var dataJson = {"arch":{"ispc":true,"isunix":false,"ismac":false},"build":"ADM_Integrated_Logic","ref":false,"files":[{"name":"ert_main.c","type":"source","group":"main","path":"C:\\Users\\MSI\\Documents\\WorkSpace\\git\\ADM\\[ADM] Integrated Logic\\ADM_Integrated_Logic_ert_rtw","tag":"","groupDisplay":"Main file","code":"/*\r\n * Academic License - for use in teaching, academic research, and meeting\r\n * course requirements at degree granting institutions only.  Not for\r\n * government, commercial, or other organizational use.\r\n *\r\n * File: ert_main.c\r\n *\r\n * Code generated for Simulink model 'ADM_Integrated_Logic'.\r\n *\r\n * Model version                  : 14.98\r\n * Simulink Coder version         : 24.2 (R2024b) 21-Jun-2024\r\n * C/C++ source code generated on : Tue Oct 21 13:14:18 2025\r\n *\r\n * Target selection: ert.tlc\r\n * Embedded hardware selection: NXP->Cortex-M4\r\n * Code generation objectives:\r\n *    1. Execution efficiency\r\n *    2. RAM efficiency\r\n *    3. Debugging\r\n * Validation result: Not run\r\n */\r\n\r\n#include <stddef.h>\r\n#include <stdio.h>            /* This example main program uses printf/fflush */\r\n#include \"ADM_Integrated_Logic.h\"      /* Model header file */\r\n\r\n/*\r\n * Associating rt_OneStep with a real-time clock or interrupt service routine\r\n * is what makes the generated code \"real-time\".  The function rt_OneStep is\r\n * always associated with the base rate of the model.  Subrates are managed\r\n * by the base rate from inside the generated code.  Enabling/disabling\r\n * interrupts and floating point context switches are target specific.  This\r\n * example code indicates where these should take place relative to executing\r\n * the generated code step function.  Overrun behavior should be tailored to\r\n * your application needs.  This example simply sets an error status in the\r\n * real-time model and returns from rt_OneStep.\r\n */\r\nvoid rt_OneStep(void);\r\nvoid rt_OneStep(void)\r\n{\r\n  static bool OverrunFlag = false;\r\n\r\n  /* Disable interrupts here */\r\n\r\n  /* Check for overrun */\r\n  if (OverrunFlag) {\r\n    rtmSetErrorStatus(ADM_Integrated_Logic_M, \"Overrun\");\r\n    return;\r\n  }\r\n\r\n  OverrunFlag = true;\r\n\r\n  /* Save FPU context here (if necessary) */\r\n  /* Re-enable timer or interrupt here */\r\n  /* Set model inputs here */\r\n\r\n  /* Step the model */\r\n  ADM_Integrated_Logic_step();\r\n\r\n  /* Get model outputs here */\r\n\r\n  /* Indicate task complete */\r\n  OverrunFlag = false;\r\n\r\n  /* Disable interrupts here */\r\n  /* Restore FPU context here (if necessary) */\r\n  /* Enable interrupts here */\r\n}\r\n\r\n/*\r\n * The example main function illustrates what is required by your\r\n * application code to initialize, execute, and terminate the generated code.\r\n * Attaching rt_OneStep to a real-time clock is target specific. This example\r\n * illustrates how you do this relative to initializing the model.\r\n */\r\nint main(int argc, const char *argv[])\r\n{\r\n  /* Unused arguments */\r\n  (void)(argc);\r\n  (void)(argv);\r\n\r\n  /* Initialize model */\r\n  ADM_Integrated_Logic_initialize();\r\n\r\n  /* Attach rt_OneStep to a timer or interrupt service routine with\r\n   * period 0.002 seconds (base rate of the model) here.\r\n   * The call syntax for rt_OneStep is\r\n   *\r\n   *  rt_OneStep();\r\n   */\r\n  printf(\"Warning: The simulation will run forever. \"\r\n         \"Generated ERT main won't simulate model step behavior. \"\r\n         \"To change this behavior select the 'MAT-file logging' option.\\n\");\r\n  fflush((NULL));\r\n  while (rtmGetErrorStatus(ADM_Integrated_Logic_M) == (NULL)) {\r\n    /*  Perform application tasks here */\r\n  }\r\n\r\n  return 0;\r\n}\r\n\r\n/*\r\n * File trailer for generated code.\r\n *\r\n * [EOF]\r\n */\r\n"},{"name":"ADM_Integrated_Logic.c","type":"source","group":"model","path":"C:\\Users\\MSI\\Documents\\WorkSpace\\git\\ADM\\[ADM] Integrated Logic\\ADM_Integrated_Logic_ert_rtw","tag":"","groupDisplay":"Model files","code":"/*\r\n * Academic License - for use in teaching, academic research, and meeting\r\n * course requirements at degree granting institutions only.  Not for\r\n * government, commercial, or other organizational use.\r\n *\r\n * File: ADM_Integrated_Logic.c\r\n *\r\n * Code generated for Simulink model 'ADM_Integrated_Logic'.\r\n *\r\n * Model version                  : 14.98\r\n * Simulink Coder version         : 24.2 (R2024b) 21-Jun-2024\r\n * C/C++ source code generated on : Tue Oct 21 13:14:18 2025\r\n *\r\n * Target selection: ert.tlc\r\n * Embedded hardware selection: NXP->Cortex-M4\r\n * Code generation objectives:\r\n *    1. Execution efficiency\r\n *    2. RAM efficiency\r\n *    3. Debugging\r\n * Validation result: Not run\r\n */\r\n\r\n#include \"ADM_Integrated_Logic.h\"\r\n#include <stdint.h>\r\n#include <math.h>\r\n#include <stdbool.h>\r\n\r\n/* Named constants for Chart: '<S11>/Chart' */\r\n#define IN_HAC_OFF                     ((uint8_t)1U)\r\n#define IN_HAC_ON                      ((uint8_t)2U)\r\n\r\n/* Block signals and states (default storage) */\r\nDW_ADM_Integrated_Logic_T ADM_Integrated_Logic_DW;\r\n\r\n/* External inputs (root inport signals with default storage) */\r\nExtU_ADM_Integrated_Logic_T ADM_Integrated_Logic_U;\r\n\r\n/* External outputs (root outports fed by signals with default storage) */\r\nExtY_ADM_Integrated_Logic_T ADM_Integrated_Logic_Y;\r\n\r\n/* Real-time model */\r\nstatic RT_MODEL_ADM_Integrated_Logic_T ADM_Integrated_Logic_M_;\r\nRT_MODEL_ADM_Integrated_Logic_T *const ADM_Integrated_Logic_M =\r\n  &ADM_Integrated_Logic_M_;\r\nstatic void ADM_Integrated_Lo_Calculate_F_c(double rtu_W, double rtu_theta,\r\n  double *rty_F_c);\r\nstatic void ADM_Integrated__MATLABFunction1(double rtu_u, double *rty_y);\r\nstatic void ADM_Integrated__MATLABFunction2(double rtu_u, double *rty_y);\r\n\r\n/*\r\n * Output and update for atomic system:\r\n *    '<S58>/Calculate_F_c'\r\n *    '<S58>/Calculate_F_c1'\r\n */\r\nstatic void ADM_Integrated_Lo_Calculate_F_c(double rtu_W, double rtu_theta,\r\n  double *rty_F_c)\r\n{\r\n  *rty_F_c = rtu_W * sin(rtu_theta);\r\n}\r\n\r\n/*\r\n * Output and update for atomic system:\r\n *    '<S1>/MATLAB Function1'\r\n *    '<S1>/MATLAB Function5'\r\n */\r\nstatic void ADM_Integrated__MATLABFunction1(double rtu_u, double *rty_y)\r\n{\r\n  *rty_y = rtu_u;\r\n  if (rtu_u < 140.0) {\r\n    *rty_y = 140.0;\r\n  }\r\n}\r\n\r\n/*\r\n * Output and update for atomic system:\r\n *    '<S1>/MATLAB Function2'\r\n *    '<S1>/MATLAB Function6'\r\n */\r\nstatic void ADM_Integrated__MATLABFunction2(double rtu_u, double *rty_y)\r\n{\r\n  *rty_y = rtu_u;\r\n  if (rtu_u > -140.0) {\r\n    *rty_y = -140.0;\r\n  }\r\n}\r\n\r\n/* Model step function */\r\nvoid ADM_Integrated_Logic_step(void)\r\n{\r\n  double tmp[9];\r\n  double x_hat_pred[3];\r\n  double tmp_0[2];\r\n  double tmp_1[2];\r\n  double rtb_AccFlag;\r\n  double rtb_Add1;\r\n  double rtb_Add3;\r\n  double rtb_Add_e;\r\n  double rtb_Brake_Saturation;\r\n  double rtb_Brake_Torque_Cmd;\r\n  double rtb_Desired_Torque;\r\n  double rtb_Error_m;\r\n  double rtb_F_PI;\r\n  double rtb_Gain_c;\r\n  double rtb_Integrator_1;\r\n  double rtb_Memory;\r\n  double rtb_Pitch_Angle;\r\n  double rtb_Product1;\r\n  double rtb_Product1_gg;\r\n  double rtb_Product1_h;\r\n  double rtb_Product1_k3;\r\n  double rtb_Product1_m;\r\n  double rtb_Product1_pd;\r\n  double rtb_Product2_a;\r\n  double rtb_Saturation;\r\n  double rtb_Sum1_cr;\r\n  double rtb_Sum1_d;\r\n  double rtb_Sum1_f;\r\n  double rtb_Sum1_j1;\r\n  double rtb_Sum_f;\r\n  double rtb_Switch2_k;\r\n  double rtb_TSamp;\r\n  double rtb_Trig;\r\n  double rtb_Vx_Cmd_R;\r\n  double rtb_y;\r\n  double rtb_y_k;\r\n  int32_t i;\r\n  bool rtb_Compare_l;\r\n  bool rtb_Compare_p;\r\n  static const int8_t a[6] = { 1, 0, 0, 1, 0, 0 };\r\n\r\n  static const double b_a[6] = { 0.2997, 0.0, -0.0842, 0.01, 0.9981, 0.0 };\r\n\r\n  double rtb_Add1_tmp;\r\n\r\n  /* Product: '<S13>/Product1' incorporates:\r\n   *  Constant: '<S13>/Constant'\r\n   *  Gain: '<S13>/gain'\r\n   *  Inport: '<Root>/GV_IMU_AX_Val'\r\n   *  Product: '<S13>/Product11'\r\n   *  Sum: '<S13>/Sum1'\r\n   *  Sum: '<S13>/Sum2'\r\n   *  Sum: '<S13>/Sum3'\r\n   *  Sum: '<S13>/Sum4'\r\n   *  UnitDelay: '<S13>/d'\r\n   *  UnitDelay: '<S13>/d1'\r\n   */\r\n  rtb_Product1 = ((ADM_Integrated_Logic_U.GV_IMU_AX_Val +\r\n                   ADM_Integrated_Logic_DW.d1_DSTATE) * 0.002 +\r\n                  0.63461977236758138 * ADM_Integrated_Logic_DW.d_DSTATE) /\r\n    0.63861977236758138;\r\n\r\n  /* MATLAB Function: '<S1>/MATLAB Function' incorporates:\r\n   *  Constant: '<S1>/Constant1'\r\n   *  Constant: '<S1>/Constant2'\r\n   */\r\n  tmp[0] = 1.0;\r\n  tmp[3] = 0.002;\r\n  tmp[6] = -0.019620000000000002;\r\n  tmp[1] = 0.0;\r\n  tmp[2] = 0.0;\r\n  tmp[4] = 1.0;\r\n  tmp[5] = 0.0;\r\n  tmp[7] = 0.0;\r\n  tmp[8] = 1.0;\r\n  rtb_Pitch_Angle = ADM_Integrated_Logic_DW.x_hat[1];\r\n  rtb_Brake_Saturation = ADM_Integrated_Logic_DW.x_hat[0];\r\n  rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.x_hat[2];\r\n  for (i = 0; i < 3; i++) {\r\n    x_hat_pred[i] = (tmp[i + 3] * rtb_Pitch_Angle + tmp[i] *\r\n                     rtb_Brake_Saturation) + tmp[i + 6] * rtb_Vx_Cmd_R;\r\n  }\r\n\r\n  /* SignalConversion generated from: '<S14>/ SFunction ' incorporates:\r\n   *  Inport: '<Root>/GV_Vx_Fbk'\r\n   *  MATLAB Function: '<S1>/MATLAB Function'\r\n   */\r\n  tmp_0[0] = ADM_Integrated_Logic_U.GV_Vx_Fbk;\r\n  tmp_0[1] = rtb_Product1;\r\n\r\n  /* MATLAB Function: '<S1>/MATLAB Function' */\r\n  rtb_Pitch_Angle = x_hat_pred[1];\r\n  rtb_Brake_Saturation = x_hat_pred[0];\r\n  rtb_Vx_Cmd_R = x_hat_pred[2];\r\n  for (i = 0; i < 2; i++) {\r\n    tmp_1[i] = tmp_0[i] - (((double)a[i + 2] * rtb_Pitch_Angle + (double)a[i] *\r\n      rtb_Brake_Saturation) + 0.0 * rtb_Vx_Cmd_R);\r\n  }\r\n\r\n  rtb_Add_e = tmp_1[1];\r\n  rtb_Pitch_Angle = tmp_1[0];\r\n  for (i = 0; i < 3; i++) {\r\n    ADM_Integrated_Logic_DW.x_hat[i] = (b_a[i + 3] * rtb_Add_e + b_a[i] *\r\n      rtb_Pitch_Angle) + x_hat_pred[i];\r\n  }\r\n\r\n  /* RelationalOperator: '<S5>/Compare' incorporates:\r\n   *  Constant: '<S5>/Constant'\r\n   *  Inport: '<Root>/GV_Drive_Mode'\r\n   */\r\n  rtb_Compare_l = (ADM_Integrated_Logic_U.GV_Drive_Mode == 2.0);\r\n\r\n  /* MATLAB Function: '<S25>/Vx_OutPut_Function' incorporates:\r\n   *  Constant: '<S73>/Constant'\r\n   *  Inport: '<Root>/GV_BrakeTorqueCommand'\r\n   *  Inport: '<Root>/GV_Vx_Command'\r\n   *  Inport: '<Root>/GV_Vx_Limit'\r\n   *  RelationalOperator: '<S73>/Compare'\r\n   */\r\n  if (!