paul cox
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
html/html/rtwdemo_pmsmfoc_c.html
- Committer:
- paulcox
- Date:
- 2014-11-25
- Revision:
- 2:bbc155b0b886
File content as of revision 2:bbc155b0b886:
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<script type="text/javascript" src="./rtwreport_utils.js"></script>
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<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->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"><S1>/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"><S49>/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"><S48>/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"><S49>/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"><S55>/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"><S12>/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"><S5>/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"><S22>/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"><S12>/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"><S27>/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"><S11>/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"><S1>/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"><S1>/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"><S48>/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"><S48>/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"><S49>/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"><S14>/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"><S42>/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"><S42>/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"><S45>/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"><S45>/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"><S65>/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"><S17>/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"><S17>/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"><S18>/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"><S18>/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"><S28>/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> = &<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>-><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>-><a id="110c11" class="tk">Timing</a>.<a id="110c18" class="tk">TaskCounters</a>.<a id="110c31" class="tk">TID</a>[1]) > 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>-><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>)) < 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> >= 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> > -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> <= ((<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>))) <= (<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"><S48>/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"><S48>/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"><S48>/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"><Root>/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"><S48>/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>-><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>-><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"><S49>/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"><Root>/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> < 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"><S52>: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>-><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"><S52>: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"><S52>: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"><S52>: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"><S52>: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"><S52>: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"><S52>: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>-><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"><S52>: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"><S52>: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> >= <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"><S52>: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"><S49>/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"><S49>/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"><S49>/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"><S49>/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"><Root>/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>-><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>-><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"><S55>/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"><S55>/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"><S55>/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>)) << 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"><S55>/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"><S55>/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"><S55>/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"><S55>/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"><S1>/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"><Root>/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"><Root>/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"><Root>/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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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>)) < <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"><S4>: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"><S4>: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"><S4>: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"><S4>: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) && (!(<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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S4>: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"><S1>/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"><S51>/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"><S64>/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"><S51>/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"><S65>/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"><S65>/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"><S65>/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"><S65>/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"><S65>/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"><S65>/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"><S65>/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"><S65>/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"><S51>/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"><S51>/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"><S51>/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"><S14>/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"><S14>/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"><S21>/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"><S21>/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"><S21>/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"><S12>/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"><S12>/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"><S22>/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"><S22>/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"><S22>/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"><S8>/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"><S13>/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"><S13>/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"><S17>/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"><S17>/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"><S17>/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"><S17>/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"><S17>/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> > 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> < -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"><S17>/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>-><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"><S5>/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"><S10>/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"><S5>/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"><S11>/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"><S5>/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"><S45>/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"><S5>/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"><S5>/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"><S11>/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"><S11>/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"><S45>/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"><S45>/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"><S45>/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"><S45>/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> > 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"><S11>/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> < -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"><S11>/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"><S11>/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"><S45>/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"><S46>/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> > 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> >= -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"><S46>/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"><S46>/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"><S46>/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> < 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> > 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"><S46>/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"><S45>/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"><S46>/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> < 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"><S46>/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"><S46>/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> < 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> > 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"><S45>/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"><S45>/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"><S46>/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"><S46>/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"><S46>/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"><S46>/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> && (<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"><S45>/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"><S45>/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"><S5>/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"><S5>/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"><S9>/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"><S5>/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"><S42>/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"><S5>/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"><S5>/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"><S9>/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"><S9>/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"><S43>/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"><S43>/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"><S43>/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"><S43>/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"><S43>/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"><S43>/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"><S43>/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"><S43>/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"><S43>/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"><S43>/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"><S43>/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"><S43>/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> < -1.57079637F) || (<a id="690c42" class="tk">Switch_fr</a> >= 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"><S43>/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"><S42>/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"><S42>/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"><S42>/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"><S42>/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> > 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"><S9>/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> < -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"><S9>/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"><S9>/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"><S42>/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"><S44>/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> > 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> >= -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"><S44>/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"><S44>/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"><S44>/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> < 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> > 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"><S44>/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"><S42>/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"><S44>/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> < 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"><S44>/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"><S44>/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> < 