Nucleo_pmsmfoc - An example of importing Embedded Coder code into …

Users » paulcox » Code » Nucleo_pmsmfoc
paul cox / Mbed 2 deprecated Nucleo_pmsmfoc
An example of importing Embedded Coder code into the mbed IDE. Currently doesn't connect IO to PWM, ADC, and Encoder, instead provides random inputs and measures execution time.
Dependencies: mbed-dsp mbed Nucleo_pmsmfoc
Dependents: Nucleo_pmsmfoc
Diff: html/html/rtwdemo_pmsmfoc_c.html

Revision:: 2:bbc155b0b886
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/html/html/rtwdemo_pmsmfoc_c.html	Tue Nov 25 07:52:02 2014 +0000
@@ -0,0 +1,2688 @@
+<!DOCTYPE html>
+<html>
+<head>
+<script type="text/javascript" src="./js/coder_app.js"></script>
+<meta http-equiv="content-type" content="text/html; charset=utf-8" />
+<script type="text/javascript" src="./rtwreport_utils.js"></script>
+<script type="text/javascript" src="./rtwannotate.js"></script>
+<link rel="stylesheet" type="text/css" href="./css/coder_app.css"/>
+</head>
+<body onload="srcFileOnload();">
+<pre id="code">
+<table class="code" id="codeTbl">
+<tr name="1" id="1">
+<td>1</td><td><span class="ct">/*</span></td></tr>
+<tr name="2" id="2">
+<td>2</td><td><span class="ct"> * File: rtwdemo_pmsmfoc.c</span></td></tr>
+<tr name="3" id="3">
+<td>3</td><td><span class="ct"> *</span></td></tr>
+<tr name="4" id="4">
+<td>4</td><td><span class="ct"> * Code generated for Simulink model 'rtwdemo_pmsmfoc'.</span></td></tr>
+<tr name="5" id="5">
+<td>5</td><td><span class="ct"> *</span></td></tr>
+<tr name="6" id="6">
+<td>6</td><td><span class="ct"> * Model version                  : 1.2949</span></td></tr>
+<tr name="7" id="7">
+<td>7</td><td><span class="ct"> * Simulink Coder version         : 8.7 (R2014b) 11-Aug-2014</span></td></tr>
+<tr name="8" id="8">
+<td>8</td><td><span class="ct"> * C/C++ source code generated on : Sat Oct 11 02:05:41 2014</span></td></tr>
+<tr name="9" id="9">
+<td>9</td><td><span class="ct"> *</span></td></tr>
+<tr name="10" id="10">
+<td>10</td><td><span class="ct"> * Target selection: ert.tlc</span></td></tr>
+<tr name="11" id="11">
+<td>11</td><td><span class="ct"> * Embedded hardware selection: ARM Compatible-&gt;ARM Cortex</span></td></tr>
+<tr name="12" id="12">
+<td>12</td><td><span class="ct"> * Code generation objective: Execution efficiency</span></td></tr>
+<tr name="13" id="13">
+<td>13</td><td><span class="ct"> * Validation result: Not run</span></td></tr>
+<tr name="14" id="14">
+<td>14</td><td><span class="ct"> */</span></td></tr>
+<tr name="15" id="15">
+<td>15</td><td></td></tr>
+<tr name="16" id="16">
+<td>16</td><td><span class="pp">#include "rtwdemo_pmsmfoc.h"</span></td></tr>
+<tr name="17" id="17">
+<td>17</td><td></td></tr>
+<tr name="18" id="18">
+<td>18</td><td><span class="ct">/* Named constants for Chart: '<a class="ct blk" blk_line="18">&lt;S1&gt;/Controller_Mode_Scheduler</a>' */</span></td></tr>
+<tr name="19" id="19">
+<td>19</td><td><span class="pp">#define</span> <a id="19c9" class="tk">IN_Motor_Control</a>               ((<a id="19c42" class="tk">uint8_T</a>)1U)</td></tr>
+<tr name="20" id="20">
+<td>20</td><td><span class="pp">#define</span> <a id="20c9" class="tk">IN_Motor_On</a>                    ((<a id="20c42" class="tk">uint8_T</a>)1U)</td></tr>
+<tr name="21" id="21">
+<td>21</td><td><span class="pp">#define</span> <a id="21c9" class="tk">IN_NO_ACTIVE_CHILD</a>             ((<a id="21c42" class="tk">uint8_T</a>)0U)</td></tr>
+<tr name="22" id="22">
+<td>22</td><td><span class="pp">#define</span> <a id="22c9" class="tk">IN_Position_Control</a>            ((<a id="22c42" class="tk">uint8_T</a>)1U)</td></tr>
+<tr name="23" id="23">
+<td>23</td><td><span class="pp">#define</span> <a id="23c9" class="tk">IN_Ramp_To_Stop</a>                ((<a id="23c42" class="tk">uint8_T</a>)2U)</td></tr>
+<tr name="24" id="24">
+<td>24</td><td><span class="pp">#define</span> <a id="24c9" class="tk">IN_Stand_By</a>                    ((<a id="24c42" class="tk">uint8_T</a>)2U)</td></tr>
+<tr name="25" id="25">
+<td>25</td><td><span class="pp">#define</span> <a id="25c9" class="tk">IN_Startup_Open_Loop_Control</a>   ((<a id="25c42" class="tk">uint8_T</a>)2U)</td></tr>
+<tr name="26" id="26">
+<td>26</td><td><span class="pp">#define</span> <a id="26c9" class="tk">IN_Torque_Control</a>              ((<a id="26c42" class="tk">uint8_T</a>)3U)</td></tr>
+<tr name="27" id="27">
+<td>27</td><td><span class="pp">#define</span> <a id="27c9" class="tk">IN_Velocity_Control</a>            ((<a id="27c42" class="tk">uint8_T</a>)4U)</td></tr>
+<tr name="28" id="28">
+<td>28</td><td></td></tr>
+<tr name="29" id="29">
+<td>29</td><td><span class="ct">/* Named constants for Chart: '<a class="ct blk" blk_line="29">&lt;S49&gt;/Wait_For_Valid_Position</a>' */</span></td></tr>
+<tr name="30" id="30">
+<td>30</td><td><span class="pp">#define</span> <a id="30c9" class="tk">IN_Position_Valid</a>              ((<a id="30c42" class="tk">uint8_T</a>)1U)</td></tr>
+<tr name="31" id="31">
+<td>31</td><td><span class="pp">#define</span> <a id="31c9" class="tk">IN_Wait_For_Valid_Position</a>     ((<a id="31c42" class="tk">uint8_T</a>)2U)</td></tr>
+<tr name="32" id="32">
+<td>32</td><td><span class="pp">#define</span> <a id="32c9" class="tk">IN_Wait_For_Valid_Velocity</a>     ((<a id="32c42" class="tk">uint8_T</a>)3U)</td></tr>
+<tr name="33" id="33">
+<td>33</td><td><span class="pp">#define</span> <a id="33c9" class="tk">WaitForValidVelocityTicks</a>      (124)</td></tr>
+<tr name="34" id="34">
+<td>34</td><td></td></tr>
+<tr name="35" id="35">
+<td>35</td><td><span class="ct">/* Exported block signals */</span></td></tr>
+<tr name="36" id="36">
+<td>36</td><td><a id="36c1" class="tk">real32_T</a> <a id="36c10" class="tk">phase_currents</a>[2];            <span class="ct">/* '<a class="ct blk" blk_line="36">&lt;S48&gt;/Product</a>' */</span></td></tr>
+<tr name="37" id="37">
+<td>37</td><td><a id="37c1" class="tk">real32_T</a> <a id="37c10" class="tk">rotor_position</a>;               <span class="ct">/* '<a class="ct blk" blk_line="37">&lt;S49&gt;/Add</a>' */</span></td></tr>
+<tr name="38" id="38">
+<td>38</td><td><a id="38c1" class="tk">real32_T</a> <a id="38c10" class="tk">velocity_measured</a>;            <span class="ct">/* '<a class="ct blk" blk_line="38">&lt;S55&gt;/Scale_Output</a>' */</span></td></tr>
+<tr name="39" id="39">
+<td>39</td><td><a id="39c1" class="tk">real32_T</a> <a id="39c10" class="tk">d_current_error</a>;              <span class="ct">/* '<a class="ct blk" blk_line="39">&lt;S12&gt;/Sum2</a>' */</span></td></tr>
+<tr name="40" id="40">
+<td>40</td><td><a id="40c1" class="tk">real32_T</a> <a id="40c10" class="tk">q_current_command</a>;            <span class="ct">/* '<a class="ct blk" blk_line="40">&lt;S5&gt;/Lo_to_Hi_Rate_Transition1</a>' */</span></td></tr>
+<tr name="41" id="41">
+<td>41</td><td><a id="41c1" class="tk">real32_T</a> <a id="41c10" class="tk">q_current_measured</a>;           <span class="ct">/* '<a class="ct blk" blk_line="41">&lt;S22&gt;/Add</a>' */</span></td></tr>
+<tr name="42" id="42">
+<td>42</td><td><a id="42c1" class="tk">real32_T</a> <a id="42c10" class="tk">q_current_error</a>;              <span class="ct">/* '<a class="ct blk" blk_line="42">&lt;S12&gt;/Sum</a>' */</span></td></tr>
+<tr name="43" id="43">
+<td>43</td><td><a id="43c1" class="tk">real32_T</a> <a id="43c10" class="tk">phase_voltages</a>[3];            <span class="ct">/* '<a class="ct blk" blk_line="43">&lt;S27&gt;/Select_Sector</a>' */</span></td></tr>
+<tr name="44" id="44">
+<td>44</td><td><a id="44c1" class="tk">real32_T</a> <a id="44c10" class="tk">velocity_error</a>;               <span class="ct">/* '<a class="ct blk" blk_line="44">&lt;S11&gt;/Sum2</a>' */</span></td></tr>
+<tr name="45" id="45">
+<td>45</td><td><a id="45c1" class="tk">EnumControllerMode</a> <a id="45c20" class="tk">controller_mode</a>;    <span class="ct">/* '<a class="ct blk" blk_line="45">&lt;S1&gt;/Controller_Mode_Scheduler</a>' */</span></td></tr>
+<tr name="46" id="46">
+<td>46</td><td></td></tr>
+<tr name="47" id="47">
+<td>47</td><td><span class="ct">/* Exported block parameters */</span></td></tr>
+<tr name="48" id="48">
+<td>48</td><td><a id="48c1" class="tk">CTRLPARAMS_STRUCT</a> <a id="48c19" class="tk">ctrlParams</a> = <span class="br">{</span></td></tr>
+<tr name="49" id="49">
+<td>49</td><td>  10.0F,</td></tr>
+<tr name="50" id="50">
+<td>50</td><td>  10000.0F,</td></tr>
+<tr name="51" id="51">
+<td>51</td><td>  0.005F,</td></tr>
+<tr name="52" id="52">
+<td>52</td><td>  0.015F,</td></tr>
+<tr name="53" id="53">
+<td>53</td><td>  0.1F,</td></tr>
+<tr name="54" id="54">
+<td>54</td><td>  0.6F,</td></tr>
+<tr name="55" id="55">
+<td>55</td><td>  1.0F,</td></tr>
+<tr name="56" id="56">
+<td>56</td><td>  0.2F,</td></tr>
+<tr name="57" id="57">
+<td>57</td><td>  20.0F,</td></tr>
+<tr name="58" id="58">
+<td>58</td><td>  2252.25F,</td></tr>
+<tr name="59" id="59">
+<td>59</td><td>  0.00488400506F,</td></tr>
+<tr name="60" id="60">
+<td>60</td><td>  -0.0F,</td></tr>
+<tr name="61" id="61">
+<td>61</td><td>  4.0F</td></tr>
+<tr name="62" id="62">
+<td>62</td><td><span class="br">}</span> ;                                    <span class="ct">/* Variable: ctrlParams</span></td></tr>
+<tr name="63" id="63">
+<td>63</td><td><span class="ct">                                        * Referenced by:</span></td></tr>
+<tr name="64" id="64">
+<td>64</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="64">&lt;S1&gt;/Controller_Mode_Scheduler</a>'</span></td></tr>
+<tr name="65" id="65">
+<td>65</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="65">&lt;S48&gt;/ADC_Driver_Units_To_Amps</a>'</span></td></tr>
+<tr name="66" id="66">
+<td>66</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="66">&lt;S48&gt;/ADC_Zero_Offset</a>'</span></td></tr>
+<tr name="67" id="67">
+<td>67</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="67">&lt;S49&gt;/Offset_Between_Encoder_Zero_And_Mechanical_Zero</a>'</span></td></tr>
+<tr name="68" id="68">
+<td>68</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="68">&lt;S14&gt;/number_of_pole_pairs</a>'</span></td></tr>
+<tr name="69" id="69">
+<td>69</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="69">&lt;S42&gt;/Integral Gain</a>'</span></td></tr>
+<tr name="70" id="70">
+<td>70</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="70">&lt;S42&gt;/Proportional Gain</a>'</span></td></tr>
+<tr name="71" id="71">
+<td>71</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="71">&lt;S45&gt;/Integral Gain</a>'</span></td></tr>
+<tr name="72" id="72">
+<td>72</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="72">&lt;S45&gt;/Proportional Gain</a>'</span></td></tr>
+<tr name="73" id="73">
+<td>73</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="73">&lt;S65&gt;/Startup_Acceleration_Constant</a>'</span></td></tr>
+<tr name="74" id="74">
+<td>74</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="74">&lt;S17&gt;/Integral Gain</a>'</span></td></tr>
+<tr name="75" id="75">
+<td>75</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="75">&lt;S17&gt;/Proportional Gain</a>'</span></td></tr>
+<tr name="76" id="76">
+<td>76</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="76">&lt;S18&gt;/Integral Gain</a>'</span></td></tr>
+<tr name="77" id="77">
+<td>77</td><td><span class="ct">                                        *   '<a class="ct blk" blk_line="77">&lt;S18&gt;/Proportional Gain</a>'</span></td></tr>
+<tr name="78" id="78">
+<td>78</td><td><span class="ct">                                        */</span></td></tr>
+<tr name="79" id="79">
+<td>79</td><td></td></tr>
+<tr name="80" id="80">
+<td>80</td><td><span class="ct">/* Constant parameters (auto storage) */</span></td></tr>
+<tr name="81" id="81">
+<td>81</td><td><span class="kw">const</span> <a id="81c7" class="tk">ConstParam</a> <a id="81c18" class="tk">ConstP</a> = <span class="br">{</span></td></tr>
+<tr name="82" id="82">
+<td>82</td><td>  <span class="ct">/* Computed Parameter: Lookup_Table_table</span></td></tr>
+<tr name="83" id="83">
+<td>83</td><td><span class="ct">   * Referenced by: '<a class="ct blk" blk_line="83">&lt;S28&gt;/Lookup_Table</a>'</span></td></tr>
+<tr name="84" id="84">
+<td>84</td><td><span class="ct">   */</span></td></tr>
+<tr name="85" id="85">
+<td>85</td><td>  <span class="br">{</span> 2U, 2U, 6U, 1U, 4U, 3U, 5U <span class="br">}</span></td></tr>
+<tr name="86" id="86">
+<td>86</td><td><span class="br">}</span>;</td></tr>
+<tr name="87" id="87">
+<td>87</td><td></td></tr>
+<tr name="88" id="88">
+<td>88</td><td><span class="ct">/* Block signals and states (auto storage) */</span></td></tr>
+<tr name="89" id="89">
+<td>89</td><td><a id="89c1" class="tk">D_Work</a> <a id="89c8" class="tk">DWork</a>;</td></tr>
+<tr name="90" id="90">
+<td>90</td><td></td></tr>
+<tr name="91" id="91">
+<td>91</td><td><span class="ct">/* Real-time model */</span></td></tr>
+<tr name="92" id="92">
+<td>92</td><td><a id="92c1" class="tk">RT_MODEL</a> <a id="92c10" class="tk">M_</a>;</td></tr>
+<tr name="93" id="93">
+<td>93</td><td><a id="93c1" class="tk">RT_MODEL</a> *<span class="kw">const</span> <a id="93c17" class="tk">M</a> = &amp;<a id="93c22" class="tk">M_</a>;</td></tr>
+<tr name="94" id="94">
+<td>94</td><td><span class="kw">extern</span> <a id="94c8" class="tk">real32_T</a> <a id="94c17" class="tk">rt_roundf</a>(<a id="94c27" class="tk">real32_T</a> <a id="94c36" class="tk">u</a>);</td></tr>
+<tr name="95" id="95">
+<td>95</td><td><span class="kw">extern</span> <a id="95c8" class="tk">real32_T</a> <a id="95c17" class="tk">rt_modf</a>(<a id="95c25" class="tk">real32_T</a> <a id="95c34" class="tk">u0</a>, <a id="95c38" class="tk">real32_T</a> <a id="95c47" class="tk">u1</a>);</td></tr>
+<tr name="96" id="96">
+<td>96</td><td><span class="kw">static</span> <span class="kw">void</span> <a id="96c13" class="tk">rate_scheduler</a>(<span class="kw">void</span>);</td></tr>
+<tr name="97" id="97">
+<td>97</td><td></td></tr>
+<tr name="98" id="98">
+<td>98</td><td><span class="ct">/*</span></td></tr>
+<tr name="99" id="99">
+<td>99</td><td><span class="ct"> *   This function updates active task flag for each subrate.</span></td></tr>
+<tr name="100" id="100">
+<td>100</td><td><span class="ct"> * The function is called at model base rate, hence the</span></td></tr>
+<tr name="101" id="101">
+<td>101</td><td><span class="ct"> * generated code self-manages all its subrates.</span></td></tr>
+<tr name="102" id="102">
+<td>102</td><td><span class="ct"> */</span></td></tr>
+<tr name="103" id="103">
+<td>103</td><td><span class="kw">static</span> <span class="kw">void</span> <a id="103c13" class="tk">rate_scheduler</a>(<span class="kw">void</span>)</td></tr>
+<tr name="104" id="104">
+<td>104</td><td><span class="br">{</span></td></tr>
+<tr name="105" id="105">
+<td>105</td><td>  <span class="ct">/* Compute which subrates run during the next base time step.  Subrates</span></td></tr>
+<tr name="106" id="106">
+<td>106</td><td><span class="ct">   * are an integer multiple of the base rate counter.  Therefore, the subtask</span></td></tr>
+<tr name="107" id="107">
+<td>107</td><td><span class="ct">   * counter is reset when it reaches its limit (zero means run).</span></td></tr>
+<tr name="108" id="108">
+<td>108</td><td><span class="ct">   */</span></td></tr>
+<tr name="109" id="109">
+<td>109</td><td>  (<a id="109c4" class="tk">M</a>-&gt;<a id="109c7" class="tk">Timing</a>.<a id="109c14" class="tk">TaskCounters</a>.<a id="109c27" class="tk">TID</a>[1])++;</td></tr>
+<tr name="110" id="110">
+<td>110</td><td>  <span class="kw">if</span> ((<a id="110c8" class="tk">M</a>-&gt;<a id="110c11" class="tk">Timing</a>.<a id="110c18" class="tk">TaskCounters</a>.<a id="110c31" class="tk">TID</a>[1]) &gt; 124) <span class="br">{</span><span class="ct">/* Sample time: [0.005s, 0.0s] */</span></td></tr>
+<tr name="111" id="111">
+<td>111</td><td>    <a id="111c5" class="tk">M</a>-&gt;<a id="111c8" class="tk">Timing</a>.<a id="111c15" class="tk">TaskCounters</a>.<a id="111c28" class="tk">TID</a>[1] = 0;</td></tr>
+<tr name="112" id="112">
+<td>112</td><td>  <span class="br">}</span></td></tr>
+<tr name="113" id="113">
+<td>113</td><td><span class="br">}</span></td></tr>
+<tr name="114" id="114">
+<td>114</td><td></td></tr>
+<tr name="115" id="115">
+<td>115</td><td><a id="115c1" class="tk">real32_T</a> <a id="115c10" class="tk">rt_roundf</a>(<a id="115c20" class="tk">real32_T</a> <a id="115c29" class="tk">u</a>)</td></tr>
+<tr name="116" id="116">
+<td>116</td><td><span class="br">{</span></td></tr>
+<tr name="117" id="117">
+<td>117</td><td>  <a id="117c3" class="tk">real32_T</a> <a id="117c12" class="tk">y</a>;</td></tr>
+<tr name="118" id="118">
+<td>118</td><td>  <span class="kw">if</span> (((<a id="118c9" class="tk">real32_T</a>)<a id="118c18" class="tk">fabs</a>(<a id="118c23" class="tk">u</a>)) &lt; 8.388608E+6F) <span class="br">{</span></td></tr>
+<tr name="119" id="119">
+<td>119</td><td>    <span class="kw">if</span> (<a id="119c9" class="tk">u</a> &gt;= 0.5F) <span class="br">{</span></td></tr>
+<tr name="120" id="120">
+<td>120</td><td>      <a id="120c7" class="tk">y</a> = (<a id="120c12" class="tk">real32_T</a>)<a id="120c21" class="tk">floor</a>(<a id="120c27" class="tk">u</a> + 0.5F);</td></tr>
+<tr name="121" id="121">
+<td>121</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="121c16" class="tk">u</a> &gt; -0.5F) <span class="br">{</span></td></tr>
+<tr name="122" id="122">
+<td>122</td><td>      <a id="122c7" class="tk">y</a> = 0.0F;</td></tr>
+<tr name="123" id="123">
+<td>123</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="124" id="124">
+<td>124</td><td>      <a id="124c7" class="tk">y</a> = (<a id="124c12" class="tk">real32_T</a>)<a id="124c21" class="tk">ceil</a>(<a id="124c26" class="tk">u</a> - 0.5F);</td></tr>
+<tr name="125" id="125">
+<td>125</td><td>    <span class="br">}</span></td></tr>
+<tr name="126" id="126">
+<td>126</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="127" id="127">
+<td>127</td><td>    <a id="127c5" class="tk">y</a> = <a id="127c9" class="tk">u</a>;</td></tr>
+<tr name="128" id="128">
+<td>128</td><td>  <span class="br">}</span></td></tr>
+<tr name="129" id="129">
+<td>129</td><td></td></tr>
+<tr name="130" id="130">
+<td>130</td><td>  <span class="kw">return</span> <a id="130c10" class="tk">y</a>;</td></tr>
+<tr name="131" id="131">
+<td>131</td><td><span class="br">}</span></td></tr>
+<tr name="132" id="132">
+<td>132</td><td></td></tr>
+<tr name="133" id="133">
+<td>133</td><td><a id="133c1" class="tk">real32_T</a> <a id="133c10" class="tk">rt_modf</a>(<a id="133c18" class="tk">real32_T</a> <a id="133c27" class="tk">u0</a>, <a id="133c31" class="tk">real32_T</a> <a id="133c40" class="tk">u1</a>)</td></tr>
+<tr name="134" id="134">
+<td>134</td><td><span class="br">{</span></td></tr>
+<tr name="135" id="135">
+<td>135</td><td>  <a id="135c3" class="tk">real32_T</a> <a id="135c12" class="tk">y</a>;</td></tr>
+<tr name="136" id="136">
+<td>136</td><td>  <a id="136c3" class="tk">real32_T</a> <a id="136c12" class="tk">tmp</a>;</td></tr>
+<tr name="137" id="137">
+<td>137</td><td>  <span class="kw">if</span> (<a id="137c7" class="tk">u1</a> == 0.0F) <span class="br">{</span></td></tr>
+<tr name="138" id="138">
+<td>138</td><td>    <a id="138c5" class="tk">y</a> = <a id="138c9" class="tk">u0</a>;</td></tr>
+<tr name="139" id="139">
+<td>139</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="140" id="140">
+<td>140</td><td>    <a id="140c5" class="tk">tmp</a> = <a id="140c11" class="tk">u0</a> / <a id="140c16" class="tk">u1</a>;</td></tr>
+<tr name="141" id="141">
+<td>141</td><td>    <span class="kw">if</span> (<a id="141c9" class="tk">u1</a> &lt;= ((<a id="141c17" class="tk">real32_T</a>)<a id="141c26" class="tk">floor</a>(<a id="141c32" class="tk">u1</a>))) <span class="br">{</span></td></tr>
+<tr name="142" id="142">
+<td>142</td><td>      <a id="142c7" class="tk">y</a> = <a id="142c11" class="tk">u0</a> - (((<a id="142c19" class="tk">real32_T</a>)<a id="142c28" class="tk">floor</a>(<a id="142c34" class="tk">tmp</a>)) * <a id="142c42" class="tk">u1</a>);</td></tr>
+<tr name="143" id="143">
+<td>143</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (((<a id="143c18" class="tk">real32_T</a>)<a id="143c27" class="tk">fabs</a>(<a id="143c32" class="tk">tmp</a> - <a id="143c38" class="tk">rt_roundf</a>(<a id="143c48" class="tk">tmp</a>))) &lt;= (<a id="143c59" class="tk">FLT_EPSILON</a> *</td></tr>
+<tr name="144" id="144">
+<td>144</td><td>                ((<a id="144c19" class="tk">real32_T</a>)<a id="144c28" class="tk">fabs</a>(<a id="144c33" class="tk">tmp</a>)))) <span class="br">{</span></td></tr>
+<tr name="145" id="145">
+<td>145</td><td>      <a id="145c7" class="tk">y</a> = 0.0F;</td></tr>
+<tr name="146" id="146">
+<td>146</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="147" id="147">
+<td>147</td><td>      <a id="147c7" class="tk">y</a> = (<a id="147c12" class="tk">tmp</a> - ((<a id="147c20" class="tk">real32_T</a>)<a id="147c29" class="tk">floor</a>(<a id="147c35" class="tk">tmp</a>))) * <a id="147c44" class="tk">u1</a>;</td></tr>
+<tr name="148" id="148">
+<td>148</td><td>    <span class="br">}</span></td></tr>
+<tr name="149" id="149">
+<td>149</td><td>  <span class="br">}</span></td></tr>
+<tr name="150" id="150">
+<td>150</td><td></td></tr>
+<tr name="151" id="151">
+<td>151</td><td>  <span class="kw">return</span> <a id="151c10" class="tk">y</a>;</td></tr>
+<tr name="152" id="152">
+<td>152</td><td><span class="br">}</span></td></tr>
+<tr name="153" id="153">
+<td>153</td><td></td></tr>
+<tr name="154" id="154">
+<td>154</td><td><span class="ct">/* Model step function */</span></td></tr>
+<tr name="155" id="155">
+<td>155</td><td><a id="155c1" class="tk">EnumErrorType</a> <a id="155c15" class="tk">Controller</a>(<a id="155c26" class="tk">uint16_T</a> <a id="155c35" class="tk">motor_on</a>, <a id="155c45" class="tk">EnumCommandType</a> <a id="155c61" class="tk">command_type</a>,</td></tr>
+<tr name="156" id="156">
+<td>156</td><td>  <a id="156c3" class="tk">real32_T</a> <a id="156c12" class="tk">current_request</a>, <a id="156c29" class="tk">SENSORS_STRUCT</a> *<a id="156c45" class="tk">sensors</a>, <a id="156c54" class="tk">uint16_T</a> <a id="156c63" class="tk">pwm_compare</a>[3])</td></tr>
+<tr name="157" id="157">
+<td>157</td><td><span class="br">{</span></td></tr>
+<tr name="158" id="158">
+<td>158</td><td>  <a id="158c3" class="tk">real32_T</a> <a id="158c12" class="tk">sin_coefficient</a>;</td></tr>