(ADM_Integrated_Logic_U.GV_BrakeTorqueCommand >= 50.0)) {\r\n    if (ADM_Integrated_Logic_U.GV_Vx_Limit <=\r\n        ADM_Integrated_Logic_U.GV_Vx_Command) {\r\n      rtb_Add_e = ADM_Integrated_Logic_U.GV_Vx_Limit;\r\n    } else {\r\n      rtb_Add_e = ADM_Integrated_Logic_U.GV_Vx_Command;\r\n    }\r\n  } else {\r\n    rtb_Add_e = 0.0;\r\n  }\r\n\r\n  /* Product: '<S25>/Product' incorporates:\r\n   *  MATLAB Function: '<S25>/Vx_OutPut_Function'\r\n   *  Switch: '<S25>/Switch'\r\n   */\r\n  rtb_Pitch_Angle = rtb_Add_e * (double)!rtb_Compare_l;\r\n\r\n  /* RateLimiter: '<S25>/Input_Vx_RateLimiter' */\r\n  rtb_Brake_Saturation = rtb_Pitch_Angle - ADM_Integrated_Logic_DW.PrevY;\r\n  if (rtb_Brake_Saturation > 0.004) {\r\n    rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.PrevY + 0.004;\r\n  } else if (rtb_Brake_Saturation < -0.008) {\r\n    rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.PrevY - 0.008;\r\n  } else {\r\n    rtb_Vx_Cmd_R = rtb_Pitch_Angle;\r\n  }\r\n\r\n  ADM_Integrated_Logic_DW.PrevY = rtb_Vx_Cmd_R;\r\n\r\n  /* End of RateLimiter: '<S25>/Input_Vx_RateLimiter' */\r\n\r\n  /* Saturate: '<S11>/Pitch_Saturation' incorporates:\r\n   *  DiscreteIntegrator: '<S11>/Integrator_2'\r\n   */\r\n  if (ADM_Integrated_Logic_DW.Integrator_2_DSTATE > 8.0) {\r\n    rtb_Pitch_Angle = 8.0;\r\n  } else if (ADM_Integrated_Logic_DW.Integrator_2_DSTATE < -8.0) {\r\n    rtb_Pitch_Angle = -8.0;\r\n  } else {\r\n    rtb_Pitch_Angle = ADM_Integrated_Logic_DW.Integrator_2_DSTATE;\r\n  }\r\n\r\n  /* End of Saturate: '<S11>/Pitch_Saturation' */\r\n\r\n  /* Delay: '<S65>/Delay' */\r\n  if (ADM_Integrated_Logic_DW.icLoad) {\r\n    ADM_Integrated_Logic_DW.Delay_DSTATE = rtb_Pitch_Angle;\r\n  }\r\n\r\n  /* Product: '<S65>/delta rise limit' incorporates:\r\n   *  Constant: '<S11>/Angle_Upper'\r\n   *  SampleTimeMath: '<S65>/sample time'\r\n   *\r\n   * About '<S65>/sample time':\r\n   *  y = K where K = ( w * Ts )\r\n   *   */\r\n  rtb_Product2_a = 0.002;\r\n\r\n  /* Sum: '<S65>/Difference Inputs1' incorporates:\r\n   *  Delay: '<S65>/Delay'\r\n   *\r\n   * Block description for '<S65>/Difference Inputs1':\r\n   *\r\n   *  Add in CPU\r\n   */\r\n  rtb_Pitch_Angle -= ADM_Integrated_Logic_DW.Delay_DSTATE;\r\n\r\n  /* Switch: '<S70>/Switch2' incorporates:\r\n   *  RelationalOperator: '<S70>/LowerRelop1'\r\n   */\r\n  if (!(rtb_Pitch_Angle > 0.002)) {\r\n    /* Switch: '<S70>/Switch' incorporates:\r\n     *  RelationalOperator: '<S70>/UpperRelop'\r\n     */\r\n    if (rtb_Pitch_Angle < -0.002) {\r\n      rtb_Product2_a = -0.002;\r\n    } else {\r\n      rtb_Product2_a = rtb_Pitch_Angle;\r\n    }\r\n\r\n    /* End of Switch: '<S70>/Switch' */\r\n  }\r\n\r\n  /* End of Switch: '<S70>/Switch2' */\r\n\r\n  /* Sum: '<S65>/Difference Inputs2' incorporates:\r\n   *  Delay: '<S65>/Delay'\r\n   *\r\n   * Block description for '<S65>/Difference Inputs2':\r\n   *\r\n   *  Add in CPU\r\n   */\r\n  rtb_Pitch_Angle = rtb_Product2_a + ADM_Integrated_Logic_DW.Delay_DSTATE;\r\n\r\n  /* MATLAB Function: '<S58>/Calculate_F_c' incorporates:\r\n   *  Gain: '<S58>/Gain'\r\n   */\r\n  ADM_Integrated_Lo_Calculate_F_c(ADM_Integrated_Logic_ConstB.W_value,\r\n    0.017453292519943295 * rtb_Pitch_Angle, &rtb_Product2_a);\r\n\r\n  /* Gain: '<S58>/Gain2' incorporates:\r\n   *  Constant: '<S58>/Radius'\r\n   *  Gain: '<S58>/Gain1'\r\n   *  Gain: '<S58>/Rolling_Gain'\r\n   *  MATLAB Function: '<S58>/Calculate_F_R'\r\n   *  Product: '<S58>/Multiply3'\r\n   *  Sum: '<S58>/Required_Brake_Cal'\r\n   */\r\n  rtb_Saturation = (cos(0.017453292519943295 * rtb_Pitch_Angle) *\r\n                    436.7465753424658 * 0.0 + rtb_Product2_a) * 0.292 *\r\n    0.083822296730930432;\r\n\r\n  /* Saturate: '<S58>/Saturation' */\r\n  if (rtb_Saturation > 60.0) {\r\n    rtb_Saturation = 60.0;\r\n  } else if (rtb_Saturation < 0.0) {\r\n    rtb_Saturation = 0.0;\r\n  }\r\n\r\n  /* End of Saturate: '<S58>/Saturation' */\r\n\r\n  /* Delay: '<S64>/Delay' */\r\n  if (ADM_Integrated_Logic_DW.icLoad_e) {\r\n    ADM_Integrated_Logic_DW.Delay_DSTATE_i = rtb_Saturation;\r\n  }\r\n\r\n  /* Product: '<S64>/delta rise limit' incorporates:\r\n   *  Constant: '<S11>/Upper_Torq'\r\n   *  SampleTimeMath: '<S64>/sample time'\r\n   *\r\n   * About '<S64>/sample time':\r\n   *  y = K where K = ( w * Ts )\r\n   *   */\r\n  rtb_Product2_a = 0.016;\r\n\r\n  /* Sum: '<S64>/Difference Inputs1' incorporates:\r\n   *  Delay: '<S64>/Delay'\r\n   *\r\n   * Block description for '<S64>/Difference Inputs1':\r\n   *\r\n   *  Add in CPU\r\n   */\r\n  rtb_Saturation -= ADM_Integrated_Logic_DW.Delay_DSTATE_i;\r\n\r\n  /* Switch: '<S69>/Switch2' incorporates:\r\n   *  RelationalOperator: '<S69>/LowerRelop1'\r\n   */\r\n  if (!(rtb_Saturation > 0.016)) {\r\n    /* Switch: '<S69>/Switch' incorporates:\r\n     *  RelationalOperator: '<S69>/UpperRelop'\r\n     */\r\n    if (rtb_Saturation < -0.16) {\r\n      rtb_Product2_a = -0.16;\r\n    } else {\r\n      rtb_Product2_a = rtb_Saturation;\r\n    }\r\n\r\n    /* End of Switch: '<S69>/Switch' */\r\n  }\r\n\r\n  /* End of Switch: '<S69>/Switch2' */\r\n\r\n  /* Sum: '<S64>/Difference Inputs2' incorporates:\r\n   *  Delay: '<S64>/Delay'\r\n   *\r\n   * Block description for '<S64>/Difference Inputs2':\r\n   *\r\n   *  Add in CPU\r\n   */\r\n  rtb_Saturation = rtb_Product2_a + ADM_Integrated_Logic_DW.Delay_DSTATE_i;\r\n\r\n  /* Gain: '<S11>/Grade_GAIN' */\r\n  rtb_Desired_Torque = 0.8 * rtb_Saturation;\r\n\r\n  /* RelationalOperator: '<S54>/Compare' incorporates:\r\n   *  Constant: '<S54>/Constant'\r\n   *  Inport: '<Root>/GV_BrakeTorqueCommand'\r\n   */\r\n  rtb_Compare_p = (ADM_Integrated_Logic_U.GV_BrakeTorqueCommand >= 100.0);\r\n\r\n  /* Delay: '<S10>/Memory' */\r\n  rtb_Memory = ADM_Integrated_Logic_DW.Memory_DSTATE;\r\n\r\n  /* MATLAB Function: '<S10>/Gear_FUNCTION1' incorporates:\r\n   *  Inport: '<Root>/GV_VCU_GearSelStat'\r\n   *  Inport: '<Root>/GV_Vx_Fbk'\r\n   */\r\n  if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 0.0) {\r\n    if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && rtb_Compare_p) {\r\n      rtb_Memory = 0.0;\r\n    }\r\n  } else {\r\n    switch ((int32_t)rtb_Memory) {\r\n     case 0:\r\n      if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) &&\r\n          ((ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 1.0) ||\r\n           (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 3.0) ||\r\n           (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0))) {\r\n        rtb_Memory = 2.0;\r\n      }\r\n      break;\r\n\r\n     case 1:\r\n      if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0) {\r\n        rtb_Memory = 2.0;\r\n      }\r\n      break;\r\n\r\n     case 2:\r\n      if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && rtb_Compare_p) {\r\n        if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 1.0) {\r\n          rtb_Memory = 1.0;\r\n        } else if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 3.0) {\r\n          rtb_Memory = 3.0;\r\n        }\r\n      }\r\n      break;\r\n\r\n     case 3:\r\n      if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0) {\r\n        rtb_Memory = 2.0;\r\n      }\r\n      break;\r\n    }\r\n  }\r\n\r\n  /* End of MATLAB Function: '<S10>/Gear_FUNCTION1' */\r\n\r\n  /* Chart: '<S11>/Chart' incorporates:\r\n   *  Constant: '<S11>/Constant'\r\n   *  Constant: '<S11>/Constant1'\r\n   *  Inport: '<Root>/GV_MCU_RPM'\r\n   */\r\n  if (ADM_Integrated_Logic_DW.is_active_c6_ADM_Integrated_Log == 0) {\r\n    ADM_Integrated_Logic_DW.is_active_c6_ADM_Integrated_Log = 1U;\r\n    ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_OFF;\r\n  } else if (ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic == IN_HAC_OFF) {\r\n    if (ADM_Integrated_Logic_U.GV_MCU_RPM < -50.0) {\r\n      ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_ON;\r\n    } else {\r\n      /* Outport: '<Root>/Debug_HAC_RPM_Decision' */\r\n      ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision = 0.0;\r\n    }\r\n\r\n    /* case IN_HAC_ON: */\r\n  } else if (ADM_Integrated_Logic_U.GV_MCU_RPM > 150.0) {\r\n    ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_OFF;\r\n  } else {\r\n    /* Outport: '<Root>/Debug_HAC_RPM_Decision' */\r\n    ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision = 1.0;\r\n  }\r\n\r\n  /* End of Chart: '<S11>/Chart' */\r\n\r\n  /* MATLAB Function: '<S11>/HAC_OFF_OK_Func' */\r\n  rtb_Brake_Torque_Cmd = 0.0;\r\n\r\n  /* Outport: '<Root>/Debug_HAC_FLAG' incorporates:\r\n   *  MATLAB Function: '<S11>/HAC_OFF_OK_Func'\r\n   */\r\n  ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 0.0;\r\n\r\n  /* MATLAB Function: '<S11>/HAC_OFF_OK_Func' incorporates:\r\n   *  Constant: '<S11>/Accel_Cmd '\r\n   *  Constant: '<S11>/Brake_Cmd'\r\n   *  Constant: '<S11>/Gear_D'\r\n   *  Inport: '<Root>/GV_BrakeTorqueCommand'\r\n   *  Inport: '<Root>/GV_MCU_EstTrq'\r\n   *  Outport: '<Root>/Debug_HAC_RPM_Decision'\r\n   *  RelationalOperator: '<S11>/Relational Operator'\r\n   *  RelationalOperator: '<S11>/Relational Operator1'\r\n   *  RelationalOperator: '<S11>/Relational Operator2'\r\n   *  Sum: '<S11>/HAC_Flags_Add'\r\n   */\r\n  if (((double)(((ADM_Integrated_Logic_U.GV_BrakeTorqueCommand <= 20.0) +\r\n                 (rtb_Vx_Cmd_R <= 2.0)) + (rtb_Memory == 3.0)) + 1.0) +\r\n      ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision >= 5.0) {\r\n    if (ADM_Integrated_Logic_DW.HAC_ON_FLAG == 0.0) {\r\n      ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0;\r\n    }\r\n\r\n    ADM_Integrated_Logic_DW.HAC_ON_FLAG = 1.0;\r\n    rtb_Brake_Torque_Cmd = 1000.0;\r\n    ADM_Integrated_Logic_DW.Smoothed_Torque = 1000.0;\r\n    if (ADM_Integrated_Logic_DW.HAC_ON_Timer < 3.0) {\r\n      ADM_Integrated_Logic_DW.HAC_Desired_Torque = rtb_Desired_Torque;\r\n      ADM_Integrated_Logic_DW.HAC_ON_Timer += 0.005;\r\n    }\r\n\r\n    /* Outport: '<Root>/Debug_HAC_FLAG' */\r\n    ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 1.0;\r\n  } else if (ADM_Integrated_Logic_DW.HAC_ON_FLAG == 1.0) {\r\n    if (ADM_Integrated_Logic_U.GV_MCU_EstTrq >=\r\n        ADM_Integrated_Logic_DW.HAC_Desired_Torque) {\r\n      ADM_Integrated_Logic_DW.Smoothed_Torque -= 0.05 *\r\n        ADM_Integrated_Logic_DW.Smoothed_Torque;\r\n      