MBSD_assignment
Slave controller for AEB and QA item
Diff: Controller_Slave.c
- Revision:
- 0:88fb7562377b
- Child:
- 1:370626c9b451
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller_Slave.c Wed Jul 06 09:21:22 2016 +0000
@@ -0,0 +1,767 @@
+/*
+ * 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_Slave.c
+ *
+ * Code generated for Simulink model 'Controller_Slave'.
+ *
+ * Model version : 1.6
+ * Simulink Coder version : 8.10 (R2016a) 10-Feb-2016
+ * C/C++ source code generated on : Wed Jul 06 11:19:35 2016
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: NXP->Cortex-M4
+ * Code generation objectives: Unspecified
+ * Validation result: Not run
+ */
+
+#include "Controller_Slave.h"
+
+/* Named constants for Chart: '<S1>/AEB_QA' */
+#define Controller_S_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
+#define Controller_Slave_IN_ACCELERATE ((uint8_T)1U)
+#define Controller_Slave_IN_AEB_ACTIVE ((uint8_T)1U)
+#define Controller_Slave_IN_BRAKE ((uint8_T)2U)
+#define Controller_Slave_IN_BRAKE_i ((uint8_T)1U)
+#define Controller_Slave_IN_ERR ((uint8_T)1U)
+#define Controller_Slave_IN_IDLE ((uint8_T)3U)
+#define Controller_Slave_IN_IDLE_b ((uint8_T)2U)
+#define Controller_Slave_IN_OK ((uint8_T)2U)
+#define Controller_Slave_IN_QA_ACTIVE ((uint8_T)2U)
+#define Controller_Slave_IN_READY ((uint8_T)3U)
+#define Controller_Slave_IN_WARNING ((uint8_T)3U)
+#define Controller__IN_SLAVE_ACTIVATION ((uint8_T)3U)
+
+/* Named constants for Chart: '<S1>/select_command' */
+#define Controller_Slave_IN_BLINK ((uint8_T)1U)
+#define Controller_Slave_IN_BLINK_OFF ((uint8_T)1U)
+#define Controller_Slave_IN_BLINK_ON ((uint8_T)2U)
+#define Controller_Slave_IN_OFF1 ((uint8_T)2U)
+#define Controller_Slave_IN_ON ((uint8_T)3U)
+
+/* Forward declaration for local functions */
+static void Controller_Slave_AEB_QA(const uint8_T *Memory, real_T
+ Controller_Slave_U_V, real_T Controller_Slave_U_D_S, boolean_T
+ Controller_Slave_U_QA_EN, uint8_T *Controller_Slave_Y_BRAKE, uint8_T
+ *Controller_Slave_Y_ACC, uint8_T *Controller_Slave_Y_LED_RED, uint8_T
+ *Controller_Slave_Y_LED_GREEN, uint8_T *Controller_Slave_Y_SLAVE,
+ B_Controller_Slave_T *Controller_Slave_B, DW_Controller_Slave_T
+ *Controller_Slave_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_Slave_AEB_QA(const uint8_T *Memory, real_T
+ Controller_Slave_U_V, real_T Controller_Slave_U_D_S, boolean_T
+ Controller_Slave_U_QA_EN, uint8_T *Controller_Slave_Y_BRAKE, uint8_T
+ *Controller_Slave_Y_ACC, uint8_T *Controller_Slave_Y_LED_RED, uint8_T
+ *Controller_Slave_Y_LED_GREEN, uint8_T *Controller_Slave_Y_SLAVE,
+ B_Controller_Slave_T *Controller_Slave_B, DW_Controller_Slave_T
+ *Controller_Slave_DW)
+{
+ real_T K;
+
+ /* During 'AEB_QA': '<S2>:35' */
+ /* During 'APPLICATION_THREAD': '<S2>:32' */
+ switch (Controller_Slave_DW->is_APPLICATION_THREAD) {
+ case Controller_Slave_IN_AEB_ACTIVE:
+ /* During 'AEB_ACTIVE': '<S2>:1' */
+ /* '<S2>:26:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:26:1' En == false; */
+ if (!Controller_Slave_DW->En) {
+ /* Transition: '<S2>:26' */