+<tr name="159" id="159">
+<td>159</td><td>  <a id="159c3" class="tk">int32_T</a> <a id="159c11" class="tk">Wrap_To_Pi</a>;</td></tr>
+<tr name="160" id="160">
+<td>160</td><td>  <a id="160c3" class="tk">real32_T</a> <a id="160c12" class="tk">electrical_angle</a>;</td></tr>
+<tr name="161" id="161">
+<td>161</td><td>  <a id="161c3" class="tk">real32_T</a> <a id="161c12" class="tk">cos_coefficient</a>;</td></tr>
+<tr name="162" id="162">
+<td>162</td><td>  <a id="162c3" class="tk">real32_T</a> <a id="162c12" class="tk">SignDeltaU_b</a>;</td></tr>
+<tr name="163" id="163">
+<td>163</td><td>  <a id="163c3" class="tk">int16_T</a> <a id="163c11" class="tk">Enum_To_Int</a>;</td></tr>
+<tr name="164" id="164">
+<td>164</td><td>  <a id="164c3" class="tk">uint8_T</a> <a id="164c11" class="tk">FixPtRelationalOperator</a>;</td></tr>
+<tr name="165" id="165">
+<td>165</td><td>  <a id="165c3" class="tk">real32_T</a> <a id="165c12" class="tk">SignDeltaU</a>;</td></tr>
+<tr name="166" id="166">
+<td>166</td><td>  <a id="166c3" class="tk">real32_T</a> <a id="166c12" class="tk">Gain1</a>;</td></tr>
+<tr name="167" id="167">
+<td>167</td><td>  <a id="167c3" class="tk">int8_T</a> <a id="167c10" class="tk">rtPrevAction</a>;</td></tr>
+<tr name="168" id="168">
+<td>168</td><td>  <a id="168c3" class="tk">real32_T</a> <a id="168c12" class="tk">alpha_voltage</a>;</td></tr>
+<tr name="169" id="169">
+<td>169</td><td>  <a id="169c3" class="tk">real32_T</a> <a id="169c12" class="tk">SignPreIntegrator_f</a>;</td></tr>
+<tr name="170" id="170">
+<td>170</td><td>  <a id="170c3" class="tk">real32_T</a> <a id="170c12" class="tk">IntegralGain_j</a>;</td></tr>
+<tr name="171" id="171">
+<td>171</td><td>  <a id="171c3" class="tk">boolean_T</a> <a id="171c13" class="tk">RelationalOperator</a>;</td></tr>
+<tr name="172" id="172">
+<td>172</td><td>  <a id="172c3" class="tk">boolean_T</a> <a id="172c13" class="tk">NotEqual_b</a>;</td></tr>
+<tr name="173" id="173">
+<td>173</td><td>  <a id="173c3" class="tk">real32_T</a> <a id="173c12" class="tk">Switch_fr</a>;</td></tr>
+<tr name="174" id="174">
+<td>174</td><td>  <a id="174c3" class="tk">real32_T</a> <a id="174c12" class="tk">Sectors_2_and_5_idx_1</a>;</td></tr>
+<tr name="175" id="175">
+<td>175</td><td>  <a id="175c3" class="tk">real32_T</a> <a id="175c12" class="tk">Sectors_2_and_5_idx_2</a>;</td></tr>
+<tr name="176" id="176">
+<td>176</td><td>  <a id="176c3" class="tk">int16_T</a> <a id="176c11" class="tk">u0</a>;</td></tr>
+<tr name="177" id="177">
+<td>177</td><td></td></tr>
+<tr name="178" id="178">
+<td>178</td><td>  <span class="ct">/* specified return value */</span></td></tr>
+<tr name="179" id="179">
+<td>179</td><td>  <a id="179c3" class="tk">EnumErrorType</a> <a id="179c17" class="tk">error</a>;</td></tr>
+<tr name="180" id="180">
+<td>180</td><td></td></tr>
+<tr name="181" id="181">
+<td>181</td><td>  <span class="ct">/* Product: '<a class="ct blk" blk_line="181">&lt;S48&gt;/Product</a>' incorporates:</span></td></tr>
+<tr name="182" id="182">
+<td>182</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="182">&lt;S48&gt;/ADC_Driver_Units_To_Amps</a>'</span></td></tr>
+<tr name="183" id="183">
+<td>183</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="183">&lt;S48&gt;/ADC_Zero_Offset</a>'</span></td></tr>
+<tr name="184" id="184">
+<td>184</td><td><span class="ct">   *  Inport: '<a class="ct blk" blk_line="184">&lt;Root&gt;/sensors</a>'</span></td></tr>
+<tr name="185" id="185">
+<td>185</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="185">&lt;S48&gt;/Add</a>'</span></td></tr>
+<tr name="186" id="186">
+<td>186</td><td><span class="ct">   */</span></td></tr>
+<tr name="187" id="187">
+<td>187</td><td>  <a id="187c3" class="tk">phase_currents</a>[0] = (((<a id="187c26" class="tk">real32_T</a>)<a id="187c35" class="tk">sensors</a>-&gt;<a id="187c44" class="tk">adc_phase_currents</a>[0]) -</td></tr>
+<tr name="188" id="188">
+<td>188</td><td>                       <a id="188c24" class="tk">ctrlParams</a>.<a id="188c35" class="tk">AdcZeroOffsetDriverUnits</a>) *</td></tr>
+<tr name="189" id="189">
+<td>189</td><td>    <a id="189c5" class="tk">ctrlParams</a>.<a id="189c16" class="tk">AdcDriverUnitsToAmps</a>;</td></tr>
+<tr name="190" id="190">
+<td>190</td><td>  <a id="190c3" class="tk">phase_currents</a>[1] = (((<a id="190c26" class="tk">real32_T</a>)<a id="190c35" class="tk">sensors</a>-&gt;<a id="190c44" class="tk">adc_phase_currents</a>[1]) -</td></tr>
+<tr name="191" id="191">
+<td>191</td><td>                       <a id="191c24" class="tk">ctrlParams</a>.<a id="191c35" class="tk">AdcZeroOffsetDriverUnits</a>) *</td></tr>
+<tr name="192" id="192">
+<td>192</td><td>    <a id="192c5" class="tk">ctrlParams</a>.<a id="192c16" class="tk">AdcDriverUnitsToAmps</a>;</td></tr>
+<tr name="193" id="193">
+<td>193</td><td></td></tr>
+<tr name="194" id="194">
+<td>194</td><td>  <span class="ct">/* Chart: '<a class="ct blk" blk_line="194">&lt;S49&gt;/Wait_For_Valid_Position</a>' incorporates:</span></td></tr>
+<tr name="195" id="195">
+<td>195</td><td><span class="ct">   *  Inport: '<a class="ct blk" blk_line="195">&lt;Root&gt;/sensors</a>'</span></td></tr>
+<tr name="196" id="196">
+<td>196</td><td><span class="ct">   */</span></td></tr>
+<tr name="197" id="197">
+<td>197</td><td>  <span class="ct">/* Gateway: Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position/Wait_For_Valid_Position */</span></td></tr>
+<tr name="198" id="198">
+<td>198</td><td>  <span class="kw">if</span> (<a id="198c7" class="tk">DWork</a>.<a id="198c13" class="tk">temporalCounter_i1</a> &lt; 127U) <span class="br">{</span></td></tr>
+<tr name="199" id="199">
+<td>199</td><td>    <a id="199c5" class="tk">DWork</a>.<a id="199c11" class="tk">temporalCounter_i1</a>++;</td></tr>
+<tr name="200" id="200">
+<td>200</td><td>  <span class="br">}</span></td></tr>
+<tr name="201" id="201">
+<td>201</td><td></td></tr>
+<tr name="202" id="202">
+<td>202</td><td>  <span class="ct">/* During: Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position/Wait_For_Valid_Position */</span></td></tr>
+<tr name="203" id="203">
+<td>203</td><td>  <span class="kw">if</span> (<a id="203c7" class="tk">DWork</a>.<a id="203c13" class="tk">is_active_c2_rtwdemo_pmsmfoc</a> == 0U) <span class="br">{</span></td></tr>
+<tr name="204" id="204">
+<td>204</td><td>    <span class="ct">/* Entry: Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position/Wait_For_Valid_Position */</span></td></tr>
+<tr name="205" id="205">
+<td>205</td><td>    <a id="205c5" class="tk">DWork</a>.<a id="205c11" class="tk">is_active_c2_rtwdemo_pmsmfoc</a> = 1U;</td></tr>
+<tr name="206" id="206">
+<td>206</td><td></td></tr>
+<tr name="207" id="207">
+<td>207</td><td>    <span class="ct">/* Entry Internal: Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position/Wait_For_Valid_Position */</span></td></tr>
+<tr name="208" id="208">
+<td>208</td><td>    <span class="ct">/* Transition: '<a class="ct blk" blk_line="208">&lt;S52&gt;:113</a>' */</span></td></tr>
+<tr name="209" id="209">
+<td>209</td><td>    <span class="kw">if</span> (<a id="209c9" class="tk">sensors</a>-&gt;<a id="209c18" class="tk">encoder_valid</a> == 0) <span class="br">{</span></td></tr>
+<tr name="210" id="210">
+<td>210</td><td>      <span class="ct">/* Transition: '<a class="ct blk" blk_line="210">&lt;S52&gt;:114</a>' */</span></td></tr>
+<tr name="211" id="211">
+<td>211</td><td>      <span class="ct">/* Transition: '<a class="ct blk" blk_line="211">&lt;S52&gt;:115</a>' */</span></td></tr>
+<tr name="212" id="212">
+<td>212</td><td>      <a id="212c7" class="tk">DWork</a>.<a id="212c13" class="tk">is_c2_rtwdemo_pmsmfoc</a> = <a id="212c37" class="tk">IN_Wait_For_Valid_Position</a>;</td></tr>
+<tr name="213" id="213">
+<td>213</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="214" id="214">
+<td>214</td><td>      <span class="ct">/* Transition: '<a class="ct blk" blk_line="214">&lt;S52&gt;:120</a>' */</span></td></tr>
+<tr name="215" id="215">
+<td>215</td><td>      <span class="ct">/* Transition: '<a class="ct blk" blk_line="215">&lt;S52&gt;:119</a>' */</span></td></tr>
+<tr name="216" id="216">
+<td>216</td><td>      <a id="216c7" class="tk">DWork</a>.<a id="216c13" class="tk">is_c2_rtwdemo_pmsmfoc</a> = <a id="216c37" class="tk">IN_Position_Valid</a>;</td></tr>
+<tr name="217" id="217">
+<td>217</td><td>      <a id="217c7" class="tk">DWork</a>.<a id="217c13" class="tk">Position_Valid</a> = 1U;</td></tr>
+<tr name="218" id="218">
+<td>218</td><td>    <span class="br">}</span></td></tr>
+<tr name="219" id="219">
+<td>219</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="220" id="220">
+<td>220</td><td>    <span class="kw">switch</span> (<a id="220c13" class="tk">DWork</a>.<a id="220c19" class="tk">is_c2_rtwdemo_pmsmfoc</a>) <span class="br">{</span></td></tr>
+<tr name="221" id="221">
+<td>221</td><td>     <span class="kw">case</span> <a id="221c11" class="tk">IN_Position_Valid</a>:</td></tr>
+<tr name="222" id="222">
+<td>222</td><td>      <span class="ct">/* During 'Position_Valid': '<a class="ct blk" blk_line="222">&lt;S52&gt;:25</a>' */</span></td></tr>
+<tr name="223" id="223">
+<td>223</td><td>      <span class="kw">break</span>;</td></tr>
+<tr name="224" id="224">
+<td>224</td><td></td></tr>
+<tr name="225" id="225">
+<td>225</td><td>     <span class="kw">case</span> <a id="225c11" class="tk">IN_Wait_For_Valid_Position</a>:</td></tr>
+<tr name="226" id="226">
+<td>226</td><td>      <span class="ct">/* During 'Wait_For_Valid_Position': '<a class="ct blk" blk_line="226">&lt;S52&gt;:99</a>' */</span></td></tr>
+<tr name="227" id="227">
+<td>227</td><td>      <span class="kw">if</span> (<a id="227c11" class="tk">sensors</a>-&gt;<a id="227c20" class="tk">encoder_valid</a> != 0) <span class="br">{</span></td></tr>
+<tr name="228" id="228">
+<td>228</td><td>        <span class="ct">/* Transition: '<a class="ct blk" blk_line="228">&lt;S52&gt;:100</a>' */</span></td></tr>
+<tr name="229" id="229">
+<td>229</td><td>        <a id="229c9" class="tk">DWork</a>.<a id="229c15" class="tk">is_c2_rtwdemo_pmsmfoc</a> = <a id="229c39" class="tk">IN_Wait_For_Valid_Velocity</a>;</td></tr>
+<tr name="230" id="230">
+<td>230</td><td>        <a id="230c9" class="tk">DWork</a>.<a id="230c15" class="tk">temporalCounter_i1</a> = 0U;</td></tr>
+<tr name="231" id="231">
+<td>231</td><td>      <span class="br">}</span></td></tr>
+<tr name="232" id="232">
+<td>232</td><td>      <span class="kw">break</span>;</td></tr>
+<tr name="233" id="233">
+<td>233</td><td></td></tr>
+<tr name="234" id="234">
+<td>234</td><td>     <span class="kw">default</span>:</td></tr>
+<tr name="235" id="235">
+<td>235</td><td>      <span class="ct">/* During 'Wait_For_Valid_Velocity': '<a class="ct blk" blk_line="235">&lt;S52&gt;:101</a>' */</span></td></tr>
+<tr name="236" id="236">
+<td>236</td><td>      <span class="kw">if</span> (<a id="236c11" class="tk">DWork</a>.<a id="236c17" class="tk">temporalCounter_i1</a> &gt;= <a id="236c39" class="tk">WaitForValidVelocityTicks</a>) <span class="br">{</span></td></tr>
+<tr name="237" id="237">
+<td>237</td><td>        <span class="ct">/* Transition: '<a class="ct blk" blk_line="237">&lt;S52&gt;:102</a>' */</span></td></tr>
+<tr name="238" id="238">
+<td>238</td><td>        <a id="238c9" class="tk">DWork</a>.<a id="238c15" class="tk">is_c2_rtwdemo_pmsmfoc</a> = <a id="238c39" class="tk">IN_Position_Valid</a>;</td></tr>
+<tr name="239" id="239">
+<td>239</td><td>        <a id="239c9" class="tk">DWork</a>.<a id="239c15" class="tk">Position_Valid</a> = 1U;</td></tr>
+<tr name="240" id="240">
+<td>240</td><td>      <span class="br">}</span></td></tr>
+<tr name="241" id="241">
+<td>241</td><td>      <span class="kw">break</span>;</td></tr>
+<tr name="242" id="242">
+<td>242</td><td>    <span class="br">}</span></td></tr>
+<tr name="243" id="243">
+<td>243</td><td>  <span class="br">}</span></td></tr>
+<tr name="244" id="244">
+<td>244</td><td></td></tr>
+<tr name="245" id="245">
+<td>245</td><td>  <span class="ct">/* End of Chart: '<a class="ct blk" blk_line="245">&lt;S49&gt;/Wait_For_Valid_Position</a>' */</span></td></tr>
+<tr name="246" id="246">
+<td>246</td><td></td></tr>
+<tr name="247" id="247">
+<td>247</td><td>  <span class="ct">/* Sum: '<a class="ct blk" blk_line="247">&lt;S49&gt;/Add</a>' incorporates:</span></td></tr>
+<tr name="248" id="248">
+<td>248</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="248">&lt;S49&gt;/Offset_Between_Encoder_Zero_And_Mechanical_Zero</a>'</span></td></tr>
+<tr name="249" id="249">
+<td>249</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="249">&lt;S49&gt;/radians_per_counts</a>'</span></td></tr>
+<tr name="250" id="250">
+<td>250</td><td><span class="ct">   *  Inport: '<a class="ct blk" blk_line="250">&lt;Root&gt;/sensors</a>'</span></td></tr>
+<tr name="251" id="251">
+<td>251</td><td><span class="ct">   */</span></td></tr>
+<tr name="252" id="252">
+<td>252</td><td>  <a id="252c3" class="tk">rotor_position</a> = (0.000785398181F * ((<a id="252c41" class="tk">real32_T</a>)<a id="252c50" class="tk">sensors</a>-&gt;<a id="252c59" class="tk">encoder_counter</a>)) +</td></tr>
+<tr name="253" id="253">
+<td>253</td><td>    <a id="253c5" class="tk">ctrlParams</a>.<a id="253c16" class="tk">EncoderToMechanicalZeroOffsetRads</a>;</td></tr>
+<tr name="254" id="254">
+<td>254</td><td>  <span class="kw">if</span> (<a id="254c7" class="tk">M</a>-&gt;<a id="254c10" class="tk">Timing</a>.<a id="254c17" class="tk">TaskCounters</a>.<a id="254c30" class="tk">TID</a>[1] == 0) <span class="br">{</span></td></tr>
+<tr name="255" id="255">
+<td>255</td><td>    <span class="ct">/* Gain: '<a class="ct blk" blk_line="255">&lt;S55&gt;/Wrap_To_Pi</a>' incorporates:</span></td></tr>
+<tr name="256" id="256">
+<td>256</td><td><span class="ct">     *  DataTypeConversion: '<a class="ct blk" blk_line="256">&lt;S55&gt;/Convert_to_Uint32</a>'</span></td></tr>
+<tr name="257" id="257">
+<td>257</td><td><span class="ct">     *  Gain: '<a class="ct blk" blk_line="257">&lt;S55&gt;/Scale_Input</a>'</span></td></tr>
+<tr name="258" id="258">
+<td>258</td><td><span class="ct">     */</span></td></tr>
+<tr name="259" id="259">
+<td>259</td><td>    <a id="259c5" class="tk">Wrap_To_Pi</a> = (((<a id="259c21" class="tk">int32_T</a>)(1.70891312E+8F * <a id="259c47" class="tk">rotor_position</a>)) &lt;&lt; 2);</td></tr>
+<tr name="260" id="260">
+<td>260</td><td></td></tr>
+<tr name="261" id="261">
+<td>261</td><td>    <span class="ct">/* Gain: '<a class="ct blk" blk_line="261">&lt;S55&gt;/Scale_Output</a>' incorporates:</span></td></tr>
+<tr name="262" id="262">
+<td>262</td><td><span class="ct">     *  DataTypeConversion: '<a class="ct blk" blk_line="262">&lt;S55&gt;/Difference_to_Single</a>'</span></td></tr>
+<tr name="263" id="263">
+<td>263</td><td><span class="ct">     *  Delay: '<a class="ct blk" blk_line="263">&lt;S55&gt;/Position_Delay</a>'</span></td></tr>
+<tr name="264" id="264">
+<td>264</td><td><span class="ct">     *  Sum: '<a class="ct blk" blk_line="264">&lt;S55&gt;/Difference_Wrap</a>'</span></td></tr>
+<tr name="265" id="265">
+<td>265</td><td><span class="ct">     */</span></td></tr>
+<tr name="266" id="266">
+<td>266</td><td>    <a id="266c5" class="tk">velocity_measured</a> = ((<a id="266c27" class="tk">real32_T</a>)(<a id="266c37" class="tk">Wrap_To_Pi</a> - <a id="266c50" class="tk">DWork</a>.<a id="266c56" class="tk">Position_Delay_DSTATE</a>)) *</td></tr>
+<tr name="267" id="267">
+<td>267</td><td>      2.92583621E-7F;</td></tr>
+<tr name="268" id="268">
+<td>268</td><td></td></tr>
+<tr name="269" id="269">
+<td>269</td><td>    <span class="ct">/* Chart: '<a class="ct blk" blk_line="269">&lt;S1&gt;/Controller_Mode_Scheduler</a>' incorporates:</span></td></tr>
+<tr name="270" id="270">
+<td>270</td><td><span class="ct">     *  Inport: '<a class="ct blk" blk_line="270">&lt;Root&gt;/command_type</a>'</span></td></tr>
+<tr name="271" id="271">
+<td>271</td><td><span class="ct">     *  Inport: '<a class="ct blk" blk_line="271">&lt;Root&gt;/command_value</a>'</span></td></tr>
+<tr name="272" id="272">
+<td>272</td><td><span class="ct">     *  Inport: '<a class="ct blk" blk_line="272">&lt;Root&gt;/motor_on</a>'</span></td></tr>
+<tr name="273" id="273">
+<td>273</td><td><span class="ct">     */</span></td></tr>
+<tr name="274" id="274">
+<td>274</td><td>    <span class="ct">/* Gateway: Mode_Scheduler/Controller_Mode_Scheduler */</span></td></tr>
+<tr name="275" id="275">
+<td>275</td><td>    <span class="ct">/* During: Mode_Scheduler/Controller_Mode_Scheduler */</span></td></tr>
+<tr name="276" id="276">
+<td>276</td><td>    <span class="kw">if</span> (<a id="276c9" class="tk">DWork</a>.<a id="276c15" class="tk">is_c1_rtwdemo_pmsmfoc</a> == <a id="276c40" class="tk">IN_Motor_On</a>) <span class="br">{</span></td></tr>
+<tr name="277" id="277">
+<td>277</td><td>      <span class="ct">/* During 'Motor_On': '<a class="ct blk" blk_line="277">&lt;S4&gt;:338</a>' */</span></td></tr>
+<tr name="278" id="278">
+<td>278</td><td>      <span class="kw">if</span> (<a id="278c11" class="tk">DWork</a>.<a id="278c17" class="tk">error_l</a> != 0) <span class="br">{</span></td></tr>
+<tr name="279" id="279">
+<td>279</td><td>        <span class="ct">/* Transition: '<a class="ct blk" blk_line="279">&lt;S4&gt;:339</a>' */</span></td></tr>
+<tr name="280" id="280">
+<td>280</td><td>        <span class="ct">/* Transition: '<a class="ct blk" blk_line="280">&lt;S4&gt;:353</a>' */</span></td></tr>
+<tr name="281" id="281">
+<td>281</td><td>        <span class="ct">/* Exit Internal 'Motor_On': '<a class="ct blk" blk_line="281">&lt;S4&gt;:338</a>' */</span></td></tr>
+<tr name="282" id="282">
+<td>282</td><td>        <span class="ct">/* Exit Internal 'Motor_Control': '<a class="ct blk" blk_line="282">&lt;S4&gt;:344</a>' */</span></td></tr>
+<tr name="283" id="283">
+<td>283</td><td>        <a id="283c9" class="tk">DWork</a>.<a id="283c15" class="tk">is_Motor_Control</a> = <a id="283c34" class="tk">IN_NO_ACTIVE_CHILD</a>;</td></tr>
+<tr name="284" id="284">
+<td>284</td><td>        <a id="284c9" class="tk">DWork</a>.<a id="284c15" class="tk">is_Motor_On</a> = <a id="284c29" class="tk">IN_NO_ACTIVE_CHILD</a>;</td></tr>
+<tr name="285" id="285">
+<td>285</td><td>        <a id="285c9" class="tk">DWork</a>.<a id="285c15" class="tk">is_c1_rtwdemo_pmsmfoc</a> = <a id="285c39" class="tk">IN_Stand_By</a>;</td></tr>
+<tr name="286" id="286">
+<td>286</td><td></td></tr>
+<tr name="287" id="287">
+<td>287</td><td>        <span class="ct">/* Entry 'Stand_By': '<a class="ct blk" blk_line="287">&lt;S4&gt;:154</a>' */</span></td></tr>
+<tr name="288" id="288">
+<td>288</td><td>        <a id="288c9" class="tk">controller_mode</a> = <a id="288c27" class="tk">StandBy</a>;</td></tr>
+<tr name="289" id="289">
+<td>289</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="289c18" class="tk">DWork</a>.<a id="289c24" class="tk">is_Motor_On</a> == <a id="289c39" class="tk">IN_Motor_Control</a>) <span class="br">{</span></td></tr>
+<tr name="290" id="290">
+<td>290</td><td>        <span class="ct">/* During 'Motor_Control': '<a class="ct blk" blk_line="290">&lt;S4&gt;:344</a>' */</span></td></tr>
+<tr name="291" id="291">
+<td>291</td><td>        <span class="kw">if</span> (!(<a id="291c15" class="tk">motor_on</a> != 0)) <span class="br">{</span></td></tr>
+<tr name="292" id="292">
+<td>292</td><td>          <span class="ct">/* Transition: '<a class="ct blk" blk_line="292">&lt;S4&gt;:282</a>' */</span></td></tr>
+<tr name="293" id="293">
+<td>293</td><td>          <span class="ct">/* Exit Internal 'Motor_Control': '<a class="ct blk" blk_line="293">&lt;S4&gt;:344</a>' */</span></td></tr>
+<tr name="294" id="294">
+<td>294</td><td>          <a id="294c11" class="tk">DWork</a>.<a id="294c17" class="tk">is_Motor_Control</a> = <a id="294c36" class="tk">IN_NO_ACTIVE_CHILD</a>;</td></tr>
+<tr name="295" id="295">
+<td>295</td><td>          <a id="295c11" class="tk">DWork</a>.<a id="295c17" class="tk">is_Motor_On</a> = <a id="295c31" class="tk">IN_Ramp_To_Stop</a>;</td></tr>
+<tr name="296" id="296">
+<td>296</td><td></td></tr>
+<tr name="297" id="297">
+<td>297</td><td>          <span class="ct">/* Entry 'Ramp_To_Stop': '<a class="ct blk" blk_line="297">&lt;S4&gt;:270</a>' */</span></td></tr>
+<tr name="298" id="298">
+<td>298</td><td>          <a id="298c11" class="tk">controller_mode</a> = <a id="298c29" class="tk">VelocityControl</a>;</td></tr>
+<tr name="299" id="299">
+<td>299</td><td>          <a id="299c11" class="tk">DWork</a>.<a id="299c17" class="tk">velocity_command</a> = 0.0F;</td></tr>
+<tr name="300" id="300">
+<td>300</td><td>          <a id="300c11" class="tk">DWork</a>.<a id="300c17" class="tk">torque_command</a> = 0.0F;</td></tr>
+<tr name="301" id="301">
+<td>301</td><td>        <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="302" id="302">
+<td>302</td><td>          <span class="kw">switch</span> (<a id="302c19" class="tk">DWork</a>.<a id="302c25" class="tk">is_Motor_Control</a>) <span class="br">{</span></td></tr>
+<tr name="303" id="303">
+<td>303</td><td>           <span class="kw">case</span> <a id="303c17" class="tk">IN_Position_Control</a>:</td></tr>
+<tr name="304" id="304">
+<td>304</td><td>            <span class="ct">/* During 'Position_Control': '<a class="ct blk" blk_line="304">&lt;S4&gt;:226</a>' */</span></td></tr>
+<tr name="305" id="305">
+<td>305</td><td>            <a id="305c13" class="tk">DWork</a>.<a id="305c19" class="tk">position_command</a> = <a id="305c38" class="tk">current_request</a>;</td></tr>
+<tr name="306" id="306">
+<td>306</td><td>            <span class="kw">break</span>;</td></tr>
+<tr name="307" id="307">
+<td>307</td><td></td></tr>
+<tr name="308" id="308">
+<td>308</td><td>           <span class="kw">case</span> <a id="308c17" class="tk">IN_Startup_Open_Loop_Control</a>:</td></tr>
+<tr name="309" id="309">
+<td>309</td><td>            <span class="ct">/* During 'Startup_Open_Loop_Control': '<a class="ct blk" blk_line="309">&lt;S4&gt;:103</a>' */</span></td></tr>
+<tr name="310" id="310">
+<td>310</td><td>            <span class="kw">if</span> (<a id="310c17" class="tk">DWork</a>.<a id="310c23" class="tk">Position_Valid</a> != 0) <span class="br">{</span></td></tr>
+<tr name="311" id="311">
+<td>311</td><td>              <span class="ct">/* Transition: '<a class="ct blk" blk_line="311">&lt;S4&gt;:157</a>' */</span></td></tr>
+<tr name="312" id="312">
+<td>312</td><td>              <span class="ct">/* Transition: '<a class="ct blk" blk_line="312">&lt;S4&gt;:233</a>' */</span></td></tr>
