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Dependencies:   mbed

Fork of AEB by Vincenzo Comito

AEB0.cpp@1:45911e86ffee, 2016-07-26 (annotated)

Committer:
clynamen
Date:
Tue Jul 26 20:15:23 2016 +0000
Revision:
1:45911e86ffee
Child:
2:5811e080f41d
initial commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
clynamen 1:45911e86ffee 1 /*
clynamen 1:45911e86ffee 2 * Academic License - for use in teaching, academic research, and meeting
clynamen 1:45911e86ffee 3 * course requirements at degree granting institutions only. Not for
clynamen 1:45911e86ffee 4 * government, commercial, or other organizational use.
clynamen 1:45911e86ffee 5 *
clynamen 1:45911e86ffee 6 * File: AEB0.c
clynamen 1:45911e86ffee 7 *
clynamen 1:45911e86ffee 8 * Code generated for Simulink model 'AEB0'.
clynamen 1:45911e86ffee 9 *
clynamen 1:45911e86ffee 10 * Model version : 1.56
clynamen 1:45911e86ffee 11 * Simulink Coder version : 8.10 (R2016a) 10-Feb-2016
clynamen 1:45911e86ffee 12 * C/C++ source code generated on : Sun Jul 24 18:06:25 2016
clynamen 1:45911e86ffee 13 *
clynamen 1:45911e86ffee 14 * Target selection: ert.tlc
clynamen 1:45911e86ffee 15 * Embedded hardware selection: Intel->x86-64 (Windows64)
clynamen 1:45911e86ffee 16 * Code generation objectives: Unspecified
clynamen 1:45911e86ffee 17 * Validation result: Not run
clynamen 1:45911e86ffee 18 */
clynamen 1:45911e86ffee 19
clynamen 1:45911e86ffee 20 #include "AEB0.h"
clynamen 1:45911e86ffee 21 #include "AEB0_private.h"
clynamen 1:45911e86ffee 22
clynamen 1:45911e86ffee 23 /* Named constants for Chart: '<Root>/AEB ' */
clynamen 1:45911e86ffee 24 #define AEB0_IN_AEB_misbehaviour ((uint8_T)1U)
clynamen 1:45911e86ffee 25 #define AEB0_IN_AEB_ok ((uint8_T)2U)
clynamen 1:45911e86ffee 26 #define AEB0_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
clynamen 1:45911e86ffee 27 #define AEB0_IN_brake_fault ((uint8_T)1U)
clynamen 1:45911e86ffee 28 #define AEB0_IN_brake_off_ ((uint8_T)1U)
clynamen 1:45911e86ffee 29 #define AEB0_IN_brake_on_ ((uint8_T)2U)
clynamen 1:45911e86ffee 30 #define AEB0_IN_ok ((uint8_T)1U)
clynamen 1:45911e86ffee 31 #define AEB0_IN_ok2 ((uint8_T)3U)
clynamen 1:45911e86ffee 32 #define AEB0_IN_zero_dist ((uint8_T)2U)
clynamen 1:45911e86ffee 33 #define AEB0_IN_zero_dist_fault ((uint8_T)3U)
clynamen 1:45911e86ffee 34 #define AEB0_div (100.0)
clynamen 1:45911e86ffee 35
clynamen 1:45911e86ffee 36 /* Block states (auto storage) */
clynamen 1:45911e86ffee 37 DW_AEB0_T AEB0_DW;
clynamen 1:45911e86ffee 38
clynamen 1:45911e86ffee 39 /* External inputs (root inport signals with auto storage) */
clynamen 1:45911e86ffee 40 ExtU_AEB0_T AEB0_U;
clynamen 1:45911e86ffee 41
clynamen 1:45911e86ffee 42 /* External outputs (root outports fed by signals with auto storage) */