+ /* Exit Internal 'AEB_ACTIVE': '<S2>:1' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_APPLICATION_THREAD = Controller_Slave_IN_READY;
+
+ /* Entry 'READY': '<S2>:21' */
+ /* '<S2>:21:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:21:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:21:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:21:4' Acc =uint8(0); */
+ *Controller_Slave_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_Slave_U_QA_EN && (Controller_Slave_U_V < 30.0)) {
+ /* Transition: '<S2>:70' */
+ /* Exit Internal 'AEB_ACTIVE': '<S2>:1' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_APPLICATION_THREAD =
+ Controller_Slave_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_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_IDLE;
+
+ /* Entry 'IDLE': '<S2>:67' */
+ /* '<S2>:67:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:67:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:67:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:67:4' Acc = uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+ } else {
+ /* Inport: '<Root>/D_S' */
+ /* '<S2>:1:1' K = (V^2)/D; */
+ K = Controller_Slave_U_V * Controller_Slave_U_V / Controller_Slave_U_D_S;
+ switch (Controller_Slave_DW->is_AEB_ACTIVE) {
+ case Controller_Slave_IN_BRAKE_i:
+ /* During 'BRAKE': '<S2>:3' */
+ /* '<S2>:10:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:10:1' K < 100; */
+ if (K < 100.0) {
+ /* Transition: '<S2>:10' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_WARNING;
+
+ /* Entry 'WARNING': '<S2>:5' */
+ /* '<S2>:5:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+ }
+ break;
+
+ case Controller_Slave_IN_IDLE_b:
+ /* During 'IDLE': '<S2>:6' */
+ /* '<S2>:12:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:12:1' K >= 70; */
+ if (K >= 70.0) {
+ /* Transition: '<S2>:12' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_WARNING;
+
+ /* Entry 'WARNING': '<S2>:5' */
+ /* '<S2>:5:1' Brake = uint8(0); */
+ *Controller_Slave_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_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_BRAKE_i;
+
+ /* Entry 'BRAKE': '<S2>:3' */
+ /* '<S2>:3:1' Brake = uint8(1); */
+ *Controller_Slave_Y_BRAKE = 1U;
+
+ /* '<S2>:3:1' Led_Blue = 1; */
+ Controller_Slave_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_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_IDLE_b;
+
+ /* Entry 'IDLE': '<S2>:6' */
+ /* '<S2>:6:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:6:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:5:1' Led_Blue = (K-70)/30; */
+ Controller_Slave_B->Led_Blue = (K - 70.0) / 30.0;
+ }
+ }
+ break;
+ }
+ }
+ }
+ break;
+
+ case Controller_Slave_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_Slave_U_QA_EN) || (Controller_Slave_U_V >= 30.0)) {
+ /* Transition: '<S2>:71' */
+ /* Exit Internal 'QA_ACTIVE': '<S2>:69' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_APPLICATION_THREAD =
+ Controller_Slave_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_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_IDLE_b;
+
+ /* Entry 'IDLE': '<S2>:6' */
