Diff: AEB0.cpp

Revision:

2:5811e080f41d

Parent:

1:45911e86ffee

Child:

4:f0be0d8a0394

--- a/AEB0.cpp	Tue Jul 26 20:15:23 2016 +0000
+++ b/AEB0.cpp	Sat Jul 30 08:23:21 2016 +0000
@@ -7,9 +7,9 @@
  *
  * Code generated for Simulink model 'AEB0'.
  *
- * Model version                  : 1.56
+ * Model version                  : 1.77
  * Simulink Coder version         : 8.10 (R2016a) 10-Feb-2016
- * C/C++ source code generated on : Sun Jul 24 18:06:25 2016
+ * C/C++ source code generated on : Thu Jul 28 19:46:51 2016
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: Intel->x86-64 (Windows64)
@@ -51,7 +51,7 @@
 {
   /* Chart: '<Root>/AEB ' incorporates:
    *  Inport: '<Root>/distance_m'
-   *  Inport: '<Root>/speed_ms'
+   *  Inport: '<Root>/speed_km_h'
    */
   if (AEB0_DW.temporalCounter_i1 < 7U) {
     AEB0_DW.temporalCounter_i1++;
@@ -75,6 +75,11 @@
     /* Transition: '<S1>:37' */
     AEB0_DW.is_AEB_distance_sensor_fault_de = AEB0_IN_ok;
 
+    /* Outport: '<Root>/fault' */
+    /* Entry 'ok': '<S1>:21' */
+    /* '<S1>:21:1' fault=0 */
+    AEB0_Y.fault = 0.0;
+
     /* Entry Internal 'AEB_brake_fault_detection': '<S1>:41' */
     /* Transition: '<S1>:44' */
     AEB0_DW.is_AEB_brake_fault_detection = AEB0_IN_ok2;
@@ -111,6 +116,11 @@
       if (AEB0_U.distance_m > 0.0) {
         /* Transition: '<S1>:24' */
         AEB0_DW.is_AEB_distance_sensor_fault_de = AEB0_IN_ok;
+
+        /* Outport: '<Root>/fault' */
+        /* Entry 'ok': '<S1>:21' */
+        /* '<S1>:21:1' fault=0 */
+        AEB0_Y.fault = 0.0;
       } else {
         /* '<S1>:26:1' sf_internal_predicateOutput = ... */
         /* '<S1>:26:1' after(500, msec); */
@@ -128,12 +138,6 @@
 
      default:
       /* During 'zero_dist_fault': '<S1>:25' */
-      /* '<S1>:29:1' sf_internal_predicateOutput = ... */
-      /* '<S1>:29:1' distance_m>0; */
-      if (AEB0_U.distance_m > 0.0) {
-        /* Transition: '<S1>:29' */
-        AEB0_DW.is_AEB_distance_sensor_fault_de = AEB0_IN_ok;
-      }
       break;
     }
 
@@ -146,9 +150,10 @@
      case AEB0_IN_brake_on_:
       /* During 'brake_on_': '<S1>:32' */
       /* '<S1>:35:1' sf_internal_predicateOutput = ... */
-      /* '<S1>:35:1' (after(500, msec)) && (speed_ms>=speed_at_brake_start && speed_ms > 0); */
-      if ((AEB0_DW.temporalCounter_i2 >= 5U) && (AEB0_U.speed_ms >=
-           AEB0_DW.speed_at_brake_start) && (AEB0_U.speed_ms > 0.0)) {
+      /* '<S1>:35:1' (after(500, msec)) && (speed_km_h>=speed_at_brake_start &&  speed_km_h > 0 && brake>0.1); */
+      if ((AEB0_DW.temporalCounter_i2 >= 5U) && (AEB0_U.speed_km_h >=
+           AEB0_DW.speed_at_brake_start) && (AEB0_U.speed_km_h > 0.0) &&
+          (AEB0_Y.brake > 0.1)) {
         /* Transition: '<S1>:35' */
         AEB0_DW.is_AEB_brake_fault_detection = AEB0_IN_brake_fault;
 
