MBSD_assignment
Library for the master controller
Dependents: Test_Controller_Master AEB
Diff: Controller_Master.c
- Revision:
- 2:d114feef8f3b
- Parent:
- 1:03ec2e1d1008
- Child:
- 3:66d07e7a134a
--- a/Controller_Master.c Sat Jun 04 18:37:52 2016 +0000
+++ b/Controller_Master.c Wed Jul 06 08:22:31 2016 +0000
@@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'Controller_Master'.
*
- * Model version : 1.2
+ * Model version : 1.6
* Simulink Coder version : 8.10 (R2016a) 10-Feb-2016
- * C/C++ source code generated on : Sat Jun 04 20:35:28 2016
+ * C/C++ source code generated on : Wed Jul 06 10:20:25 2016
*
* Target selection: ert.tlc
* Embedded hardware selection: NXP->Cortex-M4
@@ -19,14 +19,18 @@
#include "Controller_Master.h"
-/* Named constants for Chart: '<S1>/AEB' */
+/* Named constants for Chart: '<S1>/AEB_QA' */
#define Controller_M_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
-#define Controller_Master_IN_ACTIVE ((uint8_T)1U)
+#define Controller_Master_IN_ACCELERATE ((uint8_T)1U)
+#define Controller_Master_IN_AEB_ACTIVE ((uint8_T)1U)
#define Controller_Master_IN_BRAKE ((uint8_T)1U)
+#define Controller_Master_IN_BRAKE_d ((uint8_T)2U)
#define Controller_Master_IN_ERR ((uint8_T)1U)
#define Controller_Master_IN_IDLE ((uint8_T)2U)
+#define Controller_Master_IN_IDLE_k ((uint8_T)3U)
#define Controller_Master_IN_OK ((uint8_T)2U)
-#define Controller_Master_IN_READY ((uint8_T)2U)
+#define Controller_Master_IN_QA_ACTIVE ((uint8_T)2U)
+#define Controller_Master_IN_READY ((uint8_T)3U)
#define Controller_Master_IN_WARNING ((uint8_T)3U)
/* Named constants for Chart: '<S1>/select_command' */
@@ -36,6 +40,14 @@
#define Controller_Master_IN_OFF1 ((uint8_T)2U)
#define Controller_Master_IN_ON ((uint8_T)3U)
+/* Forward declaration for local functions */
+static void Controller_Master_AEB_QA(real_T Controller_Master_U_V, real_T
+ Controller_Master_U_D_M, boolean_T Controller_Master_U_QA_EN, uint8_T
+ *Controller_Master_Y_BRAKE, uint8_T *Controller_Master_Y_ACC, uint8_T
+ *Controller_Master_Y_LED_RED, uint8_T *Controller_Master_Y_LED_GREEN, uint8_T *
+ Controller_Master_Y_MASTER, B_Controller_Master_T *Controller_Master_B,
+ DW_Controller_Master_T *Controller_Master_DW);
+
/*===========*
* Constants *
*===========*/
@@ -66,33 +78,397 @@
# endif
#endif
+/* Function for Chart: '<S1>/AEB_QA' */
+static void Controller_Master_AEB_QA(real_T Controller_Master_U_V, real_T
+ Controller_Master_U_D_M, boolean_T Controller_Master_U_QA_EN, uint8_T
+ *Controller_Master_Y_BRAKE, uint8_T *Controller_Master_Y_ACC, uint8_T
+ *Controller_Master_Y_LED_RED, uint8_T *Controller_Master_Y_LED_GREEN, uint8_T *
+ Controller_Master_Y_MASTER, B_Controller_Master_T *Controller_Master_B,
+ DW_Controller_Master_T *Controller_Master_DW)
+{
+ real_T K;
+
+ /* During 'AEB_QA': '<S2>:35' */
+ /* During 'ERRORS_CHECK_THREAD': '<S2>:33' */
+ if (Controller_Master_DW->is_ERRORS_CHECK_THREAD != Controller_Master_IN_ERR)
+ {
+ /* Inport: '<Root>/V' incorporates:
+ * Inport: '<Root>/D_M'
+ */
+ /* 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;
+
+ /* Entry 'ERR': '<S2>:42' */
+ /* '<S2>:42:1' Led_Red = uint8(1); */
+ *Controller_Master_Y_LED_RED = 1U;
+
+ /* '<S2>:42:1' Master = uint8(0) ; */
+ *Controller_Master_Y_MASTER = 0U;
+
+ /* '<S2>:42:3' En = false; */