+ /* '<S2>:6:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:6:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:79:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:79:1' En == false; */
+ if (!Controller_Slave_DW->En) {
+ /* Transition: '<S2>:79' */
+ /* Exit Internal 'QA_ACTIVE': '<S2>:69' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_APPLICATION_THREAD = Controller_Slave_IN_READY;
+
+ /* Entry 'READY': '<S2>:21' */
+ /* '<S2>:21:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:21:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:21:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:21:4' Acc =uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+ } else {
+ /* Inport: '<Root>/D_S' */
+ /* '<S2>:69:1' K = (V^2)/D; */
+ K = Controller_Slave_U_V * Controller_Slave_U_V / Controller_Slave_U_D_S;
+ switch (Controller_Slave_DW->is_QA_ACTIVE) {
+ case Controller_Slave_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_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_IDLE;
+
+ /* Entry 'IDLE': '<S2>:67' */
+ /* '<S2>:67:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:67:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:67:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:67:4' Acc = uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+ }
+ break;
+
+ case Controller_Slave_IN_BRAKE:
+ /* During 'BRAKE': '<S2>:65' */
+ /* '<S2>:73:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:73:1' K <= 100; */
+ if (K <= 100.0) {
+ /* Transition: '<S2>:73' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_IDLE;
+
+ /* Entry 'IDLE': '<S2>:67' */
+ /* '<S2>:67:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:67:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:67:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:67:4' Acc = uint8(0); */
+ *Controller_Slave_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_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_BRAKE;
+
+ /* Entry 'BRAKE': '<S2>:65' */
+ /* '<S2>:65:1' Brake = uint8(1); */
+ *Controller_Slave_Y_BRAKE = 1U;
+
+ /* '<S2>:65:1' Led_Blue = 1; */
+ Controller_Slave_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_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_ACCELERATE;
+
+ /* Entry 'ACCELERATE': '<S2>:68' */
+ /* '<S2>:68:1' Led_Green = uint8(1); */
+ *Controller_Slave_Y_LED_GREEN = 1U;
+
+ /* '<S2>:68:1' Acc = uint8(1); */
+ *Controller_Slave_Y_ACC = 1U;
+ }
+ }
+ break;
+ }
+ }
+ }
+ break;
+
+ default:
+ /* During 'READY': '<S2>:21' */
+ /* '<S2>:23:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:23:1' En == true; */
+ if (Controller_Slave_DW->En) {
+ /* Transition: '<S2>:23' */
+ Controller_Slave_DW->is_APPLICATION_THREAD =
+ Controller_Slave_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_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_IDLE_b;
+
+ /* Entry 'IDLE': '<S2>:6' */
+ /* '<S2>:6:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:6:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+ }
+ break;
+ }
+
+ /* During 'ERRORS_CHECK_THREAD': '<S2>:80' */
+ switch (Controller_Slave_DW->is_ERRORS_CHECK_THREAD) {
+ case Controller_Slave_IN_ERR:
+ /* During 'ERR': '<S2>:89' */
+ break;
+