+<tr name="313" id="313">
+<td>313</td><td>              <span class="kw">switch</span> (<a id="313c23" class="tk">command_type</a>) <span class="br">{</span></td></tr>
+<tr name="314" id="314">
+<td>314</td><td>               <span class="kw">case</span> <a id="314c21" class="tk">Velocity</a>:</td></tr>
+<tr name="315" id="315">
+<td>315</td><td>                <span class="ct">/* Transition: '<a class="ct blk" blk_line="315">&lt;S4&gt;:162</a>' */</span></td></tr>
+<tr name="316" id="316">
+<td>316</td><td>                <a id="316c17" class="tk">DWork</a>.<a id="316c23" class="tk">is_Motor_Control</a> = <a id="316c42" class="tk">IN_Velocity_Control</a>;</td></tr>
+<tr name="317" id="317">
+<td>317</td><td></td></tr>
+<tr name="318" id="318">
+<td>318</td><td>                <span class="ct">/* Entry 'Velocity_Control': '<a class="ct blk" blk_line="318">&lt;S4&gt;:108</a>' */</span></td></tr>
+<tr name="319" id="319">
+<td>319</td><td>                <a id="319c17" class="tk">controller_mode</a> = <a id="319c35" class="tk">VelocityControl</a>;</td></tr>
+<tr name="320" id="320">
+<td>320</td><td>                <a id="320c17" class="tk">DWork</a>.<a id="320c23" class="tk">velocity_command</a> = <a id="320c42" class="tk">current_request</a>;</td></tr>
+<tr name="321" id="321">
+<td>321</td><td>                <span class="kw">break</span>;</td></tr>
+<tr name="322" id="322">
+<td>322</td><td></td></tr>
+<tr name="323" id="323">
+<td>323</td><td>               <span class="kw">case</span> <a id="323c21" class="tk">Position</a>:</td></tr>
+<tr name="324" id="324">
+<td>324</td><td>                <span class="ct">/* Transition: '<a class="ct blk" blk_line="324">&lt;S4&gt;:235</a>' */</span></td></tr>
+<tr name="325" id="325">
+<td>325</td><td>                <span class="ct">/* Transition: '<a class="ct blk" blk_line="325">&lt;S4&gt;:234</a>' */</span></td></tr>
+<tr name="326" id="326">
+<td>326</td><td>                <a id="326c17" class="tk">DWork</a>.<a id="326c23" class="tk">is_Motor_Control</a> = <a id="326c42" class="tk">IN_Position_Control</a>;</td></tr>
+<tr name="327" id="327">
+<td>327</td><td></td></tr>
+<tr name="328" id="328">
+<td>328</td><td>                <span class="ct">/* Entry 'Position_Control': '<a class="ct blk" blk_line="328">&lt;S4&gt;:226</a>' */</span></td></tr>
+<tr name="329" id="329">
+<td>329</td><td>                <a id="329c17" class="tk">controller_mode</a> = <a id="329c35" class="tk">PositionControl</a>;</td></tr>
+<tr name="330" id="330">
+<td>330</td><td>                <a id="330c17" class="tk">DWork</a>.<a id="330c23" class="tk">position_command</a> = <a id="330c42" class="tk">current_request</a>;</td></tr>
+<tr name="331" id="331">
+<td>331</td><td>                <span class="kw">break</span>;</td></tr>
+<tr name="332" id="332">
+<td>332</td><td></td></tr>
+<tr name="333" id="333">
+<td>333</td><td>               <span class="kw">default</span>:</td></tr>
+<tr name="334" id="334">
+<td>334</td><td>                <span class="ct">/* Transition: '<a class="ct blk" blk_line="334">&lt;S4&gt;:237</a>' */</span></td></tr>
+<tr name="335" id="335">
+<td>335</td><td>                <span class="ct">/* Transition: '<a class="ct blk" blk_line="335">&lt;S4&gt;:158</a>' */</span></td></tr>
+<tr name="336" id="336">
+<td>336</td><td>                <span class="ct">/*  [command_type==Torque] */</span></td></tr>
+<tr name="337" id="337">
+<td>337</td><td>                <a id="337c17" class="tk">DWork</a>.<a id="337c23" class="tk">is_Motor_Control</a> = <a id="337c42" class="tk">IN_Torque_Control</a>;</td></tr>
+<tr name="338" id="338">
+<td>338</td><td></td></tr>
+<tr name="339" id="339">
+<td>339</td><td>                <span class="ct">/* Entry 'Torque_Control': '<a class="ct blk" blk_line="339">&lt;S4&gt;:220</a>' */</span></td></tr>
+<tr name="340" id="340">
+<td>340</td><td>                <a id="340c17" class="tk">controller_mode</a> = <a id="340c35" class="tk">TorqueControl</a>;</td></tr>
+<tr name="341" id="341">
+<td>341</td><td>                <a id="341c17" class="tk">DWork</a>.<a id="341c23" class="tk">torque_command</a> = <a id="341c40" class="tk">current_request</a>;</td></tr>
+<tr name="342" id="342">
+<td>342</td><td>                <span class="kw">break</span>;</td></tr>
+<tr name="343" id="343">
+<td>343</td><td>              <span class="br">}</span></td></tr>
+<tr name="344" id="344">
+<td>344</td><td>            <span class="br">}</span></td></tr>
+<tr name="345" id="345">
+<td>345</td><td>            <span class="kw">break</span>;</td></tr>
+<tr name="346" id="346">
+<td>346</td><td></td></tr>
+<tr name="347" id="347">
+<td>347</td><td>           <span class="kw">case</span> <a id="347c17" class="tk">IN_Torque_Control</a>:</td></tr>
+<tr name="348" id="348">
+<td>348</td><td>            <span class="ct">/* During 'Torque_Control': '<a class="ct blk" blk_line="348">&lt;S4&gt;:220</a>' */</span></td></tr>
+<tr name="349" id="349">
+<td>349</td><td>            <a id="349c13" class="tk">DWork</a>.<a id="349c19" class="tk">torque_command</a> = <a id="349c36" class="tk">current_request</a>;</td></tr>
+<tr name="350" id="350">
+<td>350</td><td>            <span class="kw">break</span>;</td></tr>
+<tr name="351" id="351">
+<td>351</td><td></td></tr>
+<tr name="352" id="352">
+<td>352</td><td>           <span class="kw">default</span>:</td></tr>
+<tr name="353" id="353">
+<td>353</td><td>            <span class="ct">/* During 'Velocity_Control': '<a class="ct blk" blk_line="353">&lt;S4&gt;:108</a>' */</span></td></tr>
+<tr name="354" id="354">
+<td>354</td><td>            <a id="354c13" class="tk">DWork</a>.<a id="354c19" class="tk">velocity_command</a> = <a id="354c38" class="tk">current_request</a>;</td></tr>
+<tr name="355" id="355">
+<td>355</td><td>            <span class="kw">break</span>;</td></tr>
+<tr name="356" id="356">
+<td>356</td><td>          <span class="br">}</span></td></tr>
+<tr name="357" id="357">
+<td>357</td><td>        <span class="br">}</span></td></tr>
+<tr name="358" id="358">
+<td>358</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="359" id="359">
+<td>359</td><td>        <span class="ct">/* During 'Ramp_To_Stop': '<a class="ct blk" blk_line="359">&lt;S4&gt;:270</a>' */</span></td></tr>
+<tr name="360" id="360">
+<td>360</td><td>        <span class="kw">if</span> (((<a id="360c15" class="tk">real32_T</a>)<a id="360c24" class="tk">fabs</a>(<a id="360c29" class="tk">velocity_measured</a>)) &lt; <a id="360c51" class="tk">ctrlParams</a>.<a id="360c62" class="tk">RampToStopVelocity</a>)</td></tr>
+<tr name="361" id="361">
+<td>361</td><td>        <span class="br">{</span></td></tr>
+<tr name="362" id="362">
+<td>362</td><td>          <span class="ct">/* Transition: '<a class="ct blk" blk_line="362">&lt;S4&gt;:169</a>' */</span></td></tr>
+<tr name="363" id="363">
+<td>363</td><td>          <span class="ct">/* Transition: '<a class="ct blk" blk_line="363">&lt;S4&gt;:355</a>' */</span></td></tr>
+<tr name="364" id="364">
+<td>364</td><td>          <a id="364c11" class="tk">DWork</a>.<a id="364c17" class="tk">is_Motor_On</a> = <a id="364c31" class="tk">IN_NO_ACTIVE_CHILD</a>;</td></tr>
+<tr name="365" id="365">
+<td>365</td><td>          <a id="365c11" class="tk">DWork</a>.<a id="365c17" class="tk">is_c1_rtwdemo_pmsmfoc</a> = <a id="365c41" class="tk">IN_Stand_By</a>;</td></tr>
+<tr name="366" id="366">
+<td>366</td><td></td></tr>
+<tr name="367" id="367">
+<td>367</td><td>          <span class="ct">/* Entry 'Stand_By': '<a class="ct blk" blk_line="367">&lt;S4&gt;:154</a>' */</span></td></tr>
+<tr name="368" id="368">
+<td>368</td><td>          <a id="368c11" class="tk">controller_mode</a> = <a id="368c29" class="tk">StandBy</a>;</td></tr>
+<tr name="369" id="369">
+<td>369</td><td>        <span class="br">}</span></td></tr>
+<tr name="370" id="370">
+<td>370</td><td>      <span class="br">}</span></td></tr>
+<tr name="371" id="371">
+<td>371</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="372" id="372">
+<td>372</td><td>      <span class="ct">/* During 'Stand_By': '<a class="ct blk" blk_line="372">&lt;S4&gt;:154</a>' */</span></td></tr>
+<tr name="373" id="373">
+<td>373</td><td>      <span class="kw">if</span> ((<a id="373c12" class="tk">motor_on</a> != 0) &amp;&amp; (!(<a id="373c33" class="tk">DWork</a>.<a id="373c39" class="tk">error_l</a> != 0))) <span class="br">{</span></td></tr>
+<tr name="374" id="374">
+<td>374</td><td>        <span class="ct">/* Transition: '<a class="ct blk" blk_line="374">&lt;S4&gt;:164</a>' */</span></td></tr>
+<tr name="375" id="375">
+<td>375</td><td>        <span class="kw">if</span> (!(<a id="375c15" class="tk">DWork</a>.<a id="375c21" class="tk">Position_Valid</a> != 0)) <span class="br">{</span></td></tr>
+<tr name="376" id="376">
+<td>376</td><td>          <span class="ct">/* Transition: '<a class="ct blk" blk_line="376">&lt;S4&gt;:133</a>' */</span></td></tr>
+<tr name="377" id="377">
+<td>377</td><td>          <a id="377c11" class="tk">DWork</a>.<a id="377c17" class="tk">is_c1_rtwdemo_pmsmfoc</a> = <a id="377c41" class="tk">IN_Motor_On</a>;</td></tr>
+<tr name="378" id="378">
+<td>378</td><td>          <a id="378c11" class="tk">DWork</a>.<a id="378c17" class="tk">is_Motor_On</a> = <a id="378c31" class="tk">IN_Motor_Control</a>;</td></tr>
+<tr name="379" id="379">
+<td>379</td><td>          <a id="379c11" class="tk">DWork</a>.<a id="379c17" class="tk">is_Motor_Control</a> = <a id="379c36" class="tk">IN_Startup_Open_Loop_Control</a>;</td></tr>
+<tr name="380" id="380">
+<td>380</td><td></td></tr>
+<tr name="381" id="381">
+<td>381</td><td>          <span class="ct">/* Entry 'Startup_Open_Loop_Control': '<a class="ct blk" blk_line="381">&lt;S4&gt;:103</a>' */</span></td></tr>
+<tr name="382" id="382">
+<td>382</td><td>          <a id="382c11" class="tk">controller_mode</a> = <a id="382c29" class="tk">Startup</a>;</td></tr>
+<tr name="383" id="383">
+<td>383</td><td>          <a id="383c11" class="tk">DWork</a>.<a id="383c17" class="tk">torque_command</a> = <a id="383c34" class="tk">ctrlParams</a>.<a id="383c45" class="tk">StartupCurrent</a>;</td></tr>
+<tr name="384" id="384">
+<td>384</td><td>        <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="385" id="385">
+<td>385</td><td>          <span class="ct">/* Transition: '<a class="ct blk" blk_line="385">&lt;S4&gt;:137</a>' */</span></td></tr>
+<tr name="386" id="386">
+<td>386</td><td>          <span class="ct">/* Transition: '<a class="ct blk" blk_line="386">&lt;S4&gt;:233</a>' */</span></td></tr>
+<tr name="387" id="387">
+<td>387</td><td>          <span class="kw">switch</span> (<a id="387c19" class="tk">command_type</a>) <span class="br">{</span></td></tr>
+<tr name="388" id="388">
+<td>388</td><td>           <span class="kw">case</span> <a id="388c17" class="tk">Velocity</a>:</td></tr>
+<tr name="389" id="389">
+<td>389</td><td>            <span class="ct">/* Transition: '<a class="ct blk" blk_line="389">&lt;S4&gt;:162</a>' */</span></td></tr>
+<tr name="390" id="390">
+<td>390</td><td>            <a id="390c13" class="tk">DWork</a>.<a id="390c19" class="tk">is_c1_rtwdemo_pmsmfoc</a> = <a id="390c43" class="tk">IN_Motor_On</a>;</td></tr>
+<tr name="391" id="391">
+<td>391</td><td>            <a id="391c13" class="tk">DWork</a>.<a id="391c19" class="tk">is_Motor_On</a> = <a id="391c33" class="tk">IN_Motor_Control</a>;</td></tr>
+<tr name="392" id="392">
+<td>392</td><td>            <a id="392c13" class="tk">DWork</a>.<a id="392c19" class="tk">is_Motor_Control</a> = <a id="392c38" class="tk">IN_Velocity_Control</a>;</td></tr>
+<tr name="393" id="393">
+<td>393</td><td></td></tr>
+<tr name="394" id="394">
+<td>394</td><td>            <span class="ct">/* Entry 'Velocity_Control': '<a class="ct blk" blk_line="394">&lt;S4&gt;:108</a>' */</span></td></tr>
+<tr name="395" id="395">
+<td>395</td><td>            <a id="395c13" class="tk">controller_mode</a> = <a id="395c31" class="tk">VelocityControl</a>;</td></tr>
+<tr name="396" id="396">
+<td>396</td><td>            <a id="396c13" class="tk">DWork</a>.<a id="396c19" class="tk">velocity_command</a> = <a id="396c38" class="tk">current_request</a>;</td></tr>
+<tr name="397" id="397">
+<td>397</td><td>            <span class="kw">break</span>;</td></tr>
+<tr name="398" id="398">
+<td>398</td><td></td></tr>
+<tr name="399" id="399">
+<td>399</td><td>           <span class="kw">case</span> <a id="399c17" class="tk">Position</a>:</td></tr>
+<tr name="400" id="400">
+<td>400</td><td>            <span class="ct">/* Transition: '<a class="ct blk" blk_line="400">&lt;S4&gt;:235</a>' */</span></td></tr>
+<tr name="401" id="401">
+<td>401</td><td>            <span class="ct">/* Transition: '<a class="ct blk" blk_line="401">&lt;S4&gt;:234</a>' */</span></td></tr>
+<tr name="402" id="402">
+<td>402</td><td>            <a id="402c13" class="tk">DWork</a>.<a id="402c19" class="tk">is_c1_rtwdemo_pmsmfoc</a> = <a id="402c43" class="tk">IN_Motor_On</a>;</td></tr>
+<tr name="403" id="403">
+<td>403</td><td>            <a id="403c13" class="tk">DWork</a>.<a id="403c19" class="tk">is_Motor_On</a> = <a id="403c33" class="tk">IN_Motor_Control</a>;</td></tr>
+<tr name="404" id="404">
+<td>404</td><td>            <a id="404c13" class="tk">DWork</a>.<a id="404c19" class="tk">is_Motor_Control</a> = <a id="404c38" class="tk">IN_Position_Control</a>;</td></tr>
+<tr name="405" id="405">
+<td>405</td><td></td></tr>
+<tr name="406" id="406">
+<td>406</td><td>            <span class="ct">/* Entry 'Position_Control': '<a class="ct blk" blk_line="406">&lt;S4&gt;:226</a>' */</span></td></tr>
+<tr name="407" id="407">
+<td>407</td><td>            <a id="407c13" class="tk">controller_mode</a> = <a id="407c31" class="tk">PositionControl</a>;</td></tr>
+<tr name="408" id="408">
+<td>408</td><td>            <a id="408c13" class="tk">DWork</a>.<a id="408c19" class="tk">position_command</a> = <a id="408c38" class="tk">current_request</a>;</td></tr>
+<tr name="409" id="409">
+<td>409</td><td>            <span class="kw">break</span>;</td></tr>
+<tr name="410" id="410">
+<td>410</td><td></td></tr>
+<tr name="411" id="411">
+<td>411</td><td>           <span class="kw">default</span>:</td></tr>
+<tr name="412" id="412">
+<td>412</td><td>            <span class="ct">/* Transition: '<a class="ct blk" blk_line="412">&lt;S4&gt;:237</a>' */</span></td></tr>
+<tr name="413" id="413">
+<td>413</td><td>            <span class="ct">/* Transition: '<a class="ct blk" blk_line="413">&lt;S4&gt;:158</a>' */</span></td></tr>
+<tr name="414" id="414">
+<td>414</td><td>            <span class="ct">/*  [command_type==Torque] */</span></td></tr>
+<tr name="415" id="415">
+<td>415</td><td>            <a id="415c13" class="tk">DWork</a>.<a id="415c19" class="tk">is_c1_rtwdemo_pmsmfoc</a> = <a id="415c43" class="tk">IN_Motor_On</a>;</td></tr>
+<tr name="416" id="416">
+<td>416</td><td>            <a id="416c13" class="tk">DWork</a>.<a id="416c19" class="tk">is_Motor_On</a> = <a id="416c33" class="tk">IN_Motor_Control</a>;</td></tr>
+<tr name="417" id="417">
+<td>417</td><td>            <a id="417c13" class="tk">DWork</a>.<a id="417c19" class="tk">is_Motor_Control</a> = <a id="417c38" class="tk">IN_Torque_Control</a>;</td></tr>
+<tr name="418" id="418">
+<td>418</td><td></td></tr>
+<tr name="419" id="419">
+<td>419</td><td>            <span class="ct">/* Entry 'Torque_Control': '<a class="ct blk" blk_line="419">&lt;S4&gt;:220</a>' */</span></td></tr>
+<tr name="420" id="420">
+<td>420</td><td>            <a id="420c13" class="tk">controller_mode</a> = <a id="420c31" class="tk">TorqueControl</a>;</td></tr>
+<tr name="421" id="421">
+<td>421</td><td>            <a id="421c13" class="tk">DWork</a>.<a id="421c19" class="tk">torque_command</a> = <a id="421c36" class="tk">current_request</a>;</td></tr>
+<tr name="422" id="422">
+<td>422</td><td>            <span class="kw">break</span>;</td></tr>
+<tr name="423" id="423">
+<td>423</td><td>          <span class="br">}</span></td></tr>
+<tr name="424" id="424">
+<td>424</td><td>        <span class="br">}</span></td></tr>
+<tr name="425" id="425">
+<td>425</td><td>      <span class="br">}</span></td></tr>
+<tr name="426" id="426">
+<td>426</td><td>    <span class="br">}</span></td></tr>
+<tr name="427" id="427">
+<td>427</td><td></td></tr>
+<tr name="428" id="428">
+<td>428</td><td>    <span class="ct">/* End of Chart: '<a class="ct blk" blk_line="428">&lt;S1&gt;/Controller_Mode_Scheduler</a>' */</span></td></tr>
+<tr name="429" id="429">
+<td>429</td><td></td></tr>
+<tr name="430" id="430">
+<td>430</td><td>    <span class="ct">/* RelationalOperator: '<a class="ct blk" blk_line="430">&lt;S51&gt;/Relational Operator</a>' incorporates:</span></td></tr>
+<tr name="431" id="431">
+<td>431</td><td><span class="ct">     *  Constant: '<a class="ct blk" blk_line="431">&lt;S64&gt;/Constant</a>'</span></td></tr>
+<tr name="432" id="432">
+<td>432</td><td><span class="ct">     */</span></td></tr>
+<tr name="433" id="433">
+<td>433</td><td>    <a id="433c5" class="tk">DWork</a>.<a id="433c11" class="tk">RelationalOperator_a</a> = (<a id="433c35" class="tk">controller_mode</a> == <a id="433c54" class="tk">Startup</a>);</td></tr>
+<tr name="434" id="434">
+<td>434</td><td>  <span class="br">}</span></td></tr>
+<tr name="435" id="435">
+<td>435</td><td></td></tr>
+<tr name="436" id="436">
+<td>436</td><td>  <span class="ct">/* Outputs for Enabled SubSystem: '<a class="ct blk" blk_line="436">&lt;S51&gt;/Open Loop Position</a>' incorporates:</span></td></tr>
+<tr name="437" id="437">
+<td>437</td><td><span class="ct">   *  EnablePort: '<a class="ct blk" blk_line="437">&lt;S65&gt;/Enable</a>'</span></td></tr>
+<tr name="438" id="438">
+<td>438</td><td><span class="ct">   */</span></td></tr>
+<tr name="439" id="439">
+<td>439</td><td>  <span class="kw">if</span> (<a id="439c7" class="tk">DWork</a>.<a id="439c13" class="tk">RelationalOperator_a</a>) <span class="br">{</span></td></tr>
+<tr name="440" id="440">
+<td>440</td><td>    <span class="kw">if</span> (!<a id="440c10" class="tk">DWork</a>.<a id="440c16" class="tk">OpenLoopPosition_MODE</a>) <span class="br">{</span></td></tr>
+<tr name="441" id="441">
+<td>441</td><td>      <span class="ct">/* InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="441">&lt;S65&gt;/Integrate_To_Position</a>' */</span></td></tr>
+<tr name="442" id="442">
+<td>442</td><td>      <a id="442c7" class="tk">DWork</a>.<a id="442c13" class="tk">Integrate_To_Position_DSTATE</a> = 0.0F;</td></tr>
+<tr name="443" id="443">
+<td>443</td><td></td></tr>
+<tr name="444" id="444">
+<td>444</td><td>      <span class="ct">/* InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="444">&lt;S65&gt;/Integrate_To_Velocity</a>' */</span></td></tr>
+<tr name="445" id="445">
+<td>445</td><td>      <a id="445c7" class="tk">DWork</a>.<a id="445c13" class="tk">Integrate_To_Velocity_DSTATE</a> = 0.0F;</td></tr>
+<tr name="446" id="446">
+<td>446</td><td>      <a id="446c7" class="tk">DWork</a>.<a id="446c13" class="tk">OpenLoopPosition_MODE</a> = true;</td></tr>
+<tr name="447" id="447">
+<td>447</td><td>    <span class="br">}</span></td></tr>
+<tr name="448" id="448">
+<td>448</td><td></td></tr>
+<tr name="449" id="449">
+<td>449</td><td>    <span class="ct">/* DiscreteIntegrator: '<a class="ct blk" blk_line="449">&lt;S65&gt;/Integrate_To_Position</a>' */</span></td></tr>
+<tr name="450" id="450">
+<td>450</td><td>    <a id="450c5" class="tk">DWork</a>.<a id="450c11" class="tk">position</a> = <a id="450c22" class="tk">DWork</a>.<a id="450c28" class="tk">Integrate_To_Position_DSTATE</a>;</td></tr>
+<tr name="451" id="451">
+<td>451</td><td></td></tr>
+<tr name="452" id="452">
+<td>452</td><td>    <span class="ct">/* Update for DiscreteIntegrator: '<a class="ct blk" blk_line="452">&lt;S65&gt;/Integrate_To_Position</a>' incorporates:</span></td></tr>
+<tr name="453" id="453">
+<td>453</td><td><span class="ct">     *  DiscreteIntegrator: '<a class="ct blk" blk_line="453">&lt;S65&gt;/Integrate_To_Velocity</a>'</span></td></tr>
+<tr name="454" id="454">
+<td>454</td><td><span class="ct">     */</span></td></tr>
+<tr name="455" id="455">
+<td>455</td><td>    <a id="455c5" class="tk">DWork</a>.<a id="455c11" class="tk">Integrate_To_Position_DSTATE</a> += 4.0E-5F *</td></tr>
+<tr name="456" id="456">
+<td>456</td><td>      <a id="456c7" class="tk">DWork</a>.<a id="456c13" class="tk">Integrate_To_Velocity_DSTATE</a>;</td></tr>
+<tr name="457" id="457">
+<td>457</td><td></td></tr>
+<tr name="458" id="458">
+<td>458</td><td>    <span class="ct">/* Update for DiscreteIntegrator: '<a class="ct blk" blk_line="458">&lt;S65&gt;/Integrate_To_Velocity</a>' incorporates:</span></td></tr>
+<tr name="459" id="459">
+<td>459</td><td><span class="ct">     *  Constant: '<a class="ct blk" blk_line="459">&lt;S65&gt;/Startup_Acceleration_Constant</a>'</span></td></tr>
+<tr name="460" id="460">
+<td>460</td><td><span class="ct">     */</span></td></tr>
+<tr name="461" id="461">
+<td>461</td><td>    <a id="461c5" class="tk">DWork</a>.<a id="461c11" class="tk">Integrate_To_Velocity_DSTATE</a> += 4.0E-5F *</td></tr>
+<tr name="462" id="462">
+<td>462</td><td>      <a id="462c7" class="tk">ctrlParams</a>.<a id="462c18" class="tk">StartupAcceleration</a>;</td></tr>
+<tr name="463" id="463">
+<td>463</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="464" id="464">
+<td>464</td><td>    <span class="kw">if</span> (<a id="464c9" class="tk">DWork</a>.<a id="464c15" class="tk">OpenLoopPosition_MODE</a>) <span class="br">{</span></td></tr>
+<tr name="465" id="465">
+<td>465</td><td>      <a id="465c7" class="tk">DWork</a>.<a id="465c13" class="tk">OpenLoopPosition_MODE</a> = false;</td></tr>
+<tr name="466" id="466">
+<td>466</td><td>    <span class="br">}</span></td></tr>
+<tr name="467" id="467">
+<td>467</td><td>  <span class="br">}</span></td></tr>
+<tr name="468" id="468">
+<td>468</td><td></td></tr>
+<tr name="469" id="469">
+<td>469</td><td>  <span class="ct">/* End of Outputs for SubSystem: '<a class="ct blk" blk_line="469">&lt;S51&gt;/Open Loop Position</a>' */</span></td></tr>
+<tr name="470" id="470">
+<td>470</td><td></td></tr>
+<tr name="471" id="471">
+<td>471</td><td>  <span class="ct">/* Switch: '<a class="ct blk" blk_line="471">&lt;S51&gt;/Switch</a>' */</span></td></tr>
+<tr name="472" id="472">
+<td>472</td><td>  <span class="kw">if</span> (<a id="472c7" class="tk">DWork</a>.<a id="472c13" class="tk">RelationalOperator_a</a>) <span class="br">{</span></td></tr>
+<tr name="473" id="473">