if (ADM_Integrated_Logic_DW.Smoothed_Torque < 0.01) {\r\n        ADM_Integrated_Logic_DW.Smoothed_Torque = 0.0;\r\n        ADM_Integrated_Logic_DW.HAC_ON_FLAG = 0.0;\r\n        ADM_Integrated_Logic_DW.HAC_Desired_Torque = 0.0;\r\n        ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0;\r\n      }\r\n\r\n      rtb_Brake_Torque_Cmd = ADM_Integrated_Logic_DW.Smoothed_Torque;\r\n    } else {\r\n      rtb_Brake_Torque_Cmd = 1000.0;\r\n      ADM_Integrated_Logic_DW.Smoothed_Torque = 1000.0;\r\n\r\n      /* Outport: '<Root>/Debug_HAC_FLAG' */\r\n      ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 1.0;\r\n    }\r\n  }\r\n\r\n  /* MATLAB Function: '<S28>/MATLAB Function' incorporates:\r\n   *  Inport: '<Root>/GV_Vx_Fbk'\r\n   */\r\n  if (fabs(ADM_Integrated_Logic_U.GV_Vx_Fbk) < 0.1) {\r\n    rtb_AccFlag = 0.0;\r\n  } else {\r\n    rtb_AccFlag = 1.0;\r\n  }\r\n\r\n  /* End of MATLAB Function: '<S28>/MATLAB Function' */\r\n\r\n  /* Product: '<S28>/Product2' incorporates:\r\n   *  Constant: '<S1>/Constant3'\r\n   *  Product: '<S28>/Product'\r\n   *  Product: '<S28>/Product1'\r\n   *  Sum: '<S28>/Subtract'\r\n   */\r\n  rtb_Product2_a = (0.0 - rtb_Product1 * 1500.0) * rtb_AccFlag;\r\n\r\n  /* SampleTimeMath: '<S31>/TSamp'\r\n   *\r\n   * About '<S31>/TSamp':\r\n   *  y = u * K where K = 1 / ( w * Ts )\r\n   *   */\r\n  rtb_TSamp = rtb_Product2_a * 500.0;\r\n\r\n  /* Sum: '<S28>/Subtract1' incorporates:\r\n   *  Constant: '<S1>/Constant10'\r\n   *  Constant: '<S1>/Constant11'\r\n   *  Constant: '<S1>/Constant13'\r\n   *  DiscreteIntegrator: '<S28>/Discrete-Time Integrator'\r\n   *  Product: '<S28>/D controller'\r\n   *  Product: '<S28>/I controller'\r\n   *  Product: '<S28>/P controller'\r\n   *  Sum: '<S31>/Diff'\r\n   *  UnitDelay: '<S31>/UD'\r\n   *\r\n   * Block description for '<S31>/Diff':\r\n   *\r\n   *  Add in CPU\r\n   *\r\n   * Block description for '<S31>/UD':\r\n   *\r\n   *  Store in Global RAM\r\n   */\r\n  rtb_F_PI = (0.07 * rtb_Product2_a +\r\n              ADM_Integrated_Logic_DW.DiscreteTimeIntegrator_DSTATE * 0.2) +\r\n    (rtb_TSamp - ADM_Integrated_Logic_DW.UD_DSTATE) * 0.0;\r\n\r\n  /* Saturate: '<S28>/Saturation' */\r\n  if (rtb_F_PI > 3525.0) {\r\n    rtb_y = 3525.0;\r\n  } else if (rtb_F_PI < -2500.0) {\r\n    rtb_y = -2500.0;\r\n  } else {\r\n    rtb_y = rtb_F_PI;\r\n  }\r\n\r\n  /* End of Saturate: '<S28>/Saturation' */\r\n\r\n  /* Product: '<S28>/Product3' */\r\n  rtb_y_k = rtb_AccFlag * rtb_y;\r\n\r\n  /* RateLimiter: '<S3>/Rate Limiter' */\r\n  rtb_Brake_Saturation = rtb_y_k - ADM_Integrated_Logic_DW.PrevY_b;\r\n  if (rtb_Brake_Saturation > 2.0) {\r\n    rtb_y_k = ADM_Integrated_Logic_DW.PrevY_b + 2.0;\r\n  } else if (rtb_Brake_Saturation < -2.0) {\r\n    rtb_y_k = ADM_Integrated_Logic_DW.PrevY_b - 2.0;\r\n  }\r\n\r\n  ADM_Integrated_Logic_DW.PrevY_b = rtb_y_k;\r\n\r\n  /* End of RateLimiter: '<S3>/Rate Limiter' */\r\n\r\n  /* Product: '<S3>/Product' incorporates:\r\n   *  MATLAB Function: '<S3>/MATLAB Function1'\r\n   */\r\n  rtb_AccFlag = (double)(rtb_Memory == 3.0) * rtb_y_k;\r\n\r\n  /* MATLAB Function: '<S3>/MATLAB Function' */\r\n  if (!(rtb_AccFlag >= 0.0)) {\r\n    rtb_AccFlag = 0.0;\r\n  }\r\n\r\n  /* End of MATLAB Function: '<S3>/MATLAB Function' */\r\n\r\n  /* Gain: '<S6>/Brake_GAIN' incorporates:\r\n   *  DiscreteTransferFcn: '<S1>/Discrete Transfer Fcn'\r\n   */\r\n  rtb_Integrator_1 = 0.0625 * ADM_Integrated_Logic_DW.DiscreteTransferFcn_states\r\n    * -80.0;\r\n\r\n  /* MATLAB Function: '<S6>/GearCondition_Brake' */\r\n  if (rtb_Memory == 1.0) {\r\n    i = -1;\r\n  } else {\r\n    i = (rtb_Memory == 3.0);\r\n  }\r\n\r\n  /* Saturate: '<S6>/Saturation' */\r\n  if (rtb_Integrator_1 > 1000.0) {\r\n    rtb_Integrator_1 = 1000.0;\r\n  } else if (rtb_Integrator_1 < 0.0) {\r\n    rtb_Integrator_1 = 0.0;\r\n  }\r\n\r\n  /* Product: '<S6>/Multiply2' incorporates:\r\n   *  MATLAB Function: '<S6>/GearCondition_Brake'\r\n   *  Saturate: '<S6>/Saturation'\r\n   */\r\n  rtb_y_k = (double)i * rtb_Integrator_1;\r\n\r\n  /* RateLimiter: '<S6>/Brake_Out_RateLimiter' */\r\n  rtb_Brake_Saturation = rtb_y_k - ADM_Integrated_Logic_DW.PrevY_o;\r\n  if (rtb_Brake_Saturation > 3.0) {\r\n    rtb_y_k = ADM_Integrated_Logic_DW.PrevY_o + 3.0;\r\n  } else if (rtb_Brake_Saturation < -3.0) {\r\n    rtb_y_k = ADM_Integrated_Logic_DW.PrevY_o - 3.0;\r\n  }\r\n\r\n  ADM_Integrated_Logic_DW.PrevY_o = rtb_y_k;\r\n\r\n  /* End of RateLimiter: '<S6>/Brake_Out_RateLimiter' */\r\n\r\n  /* Saturate: '<S6>/Brake_Saturation' */\r\n  if (rtb_y_k > 1000.0) {\r\n    rtb_y_k = 1000.0;\r\n  } else if (rtb_y_k < 0.0) {\r\n    rtb_y_k = 0.0;\r\n  }\r\n\r\n  /* End of Saturate: '<S6>/Brake_Saturation' */\r\n\r\n  /* MATLAB Function: '<S1>/Emergency_Brake_Func' incorporates:\r\n   *  Inport: '<Root>/GV_Vx_Fbk'\r\n   *  Sum: '<S1>/Add'\r\n   *  Switch: '<S1>/Switch2'\r\n   */\r\n  if (rtb_Compare_l) {\r\n    rtb_Brake_Saturation = ADM_Integrated_Logic_U.GV_Vx_Fbk * 100.0;\r\n  } else {\r\n    rtb_Brake_Saturation = rtb_Brake_Torque_Cmd + rtb_y_k;\r\n  }\r\n\r\n  /* Saturate: '<S1>/Brake_Saturation' incorporates:\r\n   *  MATLAB Function: '<S1>/Emergency_Brake_Func'\r\n   */\r\n  if (rtb_Brake_Saturation > 2500.0) {\r\n    rtb_Brake_Saturation = 2500.0;\r\n  } else if (rtb_Brake_Saturation < 0.0) {\r\n    rtb_Brake_Saturation = 0.0;\r\n  }\r\n\r\n  /* End of Saturate: '<S1>/Brake_Saturation' */\r\n\r\n  /* Outputs for Enabled SubSystem: '<S1>/Enabled Subsystem' incorporates:\r\n   *  EnablePort: '<S9>/Enable'\r\n   */\r\n  /* MATLAB Function: '<S1>/MATLAB Function4' incorporates:\r\n   *  Inport: '<Root>/GV_Drive_ACC_Cmd'\r\n   *  Inport: '<Root>/GV_MCU_EstTrq'\r\n   *  Inport: '<Root>/GV_Vx_Fbk'\r\n   *  MATLAB Function: '<S1>/IDB_Fault_Injection'\r\n   */\r\n  if (((rtb_Vx_Cmd_R >= 1.0) || (ADM_Integrated_Logic_U.GV_Drive_ACC_Cmd >= 0.01))\r\n      && (ADM_Integrated_Logic_U.GV_MCU_EstTrq >= 10.0) && (rtb_Product1 >= 0.2)\r\n      && (ADM_Integrated_Logic_U.GV_Vx_Fbk >= 1.5) && (rtb_Brake_Saturation <=\r\n       10.0)) {\r\n    /* MATLAB Function: '<S9>/MATLAB Function' incorporates:\r\n     *  Constant: '<S1>/Constant9'\r\n     *  Inport: '<Root>/GV_IMU_AZ_Val'\r\n     *  MATLAB Function: '<S1>/MATLAB Function'\r\n     */\r\n    ADM_Integrated_Logic_DW.M = ADM_Integrated_Logic_U.GV_MCU_EstTrq / ((0.01 *\r\n      ADM_Integrated_Logic_U.GV_IMU_AZ_Val + ADM_Integrated_Logic_DW.x_hat[1]) *\r\n      0.022698910310142498);\r\n\r\n    /* MATLAB Function: '<S1>/MATLAB Function3' */\r\n    if ((ADM_Integrated_Logic_DW.M > 500.0) && (ADM_Integrated_Logic_DW.M <\r\n         2000.0)) {\r\n      if (fabs(ADM_Integrated_Logic_DW.M -\r\n               ADM_Integrated_Logic_DW.currentEstMass) /\r\n          ADM_Integrated_Logic_DW.currentEstMass < 0.2) {\r\n        rtb_Trig = ADM_Integrated_Logic_DW.currentEstMass;\r\n        ADM_Integrated_Logic_DW.currentEstMass = 0.98 *\r\n          ADM_Integrated_Logic_DW.currentEstMass + 0.02 *\r\n          ADM_Integrated_Logic_DW.M;\r\n        ADM_Integrated_Logic_DW.isConverged = ((fabs\r\n          (ADM_Integrated_Logic_DW.currentEstMass - rtb_Trig) < 5.0) ||\r\n          ADM_Integrated_Logic_DW.isConverged);\r\n        if (ADM_Integrated_Logic_DW.isConverged) {\r\n          /* Outport: '<Root>/GV_VCU_EstMassFlag' */\r\n          ADM_Integrated_Logic_Y.GV_VCU_EstMassFlag = 2.0;\r\n        } else {\r\n          /* Outport: '<Root>/GV_VCU_EstMassFlag' */\r\n          ADM_Integrated_Logic_Y.GV_VCU_EstMassFlag = 1.0;\r\n        }\r\n      } else {\r\n        ADM_Integrated_Logic_DW.isConverged = false;\r\n\r\n        /* Outport: '<Root>/GV_VCU_EstMassFlag' */\r\n        ADM_Integrated_Logic_Y.GV_VCU_EstMassFlag = 1.0;\r\n      }\r\n    } else {\r\n      ADM_Integrated_Logic_DW.isConverged = false;\r\n\r\n      /* Outport: '<Root>/GV_VCU_EstMassFlag' */\r\n      ADM_Integrated_Logic_Y.GV_VCU_EstMassFlag = 1.0;\r\n    }\r\n  } else {\r\n    /* MATLAB Function: '<S1>/MATLAB Function3' */\r\n    ADM_Integrated_Logic_DW.isConverged = false;\r\n\r\n    /* Outport: '<Root>/GV_VCU_EstMassFlag' incorporates:\r\n     *  MATLAB Function: '<S1>/MATLAB Function3'\r\n     */\r\n    ADM_Integrated_Logic_Y.GV_VCU_EstMassFlag = 0.0;\r\n  }\r\n\r\n  /* End of MATLAB Function: '<S1>/MATLAB Function4' */\r\n  /* End of Outputs for SubSystem: '<S1>/Enabled Subsystem' */\r\n\r\n  /* Outport: '<Root>/GV_VCU_EstMass' incorporates:\r\n   *  MATLAB Function: '<S1>/MATLAB Function3'\r\n   */\r\n  ADM_Integrated_Logic_Y.GV_VCU_EstMass = ADM_Integrated_Logic_DW.currentEstMass;\r\n\r\n  /* Outport: '<Root>/GV_Brake_Command' incorporates:\r\n   *  MATLAB Function: '<S1>/IDB_Fault_Injection'\r\n   */\r\n  ADM_Integrated_Logic_Y.GV_Brake_Command = rtb_Brake_Saturation;\r\n\r\n  /* Outport: '<Root>/Target_IDB_Out' incorporates:\r\n   *  MATLAB Function: '<S1>/IDB_Fault_Injection'\r\n   */\r\n  ADM_Integrated_Logic_Y.Target_IDB_Out = rtb_Brake_Saturation;\r\n\r\n  /* Outport: '<Root>/Debug_CC_Brake_Output' */\r\n  ADM_Integrated_Logic_Y.Debug_CC_Brake_Output = rtb_y_k;\r\n\r\n  /* Outport: '<Root>/Debug_AccControl_TorqueCmd' incorporates:\r\n   *  Constant: '<S3>/Constant'\r\n   *  Constant: '<S3>/Constant1'\r\n   *  Product: '<S3>/Product1'\r\n   *  Product: '<S3>/Product2'\r\n   */\r\n  ADM_Integrated_Logic_Y.Debug_AccControl_TorqueCmd = rtb_AccFlag * 0.270798 /\r\n    11.93;\r\n\r\n  /* MATLAB Function: '<S6>/Target_RPM' */\r\n  if (rtb_Memory == 0.0) {\r\n    i = 0;\r\n  } else if (rtb_Memory == 2.0) {\r\n    i = 0;\r\n  } else if (rtb_Memory == 1.0) {\r\n    i = -1;\r\n  } else {\r\n    i = (rtb_Memory == 3.0);\r\n  }\r\n\r\n  rtb_AccFlag = rtb_Vx_Cmd_R * 1000.0 / 3600.0 * 11.93 * 60.0 /\r\n    1.7013672006633955 * (double)i;\r\n\r\n  /* End of MATLAB Function: '<S6>/Target_RPM' */\r\n\r\n  /* RateLimiter: '<S6>/TargetSpd_RateLimiter' */\r\n  rtb_Brake_Saturation = rtb_AccFlag - ADM_Integrated_Logic_DW.PrevY_a;\r\n  if (rtb_Brake_Saturation > 0.4) {\r\n    rtb_AccFlag = ADM_Integrated_Logic_DW.PrevY_a + 0.4;\r\n  } else if (rtb_Brake_Saturation < -0.8) {\r\n    rtb_AccFlag = ADM_Integrated_Logic_DW.PrevY_a - 0.8;\r\n  }\r\n\r\n  ADM_Integrated_Logic_DW.PrevY_a = rtb_AccFlag;\r\n\r\n  /* End of RateLimiter: '<S6>/TargetSpd_RateLimiter' */\r\n\r\n  /* Product: '<S38>/Product1' incorporates:\r\n   *  Constant: '<S38>/Constant'\r\n   *  Gain: '<S38>/gain'\r\n   *  Product: '<S38>/Product11'\r\n   *  Sum: '<S38>/Sum1'\r\n   *  Sum: '<S38>/Sum2'\r\n   *  