clynamen 1:45911e86ffee 43 ExtY_AEB0_T AEB0_Y;
clynamen 1:45911e86ffee 44
clynamen 1:45911e86ffee 45 /* Real-time model */
clynamen 1:45911e86ffee 46 RT_MODEL_AEB0_T AEB0_M_;
clynamen 1:45911e86ffee 47 RT_MODEL_AEB0_T *const AEB0_M = &AEB0_M_;
clynamen 1:45911e86ffee 48
clynamen 1:45911e86ffee 49 /* Model step function */
clynamen 1:45911e86ffee 50 void AEB0_step(void)
clynamen 1:45911e86ffee 51 {
clynamen 1:45911e86ffee 52 /* Chart: '<Root>/AEB ' incorporates:
clynamen 1:45911e86ffee 53 * Inport: '<Root>/distance_m'
clynamen 1:45911e86ffee 54 * Inport: '<Root>/speed_ms'
clynamen 1:45911e86ffee 55 */
clynamen 1:45911e86ffee 56 if (AEB0_DW.temporalCounter_i1 < 7U) {
clynamen 1:45911e86ffee 57 AEB0_DW.temporalCounter_i1++;
clynamen 1:45911e86ffee 58 }
clynamen 1:45911e86ffee 59
clynamen 1:45911e86ffee 60 if (AEB0_DW.temporalCounter_i2 < 7U) {
clynamen 1:45911e86ffee 61 AEB0_DW.temporalCounter_i2++;
clynamen 1:45911e86ffee 62 }
clynamen 1:45911e86ffee 63
clynamen 1:45911e86ffee 64 /* Gateway: AEB
clynamen 1:45911e86ffee 65 */
clynamen 1:45911e86ffee 66 /* During: AEB
clynamen 1:45911e86ffee 67 */
clynamen 1:45911e86ffee 68 if (AEB0_DW.is_active_c3_AEB0 == 0U) {
clynamen 1:45911e86ffee 69 /* Entry: AEB
clynamen 1:45911e86ffee 70 */
clynamen 1:45911e86ffee 71 AEB0_DW.is_active_c3_AEB0 = 1U;
clynamen 1:45911e86ffee 72
clynamen 1:45911e86ffee 73 /* Entry Internal: AEB
clynamen 1:45911e86ffee 74 */
clynamen 1:45911e86ffee 75 /* Transition: '<S1>:37' */
clynamen 1:45911e86ffee 76 AEB0_DW.is_AEB_distance_sensor_fault_de = AEB0_IN_ok;
clynamen 1:45911e86ffee 77
clynamen 1:45911e86ffee 78 /* Entry Internal 'AEB_brake_fault_detection': '<S1>:41' */
clynamen 1:45911e86ffee 79 /* Transition: '<S1>:44' */
clynamen 1:45911e86ffee 80 AEB0_DW.is_AEB_brake_fault_detection = AEB0_IN_ok2;
clynamen 1:45911e86ffee 81
clynamen 1:45911e86ffee 82 /* Entry Internal 'AEB_ALGO': '<S1>:40' */
clynamen 1:45911e86ffee 83 /* Transition: '<S1>:4' */
clynamen 1:45911e86ffee 84 AEB0_DW.is_AEB_ALGO = AEB0_IN_AEB_ok;
clynamen 1:45911e86ffee 85 AEB0_DW.is_AEB_ok = AEB0_IN_brake_off_;
clynamen 1:45911e86ffee 86
clynamen 1:45911e86ffee 87 /* Outport: '<Root>/brake' */
clynamen 1:45911e86ffee 88 /* Entry 'brake_off_': '<S1>:3' */
clynamen 1:45911e86ffee 89 /* '<S1>:3:1' brake=0 */
clynamen 1:45911e86ffee 90 AEB0_Y.brake = 0.0;
clynamen 1:45911e86ffee 91 } else {
clynamen 1:45911e86ffee 92 /* During 'AEB': '<S1>:39' */
clynamen 1:45911e86ffee 93 /* During 'AEB_fault_detection': '<S1>:43' */
clynamen 1:45911e86ffee 94 /* During 'AEB_distance_sensor_fault_detection': '<S1>:42' */
clynamen 1:45911e86ffee 95 switch (AEB0_DW.is_AEB_distance_sensor_fault_de) {
