MBSD_assignment
Slave controller for AEB and QA item
Revision 1:370626c9b451, committed 2016-07-11
- Comitter:
- AndreaAndreoli
- Date:
- Mon Jul 11 10:15:51 2016 +0000
- Parent:
- 0:88fb7562377b
- Commit message:
- bug fixed;
Changed in this revision
--- a/Controller_Slave.c Wed Jul 06 09:21:22 2016 +0000
+++ b/Controller_Slave.c Mon Jul 11 10:15:51 2016 +0000
@@ -7,12 +7,12 @@
*
* Code generated for Simulink model 'Controller_Slave'.
*
- * Model version : 1.6
+ * Model version : 1.7
* Simulink Coder version : 8.10 (R2016a) 10-Feb-2016
- * C/C++ source code generated on : Wed Jul 06 11:19:35 2016
+ * C/C++ source code generated on : Sun Jul 10 15:19:51 2016
*
* Target selection: ert.tlc
- * Embedded hardware selection: NXP->Cortex-M4
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
* Code generation objectives: Unspecified
* Validation result: Not run
*/
@@ -23,11 +23,11 @@
#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_BRAKE ((uint8_T)1U)
+#define Controller_Slave_IN_BRAKE_i ((uint8_T)2U)
#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_IDLE ((uint8_T)2U)
+#define Controller_Slave_IN_IDLE_b ((uint8_T)3U)
#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)
@@ -92,290 +92,6 @@
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:
@@ -459,6 +175,313 @@
*Controller_Slave_Y_SLAVE = 1U;
break;
}
+
+ /* During 'APPLICATION_THREAD': '<S2>:97' */
+ switch (Controller_Slave_DW->is_APPLICATION_THREAD) {
+ case Controller_Slave_IN_AEB_ACTIVE:
+ /* During 'AEB_ACTIVE': '<S2>:106' */
+ /* '<S2>:100:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:100:1' En == false; */
+ if (!Controller_Slave_DW->En) {
+ /* Transition: '<S2>:100' */
+ /* Exit Internal 'AEB_ACTIVE': '<S2>:106' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+
+ /* Exit 'AEB_ACTIVE': '<S2>:106' */
+ /* '<S2>:106:2' Brake = uint8(0); */
+ /* '<S2>:106:3' Led_Blue = 0; */
+ Controller_Slave_DW->is_APPLICATION_THREAD = Controller_Slave_IN_READY;
+
+ /* Entry 'READY': '<S2>:115' */
+ /* '<S2>:115:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:115:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:115:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:115:4' Acc = uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+ } else {
+ /* Inport: '<Root>/QA_EN' incorporates:
+ * Inport: '<Root>/V'
+ */
+ /* '<S2>:102:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:102:1' QA_En == true && V<30; */
+ if (Controller_Slave_U_QA_EN && (Controller_Slave_U_V < 30.0)) {
+ /* Transition: '<S2>:102' */
+ /* Exit Internal 'AEB_ACTIVE': '<S2>:106' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+
+ /* Exit 'AEB_ACTIVE': '<S2>:106' */
+ /* '<S2>:106:2' Brake = uint8(0); */
+ /* '<S2>:106:3' Led_Blue = 0; */
+ Controller_Slave_DW->is_APPLICATION_THREAD =
+ Controller_Slave_IN_QA_ACTIVE;
+
+ /* Entry 'QA_ACTIVE': '<S2>:118' */
+ /* '<S2>:118:1' K = (V^2)/D; */
+ /* Entry Internal 'QA_ACTIVE': '<S2>:118' */
+ /* Transition: '<S2>:119' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_IDLE_b;
+
+ /* Entry 'IDLE': '<S2>:124' */
+ /* '<S2>:124:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:124:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:124:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:124:4' Acc = uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+ } else {