+ Controller_Master_DW->En = false;
+
+ /* '<S2>:42:3' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:42:4' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+
+ /* '<S2>:42:5' Acc = uint8(0); */
+ *Controller_Master_Y_ACC = 0U;
+
+ /* '<S2>:42:6' Led_Green = uint8(0); */
+ *Controller_Master_Y_LED_GREEN = 0U;
+ } 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;
+
+ /* Entry 'ERR': '<S2>:42' */
+ /* '<S2>:42:1' Led_Red = uint8(1); */
+ *Controller_Master_Y_LED_RED = 1U;
+
+ /* '<S2>:42:1' Master = uint8(0) ; */
+ *Controller_Master_Y_MASTER = 0U;
+
+ /* '<S2>:42:3' En = false; */
+ Controller_Master_DW->En = false;
+
+ /* '<S2>:42:3' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:42:4' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+
+ /* '<S2>:42:5' Acc = uint8(0); */
+ *Controller_Master_Y_ACC = 0U;
+
+ /* '<S2>:42:6' Led_Green = uint8(0); */
+ *Controller_Master_Y_LED_GREEN = 0U;
+ }
+ }
+ } else {
+ /* During 'ERR': '<S2>:42' */
+ }
+
+ /* During 'APPLICATION_THREAD': '<S2>:32' */
+ 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; */
+ if (!Controller_Master_DW->En) {
+ /* Transition: '<S2>:26' */
+ /* Exit Internal 'AEB_ACTIVE': '<S2>:1' */
+ Controller_Master_DW->is_AEB_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY;
+
+ /* 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;
+
+ /* '<S2>:21:1' Led_Green = uint8(0); */
+ *Controller_Master_Y_LED_GREEN = 0U;
+
+ /* '<S2>:21:4' 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; */
+ if (Controller_Master_U_QA_EN && (Controller_Master_U_V < 30.0)) {
+ /* Transition: '<S2>:70' */
+ /* Exit Internal 'AEB_ACTIVE': '<S2>:1' */
+ Controller_Master_DW->is_AEB_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+ 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' */
+ Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_IDLE_k;
+
+ /* Entry 'IDLE': '<S2>:67' */
+ /* '<S2>:67:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:67:1' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+
+ /* '<S2>:67:1' Led_Green = uint8(0); */
+ *Controller_Master_Y_LED_GREEN = 0U;
+
+ /* '<S2>:67:4' Acc = uint8(0); */
+ *Controller_Master_Y_ACC = 0U;
+ } else {
+ /* Inport: '<Root>/D_M' */
+ /* '<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_AEB_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_AEB_ACTIVE = Controller_Master_IN_WARNING;
+
+ /* 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_AEB_ACTIVE = Controller_Master_IN_WARNING;
+
+ /* 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_AEB_ACTIVE = Controller_Master_IN_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_AEB_ACTIVE = Controller_Master_IN_IDLE;
+
+ /* 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;
+ }
+ }
+ }
+ break;
+
+ case Controller_Master_IN_QA_ACTIVE:
+ /* 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; */
+ if ((!Controller_Master_U_QA_EN) || (Controller_Master_U_V >= 30.0)) {
+ /* Transition: '<S2>:71' */
+ /* Exit Internal 'QA_ACTIVE': '<S2>:69' */
+ Controller_Master_DW->is_QA_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+ 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' */
+ Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_IDLE;
+
+ /* 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>:79:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:79:1' En == false; */
