diff --git a/GW/src/Logic/ADM_Integrated_Logic.c b/GW/src/Logic/ADM_Integrated_Logic.c index ba3a297e..ff0829e5 100644 --- a/GW/src/Logic/ADM_Integrated_Logic.c +++ b/GW/src/Logic/ADM_Integrated_Logic.c @@ -7,9 +7,9 @@ * * Code generated for Simulink model 'ADM_Integrated_Logic'. * - * Model version : 14.11 + * Model version : 14.27 * Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 - * C/C++ source code generated on : Mon Apr 20 10:09:17 2026 + * C/C++ source code generated on : Mon May 4 18:14:49 2026 * * Target selection: ert.tlc * Embedded hardware selection: NXP->Cortex-M4 @@ -49,8 +49,8 @@ static void ADM_Integrated__MATLABFunction2(double rtu_u, double *rty_y); /* * Output and update for atomic system: - * '/Calculate_F_c' - * '/Calculate_F_c1' + * '/Calculate_F_c' + * '/Calculate_F_c1' */ static void ADM_Integrated_Lo_Calculate_F_c(double rtu_W, double rtu_theta, double *rty_F_c) @@ -96,22 +96,23 @@ void ADM_Integrated_Logic_step(void) double rtb_Add3; double rtb_Add_e; double rtb_Brake_Torque_Cmd; + double rtb_DeadZone; double rtb_Desired_Torque; + double rtb_DiscreteTimeIntegrator_d; double rtb_Emergency_Brake_Output; - double rtb_Error_m; double rtb_F_PI; double rtb_Gain_c; double rtb_Integrator_1; - double rtb_Pitch_Angle; + double rtb_Integrator_2; double rtb_Pitch_Saturation; double rtb_Product1; - double rtb_Product1_gg; - double rtb_Product1_h; - double rtb_Product1_k3; double rtb_Product1_m; - double rtb_Product1_pd; + double rtb_Product1_o; + double rtb_Product1_pj; + double rtb_Product1_po; double rtb_Product2_a; double rtb_Saturation; + double rtb_Saturation_d; double rtb_Sum1_cr; double rtb_Sum1_d; double rtb_Sum1_f; @@ -121,6 +122,8 @@ void ADM_Integrated_Logic_step(void) double rtb_TSamp; double rtb_Trig; double rtb_Vx_Cmd_R; + double rtb_gain_d; + double rtb_gain_h; double rtb_y; double rtb_y_h; int32_t i; @@ -162,12 +165,12 @@ void ADM_Integrated_Logic_step(void) tmp[5] = 0.0; tmp[7] = 0.0; tmp[8] = 1.0; - rtb_Pitch_Angle = ADM_Integrated_Logic_DW.x_hat[1]; - rtb_Emergency_Brake_Output = ADM_Integrated_Logic_DW.x_hat[0]; + rtb_Integrator_2 = ADM_Integrated_Logic_DW.x_hat[1]; + rtb_gain_h = ADM_Integrated_Logic_DW.x_hat[0]; rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.x_hat[2]; for (i = 0; i < 3; i++) { - x_hat_pred[i] = (tmp[i + 3] * rtb_Pitch_Angle + tmp[i] * - rtb_Emergency_Brake_Output) + tmp[i + 6] * rtb_Vx_Cmd_R; + x_hat_pred[i] = (tmp[i + 3] * rtb_Integrator_2 + tmp[i] * rtb_gain_h) + + tmp[i + 6] * rtb_Vx_Cmd_R; } /* SignalConversion generated from: '/ SFunction ' incorporates: @@ -178,19 +181,19 @@ void ADM_Integrated_Logic_step(void) tmp_0[1] = rtb_Product1; /* MATLAB Function: '/MATLAB Function' */ - rtb_Pitch_Angle = x_hat_pred[1]; - rtb_Emergency_Brake_Output = x_hat_pred[0]; + rtb_Integrator_2 = x_hat_pred[1]; + rtb_gain_h = x_hat_pred[0]; rtb_Vx_Cmd_R = x_hat_pred[2]; for (i = 0; i < 2; i++) { - tmp_1[i] = tmp_0[i] - (((double)a[i + 2] * rtb_Pitch_Angle + (double)a[i] * - rtb_Emergency_Brake_Output) + 0.0 * rtb_Vx_Cmd_R); + tmp_1[i] = tmp_0[i] - (((double)a[i + 2] * rtb_Integrator_2 + (double)a[i] * + rtb_gain_h) + 0.0 * rtb_Vx_Cmd_R); } - rtb_Add_e = tmp_1[1]; - rtb_Pitch_Angle = tmp_1[0]; + rtb_Switch2_k = tmp_1[1]; + rtb_Integrator_2 = tmp_1[0]; for (i = 0; i < 3; i++) { - ADM_Integrated_Logic_DW.x_hat[i] = (b_a[i + 3] * rtb_Add_e + b_a[i] * - rtb_Pitch_Angle) + x_hat_pred[i]; + ADM_Integrated_Logic_DW.x_hat[i] = (b_a[i + 3] * rtb_Switch2_k + b_a[i] * + rtb_Integrator_2) + x_hat_pred[i]; } /* RelationalOperator: '/Compare' incorporates: @@ -200,51 +203,51 @@ void ADM_Integrated_Logic_step(void) rtb_Compare_l = (ADM_Integrated_Logic_U.GV_Drive_Mode == 2.0); /* MATLAB Function: '/Vx_OutPut_Function' incorporates: - * Constant: '/Constant' + * Constant: '/Constant' * Inport: '/GV_BrakeTorqueCommand' * Inport: '/GV_Vx_Command' * Inport: '/GV_Vx_Limit' - * RelationalOperator: '/Compare' + * RelationalOperator: '/Compare' */ if (!(ADM_Integrated_Logic_U.GV_BrakeTorqueCommand >= 50.0)) { if (ADM_Integrated_Logic_U.GV_Vx_Limit <= ADM_Integrated_Logic_U.GV_Vx_Command) { - rtb_Add_e = ADM_Integrated_Logic_U.GV_Vx_Limit; + rtb_Switch2_k = ADM_Integrated_Logic_U.GV_Vx_Limit; } else { - rtb_Add_e = ADM_Integrated_Logic_U.GV_Vx_Command; + rtb_Switch2_k = ADM_Integrated_Logic_U.GV_Vx_Command; } } else { - rtb_Add_e = 0.0; + rtb_Switch2_k = 0.0; } /* Product: '/Product' incorporates: * MATLAB Function: '/Vx_OutPut_Function' * Switch: '/Switch' */ - rtb_Pitch_Angle = rtb_Add_e * (double)!rtb_Compare_l; + rtb_Integrator_2 = rtb_Switch2_k * (double)!rtb_Compare_l; /* RateLimiter: '/Input_Vx_RateLimiter' */ - rtb_Emergency_Brake_Output = rtb_Pitch_Angle - ADM_Integrated_Logic_DW.PrevY; - if (rtb_Emergency_Brake_Output > 0.004) { + rtb_gain_h = rtb_Integrator_2 - ADM_Integrated_Logic_DW.PrevY; + if (rtb_gain_h > 0.004) { rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.PrevY + 0.004; - } else if (rtb_Emergency_Brake_Output < -0.008) { + } else if (rtb_gain_h < -0.008) { rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.PrevY - 0.008; } else { - rtb_Vx_Cmd_R = rtb_Pitch_Angle; + rtb_Vx_Cmd_R = rtb_Integrator_2; } ADM_Integrated_Logic_DW.PrevY = rtb_Vx_Cmd_R; /* End of RateLimiter: '/Input_Vx_RateLimiter' */ - /* RelationalOperator: '/Compare' incorporates: - * Constant: '/Constant' + /* RelationalOperator: '/Compare' incorporates: + * Constant: '/Constant' * Inport: '/GV_BrakeTorqueCommand' */ rtb_Compare_p = (ADM_Integrated_Logic_U.GV_BrakeTorqueCommand >= 100.0); /* Delay: '/Memory' */ - rtb_Pitch_Angle = ADM_Integrated_Logic_DW.Memory_DSTATE; + rtb_Integrator_2 = ADM_Integrated_Logic_DW.Memory_DSTATE; /* MATLAB Function: '/Gear_FUNCTION1' incorporates: * Inport: '/GV_VCU_GearSelStat' @@ -252,40 +255,39 @@ void ADM_Integrated_Logic_step(void) */ if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 0.0) { if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && rtb_Compare_p) { - rtb_Pitch_Angle = 0.0; + rtb_Integrator_2 = 0.0; } } else { - switch ((int32_t)rtb_Pitch_Angle) { + switch ((int32_t)rtb_Integrator_2) { case 0: if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && ((ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 1.0) || (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 3.0) || (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0))) { - rtb_Pitch_Angle = 2.0; + rtb_Integrator_2 = 2.0; } break; case 1: if ((ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0) && (ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0)) { - rtb_Pitch_Angle = 2.0; + rtb_Integrator_2 = 2.0; } break; case 2: if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && rtb_Compare_p) { if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 1.0) { - rtb_Pitch_Angle = 1.0; + rtb_Integrator_2 = 1.0; } else if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 3.0) { - rtb_Pitch_Angle = 3.0; + rtb_Integrator_2 = 3.0; } } break; case 3: - if ((ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0) && - (ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0)) { - rtb_Pitch_Angle = 2.0; + if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0) { + rtb_Integrator_2 = 2.0; } break; } @@ -306,35 +308,35 @@ void ADM_Integrated_Logic_step(void) /* End of Saturate: '/Pitch_Saturation' */ - /* Delay: '/Delay' */ + /* Delay: '/Delay' */ if (ADM_Integrated_Logic_DW.icLoad) { ADM_Integrated_Logic_DW.Delay_DSTATE = rtb_Pitch_Saturation; } - /* Product: '/delta rise limit' incorporates: + /* Product: '/delta rise limit' incorporates: * Constant: '/Angle_Upper' - * SampleTimeMath: '/sample time' + * SampleTimeMath: '/sample time' * - * About '/sample time': + * About '/sample time': * y = K where K = ( w * Ts ) * */ rtb_Product2_a = 0.002; - /* Sum: '/Difference Inputs1' incorporates: - * Delay: '/Delay' + /* Sum: '/Difference Inputs1' incorporates: + * Delay: '/Delay' * - * Block description for '/Difference Inputs1': + * Block description for '/Difference Inputs1': * * Add in CPU */ rtb_Pitch_Saturation -= ADM_Integrated_Logic_DW.Delay_DSTATE; - /* Switch: '/Switch2' incorporates: - * RelationalOperator: '/LowerRelop1' + /* Switch: '/Switch2' incorporates: + * RelationalOperator: '/LowerRelop1' */ if (!(rtb_Pitch_Saturation > 0.002)) { - /* Switch: '/Switch' incorporates: - * RelationalOperator: '/UpperRelop' + /* Switch: '/Switch' incorporates: + * RelationalOperator: '/UpperRelop' */ if (rtb_Pitch_Saturation < -0.002) { rtb_Product2_a = -0.002; @@ -342,76 +344,76 @@ void ADM_Integrated_Logic_step(void) rtb_Product2_a = rtb_Pitch_Saturation; } - /* End of Switch: '/Switch' */ + /* End of Switch: '/Switch' */ } - /* End of Switch: '/Switch2' */ + /* End of Switch: '/Switch2' */ - /* Sum: '/Difference Inputs2' incorporates: - * Delay: '/Delay' + /* Sum: '/Difference Inputs2' incorporates: + * Delay: '/Delay' * - * Block description for '/Difference Inputs2': + * Block description for '/Difference Inputs2': * * Add in CPU */ rtb_Pitch_Saturation = rtb_Product2_a + ADM_Integrated_Logic_DW.Delay_DSTATE; - /* MATLAB Function: '/Calculate_F_c' incorporates: - * Gain: '/Gain' + /* MATLAB Function: '/Calculate_F_c' incorporates: + * Gain: '/Gain' */ ADM_Integrated_Lo_Calculate_F_c(ADM_Integrated_Logic_ConstB.W_value, 0.017453292519943295 * rtb_Pitch_Saturation, &rtb_Product2_a); - /* Gain: '/Gain2' incorporates: - * Constant: '/Radius' - * Gain: '/Gain1' - * Gain: '/Rolling_Gain' - * MATLAB Function: '/Calculate_F_R' - * Product: '/Multiply3' - * Sum: '/Required_Brake_Cal' + /* Gain: '/Gain2' incorporates: + * Constant: '/Radius' + * Gain: '/Gain1' + * Gain: '/Rolling_Gain' + * MATLAB Function: '/Calculate_F_R' + * Product: '/Multiply3' + * Sum: '/Required_Brake_Cal' */ rtb_Saturation = (cos(0.017453292519943295 * rtb_Pitch_Saturation) * - 436.7465753424658 * 0.0 + rtb_Product2_a) * 0.292 * + 503.93835616438366 * 0.0 + rtb_Product2_a) * 0.292 * 0.083822296730930432; - /* Saturate: '/Saturation' */ + /* Saturate: '/Saturation' */ if (rtb_Saturation > 60.0) { rtb_Saturation = 60.0; } else if (rtb_Saturation < 0.0) { rtb_Saturation = 0.0; } - /* End of Saturate: '/Saturation' */ + /* End of Saturate: '/Saturation' */ - /* Delay: '/Delay' */ + /* Delay: '/Delay' */ if (ADM_Integrated_Logic_DW.icLoad_e) { ADM_Integrated_Logic_DW.Delay_DSTATE_i = rtb_Saturation; } - /* Product: '/delta rise limit' incorporates: + /* Product: '/delta rise limit' incorporates: * Constant: '/Upper_Torq' - * SampleTimeMath: '/sample time' + * SampleTimeMath: '/sample time' * - * About '/sample time': + * About '/sample time': * y = K where K = ( w * Ts ) * */ rtb_Product2_a = 0.016; - /* Sum: '/Difference Inputs1' incorporates: - * Delay: '/Delay' + /* Sum: '/Difference Inputs1' incorporates: + * Delay: '/Delay' * - * Block description for '/Difference Inputs1': + * Block description for '/Difference Inputs1': * * Add in CPU */ rtb_Saturation -= ADM_Integrated_Logic_DW.Delay_DSTATE_i; - /* Switch: '/Switch2' incorporates: - * RelationalOperator: '/LowerRelop1' + /* Switch: '/Switch2' incorporates: + * RelationalOperator: '/LowerRelop1' */ if (!(rtb_Saturation > 0.016)) { - /* Switch: '/Switch' incorporates: - * RelationalOperator: '/UpperRelop' + /* Switch: '/Switch' incorporates: + * RelationalOperator: '/UpperRelop' */ if (rtb_Saturation < -0.16) { rtb_Product2_a = -0.16; @@ -419,15 +421,15 @@ void ADM_Integrated_Logic_step(void) rtb_Product2_a = rtb_Saturation; } - /* End of Switch: '/Switch' */ + /* End of Switch: '/Switch' */ } - /* End of Switch: '/Switch2' */ + /* End of Switch: '/Switch2' */ - /* Sum: '/Difference Inputs2' incorporates: - * Delay: '/Delay' + /* Sum: '/Difference Inputs2' incorporates: + * Delay: '/Delay' * - * Block description for '/Difference Inputs2': + * Block description for '/Difference Inputs2': * * Add in CPU */ @@ -436,23 +438,17 @@ void ADM_Integrated_Logic_step(void) /* Gain: '/Grade_GAIN' */ rtb_Desired_Torque = 0.8 * rtb_Saturation; - /* Product: '/Product2' incorporates: - * Constant: '/Constant' - * Inport: '/GV_MCU_RPM' - * RelationalOperator: '/Compare' - */ - rtb_Product2_a = (double)(rtb_Pitch_Angle == 3.0) * - ADM_Integrated_Logic_U.GV_MCU_RPM; - /* Chart: '/Chart' incorporates: * Constant: '/Constant' * Constant: '/Constant1' + * Inport: '/GV_MCU_RPM' */ if (ADM_Integrated_Logic_DW.is_active_c6_ADM_Integrated_Log == 0) { ADM_Integrated_Logic_DW.is_active_c6_ADM_Integrated_Log = 1U; ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_OFF; } else if (ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic == IN_HAC_OFF) { - if (rtb_Product2_a < -50.0) { + if ((rtb_Integrator_2 == 3.0) && (ADM_Integrated_Logic_U.GV_MCU_RPM < -50.0)) + { ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_ON; } else { /* Outport: '/Debug_HAC_RPM_Decision' */ @@ -460,7 +456,8 @@ void ADM_Integrated_Logic_step(void) } /* case IN_HAC_ON: */ - } else if (rtb_Product2_a > 150.0) { + } else if ((rtb_Integrator_2 != 3.0) || (ADM_Integrated_Logic_U.GV_MCU_RPM > + 150.0)) { ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_OFF; } else { /* Outport: '/Debug_HAC_RPM_Decision' */ @@ -490,7 +487,7 @@ void ADM_Integrated_Logic_step(void) * Sum: '/HAC_Flags_Add' */ if ((double)(((ADM_Integrated_Logic_U.GV_BrakeTorqueCommand <= 20.0) + - (rtb_Vx_Cmd_R <= 2.0)) + (rtb_Pitch_Angle == 3.0)) + + (rtb_Vx_Cmd_R <= 2.0)) + (rtb_Integrator_2 == 3.0)) + ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision >= 4.0) { if (ADM_Integrated_Logic_DW.HAC_ON_FLAG == 0.0) { ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0; @@ -506,26 +503,33 @@ void ADM_Integrated_Logic_step(void) /* Outport: '/Debug_HAC_FLAG' */ ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 1.0; - } else if (ADM_Integrated_Logic_DW.HAC_ON_FLAG == 1.0) { - if (ADM_Integrated_Logic_U.GV_MCU_EstTrq >= - ADM_Integrated_Logic_DW.HAC_Desired_Torque) { - ADM_Integrated_Logic_DW.Smoothed_Torque -= 0.05 * - ADM_Integrated_Logic_DW.Smoothed_Torque; - if (ADM_Integrated_Logic_DW.Smoothed_Torque < 0.01) { - ADM_Integrated_Logic_DW.Smoothed_Torque = 0.0; - ADM_Integrated_Logic_DW.HAC_ON_FLAG = 0.0; - ADM_Integrated_Logic_DW.HAC_Desired_Torque = 0.0; - ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0; + } else if (rtb_Integrator_2 == 3.0) { + if (ADM_Integrated_Logic_DW.HAC_ON_FLAG == 1.0) { + if (ADM_Integrated_Logic_U.GV_MCU_EstTrq >= + ADM_Integrated_Logic_DW.HAC_Desired_Torque) { + ADM_Integrated_Logic_DW.Smoothed_Torque -= 0.05 * + ADM_Integrated_Logic_DW.Smoothed_Torque; + if (ADM_Integrated_Logic_DW.Smoothed_Torque < 0.01) { + ADM_Integrated_Logic_DW.Smoothed_Torque = 0.0; + ADM_Integrated_Logic_DW.HAC_ON_FLAG = 0.0; + ADM_Integrated_Logic_DW.HAC_Desired_Torque = 0.0; + ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0; + } + + rtb_Brake_Torque_Cmd = ADM_Integrated_Logic_DW.Smoothed_Torque; + } else { + rtb_Brake_Torque_Cmd = 1000.0; + ADM_Integrated_Logic_DW.Smoothed_Torque = 1000.0; + + /* Outport: '/Debug_HAC_FLAG' */ + ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 1.0; } - - rtb_Brake_Torque_Cmd = ADM_Integrated_Logic_DW.Smoothed_Torque; - } else { - rtb_Brake_Torque_Cmd = 1000.0; - ADM_Integrated_Logic_DW.Smoothed_Torque = 1000.0; - - /* Outport: '/Debug_HAC_FLAG' */ - ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 1.0; } + } else { + ADM_Integrated_Logic_DW.Smoothed_Torque = 0.0; + ADM_Integrated_Logic_DW.HAC_ON_FLAG = 0.0; + ADM_Integrated_Logic_DW.HAC_Desired_Torque = 0.0; + ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0; } /* MATLAB Function: '/MATLAB Function' incorporates: @@ -579,34 +583,34 @@ void ADM_Integrated_Logic_step(void) /* Saturate: '/Saturation' */ if (rtb_F_PI > 3525.0) { - rtb_y = 3525.0; + rtb_Saturation_d = 3525.0; } else if (rtb_F_PI < -2500.0) { - rtb_y = -2500.0; + rtb_Saturation_d = -2500.0; } else { - rtb_y = rtb_F_PI; + rtb_Saturation_d = rtb_F_PI; } /* End of Saturate: '/Saturation' */ /* Product: '/Product3' */ - rtb_y_h = rtb_AccFlag * rtb_y; + rtb_DiscreteTimeIntegrator_d = rtb_AccFlag * rtb_Saturation_d; /* RateLimiter: '/Rate Limiter' */ - rtb_Emergency_Brake_Output = rtb_y_h - ADM_Integrated_Logic_DW.PrevY_b; - if (rtb_Emergency_Brake_Output > 2.0) { - rtb_y_h = ADM_Integrated_Logic_DW.PrevY_b + 2.0; - } else if (rtb_Emergency_Brake_Output < -2.0) { - rtb_y_h = ADM_Integrated_Logic_DW.PrevY_b - 2.0; + rtb_gain_h = rtb_DiscreteTimeIntegrator_d - ADM_Integrated_Logic_DW.PrevY_b; + if (rtb_gain_h > 2.0) { + rtb_DiscreteTimeIntegrator_d = ADM_Integrated_Logic_DW.PrevY_b + 2.0; + } else if (rtb_gain_h < -2.0) { + rtb_DiscreteTimeIntegrator_d = ADM_Integrated_Logic_DW.PrevY_b - 2.0; } - ADM_Integrated_Logic_DW.PrevY_b = rtb_y_h; + ADM_Integrated_Logic_DW.PrevY_b = rtb_DiscreteTimeIntegrator_d; /* End of RateLimiter: '/Rate Limiter' */ /* Product: '/Product' incorporates: * MATLAB Function: '/MATLAB Function1' */ - rtb_AccFlag = (double)(rtb_Pitch_Angle == 3.0) * rtb_y_h; + rtb_AccFlag = (double)(rtb_Integrator_2 == 3.0) * rtb_DiscreteTimeIntegrator_d; /* MATLAB Function: '/MATLAB Function' */ if (!(rtb_AccFlag >= 0.0)) { @@ -615,49 +619,61 @@ void ADM_Integrated_Logic_step(void) /* End of MATLAB Function: '/MATLAB Function' */ + /* DiscreteTransferFcn: '/Discrete Transfer Fcn' */ + rtb_DiscreteTimeIntegrator_d = 0.0625 * + ADM_Integrated_Logic_DW.DiscreteTransferFcn_states; + + /* DeadZone: '/Dead Zone' */ + if (!(rtb_DiscreteTimeIntegrator_d > 0.0)) { + if (rtb_DiscreteTimeIntegrator_d >= -1.0) { + rtb_DiscreteTimeIntegrator_d = 0.0; + } else { + rtb_DiscreteTimeIntegrator_d++; + } + } + /* Gain: '/Brake_GAIN' incorporates: - * DiscreteTransferFcn: '/Discrete Transfer Fcn' + * DeadZone: '/Dead Zone' */ - rtb_Integrator_1 = 0.0625 * ADM_Integrated_Logic_DW.DiscreteTransferFcn_states - * -80.0; + rtb_Add_e = -80.0 * rtb_DiscreteTimeIntegrator_d; /* MATLAB Function: '/GearCondition_Brake' */ - if (rtb_Pitch_Angle == 1.0) { + if (rtb_Integrator_2 == 1.0) { i = -1; } else { - i = (rtb_Pitch_Angle == 3.0); + i = (rtb_Integrator_2 == 3.0); } /* Saturate: '/Saturation' */ - if (rtb_Integrator_1 > 1000.0) { - rtb_Integrator_1 = 1000.0; - } else if (rtb_Integrator_1 < 0.0) { - rtb_Integrator_1 = 0.0; + if (rtb_Add_e > 1000.0) { + rtb_Add_e = 1000.0; + } else if (rtb_Add_e < 0.0) { + rtb_Add_e = 0.0; } /* Product: '/Multiply2' incorporates: * MATLAB Function: '/GearCondition_Brake' * Saturate: '/Saturation' */ - rtb_y_h = (double)i * rtb_Integrator_1; + rtb_DiscreteTimeIntegrator_d = (double)i * rtb_Add_e; /* RateLimiter: '/Brake_Out_RateLimiter' */ - rtb_Emergency_Brake_Output = rtb_y_h - ADM_Integrated_Logic_DW.PrevY_o; - if (rtb_Emergency_Brake_Output > 3.0) { - rtb_y_h = ADM_Integrated_Logic_DW.PrevY_o + 3.0; - } else if (rtb_Emergency_Brake_Output < -3.0) { - rtb_y_h = ADM_Integrated_Logic_DW.PrevY_o - 3.0; + rtb_gain_h = rtb_DiscreteTimeIntegrator_d - ADM_Integrated_Logic_DW.PrevY_o; + if (rtb_gain_h > 3.0) { + rtb_DiscreteTimeIntegrator_d = ADM_Integrated_Logic_DW.PrevY_o + 3.0; + } else if (rtb_gain_h < -3.0) { + rtb_DiscreteTimeIntegrator_d = ADM_Integrated_Logic_DW.PrevY_o - 3.0; } - ADM_Integrated_Logic_DW.PrevY_o = rtb_y_h; + ADM_Integrated_Logic_DW.PrevY_o = rtb_DiscreteTimeIntegrator_d; /* End of RateLimiter: '/Brake_Out_RateLimiter' */ /* Saturate: '/Brake_Saturation' */ - if (rtb_y_h > 1000.0) { - rtb_y_h = 1000.0; - } else if (rtb_y_h < 0.0) { - rtb_y_h = 0.0; + if (rtb_DiscreteTimeIntegrator_d > 1000.0) { + rtb_DiscreteTimeIntegrator_d = 1000.0; + } else if (rtb_DiscreteTimeIntegrator_d < 0.0) { + rtb_DiscreteTimeIntegrator_d = 0.0; } /* End of Saturate: '/Brake_Saturation' */ @@ -672,14 +688,15 @@ void ADM_Integrated_Logic_step(void) ADM_Integrated_Logic_DW.emergency_active = 1.0; } - if (rtb_Pitch_Angle == 0.0) { + if (rtb_Integrator_2 == 0.0) { ADM_Integrated_Logic_DW.brake_hold = 0.0; } rtb_Emergency_Brake_Output = ADM_Integrated_Logic_DW.brake_hold; } else { ADM_Integrated_Logic_DW.emergency_active = 0.0; - rtb_Emergency_Brake_Output = rtb_Brake_Torque_Cmd + rtb_y_h; + rtb_Emergency_Brake_Output = rtb_Brake_Torque_Cmd + + rtb_DiscreteTimeIntegrator_d; } /* End of MATLAB Function: '/Emergency_Brake_Func' */ @@ -776,7 +793,7 @@ void ADM_Integrated_Logic_step(void) ADM_Integrated_Logic_Y.Target_IDB_Out = rtb_Emergency_Brake_Output; /* Outport: '/Debug_CC_Brake_Output' */ - ADM_Integrated_Logic_Y.Debug_CC_Brake_Output = rtb_y_h; + ADM_Integrated_Logic_Y.Debug_CC_Brake_Output = rtb_DiscreteTimeIntegrator_d; /* Outport: '/Debug_AccControl_TorqueCmd' incorporates: * Constant: '/Constant' @@ -788,14 +805,14 @@ void ADM_Integrated_Logic_step(void) 11.93; /* MATLAB Function: '/Target_RPM' */ - if (rtb_Pitch_Angle == 0.0) { + if (rtb_Integrator_2 == 0.0) { i = 0; - } else if (rtb_Pitch_Angle == 2.0) { + } else if (rtb_Integrator_2 == 2.0) { i = 0; - } else if (rtb_Pitch_Angle == 1.0) { + } else if (rtb_Integrator_2 == 1.0) { i = -1; } else { - i = (rtb_Pitch_Angle == 3.0); + i = (rtb_Integrator_2 == 3.0); } rtb_AccFlag = rtb_Vx_Cmd_R * 1000.0 / 3600.0 * 11.93 * 60.0 / @@ -804,10 +821,10 @@ void ADM_Integrated_Logic_step(void) /* End of MATLAB Function: '/Target_RPM' */ /* RateLimiter: '/TargetSpd_RateLimiter' */ - rtb_Emergency_Brake_Output = rtb_AccFlag - ADM_Integrated_Logic_DW.PrevY_a; - if (rtb_Emergency_Brake_Output > 0.4) { + rtb_gain_h = rtb_AccFlag - ADM_Integrated_Logic_DW.PrevY_a; + if (rtb_gain_h > 0.4) { rtb_AccFlag = ADM_Integrated_Logic_DW.PrevY_a + 0.4; - } else if (rtb_Emergency_Brake_Output < -0.8) { + } else if (rtb_gain_h < -0.8) { rtb_AccFlag = ADM_Integrated_Logic_DW.PrevY_a - 0.8; } @@ -815,138 +832,188 @@ void ADM_Integrated_Logic_step(void) /* End of RateLimiter: '/TargetSpd_RateLimiter' */ - /* Product: '/Product1' incorporates: - * Constant: '/Constant' - * Gain: '/gain' - * Product: '/Product11' - * Sum: '/Sum1' - * Sum: '/Sum2' - * Sum: '/Sum3' - * Sum: '/Sum4' - * UnitDelay: '/d' - * UnitDelay: '/d1' + /* Product: '/Product1' incorporates: + * Constant: '/Constant' + * Gain: '/gain' + * Product: '/Product11' + * Sum: '/Sum1' + * Sum: '/Sum2' + * Sum: '/Sum3' + * Sum: '/Sum4' + * UnitDelay: '/d' + * UnitDelay: '/d1' */ rtb_Emergency_Brake_Output = ((rtb_AccFlag + ADM_Integrated_Logic_DW.d1_DSTATE_c) * 0.002 + 0.1041032953945969 * ADM_Integrated_Logic_DW.d_DSTATE_l) / 0.1081032953945969; - /* Sum: '/Sum1' incorporates: - * Gain: '/gain' - * Sum: '/Sum2' - * UnitDelay: '/d' - * UnitDelay: '/d1' + /* Sum: '/Sum1' incorporates: + * Gain: '/gain' + * Sum: '/Sum2' + * UnitDelay: '/d' + * UnitDelay: '/d1' */ rtb_Trig = (rtb_Emergency_Brake_Output - ADM_Integrated_Logic_DW.d_DSTATE_i) * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_p; - /* Sum: '/Sum1' incorporates: - * Gain: '/gain' - * Sum: '/Sum2' - * UnitDelay: '/d' - * UnitDelay: '/d1' + /* Sum: '/Sum1' incorporates: + * Gain: '/gain' + * Sum: '/Sum2' + * UnitDelay: '/d' + * UnitDelay: '/d1' */ rtb_Sum1_j1 = (rtb_Trig - ADM_Integrated_Logic_DW.d_DSTATE_c) * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_h; - /* Sum: '/Sum1' incorporates: - * Gain: '/gain' - * Sum: '/Sum2' - * UnitDelay: '/d' - * UnitDelay: '/d1' + /* Sum: '/Sum1' incorporates: + * Gain: '/gain' + * Sum: '/Sum2' + * UnitDelay: '/d' + * UnitDelay: '/d1' */ rtb_Sum1_d = (rtb_Sum1_j1 - ADM_Integrated_Logic_DW.d_DSTATE_d) * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_l; - /* Gain: '/Gain' incorporates: - * Constant: '/Constant3' - * Constant: '/Constant4' - * Constant: '/Constant5' - * Product: '/Product' - * Product: '/Product1' - * Product: '/Product2' - * Sum: '/Add5' + /* Gain: '/Gain' incorporates: + * Constant: '/Constant3' + * Constant: '/Constant4' + * Constant: '/Constant5' + * Product: '/Product' + * Product: '/Product1' + * Product: '/Product2' + * Sum: '/Add5' */ rtb_Gain_c = (((156.8 * rtb_Emergency_Brake_Output + 212.8 * rtb_Trig) + 21.8 * rtb_Sum1_j1) + rtb_Sum1_d) * 9.44822373393802E-6; - /* Product: '/Product1' incorporates: - * Constant: '/Constant1' - * Constant: '/Constant2' - * Delay: '/Delay' - * Delay: '/Delay1' - * Delay: '/Delay2' - * Delay: '/Delay3' - * Gain: '/gain1' - * Gain: '/gain3' - * Product: '/x(n), x(n-1), x(n-2)' - * Product: '/y(n-1)' - * Product: '/y(n-2)' - * Sum: '/Sum1' - * Sum: '/Sum2' - * Sum: '/Sum3' - * Sum: '/Sum4' - * Sum: '/Sum5' - * Sum: '/Sum6' + /* Product: '/Product1' incorporates: + * Constant: '/Constant1' + * Constant: '/Constant2' + * Delay: '/Delay' + * Delay: '/Delay1' + * Delay: '/Delay2' + * Delay: '/Delay3' + * Gain: '/gain1' + * Gain: '/gain3' + * Product: '/x(n), x(n-1), x(n-2)' + * Product: '/y(n-1)' + * Product: '/y(n-2)' + * Sum: '/Sum1' + * Sum: '/Sum2' + * Sum: '/Sum3' + * Sum: '/Sum4' + * Sum: '/Sum5' + * Sum: '/Sum6' */ - rtb_Product1_pd = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE + rtb_Gain_c) - + ADM_Integrated_Logic_DW.Delay_DSTATE_c[0]) * - 0.39478417604357435 - -7.2104316479128512 * - ADM_Integrated_Logic_DW.Delay2_DSTATE) - - 2.6178993711731877 * ADM_Integrated_Logic_DW.Delay3_DSTATE - [0]) / 6.1716689809139611; + rtb_DiscreteTimeIntegrator_d = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE + + rtb_Gain_c) + ADM_Integrated_Logic_DW.Delay_DSTATE_c[0]) * + 0.39478417604357435 - -7.2104316479128512 * + ADM_Integrated_Logic_DW.Delay2_DSTATE) - 2.6178993711731877 * + ADM_Integrated_Logic_DW.Delay3_DSTATE[0]) / 6.1716689809139611; - /* Product: '/Product1' incorporates: - * Constant: '/Constant' - * Gain: '/gain' - * Product: '/Product11' - * Sum: '/Sum1' - * Sum: '/Sum2' - * Sum: '/Sum3' - * Sum: '/Sum4' - * UnitDelay: '/d' - * UnitDelay: '/d1' + /* Product: '/Product1' incorporates: + * Constant: '/Constant' + * Gain: '/gain' + * Product: '/Product11' + * Sum: '/Sum1' + * Sum: '/Sum2' + * Sum: '/Sum3' + * Sum: '/Sum4' + * UnitDelay: '/d' + * UnitDelay: '/d1' */ - rtb_Product1_m = ((rtb_Product1_pd + ADM_Integrated_Logic_DW.d1_DSTATE_e) * - 0.002 + 0.00861032953945969 * - ADM_Integrated_Logic_DW.d_DSTATE_ij) / 0.01261032953945969; + rtb_Product1_pj = ((rtb_DiscreteTimeIntegrator_d + + ADM_Integrated_Logic_DW.d1_DSTATE_e) * 0.002 + + 0.00861032953945969 * ADM_Integrated_Logic_DW.d_DSTATE_ij) / + 0.01261032953945969; /* Sum: '/Subtract' incorporates: * Inport: '/GV_MCU_RPM' - * MultiPortSwitch: '/Multiport Switch1' */ - rtb_Error_m = rtb_Emergency_Brake_Output - ADM_Integrated_Logic_U.GV_MCU_RPM; + rtb_DeadZone = rtb_Emergency_Brake_Output - ADM_Integrated_Logic_U.GV_MCU_RPM; - /* Saturate: '/Error_Saturation' incorporates: - * MultiPortSwitch: '/Multiport Switch1' - */ - if (rtb_Error_m > 2000.0) { - rtb_Error_m = 2000.0; - } else if (rtb_Error_m < -2000.0) { - rtb_Error_m = -2000.0; + /* Saturate: '/Error_Saturation' */ + if (rtb_DeadZone > 2000.0) { + rtb_DeadZone = 2000.0; + } else if (rtb_DeadZone < -2000.0) { + rtb_DeadZone = -2000.0; } /* End of Saturate: '/Error_Saturation' */ - /* DeadZone: '/Dead Zone' incorporates: - * MultiPortSwitch: '/Multiport Switch1' + /* RelationalOperator: '/Compare' incorporates: + * Constant: '/Constant' */ - if (rtb_Error_m > 50.0) { - rtb_Add_e = rtb_Error_m - 50.0; - } else if (rtb_Error_m >= -50.0) { - rtb_Add_e = 0.0; - } else { - rtb_Add_e = rtb_Error_m - -50.0; + rtb_Compare_p = (rtb_Emergency_Brake_Output <= 1.0); + + /* DiscreteIntegrator: '/Discrete-Time Integrator' */ + if (rtb_Compare_p || (ADM_Integrated_Logic_DW.DiscreteTimeIntegrator_PrevRese + != 0)) { + ADM_Integrated_Logic_DW.DiscreteTimeIntegrator_DSTATE_j = 0.0; } - /* Sum: '/Sum1' incorporates: - * Gain: '/gain' - * Sum: '/Sum2' - * UnitDelay: '/d' - * UnitDelay: '/d1' + /* Product: '/I controller' incorporates: + * Constant: '/BW_PI' + * DiscreteIntegrator: '/Discrete-Time Integrator' */ - rtb_Error_m = (rtb_Emergency_Brake_Output - - ADM_Integrated_Logic_DW.d_DSTATE_ir) * 1000.0 - - ADM_Integrated_Logic_DW.d1_DSTATE_o; + rtb_y = ADM_Integrated_Logic_DW.DiscreteTimeIntegrator_DSTATE_j * 0.02; + + /* Saturate: '/Saturation' */ + if (rtb_y > 90.0) { + rtb_y_h = 90.0; + } else if (rtb_y < -90.0) { + rtb_y_h = -90.0; + } else { + rtb_y_h = rtb_y; + } + + /* End of Saturate: '/Saturation' */ + + /* MATLAB Function: '/I_Gain' incorporates: + * Inport: '/GV_Vx_Fbk' + */ + if (ADM_Integrated_Logic_U.GV_Vx_Fbk <= 25.0) { + rtb_gain_h = 1.0; + } else if (ADM_Integrated_Logic_U.GV_Vx_Fbk >= 30.0) { + rtb_gain_h = 0.0; + } else { + rtb_gain_h = 1.0 - (ADM_Integrated_Logic_U.GV_Vx_Fbk - 25.0) / 5.0; + } + + /* End of MATLAB Function: '/I_Gain' */ + + /* Product: '/Product' */ + rtb_Switch2_k = rtb_y_h * rtb_gain_h; + + /* RateLimiter: '/Rate Limiter' */ + rtb_gain_h = rtb_Switch2_k - ADM_Integrated_Logic_DW.PrevY_d; + if (rtb_gain_h > 0.4) { + rtb_gain_h = ADM_Integrated_Logic_DW.PrevY_d + 0.4; + } else if (rtb_gain_h < -0.4) { + rtb_gain_h = ADM_Integrated_Logic_DW.PrevY_d - 0.4; + } else { + rtb_gain_h = rtb_Switch2_k; + } + + ADM_Integrated_Logic_DW.PrevY_d = rtb_gain_h; + + /* End of RateLimiter: '/Rate Limiter' */ + + /* DeadZone: '/Dead Zone2' */ + if (rtb_DeadZone > 20.0) { + rtb_Switch2_k = rtb_DeadZone - 20.0; + } else if (rtb_DeadZone >= -50.0) { + rtb_Switch2_k = 0.0; + } else { + rtb_Switch2_k = rtb_DeadZone - -50.0; + } + + /* MultiPortSwitch: '/Multiport Switch1' incorporates: + * DeadZone: '/Dead Zone2' + * Product: '/Product' + * Sum: '/Add' + */ + rtb_Switch2_k = rtb_Switch2_k * 0.044648264844923756 + rtb_gain_h; /* Sum: '/Sum1' incorporates: * Gain: '/gain' @@ -954,8 +1021,8 @@ void ADM_Integrated_Logic_step(void) * UnitDelay: '/d' * UnitDelay: '/d1' */ - rtb_Sum1_f = (rtb_Error_m - ADM_Integrated_Logic_DW.d_DSTATE_m) * 1000.0 - - ADM_Integrated_Logic_DW.d1_DSTATE_hm; + rtb_gain_h = (rtb_Emergency_Brake_Output - ADM_Integrated_Logic_DW.d_DSTATE_ir) + * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_o; /* Sum: '/Sum1' incorporates: * Gain: '/gain' @@ -963,62 +1030,70 @@ void ADM_Integrated_Logic_step(void) * UnitDelay: '/d' * UnitDelay: '/d1' */ - rtb_Sum1_cr = (rtb_Sum1_f - ADM_Integrated_Logic_DW.d_DSTATE_mw) * 1000.0 - - ADM_Integrated_Logic_DW.d1_DSTATE_g; + rtb_Sum1_f = (rtb_gain_h - ADM_Integrated_Logic_DW.d_DSTATE_m) * 1000.0 - + ADM_Integrated_Logic_DW.d1_DSTATE_hm; - /* Sum: '/Add3' incorporates: - * Constant: '/Constant3' - * Constant: '/Constant4' - * Constant: '/Constant5' - * Gain: '/Gain' - * Memory: '/Memory' - * Product: '/Product2' - * Product: '/Product3' - * Product: '/Product4' - * Sum: '/Add2' - */ - rtb_Add3 = (((156.8 * rtb_Emergency_Brake_Output + 212.8 * rtb_Error_m) + 21.8 - * rtb_Sum1_f) + rtb_Sum1_cr) * 9.44822373393802E-6 - - ADM_Integrated_Logic_DW.Memory_PreviousInput; - - /* Product: '/Product1' incorporates: - * Constant: '/Constant' + /* Sum: '/Sum1' incorporates: * Gain: '/gain' - * Product: '/Product11' - * Sum: '/Sum1' * Sum: '/Sum2' - * Sum: '/Sum3' - * Sum: '/Sum4' * UnitDelay: '/d' * UnitDelay: '/d1' */ - rtb_Product1_k3 = ((rtb_Add3 + ADM_Integrated_Logic_DW.d1_DSTATE_ej) * 0.002 + - 0.029830988618379066 * ADM_Integrated_Logic_DW.d_DSTATE_j) / - 0.03383098861837907; + rtb_Sum1_cr = (rtb_Sum1_f - ADM_Integrated_Logic_DW.d_DSTATE_mw) * 1000.0 - + ADM_Integrated_Logic_DW.d1_DSTATE_g; + + /* Sum: '/Add3' incorporates: + * Constant: '/Constant3' + * Constant: '/Constant4' + * Constant: '/Constant5' + * Gain: '/Gain' + * Memory: '/Memory' + * Product: '/Product2' + * Product: '/Product3' + * Product: '/Product4' + * Sum: '/Add2' + */ + rtb_Add3 = (((156.8 * rtb_Emergency_Brake_Output + 212.8 * rtb_gain_h) + 21.8 * + rtb_Sum1_f) + rtb_Sum1_cr) * 9.44822373393802E-6 - + ADM_Integrated_Logic_DW.Memory_PreviousInput; /* Product: '/Product1' incorporates: - * Constant: '/Constant1' - * Constant: '/Constant2' - * Delay: '/Delay' - * Delay: '/Delay1' - * Delay: '/Delay2' - * Delay: '/Delay3' - * Gain: '/gain1' - * Gain: '/gain3' - * Product: '/x(n), x(n-1), x(n-2)' - * Product: '/y(n-1)' - * Product: '/y(n-2)' + * Constant: '/Constant' + * Gain: '/gain' + * Product: '/Product11' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' - * Sum: '/Sum5' - * Sum: '/Sum6' + * UnitDelay: '/d' + * UnitDelay: '/d1' */ - rtb_Product1_h = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE_c + - rtb_Product1_k3) + - ADM_Integrated_Logic_DW.Delay_DSTATE_p[0]) * - 0.00035530575843921691 - -7.9992893884831213 * + rtb_Product1_m = ((rtb_Add3 + ADM_Integrated_Logic_DW.d1_DSTATE_ej) * 0.002 + + 0.029830988618379066 * ADM_Integrated_Logic_DW.d_DSTATE_j) / + 0.03383098861837907; + + /* Product: '/Product1' incorporates: + * Constant: '/Constant1' + * Constant: '/Constant2' + * Delay: '/Delay' + * Delay: '/Delay1' + * Delay: '/Delay2' + * Delay: '/Delay3' + * Gain: '/gain1' + * Gain: '/gain3' + * Product: '/x(n), x(n-1), x(n-2)' + * Product: '/y(n-1)' + * Product: '/y(n-2)' + * Sum: '/Sum1' + * Sum: '/Sum2' + * Sum: '/Sum3' + * Sum: '/Sum4' + * Sum: '/Sum5' + * Sum: '/Sum6' + */ + rtb_Product1_o = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE_c + + rtb_Product1_m) + ADM_Integrated_Logic_DW.Delay_DSTATE_p + [0]) * 0.00035530575843921691 - -7.9992893884831213 * ADM_Integrated_Logic_DW.Delay2_DSTATE_n) - 3.9470487616123275 * ADM_Integrated_Logic_DW.Delay3_DSTATE_h[0]) / @@ -1027,14 +1102,12 @@ void ADM_Integrated_Logic_step(void) /* MATLAB Function: '/DOB_Gain' incorporates: * Inport: '/GV_Vx_Fbk' */ - if (ADM_Integrated_Logic_U.GV_Vx_Fbk < 5.0) { - rtb_y_h = 0.0; + if (ADM_Integrated_Logic_U.GV_Vx_Fbk <= 25.0) { + rtb_gain_d = 0.0; + } else if (ADM_Integrated_Logic_U.GV_Vx_Fbk >= 30.0) { + rtb_gain_d = 1.0; } else { - rtb_y_h = (ADM_Integrated_Logic_U.GV_Vx_Fbk - 5.0) * 0.2; - } - - if (rtb_y_h >= 1.0) { - rtb_y_h = 1.0; + rtb_gain_d = (ADM_Integrated_Logic_U.GV_Vx_Fbk - 25.0) / 5.0; } /* End of MATLAB Function: '/DOB_Gain' */ @@ -1043,29 +1116,25 @@ void ADM_Integrated_Logic_step(void) * Constant: '/DOBFlag' * Product: '/Product' */ - rtb_Integrator_1 = -(rtb_Product1_h * 0.9); + rtb_Add_e = -(rtb_Product1_o * 0.9); /* Saturate: '/DOB_Saturation' */ - if (rtb_Integrator_1 > 30.0) { - rtb_Integrator_1 = 30.0; - } else if (rtb_Integrator_1 < -30.0) { - rtb_Integrator_1 = -30.0; + if (rtb_Add_e > 30.0) { + rtb_Add_e = 30.0; + } else if (rtb_Add_e < -30.0) { + rtb_Add_e = -30.0; } /* Sum: '/Subtract2' incorporates: - * DeadZone: '/Dead Zone' - * MultiPortSwitch: '/Multiport Switch1' - * Product: '/Product' * Product: '/Multiply1' * Saturate: '/DOB_Saturation' - * Sum: '/Add' + * Sum: '/Add' */ - rtb_Add_e = (rtb_Add_e * 0.044648264844923756 + rtb_Product1_m) + - rtb_Integrator_1 * rtb_y_h; + rtb_Add_e = (rtb_Product1_pj + rtb_Switch2_k) + rtb_Add_e * rtb_gain_d; /* Saturate: '/Torq_Saturation' */ - if (rtb_Add_e > 80.0) { - rtb_Add_e = 80.0; + if (rtb_Add_e > 90.0) { + rtb_Add_e = 90.0; } else if (rtb_Add_e < -80.0) { rtb_Add_e = -80.0; } @@ -1082,36 +1151,40 @@ void ADM_Integrated_Logic_step(void) if ((ADM_Integrated_Logic_U.GV_IDB_ECU_Fault_Flag == 1.0) && (ADM_Integrated_Logic_U.GV_RCU_ECU_Fault_Flag == 1.0)) { if (ADM_Integrated_Logic_U.GV_Vx_Fbk / 3.6 > 0.5) { - rtb_y_h = -80.0; + rtb_gain_d = -80.0; } else { - rtb_y_h = 0.0; + rtb_gain_d = 0.0; } } else { - rtb_y_h = 0.0; + rtb_gain_d = 0.0; } } else { - if (rtb_Pitch_Angle == 0.0) { + if (rtb_Integrator_2 == 0.0) { /* MATLAB Function: '/Gear_pos_out' */ i = 0; - } else if (rtb_Pitch_Angle == 2.0) { + } else if (rtb_Integrator_2 == 2.0) { /* MATLAB Function: '/Gear_pos_out' */ i = 0; - } else if (rtb_Pitch_Angle == 1.0) { + } else if (rtb_Integrator_2 == 1.0) { /* MATLAB Function: '/Gear_pos_out' */ i = -1; } else { /* MATLAB Function: '/Gear_pos_out' */ - i = (rtb_Pitch_Angle == 3.0); + i = (rtb_Integrator_2 == 3.0); } /* Product: '/Multiply' incorporates: + * Constant: '/Constant' + * Inport: '/GV_BrakeTorqueCommand' * MATLAB Function: '/Gear_pos_out' + * RelationalOperator: '/Compare' */ - rtb_y_h = (double)i * rtb_Add_e; + rtb_gain_d = (double)i * rtb_Add_e * (double) + (ADM_Integrated_Logic_U.GV_BrakeTorqueCommand <= 10.0); /* Saturate: '/Saturation' */ - if (rtb_y_h < 0.0) { - rtb_y_h = 0.0; + if (rtb_gain_d < 0.0) { + rtb_gain_d = 0.0; } /* End of Saturate: '/Saturation' */ @@ -1127,16 +1200,16 @@ void ADM_Integrated_Logic_step(void) ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd = 0.0; } else { /* Outport: '/GV_Motor_Torque_Cmd' */ - ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd = rtb_y_h; + ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd = rtb_gain_d; } /* Outport: '/Target_MCU_Out' incorporates: * MATLAB Function: '/MCU_Fault_Injection' */ - ADM_Integrated_Logic_Y.Target_MCU_Out = rtb_y_h; + ADM_Integrated_Logic_Y.Target_MCU_Out = rtb_gain_d; - /* Sum: '/Sum' */ - rtb_F_PI -= rtb_y; + /* Sum: '/Sum' */ + rtb_gain_d = rtb_y - rtb_y_h; /* Outport: '/Debug_HAC_Brake_Output' */ ADM_Integrated_Logic_Y.Debug_HAC_Brake_Output = rtb_Brake_Torque_Cmd; @@ -1147,86 +1220,16 @@ void ADM_Integrated_Logic_step(void) /* Outport: '/Debug_HAC_Pitch_angle' */ ADM_Integrated_Logic_Y.Debug_HAC_Pitch_angle = rtb_Pitch_Saturation; - /* MATLAB Function: '/Calculate_F_c1' incorporates: - * Gain: '/Gain3' + /* MATLAB Function: '/Calculate_F_c1' incorporates: + * Gain: '/Gain3' */ ADM_Integrated_Lo_Calculate_F_c(ADM_Integrated_Logic_ConstB.W_Value_for_Brake, - 0.017453292519943295 * rtb_Pitch_Saturation, &rtb_y); - - /* Product: '/Product1' incorporates: - * Constant: '/Constant' - * Gain: '/gain' - * Inport: '/GV_IMU_AX_Val' - * Product: '/Product11' - * Sum: '/Sum1' - * Sum: '/Sum2' - * Sum: '/Sum3' - * Sum: '/Sum4' - * UnitDelay: '/d' - * UnitDelay: '/d1' - */ - rtb_Desired_Torque = ((ADM_Integrated_Logic_U.GV_IMU_AX_Val + - ADM_Integrated_Logic_DW.d1_DSTATE_ob) * 0.002 + 0.061661977236758134 * - ADM_Integrated_Logic_DW.d_DSTATE_e) / - 0.065661977236758137; - - /* Product: '/Product1' incorporates: - * Constant: '/Constant' - * Gain: '/gain' - * Inport: '/GV_IMU_AY_Val' - * Product: '/Product11' - * Sum: '/Sum1' - * Sum: '/Sum2' - * Sum: '/Sum3' - * Sum: '/Sum4' - * UnitDelay: '/d' - * UnitDelay: '/d1' - */ - rtb_Brake_Torque_Cmd = ((ADM_Integrated_Logic_U.GV_IMU_AY_Val + - ADM_Integrated_Logic_DW.d1_DSTATE_i) * 0.002 + 0.061661977236758134 * - ADM_Integrated_Logic_DW.d_DSTATE_p) / 0.065661977236758137; - - /* Product: '/Product1' incorporates: - * Constant: '/Constant' - * Gain: '/gain' - * Inport: '/GV_IMU_AZ_Val' - * Product: '/Product11' - * Sum: '/Sum1' - * Sum: '/Sum2' - * Sum: '/Sum3' - * Sum: '/Sum4' - * UnitDelay: '/d' - * UnitDelay: '/d1' - */ - rtb_Integrator_1 = ((ADM_Integrated_Logic_U.GV_IMU_AZ_Val + - ADM_Integrated_Logic_DW.d1_DSTATE_o1) * 0.002 + - 0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_n) - / 0.065661977236758137; - - /* MATLAB Function: '/Pitch_calculate' */ - rtb_y = sqrt(rtb_Brake_Torque_Cmd * rtb_Brake_Torque_Cmd + rtb_Integrator_1 * - rtb_Integrator_1); - if (!(rtb_y == 0.0)) { - rtb_y = atan(rtb_Desired_Torque / rtb_y); - } - - /* Sum: '/Sum' incorporates: - * DiscreteIntegrator: '/Integrator_2' - * MATLAB Function: '/Pitch_calculate' - */ - rtb_Sum_f = ADM_Integrated_Logic_DW.Integrator_2_DSTATE - rtb_y * - 57.295779513082323; - - /* Gain: '/gain1' incorporates: - * Constant: '/Constant1' - * Product: '/Product2' - */ - rtb_Switch2_k = 0.063661977236758135; + 0.017453292519943295 * rtb_Pitch_Saturation, &rtb_Desired_Torque); /* Product: '/Product1' incorporates: * Constant: '/Constant' * Gain: '/gain' - * Inport: '/GV_IMU_PitchRtVal' + * Inport: '/GV_IMU_AX_Val' * Product: '/Product11' * Sum: '/Sum1' * Sum: '/Sum2' @@ -1235,13 +1238,83 @@ void ADM_Integrated_Logic_step(void) * UnitDelay: '/d' * UnitDelay: '/d1' */ - rtb_Product1_gg = ((ADM_Integrated_Logic_U.GV_IMU_PitchRtVal + + rtb_Desired_Torque = ((ADM_Integrated_Logic_U.GV_IMU_AX_Val + + ADM_Integrated_Logic_DW.d1_DSTATE_ob) * 0.002 + 0.061661977236758134 * + ADM_Integrated_Logic_DW.d_DSTATE_e) / + 0.065661977236758137; + + /* Product: '/Product1' incorporates: + * Constant: '/Constant' + * Gain: '/gain' + * Inport: '/GV_IMU_AY_Val' + * Product: '/Product11' + * Sum: '/Sum1' + * Sum: '/Sum2' + * Sum: '/Sum3' + * Sum: '/Sum4' + * UnitDelay: '/d' + * UnitDelay: '/d1' + */ + rtb_Brake_Torque_Cmd = ((ADM_Integrated_Logic_U.GV_IMU_AY_Val + + ADM_Integrated_Logic_DW.d1_DSTATE_i) * 0.002 + 0.061661977236758134 * + ADM_Integrated_Logic_DW.d_DSTATE_p) / 0.065661977236758137; + + /* Product: '/Product1' incorporates: + * Constant: '/Constant' + * Gain: '/gain' + * Inport: '/GV_IMU_AZ_Val' + * Product: '/Product11' + * Sum: '/Sum1' + * Sum: '/Sum2' + * Sum: '/Sum3' + * Sum: '/Sum4' + * UnitDelay: '/d' + * UnitDelay: '/d1' + */ + rtb_Integrator_1 = ((ADM_Integrated_Logic_U.GV_IMU_AZ_Val + + ADM_Integrated_Logic_DW.d1_DSTATE_o1) * 0.002 + + 0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_n) + / 0.065661977236758137; + + /* MATLAB Function: '/Pitch_calculate' */ + rtb_y_h = sqrt(rtb_Brake_Torque_Cmd * rtb_Brake_Torque_Cmd + rtb_Integrator_1 * + rtb_Integrator_1); + if (!(rtb_y_h == 0.0)) { + rtb_y_h = atan(rtb_Desired_Torque / rtb_y_h); + } + + /* Sum: '/Sum' incorporates: + * DiscreteIntegrator: '/Integrator_2' + * MATLAB Function: '/Pitch_calculate' + */ + rtb_Sum_f = ADM_Integrated_Logic_DW.Integrator_2_DSTATE - rtb_y_h * + 57.295779513082323; + + /* Gain: '/gain1' incorporates: + * Constant: '/Constant1' + * Product: '/Product2' + */ + rtb_Switch2_k = 0.063661977236758135; + + /* Product: '/Product1' incorporates: + * Constant: '/Constant' + * Gain: '/gain' + * Inport: '/GV_IMU_PitchRtVal' + * Product: '/Product11' + * Sum: '/Sum1' + * Sum: '/Sum2' + * Sum: '/Sum3' + * Sum: '/Sum4' + * UnitDelay: '/d' + * UnitDelay: '/d1' + */ + rtb_Product1_po = ((ADM_Integrated_Logic_U.GV_IMU_PitchRtVal + ADM_Integrated_Logic_DW.d1_DSTATE_a) * 0.002 + 0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_d1) / 0.065661977236758137; /* Outport: '/GV_Gear_Postion_Out' */ - ADM_Integrated_Logic_Y.GV_Gear_Postion_Out = rtb_Pitch_Angle; + ADM_Integrated_Logic_Y.GV_Gear_Postion_Out = rtb_Integrator_2; /* Sum: '/Add2' incorporates: * Inport: '/GV_Vx_Fbk' @@ -1294,8 +1367,8 @@ void ADM_Integrated_Logic_step(void) */ ADM_Integrated__MATLABFunction2(-rtb_Add1_tmp, &rtb_y); - /* Switch: '/Switch2' incorporates: - * RelationalOperator: '/LowerRelop1' + /* Switch: '/Switch2' incorporates: + * RelationalOperator: '/LowerRelop1' */ if (!