+<td>473</td><td>    <a id="473c5" class="tk">Switch_fr</a> = <a id="473c17" class="tk">DWork</a>.<a id="473c23" class="tk">position</a>;</td></tr>
+<tr name="474" id="474">
+<td>474</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="475" id="475">
+<td>475</td><td>    <a id="475c5" class="tk">Switch_fr</a> = <a id="475c17" class="tk">rotor_position</a>;</td></tr>
+<tr name="476" id="476">
+<td>476</td><td>  <span class="br">}</span></td></tr>
+<tr name="477" id="477">
+<td>477</td><td></td></tr>
+<tr name="478" id="478">
+<td>478</td><td>  <span class="ct">/* End of Switch: '<a class="ct blk" blk_line="478">&lt;S51&gt;/Switch</a>' */</span></td></tr>
+<tr name="479" id="479">
+<td>479</td><td></td></tr>
+<tr name="480" id="480">
+<td>480</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="480">&lt;S14&gt;/number_of_pole_pairs</a>' */</span></td></tr>
+<tr name="481" id="481">
+<td>481</td><td>  <a id="481c3" class="tk">electrical_angle</a> = <a id="481c22" class="tk">ctrlParams</a>.<a id="481c33" class="tk">PmsmPolePairs</a> * <a id="481c49" class="tk">Switch_fr</a>;</td></tr>
+<tr name="482" id="482">
+<td>482</td><td></td></tr>
+<tr name="483" id="483">
+<td>483</td><td>  <span class="ct">/* Trigonometry: '<a class="ct blk" blk_line="483">&lt;S14&gt;/sine_cosine</a>' */</span></td></tr>
+<tr name="484" id="484">
+<td>484</td><td>  <a id="484c3" class="tk">sin_coefficient</a> = <a id="484c21" class="tk">arm_sin_f32</a>(<a id="484c33" class="tk">electrical_angle</a>);</td></tr>
+<tr name="485" id="485">
+<td>485</td><td>  <a id="485c3" class="tk">cos_coefficient</a> = <a id="485c21" class="tk">arm_cos_f32</a>(<a id="485c33" class="tk">electrical_angle</a>);</td></tr>
+<tr name="486" id="486">
+<td>486</td><td></td></tr>
+<tr name="487" id="487">
+<td>487</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="487">&lt;S21&gt;/Beta_Gain</a>' incorporates:</span></td></tr>
+<tr name="488" id="488">
+<td>488</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="488">&lt;S21&gt;/B_Gain</a>'</span></td></tr>
+<tr name="489" id="489">
+<td>489</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="489">&lt;S21&gt;/Add</a>'</span></td></tr>
+<tr name="490" id="490">
+<td>490</td><td><span class="ct">   */</span></td></tr>
+<tr name="491" id="491">
+<td>491</td><td>  <a id="491c3" class="tk">SignDeltaU_b</a> = ((2.0F * <a id="491c27" class="tk">phase_currents</a>[1]) + <a id="491c48" class="tk">phase_currents</a>[0]) * 0.577350259F;</td></tr>
+<tr name="492" id="492">
+<td>492</td><td></td></tr>
+<tr name="493" id="493">
+<td>493</td><td>  <span class="ct">/* Sum: '<a class="ct blk" blk_line="493">&lt;S12&gt;/Sum2</a>' incorporates:</span></td></tr>
+<tr name="494" id="494">
+<td>494</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="494">&lt;S12&gt;/d_current_command (A)</a>'</span></td></tr>
+<tr name="495" id="495">
+<td>495</td><td><span class="ct">   *  Product: '<a class="ct blk" blk_line="495">&lt;S22&gt;/Product2</a>'</span></td></tr>
+<tr name="496" id="496">
+<td>496</td><td><span class="ct">   *  Product: '<a class="ct blk" blk_line="496">&lt;S22&gt;/Product3</a>'</span></td></tr>
+<tr name="497" id="497">
+<td>497</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="497">&lt;S22&gt;/Add1</a>'</span></td></tr>
+<tr name="498" id="498">
+<td>498</td><td><span class="ct">   */</span></td></tr>
+<tr name="499" id="499">
+<td>499</td><td>  <a id="499c3" class="tk">d_current_error</a> = 0.0F - ((<a id="499c30" class="tk">phase_currents</a>[0] * <a id="499c50" class="tk">cos_coefficient</a>) +</td></tr>
+<tr name="500" id="500">
+<td>500</td><td>    (<a id="500c6" class="tk">SignDeltaU_b</a> * <a id="500c21" class="tk">sin_coefficient</a>));</td></tr>
+<tr name="501" id="501">
+<td>501</td><td></td></tr>
+<tr name="502" id="502">
+<td>502</td><td>  <span class="ct">/* DataTypeConversion: '<a class="ct blk" blk_line="502">&lt;S8&gt;/Enum_To_Int</a>' */</span></td></tr>
+<tr name="503" id="503">
+<td>503</td><td>  <a id="503c3" class="tk">Enum_To_Int</a> = (<a id="503c18" class="tk">int16_T</a>)<a id="503c26" class="tk">controller_mode</a>;</td></tr>
+<tr name="504" id="504">
+<td>504</td><td></td></tr>
+<tr name="505" id="505">
+<td>505</td><td>  <span class="ct">/* RelationalOperator: '<a class="ct blk" blk_line="505">&lt;S13&gt;/FixPt Relational Operator</a>' incorporates:</span></td></tr>
+<tr name="506" id="506">
+<td>506</td><td><span class="ct">   *  UnitDelay: '<a class="ct blk" blk_line="506">&lt;S13&gt;/Delay Input1</a>'</span></td></tr>
+<tr name="507" id="507">
+<td>507</td><td><span class="ct">   */</span></td></tr>
+<tr name="508" id="508">
+<td>508</td><td>  <a id="508c3" class="tk">FixPtRelationalOperator</a> = (<a id="508c30" class="tk">uint8_T</a>)(<a id="508c39" class="tk">Enum_To_Int</a> != <a id="508c54" class="tk">DWork</a>.<a id="508c60" class="tk">DelayInput1_DSTATE</a>);</td></tr>
+<tr name="509" id="509">
+<td>509</td><td></td></tr>
+<tr name="510" id="510">
+<td>510</td><td>  <span class="ct">/* DiscreteIntegrator: '<a class="ct blk" blk_line="510">&lt;S17&gt;/Integrator</a>' */</span></td></tr>
+<tr name="511" id="511">
+<td>511</td><td>  <span class="kw">if</span> ((<a id="511c8" class="tk">FixPtRelationalOperator</a> != 0) || (<a id="511c42" class="tk">DWork</a>.<a id="511c48" class="tk">Integrator_PrevResetState</a> != 0))</td></tr>
+<tr name="512" id="512">
+<td>512</td><td>  <span class="br">{</span></td></tr>
+<tr name="513" id="513">
+<td>513</td><td>    <a id="513c5" class="tk">DWork</a>.<a id="513c11" class="tk">Integrator_DSTATE</a> = 0.0F;</td></tr>
+<tr name="514" id="514">
+<td>514</td><td>  <span class="br">}</span></td></tr>
+<tr name="515" id="515">
+<td>515</td><td></td></tr>
+<tr name="516" id="516">
+<td>516</td><td>  <span class="ct">/* Sum: '<a class="ct blk" blk_line="516">&lt;S17&gt;/Sum</a>' incorporates:</span></td></tr>
+<tr name="517" id="517">
+<td>517</td><td><span class="ct">   *  DiscreteIntegrator: '<a class="ct blk" blk_line="517">&lt;S17&gt;/Integrator</a>'</span></td></tr>
+<tr name="518" id="518">
+<td>518</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="518">&lt;S17&gt;/Proportional Gain</a>'</span></td></tr>
+<tr name="519" id="519">
+<td>519</td><td><span class="ct">   */</span></td></tr>
+<tr name="520" id="520">
+<td>520</td><td>  <a id="520c3" class="tk">SignDeltaU</a> = (<a id="520c17" class="tk">ctrlParams</a>.<a id="520c28" class="tk">Current_P</a> * <a id="520c40" class="tk">d_current_error</a>) +</td></tr>
+<tr name="521" id="521">
+<td>521</td><td>    <a id="521c5" class="tk">DWork</a>.<a id="521c11" class="tk">Integrator_DSTATE</a>;</td></tr>
+<tr name="522" id="522">
+<td>522</td><td></td></tr>
+<tr name="523" id="523">
+<td>523</td><td>  <span class="ct">/* Saturate: '<a class="ct blk" blk_line="523">&lt;S17&gt;/Saturate</a>' */</span></td></tr>
+<tr name="524" id="524">
+<td>524</td><td>  <span class="kw">if</span> (<a id="524c7" class="tk">SignDeltaU</a> &gt; 12.0F) <span class="br">{</span></td></tr>
+<tr name="525" id="525">
+<td>525</td><td>    <a id="525c5" class="tk">Gain1</a> = 12.0F;</td></tr>
+<tr name="526" id="526">
+<td>526</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="526c14" class="tk">SignDeltaU</a> &lt; -12.0F) <span class="br">{</span></td></tr>
+<tr name="527" id="527">
+<td>527</td><td>    <a id="527c5" class="tk">Gain1</a> = -12.0F;</td></tr>
+<tr name="528" id="528">
+<td>528</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="529" id="529">
+<td>529</td><td>    <a id="529c5" class="tk">Gain1</a> = <a id="529c13" class="tk">SignDeltaU</a>;</td></tr>
+<tr name="530" id="530">
+<td>530</td><td>  <span class="br">}</span></td></tr>
+<tr name="531" id="531">
+<td>531</td><td></td></tr>
+<tr name="532" id="532">
+<td>532</td><td>  <span class="ct">/* End of Saturate: '<a class="ct blk" blk_line="532">&lt;S17&gt;/Saturate</a>' */</span></td></tr>
+<tr name="533" id="533">
+<td>533</td><td>  <span class="kw">if</span> (<a id="533c7" class="tk">M</a>-&gt;<a id="533c10" class="tk">Timing</a>.<a id="533c17" class="tk">TaskCounters</a>.<a id="533c30" class="tk">TID</a>[1] == 0) <span class="br">{</span></td></tr>
+<tr name="534" id="534">
+<td>534</td><td>    <span class="ct">/* SwitchCase: '<a class="ct blk" blk_line="534">&lt;S5&gt;/Switch Case</a>' incorporates:</span></td></tr>
+<tr name="535" id="535">
+<td>535</td><td><span class="ct">     *  Inport: '<a class="ct blk" blk_line="535">&lt;S10&gt;/torque_command</a>'</span></td></tr>
+<tr name="536" id="536">
+<td>536</td><td><span class="ct">     */</span></td></tr>
+<tr name="537" id="537">
+<td>537</td><td>    <a id="537c5" class="tk">rtPrevAction</a> = <a id="537c20" class="tk">DWork</a>.<a id="537c26" class="tk">SwitchCase_ActiveSubsystem</a>;</td></tr>
+<tr name="538" id="538">
+<td>538</td><td>    <span class="kw">switch</span> (<a id="538c13" class="tk">controller_mode</a>) <span class="br">{</span></td></tr>
+<tr name="539" id="539">
+<td>539</td><td>     <span class="kw">case</span> <a id="539c11" class="tk">VelocityControl</a>:</td></tr>
+<tr name="540" id="540">
+<td>540</td><td>      <a id="540c7" class="tk">DWork</a>.<a id="540c13" class="tk">SwitchCase_ActiveSubsystem</a> = 0;</td></tr>
+<tr name="541" id="541">
+<td>541</td><td>      <span class="kw">break</span>;</td></tr>
+<tr name="542" id="542">
+<td>542</td><td></td></tr>
+<tr name="543" id="543">
+<td>543</td><td>     <span class="kw">case</span> <a id="543c11" class="tk">PositionControl</a>:</td></tr>
+<tr name="544" id="544">
+<td>544</td><td>      <a id="544c7" class="tk">DWork</a>.<a id="544c13" class="tk">SwitchCase_ActiveSubsystem</a> = 1;</td></tr>
+<tr name="545" id="545">
+<td>545</td><td>      <span class="kw">break</span>;</td></tr>
+<tr name="546" id="546">
+<td>546</td><td></td></tr>
+<tr name="547" id="547">
+<td>547</td><td>     <span class="kw">default</span>:</td></tr>
+<tr name="548" id="548">
+<td>548</td><td>      <a id="548c7" class="tk">DWork</a>.<a id="548c13" class="tk">SwitchCase_ActiveSubsystem</a> = 2;</td></tr>
+<tr name="549" id="549">
+<td>549</td><td>      <span class="kw">break</span>;</td></tr>
+<tr name="550" id="550">
+<td>550</td><td>    <span class="br">}</span></td></tr>
+<tr name="551" id="551">
+<td>551</td><td></td></tr>
+<tr name="552" id="552">
+<td>552</td><td>    <span class="kw">switch</span> (<a id="552c13" class="tk">DWork</a>.<a id="552c19" class="tk">SwitchCase_ActiveSubsystem</a>) <span class="br">{</span></td></tr>
+<tr name="553" id="553">
+<td>553</td><td>     <span class="kw">case</span> 0:</td></tr>
+<tr name="554" id="554">
+<td>554</td><td>      <span class="kw">if</span> (<a id="554c11" class="tk">DWork</a>.<a id="554c17" class="tk">SwitchCase_ActiveSubsystem</a> != <a id="554c47" class="tk">rtPrevAction</a>) <span class="br">{</span></td></tr>
+<tr name="555" id="555">
+<td>555</td><td>        <span class="ct">/* InitializeConditions for IfAction SubSystem: '<a class="ct blk" blk_line="555">&lt;S5&gt;/Velocity_Control</a>' incorporates:</span></td></tr>
+<tr name="556" id="556">
+<td>556</td><td><span class="ct">         *  InitializeConditions for ActionPort: '<a class="ct blk" blk_line="556">&lt;S11&gt;/Action Port</a>'</span></td></tr>
+<tr name="557" id="557">
+<td>557</td><td><span class="ct">         */</span></td></tr>
+<tr name="558" id="558">
+<td>558</td><td>        <span class="ct">/* InitializeConditions for SwitchCase: '<a class="ct blk" blk_line="558">&lt;S5&gt;/Switch Case</a>' incorporates:</span></td></tr>
+<tr name="559" id="559">
+<td>559</td><td><span class="ct">         *  InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="559">&lt;S45&gt;/Integrator</a>'</span></td></tr>
+<tr name="560" id="560">
+<td>560</td><td><span class="ct">         */</span></td></tr>
+<tr name="561" id="561">
+<td>561</td><td>        <a id="561c9" class="tk">DWork</a>.<a id="561c15" class="tk">Integrator_DSTATE_f</a> = 0.0F;</td></tr>
+<tr name="562" id="562">
+<td>562</td><td></td></tr>
+<tr name="563" id="563">
+<td>563</td><td>        <span class="ct">/* End of InitializeConditions for SubSystem: '<a class="ct blk" blk_line="563">&lt;S5&gt;/Velocity_Control</a>' */</span></td></tr>
+<tr name="564" id="564">
+<td>564</td><td>      <span class="br">}</span></td></tr>
+<tr name="565" id="565">
+<td>565</td><td></td></tr>
+<tr name="566" id="566">
+<td>566</td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '<a class="ct blk" blk_line="566">&lt;S5&gt;/Velocity_Control</a>' incorporates:</span></td></tr>
+<tr name="567" id="567">
+<td>567</td><td><span class="ct">       *  ActionPort: '<a class="ct blk" blk_line="567">&lt;S11&gt;/Action Port</a>'</span></td></tr>
+<tr name="568" id="568">
+<td>568</td><td><span class="ct">       */</span></td></tr>
+<tr name="569" id="569">
+<td>569</td><td>      <span class="ct">/* Sum: '<a class="ct blk" blk_line="569">&lt;S11&gt;/Sum2</a>' */</span></td></tr>
+<tr name="570" id="570">
+<td>570</td><td>      <a id="570c7" class="tk">velocity_error</a> = <a id="570c24" class="tk">DWork</a>.<a id="570c30" class="tk">velocity_command</a> - <a id="570c49" class="tk">velocity_measured</a>;</td></tr>
+<tr name="571" id="571">
+<td>571</td><td></td></tr>
+<tr name="572" id="572">
+<td>572</td><td>      <span class="ct">/* Sum: '<a class="ct blk" blk_line="572">&lt;S45&gt;/Sum</a>' incorporates:</span></td></tr>
+<tr name="573" id="573">
+<td>573</td><td><span class="ct">       *  DiscreteIntegrator: '<a class="ct blk" blk_line="573">&lt;S45&gt;/Integrator</a>'</span></td></tr>
+<tr name="574" id="574">
+<td>574</td><td><span class="ct">       *  Gain: '<a class="ct blk" blk_line="574">&lt;S45&gt;/Proportional Gain</a>'</span></td></tr>
+<tr name="575" id="575">
+<td>575</td><td><span class="ct">       */</span></td></tr>
+<tr name="576" id="576">
+<td>576</td><td>      <a id="576c7" class="tk">electrical_angle</a> = (<a id="576c27" class="tk">ctrlParams</a>.<a id="576c38" class="tk">Velocity_P</a> * <a id="576c51" class="tk">velocity_error</a>) +</td></tr>
+<tr name="577" id="577">
+<td>577</td><td>        <a id="577c9" class="tk">DWork</a>.<a id="577c15" class="tk">Integrator_DSTATE_f</a>;</td></tr>
+<tr name="578" id="578">
+<td>578</td><td></td></tr>
+<tr name="579" id="579">
+<td>579</td><td>      <span class="ct">/* Saturate: '<a class="ct blk" blk_line="579">&lt;S45&gt;/Saturate</a>' */</span></td></tr>
+<tr name="580" id="580">
+<td>580</td><td>      <span class="kw">if</span> (<a id="580c11" class="tk">electrical_angle</a> &gt; 2.0F) <span class="br">{</span></td></tr>
+<tr name="581" id="581">
+<td>581</td><td>        <span class="ct">/* SignalConversion: '<a class="ct blk" blk_line="581">&lt;S11&gt;/Isolate_For_Merge</a>' */</span></td></tr>
+<tr name="582" id="582">
+<td>582</td><td>        <a id="582c9" class="tk">DWork</a>.<a id="582c15" class="tk">Merge</a> = 2.0F;</td></tr>
+<tr name="583" id="583">
+<td>583</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="583c18" class="tk">electrical_angle</a> &lt; -2.0F) <span class="br">{</span></td></tr>
+<tr name="584" id="584">
+<td>584</td><td>        <span class="ct">/* SignalConversion: '<a class="ct blk" blk_line="584">&lt;S11&gt;/Isolate_For_Merge</a>' */</span></td></tr>
+<tr name="585" id="585">
+<td>585</td><td>        <a id="585c9" class="tk">DWork</a>.<a id="585c15" class="tk">Merge</a> = -2.0F;</td></tr>
+<tr name="586" id="586">
+<td>586</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="587" id="587">
+<td>587</td><td>        <span class="ct">/* SignalConversion: '<a class="ct blk" blk_line="587">&lt;S11&gt;/Isolate_For_Merge</a>' */</span></td></tr>
+<tr name="588" id="588">
+<td>588</td><td>        <a id="588c9" class="tk">DWork</a>.<a id="588c15" class="tk">Merge</a> = <a id="588c23" class="tk">electrical_angle</a>;</td></tr>
+<tr name="589" id="589">
+<td>589</td><td>      <span class="br">}</span></td></tr>
+<tr name="590" id="590">
+<td>590</td><td></td></tr>
+<tr name="591" id="591">
+<td>591</td><td>      <span class="ct">/* End of Saturate: '<a class="ct blk" blk_line="591">&lt;S45&gt;/Saturate</a>' */</span></td></tr>
+<tr name="592" id="592">
+<td>592</td><td></td></tr>
+<tr name="593" id="593">
+<td>593</td><td>      <span class="ct">/* DeadZone: '<a class="ct blk" blk_line="593">&lt;S46&gt;/DeadZone</a>' */</span></td></tr>
+<tr name="594" id="594">
+<td>594</td><td>      <span class="kw">if</span> (<a id="594c11" class="tk">electrical_angle</a> &gt; 2.0F) <span class="br">{</span></td></tr>
+<tr name="595" id="595">
+<td>595</td><td>        <a id="595c9" class="tk">electrical_angle</a> -= 2.0F;</td></tr>
+<tr name="596" id="596">
+<td>596</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="596c18" class="tk">electrical_angle</a> &gt;= -2.0F) <span class="br">{</span></td></tr>
+<tr name="597" id="597">
+<td>597</td><td>        <a id="597c9" class="tk">electrical_angle</a> = 0.0F;</td></tr>
+<tr name="598" id="598">
+<td>598</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="599" id="599">
+<td>599</td><td>        <a id="599c9" class="tk">electrical_angle</a> -= -2.0F;</td></tr>
+<tr name="600" id="600">
+<td>600</td><td>      <span class="br">}</span></td></tr>
+<tr name="601" id="601">
+<td>601</td><td></td></tr>
+<tr name="602" id="602">
+<td>602</td><td>      <span class="ct">/* End of DeadZone: '<a class="ct blk" blk_line="602">&lt;S46&gt;/DeadZone</a>' */</span></td></tr>
+<tr name="603" id="603">
+<td>603</td><td></td></tr>
+<tr name="604" id="604">
+<td>604</td><td>      <span class="ct">/* RelationalOperator: '<a class="ct blk" blk_line="604">&lt;S46&gt;/NotEqual</a>' */</span></td></tr>
+<tr name="605" id="605">
+<td>605</td><td>      <a id="605c7" class="tk">NotEqual_b</a> = (0.0F != <a id="605c29" class="tk">electrical_angle</a>);</td></tr>
+<tr name="606" id="606">
+<td>606</td><td></td></tr>
+<tr name="607" id="607">
+<td>607</td><td>      <span class="ct">/* Signum: '<a class="ct blk" blk_line="607">&lt;S46&gt;/SignDeltaU</a>' */</span></td></tr>
+<tr name="608" id="608">
+<td>608</td><td>      <span class="kw">if</span> (<a id="608c11" class="tk">electrical_angle</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="609" id="609">
+<td>609</td><td>        <a id="609c9" class="tk">electrical_angle</a> = -1.0F;</td></tr>
+<tr name="610" id="610">
+<td>610</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="611" id="611">
+<td>611</td><td>        <span class="kw">if</span> (<a id="611c13" class="tk">electrical_angle</a> &gt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="612" id="612">
+<td>612</td><td>          <a id="612c11" class="tk">electrical_angle</a> = 1.0F;</td></tr>
+<tr name="613" id="613">
+<td>613</td><td>        <span class="br">}</span></td></tr>
+<tr name="614" id="614">
+<td>614</td><td>      <span class="br">}</span></td></tr>
+<tr name="615" id="615">
+<td>615</td><td></td></tr>
+<tr name="616" id="616">
+<td>616</td><td>      <span class="ct">/* End of Signum: '<a class="ct blk" blk_line="616">&lt;S46&gt;/SignDeltaU</a>' */</span></td></tr>
+<tr name="617" id="617">
+<td>617</td><td></td></tr>
+<tr name="618" id="618">
+<td>618</td><td>      <span class="ct">/* Gain: '<a class="ct blk" blk_line="618">&lt;S45&gt;/Integral Gain</a>' */</span></td></tr>
+<tr name="619" id="619">
+<td>619</td><td>      <a id="619c7" class="tk">Switch_fr</a> = <a id="619c19" class="tk">ctrlParams</a>.<a id="619c30" class="tk">Velocity_I</a> * <a id="619c43" class="tk">velocity_error</a>;</td></tr>
+<tr name="620" id="620">
+<td>620</td><td></td></tr>
+<tr name="621" id="621">
+<td>621</td><td>      <span class="ct">/* DataTypeConversion: '<a class="ct blk" blk_line="621">&lt;S46&gt;/DataTypeConv1</a>' */</span></td></tr>
+<tr name="622" id="622">
+<td>622</td><td>      <span class="kw">if</span> (<a id="622c11" class="tk">electrical_angle</a> &lt; 128.0F) <span class="br">{</span></td></tr>
+<tr name="623" id="623">
+<td>623</td><td>        <a id="623c9" class="tk">rtPrevAction</a> = (<a id="623c25" class="tk">int8_T</a>)<a id="623c32" class="tk">electrical_angle</a>;</td></tr>
+<tr name="624" id="624">
+<td>624</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="625" id="625">
+<td>625</td><td>        <a id="625c9" class="tk">rtPrevAction</a> = <a id="625c24" class="tk">MAX_int8_T</a>;</td></tr>
+<tr name="626" id="626">
+<td>626</td><td>      <span class="br">}</span></td></tr>
+<tr name="627" id="627">
+<td>627</td><td></td></tr>
+<tr name="628" id="628">
+<td>628</td><td>      <span class="ct">/* End of DataTypeConversion: '<a class="ct blk" blk_line="628">&lt;S46&gt;/DataTypeConv1</a>' */</span></td></tr>
+<tr name="629" id="629">
+<td>629</td><td></td></tr>
+<tr name="630" id="630">
+<td>630</td><td>      <span class="ct">/* Signum: '<a class="ct blk" blk_line="630">&lt;S46&gt;/SignPreIntegrator</a>' */</span></td></tr>
+<tr name="631" id="631">
+<td>631</td><td>      <span class="kw">if</span> (<a id="631c11" class="tk">Switch_fr</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="632" id="632">
+<td>632</td><td>        <a id="632c9" class="tk">electrical_angle</a> = -1.0F;</td></tr>
+<tr name="633" id="633">
+<td>633</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="633c18" class="tk">Switch_fr</a> &gt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="634" id="634">
+<td>634</td><td>        <a id="634c9" class="tk">electrical_angle</a> = 1.0F;</td></tr>
+<tr name="635" id="635">
+<td>635</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="636" id="636">
+<td>636</td><td>        <a id="636c9" class="tk">electrical_angle</a> = <a id="636c28" class="tk">Switch_fr</a>;</td></tr>
+<tr name="637" id="637">
+<td>637</td><td>      <span class="br">}</span></td></tr>
+<tr name="638" id="638">
+<td>638</td><td></td></tr>
+<tr name="639" id="639">
+<td>639</td><td>      <span class="ct">/* Switch: '<a class="ct blk" blk_line="639">&lt;S45&gt;/Switch</a>' incorporates:</span></td></tr>
+<tr name="640" id="640">
+<td>640</td><td><span class="ct">       *  Constant: '<a class="ct blk" blk_line="640">&lt;S45&gt;/Constant</a>'</span></td></tr>
+<tr name="641" id="641">
+<td>641</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="641">&lt;S46&gt;/DataTypeConv2</a>'</span></td></tr>
+<tr name="642" id="642">
+<td>642</td><td><span class="ct">       *  Logic: '<a class="ct blk" blk_line="642">&lt;S46&gt;/AND</a>'</span></td></tr>
+<tr name="643" id="643">
+<td>643</td><td><span class="ct">       *  RelationalOperator: '<a class="ct blk" blk_line="643">&lt;S46&gt;/Equal</a>'</span></td></tr>
+<tr name="644" id="644">
+<td>644</td><td><span class="ct">       *  Signum: '<a class="ct blk" blk_line="644">&lt;S46&gt;/SignPreIntegrator</a>'</span></td></tr>
