1/*



2 * File: ert_main.c



3 *



4 * Code generated for Simulink model 'sensorsharp'.



5 *



6 * Model version                  : 1.47



7 * Simulink Coder version         : 8.12 (R2017a) 16-Feb-2017



8 * C/C++ source code generated on : Tue Jun 18 18:54:30 2019



9 *



10 * Target selection: ert.tlc



11 * Embedded hardware selection: Atmel->AVR



12 * Code generation objectives: Unspecified



13 * Validation result: Not run



14 */



15



16#include "sensorsharp.h"



17#include "rtwtypes.h"



18#include <ext_work.h>



19#include <ext_svr.h>



20#include <ext_share.h>



21#include <updown.h>



22



23volatile int IsrOverrun = 0;



24boolean_T isRateRunning[2] = { 0, 0 };



25



26boolean_T need2runFlags[2] = { 0, 0 };



27



28void rt_OneStep(void)



29{



30  boolean_T eventFlags[2];



31



32  /* Check base rate for overrun */



33  if (isRateRunning[0]++) {



34    IsrOverrun = 1;



35    isRateRunning[0]--;                /* allow future iterations to succeed*/



36    return;



37  }



38



39  /*



40   * For a bare-board target (i.e., no operating system), the rates



41   * that execute this base step are buffered locally to allow for



42   * overlapping preemption.  The generated code includes function



43   * writeCodeInfoFcn() which sets the rates



44   * that need to run this time step.  The return values are 1 and 0



45   * for true and false, respectively.



46   */



47  sensorsharp_SetEventsForThisBaseStep(eventFlags);



48



49#ifndef _MW_ARDUINO_LOOP_



50



51  sei();



52



53#endif;



54



55  sensorsharp_step0();



56



57  /* Get model outputs here */



58#ifndef _MW_ARDUINO_LOOP_



59



60  cli();



61



62#endif;



63



64  isRateRunning[0]--;



65  if (eventFlags[1]) {



66    if (need2runFlags[1]++) {



67      IsrOverrun = 1;



68      need2runFlags[1]--;              /* allow future iterations to succeed*/



69      return;



70    }



71  }



72



73  if (need2runFlags[1]) {



74    if (isRateRunning[1]) {



75      /* Yield to higher priority*/



76      return;



77    }



78



79    isRateRunning[1]++;



80



81#ifndef _MW_ARDUINO_LOOP_



82



83    sei();



84



85#endif;



86



87    /* Step the model for subrate "1" */



88    switch (1)



89    {



90     case 1 :



91      sensorsharp_step1();



92



93      /* Get model outputs here */



94      break;



95



96     default :



97      break;



98    }



99



100#ifndef _MW_ARDUINO_LOOP_



101



102    cli();



103



104#endif;



105



106    need2runFlags[1]--;



107    isRateRunning[1]--;



108  }



109



110  rtExtModeCheckEndTrigger();



111}



112



113int main(void)



114{



115  volatile boolean_T runModel = 1;



116  float modelBaseRate = 0.002;



117  float systemClock = 0;



118  init();



119  MW_Arduino_Init();



120  rtmSetErrorStatus(sensorsharp_M, 0);



121



122  /* initialize external mode */



123  rtParseArgsForExtMode(0, NULL);



124  sensorsharp_initialize();



125  sei();



126



127  /* External mode */



128  rtSetTFinalForExtMode(&rtmGetTFinal(sensorsharp_M));



129  rtExtModeCheckInit(2);



130



131  {



132    boolean_T rtmStopReq = false;



133    rtExtModeWaitForStartPkt(sensorsharp_M->extModeInfo, 2, &rtmStopReq);



134    if (rtmStopReq) {



135      rtmSetStopRequested(sensorsharp_M, true);



136    }



137  }



138



139  rtERTExtModeStartMsg();



140  cli();



141  configureArduinoAVRTimer();



142  runModel =



143    (rtmGetErrorStatus(sensorsharp_M) == (NULL)) && !rtmGetStopRequested



144    (sensorsharp_M);



145



146#ifndef _MW_ARDUINO_LOOP_



147



148  sei();



149



150#endif;



151



152  sei();



153  while (runModel) {



154    /* External mode */



155    {



156      boolean_T rtmStopReq = false;



157      rtExtModeOneStep(sensorsharp_M->extModeInfo, 2, &rtmStopReq);



158      if (rtmStopReq) {



159        rtmSetStopRequested(sensorsharp_M, true);



160      }



161    }



162



163    runModel =



164      (rtmGetErrorStatus(sensorsharp_M) == (NULL)) && !rtmGetStopRequested



165      (sensorsharp_M);



166    runModel = runModel && MW_Arduino_Loop();



167  }



168



169  rtExtModeShutdown(2);



170



171  /* Disable rt_OneStep() here */



172



173  /* Terminate model */



174  sensorsharp_terminate();



175  cli();



176  return 0;



177}



178



179/*



180 * File trailer for generated code.



181 *



182 * [EOF]



183 */



184