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#include <stdio.h>
#include <math.h>
#include "../machine.h"
#include "../calelm/calelm.h"
#include "scicos.h"
/*------------------------------------------------
* Scicos block simulator
* A set of elementary blocks
*------------------------------------------------*/
#define Abs(x) ( (x) > 0) ? (x) : -(x)
#define Min(x,y) (((x)<(y))?(x):(y))
#define Max(x,y) (((x)>(y))?(x):(y))
typedef void (scicos0_block) __PARAMS((ARGS_scicos0));
extern scicos0_block F2C(absblk), F2C(andlog), F2C(bidon), F2C(gain);
extern scicos0_block F2C(cdummy), F2C(dband), F2C(cosblk);
/*------------------------------------------------
* Scicos block simulator
* returns Absolute value of the input
*------------------------------------------------*/
void C2F(absblk)(flag, nevprt, t, xd, x, nx, z, nz, tvec,
ntvec, rpar, nrpar, ipar, nipar, u, nu, y, ny)
integer *flag, *nevprt,*nx,*nz,*nrpar, *ipar, *nipar,*ntvec,*nu,*ny;
double *t, *xd, *x, *z, *tvec, *rpar, *u, *y;
{
int i;
for (i = 0 ; i < *nu ; ++i ) y[i] = Abs(u[i]);
}
/*------------------------------------------------
* Scicos block simulator
* Logical and block
* if event input exists synchronuously, output is 1 else -1
*------------------------------------------------*/
void C2F(andlog)(flag, nevprt, t, xd, x, nx, z, nz, tvec,
ntvec, rpar, nrpar, ipar, nipar, u, nu, y, ny)
integer *flag, *nevprt,*nx,*nz,*nrpar, *ipar, *nipar,*ntvec,*nu,*ny;
double *t, *xd, *x, *z, *tvec, *rpar, *u, *y;
{
if ( *flag == 1) y[0] = ( *nevprt != 3 ) ? -1.00 : 1.00;
}
/*------------------------------------------------
* Scicos block simulator
* does nothing
*------------------------------------------------*/
void C2F(bidon)(flag, nevprt, t, xd, x, nx, z, nz, tvec,
ntvec, rpar, nrpar, ipar, nipar, u, nu, y, ny)
integer *flag, *nevprt,*nx,*nz,*nrpar, *ipar, *nipar,*ntvec,*nu,*ny;
double *t, *xd, *x, *z, *tvec, *rpar, *u, *y;
{
}
/*------------------------------------------------
* Scicos block simulator
* input to output Gain
* rpar=gain matrix
*------------------------------------------------*/
void C2F(gain)(flag, nevprt, t, xd, x, nx, z, nz, tvec,
ntvec, rpar, nrpar, ipar, nipar, u, nu, y, ny)
integer *flag, *nevprt,*nx,*nz,*nrpar, *ipar, *nipar,*ntvec,*nu,*ny;
double *t, *xd, *x, *z, *tvec, *rpar, *u, *y;
{
integer un=1;
C2F(dmmul)(rpar,ny,u,nu,y,ny,ny,nu,&un);
}
/*------------------------------------------------
* Scicos block simulator
* Dummy state space x'=sin(t)
*------------------------------------------------*/
void C2F(cdummy)(flag, nevprt, t, xd, x, nx, z, nz, tvec,
ntvec, rpar, nrpar, ipar, nipar, u, nu, y, ny)
integer *flag, *nevprt,*nx,*nz,*nrpar, *ipar, *nipar,*ntvec,*nu,*ny;
double *t, *xd, *x, *z, *tvec, *rpar, *u, *y;
{
if ( *flag == 0 ) xd[0]=sin(*t);
}
/*------------------------------------------------
* Scicos block simulator
* Dead Band,
* if u(i)<0 ,y(i)=min(0,u+DB(i)/2)
* else y(i)=max(0,u-DB(i)/2)
* DB(i)=rpar(i)
*------------------------------------------------*/
void C2F(dband)(flag, nevprt, t, xd, x, nx, z, nz, tvec,
ntvec, rpar, nrpar, ipar, nipar, u, nu, y, ny)
integer *flag, *nevprt,*nx,*nz,*nrpar, *ipar, *nipar,*ntvec,*nu,*ny;
double *t, *xd, *x, *z, *tvec, *rpar, *u, *y;
{
int i;
for ( i=0 ; i < *nu ; i++ )
{
if ( u[i] < 0 )
y[i] = Min(0.00,u[i]+rpar[i]/2.00);
else
y[i] = Max(0.00,u[i]-rpar[i]/2.00);
}
}
/*------------------------------------------------
* Scicos block simulator
*
*------------------------------------------------*/
void C2F(cosblk)(flag, nevprt, t, xd, x, nx, z, nz, tvec,
ntvec, rpar, nrpar, ipar, nipar, u, nu, y, ny)
integer *flag, *nevprt,*nx,*nz,*nrpar, *ipar, *nipar,*ntvec,*nu,*ny;
double *t, *xd, *x, *z, *tvec, *rpar, *u, *y;
{
int i;
for ( i=0; i < *nu ; i++) y[i]= cos(u[i]);
}
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