MBSD_assignment
Library for the master controller
Dependents: Test_Controller_Master AEB
Diff: Controller_Master.c
- Revision:
- 0:8e9e8bee3cf4
- Child:
- 1:03ec2e1d1008
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller_Master.c Sat Jun 04 17:01:58 2016 +0000
@@ -0,0 +1,581 @@
+/*
+ * Academic License - for use in teaching, academic research, and meeting
+ * course requirements at degree granting institutions only. Not for
+ * government, commercial, or other organizational use.
+ *
+ * File: Controller_Master.c
+ *
+ * Code generated for Simulink model 'Controller_Master'.
+ *
+ * Model version : 1.0
+ * Simulink Coder version : 8.10 (R2016a) 10-Feb-2016
+ * C/C++ source code generated on : Sat Jun 04 17:59:52 2016
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: NXP->Cortex-M4
+ * Code generation objectives: Unspecified
+ * Validation result: Not run
+ */
+
+#include "Controller_Master.h"
+
+/* Named constants for Chart: '<S1>/AEB' */
+#define Controller_M_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
+#define Controller_Master_IN_ACTIVE ((uint8_T)1U)
+#define Controller_Master_IN_BRAKE ((uint8_T)1U)
+#define Controller_Master_IN_ERR ((uint8_T)1U)
+#define Controller_Master_IN_IDLE ((uint8_T)2U)
+#define Controller_Master_IN_OK ((uint8_T)2U)
+#define Controller_Master_IN_READY ((uint8_T)2U)
+#define Controller_Master_IN_WARNING ((uint8_T)3U)
+
+/* Named constants for Chart: '<S1>/select_command' */
+#define Controller_Master_IN_BLINK ((uint8_T)1U)
+#define Controller_Master_IN_BLINK_OFF ((uint8_T)1U)
+#define Controller_Master_IN_BLINK_ON ((uint8_T)2U)
+#define Controller_Master_IN_OFF1 ((uint8_T)2U)
+#define Controller_Master_IN_ON ((uint8_T)3U)
+
+/*===========*
+ * Constants *
+ *===========*/
+#define RT_PI 3.14159265358979323846
+#define RT_PIF 3.1415927F
+#define RT_LN_10 2.30258509299404568402
+#define RT_LN_10F 2.3025851F
+#define RT_LOG10E 0.43429448190325182765
+#define RT_LOG10EF 0.43429449F
+#define RT_E 2.7182818284590452354
+#define RT_EF 2.7182817F
+
+/*
+ * UNUSED_PARAMETER(x)
+ * Used to specify that a function parameter (argument) is required but not
+ * accessed by the function body.
+ */
+#ifndef UNUSED_PARAMETER
+# if defined(__LCC__)
+# define UNUSED_PARAMETER(x) /* do nothing */
+# else
+
+/*
+ * This is the semi-ANSI standard way of indicating that an
+ * unused function parameter is required.
+ */
+# define UNUSED_PARAMETER(x) (void) (x)
+# endif
+#endif
+
+/* Model step function */
+void Controller_Master_step(RT_MODEL_Controller_Master_T *const
+ Controller_Master_M, real_T Controller_Master_U_V, real_T
+ Controller_Master_U_D_M, uint8_T Controller_Master_U_Slave, uint8_T
+ *Controller_Master_Y_BRAKE, uint8_T *Controller_Master_Y_LED_BLUE, uint8_T
+ *Controller_Master_Y_LED_RED, uint8_T *Controller_Master_Y_MASTER)
+{
+ B_Controller_Master_T *Controller_Master_B = ((B_Controller_Master_T *)
+ Controller_Master_M->ModelData.blockIO);
+ DW_Controller_Master_T *Controller_Master_DW = ((DW_Controller_Master_T *)
+ Controller_Master_M->ModelData.dwork);
+ real_T K;
+
+ /* Outputs for Atomic SubSystem: '<Root>/Controller_Master' */
+ /* Chart: '<S1>/AEB' incorporates:
+ * Inport: '<Root>/D_M'
+ * Inport: '<Root>/V'
+ * Memory: '<S1>/Memory'
+ */
+ /* Gateway: Controller_Master/AEB */
+ /* During: Controller_Master/AEB */
+ if (Controller_Master_DW->is_active_c3_Controller_Master == 0U) {
+ /* Entry: Controller_Master/AEB */
+ Controller_Master_DW->is_active_c3_Controller_Master = 1U;
+
+ /* Entry Internal: Controller_Master/AEB */
+ /* Entry Internal 'AEB': '<S2>:35' */
+ /* Entry Internal 'ERRORS_CHECK_THREAD': '<S2>:33' */
+ /* Transition: '<S2>:38' */