+<tr name="645" id="645">
+<td>645</td><td><span class="ct">       */</span></td></tr>
+<tr name="646" id="646">
+<td>646</td><td>      <span class="kw">if</span> (<a id="646c11" class="tk">NotEqual_b</a> &amp;&amp; (<a id="646c26" class="tk">rtPrevAction</a> == ((<a id="646c44" class="tk">int8_T</a>)<a id="646c51" class="tk">electrical_angle</a>))) <span class="br">{</span></td></tr>
+<tr name="647" id="647">
+<td>647</td><td>        <a id="647c9" class="tk">Switch_fr</a> = 0.0F;</td></tr>
+<tr name="648" id="648">
+<td>648</td><td>      <span class="br">}</span></td></tr>
+<tr name="649" id="649">
+<td>649</td><td></td></tr>
+<tr name="650" id="650">
+<td>650</td><td>      <span class="ct">/* End of Switch: '<a class="ct blk" blk_line="650">&lt;S45&gt;/Switch</a>' */</span></td></tr>
+<tr name="651" id="651">
+<td>651</td><td></td></tr>
+<tr name="652" id="652">
+<td>652</td><td>      <span class="ct">/* Update for DiscreteIntegrator: '<a class="ct blk" blk_line="652">&lt;S45&gt;/Integrator</a>' */</span></td></tr>
+<tr name="653" id="653">
+<td>653</td><td>      <a id="653c7" class="tk">DWork</a>.<a id="653c13" class="tk">Integrator_DSTATE_f</a> += 0.005F * <a id="653c45" class="tk">Switch_fr</a>;</td></tr>
+<tr name="654" id="654">
+<td>654</td><td></td></tr>
+<tr name="655" id="655">
+<td>655</td><td>      <span class="ct">/* End of Outputs for SubSystem: '<a class="ct blk" blk_line="655">&lt;S5&gt;/Velocity_Control</a>' */</span></td></tr>
+<tr name="656" id="656">
+<td>656</td><td>      <span class="kw">break</span>;</td></tr>
+<tr name="657" id="657">
+<td>657</td><td></td></tr>
+<tr name="658" id="658">
+<td>658</td><td>     <span class="kw">case</span> 1:</td></tr>
+<tr name="659" id="659">
+<td>659</td><td>      <span class="kw">if</span> (<a id="659c11" class="tk">DWork</a>.<a id="659c17" class="tk">SwitchCase_ActiveSubsystem</a> != <a id="659c47" class="tk">rtPrevAction</a>) <span class="br">{</span></td></tr>
+<tr name="660" id="660">
+<td>660</td><td>        <span class="ct">/* InitializeConditions for IfAction SubSystem: '<a class="ct blk" blk_line="660">&lt;S5&gt;/Position_Control</a>' incorporates:</span></td></tr>
+<tr name="661" id="661">
+<td>661</td><td><span class="ct">         *  InitializeConditions for ActionPort: '<a class="ct blk" blk_line="661">&lt;S9&gt;/Action Port</a>'</span></td></tr>
+<tr name="662" id="662">
+<td>662</td><td><span class="ct">         */</span></td></tr>
+<tr name="663" id="663">
+<td>663</td><td>        <span class="ct">/* InitializeConditions for SwitchCase: '<a class="ct blk" blk_line="663">&lt;S5&gt;/Switch Case</a>' incorporates:</span></td></tr>
+<tr name="664" id="664">
+<td>664</td><td><span class="ct">         *  InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="664">&lt;S42&gt;/Integrator</a>'</span></td></tr>
+<tr name="665" id="665">
+<td>665</td><td><span class="ct">         */</span></td></tr>
+<tr name="666" id="666">
+<td>666</td><td>        <a id="666c9" class="tk">DWork</a>.<a id="666c15" class="tk">Integrator_DSTATE_lc</a> = 0.0F;</td></tr>
+<tr name="667" id="667">
+<td>667</td><td></td></tr>
+<tr name="668" id="668">
+<td>668</td><td>        <span class="ct">/* End of InitializeConditions for SubSystem: '<a class="ct blk" blk_line="668">&lt;S5&gt;/Position_Control</a>' */</span></td></tr>
+<tr name="669" id="669">
+<td>669</td><td>      <span class="br">}</span></td></tr>
+<tr name="670" id="670">
+<td>670</td><td></td></tr>
+<tr name="671" id="671">
+<td>671</td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '<a class="ct blk" blk_line="671">&lt;S5&gt;/Position_Control</a>' incorporates:</span></td></tr>
+<tr name="672" id="672">
+<td>672</td><td><span class="ct">       *  ActionPort: '<a class="ct blk" blk_line="672">&lt;S9&gt;/Action Port</a>'</span></td></tr>
+<tr name="673" id="673">
+<td>673</td><td><span class="ct">       */</span></td></tr>
+<tr name="674" id="674">
+<td>674</td><td>      <span class="ct">/* Sum: '<a class="ct blk" blk_line="674">&lt;S9&gt;/Sum2</a>' */</span></td></tr>
+<tr name="675" id="675">
+<td>675</td><td>      <a id="675c7" class="tk">Switch_fr</a> = <a id="675c19" class="tk">DWork</a>.<a id="675c25" class="tk">position_command</a> - <a id="675c44" class="tk">Switch_fr</a>;</td></tr>
+<tr name="676" id="676">
+<td>676</td><td></td></tr>
+<tr name="677" id="677">
+<td>677</td><td>      <span class="ct">/* Switch: '<a class="ct blk" blk_line="677">&lt;S43&gt;/Select_Angle</a>' incorporates:</span></td></tr>
+<tr name="678" id="678">
+<td>678</td><td><span class="ct">       *  Constant: '<a class="ct blk" blk_line="678">&lt;S43&gt;/Neg_Pi_Constant</a>'</span></td></tr>
+<tr name="679" id="679">
+<td>679</td><td><span class="ct">       *  Constant: '<a class="ct blk" blk_line="679">&lt;S43&gt;/Pi_Constant_1</a>'</span></td></tr>
+<tr name="680" id="680">
+<td>680</td><td><span class="ct">       *  Constant: '<a class="ct blk" blk_line="680">&lt;S43&gt;/Pi_Constant_2</a>'</span></td></tr>
+<tr name="681" id="681">
+<td>681</td><td><span class="ct">       *  Constant: '<a class="ct blk" blk_line="681">&lt;S43&gt;/Pi_Constant_3</a>'</span></td></tr>
+<tr name="682" id="682">
+<td>682</td><td><span class="ct">       *  Constant: '<a class="ct blk" blk_line="682">&lt;S43&gt;/Two_Pi_Constant</a>'</span></td></tr>
+<tr name="683" id="683">
+<td>683</td><td><span class="ct">       *  Logic: '<a class="ct blk" blk_line="683">&lt;S43&gt;/OR</a>'</span></td></tr>
+<tr name="684" id="684">
+<td>684</td><td><span class="ct">       *  Math: '<a class="ct blk" blk_line="684">&lt;S43&gt;/Modulus</a>'</span></td></tr>
+<tr name="685" id="685">
+<td>685</td><td><span class="ct">       *  RelationalOperator: '<a class="ct blk" blk_line="685">&lt;S43&gt;/Greater_Than</a>'</span></td></tr>
+<tr name="686" id="686">
+<td>686</td><td><span class="ct">       *  RelationalOperator: '<a class="ct blk" blk_line="686">&lt;S43&gt;/Less_Than</a>'</span></td></tr>
+<tr name="687" id="687">
+<td>687</td><td><span class="ct">       *  Sum: '<a class="ct blk" blk_line="687">&lt;S43&gt;/Add</a>'</span></td></tr>
+<tr name="688" id="688">
+<td>688</td><td><span class="ct">       *  Sum: '<a class="ct blk" blk_line="688">&lt;S43&gt;/Subtract</a>'</span></td></tr>
+<tr name="689" id="689">
+<td>689</td><td><span class="ct">       */</span></td></tr>
+<tr name="690" id="690">
+<td>690</td><td>      <span class="kw">if</span> ((<a id="690c12" class="tk">Switch_fr</a> &lt; -1.57079637F) || (<a id="690c42" class="tk">Switch_fr</a> &gt;= 1.57079637F)) <span class="br">{</span></td></tr>
+<tr name="691" id="691">
+<td>691</td><td>        <a id="691c9" class="tk">Switch_fr</a> = <a id="691c21" class="tk">rt_modf</a>(<a id="691c29" class="tk">Switch_fr</a> + 1.57079637F, 3.14159274F) - 1.57079637F;</td></tr>
+<tr name="692" id="692">
+<td>692</td><td>      <span class="br">}</span></td></tr>
+<tr name="693" id="693">
+<td>693</td><td></td></tr>
+<tr name="694" id="694">
+<td>694</td><td>      <span class="ct">/* End of Switch: '<a class="ct blk" blk_line="694">&lt;S43&gt;/Select_Angle</a>' */</span></td></tr>
+<tr name="695" id="695">
+<td>695</td><td></td></tr>
+<tr name="696" id="696">
+<td>696</td><td>      <span class="ct">/* Sum: '<a class="ct blk" blk_line="696">&lt;S42&gt;/Sum</a>' incorporates:</span></td></tr>
+<tr name="697" id="697">
+<td>697</td><td><span class="ct">       *  DiscreteIntegrator: '<a class="ct blk" blk_line="697">&lt;S42&gt;/Integrator</a>'</span></td></tr>
+<tr name="698" id="698">
+<td>698</td><td><span class="ct">       *  Gain: '<a class="ct blk" blk_line="698">&lt;S42&gt;/Proportional Gain</a>'</span></td></tr>
+<tr name="699" id="699">
+<td>699</td><td><span class="ct">       */</span></td></tr>
+<tr name="700" id="700">
+<td>700</td><td>      <a id="700c7" class="tk">electrical_angle</a> = (<a id="700c27" class="tk">ctrlParams</a>.<a id="700c38" class="tk">Position_P</a> * <a id="700c51" class="tk">Switch_fr</a>) +</td></tr>
+<tr name="701" id="701">
+<td>701</td><td>        <a id="701c9" class="tk">DWork</a>.<a id="701c15" class="tk">Integrator_DSTATE_lc</a>;</td></tr>
+<tr name="702" id="702">
+<td>702</td><td></td></tr>
+<tr name="703" id="703">
+<td>703</td><td>      <span class="ct">/* Saturate: '<a class="ct blk" blk_line="703">&lt;S42&gt;/Saturate</a>' */</span></td></tr>
+<tr name="704" id="704">
+<td>704</td><td>      <span class="kw">if</span> (<a id="704c11" class="tk">electrical_angle</a> &gt; 2.0F) <span class="br">{</span></td></tr>
+<tr name="705" id="705">
+<td>705</td><td>        <span class="ct">/* SignalConversion: '<a class="ct blk" blk_line="705">&lt;S9&gt;/Isolate_For_Merge</a>' */</span></td></tr>
+<tr name="706" id="706">
+<td>706</td><td>        <a id="706c9" class="tk">DWork</a>.<a id="706c15" class="tk">Merge</a> = 2.0F;</td></tr>
+<tr name="707" id="707">
+<td>707</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="707c18" class="tk">electrical_angle</a> &lt; -2.0F) <span class="br">{</span></td></tr>
+<tr name="708" id="708">
+<td>708</td><td>        <span class="ct">/* SignalConversion: '<a class="ct blk" blk_line="708">&lt;S9&gt;/Isolate_For_Merge</a>' */</span></td></tr>
+<tr name="709" id="709">
+<td>709</td><td>        <a id="709c9" class="tk">DWork</a>.<a id="709c15" class="tk">Merge</a> = -2.0F;</td></tr>
+<tr name="710" id="710">
+<td>710</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="711" id="711">
+<td>711</td><td>        <span class="ct">/* SignalConversion: '<a class="ct blk" blk_line="711">&lt;S9&gt;/Isolate_For_Merge</a>' */</span></td></tr>
+<tr name="712" id="712">
+<td>712</td><td>        <a id="712c9" class="tk">DWork</a>.<a id="712c15" class="tk">Merge</a> = <a id="712c23" class="tk">electrical_angle</a>;</td></tr>
+<tr name="713" id="713">
+<td>713</td><td>      <span class="br">}</span></td></tr>
+<tr name="714" id="714">
+<td>714</td><td></td></tr>
+<tr name="715" id="715">
+<td>715</td><td>      <span class="ct">/* End of Saturate: '<a class="ct blk" blk_line="715">&lt;S42&gt;/Saturate</a>' */</span></td></tr>
+<tr name="716" id="716">
+<td>716</td><td></td></tr>
+<tr name="717" id="717">
+<td>717</td><td>      <span class="ct">/* DeadZone: '<a class="ct blk" blk_line="717">&lt;S44&gt;/DeadZone</a>' */</span></td></tr>
+<tr name="718" id="718">
+<td>718</td><td>      <span class="kw">if</span> (<a id="718c11" class="tk">electrical_angle</a> &gt; 2.0F) <span class="br">{</span></td></tr>
+<tr name="719" id="719">
+<td>719</td><td>        <a id="719c9" class="tk">electrical_angle</a> -= 2.0F;</td></tr>
+<tr name="720" id="720">
+<td>720</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="720c18" class="tk">electrical_angle</a> &gt;= -2.0F) <span class="br">{</span></td></tr>
+<tr name="721" id="721">
+<td>721</td><td>        <a id="721c9" class="tk">electrical_angle</a> = 0.0F;</td></tr>
+<tr name="722" id="722">
+<td>722</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="723" id="723">
+<td>723</td><td>        <a id="723c9" class="tk">electrical_angle</a> -= -2.0F;</td></tr>
+<tr name="724" id="724">
+<td>724</td><td>      <span class="br">}</span></td></tr>
+<tr name="725" id="725">
+<td>725</td><td></td></tr>
+<tr name="726" id="726">
+<td>726</td><td>      <span class="ct">/* End of DeadZone: '<a class="ct blk" blk_line="726">&lt;S44&gt;/DeadZone</a>' */</span></td></tr>
+<tr name="727" id="727">
+<td>727</td><td></td></tr>
+<tr name="728" id="728">
+<td>728</td><td>      <span class="ct">/* RelationalOperator: '<a class="ct blk" blk_line="728">&lt;S44&gt;/NotEqual</a>' */</span></td></tr>
+<tr name="729" id="729">
+<td>729</td><td>      <a id="729c7" class="tk">NotEqual_b</a> = (0.0F != <a id="729c29" class="tk">electrical_angle</a>);</td></tr>
+<tr name="730" id="730">
+<td>730</td><td></td></tr>
+<tr name="731" id="731">
+<td>731</td><td>      <span class="ct">/* Signum: '<a class="ct blk" blk_line="731">&lt;S44&gt;/SignDeltaU</a>' */</span></td></tr>
+<tr name="732" id="732">
+<td>732</td><td>      <span class="kw">if</span> (<a id="732c11" class="tk">electrical_angle</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="733" id="733">
+<td>733</td><td>        <a id="733c9" class="tk">electrical_angle</a> = -1.0F;</td></tr>
+<tr name="734" id="734">
+<td>734</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="735" id="735">
+<td>735</td><td>        <span class="kw">if</span> (<a id="735c13" class="tk">electrical_angle</a> &gt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="736" id="736">
+<td>736</td><td>          <a id="736c11" class="tk">electrical_angle</a> = 1.0F;</td></tr>
+<tr name="737" id="737">
+<td>737</td><td>        <span class="br">}</span></td></tr>
+<tr name="738" id="738">
+<td>738</td><td>      <span class="br">}</span></td></tr>
+<tr name="739" id="739">
+<td>739</td><td></td></tr>
+<tr name="740" id="740">
+<td>740</td><td>      <span class="ct">/* End of Signum: '<a class="ct blk" blk_line="740">&lt;S44&gt;/SignDeltaU</a>' */</span></td></tr>
+<tr name="741" id="741">
+<td>741</td><td></td></tr>
+<tr name="742" id="742">
+<td>742</td><td>      <span class="ct">/* Gain: '<a class="ct blk" blk_line="742">&lt;S42&gt;/Integral Gain</a>' */</span></td></tr>
+<tr name="743" id="743">
+<td>743</td><td>      <a id="743c7" class="tk">Switch_fr</a> *= <a id="743c20" class="tk">ctrlParams</a>.<a id="743c31" class="tk">Position_I</a>;</td></tr>
+<tr name="744" id="744">
+<td>744</td><td></td></tr>
+<tr name="745" id="745">
+<td>745</td><td>      <span class="ct">/* DataTypeConversion: '<a class="ct blk" blk_line="745">&lt;S44&gt;/DataTypeConv1</a>' */</span></td></tr>
+<tr name="746" id="746">
+<td>746</td><td>      <span class="kw">if</span> (<a id="746c11" class="tk">electrical_angle</a> &lt; 128.0F) <span class="br">{</span></td></tr>
+<tr name="747" id="747">
+<td>747</td><td>        <a id="747c9" class="tk">rtPrevAction</a> = (<a id="747c25" class="tk">int8_T</a>)<a id="747c32" class="tk">electrical_angle</a>;</td></tr>
+<tr name="748" id="748">
+<td>748</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="749" id="749">
+<td>749</td><td>        <a id="749c9" class="tk">rtPrevAction</a> = <a id="749c24" class="tk">MAX_int8_T</a>;</td></tr>
+<tr name="750" id="750">
+<td>750</td><td>      <span class="br">}</span></td></tr>
+<tr name="751" id="751">
+<td>751</td><td></td></tr>
+<tr name="752" id="752">
+<td>752</td><td>      <span class="ct">/* End of DataTypeConversion: '<a class="ct blk" blk_line="752">&lt;S44&gt;/DataTypeConv1</a>' */</span></td></tr>
+<tr name="753" id="753">
+<td>753</td><td></td></tr>
+<tr name="754" id="754">
+<td>754</td><td>      <span class="ct">/* Signum: '<a class="ct blk" blk_line="754">&lt;S44&gt;/SignPreIntegrator</a>' */</span></td></tr>
+<tr name="755" id="755">
+<td>755</td><td>      <span class="kw">if</span> (<a id="755c11" class="tk">Switch_fr</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="756" id="756">
+<td>756</td><td>        <a id="756c9" class="tk">electrical_angle</a> = -1.0F;</td></tr>
+<tr name="757" id="757">
+<td>757</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="757c18" class="tk">Switch_fr</a> &gt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="758" id="758">
+<td>758</td><td>        <a id="758c9" class="tk">electrical_angle</a> = 1.0F;</td></tr>
+<tr name="759" id="759">
+<td>759</td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="760" id="760">
+<td>760</td><td>        <a id="760c9" class="tk">electrical_angle</a> = <a id="760c28" class="tk">Switch_fr</a>;</td></tr>
+<tr name="761" id="761">
+<td>761</td><td>      <span class="br">}</span></td></tr>
+<tr name="762" id="762">
+<td>762</td><td></td></tr>
+<tr name="763" id="763">
+<td>763</td><td>      <span class="ct">/* Switch: '<a class="ct blk" blk_line="763">&lt;S42&gt;/Switch</a>' incorporates:</span></td></tr>
+<tr name="764" id="764">
+<td>764</td><td><span class="ct">       *  Constant: '<a class="ct blk" blk_line="764">&lt;S42&gt;/Constant</a>'</span></td></tr>
+<tr name="765" id="765">
+<td>765</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="765">&lt;S44&gt;/DataTypeConv2</a>'</span></td></tr>
+<tr name="766" id="766">
+<td>766</td><td><span class="ct">       *  Logic: '<a class="ct blk" blk_line="766">&lt;S44&gt;/AND</a>'</span></td></tr>
+<tr name="767" id="767">
+<td>767</td><td><span class="ct">       *  RelationalOperator: '<a class="ct blk" blk_line="767">&lt;S44&gt;/Equal</a>'</span></td></tr>
+<tr name="768" id="768">
+<td>768</td><td><span class="ct">       *  Signum: '<a class="ct blk" blk_line="768">&lt;S44&gt;/SignPreIntegrator</a>'</span></td></tr>
+<tr name="769" id="769">
+<td>769</td><td><span class="ct">       */</span></td></tr>
+<tr name="770" id="770">
+<td>770</td><td>      <span class="kw">if</span> (<a id="770c11" class="tk">NotEqual_b</a> &amp;&amp; (<a id="770c26" class="tk">rtPrevAction</a> == ((<a id="770c44" class="tk">int8_T</a>)<a id="770c51" class="tk">electrical_angle</a>))) <span class="br">{</span></td></tr>
+<tr name="771" id="771">
+<td>771</td><td>        <a id="771c9" class="tk">Switch_fr</a> = 0.0F;</td></tr>
+<tr name="772" id="772">
+<td>772</td><td>      <span class="br">}</span></td></tr>
+<tr name="773" id="773">
+<td>773</td><td></td></tr>
+<tr name="774" id="774">
+<td>774</td><td>      <span class="ct">/* End of Switch: '<a class="ct blk" blk_line="774">&lt;S42&gt;/Switch</a>' */</span></td></tr>
+<tr name="775" id="775">
+<td>775</td><td></td></tr>
+<tr name="776" id="776">
+<td>776</td><td>      <span class="ct">/* Update for DiscreteIntegrator: '<a class="ct blk" blk_line="776">&lt;S42&gt;/Integrator</a>' */</span></td></tr>
+<tr name="777" id="777">
+<td>777</td><td>      <a id="777c7" class="tk">DWork</a>.<a id="777c13" class="tk">Integrator_DSTATE_lc</a> += 0.005F * <a id="777c46" class="tk">Switch_fr</a>;</td></tr>
+<tr name="778" id="778">
+<td>778</td><td></td></tr>
+<tr name="779" id="779">
+<td>779</td><td>      <span class="ct">/* End of Outputs for SubSystem: '<a class="ct blk" blk_line="779">&lt;S5&gt;/Position_Control</a>' */</span></td></tr>
+<tr name="780" id="780">
+<td>780</td><td>      <span class="kw">break</span>;</td></tr>
+<tr name="781" id="781">
+<td>781</td><td></td></tr>
+<tr name="782" id="782">
+<td>782</td><td>     <span class="kw">case</span> 2:</td></tr>
+<tr name="783" id="783">
+<td>783</td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '<a class="ct blk" blk_line="783">&lt;S5&gt;/Torque_Control</a>' incorporates:</span></td></tr>
+<tr name="784" id="784">
+<td>784</td><td><span class="ct">       *  ActionPort: '<a class="ct blk" blk_line="784">&lt;S10&gt;/Action Port</a>'</span></td></tr>
+<tr name="785" id="785">
+<td>785</td><td><span class="ct">       */</span></td></tr>
+<tr name="786" id="786">
+<td>786</td><td>      <a id="786c7" class="tk">DWork</a>.<a id="786c13" class="tk">Merge</a> = <a id="786c21" class="tk">DWork</a>.<a id="786c27" class="tk">torque_command</a>;</td></tr>
+<tr name="787" id="787">
+<td>787</td><td></td></tr>
+<tr name="788" id="788">
+<td>788</td><td>      <span class="ct">/* End of Outputs for SubSystem: '<a class="ct blk" blk_line="788">&lt;S5&gt;/Torque_Control</a>' */</span></td></tr>
+<tr name="789" id="789">
+<td>789</td><td>      <span class="kw">break</span>;</td></tr>
+<tr name="790" id="790">
+<td>790</td><td>    <span class="br">}</span></td></tr>
+<tr name="791" id="791">
+<td>791</td><td></td></tr>
+<tr name="792" id="792">
+<td>792</td><td>    <span class="ct">/* End of SwitchCase: '<a class="ct blk" blk_line="792">&lt;S5&gt;/Switch Case</a>' */</span></td></tr>
+<tr name="793" id="793">
+<td>793</td><td>  <span class="br">}</span></td></tr>
+<tr name="794" id="794">
+<td>794</td><td></td></tr>
+<tr name="795" id="795">
+<td>795</td><td>  <span class="ct">/* RateTransition: '<a class="ct blk" blk_line="795">&lt;S5&gt;/Lo_to_Hi_Rate_Transition1</a>' */</span></td></tr>
+<tr name="796" id="796">
+<td>796</td><td>  <a id="796c3" class="tk">q_current_command</a> = <a id="796c23" class="tk">DWork</a>.<a id="796c29" class="tk">Merge</a>;</td></tr>
+<tr name="797" id="797">
+<td>797</td><td></td></tr>
+<tr name="798" id="798">
+<td>798</td><td>  <span class="ct">/* Sum: '<a class="ct blk" blk_line="798">&lt;S22&gt;/Add</a>' incorporates:</span></td></tr>
+<tr name="799" id="799">
+<td>799</td><td><span class="ct">   *  Product: '<a class="ct blk" blk_line="799">&lt;S22&gt;/Product</a>'</span></td></tr>
+<tr name="800" id="800">
+<td>800</td><td><span class="ct">   *  Product: '<a class="ct blk" blk_line="800">&lt;S22&gt;/Product1</a>'</span></td></tr>
+<tr name="801" id="801">
+<td>801</td><td><span class="ct">   */</span></td></tr>
+<tr name="802" id="802">
+<td>802</td><td>  <a id="802c3" class="tk">q_current_measured</a> = (<a id="802c25" class="tk">SignDeltaU_b</a> * <a id="802c40" class="tk">cos_coefficient</a>) - (<a id="802c60" class="tk">phase_currents</a>[0] *</td></tr>
+<tr name="803" id="803">
+<td>803</td><td>    <a id="803c5" class="tk">sin_coefficient</a>);</td></tr>
+<tr name="804" id="804">
+<td>804</td><td></td></tr>
+<tr name="805" id="805">
+<td>805</td><td>  <span class="ct">/* Sum: '<a class="ct blk" blk_line="805">&lt;S12&gt;/Sum</a>' */</span></td></tr>
+<tr name="806" id="806">
+<td>806</td><td>  <a id="806c3" class="tk">q_current_error</a> = <a id="806c21" class="tk">q_current_command</a> - <a id="806c41" class="tk">q_current_measured</a>;</td></tr>
+<tr name="807" id="807">
+<td>807</td><td></td></tr>
+<tr name="808" id="808">
+<td>808</td><td>  <span class="ct">/* DiscreteIntegrator: '<a class="ct blk" blk_line="808">&lt;S18&gt;/Integrator</a>' */</span></td></tr>
+<tr name="809" id="809">
+<td>809</td><td>  <span class="kw">if</span> ((<a id="809c8" class="tk">FixPtRelationalOperator</a> != 0) || (<a id="809c42" class="tk">DWork</a>.<a id="809c48" class="tk">Integrator_PrevResetState_c</a> != 0))</td></tr>
+<tr name="810" id="810">
+<td>810</td><td>  <span class="br">{</span></td></tr>
+<tr name="811" id="811">
+<td>811</td><td>    <a id="811c5" class="tk">DWork</a>.<a id="811c11" class="tk">Integrator_DSTATE_l</a> = 0.0F;</td></tr>
+<tr name="812" id="812">
+<td>812</td><td>  <span class="br">}</span></td></tr>
+<tr name="813" id="813">
+<td>813</td><td></td></tr>
+<tr name="814" id="814">
+<td>814</td><td>  <span class="ct">/* Sum: '<a class="ct blk" blk_line="814">&lt;S18&gt;/Sum</a>' incorporates:</span></td></tr>
+<tr name="815" id="815">
+<td>815</td><td><span class="ct">   *  DiscreteIntegrator: '<a class="ct blk" blk_line="815">&lt;S18&gt;/Integrator</a>'</span></td></tr>
+<tr name="816" id="816">