(rtb_y_h > rtb_Switch2_k)) { /* Product: '/delta fall limit' incorporates: @@ -1306,8 +1379,8 @@ void ADM_Integrated_Logic_step(void) * */ rtb_y *= 0.002; - /* Switch: '/Switch' incorporates: - * RelationalOperator: '/UpperRelop' + /* Switch: '/Switch' incorporates: + * RelationalOperator: '/UpperRelop' */ if (rtb_y_h < rtb_y) { rtb_Switch2_k = rtb_y; @@ -1315,10 +1388,10 @@ void ADM_Integrated_Logic_step(void) rtb_Switch2_k = rtb_y_h; } - /* End of Switch: '/Switch' */ + /* End of Switch: '/Switch' */ } - /* End of Switch: '/Switch2' */ + /* End of Switch: '/Switch2' */ /* Sum: '/Difference Inputs2' incorporates: * Delay: '/Delay' @@ -1374,8 +1447,8 @@ void ADM_Integrated_Logic_step(void) */ ADM_Integrated__MATLABFunction2(-rtb_Add1_tmp, &rtb_y_h); - /* Switch: '/Switch2' incorporates: - * RelationalOperator: '/LowerRelop1' + /* Switch: '/Switch2' incorporates: + * RelationalOperator: '/LowerRelop1' */ if (!(rtb_Add1 > rtb_Switch2_k)) { /* Product: '/delta fall limit' incorporates: @@ -1386,8 +1459,8 @@ void ADM_Integrated_Logic_step(void) * */ rtb_y_h *= 0.002; - /* Switch: '/Switch' incorporates: - * RelationalOperator: '/UpperRelop' + /* Switch: '/Switch' incorporates: + * RelationalOperator: '/UpperRelop' */ if (rtb_Add1 < rtb_y_h) { rtb_Switch2_k = rtb_y_h; @@ -1395,10 +1468,10 @@ void ADM_Integrated_Logic_step(void) rtb_Switch2_k = rtb_Add1; } - /* End of Switch: '/Switch' */ + /* End of Switch: '/Switch' */ } - /* End of Switch: '/Switch2' */ + /* End of Switch: '/Switch2' */ /* Sum: '/Difference Inputs2' incorporates: * Delay: '/Delay' @@ -1467,7 +1540,7 @@ void ADM_Integrated_Logic_step(void) ADM_Integrated_Logic_DW.d_DSTATE = rtb_Product1; /* Update for Delay: '/Memory' */ - ADM_Integrated_Logic_DW.Memory_DSTATE = rtb_Pitch_Angle; + ADM_Integrated_Logic_DW.Memory_DSTATE = rtb_Integrator_2; /* Update for DiscreteIntegrator: '/Integrator_2' incorporates: * Constant: '/I_gain' @@ -1478,15 +1551,15 @@ void ADM_Integrated_Logic_step(void) * Sum: '/Sum1' * Sum: '/Sum2' */ - ADM_Integrated_Logic_DW.Integrator_2_DSTATE += (rtb_Product1_gg - + ADM_Integrated_Logic_DW.Integrator_2_DSTATE += (rtb_Product1_po - (ADM_Integrated_Logic_DW.Integrator_1_DSTATE * 5.0 + rtb_Sum_f * 100.0)) * 0.002; - /* Update for Delay: '/Delay' */ + /* Update for Delay: '/Delay' */ ADM_Integrated_Logic_DW.icLoad = false; ADM_Integrated_Logic_DW.Delay_DSTATE = rtb_Pitch_Saturation; - /* Update for Delay: '/Delay' */ + /* Update for Delay: '/Delay' */ ADM_Integrated_Logic_DW.icLoad_e = false; ADM_Integrated_Logic_DW.Delay_DSTATE_i = rtb_Saturation; @@ -1509,132 +1582,156 @@ void ADM_Integrated_Logic_step(void) ADM_Integrated_Logic_DW.DiscreteTransferFcn_states = rtb_Vx_Cmd_R - -0.9375 * ADM_Integrated_Logic_DW.DiscreteTransferFcn_states; - /* Update for UnitDelay: '/d1' */ + /* Update for UnitDelay: '/d1' */ ADM_Integrated_Logic_DW.d1_DSTATE_c = rtb_AccFlag; - /* Update for UnitDelay: '/d' */ + /* Update for UnitDelay: '/d' */ ADM_Integrated_Logic_DW.d_DSTATE_l = rtb_Emergency_Brake_Output; - /* Update for UnitDelay: '/d' */ + /* Update for UnitDelay: '/d' */ ADM_Integrated_Logic_DW.d_DSTATE_i = rtb_Emergency_Brake_Output; - /* Update for UnitDelay: '/d1' */ + /* Update for UnitDelay: '/d1' */ ADM_Integrated_Logic_DW.d1_DSTATE_p = rtb_Trig; - /* Update for UnitDelay: '/d' */ + /* Update for UnitDelay: '/d' */ ADM_Integrated_Logic_DW.d_DSTATE_c = rtb_Trig; - /* Update for UnitDelay: '/d1' */ + /* Update for UnitDelay: '/d1' */ ADM_Integrated_Logic_DW.d1_DSTATE_h = rtb_Sum1_j1; - /* Update for UnitDelay: '/d' */ + /* Update for UnitDelay: '/d' */ ADM_Integrated_Logic_DW.d_DSTATE_d = rtb_Sum1_j1; - /* Update for UnitDelay: '/d1' */ + /* Update for UnitDelay: '/d1' */ ADM_Integrated_Logic_DW.d1_DSTATE_l = rtb_Sum1_d; - /* Update for Delay: '/Delay1' */ + /* Update for Delay: '/Delay1' */ ADM_Integrated_Logic_DW.Delay1_DSTATE = rtb_Gain_c; - /* Update for Delay: '/Delay' */ + /* Update for Delay: '/Delay' */ ADM_Integrated_Logic_DW.Delay_DSTATE_c[0] = ADM_Integrated_Logic_DW.Delay_DSTATE_c[1]; ADM_Integrated_Logic_DW.Delay_DSTATE_c[1] = rtb_Gain_c; - /* Update for Delay: '/Delay2' */ - ADM_Integrated_Logic_DW.Delay2_DSTATE = rtb_Product1_pd; + /* Update for Delay: '/Delay2' */ + ADM_Integrated_Logic_DW.Delay2_DSTATE = rtb_DiscreteTimeIntegrator_d; - /* Update for Delay: '/Delay3' */ + /* Update for Delay: '/Delay3' */ ADM_Integrated_Logic_DW.Delay3_DSTATE[0] = ADM_Integrated_Logic_DW.Delay3_DSTATE[1]; - ADM_Integrated_Logic_DW.Delay3_DSTATE[1] = rtb_Product1_pd; + ADM_Integrated_Logic_DW.Delay3_DSTATE[1] = rtb_DiscreteTimeIntegrator_d; - /* Update for UnitDelay: '/d1' */ - ADM_Integrated_Logic_DW.d1_DSTATE_e = rtb_Product1_pd; + /* Update for UnitDelay: '/d1' */ + ADM_Integrated_Logic_DW.d1_DSTATE_e = rtb_DiscreteTimeIntegrator_d; - /* Update for UnitDelay: '/d' */ - ADM_Integrated_Logic_DW.d_DSTATE_ij = rtb_Product1_m; + /* Update for UnitDelay: '/d' */ + ADM_Integrated_Logic_DW.d_DSTATE_ij = rtb_Product1_pj; + + /* DeadZone: '/Dead Zone' */ + if (rtb_DeadZone > 10.0) { + rtb_Switch2_k = rtb_DeadZone - 10.0; + } else if (rtb_DeadZone >= -10.0) { + rtb_Switch2_k = 0.0; + } else { + rtb_Switch2_k = rtb_DeadZone - -10.0; + } + + /* Update for DiscreteIntegrator: '/Discrete-Time Integrator' incorporates: + * DeadZone: '/Dead Zone' + * Memory: '/Memory' + * Sum: '/Sum1' + */ + ADM_Integrated_Logic_DW.DiscreteTimeIntegrator_DSTATE_j += (rtb_Switch2_k - + ADM_Integrated_Logic_DW.Memory_PreviousInput_j) * 0.002; + ADM_Integrated_Logic_DW.DiscreteTimeIntegrator_PrevRese = (int8_t) + rtb_Compare_p; /* Update for Memory: '/Memory' */ ADM_Integrated_Logic_DW.Memory_PreviousInput = rtb_Add_e; - /* Update for UnitDelay: '/d' */ + /* Update for UnitDelay: '/d' */ ADM_Integrated_Logic_DW.d_DSTATE_ir = rtb_Emergency_Brake_Output; - /* Update for UnitDelay: '/d1' */ - ADM_Integrated_Logic_DW.d1_DSTATE_o = rtb_Error_m; - - /* Update for UnitDelay: '/d' */ - ADM_Integrated_Logic_DW.d_DSTATE_m = rtb_Error_m; - /* Update for UnitDelay: '/d1' */ - ADM_Integrated_Logic_DW.d1_DSTATE_hm = rtb_Sum1_f; + ADM_Integrated_Logic_DW.d1_DSTATE_o = rtb_gain_h; /* Update for UnitDelay: '/d' */ - ADM_Integrated_Logic_DW.d_DSTATE_mw = rtb_Sum1_f; + ADM_Integrated_Logic_DW.d_DSTATE_m = rtb_gain_h; /* Update for UnitDelay: '/d1' */ - ADM_Integrated_Logic_DW.d1_DSTATE_g = rtb_Sum1_cr; - - /* Update for UnitDelay: '/d1' */ - ADM_Integrated_Logic_DW.d1_DSTATE_ej = rtb_Add3; + ADM_Integrated_Logic_DW.d1_DSTATE_hm = rtb_Sum1_f; /* Update for UnitDelay: '/d' */ - ADM_Integrated_Logic_DW.d_DSTATE_j = rtb_Product1_k3; + ADM_Integrated_Logic_DW.d_DSTATE_mw = rtb_Sum1_f; - /* Update for Delay: '/Delay1' */ - ADM_Integrated_Logic_DW.Delay1_DSTATE_c = rtb_Product1_k3; + /* Update for UnitDelay: '/d1' */ + ADM_Integrated_Logic_DW.d1_DSTATE_g = rtb_Sum1_cr; - /* Update for Delay: '/Delay' */ + /* Update for UnitDelay: '/d1' */ + ADM_Integrated_Logic_DW.d1_DSTATE_ej = rtb_Add3; + + /* Update for UnitDelay: '/d' */ + ADM_Integrated_Logic_DW.d_DSTATE_j = rtb_Product1_m; + + /* Update for Delay: '/Delay1' */ + ADM_Integrated_Logic_DW.Delay1_DSTATE_c = rtb_Product1_m; + + /* Update for Delay: '/Delay' */ ADM_Integrated_Logic_DW.Delay_DSTATE_p[0] = ADM_Integrated_Logic_DW.Delay_DSTATE_p[1]; - ADM_Integrated_Logic_DW.Delay_DSTATE_p[1] = rtb_Product1_k3; + ADM_Integrated_Logic_DW.Delay_DSTATE_p[1] = rtb_Product1_m; - /* Update for Delay: '/Delay2' */ - ADM_Integrated_Logic_DW.Delay2_DSTATE_n = rtb_Product1_h; + /* Update for Delay: '/Delay2' */ + ADM_Integrated_Logic_DW.Delay2_DSTATE_n = rtb_Product1_o; - /* Update for Delay: '/Delay3' */ + /* Update for Delay: '/Delay3' */ ADM_Integrated_Logic_DW.Delay3_DSTATE_h[0] = ADM_Integrated_Logic_DW.Delay3_DSTATE_h[1]; - ADM_Integrated_Logic_DW.Delay3_DSTATE_h[1] = rtb_Product1_h; + ADM_Integrated_Logic_DW.Delay3_DSTATE_h[1] = rtb_Product1_o; - /* Update for Memory: '/Memory' */ - ADM_Integrated_Logic_DW.Memory_PreviousInput_f = rtb_F_PI; + /* Update for Memory: '/Memory' */ + ADM_Integrated_Logic_DW.Memory_PreviousInput_j = rtb_gain_d; - /* Update for UnitDelay: '/d1' incorporates: + /* Update for Memory: '/Memory' incorporates: + * Sum: '/Sum' + */ + ADM_Integrated_Logic_DW.Memory_PreviousInput_f = rtb_F_PI - rtb_Saturation_d; + + /* Update for UnitDelay: '/d1' incorporates: * Inport: '/GV_IMU_AX_Val' */ ADM_Integrated_Logic_DW.d1_DSTATE_ob = ADM_Integrated_Logic_U.GV_IMU_AX_Val; - /* Update for UnitDelay: '/d' */ + /* Update for UnitDelay: '/d' */ ADM_Integrated_Logic_DW.d_DSTATE_e = rtb_Desired_Torque; - /* Update for UnitDelay: '/d1' incorporates: + /* Update for UnitDelay: '/d1' incorporates: * Inport: '/GV_IMU_AY_Val' */ ADM_Integrated_Logic_DW.d1_DSTATE_i = ADM_Integrated_Logic_U.GV_IMU_AY_Val; - /* Update for UnitDelay: '/d' */ + /* Update for UnitDelay: '/d' */ ADM_Integrated_Logic_DW.d_DSTATE_p = rtb_Brake_Torque_Cmd; - /* Update for UnitDelay: '/d1' incorporates: + /* Update for UnitDelay: '/d1' incorporates: * Inport: '/GV_IMU_AZ_Val' */ ADM_Integrated_Logic_DW.d1_DSTATE_o1 = ADM_Integrated_Logic_U.GV_IMU_AZ_Val; - /* Update for UnitDelay: '/d' */ + /* Update for UnitDelay: '/d' */ ADM_Integrated_Logic_DW.d_DSTATE_n = rtb_Integrator_1; /* Update for DiscreteIntegrator: '/Integrator_1' */ ADM_Integrated_Logic_DW.Integrator_1_DSTATE += 0.002 * rtb_Sum_f; - /* Update for UnitDelay: '/d1' incorporates: + /* Update for UnitDelay: '/d1' incorporates: * Inport: '/GV_IMU_PitchRtVal' */ ADM_Integrated_Logic_DW.d1_DSTATE_a = ADM_Integrated_Logic_U.GV_IMU_PitchRtVal; - /* Update for UnitDelay: '/d' */ - ADM_Integrated_Logic_DW.d_DSTATE_d1 = rtb_Product1_gg; + /* Update for UnitDelay: '/d' */ + ADM_Integrated_Logic_DW.d_DSTATE_d1 = rtb_Product1_po; /* Update for Delay: '/Delay' */ ADM_Integrated_Logic_DW.icLoad_l = false; @@ -1648,10 +1745,10 @@ void ADM_Integrated_Logic_step(void) /* Model initialize function */ void ADM_Integrated_Logic_initialize(void) { - /* InitializeConditions for Delay: '/Delay' */ + /* InitializeConditions for Delay: '/Delay' */ ADM_Integrated_Logic_DW.icLoad = true; - /* InitializeConditions for Delay: '/Delay' */ + /* InitializeConditions for Delay: '/Delay' */ ADM_Integrated_Logic_DW.icLoad_e = true; /* InitializeConditions for Delay: '/Delay' */ diff --git a/GW/src/Logic/ADM_Integrated_Logic.h b/GW/src/Logic/ADM_Integrated_Logic.h index 9e59f13b..62779c01 100644 --- a/GW/src/Logic/ADM_Integrated_Logic.h +++ b/GW/src/Logic/ADM_Integrated_Logic.h @@ -7,9 +7,9 @@ * * Code generated for Simulink model 'ADM_Integrated_Logic'. * - * Model version : 14.11 + * Model version : 14.27 * Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 - * C/C++ source code generated on : Mon Apr 20 10:09:17 2026 + * C/C++ source code generated on : Mon May 4 18:14:49 2026 * * Target selection: ert.tlc * Embedded hardware selection: NXP->Cortex-M4 @@ -42,59 +42,62 @@ typedef struct tag_RTM_ADM_Integrated_Logic_T RT_MODEL_ADM_Integrated_Logic_T; /* Block signals and states (default storage) for system '' */ typedef struct { - double Delay_DSTATE_c[2]; /* '/Delay' */ - double Delay3_DSTATE[2]; /* '/Delay3' */ - double Delay_DSTATE_p[2]; /* '/Delay' */ - double Delay3_DSTATE_h[2]; /* '/Delay3' */ + double Delay_DSTATE_c[2]; /* '/Delay' */ + double Delay3_DSTATE[2]; /* '/Delay3' */ + double Delay_DSTATE_p[2]; /* '/Delay' */ + double Delay3_DSTATE_h[2]; /* '/Delay3' */ double x_hat[3]; /* '/MATLAB Function' */ double M; /* '/MATLAB Function' */ double d1_DSTATE; /* '/d1' */ double d_DSTATE; /* '/d' */ double Memory_DSTATE; /* '/Memory' */ double Integrator_2_DSTATE; /* '/Integrator_2' */ - double Delay_DSTATE; /* '/Delay' */ - double Delay_DSTATE_i; /* '/Delay' */ + double Delay_DSTATE; /* '/Delay' */ + double Delay_DSTATE_i; /* '/Delay' */ double DiscreteTimeIntegrator_DSTATE;/* '/Discrete-Time Integrator' */ double UD_DSTATE; /* '/UD' */ double DiscreteTransferFcn_states; /* '/Discrete Transfer Fcn' */ - double d1_DSTATE_c; /* '/d1' */ - double d_DSTATE_l; /* '/d' */ - double d_DSTATE_i; /* '/d' */ - double d1_DSTATE_p; /* '/d1' */ - double d_DSTATE_c; /* '/d' */ - double d1_DSTATE_h; /* '/d1' */ - double d_DSTATE_d; /* '/d' */ - double d1_DSTATE_l; /* '/d1' */ - double Delay1_DSTATE; /* '/Delay1' */ - double Delay2_DSTATE; /* '/Delay2' */ - double d1_DSTATE_e; /* '/d1' */ - double d_DSTATE_ij; /* '/d' */ - double d_DSTATE_ir; /* '/d' */ - double d1_DSTATE_o; /* '/d1' */ - double d_DSTATE_m; /* '/d' */ - double d1_DSTATE_hm; /* '/d1' */ - double d_DSTATE_mw; /* '/d' */ - double d1_DSTATE_g; /* '/d1' */ - double d1_DSTATE_ej; /* '/d1' */ - double d_DSTATE_j; /* '/d' */ - double Delay1_DSTATE_c; /* '/Delay1' */ - double Delay2_DSTATE_n; /* '/Delay2' */ - double d1_DSTATE_ob; /* '/d1' */ - double d_DSTATE_e; /* '/d' */ - double d1_DSTATE_i; /* '/d1' */ - double d_DSTATE_p; /* '/d' */ - double d1_DSTATE_o1; /* '/d1' */ - double d_DSTATE_n; /* '/d' */ + double d1_DSTATE_c; /* '/d1' */ + double d_DSTATE_l; /* '/d' */ + double d_DSTATE_i; /* '/d' */ + double d1_DSTATE_p; /* '/d1' */ + double d_DSTATE_c; /* '/d' */ + double d1_DSTATE_h; /* '/d1' */ + double d_DSTATE_d; /* '/d' */ + double d1_DSTATE_l; /* '/d1' */ + double Delay1_DSTATE; /* '/Delay1' */ + double Delay2_DSTATE; /* '/Delay2' */ + double d1_DSTATE_e; /* '/d1' */ + double d_DSTATE_ij; /* '/d' */ + double DiscreteTimeIntegrator_DSTATE_j;/* '/Discrete-Time Integrator' */ + double d_DSTATE_ir; /* '/d' */ + double d1_DSTATE_o; /* '/d1' */ + double d_DSTATE_m; /* '/d' */ + double d1_DSTATE_hm; /* '/d1' */ + double d_DSTATE_mw; /* '/d' */ + double d1_DSTATE_g; /* '/d1' */ + double d1_DSTATE_ej; /* '/d1' */ + double d_DSTATE_j; /* '/d' */ + double Delay1_DSTATE_c; /* '/Delay1' */ + double Delay2_DSTATE_n; /* '/Delay2' */ + double d1_DSTATE_ob; /* '/d1' */ + double