+ /* Inport: '<Root>/D_S' */
+ /* '<S2>:106:1' 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:
+ /* During 'BRAKE': '<S2>:114' */
+ /* '<S2>:111:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:111:1' K < 100; */
+ if (K < 100.0) {
+ /* Transition: '<S2>:111' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_WARNING;
+
+ /* Entry 'WARNING': '<S2>:113' */
+ /* '<S2>:113:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+ }
+ break;
+
+ case Controller_Slave_IN_IDLE:
+ /* During 'IDLE': '<S2>:112' */
+ /* '<S2>:108:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:108:1' K >= 70; */
+ if (K >= 70.0) {
+ /* Transition: '<S2>:108' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_WARNING;
+
+ /* Entry 'WARNING': '<S2>:113' */
+ /* '<S2>:113:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+ }
+ break;
+
+ default:
+ /* During 'WARNING': '<S2>:113' */
+ /* '<S2>:110:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:110:1' K >= 100; */
+ if (K >= 100.0) {
+ /* Transition: '<S2>:110' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_BRAKE;
+
+ /* Entry 'BRAKE': '<S2>:114' */
+ /* '<S2>:114:1' Brake = uint8(1); */
+ *Controller_Slave_Y_BRAKE = 1U;
+
+ /* '<S2>:114:1' Led_Blue = 1; */
+ Controller_Slave_B->Led_Blue = 1.0;
+ } else {
+ /* '<S2>:109:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:109:1' K < 70; */
+ if (K < 70.0) {
+ /* Transition: '<S2>:109' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_IDLE;
+
+ /* Entry 'IDLE': '<S2>:112' */
+ /* '<S2>:112:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:112:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:113:1' 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>:118' */
+ /* '<S2>:103:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:103:1' QA_En ~= true || V>=30; */
+ if ((!Controller_Slave_U_QA_EN) || (Controller_Slave_U_V >= 30.0)) {
+ /* Transition: '<S2>:103' */
+ /* Exit Internal 'QA_ACTIVE': '<S2>:118' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+
+ /* Exit 'QA_ACTIVE': '<S2>:118' */
+ /* '<S2>:118:2' Brake = uint8(0); */
+ /* '<S2>:118:3' Led_Blue = 0; */
+ /* '<S2>:118:4' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:118:5' Acc = uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+ Controller_Slave_DW->is_APPLICATION_THREAD =
+ Controller_Slave_IN_AEB_ACTIVE;
+
+ /* Entry 'AEB_ACTIVE': '<S2>:106' */
+ /* '<S2>:106:1' K = (V^2)/D; */
+ /* Entry Internal 'AEB_ACTIVE': '<S2>:106' */
+ /* Transition: '<S2>:107' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_IDLE;
+
+ /* Entry 'IDLE': '<S2>:112' */
+ /* '<S2>:112:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:112:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+ } else {
+ /* '<S2>:101:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:101:1' En == false; */
+ if (!Controller_Slave_DW->En) {
+ /* Transition: '<S2>:101' */
+ /* Exit Internal 'QA_ACTIVE': '<S2>:118' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_S_IN_NO_ACTIVE_CHILD;
+
+ /* Exit 'QA_ACTIVE': '<S2>:118' */
+ /* '<S2>:118:2' Brake = uint8(0); */
+ /* '<S2>:118:3' Led_Blue = 0; */
+ /* '<S2>:118:4' Led_Green = uint8(0); */
