Library for the master controller
Dependents: Test_Controller_Master AEB
Controller_Master.c
- Committer:
- AndreaAndreoli
- Date:
- 2016-07-10
- Revision:
- 3:66d07e7a134a
- Parent:
- 2:d114feef8f3b
File content as of revision 3:66d07e7a134a:
/* * 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 : 1.7 * Simulink Coder version : 8.10 (R2016a) 10-Feb-2016 * C/C++ source code generated on : Sun Jul 10 14:56:51 2016 * * Target selection: ert.tlc * Embedded hardware selection: ARM Compatible->ARM Cortex * Code generation objectives: Unspecified * Validation result: Not run */ #include "Controller_Master.h" /* Named constants for Chart: '<S1>/AEB_QA' */ #define Controller_M_IN_NO_ACTIVE_CHILD ((uint8_T)0U) #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_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' */ #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) /* 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 * *===========*/ #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 /* 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>:80' */ switch (Controller_Master_DW->is_APPLICATION_THREAD) { case Controller_Master_IN_AEB_ACTIVE: /* During 'AEB_ACTIVE': '<S2>:89' */ /* '<S2>:83:1' sf_internal_predicateOutput = ... */ /* '<S2>:83:1' En == false; */ if (!Controller_Master_DW->En) { /* 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>:98' */ /* '<S2>:98:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:98:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; /* '<S2>:98:1' Led_Green = uint8(0); */ *Controller_Master_Y_LED_GREEN = 0U; /* '<S2>:98:4' Acc = uint8(0); */ *Controller_Master_Y_ACC = 0U; } else { /* Inport: '<Root>/QA_EN' incorporates: * Inport: '<Root>/V' */ /* '<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>: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>: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>:107' */ /* '<S2>:107:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:107:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; /* '<S2>:107:1' Led_Green = uint8(0); */ *Controller_Master_Y_LED_GREEN = 0U; /* '<S2>:107:4' Acc = uint8(0); */ *Controller_Master_Y_ACC = 0U; } else { /* Inport: '<Root>/D_M' */ /* '<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>:97' */ /* '<S2>:94:1' sf_internal_predicateOutput = ... */ /* '<S2>:94:1' K < 100; */ if (K < 100.0) { /* Transition: '<S2>:94' */ Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_WARNING; /* Entry 'WARNING': '<S2>:96' */ /* '<S2>:96:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; } break; case Controller_Master_IN_IDLE: /* During 'IDLE': '<S2>:95' */ /* '<S2>:91:1' sf_internal_predicateOutput = ... */ /* '<S2>:91:1' K >= 70; */ if (K >= 70.0) { /* Transition: '<S2>:91' */ Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_WARNING; /* Entry 'WARNING': '<S2>:96' */ /* '<S2>:96:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; } break; default: /* During 'WARNING': '<S2>:96' */ /* '<S2>:93:1' sf_internal_predicateOutput = ... */ /* '<S2>:93:1' K >= 100; */ if (K >= 100.0) { /* Transition: '<S2>:93' */ Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_BRAKE; /* Entry 'BRAKE': '<S2>:97' */ /* '<S2>:97:1' Brake = uint8(1); */ *Controller_Master_Y_BRAKE = 1U; /* '<S2>:97:1' Led_Blue = 1; */ Controller_Master_B->Led_Blue = 1.0; } else { /* '<S2>:92:1' sf_internal_predicateOutput = ... */ /* '<S2>:92:1' K < 70; */ if (K < 70.0) { /* Transition: '<S2>:92' */ Controller_Master_DW->is_AEB_ACTIVE = Controller_Master_IN_IDLE; /* Entry 'IDLE': '<S2>:95' */ /* '<S2>:95:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:95:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; } else { /* '<S2>:96:1' 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>: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>: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>: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>:95' */ /* '<S2>:95:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:95:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; } else { /* '<S2>:84:1' sf_internal_predicateOutput = ... */ /* '<S2>:84:1' En == false; */ if (!Controller_Master_DW->En) { /* 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>:98' */ /* '<S2>:98:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:98:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; /* '<S2>:98:1' Led_Green = uint8(0); */ *Controller_Master_Y_LED_GREEN = 0U; /* '<S2>:98:4' Acc = uint8(0); */ *Controller_Master_Y_ACC = 0U; } else { /* Inport: '<Root>/D_M' */ /* '<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>:108' */ /* '<S2>:103:1' sf_internal_predicateOutput = ... */ /* '<S2>:103:1' K >= 100; */ if (K >= 100.0) { /* Transition: '<S2>:103' */ Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_IDLE_k; /* Entry 'IDLE': '<S2>:107' */ /* '<S2>:107:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:107:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; /* '<S2>:107:1' Led_Green = uint8(0); */ *Controller_Master_Y_LED_GREEN = 0U; /* '<S2>:107:4' Acc = uint8(0); */ *Controller_Master_Y_ACC = 0U; } break; case Controller_Master_IN_BRAKE_d: /* During 'BRAKE': '<S2>:109' */ /* '<S2>:105:1' sf_internal_predicateOutput = ... */ /* '<S2>:105:1' K <= 100; */ if (K <= 100.0) { /* Transition: '<S2>:105' */ Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_IDLE_k; /* Entry 'IDLE': '<S2>:107' */ /* '<S2>:107:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:107:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; /* '<S2>:107:1' Led_Green = uint8(0); */ *Controller_Master_Y_LED_GREEN = 0U; /* '<S2>:107:4' Acc = uint8(0); */ *Controller_Master_Y_ACC = 0U; } break; default: /* During 'IDLE': '<S2>:107' */ /* '<S2>:104:1' sf_internal_predicateOutput = ... */ /* '<S2>:104:1' K > 100; */ if (K > 100.0) { /* Transition: '<S2>:104' */ Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_BRAKE_d; /* Entry 'BRAKE': '<S2>:109' */ /* '<S2>:109:1' Brake = uint8(1); */ *Controller_Master_Y_BRAKE = 1U; /* '<S2>:109:1' Led_Blue = 1; */ Controller_Master_B->Led_Blue = 1.0; } else { /* '<S2>:106:1' sf_internal_predicateOutput = ... */ /* '<S2>:106:1' K < 100; */ if (K < 100.0) { /* Transition: '<S2>:106' */ Controller_Master_DW->is_QA_ACTIVE = Controller_Master_IN_ACCELERATE; /* Entry 'ACCELERATE': '<S2>:108' */ /* '<S2>:108:1' Led_Green = uint8(1); */ *Controller_Master_Y_LED_GREEN = 1U; /* '<S2>:108:1' Acc = uint8(1); */ *Controller_Master_Y_ACC = 1U; } } break; } } } break; default: /* During 'READY': '<S2>:98' */ /* '<S2>:82:1' sf_internal_predicateOutput = ... */ /* '<S2>:82:1' En == true; */ if (Controller_Master_DW->En) { /* Transition: '<S2>:82' */ Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_AEB_ACTIVE; /* 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>:95' */ /* '<S2>:95:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:95:1' 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, 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); /* Outputs for Atomic SubSystem: '<Root>/Controller_Master' */ /* 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_QA */ Controller_Master_DW->is_active_c3_Controller_Master = 1U; /* 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; /* 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>:80' */ /* Transition: '<S2>:81' */ Controller_Master_DW->is_APPLICATION_THREAD = Controller_Master_IN_READY; /* Outport: '<Root>/BRAKE' */ /* Entry 'READY': '<S2>:98' */ /* '<S2>:98:1' Brake = uint8(0); */ *Controller_Master_Y_BRAKE = 0U; /* '<S2>:98:1' Led_Blue = 0; */ Controller_Master_B->Led_Blue = 0.0; /* Outport: '<Root>/LED_GREEN' */ /* '<S2>:98:1' Led_Green = uint8(0); */ *Controller_Master_Y_LED_GREEN = 0U; /* Outport: '<Root>/ACC' */ /* '<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, 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_QA' */ /* 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) / 0.1 - 1.0E-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' */ /* 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, 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); 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; (*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_MASTER) = 0U; /* SystemInitialize for Atomic SubSystem: '<Root>/Controller_Master' */ /* SystemInitialize for Chart: '<S1>/AEB_QA' */ Controller_Master_DW->is_APPLICATION_THREAD = 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; /* 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] */