clynamen 1:45911e86ffee 96 case AEB0_IN_ok:
clynamen 1:45911e86ffee 97 /* During 'ok': '<S1>:21' */
clynamen 1:45911e86ffee 98 /* '<S1>:23:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 99 /* '<S1>:23:1' distance_m == 0; */
clynamen 1:45911e86ffee 100 if (AEB0_U.distance_m == 0.0) {
clynamen 1:45911e86ffee 101 /* Transition: '<S1>:23' */
clynamen 1:45911e86ffee 102 AEB0_DW.is_AEB_distance_sensor_fault_de = AEB0_IN_zero_dist;
clynamen 1:45911e86ffee 103 AEB0_DW.temporalCounter_i1 = 0U;
clynamen 1:45911e86ffee 104 }
clynamen 1:45911e86ffee 105 break;
clynamen 1:45911e86ffee 106
clynamen 1:45911e86ffee 107 case AEB0_IN_zero_dist:
clynamen 1:45911e86ffee 108 /* During 'zero_dist': '<S1>:28' */
clynamen 1:45911e86ffee 109 /* '<S1>:24:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 110 /* '<S1>:24:1' distance_m > 0; */
clynamen 1:45911e86ffee 111 if (AEB0_U.distance_m > 0.0) {
clynamen 1:45911e86ffee 112 /* Transition: '<S1>:24' */
clynamen 1:45911e86ffee 113 AEB0_DW.is_AEB_distance_sensor_fault_de = AEB0_IN_ok;
clynamen 1:45911e86ffee 114 } else {
clynamen 1:45911e86ffee 115 /* '<S1>:26:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 116 /* '<S1>:26:1' after(500, msec); */
clynamen 1:45911e86ffee 117 if (AEB0_DW.temporalCounter_i1 >= 5U) {
clynamen 1:45911e86ffee 118 /* Transition: '<S1>:26' */
clynamen 1:45911e86ffee 119 AEB0_DW.is_AEB_distance_sensor_fault_de = AEB0_IN_zero_dist_fault;
clynamen 1:45911e86ffee 120
clynamen 1:45911e86ffee 121 /* Outport: '<Root>/fault' */
clynamen 1:45911e86ffee 122 /* Entry 'zero_dist_fault': '<S1>:25' */
clynamen 1:45911e86ffee 123 /* '<S1>:25:1' fault=1 */
clynamen 1:45911e86ffee 124 AEB0_Y.fault = 1.0;
clynamen 1:45911e86ffee 125 }
clynamen 1:45911e86ffee 126 }
clynamen 1:45911e86ffee 127 break;
clynamen 1:45911e86ffee 128
clynamen 1:45911e86ffee 129 default:
clynamen 1:45911e86ffee 130 /* During 'zero_dist_fault': '<S1>:25' */
clynamen 1:45911e86ffee 131 /* '<S1>:29:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 132 /* '<S1>:29:1' distance_m>0; */
clynamen 1:45911e86ffee 133 if (AEB0_U.distance_m > 0.0) {
clynamen 1:45911e86ffee 134 /* Transition: '<S1>:29' */
clynamen 1:45911e86ffee 135 AEB0_DW.is_AEB_distance_sensor_fault_de = AEB0_IN_ok;
clynamen 1:45911e86ffee 136 }
clynamen 1:45911e86ffee 137 break;
clynamen 1:45911e86ffee 138 }
clynamen 1:45911e86ffee 139
clynamen 1:45911e86ffee 140 /* During 'AEB_brake_fault_detection': '<S1>:41' */
clynamen 1:45911e86ffee 141 switch (AEB0_DW.is_AEB_brake_fault_detection) {
clynamen 1:45911e86ffee 142 case AEB0_IN_brake_fault:
clynamen 1:45911e86ffee 143 /* During 'brake_fault': '<S1>:34' */
clynamen 1:45911e86ffee 144 break;
clynamen 1:45911e86ffee 145