+ case Controller_Slave_IN_OK:
+ /* Inport: '<Root>/V' incorporates:
+ * Inport: '<Root>/D_S'
+ */
+ /* During 'OK': '<S2>:94' */
+ /* '<S2>:83:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:83:1' V > 180 || D > 200; */
+ if ((Controller_Slave_U_V > 180.0) || (Controller_Slave_U_D_S > 200.0)) {
+ /* Transition: '<S2>:83' */
+ Controller_Slave_DW->is_ERRORS_CHECK_THREAD = Controller_Slave_IN_ERR;
+
+ /* Entry 'ERR': '<S2>:89' */
+ /* '<S2>:89:1' Led_Red = uint8(1); */
+ *Controller_Slave_Y_LED_RED = 1U;
+
+ /* '<S2>:89:1' Slave = uint8(0); */
+ *Controller_Slave_Y_SLAVE = 0U;
+
+ /* '<S2>:89:3' En = false; */
+ Controller_Slave_DW->En = false;
+
+ /* '<S2>:89:3' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:89:4' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:82:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:82:1' D == 0; */
+ if (Controller_Slave_U_D_S == 0.0) {
+ /* Transition: '<S2>:82' */
+ Controller_Slave_DW->is_ERRORS_CHECK_THREAD = Controller_Slave_IN_ERR;
+
+ /* Entry 'ERR': '<S2>:89' */
+ /* '<S2>:89:1' Led_Red = uint8(1); */
+ *Controller_Slave_Y_LED_RED = 1U;
+
+ /* '<S2>:89:1' Slave = uint8(0); */
+ *Controller_Slave_Y_SLAVE = 0U;
+
+ /* '<S2>:89:3' En = false; */
+ Controller_Slave_DW->En = false;
+
+ /* '<S2>:89:3' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:89:4' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:85:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:85:1' Master ~= 1 && En == false; */
+ if ((*Memory != 1) && (!Controller_Slave_DW->En)) {
+ /* Transition: '<S2>:85' */
+ Controller_Slave_DW->is_ERRORS_CHECK_THREAD =
+ Controller__IN_SLAVE_ACTIVATION;
+
+ /* Entry 'SLAVE_ACTIVATION': '<S2>:95' */
+ /* '<S2>:95:1' En = true; */
+ Controller_Slave_DW->En = true;
+ }
+ }
+ }
+ break;
+
+ default:
+ /* During 'SLAVE_ACTIVATION': '<S2>:95' */
+ /* Transition: '<S2>:84' */
+ Controller_Slave_DW->is_ERRORS_CHECK_THREAD = Controller_Slave_IN_OK;
+
+ /* Entry 'OK': '<S2>:94' */
+ /* '<S2>:94:1' Led_Red = uint8(0); */
+ *Controller_Slave_Y_LED_RED = 0U;
+
+ /* '<S2>:94:1' Slave = uint8(1); */
+ *Controller_Slave_Y_SLAVE = 1U;
+ break;
+ }
+}
+
+/* Model step function */
+void Controller_Slave_step(RT_MODEL_Controller_Slave_T *const Controller_Slave_M,
+ real_T Controller_Slave_U_V, real_T Controller_Slave_U_D_S, uint8_T
+ Controller_Slave_U_Master, boolean_T Controller_Slave_U_QA_EN, uint8_T
+ *Controller_Slave_Y_BRAKE, uint8_T *Controller_Slave_Y_ACC, uint8_T
+ *Controller_Slave_Y_LED_RED, uint8_T *Controller_Slave_Y_LED_GREEN, uint8_T
+ *Controller_Slave_Y_LED_BLUE, uint8_T *Controller_Slave_Y_SLAVE)
+{
+ B_Controller_Slave_T *Controller_Slave_B = ((B_Controller_Slave_T *)
+ Controller_Slave_M->ModelData.blockIO);
+ DW_Controller_Slave_T *Controller_Slave_DW = ((DW_Controller_Slave_T *)
+ Controller_Slave_M->ModelData.dwork);
+ uint8_T Memory;
+
+ /* Outputs for Atomic SubSystem: '<Root>/Controller_Slave' */
+ /* Memory: '<S1>/Memory' */
+ Memory = Controller_Slave_DW->Memory_PreviousInput;
+
+ /* Chart: '<S1>/AEB_QA' */
+ /* Gateway: Controller_Slave/AEB_QA */
+ /* During: Controller_Slave/AEB_QA */