+ Controller_Master_DW->is_ERRORS_CHECK_THREAD = Controller_Master_IN_OK;
+
+ /* Outport: '<Root>/LED_RED' */
+ /* Entry 'OK': '<S2>:37' */
+ /* '<S2>:37:1' Led_Red =uint8(0); */
+ *Controller_Master_Y_LED_RED = 0U;
+
+ /* Outport: '<Root>/MASTER' */
+ /* '<S2>:37:1' Master = uint8(1); */
+ *Controller_Master_Y_MASTER = 1U;
+
+ /* Entry Internal 'APPLICATION_THREAD': '<S2>:32' */
+ /* Transition: '<S2>:27' */
+ Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* Entry 'READY': '<S2>:21' */
+ /* '<S2>:21:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:21:1' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+ } else {
+ /* During 'AEB': '<S2>:35' */
+ /* During 'ERRORS_CHECK_THREAD': '<S2>:33' */
+ if (Controller_Master_DW->is_ERRORS_CHECK_THREAD != Controller_Master_IN_ERR)
+ {
+ /* During 'OK': '<S2>:37' */
+ /* '<S2>:46:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:46:1' V > 180 || D > 200 || D < 0; */
+ if ((Controller_Master_U_V > 180.0) || (Controller_Master_U_D_M > 200.0) ||
+ (Controller_Master_U_D_M < 0.0)) {
+ /* Transition: '<S2>:46' */
+ Controller_Master_DW->is_ERRORS_CHECK_THREAD = Controller_Master_IN_ERR;
+
+ /* Outport: '<Root>/LED_RED' */
+ /* Entry 'ERR': '<S2>:42' */
+ /* '<S2>:42:1' Led_Red = uint8(1); */
+ *Controller_Master_Y_LED_RED = 1U;
+
+ /* Outport: '<Root>/MASTER' */
+ /* Entry 'SENSOR_ERR': '<S2>:39' */
+ /* '<S2>:39:1' Master = uint8(0) ; */
+ /* '<S2>:39:1' En = false; */
+ /* '<S2>:39:1' Brake = uint8(0); */
+ /* '<S2>:39:3' Led_Blue = 0; */
+ /* Entry 'MCU_ERR': '<S2>:40' */
+ /* '<S2>:40:1' Master = uint8(0) ; */
+ *Controller_Master_Y_MASTER = 0U;
+
+ /* '<S2>:40:1' En = false; */
+ Controller_Master_DW->En = false;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* '<S2>:40:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:40:3' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:43:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:43:1' D == 0; */
+ if (Controller_Master_U_D_M == 0.0) {
+ /* Transition: '<S2>:43' */
+ Controller_Master_DW->is_ERRORS_CHECK_THREAD =
+ Controller_Master_IN_ERR;
+
+ /* Outport: '<Root>/LED_RED' */
+ /* Entry 'ERR': '<S2>:42' */
+ /* '<S2>:42:1' Led_Red = uint8(1); */
+ *Controller_Master_Y_LED_RED = 1U;
+
+ /* Outport: '<Root>/MASTER' */
+ /* Entry 'SENSOR_ERR': '<S2>:39' */
+ /* '<S2>:39:1' Master = uint8(0) ; */
+ /* '<S2>:39:1' En = false; */
+ /* '<S2>:39:1' Brake = uint8(0); */
+ /* '<S2>:39:3' Led_Blue = 0; */
+ /* Entry 'MCU_ERR': '<S2>:40' */
+ /* '<S2>:40:1' Master = uint8(0) ; */
+ *Controller_Master_Y_MASTER = 0U;
+
+ /* '<S2>:40:1' En = false; */
+ Controller_Master_DW->En = false;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* '<S2>:40:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:40:3' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:45:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:45:1' Slave ~= 1; */
+ if (Controller_Master_DW->Memory_PreviousInput != 1) {
+ /* Transition: '<S2>:45' */
+ Controller_Master_DW->is_ERRORS_CHECK_THREAD =
+ Controller_Master_IN_ERR;
+
+ /* Outport: '<Root>/LED_RED' */
+ /* Entry 'ERR': '<S2>:42' */
+ /* '<S2>:42:1' Led_Red = uint8(1); */
+ *Controller_Master_Y_LED_RED = 1U;
+
+ /* Outport: '<Root>/MASTER' */
+ /* Entry 'SENSOR_ERR': '<S2>:39' */
+ /* '<S2>:39:1' Master = uint8(0) ; */
+ /* '<S2>:39:1' En = false; */
+ /* '<S2>:39:1' Brake = uint8(0); */
+ /* '<S2>:39:3' Led_Blue = 0; */
+ /* Entry 'MCU_ERR': '<S2>:40' */
+ /* '<S2>:40:1' Master = uint8(0) ; */
+ *Controller_Master_Y_MASTER = 0U;
+
+ /* '<S2>:40:1' En = false; */
+ Controller_Master_DW->En = false;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* '<S2>:40:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:40:3' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+ }