clynamen 1:45911e86ffee 146 case AEB0_IN_brake_on_:
clynamen 1:45911e86ffee 147 /* During 'brake_on_': '<S1>:32' */
clynamen 1:45911e86ffee 148 /* '<S1>:35:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 149 /* '<S1>:35:1' (after(500, msec)) && (speed_ms>=speed_at_brake_start && speed_ms > 0); */
clynamen 1:45911e86ffee 150 if ((AEB0_DW.temporalCounter_i2 >= 5U) && (AEB0_U.speed_ms >=
clynamen 1:45911e86ffee 151 AEB0_DW.speed_at_brake_start) && (AEB0_U.speed_ms > 0.0)) {
clynamen 1:45911e86ffee 152 /* Transition: '<S1>:35' */
clynamen 1:45911e86ffee 153 AEB0_DW.is_AEB_brake_fault_detection = AEB0_IN_brake_fault;
clynamen 1:45911e86ffee 154
clynamen 1:45911e86ffee 155 /* Outport: '<Root>/fault' */
clynamen 1:45911e86ffee 156 /* Entry 'brake_fault': '<S1>:34' */
clynamen 1:45911e86ffee 157 /* '<S1>:34:1' fault=1 */
clynamen 1:45911e86ffee 158 AEB0_Y.fault = 1.0;
clynamen 1:45911e86ffee 159 } else {
clynamen 1:45911e86ffee 160 /* '<S1>:46:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 161 /* '<S1>:46:1' (after(500, msec)) && (speed_ms<speed_at_brake_start); */
clynamen 1:45911e86ffee 162 if ((AEB0_DW.temporalCounter_i2 >= 5U) && (AEB0_U.speed_ms <
clynamen 1:45911e86ffee 163 AEB0_DW.speed_at_brake_start)) {
clynamen 1:45911e86ffee 164 /* Transition: '<S1>:46' */
clynamen 1:45911e86ffee 165 AEB0_DW.is_AEB_brake_fault_detection = AEB0_IN_brake_on_;
clynamen 1:45911e86ffee 166 AEB0_DW.temporalCounter_i2 = 0U;
clynamen 1:45911e86ffee 167
clynamen 1:45911e86ffee 168 /* Entry 'brake_on_': '<S1>:32' */
clynamen 1:45911e86ffee 169 /* '<S1>:32:1' speed_at_brake_start = speed_ms */
clynamen 1:45911e86ffee 170 AEB0_DW.speed_at_brake_start = AEB0_U.speed_ms;
clynamen 1:45911e86ffee 171 } else {
clynamen 1:45911e86ffee 172 /* '<S1>:47:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 173 /* '<S1>:47:1' brake==0; */
clynamen 1:45911e86ffee 174 if (AEB0_Y.brake == 0.0) {
clynamen 1:45911e86ffee 175 /* Transition: '<S1>:47' */
clynamen 1:45911e86ffee 176 AEB0_DW.is_AEB_brake_fault_detection = AEB0_IN_ok2;
clynamen 1:45911e86ffee 177 }
clynamen 1:45911e86ffee 178 }
clynamen 1:45911e86ffee 179 }
clynamen 1:45911e86ffee 180 break;
clynamen 1:45911e86ffee 181
clynamen 1:45911e86ffee 182 default:
clynamen 1:45911e86ffee 183 /* During 'ok2': '<S1>:31' */
clynamen 1:45911e86ffee 184 /* '<S1>:33:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 185 /* '<S1>:33:1' brake==1; */
clynamen 1:45911e86ffee 186 if (AEB0_Y.brake == 1.0) {
clynamen 1:45911e86ffee 187 /* Transition: '<S1>:33' */
clynamen 1:45911e86ffee 188 AEB0_DW.is_AEB_brake_fault_detection = AEB0_IN_brake_on_;
clynamen 1:45911e86ffee 189 AEB0_DW.temporalCounter_i2 = 0U;
clynamen 1:45911e86ffee 190
clynamen 1:45911e86ffee 191 /* Entry 'brake_on_': '<S1>:32' */
