real_T *c3_dz2; real_T *c3_u5; c3_dr2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 7); c3_dq2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 6); c3_dp2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 5); c3_dz2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 4); c3_dy2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 3); c3_dx2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 2); c3_u5 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1); c3_st = NULL; c3_st = NULL; c3_y = NULL; sf_mex_assign(&c3_y, sf_mex_createcellmatrix(8, 1), false); c3_hoistedGlobal = *c3_dp2; c3_u = c3_hoistedGlobal; c3_b_y = NULL; sf_mex_assign(&c3_b_y, sf_mex_create("y", &c3_u, 0, 0U, 0U, 0U, 0), false); sf_mex_setcell(c3_y, 0, c3_b_y); c3_b_hoistedGlobal = *c3_dq2; c3_b_u = c3_b_hoistedGlobal; c3_c_y = NULL; sf_mex_assign(&c3_c_y, sf_mex_create("y", &c3_b_u, 0, 0U, 0U, 0U, 0), false); sf_mex_setcell(c3_y, 1, c3_c_y); c3_c_hoistedGlobal = *c3_dr2; c3_c_u = c3_c_hoistedGlobal; c3_d_y = NULL; sf_mex_assign(&c3_d_y, sf_mex_create("y", &c3_c_u, 0, 0U, 0U, 0U, 0), false); sf_mex_setcell(c3_y, 2, c3_d_y); c3_d_hoistedGlobal = *c3_dx2; c3_d_u = c3_d_hoistedGlobal; c3_e_y = NULL; sf_mex_assign(&c3_e_y, sf_mex_create("y", &c3_d_u, 0, 0U, 0U, 0U, 0), false); sf_mex_setcell(c3_y, 3, c3_e_y); c3_e_hoistedGlobal = *c3_dy2; c3_e_u = c3_e_hoistedGlobal; c3_f_y = NULL; sf_mex_assign(&c3_f_y, sf_mex_create("y", &c3_e_u, 0, 0U, 0U, 0U, 0), false); sf_mex_setcell(c3_y, 4, c3_f_y); c3_f_hoistedGlobal = *c3_dz2; c3_f_u = c3_f_hoistedGlobal; c3_g_y = NULL; sf_mex_assign(&c3_g_y, sf_mex_create("y", &c3_f_u, 0, 0U, 0U, 0U, 0), false); sf_mex_setcell(c3_y, 5, c3_g_y); c3_g_hoistedGlobal = *c3_u5; c3_g_u = c3_g_hoistedGlobal; c3_h_y = NULL; sf_mex_assign(&c3_h_y, sf_mex_create("y", &c3_g_u, 0, 0U, 0U, 0U, 0), false); sf_mex_setcell(c3_y, 6, c3_h_y); c3_h_hoistedGlobal = chartInstance->c3_is_active_c3_PID2; c3_h_u = c3_h_hoistedGlobal; c3_i_y = NULL; sf_mex_assign(&c3_i_y, sf_mex_create("y", &c3_h_u, 3, 0U, 0U, 0U, 0), false); sf_mex_setcell(c3_y, 7, c3_i_y); sf_mex_assign(&c3_st, c3_y, false); return c3_st; } static void set_sim_state_c3_PID2(SFc3_PID2InstanceStruct *chartInstance, const mxArray *c3_st) { const mxArray *c3_u; real_T *c3_dp2; real_T *c3_dq2; real_T *c3_dr2; real_T *c3_dx2; real_T *c3_dy2; real_T *c3_dz2; real_T *c3_u5; c3_dr2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 7); c3_dq2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 6); c3_dp2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 5); c3_dz2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 4); c3_dy2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 3); c3_dx2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 2); c3_u5 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1); chartInstance->c3_doneDoubleBufferReInit = true; c3_u = sf_mex_dup(c3_st); *c