+ if (Controller_Slave_DW->is_active_c5_Controller_Slave == 0U) {
+ /* Entry: Controller_Slave/AEB_QA */
+ Controller_Slave_DW->is_active_c5_Controller_Slave = 1U;
+
+ /* Entry Internal: Controller_Slave/AEB_QA */
+ /* Entry Internal 'AEB_QA': '<S2>:35' */
+ /* Entry Internal 'APPLICATION_THREAD': '<S2>:32' */
+ /* Transition: '<S2>:27' */
+ Controller_Slave_DW->is_APPLICATION_THREAD = Controller_Slave_IN_READY;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* Entry 'READY': '<S2>:21' */
+ /* '<S2>:21:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:21:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* Outport: '<Root>/LED_GREEN' */
+ /* '<S2>:21:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* Outport: '<Root>/ACC' */
+ /* '<S2>:21:4' Acc =uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+
+ /* Entry Internal 'ERRORS_CHECK_THREAD': '<S2>:80' */
+ /* Transition: '<S2>:81' */
+ Controller_Slave_DW->is_ERRORS_CHECK_THREAD = Controller_Slave_IN_OK;
+
+ /* Outport: '<Root>/LED_RED' */
+ /* Entry 'OK': '<S2>:94' */
+ /* '<S2>:94:1' Led_Red = uint8(0); */
+ *Controller_Slave_Y_LED_RED = 0U;
+
+ /* Outport: '<Root>/SLAVE' */
+ /* '<S2>:94:1' Slave = uint8(1); */
+ *Controller_Slave_Y_SLAVE = 1U;
+ } else {
+ Controller_Slave_AEB_QA(&Memory, Controller_Slave_U_V,
+ Controller_Slave_U_D_S, Controller_Slave_U_QA_EN, Controller_Slave_Y_BRAKE,
+ Controller_Slave_Y_ACC, Controller_Slave_Y_LED_RED,
+ Controller_Slave_Y_LED_GREEN, Controller_Slave_Y_SLAVE, Controller_Slave_B,
+ Controller_Slave_DW);
+ }
+
+ /* End of Chart: '<S1>/AEB_QA' */
+
+ /* Chart: '<S1>/select_command' */
+ if (Controller_Slave_DW->temporalCounter_i1 < MAX_uint32_T) {
+ Controller_Slave_DW->temporalCounter_i1++;
+ }
+
+ /* Gateway: Controller_Slave/select_command */
+ /* During: Controller_Slave/select_command */
+ if (Controller_Slave_DW->is_active_c6_Controller_Slave == 0U) {
+ /* Entry: Controller_Slave/select_command */
+ Controller_Slave_DW->is_active_c6_Controller_Slave = 1U;
+
+ /* Entry Internal: Controller_Slave/select_command */
+ /* Transition: '<S3>:2' */
+ Controller_Slave_DW->is_c6_Controller_Slave = Controller_Slave_IN_OFF1;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'OFF1': '<S3>:3' */
+ /* '<S3>:3:1' led = uint8(0); */
+ *Controller_Slave_Y_LED_BLUE = 0U;
+ } else {
+ switch (Controller_Slave_DW->is_c6_Controller_Slave) {
+ case Controller_Slave_IN_BLINK:
+ /* During 'BLINK': '<S3>:20' */
+ /* '<S3>:7:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:7:1' enable == 1; */
+ if (Controller_Slave_B->Led_Blue == 1.0) {
+ /* Transition: '<S3>:7' */
+ /* Exit Internal 'BLINK': '<S3>:20' */
+ Controller_Slave_DW->is_BLINK = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_c6_Controller_Slave = Controller_Slave_IN_ON;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'ON': '<S3>:6' */
+ /* '<S3>:6:1' led = uint8(1); */
+ *Controller_Slave_Y_LED_BLUE = 1U;
+ } else {
+ /* '<S3>:21:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:21:1' enable == 0; */
+ if (Controller_Slave_B->Led_Blue == 0.0) {
+ /* Transition: '<S3>:21' */
+ /* Exit Internal 'BLINK': '<S3>:20' */
