MBSD_assignment
Library for the master controller
Dependents: Test_Controller_Master AEB
Diff: Controller_Master.c
- Revision:
- 3:66d07e7a134a
- Parent:
- 2:d114feef8f3b
--- a/Controller_Master.c Wed Jul 06 08:22:31 2016 +0000
+++ b/Controller_Master.c Sun Jul 10 13:17:48 2016 +0000
@@ -7,12 +7,12 @@
*
* Code generated for Simulink model 'Controller_Master'.
*
- * Model version : 1.6
+ * Model version : 1.7
* Simulink Coder version : 8.10 (R2016a) 10-Feb-2016
- * C/C++ source code generated on : Wed Jul 06 10:20:25 2016
+ * C/C++ source code generated on : Sun Jul 10 14:56:51 2016
*
* Target selection: ert.tlc
- * Embedded hardware selection: NXP->Cortex-M4
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
* Code generation objectives: Unspecified
* Validation result: Not run
*/
@@ -158,124 +158,132 @@
/* During 'ERR': '<S2>:42' */
}
- /* During 'APPLICATION_THREAD': '<S2>:32' */
+ /* During 'APPLICATION_THREAD': '<S2>:80' */
switch (Controller_Master_DW->is_APPLICATION_THREAD) {
case Controller_Master_IN_AEB_ACTIVE:
- /* During 'AEB_ACTIVE': '<S2>:1' */
- /* '<S2>:26:1' sf_internal_predicateOutput = ... */
- /* '<S2>:26:1' En == false; */
+ /* During 'AEB_ACTIVE': '<S2>:89' */
+ /* '<S2>:83:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:83:1' En == false; */
if (!Controller_Master_DW->En) {
- /* Transition: '<S2>:26' */
- /* Exit Internal 'AEB_ACTIVE': '<S2>:1' */
+ /* Transition: '<S2>:83' */
+ /* Exit Internal 'AEB_ACTIVE': '<S2>:89' */
Controller_Master_DW->is_AEB_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+
+ /* Exit 'AEB_ACTIVE': '<S2>:89' */
+ /* '<S2>:89:2' Brake = uint8(0); */
+ /* '<S2>:89:3' Led_Blue = 0; */
Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY;
- /* Entry 'READY': '<S2>:21' */
- /* '<S2>:21:1' Brake = uint8(0); */
+ /* Entry 'READY': '<S2>:98' */
+ /* '<S2>:98:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
- /* '<S2>:21:1' Led_Blue = 0; */
+ /* '<S2>:98:1' Led_Blue = 0; */
Controller_Master_B->Led_Blue = 0.0;
- /* '<S2>:21:1' Led_Green = uint8(0); */
+ /* '<S2>:98:1' Led_Green = uint8(0); */
*Controller_Master_Y_LED_GREEN = 0U;
- /* '<S2>:21:4' Acc = uint8(0); */
+ /* '<S2>:98:4' Acc = uint8(0); */
*Controller_Master_Y_ACC = 0U;
} else {
/* Inport: '<Root>/QA_EN' incorporates:
* Inport: '<Root>/V'
*/
- /* '<S2>:70:1' sf_internal_predicateOutput = ... */
- /* '<S2>:70:1' QA_En == true && V<30; */
+ /* '<S2>:85:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:85:1' QA_En == true && V<30; */
if (Controller_Master_U_QA_EN && (Controller_Master_U_V < 30.0)) {
- /* Transition: '<S2>:70' */
- /* Exit Internal 'AEB_ACTIVE': '<S2>:1' */
+ /* Transition: '<S2>:85' */
+ /* Exit Internal 'AEB_ACTIVE': '<S2>:89' */
Controller_Master_DW->is_AEB_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+
+ /* Exit 'AEB_ACTIVE': '<S2>:89' */
+ /* '<S2>:89:2' Brake = uint8(0); */
+ /* '<S2>:89:3' Led_Blue = 0; */
Controller_Master_DW->is_APPLICATION_THREAD =
Controller_Master_IN_QA_ACTIVE;
- /* Entry 'QA_ACTIVE': '<S2>:69' */
- /* '<S2>:69:1' K = (V^2)/D; */
- /* Entry Internal 'QA_ACTIVE': '<S2>:69' */