d_DSTATE_e; /* '/d' */ + double d1_DSTATE_i; /* '/d1' */ + double d_DSTATE_p; /* '/d' */ + double d1_DSTATE_o1; /* '/d1' */ + double d_DSTATE_n; /* '/d' */ double Integrator_1_DSTATE; /* '/Integrator_1' */ - double d1_DSTATE_a; /* '/d1' */ - double d_DSTATE_d1; /* '/d' */ + double d1_DSTATE_a; /* '/d1' */ + double d_DSTATE_d1; /* '/d' */ double Delay_DSTATE_c4; /* '/Delay' */ double Delay_DSTATE_i1; /* '/Delay' */ double PrevY; /* '/Input_Vx_RateLimiter' */ double PrevY_b; /* '/Rate Limiter' */ double PrevY_o; /* '/Brake_Out_RateLimiter' */ double PrevY_a; /* '/TargetSpd_RateLimiter' */ + double PrevY_d; /* '/Rate Limiter' */ double Memory_PreviousInput; /* '/Memory' */ + double Memory_PreviousInput_j; /* '/Memory' */ double Memory_PreviousInput_f; /* '/Memory' */ double currentEstMass; /* '/MATLAB Function3' */ double HAC_ON_FLAG; /* '/HAC_OFF_OK_Func' */ @@ -103,10 +106,11 @@ typedef struct { double HAC_ON_Timer; /* '/HAC_OFF_OK_Func' */ double emergency_active; /* '/Emergency_Brake_Func' */ double brake_hold; /* '/Emergency_Brake_Func' */ + int8_t DiscreteTimeIntegrator_PrevRese;/* '/Discrete-Time Integrator' */ uint8_t is_active_c6_ADM_Integrated_Log;/* '/Chart' */ uint8_t is_c6_ADM_Integrated_Logic; /* '/Chart' */ - bool icLoad; /* '/Delay' */ - bool icLoad_e; /* '/Delay' */ + bool icLoad; /* '/Delay' */ + bool icLoad_e; /* '/Delay' */ bool icLoad_l; /* '/Delay' */ bool icLoad_d; /* '/Delay' */ bool isConverged; /* '/MATLAB Function3' */ @@ -114,8 +118,8 @@ typedef struct { /* Invariant block signals (default storage) */ typedef struct { - const double W_value; /* '/Multiply' */ - const double W_Value_for_Brake; /* '/Multiply4' */ + const double W_value; /* '/Multiply' */ + const double W_Value_for_Brake; /* '/Multiply4' */ } ConstB_ADM_Integrated_Logic_T; /* External inputs (root inport signals with default storage) */ @@ -206,35 +210,37 @@ extern RT_MODEL_ADM_Integrated_Logic_T *const ADM_Integrated_Logic_M; * Block '/Data Type Propagation' : Unused code path elimination * Block '/Switch' : Unused code path elimination * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/BW_PI' : Unused code path elimination - * Block '/Constant1' : Unused code path elimination - * Block '/Constant16' : Unused code path elimination - * Block '/Constant17' : Unused code path elimination - * Block '/Constant2' : Unused code path elimination - * Block '/Brake_Saturation' : Unused code path elimination - * Block '/Multiply5' : Unused code path elimination - * Block '/Radius1' : Unused code path elimination - * Block '/FixPt Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/FixPt Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Scope2' : Unused code path elimination - * Block '/FixPt Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/FixPt Data Type Duplicate' : Unused code path elimination + * Block '/Constant1' : Unused code path elimination + * Block '/Constant16' : Unused code path elimination + * Block '/Constant17' : Unused code path elimination + * Block '/Constant2' : Unused code path elimination + * Block '/Display6' : Unused code path elimination + * Block '/Display7' : Unused code path elimination + * Block '/Display8' : Unused code path elimination + * Block '/Brake_Saturation' : Unused code path elimination + * Block '/Multiply5' : Unused code path elimination + * Block '/Radius1' : Unused code path elimination + * Block '/FixPt Data Type Duplicate' : Unused code path elimination * Block '/Data Type Duplicate' : Unused code path elimination * Block '/Data Type Propagation' : Unused code path elimination + * Block '/FixPt Data Type Duplicate' : Unused code path elimination + * Block '/Data Type Duplicate' : Unused code path elimination + * Block '/Data Type Propagation' : Unused code path elimination + * Block '/Scope2' : Unused code path elimination + * Block '/FixPt Data Type Duplicate' : Unused code path elimination + * Block '/Data Type Duplicate' : Unused code path elimination + * Block '/Data Type Propagation' : Unused code path elimination + * Block '/FixPt Data Type Duplicate' : Unused code path elimination + * Block '/Data Type Duplicate' : Unused code path elimination + * Block '/Data Type Propagation' : Unused code path elimination * Block '/ControlFlag' : Eliminated nontunable gain of 1 - * Block '/FBGain' : Eliminated nontunable gain of 1 - * Block '/FFGain' : Eliminated nontunable gain of 1 + * Block '/FBGain' : Eliminated nontunable gain of 1 + * Block '/FFGain' : Eliminated nontunable gain of 1 * Block '/Data Type Conversion1' : Eliminate redundant data type conversion * Block '/Data Type Conversion3' : Eliminate redundant data type conversion - * Block '/HAC_Gain' : Eliminated nontunable gain of 1 - * Block '/Zero-Order Hold' : Eliminated since input and output rates are identical - * Block '/Zero-Order Hold' : Eliminated since input and output rates are identical + * Block '/HAC_Gain' : Eliminated nontunable gain of 1 + * Block '/Zero-Order Hold' : Eliminated since input and output rates are identical + * Block '/Zero-Order Hold' : Eliminated since input and output rates are identical * Block '/Zero-Order Hold' : Eliminated since input and output rates are identical * Block '/Zero-Order Hold' : Eliminated since input and output rates are identical * Block '/Constant5' : Unused code path elimination @@ -287,49 +293,52 @@ extern RT_MODEL_ADM_Integrated_Logic_T *const ADM_Integrated_Logic_M; * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Acceleration_Control/MATLAB Function1' * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Acceleration_Control/Controller/Discrete Derivative' * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Acceleration_Control/Controller/MATLAB Function' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB_Gain' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/GearCondition_Brake' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/Gear_pos_out' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/LPFM' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/Target_RPM' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Dot3' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Dot4' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Dot5' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/LPFM' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Second order LPF' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FB' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FB/P' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Dot' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Dot2' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Dot3' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/LPFM' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Second order LPF' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Enabled Subsystem/MATLAB Function' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Gear_Position/Compare To Constant' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Gear_Position/Gear_FUNCTION1' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Chart' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Compare To Constant' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/HAC_OFF_OK_Func' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM1' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM2' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM3' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Pitch_calculate' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic1' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2/Calculate_F_R' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2/Calculate_F_c' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2/Calculate_F_c1' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic/Saturation Dynamic' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic1/Saturation Dynamic' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Rate Limiter Dynamic/Saturation Dynamic' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Rate Limiter Dynamic1/Saturation Dynamic' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Vx_Logic/Compare To Constant' - * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Vx_Logic/Vx_OutPut_Function' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/Compare To Constant' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB_Gain' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/GearCondition_Brake' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/Gear_pos_out' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/LPFM' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/Target_RPM' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Dot3' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Dot4' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Dot5' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/LPFM' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Second order LPF' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FB1' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FB1/I' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FB1/I_Gain' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FB1/P' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FB1/I/Compare To Constant' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Dot' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Dot2' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Dot3' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/LPFM' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Second order LPF' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Enabled Subsystem/MATLAB Function' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Gear_Position/Compare To Constant' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Gear_Position/Gear_FUNCTION1' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Chart' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/HAC_OFF_OK_Func' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM1' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM2' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM3' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Pitch_calculate' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic1' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2/Calculate_F_R' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2/Calculate_F_c' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2/Calculate_F_c1' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic/Saturation Dynamic' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic1/Saturation Dynamic' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Rate Limiter Dynamic/Saturation Dynamic' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Rate Limiter Dynamic1/Saturation Dynamic' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Vx_Logic/Compare To Constant' + * '' : 'ADM_Integrated_Logic/Delivery_Mobility/Vx_Logic/Vx_OutPut_Function' */ /*- diff --git a/GW/src/Logic/ADM_Integrated_Logic_data.c b/GW/src/Logic/ADM_Integrated_Logic_data.c index f3178800..cfcd585d 100644 --- a/GW/src/Logic/ADM_Integrated_Logic_data.c +++ b/GW/src/Logic/ADM_Integrated_Logic_data.c @@ -7,9 +7,9 @@ * * Code generated for Simulink model 'ADM_Integrated_Logic'. * - * Model version : 14.11 + * Model version : 14.27 * Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 - * C/C++ source code generated on : Mon Apr 20 10:09:17 2026 + * C/C++ source code generated on : Mon May 4 18:14:49 2026 * * Target selection: ert.tlc * Embedded hardware selection: NXP->Cortex-M4 @@ -24,8 +24,8 @@ /* Invariant block signals (default storage) */ const ConstB_ADM_Integrated_Logic_T ADM_Integrated_Logic_ConstB = { - 12753.0, /* '/Multiply' */ - 12753.0 /* '/Multiply4' */ + 14715.0, /* '/Multiply' */ + 14715.0 /* '/Multiply4' */ }; /* diff --git a/GW/src/System_Layer/SW_Version/SW_VER.c b/GW/src/System_Layer/SW_Version/SW_VER.c index e22e5ad2..cde09310 100644 --- a/GW/src/System_Layer/SW_Version/SW_VER.c +++ b/GW/src/System_Layer/SW_Version/SW_VER.c @@ -6,8 +6,8 @@ void SET_SW_VER(void) { GV_YEAR = 26; - GV_Month = 4; - GV_Day = 20; + GV_Month = 5; + GV_Day = 4; GV_Ver = 1; GV_CAR_NUM = 240623; } diff --git a/[ADM] Integrated 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b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/ADM_AccelerationLogic_rtw.tlc deleted file mode 100644 index 57ac01c5..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/ADM_AccelerationLogic_rtw.tlc +++ /dev/null @@ -1,39 +0,0 @@ -%implements "machineSource" "C" -%function DumpMachineInitializer(block) Output - -%openfile tmpFcnBuf - -%closefile tmpFcnBuf -%if !WHITE_SPACE(tmpFcnBuf) - %\ -%endif -%endfunction -%function GlobalMachineInitializer(block) void - %openfile tmpFcnBuf - %\ - %closefile tmpFcnBuf - %return tmpFcnBuf -%endfunction %% GlobalMachineInitializer - -%function DumpMachineTerminator(block) Output -%openfile tmpFcnBuf - -%closefile tmpFcnBuf -%if !WHITE_SPACE(tmpFcnBuf) - %\ -%endif -%endfunction -%function GlobalMachineTerminator(block) void - %openfile tmpFcnBuf - %\ - %closefile tmpFcnBuf - %return tmpFcnBuf -%endfunction %% GlobalMachineTerminator - -%function CacheMachineFunctions(block,system) void - %openfile tmpFcnBuf - - - %closefile tmpFcnBuf - % -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/ADM_AccelerationLogic_rtw.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/ADM_AccelerationLogic_rtw.tlh deleted file mode 100644 index fed3ff15..