/*
 * File: rtwtypes.h
 *
 * Definitions required by Real-Time Workshop generated code.
 *
 * Real-Time Workshop version: 7.2
 * Generated on: 2008-09-30 17:40:50
 */

#ifndef __RTWTYPES_H__
#define __RTWTYPES_H__
#ifndef TRUE
# define TRUE                          (1U)
#endif

#ifndef FALSE
# define FALSE                         (0U)
#endif

#ifndef __TMWTYPES__
#define __TMWTYPES__
#include <limits.h>

/*=======================================================================*
 * Target hardware information
 *   Device type: ARM7
 *   Number of bits:     char:   8    short:   16    int:  32
 *                       long:  32      native word size:  32
 *   Byte ordering: LittleEndian
 *   Signed integer division rounds to: Zero
 *   Shift right on a signed integer as arithmetic shift: on
 *=======================================================================*/

/*=======================================================================*
 * Fixed width word size data types:                                     *
 *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
 *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
 *   real32_T, real64_T           - 32 and 64 bit floating point numbers *
 *=======================================================================*/
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;

/*===========================================================================*
 * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T,       *
 *                           ulong_T, char_T and byte_T.                     *
 *===========================================================================*/
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef char_T byte_T;

/*=======================================================================*
 * Min and Max:                                                          *
 *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
 *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
 *=======================================================================*/
#define MAX_int8_T                     ((int8_T)(127))
#define MIN_int8_T                     ((int8_T)(-128))
#define MAX_uint8_T                    ((uint8_T)(255U))
#define MIN_uint8_T                    ((uint8_T)(0U))
#define MAX_int16_T                    ((int16_T)(32767))
#define MIN_int16_T                    ((int16_T)(-32768))
#define MAX_uint16_T                   ((uint16_T)(65535U))
#define MIN_uint16_T                   ((uint16_T)(0U))
#define MAX_int32_T                    ((int32_T)(2147483647))
#define MIN_int32_T                    ((int32_T)(-2147483647-1))
#define MAX_uint32_T                   ((uint32_T)(0xFFFFFFFFU))
#define MIN_uint32_T                   ((uint32_T)(0U))

/* Logical type definitions */
#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
#  ifndef false
#   define false                       (0U)
#  endif

#  ifndef true
#   define true                        (1U)
#  endif
#endif

/*
 * Real-Time Workshop assumes the code is compiled on a target using a 2's compliment representation
 * for signed integer values.
 */
#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
#error "This code must be compiled using a 2's complement representation for signed integer values"
#endif

/*
 * Maximum length of a MATLAB identifier (function/variable/model)
 * including the null-termination character. Referenced by
 * rt_logging.c and rt_matrx.c.
 */
#define TMW_NAME_LENGTH_MAX            64

/* This ID is used to detect inclusion of an incompatible rtwtypes.h */
#define RTWTYPES_ID_C08S16I32L32N32F1
#else                                  /* __TMWTYPES__ */
#define TMWTYPES_PREVIOUSLY_INCLUDED
#endif                                 /* __TMWTYPES__ */

/* Block D-Work pointer type */
typedef void * pointer_T;

/* Define RTW replacement data types. */
#include "ecrobot_interface.h"         /* User defined replacement datatype for int8_T uint8_T int16_T uint16_T int32_T uint32_T real32_T real_T boolean_T int_T uint_T char_T  */

/* Simulink specific types */
#ifndef __SIMSTRUC_TYPES_H__
#define __SIMSTRUC_TYPES_H__

/* States of an enabled subsystem */
typedef enum {
  SUBSYS_DISABLED = 0,
  SUBSYS_ENABLED = 2,
  SUBSYS_BECOMING_DISABLED = 4,
  SUBSYS_BECOMING_ENABLED = 8,
  SUBSYS_TRIGGERED = 16
} CondStates;

/* Trigger directions: falling, either, and rising */
typedef enum {
  FALLING_ZERO_CROSSING = -1,
  ANY_ZERO_CROSSING = 0,
  RISING_ZERO_CROSSING = 1
} ZCDirection;

/* Previous state of a trigger signal */
typedef uint8_T ZCSigState;

#define UNINITIALIZED_ZCSIG            0x03U
#define NEG_ZCSIG                      0x02U
#define POS_ZCSIG                      0x01U
#define ZERO_ZCSIG                     0x00U
#define ZC_EVENT_NUL                   0x00
#define ZC_EVENT_N2P                   0x01
#define ZC_EVENT_N2Z                   0x02
#define ZC_EVENT_Z2P                   0x04
#define ZC_EVENT_P2N                   0x08
#define ZC_EVENT_P2Z                   0x10
#define ZC_EVENT_Z2N                   0x20
#define ZC_EVENT_ALL_UP                (ZC_EVENT_N2P | ZC_EVENT_N2Z | ZC_EVENT_Z2P )
#define ZC_EVENT_ALL_DN                (ZC_EVENT_P2N | ZC_EVENT_P2Z | ZC_EVENT_Z2N )
#define ZC_EVENT_ALL                   (ZC_EVENT_ALL_UP | ZC_EVENT_ALL_DN )

/* Current state of a trigger signal */
typedef enum {
  FALLING_ZCEVENT = -1,
  NO_ZCEVENT = 0,
  RISING_ZCEVENT = 1
} ZCEventType;

/* Enumeration of built-in data types */
typedef enum {
  SS_DOUBLE = 0,                       /* real_T    */
  SS_SINGLE = 1,                       /* real32_T  */
  SS_INT8 = 2,                         /* int8_T    */
  SS_UINT8 = 3,                        /* uint8_T   */
  SS_INT16 = 4,                        /* int16_T   */
  SS_UINT16 = 5,                       /* uint16_T  */
  SS_INT32 = 6,                        /* int32_T   */
  SS_UINT32 = 7,                       /* uint32_T  */
  SS_BOOLEAN = 8                       /* boolean_T */
} BuiltInDTypeId;

#define SS_NUM_BUILT_IN_DTYPE          ((int_T)SS_BOOLEAN+1)
#define SS_UNDERLYING_TYPE_FOR_ENUM_DATA SS_INT32

typedef int_T DTypeId;

#endif                                 /* __SIMSTRUC_TYPES_H__ */
#endif                                 /* __RTWTYPES_H__ */