+ /* '<S2>:118:5' Acc = uint8(0); */
+ Controller_Slave_DW->is_APPLICATION_THREAD = Controller_Slave_IN_READY;
+
+ /* Entry 'READY': '<S2>:115' */
+ /* '<S2>:115:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:115:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:115:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:115:4' Acc = uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+ } else {
+ /* Inport: '<Root>/D_S' */
+ /* '<S2>:118:1' 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>:125' */
+ /* '<S2>:120:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:120:1' K >= 100; */
+ if (K >= 100.0) {
+ /* Transition: '<S2>:120' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_IDLE_b;
+
+ /* Entry 'IDLE': '<S2>:124' */
+ /* '<S2>:124:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:124:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:124:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:124:4' Acc = uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+ }
+ break;
+
+ case Controller_Slave_IN_BRAKE_i:
+ /* During 'BRAKE': '<S2>:126' */
+ /* '<S2>:122:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:122:1' K <= 100; */
+ if (K <= 100.0) {
+ /* Transition: '<S2>:122' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_IDLE_b;
+
+ /* Entry 'IDLE': '<S2>:124' */
+ /* '<S2>:124:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:124:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* '<S2>:124:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* '<S2>:124:4' Acc = uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
+ }
+ break;
+
+ default:
+ /* During 'IDLE': '<S2>:124' */
+ /* '<S2>:121:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:121:1' K > 100; */
+ if (K > 100.0) {
+ /* Transition: '<S2>:121' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_BRAKE_i;
+
+ /* Entry 'BRAKE': '<S2>:126' */
+ /* '<S2>:126:1' Brake = uint8(1); */
+ *Controller_Slave_Y_BRAKE = 1U;
+
+ /* '<S2>:126:1' Led_Blue = 1; */
+ Controller_Slave_B->Led_Blue = 1.0;
+ } else {
+ /* '<S2>:123:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:123:1' K < 100; */
+ if (K < 100.0) {
+ /* Transition: '<S2>:123' */
+ Controller_Slave_DW->is_QA_ACTIVE = Controller_Slave_IN_ACCELERATE;
+
+ /* Entry 'ACCELERATE': '<S2>:125' */
+ /* '<S2>:125:1' Led_Green = uint8(1); */
+ *Controller_Slave_Y_LED_GREEN = 1U;
+
+ /* '<S2>:125:1' Acc = uint8(1); */
+ *Controller_Slave_Y_ACC = 1U;
+ }
+ }
+ break;
+ }
+ }
+ }
+ break;
+
+ default:
+ /* During 'READY': '<S2>:115' */
+ /* '<S2>:99:1' sf_internal_predicateOutput = ... */
+ /* '<S2>:99:1' En == true; */
+ if (Controller_Slave_DW->En) {
+ /* Transition: '<S2>:99' */
+ Controller_Slave_DW->is_APPLICATION_THREAD =
+ Controller_Slave_IN_AEB_ACTIVE;
+
+ /* Entry 'AEB_ACTIVE': '<S2>:106' */
+ /* '<S2>:106:1' K = (V^2)/D; */
+ /* Entry Internal 'AEB_ACTIVE': '<S2>:106' */
+ /* Transition: '<S2>:107' */
+ Controller_Slave_DW->is_AEB_ACTIVE = Controller_Slave_IN_IDLE;
+
+ /* Entry 'IDLE': '<S2>:112' */
+ /* '<S2>:112:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:112:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+ }
+ break;
+ }
}
/* Model step function */
@@ -488,26 +511,6 @@
/* 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;