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/ADM_AccelerationLogic_rtw.tlh +++ /dev/null @@ -1,24 +0,0 @@ -%implements "machineHeader" "C" -%function CacheOutputs(block,system) void - %assign srcFileName = SLibGetFullFileNameForSystemCode("sys_src_incl", system.SystemIdx) - %assign isWithinReusableSubsys = (LibSystemIsReusedLibraryFcn(System[system.SystemIdx]) || LibSystemIsReusedLibraryFcn(System[System[system.SystemIdx].NonInlinedParentSystemIdx])) - % -%openfile typedefsBuf - -%closefile typedefsBuf -% -%if !isWithinReusableSubsys && !WHITE_SPACE(typedefsBuf) - % -%endif -%openfile externDataBuf - - - -%closefile externDataBuf -% -%if !isWithinReusableSubsys && !WHITE_SPACE(externDataBuf) - % -%endif -%endfunction %% CacheOutputs - - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c11_ADM_AccelerationLogic.tlc b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c11_ADM_AccelerationLogic.tlc deleted file mode 100644 index f3d9319f..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c11_ADM_AccelerationLogic.tlc +++ /dev/null @@ -1,32 +0,0 @@ -%implements "chartSource" "C" -%function ChartConfig(block, system) void - %createrecord chartConfiguration { ... - executeAtInitialization 0 ... - } - %return chartConfiguration -%endfunction -%function ChartDataMap(block, system) void - %createrecord ChartDataElements {\ - NumChartData 2 \ - ChartDataDefaults {\ - RecordType "ChartData"\ - Dimensions []\ - IsTestPoint 0\ - }\ - ChartData {\ - Name "sfEvent"\ - Description "ActiveChartEvent"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - ChartData {\ - Name "doneDoubleBufferReInit"\ - Description "DoubleBufferInitCheck"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - } - %return ChartDataElements -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c11_ADM_AccelerationLogic.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c11_ADM_AccelerationLogic.tlh deleted file mode 100644 index 8b137891..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c11_ADM_AccelerationLogic.tlh +++ /dev/null @@ -1 +0,0 @@ - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c14_ADM_AccelerationLogic.tlc b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c14_ADM_AccelerationLogic.tlc deleted file mode 100644 index f3d9319f..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c14_ADM_AccelerationLogic.tlc +++ /dev/null @@ -1,32 +0,0 @@ -%implements "chartSource" "C" -%function ChartConfig(block, system) void - %createrecord chartConfiguration { ... - executeAtInitialization 0 ... - } - %return chartConfiguration -%endfunction -%function ChartDataMap(block, system) void - %createrecord ChartDataElements {\ - NumChartData 2 \ - ChartDataDefaults {\ - RecordType "ChartData"\ - Dimensions []\ - IsTestPoint 0\ - }\ - ChartData {\ - Name "sfEvent"\ - Description "ActiveChartEvent"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - ChartData {\ - Name "doneDoubleBufferReInit"\ - Description "DoubleBufferInitCheck"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - } - %return ChartDataElements -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c14_ADM_AccelerationLogic.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c14_ADM_AccelerationLogic.tlh deleted file mode 100644 index 8b137891..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c14_ADM_AccelerationLogic.tlh +++ /dev/null @@ -1 +0,0 @@ - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c1_ADM_AccelerationLogic.tlc b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c1_ADM_AccelerationLogic.tlc deleted file mode 100644 index f3d9319f..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c1_ADM_AccelerationLogic.tlc +++ /dev/null @@ -1,32 +0,0 @@ -%implements "chartSource" "C" -%function ChartConfig(block, system) void - %createrecord chartConfiguration { ... - executeAtInitialization 0 ... - } - %return chartConfiguration -%endfunction -%function ChartDataMap(block, system) void - %createrecord ChartDataElements {\ - NumChartData 2 \ - ChartDataDefaults {\ - RecordType "ChartData"\ - Dimensions []\ - IsTestPoint 0\ - }\ - ChartData {\ - Name "sfEvent"\ - Description "ActiveChartEvent"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - ChartData {\ - Name "doneDoubleBufferReInit"\ - Description "DoubleBufferInitCheck"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - } - %return ChartDataElements -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c1_ADM_AccelerationLogic.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c1_ADM_AccelerationLogic.tlh deleted file mode 100644 index 8b137891..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c1_ADM_AccelerationLogic.tlh +++ /dev/null @@ -1 +0,0 @@ - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c23_ADM_AccelerationLogic.tlc b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c23_ADM_AccelerationLogic.tlc deleted file mode 100644 index f3d9319f..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c23_ADM_AccelerationLogic.tlc +++ /dev/null @@ -1,32 +0,0 @@ -%implements "chartSource" "C" -%function ChartConfig(block, system) void - %createrecord chartConfiguration { ... - executeAtInitialization 0 ... - } - %return chartConfiguration -%endfunction -%function ChartDataMap(block, system) void - %createrecord ChartDataElements {\ - NumChartData 2 \ - ChartDataDefaults {\ - RecordType "ChartData"\ - Dimensions []\ - IsTestPoint 0\ - }\ - ChartData {\ - Name "sfEvent"\ - Description "ActiveChartEvent"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - ChartData {\ - Name "doneDoubleBufferReInit"\ - Description "DoubleBufferInitCheck"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - } - %return ChartDataElements -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c23_ADM_AccelerationLogic.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c23_ADM_AccelerationLogic.tlh deleted file mode 100644 index 8b137891..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c23_ADM_AccelerationLogic.tlh +++ /dev/null @@ -1 +0,0 @@ - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c2_ADM_AccelerationLogic.tlc b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c2_ADM_AccelerationLogic.tlc deleted file mode 100644 index f3d9319f..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c2_ADM_AccelerationLogic.tlc +++ /dev/null @@ -1,32 +0,0 @@ -%implements "chartSource" "C" -%function ChartConfig(block, system) void - %createrecord chartConfiguration { ... - executeAtInitialization 0 ... - } - %return chartConfiguration -%endfunction -%function ChartDataMap(block, system) void - %createrecord ChartDataElements {\ - NumChartData 2 \ - ChartDataDefaults {\ - RecordType "ChartData"\ - Dimensions []\ - IsTestPoint 0\ - }\ - ChartData {\ - Name "sfEvent"\ - Description "ActiveChartEvent"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - ChartData {\ - Name "doneDoubleBufferReInit"\ - Description "DoubleBufferInitCheck"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - } - %return ChartDataElements -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c2_ADM_AccelerationLogic.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c2_ADM_AccelerationLogic.tlh deleted file mode 100644 index 8b137891..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c2_ADM_AccelerationLogic.tlh +++ /dev/null @@ -1 +0,0 @@ - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c7_ADM_AccelerationLogic.tlc b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c7_ADM_AccelerationLogic.tlc deleted file mode 100644 index f3d9319f..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c7_ADM_AccelerationLogic.tlc +++ /dev/null @@ -1,32 +0,0 @@ -%implements "chartSource" "C" -%function ChartConfig(block, system) void - %createrecord chartConfiguration { ... - executeAtInitialization 0 ... - } - %return chartConfiguration -%endfunction -%function ChartDataMap(block, system) void - %createrecord ChartDataElements {\ - NumChartData 2 \ - ChartDataDefaults {\ - RecordType "ChartData"\ - Dimensions []\ - IsTestPoint 0\ - }\ - ChartData {\ - Name "sfEvent"\ - Description "ActiveChartEvent"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - ChartData {\ - Name "doneDoubleBufferReInit"\ - Description "DoubleBufferInitCheck"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - } - %return ChartDataElements -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c7_ADM_AccelerationLogic.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c7_ADM_AccelerationLogic.tlh deleted file mode 100644 index 8b137891..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c7_ADM_AccelerationLogic.tlh +++ /dev/null @@ -1 +0,0 @@ - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c8_ADM_AccelerationLogic.tlc b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c8_ADM_AccelerationLogic.tlc deleted file mode 100644 index f3d9319f..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c8_ADM_AccelerationLogic.tlc +++ /dev/null @@ -1,32 +0,0 @@ -%implements "chartSource" "C" -%function ChartConfig(block, system) void - %createrecord chartConfiguration { ... - executeAtInitialization 0 ... - } - %return chartConfiguration -%endfunction -%function ChartDataMap(block, system) void - %createrecord ChartDataElements {\ - NumChartData 2 \ - ChartDataDefaults {\ - RecordType "ChartData"\ - Dimensions []\ - IsTestPoint 0\ - }\ - ChartData {\ - Name "sfEvent"\ - Description "ActiveChartEvent"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - ChartData {\ - Name "doneDoubleBufferReInit"\ - Description "DoubleBufferInitCheck"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - } - %return ChartDataElements -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c8_ADM_AccelerationLogic.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c8_ADM_AccelerationLogic.tlh deleted file mode 100644 index 8b137891..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c8_ADM_AccelerationLogic.tlh +++ /dev/null @@ -1 +0,0 @@ - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c9_ADM_AccelerationLogic.tlc b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c9_ADM_AccelerationLogic.tlc deleted file mode 100644 index f3d9319f..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c9_ADM_AccelerationLogic.tlc +++ /dev/null @@ -1,32 +0,0 @@ -%implements "chartSource" "C" -%function ChartConfig(block, system) void - %createrecord chartConfiguration { ... - executeAtInitialization 0 ... - } - %return chartConfiguration -%endfunction -%function ChartDataMap(block, system) void - %createrecord ChartDataElements {\ - NumChartData 2 \ - ChartDataDefaults {\ - RecordType "ChartData"\ - Dimensions []\ - IsTestPoint 0\ - }\ - ChartData {\ - Name "sfEvent"\ - Description "ActiveChartEvent"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - ChartData {\ - Name "doneDoubleBufferReInit"\ - Description "DoubleBufferInitCheck"\ - SFName ""\ - Path ""\ - SrcLocation ""\ - }\ - } - %return ChartDataElements -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c9_ADM_AccelerationLogic.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c9_ADM_AccelerationLogic.tlh deleted file mode 100644 index 8b137891..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/_self/rtw/speedgoat/src/c9_ADM_AccelerationLogic.tlh +++ /dev/null @@ -1 +0,0 @@ - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/amsi_serial.mat b/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/amsi_serial.mat deleted file mode 100644 index a1cb0e14..00000000 Binary files a/[ADM] Integrated Logic/slprj/_sfprj/ADM_AccelerationLogic/amsi_serial.mat and /dev/null differ diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/info/binfo.mat b/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/info/binfo.mat index 18b45716..3dd06015 100644 Binary files a/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/info/binfo.mat and b/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/info/binfo.mat differ diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/src/c32_ADM_Integrated_Logic.tlc b/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/src/c32_ADM_Integrated_Logic.tlc deleted file mode 100644 index 71a5389e..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/src/c32_ADM_Integrated_Logic.tlc +++ /dev/null @@ -1,18 +0,0 @@ -%implements "chartSource" "C" -%function ChartConfig(block, system) void - %createrecord chartConfiguration { ... - executeAtInitialization 0 ... - } - %return chartConfiguration -%endfunction -%function ChartDataMap(block, system) void - %createrecord ChartDataElements {\ - NumChartData 0 \ - ChartDataDefaults {\ - RecordType "ChartData"\ - Dimensions []\ - IsTestPoint 0\ - }\ - } - %return ChartDataElements -%endfunction diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/src/c32_ADM_Integrated_Logic.tlh b/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/src/c32_ADM_Integrated_Logic.tlh deleted file mode 100644 index 8b137891..00000000 --- a/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/rtw/ert/src/c32_ADM_Integrated_Logic.tlh +++ /dev/null @@ -1 +0,0 @@ - diff --git a/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/sfun/info/binfo.mat b/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/sfun/info/binfo.mat index 932753b5..76852807 100644 Binary files a/[ADM] Integrated Logic/slprj/_sfprj/ADM_Integrated_Logic/_self/sfun/info/binfo.mat and 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b/[ADM] Integrated Logic/slprj/_sfprj/untitled/amsi_serial.mat deleted file mode 100644 index 275bab59..00000000 Binary files a/[ADM] Integrated Logic/slprj/_sfprj/untitled/amsi_serial.mat and /dev/null differ diff --git a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/BlockTraceInfo.mat b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/BlockTraceInfo.mat index 15a272da..2eb385e4 100644 Binary files a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/BlockTraceInfo.mat and b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/BlockTraceInfo.mat differ diff --git a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/CompileInfo.xml b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/CompileInfo.xml index a1d81f81..3db08ed5 100644 --- a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/CompileInfo.xml +++ b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/CompileInfo.xml @@ -1,8 +1,8 @@ - - s0BjppF9WC3wIs5EXooqobD + s2YoqfW026oVAWgjyb0gBYC + s2gSY04uN7DI6j4lw8yN8ZH s4WXMY3dGTksoqhMLFi3p8D s6pbMKsYHqATP1xRv461CwH s94yFHFdbTQKfjk7iRgaX0C @@ -15,8 +15,6 @@ sGpoyDGoP8JFCNukfMWALcH sIugkoPKKMovFQoW6cMVTPF sKUDwblVsDbG76rZMXTUzqE - sPdgaTd5fWEQ1WYMLMusguH - sUz2hTTJ0C6XSgkobCryIP sYrBAsb5MieyxU9qO8yyldF saosLq56tnUlOoFDsVnsBWF sbLqj34q2k49qwKCrAXLYrE @@ -28,20 +26,22 @@ sujknjuFQwY3bO3NGjaVB0F svWu9x8A2b6QEt3vvr1JGgG svuD2NBUnRS3TuI1HFfvBgD - - [{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""}] + swzybSnrWBReNGHBcQS2puG + szNBa9LFqJhXhexnlJs7TUG + + [{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""}] ADM_Integrated_Logic [{"Name":"GV_MCU_RPM","Profile":""},{"Name":"GV_BrakeTorqueCommand","Profile":""},{"Name":"GV_IMU_AX_Val","Profile":""},{"Name":"GV_IMU_AY_Val","Profile":""},{"Name":"GV_IMU_AZ_Val","Profile":""},{"Name":"GV_IMU_PitchRtVal","Profile":""},{"Name":"GV_Vx_Command","Profile":""},{"Name":"GV_VCU_GearSelStat","Profile":""},{"Name":"GV_MCU_EstTrq","Profile":""},{"Name":"GV_Vx_Limit","Profile":""},{"Name":"GV_Vx_Fbk","Profile":""},{"Name":"GV_RWA_RackAngleCommand","Profile":""},{"Name":"GV_RWS_RackAngleCommand","Profile":""},{"Name":"GV_Drive_Mode","Profile":""},{"Name":"GV_ACU_Fault_Flag","Profile":""},{"Name":"GV_MCU_Actuator_Fault_Flag","Profile":""},{"Name":"GV_IDB_ECU_Fault_Flag","Profile":""},{"Name":"GV_RCU_ECU_Fault_Flag","Profile":""},{"Name":"GV_RWA1_ECU_Fault_Flag","Profile":""},{"Name":"GV_RWA2_ECU_Fault_Flag","Profile":""},{"Name":"GV_RWA_Actuator_Fault","Profile":""},{"Name":"GV_ACU_ECU_Fault_Flag","Profile":""},{"Name":"GV_ACU_ECU_Fault_Flag1","Profile":""},{"Name":"GV_ACU_ECU_Fault_Flag2","Profile":""},{"Name":"GV_ACU_ECU_Fault_Flag3","Profile":""},{"Name":"GV_Drive_ACC_Cmd","Profile":""},{"Name":"GV_VCU_AccControlFlag","Profile":""},{"Name":"GV_VCU_Acc_Limit","Profile":""},{"Name":"GV_Brake_Command","Profile":""},{"Name":"GV_Master_Rack_Angle_Cmd","Profile":""},{"Name":"GV_Hill_Torque_Assist","Profile":""},{"Name":"GV_Motor_Torque_Cmd","Profile":""},{"Name":"Debug_HAC_FLAG","Profile":""},{"Name":"Debug_HAC_RPM_Decision","Profile":""},{"Name":"Debug_HAC_Pitch_angle","Profile":""},{"Name":"Debug_HAC_Brake_Output","Profile":""},{"Name":"Debug_CC_Brake_Output","Profile":""},{"Name":"Debug_AccControl_TorqueCmd","Profile":""},{"Name":"GV_RWS_RackAngleCmd1","Profile":""},{"Name":"GV_Speed_Limit","Profile":""},{"Name":"GV_Gear_Postion_Out","Profile":""},{"Name":"Act_Fault_Exist","Profile":""},{"Name":"Target_RWA_Out","Profile":""},{"Name":"Target_IDB_Out","Profile":""},{"Name":"Target_MCU_Out","Profile":""},{"Name":"GV_VCU_EstMass","Profile":""},{"Name":"GV_VCU_EstMassFlag","Profile":""}] - + ADM_Integrated_Logic ADM_Integrated_Logic false false inf - - + + true base workspace BaseWorkspace @@ -64,7 +64,7 @@ true true true - + true inf -inf @@ -77,10 +77,10 @@ 0 - - + + - + true inf -inf @@ -94,10 +94,10 @@ 0 - - + + - + true inf -inf @@ -111,10 +111,10 @@ 0 - - + + - + true inf -inf @@ -128,10 +128,10 @@ 0 - - + + - + true inf -inf @@ -145,10 +145,10 @@ 0 - - + + - + true inf -inf @@ -162,10 +162,10 @@ 0 - - + + - + true inf -inf @@ -179,10 +179,10 @@ 0 - - + + - + true inf -inf @@ -196,10 +196,10 @@ 0 - - + + - + true inf -inf @@ -213,10 +213,10 @@ 0 - - + + - + true inf -inf @@ -230,10 +230,10 @@ 0 - - + + - + true inf -inf @@ -247,10 +247,10 @@ 0 - - + + - + true inf -inf @@ -264,10 +264,10 @@ 0 - - + + - + true inf -inf @@ -281,10 +281,10 @@ 0 - - + + - + true inf -inf @@ -298,10 +298,10 @@ 0 - - + + - + true inf -inf @@ -315,10 +315,10 @@ 0 - - + + - + true inf -inf @@ -332,10 +332,10 @@ 0 - - + + - + true inf -inf @@ -349,10 +349,10 @@ 0 - - + + - + true inf -inf @@ -366,10 +366,10 @@ 0 - - + + - + true inf -inf @@ -383,10 +383,10 @@ 0 - - + + - + true inf -inf @@ -400,10 +400,10 @@ 0 - - + + - + true inf -inf @@ -417,10 +417,10 @@ 0 - - + + - + true inf -inf @@ -434,10 +434,10 @@ 0 - - + + - + true inf -inf @@ -451,10 +451,10 @@ 0 - - + + - + true inf -inf @@ -468,10 +468,10 @@ 0 - - + + - + true inf -inf @@ -485,10 +485,10 @@ 0 - - + + - + true inf -inf @@ -502,10 +502,10 @@ 0 - - + + - + false true inf @@ -520,10 +520,10 @@ 0 - - + + - + true inf -inf @@ -537,8 +537,8 @@ 0 - - + + false true @@ -591,10 +591,10 @@ false 6 -1.0 - 46 + 47 28 - 46 - 50 + 47 + 51 @@ -661,7 +661,7 @@ - + inf -inf 2 @@ -673,10 +673,10 @@ 0 - - + + - + inf -inf 2 @@ -689,10 +689,10 @@ 0 - - + + - + inf -inf 2 @@ -705,10 +705,10 @@ 0 - - + + - + inf -inf 2 @@ -721,10 +721,10 @@ 0 - - + + - + inf -inf 2 @@ -737,10 +737,10 @@ 0 - - + + - + true inf -inf @@ -754,10 +754,10 @@ 0 - - + + - + inf -inf 2 @@ -770,10 +770,10 @@ 0 - - + + - + inf -inf 2 @@ -786,10 +786,10 @@ 0 - - + + - + inf -inf 2 @@ -802,10 +802,10 @@ 0 - - + + - + inf -inf 2 @@ -818,10 +818,10 @@ 0 - - + + - + inf -inf 2 @@ -834,10 +834,10 @@ 0 - - + + - + true true inf @@ -853,10 +853,10 @@ -2 - - + + - + inf -inf 2 @@ -869,10 +869,10 @@ 0 - - + + - + inf -inf 2 @@ -885,10 +885,10 @@ 0 - - + + - + inf -inf 2 @@ -901,10 +901,10 @@ 0 - - + + - + inf -inf 2 @@ -917,10 +917,10 @@ 0 - - + + - + inf -inf 2 @@ -933,10 +933,10 @@ 0 - - + + - + inf -inf 2 @@ -949,10 +949,10 @@ 0 - - + + - + inf -inf 2 @@ -965,8 +965,8 @@ 0 - - + + true @@ -980,49 +980,49 @@ 323 <?xml version="1.0"?> <slexec_sto version="1.1" packageUris="http://schema.mathworks.com/mf0/slexec_mm_sto/R2024a_202305081229"> - <sto.Registry type="sto.Registry" uuid="21105a78-335d-4e69-8698-3237f2e8f216"> + <sto.Registry type="sto.Registry" uuid="6ca669f5-575c-4ca4-9ae4-a09533adfcbb"> <executionSpec>Undetermined</executionSpec> <identifier>ADM_Integrated_Logic</identifier> - <clockRegistry type="sto.ClockRegistry" uuid="fb41d7fb-73e1-4604-b214-210b57759893"> - <clocks type="sto.Timer" uuid="ec75b175-c306-49e4-accc-8870bdab8a7a"> + <clockRegistry type="sto.ClockRegistry" uuid="8946f829-f23e-4ff1-8c6e-6b86e304be6c"> + <clocks type="sto.Timer" uuid="52df7b99-e5c9-4101-82df-654c120c52f3"> <computedFundamentalDiscretePeriod>.002</computedFundamentalDiscretePeriod> - <fastestDiscreteRate type="sto.ClassicPeriodicDiscreteRate" uuid="42346a24-2b65-4c87-a0b7-504d7b9ada92"/> + <fastestDiscreteRate type="sto.ClassicPeriodicDiscreteRate" uuid="f8d69e92-a47e-40a1-8f3c-5a7a44115e84"/> <isDefaultTimer>true</isDefaultTimer> <resolution>.002</resolution> <timeAdvanceMode>FixedStep</timeAdvanceMode> <identifier>ADM_Integrated_Logic::defaultTimer</identifier> - <rates type="sto.ClassicPeriodicDiscreteRate" uuid="42346a24-2b65-4c87-a0b7-504d7b9ada92"> + <rates type="sto.ClassicPeriodicDiscreteRate" uuid="f8d69e92-a47e-40a1-8f3c-5a7a44115e84"> <annotation>D1</annotation> <clockId>ADM_Integrated_Logic::defaultTimer</clockId> <description>Discrete 1</description> <taskId>_task0</taskId> - <rateSpec type="sto.RateSpec" uuid="d1df8bcb-17e7-484f-b513-e4dfa981207e"> + <rateSpec type="sto.RateSpec" uuid="111e81d1-7bf7-4cd4-ae29-0a3dd385be83"> <period>.002</period> <rateType>ClassicPeriodicDiscrete</rateType> </rateSpec> </rates> - <baseRate type="sto.ClassicPeriodicDiscreteRate" uuid="7c13c81c-252c-44cf-97a1-319a0715f2d1"> + <baseRate type="sto.ClassicPeriodicDiscreteRate" uuid="9bb1ebc8-9e42-4c2c-9a8b-bb58aeb52bdf"> <annotation>D1</annotation> <clockId>ADM_Integrated_Logic::defaultTimer</clockId> <description>Discrete 1</description> <taskId>_task0</taskId> - <rateSpec type="sto.RateSpec" uuid="f131cd85-37ff-4661-a446-5ea30b5e89c6"> + <rateSpec type="sto.RateSpec" uuid="e422f4e8-a535-470a-9faa-c6ca5ce31ae3"> <period>.002</period> <rateType>ClassicPeriodicDiscrete</rateType> </rateSpec> </baseRate> </clocks> - <clocks type="sto.Event" uuid="937e4439-1200-4934-a22c-ed1e66ab3e20"> + <clocks type="sto.Event" uuid="54d15350-1cd7-4792-9b6d-5d6d3c507861"> <eventType>PARAMETER_CHANGE_EVENT</eventType> <cNum>1</cNum> <clockType>Event</clockType> <identifier>ParameterChangeEvent</identifier> - <rates type="sto.ModelWideEventRate" uuid="738c3a35-b790-4243-8b7d-8bbe659bb0a4"> + <rates type="sto.ModelWideEventRate" uuid="babdcb31-3b21-4f7b-ac49-2ca261872a47"> <clockId>ParameterChangeEvent</clockId> <rateIdx>-1</rateIdx> <taskId>ModelWideParameterChangeEvent</taskId> <useForExecution>NotForExecution</useForExecution> - <rateSpec type="sto.RateSpec" uuid="6817f23b-a494-490e-a8ee-e7c9d6b9b7f6"> + <rateSpec type="sto.RateSpec" uuid="b0f3fbb7-2b61-48d5-bc97-36830764b595"> <period>inf</period> <rateType>ModelWideParameterChangeEvent</rateType> </rateSpec> @@ -1030,15 +1030,15 @@ </clocks> <timeAdvanceMode>FixedStep</timeAdvanceMode> </clockRegistry> - <taskRegistry type="sto.TaskRegistry" uuid="a60c5216-c0a0-4bb3-807d-33c2e10822c4"> - <rootTaskHierarchyElements type="sto.Task" uuid="56fb3312-4215-49cc-abf3-8977f64b9c06"> + <taskRegistry type="sto.TaskRegistry" uuid="80bcffa8-f3c9-472c-bad3-fe2d4bdbd077"> + <rootTaskHierarchyElements type="sto.Task" uuid="625092c6-039f-419b-ae9c-04573bac0581"> <isExplicit>true</isExplicit> - <rates type="sto.ModelWideEventRate" uuid="da2a1bba-a997-4af9-a4f4-e8b8063acca6"> + <rates type="sto.ModelWideEventRate" uuid="0bf6cb0c-d443-4710-817c-dea014a12011"> <clockId>ParameterChangeEvent</clockId> <rateIdx>-1</rateIdx> <taskId>ModelWideParameterChangeEvent</taskId> <useForExecution>NotForExecution</useForExecution> - <rateSpec type="sto.RateSpec" uuid="7aee22cd-3bfd-4df1-9bab-aebe390bcdcf"> + <rateSpec type="sto.RateSpec" uuid="c097425c-e352-43e5-99b3-ee740eccc768"> <period>inf</period> <rateType>ModelWideParameterChangeEvent</rateType> </rateSpec> @@ -1049,15 +1049,15 @@ <identifier>ModelWideParameterChangeEvent</identifier> <priority>-1</priority> </rootTaskHierarchyElements> - <rootTaskHierarchyElements type="sto.Task" uuid="302cbd9f-f4fc-4b09-989b-f3f1e14377ae"> + <rootTaskHierarchyElements type="sto.Task" uuid="11a57550-f26c-429d-8204-843a34993939"> <isExecutable>true</isExecutable> <orderIndex>1</orderIndex> - <rates type="sto.ClassicPeriodicDiscreteRate" uuid="f24d45ab-37d1-4be7-9570-f2003add56fc"> + <rates type="sto.ClassicPeriodicDiscreteRate" uuid="9f782733-bd93-4007-800c-e13649fe19a0"> <annotation>D1</annotation> <clockId>ADM_Integrated_Logic::defaultTimer</clockId> <description>Discrete 1</description> <taskId>_task0</taskId> - <rateSpec type="sto.RateSpec" uuid="f0969b44-cd99-4839-a807-77412c437064"> + <rateSpec type="sto.RateSpec" uuid="ca58edf8-b9c9-40c1-94a3-4a059dee1829"> <period>.002</period> <rateType>ClassicPeriodicDiscrete</rateType> </rateSpec> @@ -1068,11 +1068,11 @@ <identifier>_task0</identifier> <priority>40</priority> </rootTaskHierarchyElements> - <taskDependencyGraph type="sto.SerializedTaskConnectionList" uuid="60d26de0-6cd1-469d-b094-efadb29d6110"> + <taskDependencyGraph type="sto.SerializedTaskConnectionList" uuid="f5f4f3e7-0c04-46d2-92bb-501e8dd7a4ec"> <clockIdentifier>ParameterChangeEvent</clockIdentifier> <taskIdentifier>ModelWideParameterChangeEvent</taskIdentifier> </taskDependencyGraph> - <taskDependencyGraph type="sto.SerializedTaskConnectionList" uuid="7cea9b46-234a-42ef-8b6e-7faee61d8074"> + <taskDependencyGraph type="sto.SerializedTaskConnectionList" uuid="ee94e68f-4e6d-46b7-a5d8-a7d3d8edff67"> <clockIdentifier>ADM_Integrated_Logic::defaultTimer</clockIdentifier> <taskIdentifier>_task0</taskIdentifier> </taskDependencyGraph> @@ -1082,10 +1082,10 @@ </slexec_sto> .002 true - - - - + + + + true .002 2 @@ -1096,7 +1096,7 @@ FixedStepDiscrete SOLVER_TYPE_FIXEDSTEP 2 - + 8 64 32 @@ -1115,9 +1115,9 @@ 32 - - - + + + 0 1 2 @@ -1213,312 +1213,312 @@ 17 18 - + 26 11 - - - - + + + + 26 - - + + 11 - - - - - - + + + + + + - - - - - + + + + + 1.0 .002 0.0 GV_MCU_RPM - + 1.0 .002 0.0 GV_BrakeTorqueCommand - + 1.0 .002 0.0 GV_IMU_AX_Val - + 1.0 .002 0.0 GV_IMU_AY_Val - + 1.0 .002 0.0 GV_IMU_AZ_Val - + 1.0 .002 0.0 GV_IMU_PitchRtVal - + 1.0 .002 0.0 GV_Vx_Command - + 1.0 .002 0.0 GV_VCU_GearSelStat - + 1.0 .002 0.0 GV_MCU_EstTrq - + 1.0 .002 0.0 GV_Vx_Limit - + 1.0 .002 0.0 GV_Vx_Fbk - + 1.0 .002 0.0 GV_RWA_RackAngleCommand - + 1.0 .002 0.0 GV_RWS_RackAngleCommand - + 1.0 .002 0.0 GV_Drive_Mode - + 1.0 .002 0.0 GV_ACU_Fault_Flag - + 1.0 .002 0.0 GV_MCU_Actuator_Fault_Flag - + 1.0 .002 0.0 GV_IDB_ECU_Fault_Flag - + 1.0 .002 0.0 GV_RCU_ECU_Fault_Flag - + 1.0 .002 0.0 GV_RWA1_ECU_Fault_Flag - + 1.0 .002 0.0 GV_RWA2_ECU_Fault_Flag - + 1.0 .002 0.0 GV_RWA_Actuator_Fault - + 1.0 .002 0.0 GV_ACU_ECU_Fault_Flag - + 1.0 .002 0.0 GV_ACU_ECU_Fault_Flag1 - + 1.0 .002 0.0 GV_ACU_ECU_Fault_Flag2 - + 1.0 .002 0.0 GV_ACU_ECU_Fault_Flag3 - + 1.0 .002 0.0 GV_Drive_ACC_Cmd - + 1.0 .002 0.0 GV_VCU_AccControlFlag - + 1.0 .002 0.0 GV_VCU_Acc_Limit ADM_Integrated_Logic - + 1.0 .002 0.0 GV_Brake_Command - + 1.0 .002 0.0 GV_Master_Rack_Angle_Cmd - + 1.0 .002 0.0 GV_Hill_Torque_Assist - + 1.0 .002 0.0 GV_Motor_Torque_Cmd - + 1.0 .002 0.0 Debug_HAC_FLAG - + 1.0 .002 0.0 Debug_HAC_RPM_Decision - + 1.0 .002 0.0 Debug_HAC_Pitch_angle - + 1.0 .002 0.0 Debug_HAC_Brake_Output - + 1.0 .002 0.0 Debug_CC_Brake_Output - + 1.0 .002 0.0 Debug_AccControl_TorqueCmd - + 1.0 .002 0.0 GV_RWS_RackAngleCmd1 - + 1.0 inf 0.0 GV_Speed_Limit - + 1.0 .002 0.0 GV_Gear_Postion_Out - + 1.0 .002 0.0 Act_Fault_Exist - + 1.0 .002 0.0 Target_RWA_Out - + 1.0 .002 0.0 Target_IDB_Out - + 1.0 .002 0.0 Target_MCU_Out - + 1.0 .002 0.0 GV_VCU_EstMass - + 1.0 .002 0.0 @@ -1527,7 +1527,7 @@ ROOT - + @@ -1818,19 +1818,19 @@ - - - + + + sltpEvents - + sltpTaskGroups - - - + + + D1 - + ADM_Integrated_Logic::defaultTimer _task0 @@ -1839,6 +1839,6 @@ sltpTasks - + \ No newline at end of file diff --git a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/binfo.mat b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/binfo.mat index d48df000..78e529ce 100644 Binary files a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/binfo.mat and b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/binfo.mat differ diff --git a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/minfo.mat b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/minfo.mat index d0e9e509..77210faa 100644 Binary files a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/minfo.mat and b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/minfo.mat differ diff --git