Sum: '<S38>/Sum3'\r\n   *  Sum: '<S38>/Sum4'\r\n   *  UnitDelay: '<S38>/d'\r\n   *  UnitDelay: '<S38>/d1'\r\n   */\r\n  rtb_Brake_Saturation = ((rtb_AccFlag + ADM_Integrated_Logic_DW.d1_DSTATE_c) *\r\n    0.002 + 0.1041032953945969 * ADM_Integrated_Logic_DW.d_DSTATE_l) /\r\n    0.1081032953945969;\r\n\r\n  /* Sum: '<S48>/Sum1' incorporates:\r\n   *  Gain: '<S48>/gain'\r\n   *  Sum: '<S48>/Sum2'\r\n   *  UnitDelay: '<S48>/d'\r\n   *  UnitDelay: '<S48>/d1'\r\n   */\r\n  rtb_Trig = (rtb_Brake_Saturation - ADM_Integrated_Logic_DW.d_DSTATE_i) *\r\n    1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_p;\r\n\r\n  /* Sum: '<S49>/Sum1' incorporates:\r\n   *  Gain: '<S49>/gain'\r\n   *  Sum: '<S49>/Sum2'\r\n   *  UnitDelay: '<S49>/d'\r\n   *  UnitDelay: '<S49>/d1'\r\n   */\r\n  rtb_Sum1_j1 = (rtb_Trig - ADM_Integrated_Logic_DW.d_DSTATE_c) * 1000.0 -\r\n    ADM_Integrated_Logic_DW.d1_DSTATE_h;\r\n\r\n  /* Sum: '<S50>/Sum1' incorporates:\r\n   *  Gain: '<S50>/gain'\r\n   *  Sum: '<S50>/Sum2'\r\n   *  UnitDelay: '<S50>/d'\r\n   *  UnitDelay: '<S50>/d1'\r\n   */\r\n  rtb_Sum1_d = (rtb_Sum1_j1 - ADM_Integrated_Logic_DW.d_DSTATE_d) * 1000.0 -\r\n    ADM_Integrated_Logic_DW.d1_DSTATE_l;\r\n\r\n  /* Gain: '<S46>/Gain' incorporates:\r\n   *  Constant: '<S46>/Constant3'\r\n   *  Constant: '<S46>/Constant4'\r\n   *  Constant: '<S46>/Constant5'\r\n   *  Product: '<S46>/Product'\r\n   *  Product: '<S46>/Product1'\r\n   *  Product: '<S46>/Product2'\r\n   *  Sum: '<S46>/Add5'\r\n   */\r\n  rtb_Gain_c = (((156.8 * rtb_Brake_Saturation + 212.8 * rtb_Trig) + 21.8 *\r\n                 rtb_Sum1_j1) + rtb_Sum1_d) * 9.44822373393802E-6;\r\n\r\n  /* Product: '<S52>/Product1' incorporates:\r\n   *  Constant: '<S52>/Constant1'\r\n   *  Constant: '<S52>/Constant2'\r\n   *  Delay: '<S52>/Delay'\r\n   *  Delay: '<S52>/Delay1'\r\n   *  Delay: '<S52>/Delay2'\r\n   *  Delay: '<S52>/Delay3'\r\n   *  Gain: '<S52>/gain1'\r\n   *  Gain: '<S52>/gain3'\r\n   *  Product: '<S52>/x(n), x(n-1), x(n-2)'\r\n   *  Product: '<S52>/y(n-1)'\r\n   *  Product: '<S52>/y(n-2)'\r\n   *  Sum: '<S52>/Sum1'\r\n   *  Sum: '<S52>/Sum2'\r\n   *  Sum: '<S52>/Sum3'\r\n   *  Sum: '<S52>/Sum4'\r\n   *  Sum: '<S52>/Sum5'\r\n   *  Sum: '<S52>/Sum6'\r\n   */\r\n  rtb_Product1_pd = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE + rtb_Gain_c)\r\n                       + ADM_Integrated_Logic_DW.Delay_DSTATE_c[0]) *\r\n                      0.39478417604357435 - -7.2104316479128512 *\r\n                      ADM_Integrated_Logic_DW.Delay2_DSTATE) -\r\n                     2.6178993711731877 * ADM_Integrated_Logic_DW.Delay3_DSTATE\r\n                     [0]) / 6.1716689809139611;\r\n\r\n  /* Product: '<S51>/Product1' incorporates:\r\n   *  Constant: '<S51>/Constant'\r\n   *  Gain: '<S51>/gain'\r\n   *  Product: '<S51>/Product11'\r\n   *  Sum: '<S51>/Sum1'\r\n   *  Sum: '<S51>/Sum2'\r\n   *  Sum: '<S51>/Sum3'\r\n   *  Sum: '<S51>/Sum4'\r\n   *  UnitDelay: '<S51>/d'\r\n   *  UnitDelay: '<S51>/d1'\r\n   */\r\n  rtb_Product1_m = ((rtb_Product1_pd + ADM_Integrated_Logic_DW.d1_DSTATE_e) *\r\n                    0.002 + 0.00861032953945969 *\r\n                    ADM_Integrated_Logic_DW.d_DSTATE_ij) / 0.01261032953945969;\r\n\r\n  /* Sum: '<S6>/Subtract' incorporates:\r\n   *  Inport: '<Root>/GV_MCU_RPM'\r\n   *  MultiPortSwitch: '<S45>/Multiport Switch1'\r\n   */\r\n  rtb_Error_m = rtb_Brake_Saturation - ADM_Integrated_Logic_U.GV_MCU_RPM;\r\n\r\n  /* Saturate: '<S6>/Error_Saturation' incorporates:\r\n   *  MultiPortSwitch: '<S45>/Multiport Switch1'\r\n   */\r\n  if (rtb_Error_m > 2000.0) {\r\n    rtb_Error_m = 2000.0;\r\n  } else if (rtb_Error_m < -2000.0) {\r\n    rtb_Error_m = -2000.0;\r\n  }\r\n\r\n  /* End of Saturate: '<S6>/Error_Saturation' */\r\n\r\n  /* DeadZone: '<S35>/Dead Zone' incorporates:\r\n   *  MultiPortSwitch: '<S45>/Multiport Switch1'\r\n   */\r\n  if (rtb_Error_m > 50.0) {\r\n    rtb_Add_e = rtb_Error_m - 50.0;\r\n  } else if (rtb_Error_m >= -50.0) {\r\n    rtb_Add_e = 0.0;\r\n  } else {\r\n    rtb_Add_e = rtb_Error_m - -50.0;\r\n  }\r\n\r\n  /* Sum: '<S40>/Sum1' incorporates:\r\n   *  Gain: '<S40>/gain'\r\n   *  Sum: '<S40>/Sum2'\r\n   *  UnitDelay: '<S40>/d'\r\n   *  UnitDelay: '<S40>/d1'\r\n   */\r\n  rtb_Error_m = (rtb_Brake_Saturation - ADM_Integrated_Logic_DW.d_DSTATE_ir) *\r\n    1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_o;\r\n\r\n  /* Sum: '<S41>/Sum1' incorporates:\r\n   *  Gain: '<S41>/gain'\r\n   *  Sum: '<S41>/Sum2'\r\n   *  UnitDelay: '<S41>/d'\r\n   *  UnitDelay: '<S41>/d1'\r\n   */\r\n  rtb_Sum1_f = (rtb_Error_m - ADM_Integrated_Logic_DW.d_DSTATE_m) * 1000.0 -\r\n    ADM_Integrated_Logic_DW.d1_DSTATE_hm;\r\n\r\n  /* Sum: '<S42>/Sum1' incorporates:\r\n   *  Gain: '<S42>/gain'\r\n   *  Sum: '<S42>/Sum2'\r\n   *  UnitDelay: '<S42>/d'\r\n   *  UnitDelay: '<S42>/d1'\r\n   */\r\n  rtb_Sum1_cr = (rtb_Sum1_f - ADM_Integrated_Logic_DW.d_DSTATE_mw) * 1000.0 -\r\n    ADM_Integrated_Logic_DW.d1_DSTATE_g;\r\n\r\n  /* Sum: '<S33>/Add3' incorporates:\r\n   *  Constant: '<S33>/Constant3'\r\n   *  Constant: '<S33>/Constant4'\r\n   *  Constant: '<S33>/Constant5'\r\n   *  Gain: '<S33>/Gain'\r\n   *  Memory: '<S6>/Memory'\r\n   *  Product: '<S33>/Product2'\r\n   *  Product: '<S33>/Product3'\r\n   *  Product: '<S33>/Product4'\r\n   *  Sum: '<S33>/Add2'\r\n   */\r\n  rtb_Add3 = (((156.8 * rtb_Brake_Saturation + 212.8 * rtb_Error_m) + 21.8 *\r\n               rtb_Sum1_f) + rtb_Sum1_cr) * 9.44822373393802E-6 -\r\n    ADM_Integrated_Logic_DW.Memory_PreviousInput;\r\n\r\n  /* Product: '<S43>/Product1' incorporates:\r\n   *  Constant: '<S43>/Constant'\r\n   *  Gain: '<S43>/gain'\r\n   *  Product: '<S43>/Product11'\r\n   *  Sum: '<S43>/Sum1'\r\n   *  Sum: '<S43>/Sum2'\r\n   *  Sum: '<S43>/Sum3'\r\n   *  Sum: '<S43>/Sum4'\r\n   *  UnitDelay: '<S43>/d'\r\n   *  UnitDelay: '<S43>/d1'\r\n   */\r\n  rtb_Product1_k3 = ((rtb_Add3 + ADM_Integrated_Logic_DW.d1_DSTATE_ej) * 0.002 +\r\n                     0.029830988618379066 * ADM_Integrated_Logic_DW.d_DSTATE_j) /\r\n    0.03383098861837907;\r\n\r\n  /* Product: '<S44>/Product1' incorporates:\r\n   *  Constant: '<S44>/Constant1'\r\n   *  Constant: '<S44>/Constant2'\r\n   *  Delay: '<S44>/Delay'\r\n   *  Delay: '<S44>/Delay1'\r\n   *  Delay: '<S44>/Delay2'\r\n   *  Delay: '<S44>/Delay3'\r\n   *  Gain: '<S44>/gain1'\r\n   *  Gain: '<S44>/gain3'\r\n   *  Product: '<S44>/x(n), x(n-1), x(n-2)'\r\n   *  Product: '<S44>/y(n-1)'\r\n   *  Product: '<S44>/y(n-2)'\r\n   *  Sum: '<S44>/Sum1'\r\n   *  Sum: '<S44>/Sum2'\r\n   *  Sum: '<S44>/Sum3'\r\n   *  Sum: '<S44>/Sum4'\r\n   *  Sum: '<S44>/Sum5'\r\n   *  Sum: '<S44>/Sum6'\r\n   */\r\n  rtb_Product1_h = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE_c +\r\n                       rtb_Product1_k3) +\r\n                      ADM_Integrated_Logic_DW.Delay_DSTATE_p[0]) *\r\n                     0.00035530575843921691 - -7.9992893884831213 *\r\n                     ADM_Integrated_Logic_DW.Delay2_DSTATE_n) -\r\n                    3.9470487616123275 *\r\n                    ADM_Integrated_Logic_DW.Delay3_DSTATE_h[0]) /\r\n    4.0536618499045511;\r\n\r\n  /* MATLAB Function: '<S6>/DOB_Gain' incorporates:\r\n   *  Inport: '<Root>/GV_Vx_Fbk'\r\n   */\r\n  if (ADM_Integrated_Logic_U.GV_Vx_Fbk < 5.0) {\r\n    rtb_y_k = 0.0;\r\n  } else {\r\n    rtb_y_k = (ADM_Integrated_Logic_U.GV_Vx_Fbk - 5.0) * 0.2;\r\n  }\r\n\r\n  if (rtb_y_k >= 1.0) {\r\n    rtb_y_k = 1.0;\r\n  }\r\n\r\n  /* End of MATLAB Function: '<S6>/DOB_Gain' */\r\n\r\n  /* Product: '<S6>/Product1' incorporates:\r\n   *  Constant: '<S6>/DOBFlag'\r\n   *  Product: '<S6>/Product'\r\n   */\r\n  rtb_Integrator_1 = -(rtb_Product1_h * 0.9);\r\n\r\n  /* Saturate: '<S6>/DOB_Saturation' */\r\n  if (rtb_Integrator_1 > 30.0) {\r\n    rtb_Integrator_1 = 30.0;\r\n  } else if (rtb_Integrator_1 < -30.0) {\r\n    rtb_Integrator_1 = -30.0;\r\n  }\r\n\r\n  /* Sum: '<S6>/Subtract2' incorporates:\r\n   *  DeadZone: '<S35>/Dead Zone'\r\n   *  MultiPortSwitch: '<S45>/Multiport Switch1'\r\n   *  Product: '<S47>/Product'\r\n   *  Product: '<S6>/Multiply1'\r\n   *  Saturate: '<S6>/DOB_Saturation'\r\n   *  Sum: '<S35>/Add'\r\n   */\r\n  rtb_Add_e = (rtb_Add_e * 0.044648264844923756 + rtb_Product1_m) +\r\n    rtb_Integrator_1 * rtb_y_k;\r\n\r\n  /* Saturate: '<S6>/Torq_Saturation' */\r\n  if (rtb_Add_e > 80.0) {\r\n    rtb_Add_e = 80.0;\r\n  } else if (rtb_Add_e < -80.0) {\r\n    rtb_Add_e = -80.0;\r\n  }\r\n\r\n  /* End of Saturate: '<S6>/Torq_Saturation' */\r\n\r\n  /* MATLAB Function: '<S1>/Emergency_Motor_Func' incorporates:\r\n   *  Inport: '<Root>/GV_IDB_ECU_Fault_Flag'\r\n   *  Inport: '<Root>/GV_RCU_ECU_Fault_Flag'\r\n   *  Inport: '<Root>/GV_Vx_Fbk'\r\n   *  MATLAB Function: '<S6>/Gear_pos_out'\r\n   */\r\n  if (rtb_Compare_l) {\r\n    if ((ADM_Integrated_Logic_U.GV_IDB_ECU_Fault_Flag == 1.0) &&\r\n        (ADM_Integrated_Logic_U.GV_RCU_ECU_Fault_Flag == 1.0)) {\r\n      if (ADM_Integrated_Logic_U.GV_Vx_Fbk / 3.6 > 0.5) {\r\n        rtb_y_k = -80.0;\r\n      } else {\r\n        rtb_y_k = 0.0;\r\n      }\r\n    } else {\r\n      rtb_y_k = 0.0;\r\n    }\r\n  } else {\r\n    if (rtb_Memory == 0.0) {\r\n      /* MATLAB Function: '<S6>/Gear_pos_out' */\r\n      i = 0;\r\n    } else if (rtb_Memory == 2.0) {\r\n      /* MATLAB Function: '<S6>/Gear_pos_out' */\r\n      i = 0;\r\n    } else if (rtb_Memory == 1.0) {\r\n      /* MATLAB Function: '<S6>/Gear_pos_out' */\r\n      i = -1;\r\n    } else {\r\n      /* MATLAB Function: '<S6>/Gear_pos_out' */\r\n      i = (rtb_Memory == 3.0);\r\n    }\r\n\r\n    /* Product: '<S6>/Multiply' incorporates:\r\n     *  MATLAB Function: '<S6>/Gear_pos_out'\r\n     */\r\n    rtb_y_k = (double)i * rtb_Add_e;\r\n\r\n    /* Saturate: '<S1>/Saturation' */\r\n    if (rtb_y_k < 0.0) {\r\n      rtb_y_k = 0.0;\r\n    }\r\n\r\n    /* End of Saturate: '<S1>/Saturation' */\r\n  }\r\n\r\n  /* End of MATLAB Function: '<S1>/Emergency_Motor_Func' */\r\n\r\n  /* MATLAB Function: '<S1>/MCU_Fault_Injection' incorporates:\r\n   *  Inport: '<Root>/GV_MCU_Actuator_Fault_Flag'\r\n   */\r\n  if (ADM_Integrated_Logic_U.GV_MCU_Actuator_Fault_Flag == 1.0) {\r\n    /* Outport: '<Root>/GV_Motor_Torque_Cmd' */\r\n    ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd = 0.0;\r\n  } else {\r\n    /* Outport: '<Root>/GV_Motor_Torque_Cmd' */\r\n    ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd = rtb_y_k;\r\n  }\r\n\r\n  /* Outport: '<Root>/Target_MCU_Out' incorporates:\r\n   *  