@@ -520,6 +523,26 @@
/* Outport: '<Root>/SLAVE' */
/* '<S2>:94:1' Slave = uint8(1); */
*Controller_Slave_Y_SLAVE = 1U;
+
+ /* Entry Internal 'APPLICATION_THREAD': '<S2>:97' */
+ /* Transition: '<S2>:98' */
+ Controller_Slave_DW->is_APPLICATION_THREAD = Controller_Slave_IN_READY;
+
+ /* Outport: '<Root>/BRAKE' */
+ /* Entry 'READY': '<S2>:115' */
+ /* '<S2>:115:1' Brake = uint8(0); */
+ *Controller_Slave_Y_BRAKE = 0U;
+
+ /* '<S2>:115:1' Led_Blue = 0; */
+ Controller_Slave_B->Led_Blue = 0.0;
+
+ /* Outport: '<Root>/LED_GREEN' */
+ /* '<S2>:115:1' Led_Green = uint8(0); */
+ *Controller_Slave_Y_LED_GREEN = 0U;
+
+ /* Outport: '<Root>/ACC' */
+ /* '<S2>:115:4' Acc = uint8(0); */
+ *Controller_Slave_Y_ACC = 0U;
} else {
Controller_Slave_AEB_QA(&Memory, Controller_Slave_U_V,
Controller_Slave_U_D_S, Controller_Slave_U_QA_EN, Controller_Slave_Y_BRAKE,
@@ -701,6 +724,8 @@
*Controller_Slave_Y_LED_GREEN, uint8_T *Controller_Slave_Y_LED_BLUE, uint8_T
*Controller_Slave_Y_SLAVE)
{
+ P_Controller_Slave_T *Controller_Slave_P = ((P_Controller_Slave_T *)
+ Controller_Slave_M->ModelData.defaultParam);
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 *)
@@ -732,7 +757,7 @@
/* SystemInitialize for Atomic SubSystem: '<Root>/Controller_Slave' */
/* InitializeConditions for Memory: '<S1>/Memory' */
- Controller_Slave_DW->Memory_PreviousInput = 1U;
+ Controller_Slave_DW->Memory_PreviousInput = Controller_Slave_P->Memory_X0;
/* SystemInitialize for Chart: '<S1>/AEB_QA' */
Controller_Slave_DW->is_APPLICATION_THREAD = Controller_S_IN_NO_ACTIVE_CHILD;
--- a/Controller_Slave.h Wed Jul 06 09:21:22 2016 +0000
+++ b/Controller_Slave.h Mon Jul 11 10:15:51 2016 +0000
@@ -7,26 +7,52 @@
*
* Code generated for Simulink model 'Controller_Slave'.
*
- * Model version : 1.6
+ * Model version : 1.7
* Simulink Coder version : 8.10 (R2016a) 10-Feb-2016
- * C/C++ source code generated on : Wed Jul 06 11:19:35 2016
+ * C/C++ source code generated on : Sun Jul 10 15:19:51 2016
*
* Target selection: ert.tlc
- * Embedded hardware selection: NXP->Cortex-M4
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#ifndef RTW_HEADER_Controller_Slave_h_
#define RTW_HEADER_Controller_Slave_h_
+#include "rtwtypes.h"
#include <math.h>
#include <string.h>
+#include <stddef.h>
#ifndef Controller_Slave_COMMON_INCLUDES_
# define Controller_Slave_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif /* Controller_Slave_COMMON_INCLUDES_ */
/* Macros for accessing real-time model data structure */
+#ifndef rtmGetBlockIO
+# define rtmGetBlockIO(rtm) ((rtm)->ModelData.blockIO)
+#endif
+
+#ifndef rtmSetBlockIO
+# define rtmSetBlockIO(rtm, val) ((rtm)->ModelData.blockIO = (val))
+#endif
+
+#ifndef rtmGetDefaultParam
+# define rtmGetDefaultParam(rtm) ((rtm)->ModelData.defaultParam)
+#endif
+
+#ifndef rtmSetDefaultParam
+# define rtmSetDefaultParam(rtm, val) ((rtm)->ModelData.defaultParam = (val))
+#endif
+
+#ifndef rtmGetRootDWork
+# define rtmGetRootDWork(rtm) ((rtm)->ModelData.dwork)
+#endif
+
+#ifndef rtmSetRootDWork
+# define rtmSetRootDWork(rtm, val) ((rtm)->ModelData.dwork = (val))
+#endif
+
#ifndef rtmGetErrorStatus
# define rtmGetErrorStatus(rtm) ((rtm)->errorStatus)
#endif
@@ -51,16 +77,26 @@