- /* Transition: '<S2>:64' */
+ /* Entry 'QA_ACTIVE': '<S2>:101' */
+ /* '<S2>:101:1' K = (V^2)/D; */
+ /* Entry Internal 'QA_ACTIVE': '<S2>:101' */
+ /* Transition: '<S2>:102' */
Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_IDLE_k;
- /* Entry 'IDLE': '<S2>:67' */
- /* '<S2>:67:1' Brake = uint8(0); */
+ /* Entry 'IDLE': '<S2>:107' */
+ /* '<S2>:107:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
- /* '<S2>:67:1' Led_Blue = 0; */
+ /* '<S2>:107:1' Led_Blue = 0; */
Controller_Master_B->Led_Blue = 0.0;
- /* '<S2>:67:1' Led_Green = uint8(0); */
+ /* '<S2>:107:1' Led_Green = uint8(0); */
*Controller_Master_Y_LED_GREEN = 0U;
- /* '<S2>:67:4' Acc = uint8(0); */
+ /* '<S2>:107:4' Acc = uint8(0); */
*Controller_Master_Y_ACC = 0U;
} else {
/* Inport: '<Root>/D_M' */
- /* '<S2>:1:1' K = (V^2)/D; */
+ /* '<S2>:89:1' K = (V^2)/D; */
K = Controller_Master_U_V * Controller_Master_U_V /
Controller_Master_U_D_M;
switch (Controller_Master_DW->is_AEB_ACTIVE) {
case Controller_Master_IN_BRAKE:
- /* During 'BRAKE': '<S2>:3' */
- /* '<S2>:10:1' sf_internal_predicateOutput = ... */
- /* '<S2>:10:1' K < 100; */
+ /* During 'BRAKE': '<S2>:97' */
+ /* '<S2>:94:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:94:1' K < 100; */
if (K < 100.0) {
- /* Transition: '<S2>:10' */
+ /* Transition: '<S2>:94' */
Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_WARNING;
- /* Entry 'WARNING': '<S2>:5' */
- /* '<S2>:5:1' Brake = uint8(0); */
+ /* Entry 'WARNING': '<S2>:96' */
+ /* '<S2>:96:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
}
break;
case Controller_Master_IN_IDLE:
- /* During 'IDLE': '<S2>:6' */
- /* '<S2>:12:1' sf_internal_predicateOutput = ... */
- /* '<S2>:12:1' K >= 70; */
+ /* During 'IDLE': '<S2>:95' */
+ /* '<S2>:91:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:91:1' K >= 70; */
if (K >= 70.0) {
- /* Transition: '<S2>:12' */
+ /* Transition: '<S2>:91' */
Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_WARNING;
- /* Entry 'WARNING': '<S2>:5' */
- /* '<S2>:5:1' Brake = uint8(0); */
+ /* Entry 'WARNING': '<S2>:96' */
+ /* '<S2>:96:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
}
break;
default:
- /* During 'WARNING': '<S2>:5' */
- /* '<S2>:9:1' sf_internal_predicateOutput = ... */
- /* '<S2>:9:1' K >= 100; */
+ /* During 'WARNING': '<S2>:96' */
+ /* '<S2>:93:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:93:1' K >= 100; */
if (K >= 100.0) {
- /* Transition: '<S2>:9' */
+ /* Transition: '<S2>:93' */
Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_BRAKE;
- /* Entry 'BRAKE': '<S2>:3' */
- /* '<S2>:3:1' Brake = uint8(1); */
+ /* Entry 'BRAKE': '<S2>:97' */
+ /* '<S2>:97:1' Brake = uint8(1); */
*Controller_Master_Y_BRAKE = 1U;
- /* '<S2>:3:1' Led_Blue = 1; */
+ /* '<S2>:97:1' Led_Blue = 1; */
Controller_Master_B->Led_Blue = 1.0;
} else {
- /* '<S2>:11:1' sf_internal_predicateOutput = ... */
- /* '<S2>:11:1' K < 70; */
+ /* '<S2>:92:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:92:1' K < 70; */
if (K < 70.0) {
- /* Transition: '<S2>:11' */
+ /* Transition: '<S2>:92' */
Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_IDLE;
- /* Entry 'IDLE': '<S2>:6' */
- /* '<S2>:6:1' Brake = uint8(0); */
+ /* Entry 'IDLE': '<S2>:95' */
+ /* '<S2>:95:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
- /* '<S2>:6:1' Led_Blue = 0; */
+ /* '<S2>:95:1' Led_Blue = 0; */
Controller_Master_B->Led_Blue = 0.0;
} else {
- /* '<S2>:5:1' Led_Blue = (K-70)/30; */
+ /* '<S2>:96:1' Led_Blue = (K-70)/30; */
Controller_Master_B->Led_Blue = (K - 70.0) / 30.0;
}
}
@@ -289,128 +297,143 @@
/* Inport: '<Root>/QA_EN' incorporates:
* Inport: '<Root>/V'
*/
- /* During 'QA_ACTIVE': '<S2>:69' */
- /* '<S2>:71:1' sf_internal_predicateOutput = ... */
- /* '<S2>:71:1' QA_En ~= true || V>=30; */
+ /* During 'QA_ACTIVE': '<S2>:101' */
+ /* '<S2>:86:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:86:1' QA_En ~= true || V>=30; */
if ((!Controller_Master_U_QA_EN) || (Controller_Master_U_V >= 30.0)) {
- /* Transition: '<S2>:71' */
- /* Exit Internal 'QA_ACTIVE': '<S2>:69' */
+ /* Transition: '<S2>:86' */
+ /* Exit Internal 'QA_ACTIVE': '<S2>:101' */
Controller_Master_DW->is_QA_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+
+ /* Exit 'QA_ACTIVE': '<S2>:101' */
+ /* '<S2>:101:2' Brake = uint8(0); */
+ /* '<S2>:101:3' Led_Blue = 0; */
+ /* '<S2>:101:4' Led_Green = uint8(0); */
+ *Controller_Master_Y_LED_GREEN = 0U;
+
+ /* '<S2>:101:5' Acc = uint8(0); */
+ *Controller_Master_Y_ACC = 0U;
Controller_Master_DW->is_APPLICATION_THREAD =
Controller_Master_IN_AEB_ACTIVE;
- /* Entry 'AEB_ACTIVE': '<S2>:1' */
- /* '<S2>:1:1' K = (V^2)/D; */
- /* Entry Internal 'AEB_ACTIVE': '<S2>:1' */
- /* Transition: '<S2>:51' */
+ /* Entry 'AEB_ACTIVE': '<S2>:89' */
+ /* '<S2>:89:1' K = (V^2)/D; */
+ /* Entry Internal 'AEB_ACTIVE': '<S2>:89' */
+ /* Transition: '<S2>:90' */
Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_IDLE;
- /* Entry 'IDLE': '<S2>:6' */
- /* '<S2>:6:1' Brake = uint8(0); */
+ /* Entry 'IDLE': '<S2>:95' */
+ /* '<S2>:95:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
- /* '<S2>:6:1' Led_Blue = 0; */
+ /* '<S2>:95:1' Led_Blue = 0; */
Controller_Master_B->Led_Blue = 0.0;
} else {
- /* '<S2>:79:1' sf_internal_predicateOutput = ... */
- /* '<S2>:79:1' En == false; */
+ /* '<S2>:84:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:84:1' En == false; */
if (!Controller_Master_DW->En) {
- /* Transition: '<S2>:79' */
- /* Exit Internal 'QA_ACTIVE': '<S2>:69' */
+ /* Transition: '<S2>:84' */
+ /* Exit Internal 'QA_ACTIVE': '<S2>:101' */
Controller_Master_DW->is_QA_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+
+ /* Exit 'QA_ACTIVE': '<S2>:101' */
+ /* '<S2>:101:2' Brake = uint8(0); */
+ /* '<S2>:101:3' Led_Blue = 0; */
+ /* '<S2>:101:4' Led_Green = uint8(0); */
+ /* '<S2>:101:5' Acc = uint8(0); */
Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY;
- /* Entry 'READY': '<S2>:21' */
- /* '<S2>:21:1' Brake = uint8(0); */
+ /* Entry 'READY': '<S2>:98' */
+ /* '<S2>:98:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
- /* '<S2>:21:1' Led_Blue = 0; */
+ /* '<S2>:98:1' Led_Blue = 0; */
Controller_Master_B->Led_Blue = 0.0;
- /* '<S2>:21:1' Led_Green = uint8(0); */