clynamen 1:45911e86ffee 192 /* '<S1>:32:1' speed_at_brake_start = speed_ms */
clynamen 1:45911e86ffee 193 AEB0_DW.speed_at_brake_start = AEB0_U.speed_ms;
clynamen 1:45911e86ffee 194 }
clynamen 1:45911e86ffee 195 break;
clynamen 1:45911e86ffee 196 }
clynamen 1:45911e86ffee 197
clynamen 1:45911e86ffee 198 /* During 'AEB_ALGO': '<S1>:40' */
clynamen 1:45911e86ffee 199 if (AEB0_DW.is_AEB_ALGO != AEB0_IN_AEB_misbehaviour) {
clynamen 1:45911e86ffee 200 /* During 'AEB_ok': '<S1>:14' */
clynamen 1:45911e86ffee 201 /* '<S1>:16:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 202 /* '<S1>:16:1' fault==1; */
clynamen 1:45911e86ffee 203 if (AEB0_Y.fault == 1.0) {
clynamen 1:45911e86ffee 204 /* Transition: '<S1>:16' */
clynamen 1:45911e86ffee 205 /* Exit Internal 'AEB_ok': '<S1>:14' */
clynamen 1:45911e86ffee 206 AEB0_DW.is_AEB_ok = AEB0_IN_NO_ACTIVE_CHILD;
clynamen 1:45911e86ffee 207 AEB0_DW.is_AEB_ALGO = AEB0_IN_AEB_misbehaviour;
clynamen 1:45911e86ffee 208
clynamen 1:45911e86ffee 209 /* Outport: '<Root>/brake' */
clynamen 1:45911e86ffee 210 /* Entry 'AEB_misbehaviour': '<S1>:15' */
clynamen 1:45911e86ffee 211 /* '<S1>:15:1' brake=0 */
clynamen 1:45911e86ffee 212 AEB0_Y.brake = 0.0;
clynamen 1:45911e86ffee 213 } else if (AEB0_DW.is_AEB_ok == AEB0_IN_brake_off_) {
clynamen 1:45911e86ffee 214 /* During 'brake_off_': '<S1>:3' */
clynamen 1:45911e86ffee 215 /* '<S1>:5:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 216 /* '<S1>:5:1' speed_ms^2/div>distance_m; */
clynamen 1:45911e86ffee 217 if (AEB0_U.speed_ms * AEB0_U.speed_ms / AEB0_div > AEB0_U.distance_m) {
clynamen 1:45911e86ffee 218 /* Transition: '<S1>:5' */
clynamen 1:45911e86ffee 219 AEB0_DW.is_AEB_ok = AEB0_IN_brake_on_;
clynamen 1:45911e86ffee 220
clynamen 1:45911e86ffee 221 /* Outport: '<Root>/brake' */
clynamen 1:45911e86ffee 222 /* Entry 'brake_on_': '<S1>:1' */
clynamen 1:45911e86ffee 223 /* '<S1>:1:1' brake=1 */
clynamen 1:45911e86ffee 224 AEB0_Y.brake = 1.0;
clynamen 1:45911e86ffee 225 }
clynamen 1:45911e86ffee 226 } else {
clynamen 1:45911e86ffee 227 /* During 'brake_on_': '<S1>:1' */
clynamen 1:45911e86ffee 228 /* '<S1>:6:1' sf_internal_predicateOutput = ... */
clynamen 1:45911e86ffee 229 /* '<S1>:6:1' speed_ms^2/div<distance_m; */
clynamen 1:45911e86ffee 230 if (AEB0_U.speed_ms * AEB0_U.speed_ms / AEB0_div < AEB0_U.distance_m) {
clynamen 1:45911e86ffee 231 /* Transition: '<S1>:6' */
clynamen 1:45911e86ffee 232 AEB0_DW.is_AEB_ok = AEB0_IN_brake_off_;
clynamen 1:45911e86ffee 233
clynamen 1:45911e86ffee 234 /* Outport: '<Root>/brake' */
clynamen 1:45911e86ffee 235 /* Entry 'brake_off_': '<S1>:3' */
clynamen 1:45911e86ffee 236 /* '<S1>:3:1' brake=0 */
clynamen 1:45911e86ffee 237 AEB0_Y.brake = 0.0;