uint8_T is_c6_Controller_Slave; /* '<S1>/select_command' */
uint8_T is_BLINK; /* '<S1>/select_command' */
uint8_T is_active_c5_Controller_Slave;/* '<S1>/AEB_QA' */
- uint8_T is_QA_ACTIVE; /* '<S1>/AEB_QA' */
+ uint8_T is_ERRORS_CHECK_THREAD; /* '<S1>/AEB_QA' */
uint8_T is_APPLICATION_THREAD; /* '<S1>/AEB_QA' */
uint8_T is_AEB_ACTIVE; /* '<S1>/AEB_QA' */
- uint8_T is_ERRORS_CHECK_THREAD; /* '<S1>/AEB_QA' */
+ uint8_T is_QA_ACTIVE; /* '<S1>/AEB_QA' */
boolean_T En; /* '<S1>/AEB_QA' */
} DW_Controller_Slave_T;
+/* Parameters (auto storage) */
+struct P_Controller_Slave_T_ {
+ uint8_T Memory_X0; /* Computed Parameter: Memory_X0
+ * Referenced by: '<S1>/Memory'
+ */
+};
+
+/* Parameters (auto storage) */
+typedef struct P_Controller_Slave_T_ P_Controller_Slave_T;
+
/* Real-time Model Data Structure */
struct tag_RTM_Controller_Slave_T {
- const char_T * volatile errorStatus;
+ const char_T *errorStatus;
/*
* ModelData:
@@ -69,6 +105,7 @@
*/
struct {
B_Controller_Slave_T *blockIO;
+ P_Controller_Slave_T *defaultParam;
DW_Controller_Slave_T *dwork;
} ModelData;
};
@@ -102,15 +139,15 @@
* MATLAB hilite_system command to trace the generated code back
* to the parent model. For example,
*
- * hilite_system('Controller_Model_07_05_v01/Controller/Controller_Slave') - opens subsystem Controller_Model_07_05_v01/Controller/Controller_Slave
- * hilite_system('Controller_Model_07_05_v01/Controller/Controller_Slave/Kp') - opens and selects block Kp
+ * hilite_system('Controller_Model_07_10_v01/Controller/Controller_Slave') - opens subsystem Controller_Model_07_10_v01/Controller/Controller_Slave
+ * hilite_system('Controller_Model_07_10_v01/Controller/Controller_Slave/Kp') - opens and selects block Kp
*
* Here is the system hierarchy for this model
*
- * '<Root>' : 'Controller_Model_07_05_v01/Controller'
- * '<S1>' : 'Controller_Model_07_05_v01/Controller/Controller_Slave'
- * '<S2>' : 'Controller_Model_07_05_v01/Controller/Controller_Slave/AEB_QA'
- * '<S3>' : 'Controller_Model_07_05_v01/Controller/Controller_Slave/select_command'
+ * '<Root>' : 'Controller_Model_07_10_v01/Controller'
+ * '<S1>' : 'Controller_Model_07_10_v01/Controller/Controller_Slave'
+ * '<S2>' : 'Controller_Model_07_10_v01/Controller/Controller_Slave/AEB_QA'
+ * '<S3>' : 'Controller_Model_07_10_v01/Controller/Controller_Slave/select_command'
*/
#endif /* RTW_HEADER_Controller_Slave_h_ */
--- a/rtwtypes.h Wed Jul 06 09:21:22 2016 +0000 +++ b/rtwtypes.h Mon Jul 11 10:15:51 2016 +0000 @@ -7,12 +7,12 @@ * * Code generated for Simulink model 'Controller_Slave'. * - * Model version : 1.6 + * Model version : 1.7 * Simulink Coder version : 8.10 (R2016a) 10-Feb-2016 - * C/C++ source code generated on : Wed Jul 06 11:19:35 2016 + * C/C++ source code generated on : Sun Jul 10 15:19:51 2016 * * Target selection: ert.tlc - * Embedded hardware selection: NXP->Cortex-M4 + * Embedded hardware selection: ARM Compatible->ARM Cortex * Code generation objectives: Unspecified * Validation result: Not run */ @@ -33,7 +33,7 @@ /*=======================================================================* * Target hardware information - * Device type: NXP->Cortex-M4 + * Device type: ARM Compatible->ARM Cortex * Number of bits: char: 8 short: 16 int: 32 * long: 32 * native word size: 32