+ /* '<S2>:98:1' Led_Green = uint8(0); */
*Controller_Master_Y_LED_GREEN = 0U;
- /* '<S2>:21:4' Acc = uint8(0); */
+ /* '<S2>:98:4' Acc = uint8(0); */
*Controller_Master_Y_ACC = 0U;
} else {
/* Inport: '<Root>/D_M' */
- /* '<S2>:69:1' K = (V^2)/D; */
+ /* '<S2>:101:1' K = (V^2)/D; */
K = Controller_Master_U_V * Controller_Master_U_V /
Controller_Master_U_D_M;
switch (Controller_Master_DW->is_QA_ACTIVE) {
case Controller_Master_IN_ACCELERATE:
- /* During 'ACCELERATE': '<S2>:68' */
- /* '<S2>:75:1' sf_internal_predicateOutput = ... */
- /* '<S2>:75:1' K >= 100; */
+ /* During 'ACCELERATE': '<S2>:108' */
+ /* '<S2>:103:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:103:1' K >= 100; */
if (K >= 100.0) {
- /* Transition: '<S2>:75' */
+ /* Transition: '<S2>:103' */
Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_IDLE_k;
- /* Entry 'IDLE': '<S2>:67' */
- /* '<S2>:67:1' Brake = uint8(0); */
+ /* Entry 'IDLE': '<S2>:107' */
+ /* '<S2>:107:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
- /* '<S2>:67:1' Led_Blue = 0; */
+ /* '<S2>:107:1' Led_Blue = 0; */
Controller_Master_B->Led_Blue = 0.0;
- /* '<S2>:67:1' Led_Green = uint8(0); */
+ /* '<S2>:107:1' Led_Green = uint8(0); */
*Controller_Master_Y_LED_GREEN = 0U;
- /* '<S2>:67:4' Acc = uint8(0); */
+ /* '<S2>:107:4' Acc = uint8(0); */
*Controller_Master_Y_ACC = 0U;
}
break;
case Controller_Master_IN_BRAKE_d:
- /* During 'BRAKE': '<S2>:65' */
- /* '<S2>:73:1' sf_internal_predicateOutput = ... */
- /* '<S2>:73:1' K <= 100; */
+ /* During 'BRAKE': '<S2>:109' */
+ /* '<S2>:105:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:105:1' K <= 100; */
if (K <= 100.0) {
- /* Transition: '<S2>:73' */
+ /* Transition: '<S2>:105' */
Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_IDLE_k;
- /* Entry 'IDLE': '<S2>:67' */
- /* '<S2>:67:1' Brake = uint8(0); */
+ /* Entry 'IDLE': '<S2>:107' */
+ /* '<S2>:107:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
- /* '<S2>:67:1' Led_Blue = 0; */
+ /* '<S2>:107:1' Led_Blue = 0; */
Controller_Master_B->Led_Blue = 0.0;
- /* '<S2>:67:1' Led_Green = uint8(0); */
+ /* '<S2>:107:1' Led_Green = uint8(0); */
*Controller_Master_Y_LED_GREEN = 0U;
- /* '<S2>:67:4' Acc = uint8(0); */
+ /* '<S2>:107:4' Acc = uint8(0); */
*Controller_Master_Y_ACC = 0U;
}
break;
default:
- /* During 'IDLE': '<S2>:67' */
- /* '<S2>:72:1' sf_internal_predicateOutput = ... */
- /* '<S2>:72:1' K > 100; */
+ /* During 'IDLE': '<S2>:107' */
+ /* '<S2>:104:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:104:1' K > 100; */
if (K > 100.0) {
- /* Transition: '<S2>:72' */
+ /* Transition: '<S2>:104' */
Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_BRAKE_d;
- /* Entry 'BRAKE': '<S2>:65' */
- /* '<S2>:65:1' Brake = uint8(1); */
+ /* Entry 'BRAKE': '<S2>:109' */
+ /* '<S2>:109:1' Brake = uint8(1); */
*Controller_Master_Y_BRAKE = 1U;
- /* '<S2>:65:1' Led_Blue = 1; */
+ /* '<S2>:109:1' Led_Blue = 1; */
Controller_Master_B->Led_Blue = 1.0;
} else {
- /* '<S2>:74:1' sf_internal_predicateOutput = ... */
- /* '<S2>:74:1' K < 100; */