MATLAB Function: '<S1>/MCU_Fault_Injection'\r\n   */\r\n  ADM_Integrated_Logic_Y.Target_MCU_Out = rtb_y_k;\r\n\r\n  /* Sum: '<S28>/Sum' */\r\n  rtb_F_PI -= rtb_y;\r\n\r\n  /* Outport: '<Root>/Debug_HAC_Brake_Output' */\r\n  ADM_Integrated_Logic_Y.Debug_HAC_Brake_Output = rtb_Brake_Torque_Cmd;\r\n\r\n  /* Outport: '<Root>/GV_Gear_Postion_Out' */\r\n  ADM_Integrated_Logic_Y.GV_Gear_Postion_Out = rtb_Memory;\r\n\r\n  /* Outport: '<Root>/GV_Hill_Torque_Assist' */\r\n  ADM_Integrated_Logic_Y.GV_Hill_Torque_Assist = rtb_Desired_Torque;\r\n\r\n  /* Outport: '<Root>/Debug_HAC_Pitch_angle' */\r\n  ADM_Integrated_Logic_Y.Debug_HAC_Pitch_angle = rtb_Pitch_Angle;\r\n\r\n  /* MATLAB Function: '<S58>/Calculate_F_c1' incorporates:\r\n   *  Gain: '<S58>/Gain3'\r\n   */\r\n  ADM_Integrated_Lo_Calculate_F_c(ADM_Integrated_Logic_ConstB.W_Value_for_Brake,\r\n    0.017453292519943295 * rtb_Pitch_Angle, &rtb_y);\r\n\r\n  /* Product: '<S59>/Product1' incorporates:\r\n   *  Constant: '<S59>/Constant'\r\n   *  Gain: '<S59>/gain'\r\n   *  Inport: '<Root>/GV_IMU_AX_Val'\r\n   *  Product: '<S59>/Product11'\r\n   *  Sum: '<S59>/Sum1'\r\n   *  Sum: '<S59>/Sum2'\r\n   *  Sum: '<S59>/Sum3'\r\n   *  Sum: '<S59>/Sum4'\r\n   *  UnitDelay: '<S59>/d'\r\n   *  UnitDelay: '<S59>/d1'\r\n   */\r\n  rtb_Desired_Torque = ((ADM_Integrated_Logic_U.GV_IMU_AX_Val +\r\n    ADM_Integrated_Logic_DW.d1_DSTATE_ob) * 0.002 + 0.061661977236758134 *\r\n                        ADM_Integrated_Logic_DW.d_DSTATE_e) /\r\n    0.065661977236758137;\r\n\r\n  /* Product: '<S60>/Product1' incorporates:\r\n   *  Constant: '<S60>/Constant'\r\n   *  Gain: '<S60>/gain'\r\n   *  Inport: '<Root>/GV_IMU_AY_Val'\r\n   *  Product: '<S60>/Product11'\r\n   *  Sum: '<S60>/Sum1'\r\n   *  Sum: '<S60>/Sum2'\r\n   *  Sum: '<S60>/Sum3'\r\n   *  Sum: '<S60>/Sum4'\r\n   *  UnitDelay: '<S60>/d'\r\n   *  UnitDelay: '<S60>/d1'\r\n   */\r\n  rtb_Brake_Torque_Cmd = ((ADM_Integrated_Logic_U.GV_IMU_AY_Val +\r\n    ADM_Integrated_Logic_DW.d1_DSTATE_i) * 0.002 + 0.061661977236758134 *\r\n    ADM_Integrated_Logic_DW.d_DSTATE_p) / 0.065661977236758137;\r\n\r\n  /* Product: '<S61>/Product1' incorporates:\r\n   *  Constant: '<S61>/Constant'\r\n   *  Gain: '<S61>/gain'\r\n   *  Inport: '<Root>/GV_IMU_AZ_Val'\r\n   *  Product: '<S61>/Product11'\r\n   *  Sum: '<S61>/Sum1'\r\n   *  Sum: '<S61>/Sum2'\r\n   *  Sum: '<S61>/Sum3'\r\n   *  Sum: '<S61>/Sum4'\r\n   *  UnitDelay: '<S61>/d'\r\n   *  UnitDelay: '<S61>/d1'\r\n   */\r\n  rtb_Integrator_1 = ((ADM_Integrated_Logic_U.GV_IMU_AZ_Val +\r\n                       ADM_Integrated_Logic_DW.d1_DSTATE_o1) * 0.002 +\r\n                      0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_n)\r\n    / 0.065661977236758137;\r\n\r\n  /* MATLAB Function: '<S11>/Pitch_calculate' */\r\n  rtb_y = sqrt(rtb_Brake_Torque_Cmd * rtb_Brake_Torque_Cmd + rtb_Integrator_1 *\r\n               rtb_Integrator_1);\r\n  if (!(rtb_y == 0.0)) {\r\n    rtb_y = atan(rtb_Desired_Torque / rtb_y);\r\n  }\r\n\r\n  /* Sum: '<S11>/Sum' incorporates:\r\n   *  DiscreteIntegrator: '<S11>/Integrator_2'\r\n   *  MATLAB Function: '<S11>/Pitch_calculate'\r\n   */\r\n  rtb_Sum_f = ADM_Integrated_Logic_DW.Integrator_2_DSTATE - rtb_y *\r\n    57.295779513082323;\r\n\r\n  /* Gain: '<S62>/gain1' incorporates:\r\n   *  Constant: '<S62>/Constant1'\r\n   *  Product: '<S62>/Product2'\r\n   */\r\n  rtb_Switch2_k = 0.063661977236758135;\r\n\r\n  /* Product: '<S62>/Product1' incorporates:\r\n   *  Constant: '<S62>/Constant'\r\n   *  Gain: '<S62>/gain'\r\n   *  Inport: '<Root>/GV_IMU_PitchRtVal'\r\n   *  Product: '<S62>/Product11'\r\n   *  Sum: '<S62>/Sum1'\r\n   *  Sum: '<S62>/Sum2'\r\n   *  Sum: '<S62>/Sum3'\r\n   *  Sum: '<S62>/Sum4'\r\n   *  UnitDelay: '<S62>/d'\r\n   *  UnitDelay: '<S62>/d1'\r\n   */\r\n  rtb_Product1_gg = ((ADM_Integrated_Logic_U.GV_IMU_PitchRtVal +\r\n                      ADM_Integrated_Logic_DW.d1_DSTATE_a) * 0.002 +\r\n                     0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_d1)\r\n    / 0.065661977236758137;\r\n\r\n  /* Sum: '<S1>/Add2' incorporates:\r\n   *  Inport: '<Root>/GV_Vx_Fbk'\r\n   */\r\n  rtb_Vx_Cmd_R -= ADM_Integrated_Logic_U.GV_Vx_Fbk;\r\n\r\n  /* Sum: '<S1>/Add1' incorporates:\r\n   *  Constant: '<S1>/Constant'\r\n   *  Gain: '<S1>/Gain1'\r\n   *  Inport: '<Root>/GV_Vx_Fbk'\r\n   *  Sum: '<S1>/Add3'\r\n   */\r\n  rtb_Add1_tmp = 400.0 - 6.5 * ADM_Integrated_Logic_U.GV_Vx_Fbk;\r\n\r\n  /* MATLAB Function: '<S1>/MATLAB Function1' incorporates:\r\n   *  Sum: '<S1>/Add1'\r\n   */\r\n  ADM_Integrated__MATLABFunction1(rtb_Add1_tmp, &rtb_Switch2_k);\r\n\r\n  /* Product: '<S23>/delta rise limit' incorporates:\r\n   *  SampleTimeMath: '<S23>/sample time'\r\n   *\r\n   * About '<S23>/sample time':\r\n   *  y = K where K = ( w * Ts )\r\n   *   */\r\n  rtb_Switch2_k *= 0.002;\r\n\r\n  /* Delay: '<S23>/Delay' incorporates:\r\n   *  Inport: '<Root>/GV_RWA_RackAngleCommand'\r\n   */\r\n  if (ADM_Integrated_Logic_DW.icLoad_l) {\r\n    ADM_Integrated_Logic_DW.Delay_DSTATE_c4 =\r\n      ADM_Integrated_Logic_U.GV_RWA_RackAngleCommand;\r\n  }\r\n\r\n  /* Sum: '<S23>/Difference Inputs1' incorporates:\r\n   *  Delay: '<S23>/Delay'\r\n   *  Inport: '<Root>/GV_RWA_RackAngleCommand'\r\n   *\r\n   * Block description for '<S23>/Difference Inputs1':\r\n   *\r\n   *  Add in CPU\r\n   */\r\n  rtb_y_k = ADM_Integrated_Logic_U.GV_RWA_RackAngleCommand -\r\n    ADM_Integrated_Logic_DW.Delay_DSTATE_c4;\r\n\r\n  /* MATLAB Function: '<S1>/MATLAB Function2' incorporates:\r\n   *  Gain: '<S1>/Gain3'\r\n   *  Sum: '<S1>/Add1'\r\n   */\r\n  ADM_Integrated__MATLABFunction2(-rtb_Add1_tmp, &rtb_y);\r\n\r\n  /* Switch: '<S71>/Switch2' incorporates:\r\n   *  RelationalOperator: '<S71>/LowerRelop1'\r\n   */\r\n  if (!(rtb_y_k > rtb_Switch2_k)) {\r\n    /* Product: '<S23>/delta fall limit' incorporates:\r\n     *  SampleTimeMath: '<S23>/sample time'\r\n     *\r\n     * About '<S23>/sample time':\r\n     *  y = K where K = ( w * Ts )\r\n     *   */\r\n    rtb_y *= 0.002;\r\n\r\n    /* Switch: '<S71>/Switch' incorporates:\r\n     *  RelationalOperator: '<S71>/UpperRelop'\r\n     */\r\n    if (rtb_y_k < rtb_y) {\r\n      rtb_Switch2_k = rtb_y;\r\n    } else {\r\n      rtb_Switch2_k = rtb_y_k;\r\n    }\r\n\r\n    /* End of Switch: '<S71>/Switch' */\r\n  }\r\n\r\n  /* End of Switch: '<S71>/Switch2' */\r\n\r\n  /* Sum: '<S23>/Difference Inputs2' incorporates:\r\n   *  Delay: '<S23>/Delay'\r\n   *\r\n   * Block description for '<S23>/Difference Inputs2':\r\n   *\r\n   *  Add in CPU\r\n   */\r\n  rtb_y = rtb_Switch2_k + ADM_Integrated_Logic_DW.Delay_DSTATE_c4;\r\n\r\n  /* Outport: '<Root>/GV_Master_Rack_Angle_Cmd' incorporates:\r\n   *  MATLAB Function: '<S1>/RWA_Actuator_Fault_Injection'\r\n   */\r\n  ADM_Integrated_Logic_Y.GV_Master_Rack_Angle_Cmd = rtb_y;\r\n\r\n  /* Outport: '<Root>/Target_RWA_Out' incorporates:\r\n   *  MATLAB Function: '<S1>/RWA_Actuator_Fault_Injection'\r\n   */\r\n  ADM_Integrated_Logic_Y.Target_RWA_Out = rtb_y;\r\n\r\n  /* MATLAB Function: '<S1>/MATLAB Function5' */\r\n  ADM_Integrated__MATLABFunction1(rtb_Add1_tmp, &rtb_Switch2_k);\r\n\r\n  /* Product: '<S24>/delta rise limit' incorporates:\r\n   *  SampleTimeMath: '<S24>/sample time'\r\n   *\r\n   * About '<S24>/sample time':\r\n   *  y = K where K = ( w * Ts )\r\n   *   */\r\n  rtb_Switch2_k *= 0.002;\r\n\r\n  /* Delay: '<S24>/Delay' incorporates:\r\n   *  Inport: '<Root>/GV_RWS_RackAngleCommand'\r\n   */\r\n  if (ADM_Integrated_Logic_DW.icLoad_d) {\r\n    ADM_Integrated_Logic_DW.Delay_DSTATE_i1 =\r\n      ADM_Integrated_Logic_U.GV_RWS_RackAngleCommand;\r\n  }\r\n\r\n  /* Sum: '<S24>/Difference Inputs1' incorporates:\r\n   *  Delay: '<S24>/Delay'\r\n   *  Inport: '<Root>/GV_RWS_RackAngleCommand'\r\n   *\r\n   * Block description for '<S24>/Difference Inputs1':\r\n   *\r\n   *  Add in CPU\r\n   */\r\n  rtb_Add1 = ADM_Integrated_Logic_U.GV_RWS_RackAngleCommand -\r\n    ADM_Integrated_Logic_DW.Delay_DSTATE_i1;\r\n\r\n  /* MATLAB Function: '<S1>/MATLAB Function6' incorporates:\r\n   *  Gain: '<S1>/Gain5'\r\n   */\r\n  ADM_Integrated__MATLABFunction2(-rtb_Add1_tmp, &rtb_y_k);\r\n\r\n  /* Switch: '<S72>/Switch2' incorporates:\r\n   *  RelationalOperator: '<S72>/LowerRelop1'\r\n   */\r\n  if (!(rtb_Add1 > rtb_Switch2_k)) {\r\n    /* Product: '<S24>/delta fall limit' incorporates:\r\n     *  SampleTimeMath: '<S24>/sample time'\r\n     *\r\n     * About '<S24>/sample time':\r\n     *  y = K where K = ( w * Ts )\r\n     *   */\r\n    rtb_y_k *= 0.002;\r\n\r\n    /* Switch: '<S72>/Switch' incorporates:\r\n     *  RelationalOperator: '<S72>/UpperRelop'\r\n     */\r\n    if (rtb_Add1 < rtb_y_k) {\r\n      rtb_Switch2_k = rtb_y_k;\r\n    } else {\r\n      rtb_Switch2_k = rtb_Add1;\r\n    }\r\n\r\n    /* End of Switch: '<S72>/Switch' */\r\n  }\r\n\r\n  /* End of Switch: '<S72>/Switch2' */\r\n\r\n  /* Sum: '<S24>/Difference Inputs2' incorporates:\r\n   *  Delay: '<S24>/Delay'\r\n   *\r\n   * Block description for '<S24>/Difference Inputs2':\r\n   *\r\n   *  Add in CPU\r\n   */\r\n  rtb_y_k = rtb_Switch2_k + ADM_Integrated_Logic_DW.Delay_DSTATE_i1;\r\n\r\n  /* Outport: '<Root>/GV_RWS_RackAngleCmd1' */\r\n  ADM_Integrated_Logic_Y.GV_RWS_RackAngleCmd1 = rtb_y_k;\r\n\r\n  /* Outport: '<Root>/Act_Fault_Exist' incorporates:\r\n   *  MATLAB Function: '<S1>/Actuator_Fault_Decision'\r\n   */\r\n  ADM_Integrated_Logic_Y.Act_Fault_Exist = 0.0;\r\n\r\n  /* MATLAB Function: '<S1>/Actuator_Fault_Decision' incorporates:\r\n   *  Inport: '<Root>/GV_ACU_ECU_Fault_Flag'\r\n   *  Inport: '<Root>/GV_ACU_ECU_Fault_Flag1'\r\n   *  Inport: '<Root>/GV_ACU_ECU_Fault_Flag2'\r\n   *  Inport: '<Root>/GV_ACU_ECU_Fault_Flag3'\r\n   *  Inport: '<Root>/GV_ACU_Fault_Flag'\r\n   *  Inport: '<Root>/GV_Drive_Mode'\r\n   *  Inport: '<Root>/GV_IDB_ECU_Fault_Flag'\r\n   *  Inport: '<Root>/GV_MCU_Actuator_Fault_Flag'\r\n   *  Inport: '<Root>/GV_RCU_ECU_Fault_Flag'\r\n   *  Inport: '<Root>/GV_RWA1_ECU_Fault_Flag'\r\n   *  Inport: '<Root>/GV_RWA2_ECU_Fault_Flag'\r\n   *  Inport: '<Root>/GV_RWA_Actuator_Fault'\r\n   */\r\n  if ((ADM_Integrated_Logic_U.GV_ACU_Fault_Flag == 1.0) ||\r\n      (ADM_Integrated_Logic_U.GV_MCU_Actuator_Fault_Flag == 1.0) ||\r\n      (ADM_Integrated_Logic_U.GV_RWA_Actuator_Fault == 1.0)) {\r\n    /* Outport: '<Root>/Act_Fault_Exist' */\r\n    ADM_Integrated_Logic_Y.Act_Fault_Exist = 1.0;\r\n  }\r\n\r\n  if (((ADM_Integrated_Logic_U.GV_ACU_ECU_Fault_Flag == 1.0) ||\r\n       (ADM_Integrated_Logic_U.GV_ACU_ECU_Fault_Flag1 == 1.0) ||\r\n       (ADM_Integrated_Logic_U.GV_ACU_ECU_Fault_Flag2 == 1.0) ||\r\n       (ADM_Integrated_Logic_U.GV_ACU_ECU_Fault_Flag3 == 1.0)) &&\r\n      ((ADM_Integrated_Logic_U.GV_Drive_Mode == 0.0) ||\r\n       (ADM_Integrated_Logic_U.GV_Drive_Mode == 2.0))) {\r\n    /* Outport: '<Root>/Act_Fault_Exist' */\r\n    ADM_Integrated_Logic_Y.Act_Fault_Exist = 1.0;\r\n  }\r\n\r\n  if ((ADM_Integrated_Logic_U.GV_IDB_ECU_Fault_Flag == 1.0) ||\r\n      (ADM_Integrated_Logic_U.GV_RCU_ECU_Fault_Flag == 1.0)) {\r\n    /* Outport: '<Root>/Act_Fault_Exist' */\r\n    ADM_Integrated_Logic_Y.Act_Fault_Exist = 1.0;\r\n  } else if ((ADM_Integrated_Logic_U.GV_RWA1_ECU_Fault_Flag == 1.0) &&\r\n             (ADM_Integrated_Logic_U.GV_RWA2_ECU_Fault_Flag == 1.0)) {\r\n    /* Outport: '<Root>/Act_Fault_Exist' */\r\n    ADM_Integrated_Logic_Y.Act_Fault_Exist = 1.0;\r\n  }\r\n\r\n  /* Update for UnitDelay: '<S13>/d1' incorporates:\r\n   *  Inport: '<Root>/GV_IMU_AX_Val'\r\n   */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE = ADM_Integrated_Logic_U.GV_IMU_AX_Val;\r\n\r\n  /* Update for UnitDelay: '<S13>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE = rtb_Product1;\r\n\r\n  /* Update for DiscreteIntegrator: '<S11>/Integrator_2' incorporates:\r\n   *  Constant: '<S11>/I_gain'\r\n   *  Constant: '<S11>/P_gain'\r\n   *  DiscreteIntegrator: '<S11>/Integrator_1'\r\n   *  Product: '<S11>/Product'\r\n   *  Product: '<S11>/Product1'\r\n   *  Sum: '<S11>/Sum1'\r\n   *  Sum: '<S11>/Sum2'\r\n   */\r\n  ADM_Integrated_Logic_DW.Integrator_2_DSTATE += (rtb_Product1_gg -\r\n    (ADM_Integrated_Logic_DW.Integrator_1_DSTATE * 5.0 + rtb_Sum_f * 100.0)) *\r\n    0.002;\r\n\r\n  /* Update for Delay: '<S65>/Delay' */\r\n  ADM_Integrated_Logic_DW.icLoad = false;\r\n  ADM_Integrated_Logic_DW.Delay_DSTATE = rtb_Pitch_Angle;\r\n\r\n  /* Update for Delay: '<S64>/Delay' */\r\n  ADM_Integrated_Logic_DW.icLoad_e = false;\r\n  ADM_Integrated_Logic_DW.Delay_DSTATE_i = rtb_Saturation;\r\n\r\n  /* Update for Delay: '<S10>/Memory' */\r\n  ADM_Integrated_Logic_DW.Memory_DSTATE = rtb_Memory;\r\n\r\n  /* Update for DiscreteIntegrator: '<S28>/Discrete-Time Integrator' incorporates:\r\n   *  Memory: '<S28>/Memory'\r\n   *  Sum: '<S28>/Sum1'\r\n   */\r\n  ADM_Integrated_Logic_DW.DiscreteTimeIntegrator_DSTATE += (rtb_Product2_a -\r\n    ADM_Integrated_Logic_DW.Memory_PreviousInput_f) * 0.002;\r\n\r\n  /* Update for UnitDelay: '<S31>/UD'\r\n   *\r\n   * Block description for '<S31>/UD':\r\n   *\r\n   *  Store in Global RAM\r\n   */\r\n  ADM_Integrated_Logic_DW.UD_DSTATE = rtb_TSamp;\r\n\r\n  /* Update for DiscreteTransferFcn: '<S1>/Discrete Transfer Fcn' */\r\n  ADM_Integrated_Logic_DW.DiscreteTransferFcn_states = rtb_Vx_Cmd_R - -0.9375 *\r\n    ADM_Integrated_Logic_DW.DiscreteTransferFcn_states;\r\n\r\n  /* Update for UnitDelay: '<S38>/d1' */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_c = rtb_AccFlag;\r\n\r\n  /* Update for UnitDelay: '<S38>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_l = rtb_Brake_Saturation;\r\n\r\n  /* Update for UnitDelay: '<S48>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_i = rtb_Brake_Saturation;\r\n\r\n  /* Update for UnitDelay: '<S48>/d1' */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_p = rtb_Trig;\r\n\r\n  /* Update for UnitDelay: '<S49>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_c = rtb_Trig;\r\n\r\n  /* Update for UnitDelay: '<S49>/d1' */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_h = rtb_Sum1_j1;\r\n\r\n  /* Update for UnitDelay: '<S50>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_d = rtb_Sum1_j1;\r\n\r\n  /* Update for UnitDelay: '<S50>/d1' */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_l = rtb_Sum1_d;\r\n\r\n  /* Update for Delay: '<S52>/Delay1' */\r\n  ADM_Integrated_Logic_DW.Delay1_DSTATE = rtb_Gain_c;\r\n\r\n  /* Update for Delay: '<S52>/Delay' */\r\n  ADM_Integrated_Logic_DW.Delay_DSTATE_c[0] =\r\n    ADM_Integrated_Logic_DW.Delay_DSTATE_c[1];\r\n  ADM_Integrated_Logic_DW.Delay_DSTATE_c[1] = rtb_Gain_c;\r\n\r\n  /* Update for Delay: '<S52>/Delay2' */\r\n  ADM_Integrated_Logic_DW.Delay2_DSTATE = rtb_Product1_pd;\r\n\r\n  /* Update for Delay: '<S52>/Delay3' */\r\n  ADM_Integrated_Logic_DW.Delay3_DSTATE[0] =\r\n    ADM_Integrated_Logic_DW.Delay3_DSTATE[1];\r\n  ADM_Integrated_Logic_DW.Delay3_DSTATE[1] = rtb_Product1_pd;\r\n\r\n  /* Update for UnitDelay: '<S51>/d1' */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_e = rtb_Product1_pd;\r\n\r\n  /* Update for UnitDelay: '<S51>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_ij = rtb_Product1_m;\r\n\r\n  /* Update for Memory: '<S6>/Memory' */\r\n  ADM_Integrated_Logic_DW.Memory_PreviousInput = rtb_Add_e;\r\n\r\n  /* Update for UnitDelay: '<S40>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_ir = rtb_Brake_Saturation;\r\n\r\n  /* Update for UnitDelay: '<S40>/d1' */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_o = rtb_Error_m;\r\n\r\n  /* Update for UnitDelay: '<S41>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_m = rtb_Error_m;\r\n\r\n  /* Update for UnitDelay: '<S41>/d1' */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_hm = rtb_Sum1_f;\r\n\r\n  /* Update for UnitDelay: '<S42>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_mw = rtb_Sum1_f;\r\n\r\n  /* Update for UnitDelay: '<S42>/d1' */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_g = rtb_Sum1_cr;\r\n\r\n  /* Update for UnitDelay: '<S43>/d1' */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_ej = rtb_Add3;\r\n\r\n  /* Update for UnitDelay: '<S43>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_j = rtb_Product1_k3;\r\n\r\n  /* Update for Delay: '<S44>/Delay1' */\r\n  ADM_Integrated_Logic_DW.Delay1_DSTATE_c = rtb_Product1_k3;\r\n\r\n  /* Update for Delay: '<S44>/Delay' */\r\n  ADM_Integrated_Logic_DW.Delay_DSTATE_p[0] =\r\n    ADM_Integrated_Logic_DW.Delay_DSTATE_p[1];\r\n  ADM_Integrated_Logic_DW.Delay_DSTATE_p[1] = rtb_Product1_k3;\r\n\r\n  /* Update for Delay: '<S44>/Delay2' */\r\n  ADM_Integrated_Logic_DW.Delay2_DSTATE_n = rtb_Product1_h;\r\n\r\n  /* Update for Delay: '<S44>/Delay3' */\r\n  ADM_Integrated_Logic_DW.Delay3_DSTATE_h[0] =\r\n    ADM_Integrated_Logic_DW.Delay3_DSTATE_h[1];\r\n  ADM_Integrated_Logic_DW.Delay3_DSTATE_h[1] = rtb_Product1_h;\r\n\r\n  /* Update for Memory: '<S28>/Memory' */\r\n  ADM_Integrated_Logic_DW.Memory_PreviousInput_f = rtb_F_PI;\r\n\r\n  /* Update for UnitDelay: '<S59>/d1' incorporates:\r\n   *  Inport: '<Root>/GV_IMU_AX_Val'\r\n   */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_ob = ADM_Integrated_Logic_U.GV_IMU_AX_Val;\r\n\r\n  /* Update for UnitDelay: '<S59>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_e = rtb_Desired_Torque;\r\n\r\n  /* Update for UnitDelay: '<S60>/d1' incorporates:\r\n   *  Inport: '<Root>/GV_IMU_AY_Val'\r\n   */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_i = ADM_Integrated_Logic_U.GV_IMU_AY_Val;\r\n\r\n  /* Update for UnitDelay: '<S60>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_p = rtb_Brake_Torque_Cmd;\r\n\r\n  /* Update for UnitDelay: '<S61>/d1' incorporates:\r\n   *  Inport: '<Root>/GV_IMU_AZ_Val'\r\n   */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_o1 = ADM_Integrated_Logic_U.GV_IMU_AZ_Val;\r\n\r\n  /* Update for UnitDelay: '<S61>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_n = rtb_Integrator_1;\r\n\r\n  /* Update for DiscreteIntegrator: '<S11>/Integrator_1' */\r\n  ADM_Integrated_Logic_DW.Integrator_1_DSTATE += 0.002 * rtb_Sum_f;\r\n\r\n  /* Update for UnitDelay: '<S62>/d1' incorporates:\r\n   *  Inport: '<Root>/GV_IMU_PitchRtVal'\r\n   */\r\n  ADM_Integrated_Logic_DW.d1_DSTATE_a = ADM_Integrated_Logic_U.GV_IMU_PitchRtVal;\r\n\r\n  /* Update for UnitDelay: '<S62>/d' */\r\n  ADM_Integrated_Logic_DW.d_DSTATE_d1 = rtb_Product1_gg;\r\n\r\n  /* Update for Delay: '<S23>/Delay' */\r\n  ADM_Integrated_Logic_DW.icLoad_l = false;\r\n  ADM_Integrated_Logic_DW.Delay_DSTATE_c4 = rtb_y;\r\n\r\n  /* Update for Delay: '<S24>/Delay' */\r\n  ADM_Integrated_Logic_DW.icLoad_d = false;\r\n  ADM_Integrated_Logic_DW.Delay_DSTATE_i1 = rtb_y_k;\r\n}\r\n\r\n/* Model initialize function */\r\nvoid ADM_Integrated_Logic_initialize(void)\r\n{\r\n  /* InitializeConditions for Delay: '<S65>/Delay' */\r\n  ADM_Integrated_Logic_DW.icLoad = true;\r\n\r\n  /* InitializeConditions for Delay: '<S64>/Delay' */\r\n  ADM_Integrated_Logic_DW.icLoad_e = true;\r\n\r\n  /* InitializeConditions for Delay: '<S23>/Delay' */\r\n  ADM_Integrated_Logic_DW.icLoad_l = true;\r\n\r\n  /* InitializeConditions for Delay: '<S24>/Delay' */\r\n  ADM_Integrated_Logic_DW.icLoad_d = true;\r\n\r\n  /* SystemInitialize for MATLAB Function: '<S1>/MATLAB Function3' */\r\n  ADM_Integrated_Logic_DW.currentEstMass = 1500.0;\r\n}\r\n\r\n/*\r\n * File trailer for generated code.\r\n *\r\n * [EOF]\r\n */\r\n"},{"name":"ADM_Integrated_Logic.h","type":"header","group":"model","path":"C:\\Users\\MSI\\Documents\\WorkSpace\\git\\ADM\\[ADM] Integrated Logic\\ADM_Integrated_Logic_ert_rtw","tag":"","groupDisplay":"Model files","code":"/*\r\n * Academic License - for use in teaching, academic research, and meeting\r\n * course requirements at degree granting institutions only.  Not for\r\n * government, commercial, or other organizational use.\r\n *\r\n * File: ADM_Integrated_Logic.h\r\n *\r\n * Code generated for Simulink model 'ADM_Integrated_Logic'.