+<td>816</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="816">&lt;S18&gt;/Proportional Gain</a>'</span></td></tr>
+<tr name="817" id="817">
+<td>817</td><td><span class="ct">   */</span></td></tr>
+<tr name="818" id="818">
+<td>818</td><td>  <a id="818c3" class="tk">SignDeltaU_b</a> = (<a id="818c19" class="tk">ctrlParams</a>.<a id="818c30" class="tk">Current_P</a> * <a id="818c42" class="tk">q_current_error</a>) +</td></tr>
+<tr name="819" id="819">
+<td>819</td><td>    <a id="819c5" class="tk">DWork</a>.<a id="819c11" class="tk">Integrator_DSTATE_l</a>;</td></tr>
+<tr name="820" id="820">
+<td>820</td><td></td></tr>
+<tr name="821" id="821">
+<td>821</td><td>  <span class="ct">/* Saturate: '<a class="ct blk" blk_line="821">&lt;S18&gt;/Saturate</a>' */</span></td></tr>
+<tr name="822" id="822">
+<td>822</td><td>  <span class="kw">if</span> (<a id="822c7" class="tk">SignDeltaU_b</a> &gt; 12.0F) <span class="br">{</span></td></tr>
+<tr name="823" id="823">
+<td>823</td><td>    <a id="823c5" class="tk">alpha_voltage</a> = 12.0F;</td></tr>
+<tr name="824" id="824">
+<td>824</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="824c14" class="tk">SignDeltaU_b</a> &lt; -12.0F) <span class="br">{</span></td></tr>
+<tr name="825" id="825">
+<td>825</td><td>    <a id="825c5" class="tk">alpha_voltage</a> = -12.0F;</td></tr>
+<tr name="826" id="826">
+<td>826</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="827" id="827">
+<td>827</td><td>    <a id="827c5" class="tk">alpha_voltage</a> = <a id="827c21" class="tk">SignDeltaU_b</a>;</td></tr>
+<tr name="828" id="828">
+<td>828</td><td>  <span class="br">}</span></td></tr>
+<tr name="829" id="829">
+<td>829</td><td></td></tr>
+<tr name="830" id="830">
+<td>830</td><td>  <span class="ct">/* End of Saturate: '<a class="ct blk" blk_line="830">&lt;S18&gt;/Saturate</a>' */</span></td></tr>
+<tr name="831" id="831">
+<td>831</td><td></td></tr>
+<tr name="832" id="832">
+<td>832</td><td>  <span class="ct">/* Sum: '<a class="ct blk" blk_line="832">&lt;S24&gt;/Add</a>' incorporates:</span></td></tr>
+<tr name="833" id="833">
+<td>833</td><td><span class="ct">   *  Product: '<a class="ct blk" blk_line="833">&lt;S24&gt;/Product</a>'</span></td></tr>
+<tr name="834" id="834">
+<td>834</td><td><span class="ct">   *  Product: '<a class="ct blk" blk_line="834">&lt;S24&gt;/Product1</a>'</span></td></tr>
+<tr name="835" id="835">
+<td>835</td><td><span class="ct">   */</span></td></tr>
+<tr name="836" id="836">
+<td>836</td><td>  <a id="836c3" class="tk">SignPreIntegrator_f</a> = (<a id="836c26" class="tk">Gain1</a> * <a id="836c34" class="tk">sin_coefficient</a>) + (<a id="836c54" class="tk">alpha_voltage</a> *</td></tr>
+<tr name="837" id="837">
+<td>837</td><td>    <a id="837c5" class="tk">cos_coefficient</a>);</td></tr>
+<tr name="838" id="838">
+<td>838</td><td></td></tr>
+<tr name="839" id="839">
+<td>839</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="839">&lt;S29&gt;/Gain</a>' */</span></td></tr>
+<tr name="840" id="840">
+<td>840</td><td>  <a id="840c3" class="tk">IntegralGain_j</a> = 0.5F * <a id="840c27" class="tk">SignPreIntegrator_f</a>;</td></tr>
+<tr name="841" id="841">
+<td>841</td><td></td></tr>
+<tr name="842" id="842">
+<td>842</td><td>  <span class="ct">/* Sum: '<a class="ct blk" blk_line="842">&lt;S24&gt;/Add1</a>' incorporates:</span></td></tr>
+<tr name="843" id="843">
+<td>843</td><td><span class="ct">   *  Product: '<a class="ct blk" blk_line="843">&lt;S24&gt;/Product2</a>'</span></td></tr>
+<tr name="844" id="844">
+<td>844</td><td><span class="ct">   *  Product: '<a class="ct blk" blk_line="844">&lt;S24&gt;/Product3</a>'</span></td></tr>
+<tr name="845" id="845">
+<td>845</td><td><span class="ct">   */</span></td></tr>
+<tr name="846" id="846">
+<td>846</td><td>  <a id="846c3" class="tk">alpha_voltage</a> = (<a id="846c20" class="tk">Gain1</a> * <a id="846c28" class="tk">cos_coefficient</a>) - (<a id="846c48" class="tk">alpha_voltage</a> * <a id="846c64" class="tk">sin_coefficient</a>);</td></tr>
+<tr name="847" id="847">
+<td>847</td><td></td></tr>
+<tr name="848" id="848">
+<td>848</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="848">&lt;S29&gt;/Gain1</a>' */</span></td></tr>
+<tr name="849" id="849">
+<td>849</td><td>  <a id="849c3" class="tk">Gain1</a> = 0.866025388F * <a id="849c26" class="tk">alpha_voltage</a>;</td></tr>
+<tr name="850" id="850">
+<td>850</td><td></td></tr>
+<tr name="851" id="851">
+<td>851</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="851">&lt;S30&gt;/Space_Vector_Gain</a>' incorporates:</span></td></tr>
+<tr name="852" id="852">
+<td>852</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="852">&lt;S30&gt;/Alpha_Gain</a>'</span></td></tr>
+<tr name="853" id="853">
+<td>853</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="853">&lt;S30&gt;/Add</a>'</span></td></tr>
+<tr name="854" id="854">
+<td>854</td><td><span class="ct">   */</span></td></tr>
+<tr name="855" id="855">
+<td>855</td><td>  <a id="855c3" class="tk">electrical_angle</a> = (((1.73205078F * <a id="855c39" class="tk">alpha_voltage</a>) + 33.941124F) +</td></tr>
+<tr name="856" id="856">
+<td>856</td><td>                      <a id="856c23" class="tk">SignPreIntegrator_f</a>) * 0.353553385F;</td></tr>
+<tr name="857" id="857">
+<td>857</td><td></td></tr>
+<tr name="858" id="858">
+<td>858</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="858">&lt;S33&gt;/Va_Gain</a>' incorporates:</span></td></tr>
+<tr name="859" id="859">
+<td>859</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="859">&lt;S33&gt;/Alpha_Gain</a>'</span></td></tr>
+<tr name="860" id="860">
+<td>860</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="860">&lt;S33&gt;/Beta_Gain</a>'</span></td></tr>
+<tr name="861" id="861">
+<td>861</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="861">&lt;S33&gt;/Add</a>'</span></td></tr>
+<tr name="862" id="862">
+<td>862</td><td><span class="ct">   */</span></td></tr>
+<tr name="863" id="863">
+<td>863</td><td>  <a id="863c3" class="tk">Switch_fr</a> = ((33.941124F - (1.73205078F * <a id="863c45" class="tk">alpha_voltage</a>)) + (3.0F *</td></tr>
+<tr name="864" id="864">
+<td>864</td><td>    <a id="864c5" class="tk">SignPreIntegrator_f</a>)) * 0.353553385F;</td></tr>
+<tr name="865" id="865">
+<td>865</td><td></td></tr>
+<tr name="866" id="866">
+<td>866</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="866">&lt;S36&gt;/Space_Vector_Gain</a>' incorporates:</span></td></tr>
+<tr name="867" id="867">
+<td>867</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="867">&lt;S36&gt;/Alpha_Gain</a>'</span></td></tr>
+<tr name="868" id="868">
+<td>868</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="868">&lt;S36&gt;/Add</a>'</span></td></tr>
+<tr name="869" id="869">
+<td>869</td><td><span class="ct">   */</span></td></tr>
+<tr name="870" id="870">
+<td>870</td><td>  <a id="870c3" class="tk">cos_coefficient</a> = ((33.941124F - (1.73205078F * <a id="870c51" class="tk">alpha_voltage</a>)) -</td></tr>
+<tr name="871" id="871">
+<td>871</td><td>                     <a id="871c22" class="tk">SignPreIntegrator_f</a>) * 0.353553385F;</td></tr>
+<tr name="872" id="872">
+<td>872</td><td></td></tr>
+<tr name="873" id="873">
+<td>873</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="873">&lt;S31&gt;/Space_Vector_Gain</a>' incorporates:</span></td></tr>
+<tr name="874" id="874">
+<td>874</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="874">&lt;S27&gt;/Bus_Voltage</a>'</span></td></tr>
+<tr name="875" id="875">
+<td>875</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="875">&lt;S31&gt;/Alpha_Gain</a>'</span></td></tr>
+<tr name="876" id="876">
+<td>876</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="876">&lt;S31&gt;/Add</a>'</span></td></tr>
+<tr name="877" id="877">
+<td>877</td><td><span class="ct">   */</span></td></tr>
+<tr name="878" id="878">
+<td>878</td><td>  <a id="878c3" class="tk">sin_coefficient</a> = ((2.44948983F * <a id="878c37" class="tk">alpha_voltage</a>) + 24.0F) * 0.5F;</td></tr>
+<tr name="879" id="879">
+<td>879</td><td></td></tr>
+<tr name="880" id="880">
+<td>880</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="880">&lt;S34&gt;/Va_Gain</a>' incorporates:</span></td></tr>
+<tr name="881" id="881">
+<td>881</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="881">&lt;S27&gt;/Bus_Voltage</a>'</span></td></tr>
+<tr name="882" id="882">
+<td>882</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="882">&lt;S34&gt;/Beta_Gain</a>'</span></td></tr>
+<tr name="883" id="883">
+<td>883</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="883">&lt;S34&gt;/Add</a>'</span></td></tr>
+<tr name="884" id="884">
+<td>884</td><td><span class="ct">   */</span></td></tr>
+<tr name="885" id="885">
+<td>885</td><td>  <a id="885c3" class="tk">Sectors_2_and_5_idx_1</a> = ((1.41421354F * <a id="885c43" class="tk">SignPreIntegrator_f</a>) + 24.0F) * 0.5F;</td></tr>
+<tr name="886" id="886">
+<td>886</td><td></td></tr>
+<tr name="887" id="887">
+<td>887</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="887">&lt;S37&gt;/Space_Vector_Gain</a>' incorporates:</span></td></tr>
+<tr name="888" id="888">
+<td>888</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="888">&lt;S27&gt;/Bus_Voltage</a>'</span></td></tr>
+<tr name="889" id="889">
+<td>889</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="889">&lt;S37&gt;/Beta_Gain</a>'</span></td></tr>
+<tr name="890" id="890">
+<td>890</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="890">&lt;S37&gt;/Add</a>'</span></td></tr>
+<tr name="891" id="891">
+<td>891</td><td><span class="ct">   */</span></td></tr>
+<tr name="892" id="892">
+<td>892</td><td>  <a id="892c3" class="tk">Sectors_2_and_5_idx_2</a> = (24.0F - (1.41421354F * <a id="892c51" class="tk">SignPreIntegrator_f</a>)) * 0.5F;</td></tr>
+<tr name="893" id="893">
+<td>893</td><td></td></tr>
+<tr name="894" id="894">
+<td>894</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="894">&lt;S32&gt;/Space_Vector_Gain</a>' incorporates:</span></td></tr>
+<tr name="895" id="895">
+<td>895</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="895">&lt;S32&gt;/Alpha_Gain</a>'</span></td></tr>
+<tr name="896" id="896">
+<td>896</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="896">&lt;S32&gt;/Add</a>'</span></td></tr>
+<tr name="897" id="897">
+<td>897</td><td><span class="ct">   */</span></td></tr>
+<tr name="898" id="898">
+<td>898</td><td>  <a id="898c3" class="tk">phase_voltages</a>[0] = (((1.73205078F * <a id="898c40" class="tk">alpha_voltage</a>) + 33.941124F) -</td></tr>
+<tr name="899" id="899">
+<td>899</td><td>                       <a id="899c24" class="tk">SignPreIntegrator_f</a>) * 0.353553385F;</td></tr>
+<tr name="900" id="900">
+<td>900</td><td></td></tr>
+<tr name="901" id="901">
+<td>901</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="901">&lt;S35&gt;/Va_Gain</a>' incorporates:</span></td></tr>
+<tr name="902" id="902">
+<td>902</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="902">&lt;S35&gt;/Alpha_Gain</a>'</span></td></tr>
+<tr name="903" id="903">
+<td>903</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="903">&lt;S35&gt;/Add</a>'</span></td></tr>
+<tr name="904" id="904">
+<td>904</td><td><span class="ct">   */</span></td></tr>
+<tr name="905" id="905">
+<td>905</td><td>  <a id="905c3" class="tk">phase_voltages</a>[1] = ((33.941124F - (1.73205078F * <a id="905c53" class="tk">alpha_voltage</a>)) +</td></tr>
+<tr name="906" id="906">
+<td>906</td><td>                       <a id="906c24" class="tk">SignPreIntegrator_f</a>) * 0.353553385F;</td></tr>
+<tr name="907" id="907">
+<td>907</td><td></td></tr>
+<tr name="908" id="908">
+<td>908</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="908">&lt;S38&gt;/Space_Vector_Gain</a>' incorporates:</span></td></tr>
+<tr name="909" id="909">
+<td>909</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="909">&lt;S38&gt;/Alpha_Gain</a>'</span></td></tr>
+<tr name="910" id="910">
+<td>910</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="910">&lt;S38&gt;/Beta_Gain</a>'</span></td></tr>
+<tr name="911" id="911">
+<td>911</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="911">&lt;S38&gt;/Add</a>'</span></td></tr>
+<tr name="912" id="912">
+<td>912</td><td><span class="ct">   */</span></td></tr>
+<tr name="913" id="913">
+<td>913</td><td>  <a id="913c3" class="tk">phase_voltages</a>[2] = ((33.941124F - (1.73205078F * <a id="913c53" class="tk">alpha_voltage</a>)) - (3.0F *</td></tr>
+<tr name="914" id="914">
+<td>914</td><td>    <a id="914c5" class="tk">SignPreIntegrator_f</a>)) * 0.353553385F;</td></tr>
+<tr name="915" id="915">
+<td>915</td><td></td></tr>
+<tr name="916" id="916">
+<td>916</td><td>  <span class="ct">/* LookupNDDirect: '<a class="ct blk" blk_line="916">&lt;S28&gt;/Lookup_Table</a>' incorporates:</span></td></tr>
+<tr name="917" id="917">
+<td>917</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="917">&lt;S39&gt;/Constant</a>'</span></td></tr>
+<tr name="918" id="918">
+<td>918</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="918">&lt;S40&gt;/Constant</a>'</span></td></tr>
+<tr name="919" id="919">
+<td>919</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="919">&lt;S41&gt;/Constant</a>'</span></td></tr>
+<tr name="920" id="920">
+<td>920</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="920">&lt;S28&gt;/Sector_Gain_VB</a>'</span></td></tr>
+<tr name="921" id="921">
+<td>921</td><td><span class="ct">   *  Gain: '<a class="ct blk" blk_line="921">&lt;S28&gt;/Sector_Gain_VC</a>'</span></td></tr>
+<tr name="922" id="922">
+<td>922</td><td><span class="ct">   *  RelationalOperator: '<a class="ct blk" blk_line="922">&lt;S39&gt;/Compare</a>'</span></td></tr>
+<tr name="923" id="923">
+<td>923</td><td><span class="ct">   *  RelationalOperator: '<a class="ct blk" blk_line="923">&lt;S40&gt;/Compare</a>'</span></td></tr>
+<tr name="924" id="924">
+<td>924</td><td><span class="ct">   *  RelationalOperator: '<a class="ct blk" blk_line="924">&lt;S41&gt;/Compare</a>'</span></td></tr>
+<tr name="925" id="925">
+<td>925</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="925">&lt;S28&gt;/Calculate_Phase_Advanced_Sector</a>'</span></td></tr>
+<tr name="926" id="926">
+<td>926</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="926">&lt;S29&gt;/Add</a>'</span></td></tr>
+<tr name="927" id="927">
+<td>927</td><td><span class="ct">   *  Sum: '<a class="ct blk" blk_line="927">&lt;S29&gt;/Add1</a>'</span></td></tr>
+<tr name="928" id="928">
+<td>928</td><td><span class="ct">   *</span></td></tr>
+<tr name="929" id="929">
+<td>929</td><td><span class="ct">   * About '<a class="ct blk" blk_line="929">&lt;S28&gt;/Lookup_Table</a>':</span></td></tr>
+<tr name="930" id="930">
+<td>930</td><td><span class="ct">   *  1-dimensional Direct Look-Up returning a Scalar</span></td></tr>
+<tr name="931" id="931">
+<td>931</td><td><span class="ct">   */</span></td></tr>
+<tr name="932" id="932">
+<td>932</td><td>  <a id="932c3" class="tk">u0</a> = (<a id="932c9" class="tk">int16_T</a>)(((((<a id="932c22" class="tk">Gain1</a> - <a id="932c30" class="tk">IntegralGain_j</a>) &gt; 0.0F) &lt;&lt; 1) +</td></tr>
+<tr name="933" id="933">
+<td>933</td><td>                  (<a id="933c20" class="tk">SignPreIntegrator_f</a> &gt; 0.0F)) + ((((0.0F - <a id="933c62" class="tk">IntegralGain_j</a>) -</td></tr>
+<tr name="934" id="934">
+<td>934</td><td>    <a id="934c5" class="tk">Gain1</a>) &gt; 0.0F) &lt;&lt; 2));</td></tr>
+<tr name="935" id="935">
+<td>935</td><td>  <span class="kw">if</span> (<a id="935c7" class="tk">u0</a> &gt; 6) <span class="br">{</span></td></tr>
+<tr name="936" id="936">
+<td>936</td><td>    <a id="936c5" class="tk">u0</a> = 6;</td></tr>
+<tr name="937" id="937">
+<td>937</td><td>  <span class="br">}</span></td></tr>
+<tr name="938" id="938">
+<td>938</td><td></td></tr>
+<tr name="939" id="939">
+<td>939</td><td>  <span class="ct">/* MultiPortSwitch: '<a class="ct blk" blk_line="939">&lt;S27&gt;/Select_Sector</a>' incorporates:</span></td></tr>
+<tr name="940" id="940">
+<td>940</td><td><span class="ct">   *  LookupNDDirect: '<a class="ct blk" blk_line="940">&lt;S28&gt;/Lookup_Table</a>'</span></td></tr>
+<tr name="941" id="941">
+<td>941</td><td><span class="ct">   *</span></td></tr>
+<tr name="942" id="942">
+<td>942</td><td><span class="ct">   * About '<a class="ct blk" blk_line="942">&lt;S28&gt;/Lookup_Table</a>':</span></td></tr>
+<tr name="943" id="943">
+<td>943</td><td><span class="ct">   *  1-dimensional Direct Look-Up returning a Scalar</span></td></tr>
+<tr name="944" id="944">
+<td>944</td><td><span class="ct">   */</span></td></tr>
+<tr name="945" id="945">
+<td>945</td><td>  <span class="kw">switch</span> (<a id="945c11" class="tk">ConstP</a>.<a id="945c18" class="tk">Lookup_Table_table</a>[<a id="945c37" class="tk">u0</a>]) <span class="br">{</span></td></tr>
+<tr name="946" id="946">
+<td>946</td><td>   <span class="kw">case</span> 1:</td></tr>
+<tr name="947" id="947">
+<td>947</td><td>    <a id="947c5" class="tk">phase_voltages</a>[0] = <a id="947c25" class="tk">electrical_angle</a>;</td></tr>
+<tr name="948" id="948">
+<td>948</td><td>    <a id="948c5" class="tk">phase_voltages</a>[1] = <a id="948c25" class="tk">Switch_fr</a>;</td></tr>
+<tr name="949" id="949">
+<td>949</td><td>    <a id="949c5" class="tk">phase_voltages</a>[2] = <a id="949c25" class="tk">cos_coefficient</a>;</td></tr>
+<tr name="950" id="950">
+<td>950</td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="951" id="951">
+<td>951</td><td></td></tr>
+<tr name="952" id="952">
+<td>952</td><td>   <span class="kw">case</span> 2:</td></tr>
+<tr name="953" id="953">
+<td>953</td><td>    <a id="953c5" class="tk">phase_voltages</a>[0] = <a id="953c25" class="tk">sin_coefficient</a>;</td></tr>
+<tr name="954" id="954">
+<td>954</td><td>    <a id="954c5" class="tk">phase_voltages</a>[1] = <a id="954c25" class="tk">Sectors_2_and_5_idx_1</a>;</td></tr>
+<tr name="955" id="955">
+<td>955</td><td>    <a id="955c5" class="tk">phase_voltages</a>[2] = <a id="955c25" class="tk">Sectors_2_and_5_idx_2</a>;</td></tr>
+<tr name="956" id="956">
+<td>956</td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="957" id="957">
+<td>957</td><td></td></tr>
+<tr name="958" id="958">
+<td>958</td><td>   <span class="kw">case</span> 3:</td></tr>
+<tr name="959" id="959">
+<td>959</td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="960" id="960">
+<td>960</td><td></td></tr>
+<tr name="961" id="961">
+<td>961</td><td>   <span class="kw">case</span> 4:</td></tr>
+<tr name="962" id="962">
+<td>962</td><td>    <a id="962c5" class="tk">phase_voltages</a>[0] = <a id="962c25" class="tk">electrical_angle</a>;</td></tr>
+<tr name="963" id="963">
+<td>963</td><td>    <a id="963c5" class="tk">phase_voltages</a>[1] = <a id="963c25" class="tk">Switch_fr</a>;</td></tr>
+<tr name="964" id="964">
+<td>964</td><td>    <a id="964c5" class="tk">phase_voltages</a>[2] = <a id="964c25" class="tk">cos_coefficient</a>;</td></tr>
+<tr name="965" id="965">
+<td>965</td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="966" id="966">
+<td>966</td><td></td></tr>
+<tr name="967" id="967">
+<td>967</td><td>   <span class="kw">case</span> 5:</td></tr>
+<tr name="968" id="968">
+<td>968</td><td>    <a id="968c5" class="tk">phase_voltages</a>[0] = <a id="968c25" class="tk">sin_coefficient</a>;</td></tr>
+<tr name="969" id="969">
+<td>969</td><td>    <a id="969c5" class="tk">phase_voltages</a>[1] = <a id="969c25" class="tk">Sectors_2_and_5_idx_1</a>;</td></tr>
+<tr name="970" id="970">
+<td>970</td><td>    <a id="970c5" class="tk">phase_voltages</a>[2] = <a id="970c25" class="tk">Sectors_2_and_5_idx_2</a>;</td></tr>
+<tr name="971" id="971">
+<td>971</td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="972" id="972">
+<td>972</td><td>  <span class="br">}</span></td></tr>
+<tr name="973" id="973">
+<td>973</td><td></td></tr>
+<tr name="974" id="974">
+<td>974</td><td>  <span class="ct">/* End of MultiPortSwitch: '<a class="ct blk" blk_line="974">&lt;S27&gt;/Select_Sector</a>' */</span></td></tr>
+<tr name="975" id="975">
+<td>975</td><td></td></tr>
+<tr name="976" id="976">
+<td>976</td><td>  <span class="ct">/* Switch: '<a class="ct blk" blk_line="976">&lt;S6&gt;/Switch</a>' */</span></td></tr>
+<tr name="977" id="977">
+<td>977</td><td>  <span class="kw">if</span> (<a id="977c7" class="tk">DWork</a>.<a id="977c13" class="tk">Lo_to_Hi_Rate_Transition3_Buffe</a>) <span class="br">{</span></td></tr>
+<tr name="978" id="978">
+<td>978</td><td>    <span class="ct">/* Outport: '<a class="ct blk" blk_line="978">&lt;Root&gt;/pwm_compare</a>' */</span></td></tr>
+<tr name="979" id="979">
+<td>979</td><td>    <a id="979c5" class="tk">pwm_compare</a>[0] = 1500U;</td></tr>
+<tr name="980" id="980">
+<td>980</td><td>    <a id="980c5" class="tk">pwm_compare</a>[1] = 1500U;</td></tr>
+<tr name="981" id="981">
+<td>981</td><td>    <a id="981c5" class="tk">pwm_compare</a>[2] = 1500U;</td></tr>
+<tr name="982" id="982">
+<td>982</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="983" id="983">
+<td>983</td><td>    <span class="ct">/* Gain: '<a class="ct blk" blk_line="983">&lt;S6&gt;/Voltage to PWM Compare Units</a>' */</span></td></tr>
+<tr name="984" id="984">
+<td>984</td><td>    <a id="984c5" class="tk">electrical_angle</a> = 125.0F * <a id="984c33" class="tk">phase_voltages</a>[0];</td></tr>
+<tr name="985" id="985">
+<td>985</td><td></td></tr>
+<tr name="986" id="986">
+<td>986</td><td>    <span class="ct">/* Saturate: '<a class="ct blk" blk_line="986">&lt;S6&gt;/Saturation</a>' */</span></td></tr>
+<tr name="987" id="987">
+<td>987</td><td>    <span class="kw">if</span> (<a id="987c9" class="tk">electrical_angle</a> &gt; 2999.0F) <span class="br">{</span></td></tr>
+<tr name="988" id="988">
+<td>988</td><td>      <span class="ct">/* Outport: '<a class="ct blk" blk_line="988">&lt;Root&gt;/pwm_compare</a>' incorporates:</span></td></tr>
+<tr name="989" id="989">
+<td>989</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="989">&lt;S6&gt;/Quantize</a>'</span></td></tr>
+<tr name="990" id="990">
+<td>990</td><td><span class="ct">       */</span></td></tr>
+<tr name="991" id="991">
+<td>991</td><td>      <a id="991c7" class="tk">pwm_compare</a>[0] = 2999U;</td></tr>
+<tr name="992" id="992">
+<td>992</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="992c16" class="tk">electrical_angle</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="993" id="993">