+ /* '<S2>:106:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:106:1' K < 100; */
if (K < 100.0) {
- /* Transition: '<S2>:74' */
+ /* Transition: '<S2>:106' */
Controller_Master_DW->is_QA_ACTIVE =
Controller_Master_IN_ACCELERATE;
- /* Entry 'ACCELERATE': '<S2>:68' */
- /* '<S2>:68:1' Led_Green = uint8(1); */
+ /* Entry 'ACCELERATE': '<S2>:108' */
+ /* '<S2>:108:1' Led_Green = uint8(1); */
*Controller_Master_Y_LED_GREEN = 1U;
- /* '<S2>:68:1' Acc = uint8(1); */
+ /* '<S2>:108:1' Acc = uint8(1); */
*Controller_Master_Y_ACC = 1U;
}
}
@@ -421,25 +444,25 @@
break;
default:
- /* During 'READY': '<S2>:21' */
- /* '<S2>:23:1' sf_internal_predicateOutput = ... */
- /* '<S2>:23:1' En == true; */
+ /* During 'READY': '<S2>:98' */
+ /* '<S2>:82:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:82:1' En == true; */
if (Controller_Master_DW->En) {
- /* Transition: '<S2>:23' */
+ /* Transition: '<S2>:82' */
Controller_Master_DW->is_APPLICATION_THREAD =
Controller_Master_IN_AEB_ACTIVE;
- /* Entry 'AEB_ACTIVE': '<S2>:1' */
- /* '<S2>:1:1' K = (V^2)/D; */
- /* Entry Internal 'AEB_ACTIVE': '<S2>:1' */
- /* Transition: '<S2>:51' */
+ /* Entry 'AEB_ACTIVE': '<S2>:89' */
+ /* '<S2>:89:1' K = (V^2)/D; */
+ /* Entry Internal 'AEB_ACTIVE': '<S2>:89' */
+ /* Transition: '<S2>:90' */
Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_IDLE;
- /* Entry 'IDLE': '<S2>:6' */
- /* '<S2>:6:1' Brake = uint8(0); */
+ /* Entry 'IDLE': '<S2>:95' */
+ /* '<S2>:95:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
- /* '<S2>:6:1' Led_Blue = 0; */
+ /* '<S2>:95:1' Led_Blue = 0; */
Controller_Master_B->Led_Blue = 0.0;
}
break;
@@ -482,24 +505,24 @@
/* '<S2>:37:1' Master = uint8(1); */
*Controller_Master_Y_MASTER = 1U;
- /* Entry Internal 'APPLICATION_THREAD': '<S2>:32' */
- /* Transition: '<S2>:27' */
+ /* Entry Internal 'APPLICATION_THREAD': '<S2>:80' */
+ /* Transition: '<S2>:81' */
Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY;
/* Outport: '<Root>/BRAKE' */
- /* Entry 'READY': '<S2>:21' */
- /* '<S2>:21:1' Brake = uint8(0); */
+ /* Entry 'READY': '<S2>:98' */
+ /* '<S2>:98:1' Brake = uint8(0); */
*Controller_Master_Y_BRAKE = 0U;
- /* '<S2>:21:1' Led_Blue = 0; */
+ /* '<S2>:98:1' Led_Blue = 0; */
Controller_Master_B->Led_Blue = 0.0;
/* Outport: '<Root>/LED_GREEN' */
- /* '<S2>:21:1' Led_Green = uint8(0); */
+ /* '<S2>:98:1' Led_Green = uint8(0); */
*Controller_Master_Y_LED_GREEN = 0U;
/* Outport: '<Root>/ACC' */
- /* '<S2>:21:4' Acc = uint8(0); */
+ /* '<S2>:98:4' Acc = uint8(0); */
*Controller_Master_Y_ACC = 0U;
} else {
Controller_Master_AEB_QA(Controller_Master_U_V, Controller_Master_U_D_M,
@@ -565,8 +588,8 @@
/* During 'BLINK_OFF': '<S3>:11' */
/* '<S3>:14:1' sf_internal_predicateOutput = ... */
/* '<S3>:14:1' after(1-enable,sec); */
- if ((Controller_Master_DW->temporalCounter_i1 << 1) >= 1.0 -
- Controller_Master_B->Led_Blue) {
+ if (Controller_Master_DW->temporalCounter_i1 >= (uint32_T)ceil((1.0 -
+ Controller_Master_B->Led_Blue) / 0.1 - 1.0E-9)) {
/* Transition: '<S3>:14' */
Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_ON;
Controller_Master_DW->temporalCounter_i1 = 0U;