+ if (!Controller_Master_DW->En) {
+ /* Transition: '<S2>:79' */
+ /* Exit Internal 'QA_ACTIVE': '<S2>:69' */
+ Controller_Master_DW->is_QA_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY;
+
+ /* 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;
+
+ /* '<S2>:21:1' Led_Green = uint8(0); */
+ *Controller_Master_Y_LED_GREEN = 0U;
+
+ /* '<S2>:21:4' Acc = uint8(0); */
+ *Controller_Master_Y_ACC = 0U;
+ } else {
+ /* Inport: '<Root>/D_M' */
+ /* '<S2>:69:1' 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; */
+ if (K >= 100.0) {
+ /* Transition: '<S2>:75' */
+ Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_IDLE_k;
+
+ /* Entry 'IDLE': '<S2>:67' */
+ /* '<S2>:67:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:67:1' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+
+ /* '<S2>:67:1' Led_Green = uint8(0); */
+ *Controller_Master_Y_LED_GREEN = 0U;
+
+ /* '<S2>:67:4' 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; */
+ if (K <= 100.0) {
+ /* Transition: '<S2>:73' */
+ Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_IDLE_k;
+
+ /* Entry 'IDLE': '<S2>:67' */
+ /* '<S2>:67:1' Brake = uint8(0); */
+ *Controller_Master_Y_BRAKE = 0U;
+
+ /* '<S2>:67:1' Led_Blue = 0; */
+ Controller_Master_B->Led_Blue = 0.0;
+
+ /* '<S2>:67:1' Led_Green = uint8(0); */
+ *Controller_Master_Y_LED_GREEN = 0U;
+
+ /* '<S2>:67:4' 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; */
+ if (K > 100.0) {
+ /* Transition: '<S2>:72' */
+ Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_BRAKE_d;
+
+ /* Entry 'BRAKE': '<S2>:65' */
+ /* '<S2>:65:1' Brake = uint8(1); */
+ *Controller_Master_Y_BRAKE = 1U;
+
+ /* '<S2>:65:1' Led_Blue = 1; */
+ Controller_Master_B->Led_Blue = 1.0;
+ } else {
+ /* '<S2>:74:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:74:1' K < 100; */
+ if (K < 100.0) {
+ /* Transition: '<S2>:74' */
+ Controller_Master_DW->is_QA_ACTIVE =
+ Controller_Master_IN_ACCELERATE;
+
+ /* Entry 'ACCELERATE': '<S2>:68' */
+ /* '<S2>:68:1' Led_Green = uint8(1); */
+ *Controller_Master_Y_LED_GREEN = 1U;
+
+ /* '<S2>:68:1' Acc = uint8(1); */
+ *Controller_Master_Y_ACC = 1U;
+ }
+ }
+ break;
+ }
+ }
+ }
+ break;
+
+ default:
+ /* 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_AEB_ACTIVE;
+
+ /* Entry 'AEB_ACTIVE': '<S2>:1' */
+ /* '<S2>:1:1' K = (V^2)/D; */
+ /* Entry Internal 'AEB_ACTIVE': '<S2>:1' */
+ /* Transition: '<S2>:51' */
+ Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_IDLE;
+
+ /* 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;
+ }
+ break;
+ }
+}
+
/* 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)
+ Controller_Master_U_D_M, boolean_T Controller_Master_U_QA_EN, uint8_T
+ *Controller_Master_Y_BRAKE, uint8_T *Controller_Master_Y_ACC, uint8_T
+ *Controller_Master_Y_LED_RED, uint8_T *Controller_Master_Y_LED_GREEN, uint8_T *
+ Controller_Master_Y_LED_BLUE, 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 */
+ /* Chart: '<S1>/AEB_QA' */
+ /* Gateway: Controller_Master/AEB_QA */
+ /* During: Controller_Master/AEB_QA */
if (Controller_Master_DW->is_active_c3_Controller_Master == 0U) {
- /* Entry: Controller_Master/AEB */
+ /* Entry: Controller_Master/AEB_QA */
Controller_Master_DW->is_active_c3_Controller_Master = 1U;