@@ -158,16 +163,16 @@
         AEB0_Y.fault = 1.0;
       } else {
         /* '<S1>:46:1' sf_internal_predicateOutput = ... */
-        /* '<S1>:46:1' (after(500, msec)) && (speed_ms<speed_at_brake_start); */
-        if ((AEB0_DW.temporalCounter_i2 >= 5U) && (AEB0_U.speed_ms <
+        /* '<S1>:46:1' (after(500, msec)) && (speed_km_h<speed_at_brake_start); */
+        if ((AEB0_DW.temporalCounter_i2 >= 5U) && (AEB0_U.speed_km_h <
              AEB0_DW.speed_at_brake_start)) {
           /* Transition: '<S1>:46' */
           AEB0_DW.is_AEB_brake_fault_detection = AEB0_IN_brake_on_;
           AEB0_DW.temporalCounter_i2 = 0U;
 
           /* Entry 'brake_on_': '<S1>:32' */
-          /* '<S1>:32:1' speed_at_brake_start = speed_ms */
-          AEB0_DW.speed_at_brake_start = AEB0_U.speed_ms;
+          /* '<S1>:32:1' speed_at_brake_start = speed_km_h */
+          AEB0_DW.speed_at_brake_start = AEB0_U.speed_km_h;
         } else {
           /* '<S1>:47:1' sf_internal_predicateOutput = ... */
           /* '<S1>:47:1' brake==0; */
@@ -189,8 +194,8 @@
         AEB0_DW.temporalCounter_i2 = 0U;
 
         /* Entry 'brake_on_': '<S1>:32' */
-        /* '<S1>:32:1' speed_at_brake_start = speed_ms */
-        AEB0_DW.speed_at_brake_start = AEB0_U.speed_ms;
+        /* '<S1>:32:1' speed_at_brake_start = speed_km_h */
+        AEB0_DW.speed_at_brake_start = AEB0_U.speed_km_h;
       }
       break;
     }
@@ -213,21 +218,27 @@
       } else if (AEB0_DW.is_AEB_ok == AEB0_IN_brake_off_) {
         /* During 'brake_off_': '<S1>:3' */
         /* '<S1>:5:1' sf_internal_predicateOutput = ... */
-        /* '<S1>:5:1' speed_ms^2/div>distance_m; */
-        if (AEB0_U.speed_ms * AEB0_U.speed_ms / AEB0_div > AEB0_U.distance_m) {
+        /* '<S1>:5:1' speed_km_h^2/div>distance_m; */
+        if (AEB0_U.speed_km_h * AEB0_U.speed_km_h / AEB0_div > AEB0_U.distance_m)
+        {
           /* Transition: '<S1>:5' */
           AEB0_DW.is_AEB_ok = AEB0_IN_brake_on_;
 
           /* Outport: '<Root>/brake' */
           /* Entry 'brake_on_': '<S1>:1' */
-          /* '<S1>:1:1' brake=1 */
+          /*  brake is proportional to the inverse of distance */
+          /*  and to the speed. This was required */
+          /*  since it was requested that the led frequency */
+          /*  must be proportional to the brake request */
+          /* '<S1>:1:3' brake=1 */
           AEB0_Y.brake = 1.0;
         }
       } else {
         /* During 'brake_on_': '<S1>:1' */
         /* '<S1>:6:1' sf_internal_predicateOutput = ... */
-        /* '<S1>:6:1' speed_ms^2/div<distance_m; */
-        if (AEB0_U.speed_ms * AEB0_U.speed_ms / AEB0_div < AEB0_U.distance_m) {
+        /* '<S1>:6:1' speed_km_h^2/div<distance_m; */
+        if (AEB0_U.speed_km_h * AEB0_U.speed_km_h / AEB0_div < AEB0_U.distance_m)
+        {
           /* Transition: '<S1>:6' */
           AEB0_DW.is_AEB_ok = AEB0_IN_brake_off_;