+<td>993</td><td>      <span class="ct">/* Outport: '<a class="ct blk" blk_line="993">&lt;Root&gt;/pwm_compare</a>' incorporates:</span></td></tr>
+<tr name="994" id="994">
+<td>994</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="994">&lt;S6&gt;/Quantize</a>'</span></td></tr>
+<tr name="995" id="995">
+<td>995</td><td><span class="ct">       */</span></td></tr>
+<tr name="996" id="996">
+<td>996</td><td>      <a id="996c7" class="tk">pwm_compare</a>[0] = 0U;</td></tr>
+<tr name="997" id="997">
+<td>997</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="998" id="998">
+<td>998</td><td>      <span class="ct">/* Outport: '<a class="ct blk" blk_line="998">&lt;Root&gt;/pwm_compare</a>' incorporates:</span></td></tr>
+<tr name="999" id="999">
+<td>999</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="999">&lt;S6&gt;/Quantize</a>'</span></td></tr>
+<tr name="1000" id="1000">
+<td>1000</td><td><span class="ct">       */</span></td></tr>
+<tr name="1001" id="1001">
+<td>1001</td><td>      <a id="1001c7" class="tk">pwm_compare</a>[0] = (<a id="1001c25" class="tk">uint16_T</a>)<a id="1001c34" class="tk">electrical_angle</a>;</td></tr>
+<tr name="1002" id="1002">
+<td>1002</td><td>    <span class="br">}</span></td></tr>
+<tr name="1003" id="1003">
+<td>1003</td><td></td></tr>
+<tr name="1004" id="1004">
+<td>1004</td><td>    <span class="ct">/* Gain: '<a class="ct blk" blk_line="1004">&lt;S6&gt;/Voltage to PWM Compare Units</a>' */</span></td></tr>
+<tr name="1005" id="1005">
+<td>1005</td><td>    <a id="1005c5" class="tk">electrical_angle</a> = 125.0F * <a id="1005c33" class="tk">phase_voltages</a>[1];</td></tr>
+<tr name="1006" id="1006">
+<td>1006</td><td></td></tr>
+<tr name="1007" id="1007">
+<td>1007</td><td>    <span class="ct">/* Saturate: '<a class="ct blk" blk_line="1007">&lt;S6&gt;/Saturation</a>' */</span></td></tr>
+<tr name="1008" id="1008">
+<td>1008</td><td>    <span class="kw">if</span> (<a id="1008c9" class="tk">electrical_angle</a> &gt; 2999.0F) <span class="br">{</span></td></tr>
+<tr name="1009" id="1009">
+<td>1009</td><td>      <span class="ct">/* Outport: '<a class="ct blk" blk_line="1009">&lt;Root&gt;/pwm_compare</a>' incorporates:</span></td></tr>
+<tr name="1010" id="1010">
+<td>1010</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="1010">&lt;S6&gt;/Quantize</a>'</span></td></tr>
+<tr name="1011" id="1011">
+<td>1011</td><td><span class="ct">       */</span></td></tr>
+<tr name="1012" id="1012">
+<td>1012</td><td>      <a id="1012c7" class="tk">pwm_compare</a>[1] = 2999U;</td></tr>
+<tr name="1013" id="1013">
+<td>1013</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1013c16" class="tk">electrical_angle</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1014" id="1014">
+<td>1014</td><td>      <span class="ct">/* Outport: '<a class="ct blk" blk_line="1014">&lt;Root&gt;/pwm_compare</a>' incorporates:</span></td></tr>
+<tr name="1015" id="1015">
+<td>1015</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="1015">&lt;S6&gt;/Quantize</a>'</span></td></tr>
+<tr name="1016" id="1016">
+<td>1016</td><td><span class="ct">       */</span></td></tr>
+<tr name="1017" id="1017">
+<td>1017</td><td>      <a id="1017c7" class="tk">pwm_compare</a>[1] = 0U;</td></tr>
+<tr name="1018" id="1018">
+<td>1018</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1019" id="1019">
+<td>1019</td><td>      <span class="ct">/* Outport: '<a class="ct blk" blk_line="1019">&lt;Root&gt;/pwm_compare</a>' incorporates:</span></td></tr>
+<tr name="1020" id="1020">
+<td>1020</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="1020">&lt;S6&gt;/Quantize</a>'</span></td></tr>
+<tr name="1021" id="1021">
+<td>1021</td><td><span class="ct">       */</span></td></tr>
+<tr name="1022" id="1022">
+<td>1022</td><td>      <a id="1022c7" class="tk">pwm_compare</a>[1] = (<a id="1022c25" class="tk">uint16_T</a>)<a id="1022c34" class="tk">electrical_angle</a>;</td></tr>
+<tr name="1023" id="1023">
+<td>1023</td><td>    <span class="br">}</span></td></tr>
+<tr name="1024" id="1024">
+<td>1024</td><td></td></tr>
+<tr name="1025" id="1025">
+<td>1025</td><td>    <span class="ct">/* Gain: '<a class="ct blk" blk_line="1025">&lt;S6&gt;/Voltage to PWM Compare Units</a>' */</span></td></tr>
+<tr name="1026" id="1026">
+<td>1026</td><td>    <a id="1026c5" class="tk">electrical_angle</a> = 125.0F * <a id="1026c33" class="tk">phase_voltages</a>[2];</td></tr>
+<tr name="1027" id="1027">
+<td>1027</td><td></td></tr>
+<tr name="1028" id="1028">
+<td>1028</td><td>    <span class="ct">/* Saturate: '<a class="ct blk" blk_line="1028">&lt;S6&gt;/Saturation</a>' */</span></td></tr>
+<tr name="1029" id="1029">
+<td>1029</td><td>    <span class="kw">if</span> (<a id="1029c9" class="tk">electrical_angle</a> &gt; 2999.0F) <span class="br">{</span></td></tr>
+<tr name="1030" id="1030">
+<td>1030</td><td>      <span class="ct">/* Outport: '<a class="ct blk" blk_line="1030">&lt;Root&gt;/pwm_compare</a>' incorporates:</span></td></tr>
+<tr name="1031" id="1031">
+<td>1031</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="1031">&lt;S6&gt;/Quantize</a>'</span></td></tr>
+<tr name="1032" id="1032">
+<td>1032</td><td><span class="ct">       */</span></td></tr>
+<tr name="1033" id="1033">
+<td>1033</td><td>      <a id="1033c7" class="tk">pwm_compare</a>[2] = 2999U;</td></tr>
+<tr name="1034" id="1034">
+<td>1034</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1034c16" class="tk">electrical_angle</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1035" id="1035">
+<td>1035</td><td>      <span class="ct">/* Outport: '<a class="ct blk" blk_line="1035">&lt;Root&gt;/pwm_compare</a>' incorporates:</span></td></tr>
+<tr name="1036" id="1036">
+<td>1036</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="1036">&lt;S6&gt;/Quantize</a>'</span></td></tr>
+<tr name="1037" id="1037">
+<td>1037</td><td><span class="ct">       */</span></td></tr>
+<tr name="1038" id="1038">
+<td>1038</td><td>      <a id="1038c7" class="tk">pwm_compare</a>[2] = 0U;</td></tr>
+<tr name="1039" id="1039">
+<td>1039</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1040" id="1040">
+<td>1040</td><td>      <span class="ct">/* Outport: '<a class="ct blk" blk_line="1040">&lt;Root&gt;/pwm_compare</a>' incorporates:</span></td></tr>
+<tr name="1041" id="1041">
+<td>1041</td><td><span class="ct">       *  DataTypeConversion: '<a class="ct blk" blk_line="1041">&lt;S6&gt;/Quantize</a>'</span></td></tr>
+<tr name="1042" id="1042">
+<td>1042</td><td><span class="ct">       */</span></td></tr>
+<tr name="1043" id="1043">
+<td>1043</td><td>      <a id="1043c7" class="tk">pwm_compare</a>[2] = (<a id="1043c25" class="tk">uint16_T</a>)<a id="1043c34" class="tk">electrical_angle</a>;</td></tr>
+<tr name="1044" id="1044">
+<td>1044</td><td>    <span class="br">}</span></td></tr>
+<tr name="1045" id="1045">
+<td>1045</td><td>  <span class="br">}</span></td></tr>
+<tr name="1046" id="1046">
+<td>1046</td><td></td></tr>
+<tr name="1047" id="1047">
+<td>1047</td><td>  <span class="ct">/* End of Switch: '<a class="ct blk" blk_line="1047">&lt;S6&gt;/Switch</a>' */</span></td></tr>
+<tr name="1048" id="1048">
+<td>1048</td><td></td></tr>
+<tr name="1049" id="1049">
+<td>1049</td><td>  <span class="ct">/* DeadZone: '<a class="ct blk" blk_line="1049">&lt;S19&gt;/DeadZone</a>' */</span></td></tr>
+<tr name="1050" id="1050">
+<td>1050</td><td>  <span class="kw">if</span> (<a id="1050c7" class="tk">SignDeltaU</a> &gt; 12.0F) <span class="br">{</span></td></tr>
+<tr name="1051" id="1051">
+<td>1051</td><td>    <a id="1051c5" class="tk">SignDeltaU</a> -= 12.0F;</td></tr>
+<tr name="1052" id="1052">
+<td>1052</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1052c14" class="tk">SignDeltaU</a> &gt;= -12.0F) <span class="br">{</span></td></tr>
+<tr name="1053" id="1053">
+<td>1053</td><td>    <a id="1053c5" class="tk">SignDeltaU</a> = 0.0F;</td></tr>
+<tr name="1054" id="1054">
+<td>1054</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1055" id="1055">
+<td>1055</td><td>    <a id="1055c5" class="tk">SignDeltaU</a> -= -12.0F;</td></tr>
+<tr name="1056" id="1056">
+<td>1056</td><td>  <span class="br">}</span></td></tr>
+<tr name="1057" id="1057">
+<td>1057</td><td></td></tr>
+<tr name="1058" id="1058">
+<td>1058</td><td>  <span class="ct">/* End of DeadZone: '<a class="ct blk" blk_line="1058">&lt;S19&gt;/DeadZone</a>' */</span></td></tr>
+<tr name="1059" id="1059">
+<td>1059</td><td></td></tr>
+<tr name="1060" id="1060">
+<td>1060</td><td>  <span class="ct">/* RelationalOperator: '<a class="ct blk" blk_line="1060">&lt;S19&gt;/NotEqual</a>' */</span></td></tr>
+<tr name="1061" id="1061">
+<td>1061</td><td>  <a id="1061c3" class="tk">NotEqual_b</a> = (0.0F != <a id="1061c25" class="tk">SignDeltaU</a>);</td></tr>
+<tr name="1062" id="1062">
+<td>1062</td><td></td></tr>
+<tr name="1063" id="1063">
+<td>1063</td><td>  <span class="ct">/* Signum: '<a class="ct blk" blk_line="1063">&lt;S19&gt;/SignDeltaU</a>' */</span></td></tr>
+<tr name="1064" id="1064">
+<td>1064</td><td>  <span class="kw">if</span> (<a id="1064c7" class="tk">SignDeltaU</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1065" id="1065">
+<td>1065</td><td>    <a id="1065c5" class="tk">SignDeltaU</a> = -1.0F;</td></tr>
+<tr name="1066" id="1066">
+<td>1066</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1067" id="1067">
+<td>1067</td><td>    <span class="kw">if</span> (<a id="1067c9" class="tk">SignDeltaU</a> &gt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1068" id="1068">
+<td>1068</td><td>      <a id="1068c7" class="tk">SignDeltaU</a> = 1.0F;</td></tr>
+<tr name="1069" id="1069">
+<td>1069</td><td>    <span class="br">}</span></td></tr>
+<tr name="1070" id="1070">
+<td>1070</td><td>  <span class="br">}</span></td></tr>
+<tr name="1071" id="1071">
+<td>1071</td><td></td></tr>
+<tr name="1072" id="1072">
+<td>1072</td><td>  <span class="ct">/* End of Signum: '<a class="ct blk" blk_line="1072">&lt;S19&gt;/SignDeltaU</a>' */</span></td></tr>
+<tr name="1073" id="1073">
+<td>1073</td><td></td></tr>
+<tr name="1074" id="1074">
+<td>1074</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="1074">&lt;S17&gt;/Integral Gain</a>' */</span></td></tr>
+<tr name="1075" id="1075">
+<td>1075</td><td>  <a id="1075c3" class="tk">IntegralGain_j</a> = <a id="1075c20" class="tk">ctrlParams</a>.<a id="1075c31" class="tk">Current_I</a> * <a id="1075c43" class="tk">d_current_error</a>;</td></tr>
+<tr name="1076" id="1076">
+<td>1076</td><td></td></tr>
+<tr name="1077" id="1077">
+<td>1077</td><td>  <span class="ct">/* DataTypeConversion: '<a class="ct blk" blk_line="1077">&lt;S19&gt;/DataTypeConv1</a>' */</span></td></tr>
+<tr name="1078" id="1078">
+<td>1078</td><td>  <span class="kw">if</span> (<a id="1078c7" class="tk">SignDeltaU</a> &lt; 128.0F) <span class="br">{</span></td></tr>
+<tr name="1079" id="1079">
+<td>1079</td><td>    <a id="1079c5" class="tk">rtPrevAction</a> = (<a id="1079c21" class="tk">int8_T</a>)<a id="1079c28" class="tk">SignDeltaU</a>;</td></tr>
+<tr name="1080" id="1080">
+<td>1080</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1081" id="1081">
+<td>1081</td><td>    <a id="1081c5" class="tk">rtPrevAction</a> = <a id="1081c20" class="tk">MAX_int8_T</a>;</td></tr>
+<tr name="1082" id="1082">
+<td>1082</td><td>  <span class="br">}</span></td></tr>
+<tr name="1083" id="1083">
+<td>1083</td><td></td></tr>
+<tr name="1084" id="1084">
+<td>1084</td><td>  <span class="ct">/* End of DataTypeConversion: '<a class="ct blk" blk_line="1084">&lt;S19&gt;/DataTypeConv1</a>' */</span></td></tr>
+<tr name="1085" id="1085">
+<td>1085</td><td></td></tr>
+<tr name="1086" id="1086">
+<td>1086</td><td>  <span class="ct">/* Signum: '<a class="ct blk" blk_line="1086">&lt;S19&gt;/SignPreIntegrator</a>' */</span></td></tr>
+<tr name="1087" id="1087">
+<td>1087</td><td>  <span class="kw">if</span> (<a id="1087c7" class="tk">IntegralGain_j</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1088" id="1088">
+<td>1088</td><td>    <a id="1088c5" class="tk">electrical_angle</a> = -1.0F;</td></tr>
+<tr name="1089" id="1089">
+<td>1089</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1089c14" class="tk">IntegralGain_j</a> &gt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1090" id="1090">
+<td>1090</td><td>    <a id="1090c5" class="tk">electrical_angle</a> = 1.0F;</td></tr>
+<tr name="1091" id="1091">
+<td>1091</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1092" id="1092">
+<td>1092</td><td>    <a id="1092c5" class="tk">electrical_angle</a> = <a id="1092c24" class="tk">IntegralGain_j</a>;</td></tr>
+<tr name="1093" id="1093">
+<td>1093</td><td>  <span class="br">}</span></td></tr>
+<tr name="1094" id="1094">
+<td>1094</td><td></td></tr>
+<tr name="1095" id="1095">
+<td>1095</td><td>  <span class="ct">/* Switch: '<a class="ct blk" blk_line="1095">&lt;S17&gt;/Switch</a>' incorporates:</span></td></tr>
+<tr name="1096" id="1096">
+<td>1096</td><td><span class="ct">   *  Constant: '<a class="ct blk" blk_line="1096">&lt;S17&gt;/Constant</a>'</span></td></tr>
+<tr name="1097" id="1097">
+<td>1097</td><td><span class="ct">   *  DataTypeConversion: '<a class="ct blk" blk_line="1097">&lt;S19&gt;/DataTypeConv2</a>'</span></td></tr>
+<tr name="1098" id="1098">
+<td>1098</td><td><span class="ct">   *  Logic: '<a class="ct blk" blk_line="1098">&lt;S19&gt;/AND</a>'</span></td></tr>
+<tr name="1099" id="1099">
+<td>1099</td><td><span class="ct">   *  RelationalOperator: '<a class="ct blk" blk_line="1099">&lt;S19&gt;/Equal</a>'</span></td></tr>
+<tr name="1100" id="1100">
+<td>1100</td><td><span class="ct">   *  Signum: '<a class="ct blk" blk_line="1100">&lt;S19&gt;/SignPreIntegrator</a>'</span></td></tr>
+<tr name="1101" id="1101">
+<td>1101</td><td><span class="ct">   */</span></td></tr>
+<tr name="1102" id="1102">
+<td>1102</td><td>  <span class="kw">if</span> (<a id="1102c7" class="tk">NotEqual_b</a> &amp;&amp; (<a id="1102c22" class="tk">rtPrevAction</a> == ((<a id="1102c40" class="tk">int8_T</a>)<a id="1102c47" class="tk">electrical_angle</a>))) <span class="br">{</span></td></tr>
+<tr name="1103" id="1103">
+<td>1103</td><td>    <a id="1103c5" class="tk">electrical_angle</a> = 0.0F;</td></tr>
+<tr name="1104" id="1104">
+<td>1104</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1105" id="1105">
+<td>1105</td><td>    <a id="1105c5" class="tk">electrical_angle</a> = <a id="1105c24" class="tk">IntegralGain_j</a>;</td></tr>
+<tr name="1106" id="1106">
+<td>1106</td><td>  <span class="br">}</span></td></tr>
+<tr name="1107" id="1107">
+<td>1107</td><td></td></tr>
+<tr name="1108" id="1108">
+<td>1108</td><td>  <span class="ct">/* End of Switch: '<a class="ct blk" blk_line="1108">&lt;S17&gt;/Switch</a>' */</span></td></tr>
+<tr name="1109" id="1109">
+<td>1109</td><td></td></tr>
+<tr name="1110" id="1110">
+<td>1110</td><td>  <span class="ct">/* DeadZone: '<a class="ct blk" blk_line="1110">&lt;S20&gt;/DeadZone</a>' */</span></td></tr>
+<tr name="1111" id="1111">
+<td>1111</td><td>  <span class="kw">if</span> (<a id="1111c7" class="tk">SignDeltaU_b</a> &gt; 12.0F) <span class="br">{</span></td></tr>
+<tr name="1112" id="1112">
+<td>1112</td><td>    <a id="1112c5" class="tk">SignDeltaU_b</a> -= 12.0F;</td></tr>
+<tr name="1113" id="1113">
+<td>1113</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1113c14" class="tk">SignDeltaU_b</a> &gt;= -12.0F) <span class="br">{</span></td></tr>
+<tr name="1114" id="1114">
+<td>1114</td><td>    <a id="1114c5" class="tk">SignDeltaU_b</a> = 0.0F;</td></tr>
+<tr name="1115" id="1115">
+<td>1115</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1116" id="1116">
+<td>1116</td><td>    <a id="1116c5" class="tk">SignDeltaU_b</a> -= -12.0F;</td></tr>
+<tr name="1117" id="1117">
+<td>1117</td><td>  <span class="br">}</span></td></tr>
+<tr name="1118" id="1118">
+<td>1118</td><td></td></tr>
+<tr name="1119" id="1119">
+<td>1119</td><td>  <span class="ct">/* End of DeadZone: '<a class="ct blk" blk_line="1119">&lt;S20&gt;/DeadZone</a>' */</span></td></tr>
+<tr name="1120" id="1120">
+<td>1120</td><td></td></tr>
+<tr name="1121" id="1121">
+<td>1121</td><td>  <span class="ct">/* RelationalOperator: '<a class="ct blk" blk_line="1121">&lt;S20&gt;/NotEqual</a>' */</span></td></tr>
+<tr name="1122" id="1122">
+<td>1122</td><td>  <a id="1122c3" class="tk">NotEqual_b</a> = (0.0F != <a id="1122c25" class="tk">SignDeltaU_b</a>);</td></tr>
+<tr name="1123" id="1123">
+<td>1123</td><td></td></tr>
+<tr name="1124" id="1124">
+<td>1124</td><td>  <span class="ct">/* Signum: '<a class="ct blk" blk_line="1124">&lt;S20&gt;/SignDeltaU</a>' */</span></td></tr>
+<tr name="1125" id="1125">
+<td>1125</td><td>  <span class="kw">if</span> (<a id="1125c7" class="tk">SignDeltaU_b</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1126" id="1126">
+<td>1126</td><td>    <a id="1126c5" class="tk">SignDeltaU_b</a> = -1.0F;</td></tr>
+<tr name="1127" id="1127">
+<td>1127</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1128" id="1128">
+<td>1128</td><td>    <span class="kw">if</span> (<a id="1128c9" class="tk">SignDeltaU_b</a> &gt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1129" id="1129">
+<td>1129</td><td>      <a id="1129c7" class="tk">SignDeltaU_b</a> = 1.0F;</td></tr>
+<tr name="1130" id="1130">
+<td>1130</td><td>    <span class="br">}</span></td></tr>
+<tr name="1131" id="1131">
+<td>1131</td><td>  <span class="br">}</span></td></tr>
+<tr name="1132" id="1132">
+<td>1132</td><td></td></tr>
+<tr name="1133" id="1133">
+<td>1133</td><td>  <span class="ct">/* End of Signum: '<a class="ct blk" blk_line="1133">&lt;S20&gt;/SignDeltaU</a>' */</span></td></tr>
+<tr name="1134" id="1134">
+<td>1134</td><td></td></tr>
+<tr name="1135" id="1135">
+<td>1135</td><td>  <span class="ct">/* Gain: '<a class="ct blk" blk_line="1135">&lt;S18&gt;/Integral Gain</a>' */</span></td></tr>
+<tr name="1136" id="1136">
+<td>1136</td><td>  <a id="1136c3" class="tk">IntegralGain_j</a> = <a id="1136c20" class="tk">ctrlParams</a>.<a id="1136c31" class="tk">Current_I</a> * <a id="1136c43" class="tk">q_current_error</a>;</td></tr>
+<tr name="1137" id="1137">
+<td>1137</td><td>  <span class="kw">if</span> (<a id="1137c7" class="tk">M</a>-&gt;<a id="1137c10" class="tk">Timing</a>.<a id="1137c17" class="tk">TaskCounters</a>.<a id="1137c30" class="tk">TID</a>[1] == 0) <span class="br">{</span></td></tr>
+<tr name="1138" id="1138">
+<td>1138</td><td>    <span class="ct">/* RelationalOperator: '<a class="ct blk" blk_line="1138">&lt;S6&gt;/Relational Operator</a>' incorporates:</span></td></tr>
+<tr name="1139" id="1139">
+<td>1139</td><td><span class="ct">     *  Constant: '<a class="ct blk" blk_line="1139">&lt;S47&gt;/Constant</a>'</span></td></tr>
+<tr name="1140" id="1140">
+<td>1140</td><td><span class="ct">     */</span></td></tr>
+<tr name="1141" id="1141">
+<td>1141</td><td>    <a id="1141c5" class="tk">RelationalOperator</a> = (<a id="1141c27" class="tk">controller_mode</a> == <a id="1141c46" class="tk">StandBy</a>);</td></tr>
+<tr name="1142" id="1142">
+<td>1142</td><td></td></tr>
+<tr name="1143" id="1143">
+<td>1143</td><td>    <span class="ct">/* Outputs for Enabled SubSystem: '<a class="ct blk" blk_line="1143">&lt;S60&gt;/Generate_Error</a>' incorporates:</span></td></tr>
+<tr name="1144" id="1144">
+<td>1144</td><td><span class="ct">     *  EnablePort: '<a class="ct blk" blk_line="1144">&lt;S62&gt;/Enable</a>'</span></td></tr>
+<tr name="1145" id="1145">
+<td>1145</td><td><span class="ct">     */</span></td></tr>
+<tr name="1146" id="1146">
+<td>1146</td><td>    <span class="ct">/* Logic: '<a class="ct blk" blk_line="1146">&lt;S60&gt;/AND</a>' incorporates:</span></td></tr>
+<tr name="1147" id="1147">
+<td>1147</td><td><span class="ct">     *  Abs: '<a class="ct blk" blk_line="1147">&lt;S60&gt;/Velocity_Abs</a>'</span></td></tr>
+<tr name="1148" id="1148">
+<td>1148</td><td><span class="ct">     *  Constant: '<a class="ct blk" blk_line="1148">&lt;S60&gt;/Max_Valid_Velocity_Change</a>'</span></td></tr>
+<tr name="1149" id="1149">
+<td>1149</td><td><span class="ct">     *  Constant: '<a class="ct blk" blk_line="1149">&lt;S61&gt;/Constant</a>'</span></td></tr>
+<tr name="1150" id="1150">
+<td>1150</td><td><span class="ct">     *  Delay: '<a class="ct blk" blk_line="1150">&lt;S60&gt;/Velocity_Delay</a>'</span></td></tr>
+<tr name="1151" id="1151">
+<td>1151</td><td><span class="ct">     *  RelationalOperator: '<a class="ct blk" blk_line="1151">&lt;S60&gt;/Excessive_Velocity_Change</a>'</span></td></tr>
+<tr name="1152" id="1152">
+<td>1152</td><td><span class="ct">     *  RelationalOperator: '<a class="ct blk" blk_line="1152">&lt;S60&gt;/Relational_Operator</a>'</span></td></tr>
+<tr name="1153" id="1153">
+<td>1153</td><td><span class="ct">     *  Sum: '<a class="ct blk" blk_line="1153">&lt;S60&gt;/Velocity_Difference</a>'</span></td></tr>
+<tr name="1154" id="1154">
+<td>1154</td><td><span class="ct">     */</span></td></tr>
+<tr name="1155" id="1155">
+<td>1155</td><td>    <span class="kw">if</span> ((<a id="1155c10" class="tk">controller_mode</a> == <a id="1155c29" class="tk">VelocityControl</a>) &amp;&amp; (((<a id="1155c52" class="tk">real32_T</a>)<a id="1155c61" class="tk">fabs</a></td></tr>
+<tr name="1156" id="1156">
+<td>1156</td><td>          (<a id="1156c12" class="tk">velocity_measured</a> - <a id="1156c32" class="tk">DWork</a>.<a id="1156c38" class="tk">Velocity_Delay_DSTATE</a>)) &gt;= 628.318542F)) <span class="br">{</span></td></tr>
+<tr name="1157" id="1157">
+<td>1157</td><td>      <span class="ct">/* DataStoreWrite: '<a class="ct blk" blk_line="1157">&lt;S62&gt;/Data_Store_Write</a>' incorporates:</span></td></tr>
+<tr name="1158" id="1158">
+<td>1158</td><td><span class="ct">       *  Constant: '<a class="ct blk" blk_line="1158">&lt;S63&gt;/Constant</a>'</span></td></tr>
+<tr name="1159" id="1159">
+<td>1159</td><td><span class="ct">       */</span></td></tr>
+<tr name="1160" id="1160">
+<td>1160</td><td>      <a id="1160c7" class="tk">DWork</a>.<a id="1160c13" class="tk">error_l</a> = <a id="1160c23" class="tk">MeasuredVelocityError</a>;</td></tr>
+<tr name="1161" id="1161">
+<td>1161</td><td>    <span class="br">}</span></td></tr>
+<tr name="1162" id="1162">
+<td>1162</td><td></td></tr>
+<tr name="1163" id="1163">
+<td>1163</td><td>    <span class="ct">/* End of Logic: '<a class="ct blk" blk_line="1163">&lt;S60&gt;/AND</a>' */</span></td></tr>
+<tr name="1164" id="1164">
+<td>1164</td><td>    <span class="ct">/* End of Outputs for SubSystem: '<a class="ct blk" blk_line="1164">&lt;S60&gt;/Generate_Error</a>' */</span></td></tr>
+<tr name="1165" id="1165">