- /* Entry Internal: Controller_Master/AEB */
- /* Entry Internal 'AEB': '<S2>:35' */
+ /* Entry Internal: Controller_Master/AEB_QA */
+ /* Entry Internal 'AEB_QA': '<S2>:35' */
/* Entry Internal 'ERRORS_CHECK_THREAD': '<S2>:33' */
/* Transition: '<S2>:38' */
Controller_Master_DW->is_ERRORS_CHECK_THREAD = Controller_Master_IN_OK;
@@ -117,202 +493,23 @@
/* '<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 '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) ; */
- *Controller_Master_Y_MASTER = 0U;
-
- /* '<S2>:39:1' En = false; */
- Controller_Master_DW->En = false;
-
- /* Outport: '<Root>/BRAKE' */
- /* '<S2>:39:1' Brake = uint8(0); */
- *Controller_Master_Y_BRAKE = 0U;
-
- /* '<S2>:39:3' 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;
- }
- }
- }
- } else {
- /* During 'ERR': '<S2>:42' */
- }
-
- /* 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;
+ /* Outport: '<Root>/LED_GREEN' */
+ /* '<S2>:21:1' Led_Green = uint8(0); */
+ *Controller_Master_Y_LED_GREEN = 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;
- }
- }
+ /* Outport: '<Root>/ACC' */
+ /* '<S2>:21:4' Acc = uint8(0); */
+ *Controller_Master_Y_ACC = 0U;
+ } else {
+ Controller_Master_AEB_QA(Controller_Master_U_V, Controller_Master_U_D_M,
+ Controller_Master_U_QA_EN, Controller_Master_Y_BRAKE,
+ Controller_Master_Y_ACC, Controller_Master_Y_LED_RED,
+ Controller_Master_Y_LED_GREEN, Controller_Master_Y_MASTER,
+ Controller_Master_B, Controller_Master_DW);
}
- /* End of Chart: '<S1>/AEB' */
+ /* End of Chart: '<S1>/AEB_QA' */
/* Chart: '<S1>/select_command' */
if (Controller_Master_DW->temporalCounter_i1 < MAX_uint32_T) {
@@ -368,8 +565,8 @@
/* During 'BLINK_OFF': '<S3>:11' */
/* '<S3>:14:1' sf_internal_predicateOutput = ... */
/* '<S3>:14:1' after(1-enable,sec); */
- if (Controller_Master_DW->temporalCounter_i1 >= (uint32_T)ceil((1.0 -
- Controller_Master_B->Led_Blue) / 0.2 - 2.0E-9)) {
+ if ((Controller_Master_DW->temporalCounter_i1 << 1) >= 1.0 -
+ Controller_Master_B->Led_Blue) {
/* Transition: '<S3>:14' */
Controller_Master_DW->is_BLINK = Controller_Master_IN_BLINK_ON;
Controller_Master_DW->temporalCounter_i1 = 0U;
@@ -469,21 +666,17 @@
}
/* 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)
+ *Controller_Master_U_D_M, uint8_T *Controller_Master_U_Slave, boolean_T
+ *Controller_Master_U_QA_EN, uint8_T *Controller_Master_Y_BRAKE, uint8_T
+ *Controller_Master_Y_ACC, uint8_T *Controller_Master_Y_LED_RED, uint8_T
+ *Controller_Master_Y_LED_GREEN, uint8_T *Controller_Master_Y_LED_BLUE, uint8_T
+ *Controller_Master_Y_MASTER)
{
DW_Controller_Master_T *Controller_Master_DW = ((DW_Controller_Master_T *)
Controller_Master_M->ModelData.dwork);
@@ -504,20 +697,21 @@
(*Controller_Master_U_V) = 0.0;
(*Controller_Master_U_D_M) = 0.0;
(*Controller_Master_U_Slave) = 0U;
+ (*Controller_Master_U_QA_EN) = false;
/* external outputs */
(*Controller_Master_Y_BRAKE) = 0U;
+ (*Controller_Master_Y_ACC) = 0U;
+ (*Controller_Master_Y_LED_RED) = 0U;
+ (*Controller_Master_Y_LED_GREEN) = 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' */
+ /* SystemInitialize for Chart: '<S1>/AEB_QA' */
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_AEB_ACTIVE = Controller_M_IN_NO_ACTIVE_CHILD;
+ Controller_Master_DW->is_QA_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;