294 lines
8.3 KiB
C
294 lines
8.3 KiB
C
/* ----------------------------------------------------------------------------
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SchedMCore - A MultiCore Scheduling Framework
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Copyright (C) 2009-2011, ONERA, Toulouse, FRANCE - LIFL, Lille, FRANCE
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This file is part of Prelude
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Prelude is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public License
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as published by the Free Software Foundation ; either version 2 of
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the License, or (at your option) any later version.
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Prelude is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY ; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this program ; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
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USA
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---------------------------------------------------------------------------- */
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/*
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This program is part of the TACLeBench benchmark suite.
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Version V 1.9
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Name: assemblage_includes.h
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Author: Unknown
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Function:
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Source: https://svn.onera.fr/schedmcore/branches/ROSACE_CaseStudy/
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c_posix_implementation/
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Original name: assemblage_includes.h
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Changes: No major functional changes.
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License: See the terms above.
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*/
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#ifndef ASSEMBLAGE_INCLUDES_H
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#define ASSEMBLAGE_INCLUDES_H
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#include "types.h"
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#include "io.h"
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/* ***************************************************************************
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Shared constants
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* ************************************************************************* */
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#define delta_th_eq (1.5868660794926)
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#define delta_e_eq (0.012009615652468)
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extern const REAL_TYPE h_eq;
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extern const REAL_TYPE Va_eq;
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#ifndef NBMAX_SAMPLE
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#define NBMAX_SAMPLE (6000000/4)
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#endif
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extern REAL_TYPE sample[ SPL_SIZE ][ NBMAX_SAMPLE ];
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void print_inmemory_sample( void );
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/* ***************************************************************************
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The prelude imported node prototypes
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* ************************************************************************* */
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/**
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Va filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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@param[in] Va, airspeed (m/s)
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@return Va_f, filtered airspeed (m/s)
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2nd order Butterworth filter with fc = 0.5 Hz (Matlab function butter)
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Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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Va_filter_100( REAL_TYPE Va );
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REAL_TYPE
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Va_filter_50( REAL_TYPE Va );
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REAL_TYPE
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Va_filter_33( REAL_TYPE Va );
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REAL_TYPE
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Va_filter_25( REAL_TYPE Va );
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/**
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Vz filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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@param[in] Vz, vertical speed (m/s)
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@return Vz_f, filtered vertical airspeed (m/s)
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2nd order Butterworth filter with fc = 0.5 Hz (Matlab function butter)
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Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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Vz_filter_100( REAL_TYPE Vz );
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REAL_TYPE
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Vz_filter_50 ( REAL_TYPE Vz );
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REAL_TYPE
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Vz_filter_33 ( REAL_TYPE Vz );
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REAL_TYPE
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Vz_filter_25 ( REAL_TYPE Vz );
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/**
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q filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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@param[in] q, pitch rate (rad/s)
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@return q_f, filtered pitch rate (rad/s)
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2nd order Butterworth filter with fc = 3.0 Hz (Matlab function butter)
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Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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q_filter_100( REAL_TYPE q );
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REAL_TYPE
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q_filter_50 ( REAL_TYPE q );
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REAL_TYPE
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q_filter_33 ( REAL_TYPE q );
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REAL_TYPE
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q_filter_25 ( REAL_TYPE q );
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/**
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az filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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@param[in] az, normal acceleration (m/s^2)
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@return az_f, filtered normal acceleration (m/s^2)
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2nd order Butterworth filter with fc = 10.0 Hz (Matlab function butter)
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Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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az_filter_100( REAL_TYPE az );
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REAL_TYPE
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az_filter_50 ( REAL_TYPE az );
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REAL_TYPE
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az_filter_33 ( REAL_TYPE az );
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REAL_TYPE
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az_filter_25 ( REAL_TYPE az );
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/**
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h filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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@param[in] h, altitude (m)
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@return h_f, filtered altitude (m)
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2nd order Butterworth filter with fc = 3.0 Hz (Matlab function butter)
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Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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h_filter_100( REAL_TYPE h );
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REAL_TYPE
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h_filter_50 ( REAL_TYPE h );
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REAL_TYPE
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h_filter_33 ( REAL_TYPE h );
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REAL_TYPE
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h_filter_25 ( REAL_TYPE h );