clynamen 1:45911e86ffee 238 }
clynamen 1:45911e86ffee 239 }
clynamen 1:45911e86ffee 240 } else {
clynamen 1:45911e86ffee 241 /* During 'AEB_misbehaviour': '<S1>:15' */
clynamen 1:45911e86ffee 242 }
clynamen 1:45911e86ffee 243 }
clynamen 1:45911e86ffee 244
clynamen 1:45911e86ffee 245 /* End of Chart: '<Root>/AEB ' */
clynamen 1:45911e86ffee 246 }
clynamen 1:45911e86ffee 247
clynamen 1:45911e86ffee 248 /* Model initialize function */
clynamen 1:45911e86ffee 249 void AEB0_initialize(void)
clynamen 1:45911e86ffee 250 {
clynamen 1:45911e86ffee 251 /* Registration code */
clynamen 1:45911e86ffee 252
clynamen 1:45911e86ffee 253 /* initialize error status */
clynamen 1:45911e86ffee 254 rtmSetErrorStatus(AEB0_M, (NULL));
clynamen 1:45911e86ffee 255
clynamen 1:45911e86ffee 256 /* states (dwork) */
clynamen 1:45911e86ffee 257 (void) memset((void *)&AEB0_DW, 0,
clynamen 1:45911e86ffee 258 sizeof(DW_AEB0_T));
clynamen 1:45911e86ffee 259
clynamen 1:45911e86ffee 260 /* external inputs */
clynamen 1:45911e86ffee 261 (void) memset((void *)&AEB0_U, 0,
clynamen 1:45911e86ffee 262 sizeof(ExtU_AEB0_T));
clynamen 1:45911e86ffee 263
clynamen 1:45911e86ffee 264 /* external outputs */
clynamen 1:45911e86ffee 265 (void) memset((void *)&AEB0_Y, 0,
clynamen 1:45911e86ffee 266 sizeof(ExtY_AEB0_T));
clynamen 1:45911e86ffee 267
clynamen 1:45911e86ffee 268 /* SystemInitialize for Chart: '<Root>/AEB ' */
clynamen 1:45911e86ffee 269 AEB0_DW.is_AEB_ALGO = AEB0_IN_NO_ACTIVE_CHILD;
clynamen 1:45911e86ffee 270 AEB0_DW.is_AEB_ok = AEB0_IN_NO_ACTIVE_CHILD;
clynamen 1:45911e86ffee 271 AEB0_DW.is_AEB_brake_fault_detection = AEB0_IN_NO_ACTIVE_CHILD;
clynamen 1:45911e86ffee 272 AEB0_DW.temporalCounter_i2 = 0U;
clynamen 1:45911e86ffee 273 AEB0_DW.is_AEB_distance_sensor_fault_de = AEB0_IN_NO_ACTIVE_CHILD;
clynamen 1:45911e86ffee 274 AEB0_DW.temporalCounter_i1 = 0U;
clynamen 1:45911e86ffee 275 AEB0_DW.is_active_c3_AEB0 = 0U;
clynamen 1:45911e86ffee 276
clynamen 1:45911e86ffee 277 /* SystemInitialize for Outport: '<Root>/fault' incorporates:
clynamen 1:45911e86ffee 278 * SystemInitialize for Chart: '<Root>/AEB '
clynamen 1:45911e86ffee 279 */
clynamen 1:45911e86ffee 280 AEB0_Y.fault = 0.0;
clynamen 1:45911e86ffee 281 }
clynamen 1:45911e86ffee 282
clynamen 1:45911e86ffee 283 /* Model terminate function */
clynamen 1:45911e86ffee 284 void AEB0_terminate(void)
clynamen 1:45911e86ffee 285 {
clynamen 1:45911e86ffee 286 /* (no terminate code required) */
clynamen 1:45911e86ffee 287 }
clynamen 1:45911e86ffee 288
clynamen 1:45911e86ffee 289 /*
clynamen 1:45911e86ffee 290 * File trailer for generated code.
clynamen 1:45911e86ffee 291 *
clynamen 1:45911e86ffee 292 * [EOF]
clynamen 1:45911e86ffee 293 */