a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/scv b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/scv index d28b3ad3..c3b06582 100644 Binary files a/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/scv and b/[ADM] Integrated Logic/slprj/ert/ADM_Integrated_Logic/tmwinternal/scv differ diff --git a/[ADM] Integrated Logic/slprj/ert/_sharedutils/shared_file.dmr b/[ADM] Integrated Logic/slprj/ert/_sharedutils/shared_file.dmr index 47fd70fb..6b5c3e2f 100644 Binary files a/[ADM] Integrated Logic/slprj/ert/_sharedutils/shared_file.dmr and b/[ADM] Integrated Logic/slprj/ert/_sharedutils/shared_file.dmr differ diff --git a/[ADM] Integrated Logic/slprj/modeladvisor/ADM_Integrated_Logic/ModelAdvisorData b/[ADM] Integrated Logic/slprj/modeladvisor/ADM_Integrated_Logic/ModelAdvisorData deleted file mode 100644 index c9491d0b..00000000 Binary files a/[ADM] Integrated Logic/slprj/modeladvisor/ADM_Integrated_Logic/ModelAdvisorData and /dev/null differ diff --git a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_AccelerationLogic/checksumOfCache.mat b/[ADM] Integrated Logic/slprj/sim/varcache/ADM_AccelerationLogic/checksumOfCache.mat deleted file mode 100644 index 9edc358d..00000000 Binary files a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_AccelerationLogic/checksumOfCache.mat and /dev/null differ diff --git a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_AccelerationLogic/varInfo.mat b/[ADM] Integrated Logic/slprj/sim/varcache/ADM_AccelerationLogic/varInfo.mat deleted file mode 100644 index c2bcc533..00000000 Binary files a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_AccelerationLogic/varInfo.mat and /dev/null differ diff --git a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/checksumOfCache.mat b/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/checksumOfCache.mat index 30f4dbfa..3cb98c61 100644 Binary files a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/checksumOfCache.mat and b/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/checksumOfCache.mat differ diff --git a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/tmwinternal/simulink_cache.xml b/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/tmwinternal/simulink_cache.xml index f73b5986..486e6fc9 100644 --- a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/tmwinternal/simulink_cache.xml +++ b/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/tmwinternal/simulink_cache.xml @@ -1,6 +1,6 @@ - - PlFLQBEtmuJ5QW0T9wHOcLBFUOd3Ow1+GlXUY4y5kDKl2chga+sXTHq2xvS9tlu8HmJWCTXxAXIgb5jAkav/xA== + + A5uF7+Lqcziybg55rvWvCuDoht7/yEPOgPAyFXwaVF/j2yMM0tcaimGTaApUw4PhijWPTSywRlI+3+npmhVnTg== \ No newline at end of file diff --git a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/varInfo.mat b/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/varInfo.mat index 7001a46c..58806f1c 100644 Binary files a/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/varInfo.mat and b/[ADM] Integrated Logic/slprj/sim/varcache/ADM_Integrated_Logic/varInfo.mat differ diff --git a/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/BlockTraceInfo.mat b/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/BlockTraceInfo.mat deleted file mode 100644 index 96a83ccb..00000000 Binary files a/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/BlockTraceInfo.mat and /dev/null differ diff --git a/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/CompileInfo.xml b/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/CompileInfo.xml deleted file mode 100644 index f85bdeea..00000000 --- a/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/CompileInfo.xml +++ /dev/null @@ -1,495 +0,0 @@ - - - - sLaDl90PKuemgVBt1LlFUxG - sS4svqT02rdcw0Z9wPUZndC - sXBp7qqmETwLJme2oT7UpmF - sXCgt6qxsU7bpoDp6YClB4F - sbHkVay8Rod0jygv8tN50qG - sdc0NA6B3KsXAZ5BM4L2v2F - sq2OxrFR0PQmBUy7NYTLD1D - sws30Prgxygq3okDXrkNNaH - - [{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""},{"Name":"","Profile":""}] - ADM_AccelerationLogic - [{"Name":"Brake","Profile":""},{"Name":"Motor","Profile":""},{"Name":"Debug_RequirementTorque","Profile":""},{"Name":"IDB_MasterCylinderPressure","Profile":""}] - - - ADM_AccelerationLogic - ADM_AccelerationLogic - - - 1 - .002 - DeducedFromSampleTime - - false - false - 100.0 - - - true - base workspace - BaseWorkspace - - ADM_AccelerationLogic - - AAFJTQAAAAAOAAAAOAAAAAYAAAAIAAAAAgAAAAAAAAAFAAAACAAAAAAAAAABAAAAAQAAAAAAAAAFAAQAAQAAAAEAAAAAAAAA - {"Inports":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","Outports":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","ParameterArguments":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","LocalParameters":"{\"Name\":\"PageSwitching\",\"Checksum\":\"1969678929\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","GlobalParameters":"{\"Name\":\"slrealtime_PageSwitching\",\"Checksum\":\"673606011\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","InternalData":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","SharedLocalDataStores":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","GlobalDataStores":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","Constants":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","DataTransfers":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","ModelData":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","InitializeTerminate":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","Execution":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}","SharedUtility":"{\"Name\":\"Default\",\"Checksum\":\"Default\",\"PerInstancePropertiesChecksum\":\"\",\"MemorySectionName\":\"None\",\"MemorySectionChecksum\":\"None\"}"} - -1.0 - K - P - Ts - Wn - g - jeta - true - true - true - true - false - false - false - false - false - 2 - -1.0 - true - true - Ts - Wn - 32 - 0 - 32 - 36 - false - false - false - false - - - - - - inf - -inf - 2 - - true - true - 0.0 - 40 - 0 - - - - - - - inf - -inf - 2 - 1 - - true - true - 0.0 - 40 - 0 - - - - - - - inf - -inf - 2 - 2 - - true - true - 0.0 - 40 - 0 - - - - - - - inf - -inf - 2 - 3 - - true - true - Cont - .002 - 40 - 1 - - - - - - - true - true - 0.0 - 40 - 0 - - - true - true - Cont - .002 - 40 - 1 - - 2 - 323 - <?xml version="1.0"?> -<slexec_sto version="1.1" packageUris="http://schema.mathworks.com/mf0/slexec_mm_sto/R2024a_202305081229"> - <sto.Registry type="sto.Registry" uuid="7da15208-1e01-4df1-8489-1f7304f3c664"> - <executionSpec>Undetermined</executionSpec> - <identifier>ADM_AccelerationLogic</identifier> - <clockRegistry type="sto.ClockRegistry" uuid="155b25f6-efb1-4c61-861d-d6857308ac14"> - <clocks type="sto.Timer" uuid="60595706-76ca-42a9-a8e7-219821c318a2"> - <computedFundamentalDiscretePeriod>.002</computedFundamentalDiscretePeriod> - <fastestDiscreteRate type="sto.ClassicPeriodicDiscreteRate" uuid="d73e2896-8c41-4e93-8972-4b943b3fe998"/> - <isDefaultTimer>true</isDefaultTimer> - <resolution>.002</resolution> - <timeAdvanceMode>FixedStep</timeAdvanceMode> - <identifier>ADM_AccelerationLogic::defaultTimer</identifier> - <rates type="sto.ContinuousRate" uuid="5440073a-5055-45b5-8436-218986759755"> - <annotation>Cont</annotation> - <clockId>ADM_AccelerationLogic::defaultTimer</clockId> - <colorIndex>-1</colorIndex> - <description>Continuous</description> - <taskId>_task0</taskId> - <rateSpec type="sto.RateSpec" uuid="9fe32617-1516-41cc-9192-bd1db1d8915e"/> - </rates> - <rates type="sto.ClassicPeriodicDiscreteRate" uuid="d73e2896-8c41-4e93-8972-4b943b3fe998"> - <annotation>D1</annotation> - <clockId>ADM_AccelerationLogic::defaultTimer</clockId> - <description>Discrete 1</description> - <rateIdx>1</rateIdx> - <taskId>_task0</taskId> - <rateSpec type="sto.RateSpec" uuid="63dc66bf-3a78-4ace-a925-3f2d56273cbc"> - <period>.002</period> - <rateType>ClassicPeriodicDiscrete</rateType> - </rateSpec> - </rates> - <baseRate type="sto.ContinuousRate" uuid="f15d22cf-9f4f-47ed-add5-14e102fb3c34"> - <annotation>Cont</annotation> - <clockId>ADM_AccelerationLogic::defaultTimer</clockId> - <colorIndex>-1</colorIndex> - <description>Continuous</description> - <taskId>_task0</taskId> - <rateSpec type="sto.RateSpec" uuid="a1209b12-f224-4d6c-820e-b0dc9a5f157f"/> - </baseRate> - </clocks> - <clocks type="sto.Event" uuid="fc6c736a-786e-4924-b24e-319341c48ef3"> - <eventType>PARAMETER_CHANGE_EVENT</eventType> - <cNum>1</cNum> - <clockType>Event</clockType> - <identifier>ParameterChangeEvent</identifier> - <rates type="sto.ModelWideEventRate" uuid="bd959236-6426-4fe3-8cfa-8760a3602ede"> - <annotation>Inf</annotation> - <clockId>ParameterChangeEvent</clockId> - <colorIndex>-1</colorIndex> - <description>Constant</description> - <rateIdx>-1</rateIdx> - <taskId>ModelWideParameterChangeEvent</taskId> - <useForExecution>NotForExecution</useForExecution> - <rateSpec type="sto.RateSpec" uuid="15cc7d45-e20b-4e1b-a611-939b098eaa05"> - <period>inf</period> - <rateType>ModelWideParameterChangeEvent</rateType> - </rateSpec> - </rates> - </clocks> - <timeAdvanceMode>FixedStep</timeAdvanceMode> - </clockRegistry> - <taskRegistry type="sto.TaskRegistry" uuid="91610a29-8cc7-4421-9b1a-01b8deaa73f3"> - <rootTaskHierarchyElements type="sto.Task" uuid="2183508e-c541-4a03-9db6-6968dfe183b8"> - <isExplicit>true</isExplicit> - <rates type="sto.ModelWideEventRate" uuid="45f09e19-6676-4409-9c47-4f4923169876"> - <annotation>Inf</annotation> - <clockId>ParameterChangeEvent</clockId> - <colorIndex>-1</colorIndex> - <description>Constant</description> - <rateIdx>-1</rateIdx> - <taskId>ModelWideParameterChangeEvent</taskId> - <useForExecution>NotForExecution</useForExecution> - <rateSpec type="sto.RateSpec" uuid="70d58f34-29da-446b-a2b5-e1b24d5d2b25"> - <period>inf</period> - <rateType>ModelWideParameterChangeEvent</rateType> - </rateSpec> - </rates> - <schedulingClockId>ParameterChangeEvent</schedulingClockId> - <timeKeeperClockId>ADM_AccelerationLogic::defaultTimer</timeKeeperClockId> - <elementType>Task</elementType> - <identifier>ModelWideParameterChangeEvent</identifier> - <priority>-1</priority> - </rootTaskHierarchyElements> - <rootTaskHierarchyElements type="sto.Task" uuid="877b569f-206f-4685-9bf6-d8c1b4a791d5"> - <isExecutable>true</isExecutable> - <orderIndex>1</orderIndex> - <rates type="sto.ContinuousRate" uuid="3212c85a-2303-4ff7-97b0-33176b147f40"> - <annotation>Cont</annotation> - <clockId>ADM_AccelerationLogic::defaultTimer</clockId> - <colorIndex>-1</colorIndex> - <description>Continuous</description> - <taskId>_task0</taskId> - <rateSpec type="sto.RateSpec" uuid="1ca65734-6447-46cb-8670-c0a6a3736e4f"/> - </rates> - <rates type="sto.ClassicPeriodicDiscreteRate" uuid="23ea02b6-f5fe-4946-97fd-c422a24a4205"> - <annotation>D1</annotation> - <clockId>ADM_AccelerationLogic::defaultTimer</clockId> - <description>Discrete 1</description> - <rateIdx>1</rateIdx> - <taskId>_task0</taskId> - <rateSpec type="sto.RateSpec" uuid="a41a36cd-323f-456b-a802-6063b588c6c0"> - <period>.002</period> - <rateType>ClassicPeriodicDiscrete</rateType> - </rateSpec> - </rates> - <schedulingClockId>ADM_AccelerationLogic::defaultTimer</schedulingClockId> - <timeKeeperClockId>ADM_AccelerationLogic::defaultTimer</timeKeeperClockId> - <elementType>Task</elementType> - <identifier>_task0</identifier> - <priority>40</priority> - </rootTaskHierarchyElements> - <taskDependencyGraph type="sto.SerializedTaskConnectionList" uuid="83de9198-bb12-45e7-a938-68410a8075ca"> - <clockIdentifier>ADM_AccelerationLogic::defaultTimer</clockIdentifier> - <taskIdentifier>_task0</taskIdentifier> - </taskDependencyGraph> - <taskDependencyGraph type="sto.SerializedTaskConnectionList" uuid="0bae97f6-3b59-4477-ad57-bb044b57e426"> - <clockIdentifier>ParameterChangeEvent</clockIdentifier> - <taskIdentifier>ModelWideParameterChangeEvent</taskIdentifier> - </taskDependencyGraph> - <taskingMode>ClassicMultiTasking</taskingMode> - </taskRegistry> - </sto.Registry> -</slexec_sto> - - - - - true - true - .002 - 2 - true - 2 - 1 - FixedStepDiscrete - SOLVER_TYPE_FIXEDSTEP - - 8 - 64 - 32 - 32 - 64 - 64 - 64 - 64 - 16 - 64 - 1 - true - true - 64 - - - - - - 0 - 1 - 2 - 3 - 0 - 1 - 2 - 3 - - - - - 1 - 1 - true - true - 2 - K - - - 1 - 1 - true - true - 2 - P - - - 1 - 1 - true - true - 2 - Ts - - - 1 - 1 - true - true - 2 - Wn - - - 1 - 1 - true - 2 - g - - - 1 - 1 - true - 2 - jeta - - - - - - - - - - - - - - - ADM_AccelerationLogic - - 1.0 - 0.0 - 0.0 - Brake - - - 1.0 - 0.0 - 0.0 - Motor - - - 1.0 - 0.0 - 0.0 - Debug_RequirementTorque - - - 1.0 - .002 - 0.0 - IDB_MasterCylinderPressure - - ROOT - - - - - - - - portBrake - RootOutport - - - portDebug_RequirementTorque - RootOutport - - - portIDB_MasterCylinderPressure - RootOutport - - - portMotor - RootOutport - - 1 - - - true - - - - - false - Default - -2147483648 - - - true - - false - 2 - true - Cont - 40 - - Cont - 255 - Continuous00 - 0 - - 0.0 - - 0 - - - D1 - -12240129 - 1 - - .002 - - 1 - - - - - - - - - sltpEvents - - - sltpTaskGroups - - - - - Cont - - - ADM_AccelerationLogic::defaultTimer - _task0 - - - sltpTasks - - - - - \ No newline at end of file diff --git a/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/binfo.mat b/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/binfo.mat deleted file mode 100644 index 765e37b9..00000000 Binary files a/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/binfo.mat and /dev/null differ diff --git a/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/minfo.mat b/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/minfo.mat deleted file mode 100644 index e5349ff0..00000000 Binary files a/[ADM] Integrated Logic/slprj/speedgoat/ADM_AccelerationLogic/tmwinternal/minfo.mat and /dev/null differ diff --git a/[ADM] Integrated Logic/slprj/speedgoat/_sharedutils/shared_file.dmr b/[ADM] Integrated Logic/slprj/speedgoat/_sharedutils/shared_file.dmr deleted file mode 100644 index 6a61e662..00000000 Binary files a/[ADM] Integrated Logic/slprj/speedgoat/_sharedutils/shared_file.dmr and /dev/null differ