+<td>1165</td><td>  <span class="br">}</span></td></tr>
+<tr name="1166" id="1166">
+<td>1166</td><td></td></tr>
+<tr name="1167" id="1167">
+<td>1167</td><td>  <span class="ct">/* Outport: '<a class="ct blk" blk_line="1167">&lt;Root&gt;/error</a>' incorporates:</span></td></tr>
+<tr name="1168" id="1168">
+<td>1168</td><td><span class="ct">   *  DataStoreRead: '<a class="ct blk" blk_line="1168">&lt;Root&gt;/Data Store Read</a>'</span></td></tr>
+<tr name="1169" id="1169">
+<td>1169</td><td><span class="ct">   */</span></td></tr>
+<tr name="1170" id="1170">
+<td>1170</td><td>  <a id="1170c3" class="tk">error</a> = <a id="1170c11" class="tk">DWork</a>.<a id="1170c17" class="tk">error_l</a>;</td></tr>
+<tr name="1171" id="1171">
+<td>1171</td><td></td></tr>
+<tr name="1172" id="1172">
+<td>1172</td><td>  <span class="ct">/* Update for RateTransition: '<a class="ct blk" blk_line="1172">&lt;S6&gt;/Lo_to_Hi_Rate_Transition3</a>' */</span></td></tr>
+<tr name="1173" id="1173">
+<td>1173</td><td>  <span class="kw">if</span> (<a id="1173c7" class="tk">M</a>-&gt;<a id="1173c10" class="tk">Timing</a>.<a id="1173c17" class="tk">TaskCounters</a>.<a id="1173c30" class="tk">TID</a>[1] == 0) <span class="br">{</span></td></tr>
+<tr name="1174" id="1174">
+<td>1174</td><td>    <a id="1174c5" class="tk">DWork</a>.<a id="1174c11" class="tk">Lo_to_Hi_Rate_Transition3_Buffe</a> = <a id="1174c45" class="tk">RelationalOperator</a>;</td></tr>
+<tr name="1175" id="1175">
+<td>1175</td><td></td></tr>
+<tr name="1176" id="1176">
+<td>1176</td><td>    <span class="ct">/* Update for Delay: '<a class="ct blk" blk_line="1176">&lt;S55&gt;/Position_Delay</a>' */</span></td></tr>
+<tr name="1177" id="1177">
+<td>1177</td><td>    <a id="1177c5" class="tk">DWork</a>.<a id="1177c11" class="tk">Position_Delay_DSTATE</a> = <a id="1177c35" class="tk">Wrap_To_Pi</a>;</td></tr>
+<tr name="1178" id="1178">
+<td>1178</td><td>  <span class="br">}</span></td></tr>
+<tr name="1179" id="1179">
+<td>1179</td><td></td></tr>
+<tr name="1180" id="1180">
+<td>1180</td><td>  <span class="ct">/* End of Update for RateTransition: '<a class="ct blk" blk_line="1180">&lt;S6&gt;/Lo_to_Hi_Rate_Transition3</a>' */</span></td></tr>
+<tr name="1181" id="1181">
+<td>1181</td><td></td></tr>
+<tr name="1182" id="1182">
+<td>1182</td><td>  <span class="ct">/* Update for UnitDelay: '<a class="ct blk" blk_line="1182">&lt;S13&gt;/Delay Input1</a>' */</span></td></tr>
+<tr name="1183" id="1183">
+<td>1183</td><td>  <a id="1183c3" class="tk">DWork</a>.<a id="1183c9" class="tk">DelayInput1_DSTATE</a> = <a id="1183c30" class="tk">Enum_To_Int</a>;</td></tr>
+<tr name="1184" id="1184">
+<td>1184</td><td></td></tr>
+<tr name="1185" id="1185">
+<td>1185</td><td>  <span class="ct">/* Update for DiscreteIntegrator: '<a class="ct blk" blk_line="1185">&lt;S17&gt;/Integrator</a>' */</span></td></tr>
+<tr name="1186" id="1186">
+<td>1186</td><td>  <span class="kw">if</span> (<a id="1186c7" class="tk">FixPtRelationalOperator</a> == 0) <span class="br">{</span></td></tr>
+<tr name="1187" id="1187">
+<td>1187</td><td>    <a id="1187c5" class="tk">DWork</a>.<a id="1187c11" class="tk">Integrator_DSTATE</a> += 4.0E-5F * <a id="1187c42" class="tk">electrical_angle</a>;</td></tr>
+<tr name="1188" id="1188">
+<td>1188</td><td>  <span class="br">}</span></td></tr>
+<tr name="1189" id="1189">
+<td>1189</td><td></td></tr>
+<tr name="1190" id="1190">
+<td>1190</td><td>  <span class="kw">if</span> (<a id="1190c7" class="tk">FixPtRelationalOperator</a> &gt; 0) <span class="br">{</span></td></tr>
+<tr name="1191" id="1191">
+<td>1191</td><td>    <a id="1191c5" class="tk">DWork</a>.<a id="1191c11" class="tk">Integrator_PrevResetState</a> = 1;</td></tr>
+<tr name="1192" id="1192">
+<td>1192</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1193" id="1193">
+<td>1193</td><td>    <a id="1193c5" class="tk">DWork</a>.<a id="1193c11" class="tk">Integrator_PrevResetState</a> = 0;</td></tr>
+<tr name="1194" id="1194">
+<td>1194</td><td>  <span class="br">}</span></td></tr>
+<tr name="1195" id="1195">
+<td>1195</td><td></td></tr>
+<tr name="1196" id="1196">
+<td>1196</td><td>  <span class="ct">/* End of Update for DiscreteIntegrator: '<a class="ct blk" blk_line="1196">&lt;S17&gt;/Integrator</a>' */</span></td></tr>
+<tr name="1197" id="1197">
+<td>1197</td><td></td></tr>
+<tr name="1198" id="1198">
+<td>1198</td><td>  <span class="ct">/* Update for DiscreteIntegrator: '<a class="ct blk" blk_line="1198">&lt;S18&gt;/Integrator</a>' */</span></td></tr>
+<tr name="1199" id="1199">
+<td>1199</td><td>  <span class="kw">if</span> (<a id="1199c7" class="tk">FixPtRelationalOperator</a> == 0) <span class="br">{</span></td></tr>
+<tr name="1200" id="1200">
+<td>1200</td><td>    <span class="ct">/* DataTypeConversion: '<a class="ct blk" blk_line="1200">&lt;S20&gt;/DataTypeConv1</a>' */</span></td></tr>
+<tr name="1201" id="1201">
+<td>1201</td><td>    <span class="kw">if</span> (<a id="1201c9" class="tk">SignDeltaU_b</a> &lt; 128.0F) <span class="br">{</span></td></tr>
+<tr name="1202" id="1202">
+<td>1202</td><td>      <a id="1202c7" class="tk">rtPrevAction</a> = (<a id="1202c23" class="tk">int8_T</a>)<a id="1202c30" class="tk">SignDeltaU_b</a>;</td></tr>
+<tr name="1203" id="1203">
+<td>1203</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1204" id="1204">
+<td>1204</td><td>      <a id="1204c7" class="tk">rtPrevAction</a> = <a id="1204c22" class="tk">MAX_int8_T</a>;</td></tr>
+<tr name="1205" id="1205">
+<td>1205</td><td>    <span class="br">}</span></td></tr>
+<tr name="1206" id="1206">
+<td>1206</td><td></td></tr>
+<tr name="1207" id="1207">
+<td>1207</td><td>    <span class="ct">/* End of DataTypeConversion: '<a class="ct blk" blk_line="1207">&lt;S20&gt;/DataTypeConv1</a>' */</span></td></tr>
+<tr name="1208" id="1208">
+<td>1208</td><td></td></tr>
+<tr name="1209" id="1209">
+<td>1209</td><td>    <span class="ct">/* Signum: '<a class="ct blk" blk_line="1209">&lt;S20&gt;/SignPreIntegrator</a>' */</span></td></tr>
+<tr name="1210" id="1210">
+<td>1210</td><td>    <span class="kw">if</span> (<a id="1210c9" class="tk">IntegralGain_j</a> &lt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1211" id="1211">
+<td>1211</td><td>      <a id="1211c7" class="tk">electrical_angle</a> = -1.0F;</td></tr>
+<tr name="1212" id="1212">
+<td>1212</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1212c16" class="tk">IntegralGain_j</a> &gt; 0.0F) <span class="br">{</span></td></tr>
+<tr name="1213" id="1213">
+<td>1213</td><td>      <a id="1213c7" class="tk">electrical_angle</a> = 1.0F;</td></tr>
+<tr name="1214" id="1214">
+<td>1214</td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1215" id="1215">
+<td>1215</td><td>      <a id="1215c7" class="tk">electrical_angle</a> = <a id="1215c26" class="tk">IntegralGain_j</a>;</td></tr>
+<tr name="1216" id="1216">
+<td>1216</td><td>    <span class="br">}</span></td></tr>
+<tr name="1217" id="1217">
+<td>1217</td><td></td></tr>
+<tr name="1218" id="1218">
+<td>1218</td><td>    <span class="ct">/* Switch: '<a class="ct blk" blk_line="1218">&lt;S18&gt;/Switch</a>' incorporates:</span></td></tr>
+<tr name="1219" id="1219">
+<td>1219</td><td><span class="ct">     *  Constant: '<a class="ct blk" blk_line="1219">&lt;S18&gt;/Constant</a>'</span></td></tr>
+<tr name="1220" id="1220">
+<td>1220</td><td><span class="ct">     *  DataTypeConversion: '<a class="ct blk" blk_line="1220">&lt;S20&gt;/DataTypeConv2</a>'</span></td></tr>
+<tr name="1221" id="1221">
+<td>1221</td><td><span class="ct">     *  Logic: '<a class="ct blk" blk_line="1221">&lt;S20&gt;/AND</a>'</span></td></tr>
+<tr name="1222" id="1222">
+<td>1222</td><td><span class="ct">     *  RelationalOperator: '<a class="ct blk" blk_line="1222">&lt;S20&gt;/Equal</a>'</span></td></tr>
+<tr name="1223" id="1223">
+<td>1223</td><td><span class="ct">     *  Signum: '<a class="ct blk" blk_line="1223">&lt;S20&gt;/SignPreIntegrator</a>'</span></td></tr>
+<tr name="1224" id="1224">
+<td>1224</td><td><span class="ct">     */</span></td></tr>
+<tr name="1225" id="1225">
+<td>1225</td><td>    <span class="kw">if</span> (<a id="1225c9" class="tk">NotEqual_b</a> &amp;&amp; (<a id="1225c24" class="tk">rtPrevAction</a> == ((<a id="1225c42" class="tk">int8_T</a>)<a id="1225c49" class="tk">electrical_angle</a>))) <span class="br">{</span></td></tr>
+<tr name="1226" id="1226">
+<td>1226</td><td>      <a id="1226c7" class="tk">IntegralGain_j</a> = 0.0F;</td></tr>
+<tr name="1227" id="1227">
+<td>1227</td><td>    <span class="br">}</span></td></tr>
+<tr name="1228" id="1228">
+<td>1228</td><td></td></tr>
+<tr name="1229" id="1229">
+<td>1229</td><td>    <span class="ct">/* End of Switch: '<a class="ct blk" blk_line="1229">&lt;S18&gt;/Switch</a>' */</span></td></tr>
+<tr name="1230" id="1230">
+<td>1230</td><td>    <a id="1230c5" class="tk">DWork</a>.<a id="1230c11" class="tk">Integrator_DSTATE_l</a> += 4.0E-5F * <a id="1230c44" class="tk">IntegralGain_j</a>;</td></tr>
+<tr name="1231" id="1231">
+<td>1231</td><td>  <span class="br">}</span></td></tr>
+<tr name="1232" id="1232">
+<td>1232</td><td></td></tr>
+<tr name="1233" id="1233">
+<td>1233</td><td>  <span class="kw">if</span> (<a id="1233c7" class="tk">FixPtRelationalOperator</a> &gt; 0) <span class="br">{</span></td></tr>
+<tr name="1234" id="1234">
+<td>1234</td><td>    <a id="1234c5" class="tk">DWork</a>.<a id="1234c11" class="tk">Integrator_PrevResetState_c</a> = 1;</td></tr>
+<tr name="1235" id="1235">
+<td>1235</td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="1236" id="1236">
+<td>1236</td><td>    <a id="1236c5" class="tk">DWork</a>.<a id="1236c11" class="tk">Integrator_PrevResetState_c</a> = 0;</td></tr>
+<tr name="1237" id="1237">
+<td>1237</td><td>  <span class="br">}</span></td></tr>
+<tr name="1238" id="1238">
+<td>1238</td><td></td></tr>
+<tr name="1239" id="1239">
+<td>1239</td><td>  <span class="ct">/* End of Update for DiscreteIntegrator: '<a class="ct blk" blk_line="1239">&lt;S18&gt;/Integrator</a>' */</span></td></tr>
+<tr name="1240" id="1240">
+<td>1240</td><td>  <span class="kw">if</span> (<a id="1240c7" class="tk">M</a>-&gt;<a id="1240c10" class="tk">Timing</a>.<a id="1240c17" class="tk">TaskCounters</a>.<a id="1240c30" class="tk">TID</a>[1] == 0) <span class="br">{</span></td></tr>
+<tr name="1241" id="1241">
+<td>1241</td><td>    <span class="ct">/* Update for Delay: '<a class="ct blk" blk_line="1241">&lt;S60&gt;/Velocity_Delay</a>' */</span></td></tr>
+<tr name="1242" id="1242">
+<td>1242</td><td>    <a id="1242c5" class="tk">DWork</a>.<a id="1242c11" class="tk">Velocity_Delay_DSTATE</a> = <a id="1242c35" class="tk">velocity_measured</a>;</td></tr>
+<tr name="1243" id="1243">
+<td>1243</td><td>  <span class="br">}</span></td></tr>
+<tr name="1244" id="1244">
+<td>1244</td><td></td></tr>
+<tr name="1245" id="1245">
+<td>1245</td><td>  <a id="1245c3" class="tk">rate_scheduler</a>();</td></tr>
+<tr name="1246" id="1246">
+<td>1246</td><td>  <span class="kw">return</span> <a id="1246c10" class="tk">error</a>;</td></tr>
+<tr name="1247" id="1247">
+<td>1247</td><td><span class="br">}</span></td></tr>
+<tr name="1248" id="1248">
+<td>1248</td><td></td></tr>
+<tr name="1249" id="1249">
+<td>1249</td><td><span class="ct">/* Model initialize function */</span></td></tr>
+<tr name="1250" id="1250">
+<td>1250</td><td><span class="kw">void</span> <a id="1250c6" class="tk">Controller_Init</a>(<span class="kw">void</span>)</td></tr>
+<tr name="1251" id="1251">
+<td>1251</td><td><span class="br">{</span></td></tr>
+<tr name="1252" id="1252">
+<td>1252</td><td>  <span class="ct">/* Registration code */</span></td></tr>
+<tr name="1253" id="1253">
+<td>1253</td><td></td></tr>
+<tr name="1254" id="1254">
+<td>1254</td><td>  <span class="ct">/* initialize real-time model */</span></td></tr>
+<tr name="1255" id="1255">
+<td>1255</td><td>  (<span class="kw">void</span>) <a id="1255c10" class="tk">memset</a>((<span class="kw">void</span> *)<a id="1255c25" class="tk">M</a>, 0,</td></tr>
+<tr name="1256" id="1256">
+<td>1256</td><td>                <span class="kw">sizeof</span>(<a id="1256c24" class="tk">RT_MODEL</a>));</td></tr>
+<tr name="1257" id="1257">
+<td>1257</td><td></td></tr>
+<tr name="1258" id="1258">
+<td>1258</td><td>  <span class="ct">/* block I/O */</span></td></tr>
+<tr name="1259" id="1259">
+<td>1259</td><td></td></tr>
+<tr name="1260" id="1260">
+<td>1260</td><td>  <span class="ct">/* exported global signals */</span></td></tr>
+<tr name="1261" id="1261">
+<td>1261</td><td>  <a id="1261c3" class="tk">phase_currents</a>[0] = 0.0F;</td></tr>
+<tr name="1262" id="1262">
+<td>1262</td><td>  <a id="1262c3" class="tk">phase_currents</a>[1] = 0.0F;</td></tr>
+<tr name="1263" id="1263">
+<td>1263</td><td>  <a id="1263c3" class="tk">rotor_position</a> = 0.0F;</td></tr>
+<tr name="1264" id="1264">
+<td>1264</td><td>  <a id="1264c3" class="tk">velocity_measured</a> = 0.0F;</td></tr>
+<tr name="1265" id="1265">
+<td>1265</td><td>  <a id="1265c3" class="tk">d_current_error</a> = 0.0F;</td></tr>
+<tr name="1266" id="1266">
+<td>1266</td><td>  <a id="1266c3" class="tk">q_current_command</a> = 0.0F;</td></tr>
+<tr name="1267" id="1267">
+<td>1267</td><td>  <a id="1267c3" class="tk">q_current_measured</a> = 0.0F;</td></tr>
+<tr name="1268" id="1268">
+<td>1268</td><td>  <a id="1268c3" class="tk">q_current_error</a> = 0.0F;</td></tr>
+<tr name="1269" id="1269">
+<td>1269</td><td>  <a id="1269c3" class="tk">phase_voltages</a>[0] = 0.0F;</td></tr>
+<tr name="1270" id="1270">
+<td>1270</td><td>  <a id="1270c3" class="tk">phase_voltages</a>[1] = 0.0F;</td></tr>
+<tr name="1271" id="1271">
+<td>1271</td><td>  <a id="1271c3" class="tk">phase_voltages</a>[2] = 0.0F;</td></tr>
+<tr name="1272" id="1272">
+<td>1272</td><td>  <a id="1272c3" class="tk">velocity_error</a> = 0.0F;</td></tr>
+<tr name="1273" id="1273">
+<td>1273</td><td>  <a id="1273c3" class="tk">controller_mode</a> = <a id="1273c21" class="tk">StandBy</a>;</td></tr>
+<tr name="1274" id="1274">
+<td>1274</td><td></td></tr>
+<tr name="1275" id="1275">
+<td>1275</td><td>  <span class="ct">/* states (dwork) */</span></td></tr>
+<tr name="1276" id="1276">
+<td>1276</td><td>  (<span class="kw">void</span>) <a id="1276c10" class="tk">memset</a>((<span class="kw">void</span> *)&amp;<a id="1276c26" class="tk">DWork</a>, 0,</td></tr>
+<tr name="1277" id="1277">
+<td>1277</td><td>                <span class="kw">sizeof</span>(<a id="1277c24" class="tk">D_Work</a>));</td></tr>
+<tr name="1278" id="1278">
+<td>1278</td><td></td></tr>
+<tr name="1279" id="1279">
+<td>1279</td><td>  <span class="ct">/* InitializeConditions for Enabled SubSystem: '<a class="ct blk" blk_line="1279">&lt;S51&gt;/Open Loop Position</a>' */</span></td></tr>
+<tr name="1280" id="1280">
+<td>1280</td><td>  <span class="ct">/* InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="1280">&lt;S65&gt;/Integrate_To_Position</a>' */</span></td></tr>
+<tr name="1281" id="1281">
+<td>1281</td><td>  <a id="1281c3" class="tk">DWork</a>.<a id="1281c9" class="tk">Integrate_To_Position_DSTATE</a> = 0.0F;</td></tr>
+<tr name="1282" id="1282">
+<td>1282</td><td></td></tr>
+<tr name="1283" id="1283">
+<td>1283</td><td>  <span class="ct">/* InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="1283">&lt;S65&gt;/Integrate_To_Velocity</a>' */</span></td></tr>
+<tr name="1284" id="1284">
+<td>1284</td><td>  <a id="1284c3" class="tk">DWork</a>.<a id="1284c9" class="tk">Integrate_To_Velocity_DSTATE</a> = 0.0F;</td></tr>
+<tr name="1285" id="1285">
+<td>1285</td><td></td></tr>
+<tr name="1286" id="1286">
+<td>1286</td><td>  <span class="ct">/* End of InitializeConditions for SubSystem: '<a class="ct blk" blk_line="1286">&lt;S51&gt;/Open Loop Position</a>' */</span></td></tr>
+<tr name="1287" id="1287">
+<td>1287</td><td></td></tr>
+<tr name="1288" id="1288">
+<td>1288</td><td>  <span class="ct">/* Start for SwitchCase: '<a class="ct blk" blk_line="1288">&lt;S5&gt;/Switch Case</a>' */</span></td></tr>
+<tr name="1289" id="1289">
+<td>1289</td><td>  <a id="1289c3" class="tk">DWork</a>.<a id="1289c9" class="tk">SwitchCase_ActiveSubsystem</a> = -1;</td></tr>
+<tr name="1290" id="1290">
+<td>1290</td><td></td></tr>
+<tr name="1291" id="1291">
+<td>1291</td><td>  <span class="ct">/* InitializeConditions for IfAction SubSystem: '<a class="ct blk" blk_line="1291">&lt;S5&gt;/Velocity_Control</a>' */</span></td></tr>
+<tr name="1292" id="1292">
+<td>1292</td><td>  <span class="ct">/* InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="1292">&lt;S45&gt;/Integrator</a>' */</span></td></tr>
+<tr name="1293" id="1293">
+<td>1293</td><td>  <a id="1293c3" class="tk">DWork</a>.<a id="1293c9" class="tk">Integrator_DSTATE_f</a> = 0.0F;</td></tr>
+<tr name="1294" id="1294">
+<td>1294</td><td></td></tr>
+<tr name="1295" id="1295">
+<td>1295</td><td>  <span class="ct">/* End of InitializeConditions for SubSystem: '<a class="ct blk" blk_line="1295">&lt;S5&gt;/Velocity_Control</a>' */</span></td></tr>
+<tr name="1296" id="1296">
+<td>1296</td><td></td></tr>
+<tr name="1297" id="1297">
+<td>1297</td><td>  <span class="ct">/* InitializeConditions for IfAction SubSystem: '<a class="ct blk" blk_line="1297">&lt;S5&gt;/Position_Control</a>' */</span></td></tr>
+<tr name="1298" id="1298">
+<td>1298</td><td>  <span class="ct">/* InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="1298">&lt;S42&gt;/Integrator</a>' */</span></td></tr>
+<tr name="1299" id="1299">
+<td>1299</td><td>  <a id="1299c3" class="tk">DWork</a>.<a id="1299c9" class="tk">Integrator_DSTATE_lc</a> = 0.0F;</td></tr>
+<tr name="1300" id="1300">
+<td>1300</td><td></td></tr>
+<tr name="1301" id="1301">
+<td>1301</td><td>  <span class="ct">/* End of InitializeConditions for SubSystem: '<a class="ct blk" blk_line="1301">&lt;S5&gt;/Position_Control</a>' */</span></td></tr>
+<tr name="1302" id="1302">
+<td>1302</td><td></td></tr>
+<tr name="1303" id="1303">
+<td>1303</td><td>  <span class="ct">/* InitializeConditions for Chart: '<a class="ct blk" blk_line="1303">&lt;S49&gt;/Wait_For_Valid_Position</a>' */</span></td></tr>
+<tr name="1304" id="1304">
+<td>1304</td><td>  <a id="1304c3" class="tk">DWork</a>.<a id="1304c9" class="tk">temporalCounter_i1</a> = 0U;</td></tr>
+<tr name="1305" id="1305">
+<td>1305</td><td>  <a id="1305c3" class="tk">DWork</a>.<a id="1305c9" class="tk">is_active_c2_rtwdemo_pmsmfoc</a> = 0U;</td></tr>
+<tr name="1306" id="1306">
+<td>1306</td><td>  <a id="1306c3" class="tk">DWork</a>.<a id="1306c9" class="tk">is_c2_rtwdemo_pmsmfoc</a> = <a id="1306c33" class="tk">IN_NO_ACTIVE_CHILD</a>;</td></tr>
+<tr name="1307" id="1307">
+<td>1307</td><td>  <a id="1307c3" class="tk">DWork</a>.<a id="1307c9" class="tk">Position_Valid</a> = 0U;</td></tr>
+<tr name="1308" id="1308">
+<td>1308</td><td></td></tr>
+<tr name="1309" id="1309">
+<td>1309</td><td>  <span class="ct">/* InitializeConditions for Chart: '<a class="ct blk" blk_line="1309">&lt;S1&gt;/Controller_Mode_Scheduler</a>' */</span></td></tr>
+<tr name="1310" id="1310">
+<td>1310</td><td>  <a id="1310c3" class="tk">DWork</a>.<a id="1310c9" class="tk">is_Motor_On</a> = <a id="1310c23" class="tk">IN_NO_ACTIVE_CHILD</a>;</td></tr>
+<tr name="1311" id="1311">
+<td>1311</td><td>  <a id="1311c3" class="tk">DWork</a>.<a id="1311c9" class="tk">is_Motor_Control</a> = <a id="1311c28" class="tk">IN_NO_ACTIVE_CHILD</a>;</td></tr>
+<tr name="1312" id="1312">
+<td>1312</td><td>  <a id="1312c3" class="tk">DWork</a>.<a id="1312c9" class="tk">velocity_command</a> = 0.0F;</td></tr>
+<tr name="1313" id="1313">
+<td>1313</td><td>  <a id="1313c3" class="tk">DWork</a>.<a id="1313c9" class="tk">position_command</a> = 0.0F;</td></tr>
+<tr name="1314" id="1314">
+<td>1314</td><td>  <a id="1314c3" class="tk">DWork</a>.<a id="1314c9" class="tk">torque_command</a> = 0.0F;</td></tr>
+<tr name="1315" id="1315">
+<td>1315</td><td></td></tr>
+<tr name="1316" id="1316">
+<td>1316</td><td>  <span class="ct">/* Entry: Mode_Scheduler/Controller_Mode_Scheduler */</span></td></tr>
+<tr name="1317" id="1317">
+<td>1317</td><td>  <span class="ct">/* Entry Internal: Mode_Scheduler/Controller_Mode_Scheduler */</span></td></tr>
+<tr name="1318" id="1318">
+<td>1318</td><td>  <span class="ct">/* Transition: '<a class="ct blk" blk_line="1318">&lt;S4&gt;:9</a>' */</span></td></tr>
+<tr name="1319" id="1319">
+<td>1319</td><td>  <a id="1319c3" class="tk">DWork</a>.<a id="1319c9" class="tk">is_c1_rtwdemo_pmsmfoc</a> = <a id="1319c33" class="tk">IN_Stand_By</a>;</td></tr>
+<tr name="1320" id="1320">
+<td>1320</td><td></td></tr>
+<tr name="1321" id="1321">
+<td>1321</td><td>  <span class="ct">/* Entry 'Stand_By': '<a class="ct blk" blk_line="1321">&lt;S4&gt;:154</a>' */</span></td></tr>
+<tr name="1322" id="1322">
+<td>1322</td><td>  <a id="1322c3" class="tk">controller_mode</a> = <a id="1322c21" class="tk">StandBy</a>;</td></tr>
+<tr name="1323" id="1323">
+<td>1323</td><td></td></tr>
+<tr name="1324" id="1324">
+<td>1324</td><td>  <span class="ct">/* InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="1324">&lt;S17&gt;/Integrator</a>' */</span></td></tr>
+<tr name="1325" id="1325">
+<td>1325</td><td>  <a id="1325c3" class="tk">DWork</a>.<a id="1325c9" class="tk">Integrator_PrevResetState</a> = 0;</td></tr>
+<tr name="1326" id="1326">
+<td>1326</td><td></td></tr>
+<tr name="1327" id="1327">
+<td>1327</td><td>  <span class="ct">/* InitializeConditions for DiscreteIntegrator: '<a class="ct blk" blk_line="1327">&lt;S18&gt;/Integrator</a>' */</span></td></tr>
+<tr name="1328" id="1328">
+<td>1328</td><td>  <a id="1328c3" class="tk">DWork</a>.<a id="1328c9" class="tk">Integrator_PrevResetState_c</a> = 0;</td></tr>
+<tr name="1329" id="1329">
+<td>1329</td><td><span class="br">}</span></td></tr>
+<tr name="1330" id="1330">
+<td>1330</td><td></td></tr>
+<tr name="1331" id="1331">
+<td>1331</td><td><span class="ct">/*</span></td></tr>
+<tr name="1332" id="1332">
+<td>1332</td><td><span class="ct"> * File trailer for generated code.</span></td></tr>
+<tr name="1333" id="1333">
+<td>1333</td><td><span class="ct"> *</span></td></tr>
+<tr name="1334" id="1334">
+<td>1334</td><td><span class="ct"> * [EOF]</span></td></tr>
+<tr name="1335" id="1335">
+<td>1335</td><td><span class="ct"> */</span></td></tr>
+<tr name="1336" id="1336">
+<td>1336</td><td></td></tr>
+</table>
+</pre>
+</body>
+</html>
Repository toolbox

Export to desktop IDE
Build repository
Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	15 Oct 2014
Imports:	20
Forks:	0
Commits:	3
Dependents:	1
Dependencies:	3
Followers:	2
Diff: html/html/rtwdemo_pmsmfoc_c.html

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning