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> > 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"><S42>/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"><S42>/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"><S44>/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"><S44>/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"><S44>/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"><S44>/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> && (<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"><S42>/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"><S42>/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"><S5>/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"><S5>/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"><S10>/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"><S5>/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"><S5>/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"><S5>/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"><S22>/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"><S22>/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"><S22>/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"><S12>/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"><S18>/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"><S18>/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"><S18>/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"><S18>/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"><S18>/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> > 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> < -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"><S18>/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"><S24>/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"><S24>/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"><S24>/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"><S29>/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"><S24>/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"><S24>/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"><S24>/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"><S29>/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"><S30>/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"><S30>/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"><S30>/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"><S33>/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"><S33>/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"><S33>/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"><S33>/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"><S36>/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"><S36>/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"><S36>/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"><S31>/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"><S27>/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"><S31>/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"><S31>/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"><S34>/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"><S27>/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"><S34>/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"><S34>/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"><S37>/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"><S27>/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"><S37>/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"><S37>/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"><S32>/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"><S32>/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"><S32>/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"><S35>/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"><S35>/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"><S35>/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"><S38>/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"><S38>/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"><S38>/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"><S38>/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"><S28>/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"><S39>/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"><S40>/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"><S41>/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"><S28>/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"><S28>/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"><S39>/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"><S40>/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"><S41>/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"><S28>/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"><S29>/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"><S29>/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"><S28>/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>) > 0.0F) << 1) +</td></tr>
<tr name="933" id="933">
<td>933</td><td> (<a id="933c20" class="tk">SignPreIntegrator_f</a> > 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>) > 0.0F) << 2));</td></tr>
<tr name="935" id="935">
<td>935</td><td> <span class="kw">if</span> (<a id="935c7" class="tk">u0</a> > 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"><S27>/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"><S28>/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"><S28>/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"><S27>/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"><S6>/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"><Root>/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"><S6>/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"><S6>/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> > 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"><Root>/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"><S6>/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> < 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"><Root>/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"><S6>/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"><Root>/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"><S6>/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"><S6>/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"><S6>/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> > 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"><Root>/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"><S6>/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> < 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"><Root>/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"><S6>/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"><Root>/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"><S6>/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"><S6>/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"><S6>/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> > 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"><Root>/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"><S6>/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> < 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"><Root>/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"><S6>/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"><Root>/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"><S6>/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"><S6>/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"><S19>/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> > 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> >= -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"><S19>/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"><S19>/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"><S19>/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> < 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> > 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"><S19>/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"><S17>/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"><S19>/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> < 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"><S19>/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"><S19>/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> < 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> > 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"><S17>/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"><S17>/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"><S19>/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"><S19>/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"><S19>/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"><S19>/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> && (<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"><S17>/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"><S20>/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> > 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> >= -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"><S20>/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"><S20>/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"><S20>/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> < 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> > 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"><S20>/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"><S18>/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>-><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"><S6>/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"><S47>/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"><S60>/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"><S62>/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"><S60>/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"><S60>/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"><S60>/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"><S61>/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"><S60>/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"><S60>/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"><S60>/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"><S60>/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>) && (((<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>)) >= 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"><S62>/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"><S63>/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"><S60>/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"><S60>/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"><Root>/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"><Root>/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"><S6>/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>-><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"><S55>/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"><S6>/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"><S13>/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"><S17>/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> > 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"><S17>/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"><S18>/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"><S20>/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> < 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"><S20>/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"><S20>/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> < 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> > 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"><S18>/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"><S18>/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"><S20>/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"><S20>/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"><S20>/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"><S20>/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> && (<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"><S18>/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> > 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"><S18>/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>-><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"><S60>/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> *)&<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"><S51>/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"><S65>/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"><S65>/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"><S51>/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"><S5>/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"><S5>/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"><S45>/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"><S5>/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"><S5>/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"><S42>/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"><S5>/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"><S49>/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"><S1>/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"><S4>: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"><S4>: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"><S17>/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"><S18>/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>
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