+ }
+ }
+ } else {
+ /* During 'ERR': '<S2>:42' */
+ /* During 'SENSOR_ERR': '<S2>:39' */
+ /* During 'MCU_ERR': '<S2>:40' */
+ /* During 'SLAVE_ERR': '<S2>:41' */
+ }
+
+ /* During 'APPLICATION_THREAD': '<S2>:32' */
+ if (Controller_Master_DW->is_APPLICATION_THREAD ==
+ Controller_Master_IN_ACTIVE) {
+ /* During 'ACTIVE': '<S2>:1' */
+ /* '<S2>:26:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:26:1' En == false; */
+ if (!Controller_Master_DW->En) {
+ /* Transition: '<S2>:26' */
+ /* Exit Internal 'ACTIVE': '<S2>:1' */
+ Controller_Master_DW->is_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* Entry 'READY': '<S2>:21' */
+ /* '<S2>:21:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:21:1' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:1:1' K = (V^2)/D; */
+ K = Controller_Master_U_V * Controller_Master_U_V /
+ Controller_Master_U_D_M;
+ switch (Controller_Master_DW->is_ACTIVE) {
+ case Controller_Master_IN_BRAKE:
+ /* During 'BRAKE': '<S2>:3' */
+ /* '<S2>:10:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:10:1' K < 100; */
+ if (K < 100.0) {
+ /* Transition: '<S2>:10' */
+ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_WARNING;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* Entry 'WARNING': '<S2>:5' */
+ /* '<S2>:5:1' 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; */
+ if (K >= 70.0) {
+ /* Transition: '<S2>:12' */
+ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_WARNING;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* Entry 'WARNING': '<S2>:5' */
+ /* '<S2>:5:1' 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; */
+ if (K >= 100.0) {
+ /* Transition: '<S2>:9' */
+ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_BRAKE;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* Entry 'BRAKE': '<S2>:3' */
+ /* '<S2>:3:1' Brake = uint8(1); */
+ *Controller_Master_Y_BRAKE = 1U;
+
+ /* '<S2>:3:1' Led_Blue = 1; */
+ Controller_Master_B->Led_Blue = 1.0;
+ } else {
+ /* '<S2>:11:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:11:1' K < 70; */
+ if (K < 70.0) {
+ /* Transition: '<S2>:11' */
+ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_IDLE;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* Entry 'IDLE': '<S2>:6' */
+ /* '<S2>:6:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:6:1' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:5:1' Led_Blue = (K-70)/30; */
+ Controller_Master_B->Led_Blue = (K - 70.0) / 30.0;
+ }
+ }
+ break;
+ }
+ }
+ } else {
+ /* During 'READY': '<S2>:21' */
+ /* '<S2>:23:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:23:1' En == true; */
+ if (Controller_Master_DW->En) {
+ /* Transition: '<S2>:23' */
+ Controller_Master_DW->is_APPLICATION_THREAD =
+ Controller_Master_IN_ACTIVE;
+
+ /* Entry 'ACTIVE': '<S2>:1' */
+ /* '<S2>:1:1' K = (V^2)/D; */
+ /* Entry Internal 'ACTIVE': '<S2>:1' */
+ /* Transition: '<S2>:51' */
+ Controller_Master_DW->is_ACTIVE = Controller_Master_IN_IDLE;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* Entry 'IDLE': '<S2>:6' */
+ /* '<S2>:6:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:6:1' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+ }
+ }
+ }
+
+ /* End of Chart: '<S1>/AEB' */
+
+ /* Chart: '<S1>/select_command' */
+ if (Controller_Master_DW->temporalCounter_i1 < MAX_uint32_T) {
+ Controller_Master_DW->temporalCounter_i1++;
+ }
+
+ /* Gateway: Controller_Master/select_command */
+ /* During: Controller_Master/select_command */
+ if (Controller_Master_DW->is_active_c2_Controller_Master == 0U) {
+ /* Entry: Controller_Master/select_command */
+ Controller_Master_DW->is_active_c2_Controller_Master = 1U;
+