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/**
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Altitude hold controller (rate 50/33/25/10 Hz sampling period 0.02/0.03/0.04/0.1)
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@param[in] h_f, filtered altitude (m)
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@param[in] h_c, commanded altitude (m)
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@return Vz_c, commanded vertical speed (m/s)
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Generates the vertical speed command Vz_c to track altitude change h_c
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*/
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REAL_TYPE
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altitude_hold_50 ( REAL_TYPE h_f, REAL_TYPE h_c );
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REAL_TYPE
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altitude_hold_33 ( REAL_TYPE h_f, REAL_TYPE h_c );
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REAL_TYPE
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altitude_hold_25 ( REAL_TYPE h_f, REAL_TYPE h_c );
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REAL_TYPE
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altitude_hold_10 ( REAL_TYPE h_f, REAL_TYPE h_c );
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/**
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Vz Speed controller (rate 50/33/25/10 Hz sampling period 0.02/0.03/0.04/0.1)
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@param[in] Vz_f, filtered vertical speed (m/s)
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@param[in] Vz_c, commanded vertical speed (m/s)
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@param[in] q_f, filtered pitch rate (rad/s)
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@param[in] az_f, filtered normal acceleration (m/s^2)
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@return delta_e_c, commanded elevator deflection (rad)
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Generates the elevator deflection command to track vertical speed command Vz_c
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*/
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REAL_TYPE
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Vz_control_50 ( REAL_TYPE Vz_f, REAL_TYPE Vz_c,
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REAL_TYPE q_f, REAL_TYPE az_f );
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REAL_TYPE
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Vz_control_33 ( REAL_TYPE Vz_f, REAL_TYPE Vz_c,
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REAL_TYPE q_f, REAL_TYPE az_f );
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REAL_TYPE
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Vz_control_25 ( REAL_TYPE Vz_f, REAL_TYPE Vz_c,
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REAL_TYPE q_f, REAL_TYPE az_f );
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REAL_TYPE
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Vz_control_10 ( REAL_TYPE Vz_f, REAL_TYPE Vz_c,
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REAL_TYPE q_f, REAL_TYPE az_f );
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/**
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Va Speed controller (rate 50/33/25/10 Hz sampling period 0.02/0.03/0.04/0.1)
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@param[in] Va_f, filtered airspeed (m/s)
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@param[in] Vz_f, filtered vertical speed (m/s)
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@param[in] q_f, filtered pitch rate (rad/s)
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@return delta_th_c, commanded throttle (-)
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Generates the throttle command to track airspeed change Va_c
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*/
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REAL_TYPE
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Va_control_50 ( REAL_TYPE Va_f, REAL_TYPE Vz_f,
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REAL_TYPE q_f, REAL_TYPE Va_c );
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REAL_TYPE
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Va_control_33 ( REAL_TYPE Va_f, REAL_TYPE Vz_f,
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REAL_TYPE q_f, REAL_TYPE Va_c );
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REAL_TYPE
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Va_control_25 ( REAL_TYPE Va_f, REAL_TYPE Vz_f,
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REAL_TYPE q_f, REAL_TYPE Va_c );
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REAL_TYPE
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Va_control_10 ( REAL_TYPE Va_f, REAL_TYPE Vz_f,
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REAL_TYPE q_f, REAL_TYPE Va_c );
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/**
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Engine (200 Hz --> 5ms period)
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@param[in] delta_th_c, commanded throttle (-)
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@return T, Thrust (N)
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1st order system with time constant 0.5 s
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ODE Solver: Euler method with fixed-step = 0.005 (200 Hz)
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*/
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REAL_TYPE
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engine( REAL_TYPE delta_th_c );
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/**
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Elevator (200 Hz --> 5ms period)
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@param[in] delta_e_c, commanded elevator deflection (rad)
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@return delta_e, elevator deflection (rad)
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2nd order system (natural frequency omega = 25.0 rad/s and damping xi = 0.85)
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ODE Solver: Euler method with fixed-step = 0.005 s (200 Hz)
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*/
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REAL_TYPE
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elevator( REAL_TYPE delta_e_c );
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/**
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Flight dynamics (200 Hz --> 5ms period)
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@param[in] i, the simulation step
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@param[in] delta_e, elevator deflection (rad)
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@param[in] T, Thrust (N)
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@param[out] outputs, the outputs Va, Vz, q, az, h
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Aircraft flight dynamics
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ODE Solver: Euler method with fixed-step = 0.005 s (200 Hz)
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*/
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void
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aircraft_dynamics ( REAL_TYPE delta_e, REAL_TYPE T,
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struct aircraft_dynamics_outs_t *outputs );
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/* ***************************************************************************
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The prelude sensor node prototypes
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* ************************************************************************* */
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/**
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(200 Hz --> 5ms period)
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*/
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REAL_TYPE
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input_h_c( void );
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REAL_TYPE
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input_Va_c( void );
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/* ***************************************************************************
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The prelude actuator node prototypes
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* ************************************************************************* */
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/**
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(200 Hz --> 5ms period)
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*/
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void
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output_delta_th_c( REAL_TYPE delta_th_c );
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/**
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(200 Hz --> 5ms period)
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*/
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void
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output_delta_e_c( REAL_TYPE delta_e_c );
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#endif
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