+ Controller_Slave_DW->is_BLINK = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_c6_Controller_Slave = Controller_Slave_IN_OFF1;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'OFF1': '<S3>:3' */
+ /* '<S3>:3:1' led = uint8(0); */
+ *Controller_Slave_Y_LED_BLUE = 0U;
+ } else if (Controller_Slave_DW->is_BLINK ==
+ Controller_Slave_IN_BLINK_OFF) {
+ /* During 'BLINK_OFF': '<S3>:11' */
+ /* '<S3>:14:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:14:1' after(1-enable,sec); */
+ if (Controller_Slave_DW->temporalCounter_i1 >= (uint32_T)ceil((1.0 -
+ Controller_Slave_B->Led_Blue) / 0.1 - 1.0E-9)) {
+ /* Transition: '<S3>:14' */
+ Controller_Slave_DW->is_BLINK = Controller_Slave_IN_BLINK_ON;
+ Controller_Slave_DW->temporalCounter_i1 = 0U;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'BLINK_ON': '<S3>:13' */
+ /* '<S3>:13:1' led = uint8(1); */
+ *Controller_Slave_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_Slave_DW->temporalCounter_i1 >= 1U) {
+ /* Transition: '<S3>:15' */
+ Controller_Slave_DW->is_BLINK = Controller_Slave_IN_BLINK_OFF;
+ Controller_Slave_DW->temporalCounter_i1 = 0U;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'BLINK_OFF': '<S3>:11' */
+ /* '<S3>:11:1' led = uint8(0); */
+ *Controller_Slave_Y_LED_BLUE = 0U;
+ }
+ }
+ }
+ break;
+
+ case Controller_Slave_IN_OFF1:
+ /* During 'OFF1': '<S3>:3' */
+ /* '<S3>:22:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:22:1' enable == 1; */
+ if (Controller_Slave_B->Led_Blue == 1.0) {
+ /* Transition: '<S3>:22' */
+ Controller_Slave_DW->is_c6_Controller_Slave = Controller_Slave_IN_ON;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'ON': '<S3>:6' */
+ /* '<S3>:6:1' led = uint8(1); */
+ *Controller_Slave_Y_LED_BLUE = 1U;
+ } else {
+ /* '<S3>:12:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:12:1' enable >0 && enable <1; */
+ if ((Controller_Slave_B->Led_Blue > 0.0) &&
+ (Controller_Slave_B->Led_Blue < 1.0)) {
+ /* Transition: '<S3>:12' */
+ Controller_Slave_DW->is_c6_Controller_Slave =
+ Controller_Slave_IN_BLINK;
+
+ /* Entry Internal 'BLINK': '<S3>:20' */
+ /* Transition: '<S3>:24' */
+ Controller_Slave_DW->is_BLINK = Controller_Slave_IN_BLINK_OFF;
+ Controller_Slave_DW->temporalCounter_i1 = 0U;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'BLINK_OFF': '<S3>:11' */
+ /* '<S3>:11:1' led = uint8(0); */
+ *Controller_Slave_Y_LED_BLUE = 0U;
+ }
+ }
+ break;
+
+ default:
+ /* During 'ON': '<S3>:6' */
+ /* '<S3>:4:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:4:1' enable == 0; */
+ if (Controller_Slave_B->Led_Blue == 0.0) {
+ /* Transition: '<S3>:4' */
+ Controller_Slave_DW->is_c6_Controller_Slave = Controller_Slave_IN_OFF1;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'OFF1': '<S3>:3' */
+ /* '<S3>:3:1' led = uint8(0); */
+ *Controller_Slave_Y_LED_BLUE = 0U;
+ } else {
+ /* '<S3>:23:1' sf_internal_predicateOutput = ... */
+ /* '<S3>:23:1' enable >0 && enable <1; */
+ if ((Controller_Slave_B->Led_Blue > 0.0) &&
+ (Controller_Slave_B->Led_Blue < 1.0)) {
+ /* Transition: '<S3>:23' */
+ Controller_Slave_DW->is_c6_Controller_Slave =
+ Controller_Slave_IN_BLINK;
+