\r\n *\r\n * Model version                  : 14.98\r\n * Simulink Coder version         : 24.2 (R2024b) 21-Jun-2024\r\n * C/C++ source code generated on : Tue Oct 21 13:14:18 2025\r\n *\r\n * Target selection: ert.tlc\r\n * Embedded hardware selection: NXP->Cortex-M4\r\n * Code generation objectives:\r\n *    1. Execution efficiency\r\n *    2. RAM efficiency\r\n *    3. Debugging\r\n * Validation result: Not run\r\n */\r\n\r\n#ifndef ADM_Integrated_Logic_h_\r\n#define ADM_Integrated_Logic_h_\r\n#ifndef ADM_Integrated_Logic_COMMON_INCLUDES_\r\n#define ADM_Integrated_Logic_COMMON_INCLUDES_\r\n#include <stdbool.h>\r\n#include <stdint.h>\r\n#endif                               /* ADM_Integrated_Logic_COMMON_INCLUDES_ */\r\n\r\n/* Macros for accessing real-time model data structure */\r\n#ifndef rtmGetErrorStatus\r\n#define rtmGetErrorStatus(rtm)         ((rtm)->errorStatus)\r\n#endif\r\n\r\n#ifndef rtmSetErrorStatus\r\n#define rtmSetErrorStatus(rtm, val)    ((rtm)->errorStatus = (val))\r\n#endif\r\n\r\n/* Forward declaration for rtModel */\r\ntypedef struct tag_RTM_ADM_Integrated_Logic_T RT_MODEL_ADM_Integrated_Logic_T;\r\n\r\n/* Block signals and states (default storage) for system '<Root>' */\r\ntypedef struct {\r\n  double Delay_DSTATE_c[2];            /* '<S52>/Delay' */\r\n  double Delay3_DSTATE[2];             /* '<S52>/Delay3' */\r\n  double Delay_DSTATE_p[2];            /* '<S44>/Delay' */\r\n  double Delay3_DSTATE_h[2];           /* '<S44>/Delay3' */\r\n  double x_hat[3];                     /* '<S1>/MATLAB Function' */\r\n  double M;                            /* '<S9>/MATLAB Function' */\r\n  double d1_DSTATE;                    /* '<S13>/d1' */\r\n  double d_DSTATE;                     /* '<S13>/d' */\r\n  double Integrator_2_DSTATE;          /* '<S11>/Integrator_2' */\r\n  double Delay_DSTATE;                 /* '<S65>/Delay' */\r\n  double Delay_DSTATE_i;               /* '<S64>/Delay' */\r\n  double Memory_DSTATE;                /* '<S10>/Memory' */\r\n  double DiscreteTimeIntegrator_DSTATE;/* '<S28>/Discrete-Time Integrator' */\r\n  double UD_DSTATE;                    /* '<S31>/UD' */\r\n  double DiscreteTransferFcn_states;   /* '<S1>/Discrete Transfer Fcn' */\r\n  double d1_DSTATE_c;                  /* '<S38>/d1' */\r\n  double d_DSTATE_l;                   /* '<S38>/d' */\r\n  double d_DSTATE_i;                   /* '<S48>/d' */\r\n  double d1_DSTATE_p;                  /* '<S48>/d1' */\r\n  double d_DSTATE_c;                   /* '<S49>/d' */\r\n  double d1_DSTATE_h;                  /* '<S49>/d1' */\r\n  double d_DSTATE_d;                   /* '<S50>/d' */\r\n  double d1_DSTATE_l;                  /* '<S50>/d1' */\r\n  double Delay1_DSTATE;                /* '<S52>/Delay1' */\r\n  double Delay2_DSTATE;                /* '<S52>/Delay2' */\r\n  double d1_DSTATE_e;                  /* '<S51>/d1' */\r\n  double d_DSTATE_ij;                  /* '<S51>/d' */\r\n  double d_DSTATE_ir;                  /* '<S40>/d' */\r\n  double d1_DSTATE_o;                  /* '<S40>/d1' */\r\n  double d_DSTATE_m;                   /* '<S41>/d' */\r\n  double d1_DSTATE_hm;                 /* '<S41>/d1' */\r\n  double d_DSTATE_mw;                  /* '<S42>/d' */\r\n  double d1_DSTATE_g;                  /* '<S42>/d1' */\r\n  double d1_DSTATE_ej;                 /* '<S43>/d1' */\r\n  double d_DSTATE_j;                   /* '<S43>/d' */\r\n  double Delay1_DSTATE_c;              /* '<S44>/Delay1' */\r\n  double Delay2_DSTATE_n;              /* '<S44>/Delay2' */\r\n  double d1_DSTATE_ob;                 /* '<S59>/d1' */\r\n  double d_DSTATE_e;                   /* '<S59>/d' */\r\n  double d1_DSTATE_i;                  /* '<S60>/d1' */\r\n  double d_DSTATE_p;                   /* '<S60>/d' */\r\n  double d1_DSTATE_o1;                 /* '<S61>/d1' */\r\n  double d_DSTATE_n;                   /* '<S61>/d' */\r\n  double Integrator_1_DSTATE;          /* '<S11>/Integrator_1' */\r\n  double d1_DSTATE_a;                  /* '<S62>/d1' */\r\n  double d_DSTATE_d1;                  /* '<S62>/d' */\r\n  double Delay_DSTATE_c4;              /* '<S23>/Delay' */\r\n  double Delay_DSTATE_i1;              /* '<S24>/Delay' */\r\n  double PrevY;                        /* '<S25>/Input_Vx_RateLimiter' */\r\n  double PrevY_b;                      /* '<S3>/Rate Limiter' */\r\n  double PrevY_o;                      /* '<S6>/Brake_Out_RateLimiter' */\r\n  double PrevY_a;                      /* '<S6>/TargetSpd_RateLimiter' */\r\n  double Memory_PreviousInput;         /* '<S6>/Memory' */\r\n  double Memory_PreviousInput_f;       /* '<S28>/Memory' */\r\n  double currentEstMass;               /* '<S1>/MATLAB Function3' */\r\n  double HAC_ON_FLAG;                  /* '<S11>/HAC_OFF_OK_Func' */\r\n  double Smoothed_Torque;              /* '<S11>/HAC_OFF_OK_Func' */\r\n  double HAC_Desired_Torque;           /* '<S11>/HAC_OFF_OK_Func' */\r\n  double HAC_ON_Timer;                 /* '<S11>/HAC_OFF_OK_Func' */\r\n  uint8_t is_active_c6_ADM_Integrated_Log;/* '<S11>/Chart' */\r\n  uint8_t is_c6_ADM_Integrated_Logic;  /* '<S11>/Chart' */\r\n  bool icLoad;                         /* '<S65>/Delay' */\r\n  bool icLoad_e;                       /* '<S64>/Delay' */\r\n  bool icLoad_l;                       /* '<S23>/Delay' */\r\n  bool icLoad_d;                       /* '<S24>/Delay' */\r\n  bool isConverged;                    /* '<S1>/MATLAB Function3' */\r\n} DW_ADM_Integrated_Logic_T;\r\n\r\n/* Invariant block signals (default storage) */\r\ntypedef struct {\r\n  const double W_value;                /* '<S58>/Multiply' */\r\n  const double W_Value_for_Brake;      /* '<S58>/Multiply4' */\r\n} ConstB_ADM_Integrated_Logic_T;\r\n\r\n/* External inputs (root inport signals with default storage) */\r\ntypedef struct {\r\n  double GV_MCU_RPM;                   /* '<Root>/GV_MCU_RPM' */\r\n  double GV_BrakeTorqueCommand;        /* '<Root>/GV_BrakeTorqueCommand' */\r\n  double GV_IMU_AX_Val;                /* '<Root>/GV_IMU_AX_Val' */\r\n  double GV_IMU_AY_Val;                /* '<Root>/GV_IMU_AY_Val' */\r\n  double GV_IMU_AZ_Val;                /* '<Root>/GV_IMU_AZ_Val' */\r\n  double GV_IMU_PitchRtVal;            /* '<Root>/GV_IMU_PitchRtVal' */\r\n  double GV_Vx_Command;                /* '<Root>/GV_Vx_Command' */\r\n  double GV_VCU_GearSelStat;           /* '<Root>/GV_VCU_GearSelStat' */\r\n  double GV_MCU_EstTrq;                /* '<Root>/GV_MCU_EstTrq' */\r\n  double GV_Vx_Limit;                  /* '<Root>/GV_Vx_Limit' */\r\n  double GV_Vx_Fbk;                    /* '<Root>/GV_Vx_Fbk' */\r\n  double GV_RWA_RackAngleCommand;      /* '<Root>/GV_RWA_RackAngleCommand' */\r\n  double GV_RWS_RackAngleCommand;      /* '<Root>/GV_RWS_RackAngleCommand' */\r\n  double GV_Drive_Mode;                /* '<Root>/GV_Drive_Mode' */\r\n  double GV_ACU_Fault_Flag;            /* '<Root>/GV_ACU_Fault_Flag' */\r\n  double GV_MCU_Actuator_Fault_Flag;   /* '<Root>/GV_MCU_Actuator_Fault_Flag' */\r\n  double GV_IDB_ECU_Fault_Flag;        /* '<Root>/GV_IDB_ECU_Fault_Flag' */\r\n  double GV_RCU_ECU_Fault_Flag;        /* '<Root>/GV_RCU_ECU_Fault_Flag' */\r\n  double GV_RWA1_ECU_Fault_Flag;       /* '<Root>/GV_RWA1_ECU_Fault_Flag' */\r\n  double GV_RWA2_ECU_Fault_Flag;       /* '<Root>/GV_RWA2_ECU_Fault_Flag' */\r\n  double GV_RWA_Actuator_Fault;        /* '<Root>/GV_RWA_Actuator_Fault' */\r\n  double GV_ACU_ECU_Fault_Flag;        /* '<Root>/GV_ACU_ECU_Fault_Flag' */\r\n  double GV_ACU_ECU_Fault_Flag1;       /* '<Root>/GV_ACU_ECU_Fault_Flag1' */\r\n  double GV_ACU_ECU_Fault_Flag2;       /* '<Root>/GV_ACU_ECU_Fault_Flag2' */\r\n  double GV_ACU_ECU_Fault_Flag3;       /* '<Root>/GV_ACU_ECU_Fault_Flag3' */\r\n  double GV_Drive_ACC_Cmd;             /* '<Root>/GV_Drive_ACC_Cmd' */\r\n  double GV_VCU_AccControlFlag;        /* '<Root>/GV_VCU_AccControlFlag' */\r\n  double GV_VCU_Acc_Limit;             /* '<Root>/GV_VCU_Acc_Limit' */\r\n} ExtU_ADM_Integrated_Logic_T;\r\n\r\n/* External outputs (root outports fed by signals with default storage) */\r\ntypedef struct {\r\n  double GV_Brake_Command;             /* '<Root>/GV_Brake_Command' */\r\n  double GV_Master_Rack_Angle_Cmd;     /* '<Root>/GV_Master_Rack_Angle_Cmd' */\r\n  double GV_Hill_Torque_Assist;        /* '<Root>/GV_Hill_Torque_Assist' */\r\n  double GV_Motor_Torque_Cmd;          /* '<Root>/GV_Motor_Torque_Cmd' */\r\n  double Debug_HAC_FLAG;               /* '<Root>/Debug_HAC_FLAG' */\r\n  double Debug_HAC_RPM_Decision;       /* '<Root>/Debug_HAC_RPM_Decision' */\r\n  double Debug_HAC_Pitch_angle;        /* '<Root>/Debug_HAC_Pitch_angle' */\r\n  double Debug_HAC_Brake_Output;       /* '<Root>/Debug_HAC_Brake_Output' */\r\n  double Debug_CC_Brake_Output;        /* '<Root>/Debug_CC_Brake_Output' */\r\n  double Debug_AccControl_TorqueCmd;   /* '<Root>/Debug_AccControl_TorqueCmd' */\r\n  double GV_RWS_RackAngleCmd1;         /* '<Root>/GV_RWS_RackAngleCmd1' */\r\n  double GV_Speed_Limit;               /* '<Root>/GV_Speed_Limit' */\r\n  double GV_Gear_Postion_Out;          /* '<Root>/GV_Gear_Postion_Out' */\r\n  double Act_Fault_Exist;              /* '<Root>/Act_Fault_Exist' */\r\n  double Target_RWA_Out;               /* '<Root>/Target_RWA_Out' */\r\n  double Target_IDB_Out;               /* '<Root>/Target_IDB_Out' */\r\n  double Target_MCU_Out;               /* '<Root>/Target_MCU_Out' */\r\n  double GV_VCU_EstMass;               /* '<Root>/GV_VCU_EstMass' */\r\n  double GV_VCU_EstMassFlag;           /* '<Root>/GV_VCU_EstMassFlag' */\r\n} ExtY_ADM_Integrated_Logic_T;\r\n\r\n/* Real-time Model Data Structure */\r\nstruct tag_RTM_ADM_Integrated_Logic_T {\r\n  const char * volatile errorStatus;\r\n};\r\n\r\n/* Block signals and states (default storage) */\r\nextern DW_ADM_Integrated_Logic_T ADM_Integrated_Logic_DW;\r\n\r\n/* External inputs (root inport signals with default storage) */\r\nextern ExtU_ADM_Integrated_Logic_T ADM_Integrated_Logic_U;\r\n\r\n/* External outputs (root outports fed by signals with default storage) */\r\nextern ExtY_ADM_Integrated_Logic_T ADM_Integrated_Logic_Y;\r\nextern const ConstB_ADM_Integrated_Logic_T ADM_Integrated_Logic_ConstB;/* constant block i/o */\r\n\r\n/* Model entry point functions */\r\nextern void ADM_Integrated_Logic_initialize(void);\r\nextern void ADM_Integrated_Logic_step(void);\r\n\r\n/* Real-time Model object */\r\nextern RT_MODEL_ADM_Integrated_Logic_T *const ADM_Integrated_Logic_M;\r\n\r\n/*-\r\n * These blocks were eliminated from the model due to optimizations:\r\n *\r\n * Block '<S2>/Fault' : Unused code path elimination\r\n * Block '<S2>/Input_Acc_RateLimiter' : Unused code path elimination\r\n * Block '<S2>/Non_Fault' : Unused code path elimination\r\n * Block '<S2>/Product' : Unused code path elimination\r\n * Block '<S27>/Data Type Duplicate' : Unused code path elimination\r\n * Block '<S27>/Data Type Propagation' : Unused code path elimination\r\n * Block '<S2>/Switch' : Unused code path elimination\r\n * Block '<S31>/Data Type Duplicate' : Unused code path elimination\r\n * Block '<S35>/BW_PI' : Unused code path elimination\r\n * Block '<S35>/Constant1' : Unused code path elimination\r\n * Block '<S35>/Constant16' : Unused code path elimination\r\n * Block '<S35>/Constant17' : Unused code path elimination\r\n * Block '<S35>/Constant2' : Unused code path elimination\r\n * Block '<S58>/Brake_Saturation' : Unused code path elimination\r\n * Block '<S58>/Multiply5' : Unused code path elimination\r\n * Block '<S58>/Radius1' : Unused code path elimination\r\n * Block '<S64>/FixPt Data Type Duplicate' : Unused code path elimination\r\n * Block '<S69>/Data Type Duplicate' : Unused code path elimination\r\n * Block '<S69>/Data Type Propagation' : Unused code path elimination\r\n * Block '<S65>/FixPt Data Type Duplicate' : Unused code path elimination\r\n * Block '<S70>/Data Type Duplicate' : Unused code path elimination\r\n * Block '<S70>/Data Type Propagation' : Unused code path elimination\r\n * Block '<S11>/Scope2' : Unused code path elimination\r\n * Block '<S23>/FixPt Data Type Duplicate' : Unused code path elimination\r\n * Block '<S71>/Data Type Duplicate' : Unused code path elimination\r\n * Block '<S71>/Data Type Propagation' : Unused code path elimination\r\n * Block '<S24>/FixPt Data Type Duplicate' : Unused code path elimination\r\n * Block '<S72>/Data Type Duplicate' : Unused code path elimination\r\n * Block '<S72>/Data Type Propagation' : Unused code path elimination\r\n * Block '<S6>/ControlFlag' : Eliminated nontunable gain of 1\r\n * Block '<S35>/FBGain' : Eliminated nontunable gain of 1\r\n * Block '<S46>/FFGain' : Eliminated nontunable gain of 1\r\n * Block '<S1>/Data Type Conversion1' : Eliminate redundant data type conversion\r\n * Block '<S1>/Data Type Conversion3' : Eliminate redundant data type conversion\r\n * Block '<S58>/HAC_Gain' : Eliminated nontunable gain of 1\r\n * Block '<S64>/Zero-Order Hold' : Eliminated since input and output rates are identical\r\n * Block '<S65>/Zero-Order Hold' : Eliminated since input and output rates are identical\r\n * Block '<S23>/Zero-Order Hold' : Eliminated since input and output rates are identical\r\n * Block '<S24>/Zero-Order Hold' : Eliminated since input and output rates are identical\r\n * Block '<S1>/Constant5' : Unused code path elimination\r\n */\r\n\r\n/*-\r\n * The generated code includes comments that allow you to trace directly\r\n * back to the appropriate location in the model.  The basic format\r\n * is <system>/block_name, where system is the system number (uniquely\r\n * assigned by Simulink) and block_name is the name of the block.\r\n *\r\n * Use the MATLAB hilite_system command to trace the generated code back\r\n * to the model.  For example,\r\n *\r\n * hilite_system('<S3>')    - opens system 3\r\n * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3\r\n *\r\n * Here is the system hierarchy for this model\r\n *\r\n * '<Root>' : 'ADM_Integrated_Logic'\r\n * '<S1>'   : 'ADM_Integrated_Logic/Delivery_Mobility'\r\n * '<S2>'   : 'ADM_Integrated_Logic/Delivery_Mobility/Acc_Logic'\r\n * '<S3>'   : 'ADM_Integrated_Logic/Delivery_Mobility/Acceleration_Control'\r\n * '<S4>'   : 'ADM_Integrated_Logic/Delivery_Mobility/Actuator_Fault_Decision'\r\n * '<S5>'   : 'ADM_Integrated_Logic/Delivery_Mobility/Compare To Constant'\r\n * '<S6>'   : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1'\r\n * '<S7>'   : 'ADM_Integrated_Logic/Delivery_Mobility/Emergency_Brake_Func'\r\n * '<S8>'   : 'ADM_Integrated_Logic/Delivery_Mobility/Emergency_Motor_Func'\r\n * '<S9>'   : 'ADM_Integrated_Logic/Delivery_Mobility/Enabled Subsystem'\r\n * '<S10>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Gear_Position'\r\n * '<S11>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1'\r\n * '<S12>'  : 'ADM_Integrated_Logic/Delivery_Mobility/IDB_Fault_Injection'\r\n * '<S13>'  : 'ADM_Integrated_Logic/Delivery_Mobility/LPFM5'\r\n * '<S14>'  : 'ADM_Integrated_Logic/Delivery_Mobility/MATLAB Function'\r\n * '<S15>'  : 'ADM_Integrated_Logic/Delivery_Mobility/MATLAB Function1'\r\n * '<S16>'  : 'ADM_Integrated_Logic/Delivery_Mobility/MATLAB Function2'\r\n * '<S17>'  : 'ADM_Integrated_Logic/Delivery_Mobility/MATLAB Function3'\r\n * '<S18>'  : 'ADM_Integrated_Logic/Delivery_Mobility/MATLAB Function4'\r\n * '<S19>'  : 'ADM_Integrated_Logic/Delivery_Mobility/MATLAB Function5'\r\n * '<S20>'  : 'ADM_Integrated_Logic/Delivery_Mobility/MATLAB Function6'\r\n * '<S21>'  : 'ADM_Integrated_Logic/Delivery_Mobility/MCU_Fault_Injection'\r\n * '<S22>'  : 'ADM_Integrated_Logic/Delivery_Mobility/RWA_Actuator_Fault_Injection'\r\n * '<S23>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Rate Limiter Dynamic'\r\n * '<S24>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Rate Limiter Dynamic1'\r\n * '<S25>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Vx_Logic'\r\n * '<S26>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Acc_Logic/Acc_OutPut_Function'\r\n * '<S27>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Acc_Logic/Saturation Dynamic'\r\n * '<S28>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Acceleration_Control/Controller'\r\n * '<S29>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Acceleration_Control/MATLAB Function'\r\n * '<S30>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Acceleration_Control/MATLAB Function1'\r\n * '<S31>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Acceleration_Control/Controller/Discrete Derivative'\r\n * '<S32>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Acceleration_Control/Controller/MATLAB Function'\r\n * '<S33>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB'\r\n * '<S34>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB_Gain'\r\n * '<S35>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller'\r\n * '<S36>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/GearCondition_Brake'\r\n * '<S37>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/Gear_pos_out'\r\n * '<S38>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/LPFM'\r\n * '<S39>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/Target_RPM'\r\n * '<S40>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Dot3'\r\n * '<S41>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Dot4'\r\n * '<S42>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Dot5'\r\n * '<S43>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/LPFM'\r\n * '<S44>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/DOB/Second order LPF'\r\n * '<S45>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FB'\r\n * '<S46>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF'\r\n * '<S47>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FB/P'\r\n * '<S48>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Dot'\r\n * '<S49>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Dot2'\r\n * '<S50>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Dot3'\r\n * '<S51>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/LPFM'\r\n * '<S52>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Cruise_Control1/FF_PID_Controller/FF/Second order LPF'\r\n * '<S53>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Enabled Subsystem/MATLAB Function'\r\n * '<S54>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Gear_Position/Compare To Constant'\r\n * '<S55>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Gear_Position/Gear_FUNCTION1'\r\n * '<S56>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Chart'\r\n * '<S57>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/HAC_OFF_OK_Func'\r\n * '<S58>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2'\r\n * '<S59>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM'\r\n * '<S60>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM1'\r\n * '<S61>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM2'\r\n * '<S62>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/LPFM3'\r\n * '<S63>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Pitch_calculate'\r\n * '<S64>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic'\r\n * '<S65>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic1'\r\n * '<S66>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2/Calculate_F_R'\r\n * '<S67>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2/Calculate_F_c'\r\n * '<S68>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Hill_Required_Torque2/Calculate_F_c1'\r\n * '<S69>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic/Saturation Dynamic'\r\n * '<S70>'  : 'ADM_Integrated_Logic/Delivery_Mobility/HAC_Logic1/Rate Limiter Dynamic1/Saturation Dynamic'\r\n * '<S71>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Rate Limiter Dynamic/Saturation Dynamic'\r\n * '<S72>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Rate Limiter Dynamic1/Saturation Dynamic'\r\n * '<S73>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Vx_Logic/Compare To Constant'\r\n * '<S74>'  : 'ADM_Integrated_Logic/Delivery_Mobility/Vx_Logic/Vx_OutPut_Function'\r\n */\r\n\r\n/*-\r\n * Requirements for '<Root>': ADM_Integrated_Logic\r\n\r\n */\r\n#endif                                 /* ADM_Integrated_Logic_h_ */\r\n\r\n/*\r\n * File trailer for generated code.\r\n *\r\n * [EOF]\r\n */\r\n"},{"name":"ADM_Integrated_Logic_data.c","type":"source","group":"data","path":"C:\\Users\\MSI\\Documents\\WorkSpace\\git\\ADM\\[ADM] Integrated Logic\\ADM_Integrated_Logic_ert_rtw","tag":"","groupDisplay":"Data files","code":"/*\r\n * Academic License - for use in teaching, academic research, and meeting\r\n * course requirements at degree granting institutions only.  Not for\r\n * government, commercial, or other organizational use.\r\n *\r\n * File: ADM_Integrated_Logic_data.c\r\n *\r\n * Code generated for Simulink model 'ADM_Integrated_Logic'.\r\n *\r\n * Model version                  : 14.98\r\n * Simulink Coder version         : 24.2 (R2024b) 21-Jun-2024\r\n * C/C++ source code generated on : Tue Oct 21 13:14:18 2025\r\n *\r\n * Target selection: ert.tlc\r\n * Embedded hardware selection: NXP->Cortex-M4\r\n * Code generation objectives:\r\n *    1. Execution efficiency\r\n *    2. RAM efficiency\r\n *    3. Debugging\r\n * Validation result: Not run\r\n */\r\n\r\n#include \"ADM_Integrated_Logic.h\"\r\n\r\n/* Invariant block signals (default storage) */\r\nconst ConstB_ADM_Integrated_Logic_T ADM_Integrated_Logic_ConstB = {\r\n  12753.0,                             /* '<S58>/Multiply' */\r\n  12753.0                              /* '<S58>/Multiply4' */\r\n};\r\n\r\n/*\r\n * File trailer for generated code.\r\n *\r\n * [EOF]\r\n */\r\n"}],"coverage":[{"id":"SimulinkCoverage","name":"Simulink Coverage","files":[]},{"id":"Bullseye","name":"Bullseye Coverage","files":[]},{"id":"LDRA","name":"LDRA Testbed","files":[]}],"features":{"annotation":false,"coverage":true,"profiling":true,"tooltip":true,"coverageTooltip":true,"showJustificationLinks":true,"useMWTable":false,"showProfilingInfo":true,"showTaskSummary":true,"showProtectedV2Report":true}};