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<H1><A NAME="SECTION00420000000000000000">
The <TT>user_controller.c</TT> API</A>
</H1>
<P>
The following tokens have been implemented in order to simplify the
controller implementation and to communicate with the reactive tasks.
<P>
<UL>
<LI><TT>float GET_SENSOR(x)</TT>: This macro is used to sample the
<TT>x</TT>th A/D channel. Here, <IMG
WIDTH="17" HEIGHT="20" ALIGN="BOTTOM" BORDER="0"
SRC="img58.png"
ALT="$x$"> is an integer denoting the A/D
channel, where <!-- MATH
$x \in [0,NUM\-\_CONTROL\-\_INPUTS)$
-->
<IMG
WIDTH="320" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img59.png"
ALT="$x \in [0,NUM\-\_CONTROL\-\_INPUTS)$">.
<P>
</LI>
<LI><TT>void SET_VOLTAGE(x,y)</TT>: This macro is used to load a voltage
into the D/A boards. More explicitly, it will load a voltage <TT>y</TT>
(a float) into D/A channel <TT>x</TT> (an integer), <!-- MATH
$\forall
x\in[0,NUM\-\_CONTROL\-\_OUTPUTS)$
-->
<IMG
WIDTH="347" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img60.png"
ALT="$\forall
x\in[0,NUM\-\_CONTROL\-\_OUTPUTS)$">.
<P>
</LI>
<LI><TT>float GET_SCALAR_PARAMETER(id)</TT>: This macro will retrieve
the latest value of scalar parameter identified with the unique
(integer) identifier <TT>id</TT>, <!-- MATH
$\forall id \in
[0,NUM\-\_CONTROL\-\_PARAMS)$
-->
<IMG
WIDTH="344" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img61.png"
ALT="$\forall id \in
[0,NUM\-\_CONTROL\-\_PARAMS)$">.
<P>
</LI>
<LI><TT>void RETURN_VAL(x,y)</TT>: This macro will assign the value of
<TT>y</TT> (a float) to the <TT>x</TT>th data point (an integer) that will
be returned to the reactive tasks (<TT>xrtic</TT>). The user can then
either store this data to disk, plot it to screen, print it to <TT>stdout</TT>, or use any other user supplied modules from within Linux. In
this case, <!-- MATH
$x \in [0,RTIC\-\_MAX\-\_DATA\-\_BUF)$
-->
<IMG
WIDTH="297" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img62.png"
ALT="$x \in [0,RTIC\-\_MAX\-\_DATA\-\_BUF)$">.
<P>
</LI>
<LI><TT>int NEW_PARAMS</TT>: This macro returns TRUE (1) if a parameter has
been updated via <TT>xrtic</TT>, otherwise it returns FALSE (0). This
macro is guaranteed to return TRUE over the execution of the very
first controller cycle.
<P>
</LI>
<LI><TT>float GET_RUN_PERIOD</TT>: This macro returns the run-time
period of the controller in seconds. Thus, each time the user changes
the run-time frequency via either <TT>user_GUI.par</TT> or <TT>xrtic</TT>, the output of this macro will change accordingly.
<P>
</LI>
<LI><TT>float GET_RUN_TIME</TT>: This macro returns time (in
nano-seconds) since the controller began its execution.
<P>
</LI>
<LI><TT>volatile float *MATRIX_VALS(id)</TT>: This macro returns a
pointer to the starting location of the elements associated with the
matrix of identifier <TT>id</TT>.
<P>
</LI>
<LI><TT>float MATRIX_ELEMENT(id,m,n) </TT>: This macro returns the value
of the element identified by row <TT>m</TT> (an integer) and column <TT>n</TT> (an integer) of the matrix or vector identified by the unique
identifier <TT>id</TT> (an integer), Here, note that <!-- MATH
$m \in
[1,number\,of\,rows]$
-->
<IMG
WIDTH="206" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img63.png"
ALT="$m \in
[1,number\,of\,rows]$">; that <!-- MATH
$n \in [1,number\,of\,columns]$
-->
<IMG
WIDTH="230" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img64.png"
ALT="$n \in [1,number\,of\,columns]$">; that <!-- MATH
$id
\in [0,NUM\-\_CONTROL\-\_PARAMS)$
-->
<IMG
WIDTH="333" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img65.png"
ALT="$id
\in [0,NUM\-\_CONTROL\-\_PARAMS)$">, and that <!-- MATH
$max(m)\times max(n) \le
RTIC\-\_MAX\-\_ARRAY$
-->
<IMG
WIDTH="375" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img66.png"
ALT="$max(m)\times max(n) \le
RTIC\-\_MAX\-\_ARRAY$">.
<P>
</LI>
<LI><TT>int MAT_DIM_M(id)</TT>: This macro returns the row dimension of
the matrix identified by the unique identifier <TT>id</TT> (an integer),
<!-- MATH
$\forall id \in [0,NUM\-\_CONTROL\-\_PARAMS)$
-->
<IMG
WIDTH="344" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img61.png"
ALT="$\forall id \in
[0,NUM\-\_CONTROL\-\_PARAMS)$">.
<P>
</LI>
<LI><TT>int MAT_DIM_N(id)</TT>: This macro returns the column dimension of
the matrix identified by the unique identifier <IMG
WIDTH="23" HEIGHT="21" ALIGN="BOTTOM" BORDER="0"
SRC="img67.png"
ALT="$id$"> (an integer),
<!-- MATH
$\forall id \in [0,NUM\-\_CONTROL\-\_PARAMS)$
-->
<IMG
WIDTH="344" HEIGHT="40" ALIGN="MIDDLE" BORDER="0"
SRC="img61.png"
ALT="$\forall id \in
[0,NUM\-\_CONTROL\-\_PARAMS)$">.
<P>
</LI>
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<ADDRESS>
Michael Barabanov
2001-06-19
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