+ /* Entry Internal 'BLINK': '<S3>:20' */
+ /* Transition: '<S3>:24' */
+ Controller_Slave_DW->is_BLINK = Controller_Slave_IN_BLINK_OFF;
+ Controller_Slave_DW->temporalCounter_i1 = 0U;
+
+ /* Outport: '<Root>/LED_BLUE' */
+ /* Entry 'BLINK_OFF': '<S3>:11' */
+ /* '<S3>:11:1' led = uint8(0); */
+ *Controller_Slave_Y_LED_BLUE = 0U;
+ }
+ }
+ break;
+ }
+ }
+
+ /* End of Chart: '<S1>/select_command' */
+
+ /* Update for Memory: '<S1>/Memory' incorporates:
+ * Update for Inport: '<Root>/MASTER'
+ */
+ Controller_Slave_DW->Memory_PreviousInput = Controller_Slave_U_Master;
+
+ /* End of Outputs for SubSystem: '<Root>/Controller_Slave' */
+}
+
+/* Model initialize function */
+void Controller_Slave_initialize(RT_MODEL_Controller_Slave_T *const
+ Controller_Slave_M, real_T *Controller_Slave_U_V, real_T
+ *Controller_Slave_U_D_S, uint8_T *Controller_Slave_U_Master, boolean_T
+ *Controller_Slave_U_QA_EN, uint8_T *Controller_Slave_Y_BRAKE, uint8_T
+ *Controller_Slave_Y_ACC, uint8_T *Controller_Slave_Y_LED_RED, uint8_T
+ *Controller_Slave_Y_LED_GREEN, uint8_T *Controller_Slave_Y_LED_BLUE, uint8_T
+ *Controller_Slave_Y_SLAVE)
+{
+ DW_Controller_Slave_T *Controller_Slave_DW = ((DW_Controller_Slave_T *)
+ Controller_Slave_M->ModelData.dwork);
+ B_Controller_Slave_T *Controller_Slave_B = ((B_Controller_Slave_T *)
+ Controller_Slave_M->ModelData.blockIO);
+
+ /* Registration code */
+
+ /* block I/O */
+ (void) memset(((void *) Controller_Slave_B), 0,
+ sizeof(B_Controller_Slave_T));
+
+ /* states (dwork) */
+ (void) memset((void *)Controller_Slave_DW, 0,
+ sizeof(DW_Controller_Slave_T));
+
+ /* external inputs */
+ (*Controller_Slave_U_V) = 0.0;
+ (*Controller_Slave_U_D_S) = 0.0;
+ (*Controller_Slave_U_Master) = 0U;
+ (*Controller_Slave_U_QA_EN) = false;
+
+ /* external outputs */
+ (*Controller_Slave_Y_BRAKE) = 0U;
+ (*Controller_Slave_Y_ACC) = 0U;
+ (*Controller_Slave_Y_LED_RED) = 0U;
+ (*Controller_Slave_Y_LED_GREEN) = 0U;
+ (*Controller_Slave_Y_LED_BLUE) = 0U;
+ (*Controller_Slave_Y_SLAVE) = 0U;
+
+ /* SystemInitialize for Atomic SubSystem: '<Root>/Controller_Slave' */
+ /* InitializeConditions for Memory: '<S1>/Memory' */
+ Controller_Slave_DW->Memory_PreviousInput = 1U;
+
+ /* SystemInitialize for Chart: '<S1>/AEB_QA' */
+ Controller_Slave_DW->is_APPLICATION_THREAD = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_ERRORS_CHECK_THREAD = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->is_active_c5_Controller_Slave = 0U;
+ Controller_Slave_DW->En = false;
+
+ /* SystemInitialize for Chart: '<S1>/select_command' */
+ Controller_Slave_DW->is_BLINK = Controller_S_IN_NO_ACTIVE_CHILD;
+ Controller_Slave_DW->temporalCounter_i1 = 0U;
+ Controller_Slave_DW->is_active_c6_Controller_Slave = 0U;
+ Controller_Slave_DW->is_c6_Controller_Slave = Controller_S_IN_NO_ACTIVE_CHILD;
+
+ /* End of SystemInitialize for SubSystem: '<Root>/Controller_Slave' */
+}
+
+/* Model terminate function */
+void Controller_Slave_terminate(RT_MODEL_Controller_Slave_T *const
+ Controller_Slave_M)
+{
+ /* (no terminate code required) */
+ UNUSED_PARAMETER(Controller_Slave_M);
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
+