+ /* Entry Internal: Controller_Master/select_command */
+ /* Transition: '<S3>:2' */
+ Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_OFF1;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'OFF1': '<S3>:3' */
+ /* '<S3>:3:1' led = uint8(0); */
+ *Controller_Master_Y_LED_BLUE = 0U;
+ } else {
+ switch (Controller_Master_DW->is_c2_Controller_Master) {
+ case Controller_Master_IN_BLINK:
+ /* During 'BLINK': '<S3>:20' */
+ /* '<S3>:7:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:7:1' enable == 1; */
+ if (Controller_Master_B->Led_Blue == 1.0) {
+ /* Transition: '<S3>:7' */
+ /* Exit Internal 'BLINK': '<S3>:20' */
+ Controller_Master_DW->is_BLINK = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_ON;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'ON': '<S3>:6' */
+ /* '<S3>:6:1' led = uint8(1); */
+ *Controller_Master_Y_LED_BLUE = 1U;
+ } else {
+ /* '<S3>:21:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:21:1' enable == 0; */
+ if (Controller_Master_B->Led_Blue == 0.0) {
+ /* Transition: '<S3>:21' */
+ /* Exit Internal 'BLINK': '<S3>:20' */
+ Controller_Master_DW->is_BLINK = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->is_c2_Controller_Master =
+ Controller_Master_IN_OFF1;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'OFF1': '<S3>:3' */
+ /* '<S3>:3:1' led = uint8(0); */
+ *Controller_Master_Y_LED_BLUE = 0U;
+ } else if (Controller_Master_DW->is_BLINK ==
+ Controller_Master_IN_BLINK_OFF) {
+ /* During 'BLINK_OFF': '<S3>:11' */
+ /* '<S3>:14:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:14:1' after(1-enable,sec); */
+ if (Controller_Master_DW->temporalCounter_i1 >= (uint32_T)ceil((1.0 -
+ Controller_Master_B->Led_Blue) / 0.2 - 2.0E-9)) {
+ /* Transition: '<S3>:14' */
+ Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_ON;
+ Controller_Master_DW->temporalCounter_i1 = 0U;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'BLINK_ON': '<S3>:13' */
+ /* '<S3>:13:1' led = uint8(1); */
+ *Controller_Master_Y_LED_BLUE = 1U;
+ }
+ } else {
+ /* During 'BLINK_ON': '<S3>:13' */
+ /* '<S3>:15:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:15:1' after(0.1,sec); */
+ if (Controller_Master_DW->temporalCounter_i1 >= 1U) {
+ /* Transition: '<S3>:15' */
+ Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_OFF;
+ Controller_Master_DW->temporalCounter_i1 = 0U;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'BLINK_OFF': '<S3>:11' */
+ /* '<S3>:11:1' led = uint8(0); */
+ *Controller_Master_Y_LED_BLUE = 0U;
+ }
+ }
+ }
+ break;
+
+ case Controller_Master_IN_OFF1:
+ /* During 'OFF1': '<S3>:3' */
+ /* '<S3>:22:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:22:1' enable == 1; */
+ if (Controller_Master_B->Led_Blue == 1.0) {
+ /* Transition: '<S3>:22' */
+ Controller_Master_DW->is_c2_Controller_Master = Controller_Master_IN_ON;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'ON': '<S3>:6' */
+ /* '<S3>:6:1' led = uint8(1); */
+ *Controller_Master_Y_LED_BLUE = 1U;
+ } else {
+ /* '<S3>:12:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:12:1' enable >0 && enable <1; */
+ if ((Controller_Master_B->Led_Blue > 0.0) &&
+ (Controller_Master_B->Led_Blue < 1.0)) {
+ /* Transition: '<S3>:12' */
+ Controller_Master_DW->is_c2_Controller_Master =
+ Controller_Master_IN_BLINK;
+
+ /* Entry Internal 'BLINK': '<S3>:20' */
+ /* Transition: '<S3>:24' */
+ Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_OFF;
+ Controller_Master_DW->temporalCounter_i1 = 0U;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'BLINK_OFF': '<S3>:11' */
+ /* '<S3>:11:1' led = uint8(0); */
+ *Controller_Master_Y_LED_BLUE = 0U;
+ }
+ }
+ break;
+
+ default:
+ /* During 'ON': '<S3>:6' */
+ /* '<S3>:4:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:4:1' enable == 0; */
+ if (Controller_Master_B->Led_Blue == 0.0) {
+ /* Transition: '<S3>:4' */
+ Controller_Master_DW->is_c2_Controller_Master =
+ Controller_Master_IN_OFF1;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'OFF1': '<S3>:3' */
+ /* '<S3>:3:1' led = uint8(0); */
+ *Controller_Master_Y_LED_BLUE = 0U;
+ } else {
+ /* '<S3>:23:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:23:1' enable >0 && enable <1; */
+ if ((Controller_Master_B->Led_Blue > 0.0) &&
+ (Controller_Master_B->Led_Blue < 1.0)) {
+ /* Transition: '<S3>:23' */
+ Controller_Master_DW->is_c2_Controller_Master =
+ Controller_Master_IN_BLINK;
+
+ /* Entry Internal 'BLINK': '<S3>:20' */
+ /* Transition: '<S3>:24' */
+ Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_OFF;
+ Controller_Master_DW->temporalCounter_i1 = 0U;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'BLINK_OFF': '<S3>:11' */
+ /* '<S3>:11:1' led = uint8(0); */
+ *Controller_Master_Y_LED_BLUE = 0U;
+ }
+ }
+ break;
+ }
+ }
+
+ /* End of Chart: '<S1>/select_command' */
+
+ /* Update for Memory: '<S1>/Memory' incorporates:
+ * Update for Inport: '<Root>/SLAVE'
+ */
+ Controller_Master_DW->Memory_PreviousInput = Controller_Master_U_Slave;
+
+ /* End of Outputs for SubSystem: '<Root>/Controller_Master' */
+}
+
+/* Model initialize function */
+void Controller_Master_initialize(RT_MODEL_Controller_Master_T *const
+ Controller_Master_M, real_T *Controller_Master_U_V, real_T
+ *Controller_Master_U_D_M, uint8_T *Controller_Master_U_Slave, uint8_T
+ *Controller_Master_Y_BRAKE, uint8_T *Controller_Master_Y_LED_BLUE, uint8_T
+ *Controller_Master_Y_LED_RED, uint8_T *Controller_Master_Y_MASTER)
+{
+ DW_Controller_Master_T *Controller_Master_DW = ((DW_Controller_Master_T *)
+ Controller_Master_M->ModelData.dwork);
+ B_Controller_Master_T *Controller_Master_B = ((B_Controller_Master_T *)
+ Controller_Master_M->ModelData.blockIO);
+
+ /* Registration code */
+
+ /* block I/O */
+ (void) memset(((void *) Controller_Master_B), 0,
+ sizeof(B_Controller_Master_T));
+
+ /* states (dwork) */
+ (void) memset((void *)Controller_Master_DW, 0,
+ sizeof(DW_Controller_Master_T));
+
+ /* external inputs */
+ (*Controller_Master_U_V) = 0.0;
+ (*Controller_Master_U_D_M) = 0.0;
+ (*Controller_Master_U_Slave) = 0U;
+
+ /* external outputs */
+ (*Controller_Master_Y_BRAKE) = 0U;
+ (*Controller_Master_Y_LED_BLUE) = 0U;
+ (*Controller_Master_Y_LED_RED) = 0U;
+ (*Controller_Master_Y_MASTER) = 0U;
+
+ /* SystemInitialize for Atomic SubSystem: '<Root>/Controller_Master' */
+ /* InitializeConditions for Memory: '<S1>/Memory' */
+ Controller_Master_DW->Memory_PreviousInput = 1U;
+
+ /* SystemInitialize for Chart: '<S1>/AEB' */
+ Controller_Master_DW->is_APPLICATION_THREAD = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->is_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->is_ERRORS_CHECK_THREAD = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->is_active_c3_Controller_Master = 0U;
+ Controller_Master_DW->En = true;
+
+ /* SystemInitialize for Chart: '<S1>/select_command' */
+ Controller_Master_DW->is_BLINK = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->temporalCounter_i1 = 0U;
+ Controller_Master_DW->is_active_c2_Controller_Master = 0U;
+ Controller_Master_DW->is_c2_Controller_Master =
+ Controller_M_IN_NO_ACTIVE_CHILD;
+
+ /* End of SystemInitialize for SubSystem: '<Root>/Controller_Master' */
+}
+
+/* Model terminate function */
+void Controller_Master_terminate(RT_MODEL_Controller_Master_T *const
+ Controller_Master_M)
+{
+ /* (no terminate code required) */
+ UNUSED_PARAMETER(Controller_Master_M);
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
+