Emergency_Stop_Mode_Func.part.0 ()
{
  <bb 4> [local count: 1073741824]:

  <bb 2> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_Out_Lamp_BRAKE_CMD = 0;
  # DEBUG BEGIN_STMT
  GV_Out_Lamp_Hazard_CMD = 0;
  # DEBUG BEGIN_STMT
  GV_VCU_RC_Emergency_Stop = 0;
  # DEBUG BEGIN_STMT
  GV_VCU_Drive_Mode = 3;

  <bb 3> [local count: 1073741824]:
  return;

}


Operation_Mode_Func ()
{
  unsigned char GV_Operation_Mode.42_1;

  <bb 2> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  Operation_IDB_RWA ();
  # DEBUG BEGIN_STMT
  Vehicle_Environment ();
  # DEBUG BEGIN_STMT
  Operation_Mode_Check ();
  # DEBUG BEGIN_STMT
  GV_Operation_Mode.42_1 = GV_Operation_Mode;
  if (GV_Operation_Mode.42_1 == 0)
    goto <bb 3>; [33.00%]
  else
    goto <bb 4>; [67.00%]

  <bb 3> [local count: 354334802]:
  # DEBUG BEGIN_STMT
  Autonomous_Mode_Func ();
  goto <bb 10>; [100.00%]

  <bb 4> [local count: 719407023]:
  # DEBUG BEGIN_STMT
  if (GV_Operation_Mode.42_1 == 1)
    goto <bb 5>; [20.24%]
  else
    goto <bb 6>; [79.76%]

  <bb 5> [local count: 145607981]:
  # DEBUG BEGIN_STMT
  Mannual_Mode_Func ();
  goto <bb 10>; [100.00%]

  <bb 6> [local count: 573799041]:
  # DEBUG BEGIN_STMT
  if (GV_Operation_Mode.42_1 == 2)
    goto <bb 7>; [20.24%]
  else
    goto <bb 8>; [79.76%]

  <bb 7> [local count: 116136926]:
  # DEBUG BEGIN_STMT
  Emergency_Stop_Mode_Func ();
  goto <bb 10>; [100.00%]

  <bb 8> [local count: 457662114]:
  # DEBUG BEGIN_STMT
  if (GV_Operation_Mode.42_1 == 3)
    goto <bb 9>; [20.24%]
  else
    goto <bb 10>; [79.76%]

  <bb 9> [local count: 92630812]:
  # DEBUG BEGIN_STMT
  Default_Mode_Func ();

  <bb 10> [local count: 1073741824]:
  return;

}


Vehicle_Environment ()
{
  <bb 2> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_Env_384_EnvironmentTemperature = 0;
  # DEBUG BEGIN_STMT
  GV_Env_384_EnvironmentTemperatureValid = 0;
  # DEBUG BEGIN_STMT
  GV_Env_384_TimestampDay = 21;
  # DEBUG BEGIN_STMT
  GV_Env_384_TimestampHour = 0;
  # DEBUG BEGIN_STMT
  GV_Env_384_TimestampMinute = 0;
  # DEBUG BEGIN_STMT
  GV_Env_384_TimestampMonth = 6;
  # DEBUG BEGIN_STMT
  GV_Env_384_TimestampSecond = 0;
  # DEBUG BEGIN_STMT
  GV_Env_384_TimestampYear = 24;
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  # DEBUG BEGIN_STMT
  return;

}


Operation_IDB_RWA ()
{
  float GV_VCU_TrqCmd.39_1;
  long unsigned int _2;
  long unsigned int GV_VCU_GearSelStat.40_3;

  <bb 2> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_VCU_TrqCmd.39_1 = GV_VCU_TrqCmd;
  _2 = (long unsigned int) GV_VCU_TrqCmd.39_1;
  GV_DriveTorqueCommand = _2;
  # DEBUG BEGIN_STMT
  GV_DriveTorqueCommandValid = 1;
  # DEBUG BEGIN_STMT
  GV_PowertrainMode = 1;
  # DEBUG BEGIN_STMT
  GV_VCU_GearSelStat.40_3 = GV_VCU_GearSelStat;
  GV_GearPosition = GV_VCU_GearSelStat.40_3;
  # DEBUG BEGIN_STMT
  GV_RCU_PowertrainMode = 1;
  # DEBUG BEGIN_STMT
  GV_RCU_GearPosition = GV_VCU_GearSelStat.40_3;
  # DEBUG BEGIN_STMT
  GV_IDB_032_WakeUpCommand = 1;
  # DEBUG BEGIN_STMT
  GV_RCU_033_WakeUpCommand = 1;
  # DEBUG BEGIN_STMT
  GV_RWA_040_RackAngleCmdValid = 1;
  # DEBUG BEGIN_STMT
  GV_RWA2_040_RackAngleCmdValid = 1;
  # DEBUG BEGIN_STMT
  GV_RWA_310_ModeCommand = 1;
  # DEBUG BEGIN_STMT
  GV_RWA_310_WakeupCommand = 1;
  # DEBUG BEGIN_STMT
  GV_RWA2_310_ModeCommand = 0;
  # DEBUG BEGIN_STMT
  GV_RWA2_310_WakeupCommand = 0;
  # DEBUG BEGIN_STMT
  GV_RWS1_040_RackAngleCmdValid = 1;
  # DEBUG BEGIN_STMT
  GV_RWS1_310_WakeupCommand = 1;
  # DEBUG BEGIN_STMT
  GV_RWS1_310_ModeCommand = 1;
  # DEBUG BEGIN_STMT
  GV_RWS2_040_RackAngleCmdValid = 1;
  # DEBUG BEGIN_STMT
  GV_RWS2_310_WakeupCommand = 0;
  # DEBUG BEGIN_STMT
  GV_RWS2_310_ModeCommand = 0;
  return;

}


Emergency_Stop_Mode_Func ()
{
  short unsigned int EMEMERGNECY_BUTTEN.35_1;
  long unsigned int GV_RC_Emergency_Stop.36_2;
  long unsigned int GV_ACU_Emergency_Stop.37_3;
  long unsigned int GV_RC_ALV_FLAG.38_4;

  <bb 2> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_Out_Lamp_BRAKE_CMD = 2;
  # DEBUG BEGIN_STMT
  GV_Out_Lamp_Hazard_CMD = 2;
  # DEBUG BEGIN_STMT
  GV_VCU_RC_Emergency_Stop = 1;
  # DEBUG BEGIN_STMT
  HV_OFF_FUNC ();
  # DEBUG BEGIN_STMT
  GV_VCU_TrqCmd = 0.0;
  # DEBUG BEGIN_STMT
  EMEMERGNECY_BUTTEN.35_1 = EMEMERGNECY_BUTTEN;
  if (EMEMERGNECY_BUTTEN.35_1 == 0)
    goto <bb 3>; [50.00%]
  else
    goto <bb 7>; [50.00%]

  <bb 3> [local count: 536870913]:
  GV_RC_Emergency_Stop.36_2 = GV_RC_Emergency_Stop;
  if (GV_RC_Emergency_Stop.36_2 == 0)
    goto <bb 4>; [50.00%]
  else
    goto <bb 7>; [50.00%]

  <bb 4> [local count: 268435456]:
  GV_ACU_Emergency_Stop.37_3 = GV_ACU_Emergency_Stop;
  if (GV_ACU_Emergency_Stop.37_3 == 0)
    goto <bb 5>; [50.00%]
  else
    goto <bb 7>; [50.00%]

  <bb 5> [local count: 134217728]:
  GV_RC_ALV_FLAG.38_4 = GV_RC_ALV_FLAG;
  if (GV_RC_ALV_FLAG.38_4 == 0)
    goto <bb 6>; [50.00%]
  else
    goto <bb 7>; [50.00%]

  <bb 6> [local count: 67108864]:
  Emergency_Stop_Mode_Func.part.0 ();

  <bb 7> [local count: 1073741824]:
  return;

}


Mannual_Mode_Func ()
{
  float GV_RC_RWA_RackAngleCommand.21_1;
  double _2;
  long unsigned int GV_Tunning_Slewrate.22_3;
  double _4;
  float GV_VCU_Vx_Fbk.23_5;
  double _6;
  double _7;
  double _8;
  double _9;
  double _10;
  float _11;
  float GV_RWA1_RackAngleFbk.28_12;
  float GV_SpeedGoat_BrakeTorqueCommand_master.29_13;
  float GV_RC_BrakeTorqueCommand.31_14;
  long unsigned int GV_RC_GearSelStat.32_15;
  long unsigned int GV_RC_Emergency_Stop.33_16;
  long unsigned int GV_RC_VX_Limit.34_17;

  <bb 2> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  HV_ON_FUNC ();
  # DEBUG BEGIN_STMT
  GV_RC_RWA_RackAngleCommand.21_1 = GV_RC_RWA_RackAngleCommand;
  _2 = (double) GV_RC_RWA_RackAngleCommand.21_1;
  RateLimiter_U.Data_Input = _2;
  # DEBUG BEGIN_STMT
  GV_Tunning_Slewrate.22_3 = GV_Tunning_Slewrate;
  _4 = (double) GV_Tunning_Slewrate.22_3;
  GV_VCU_Vx_Fbk.23_5 = GV_VCU_Vx_Fbk;
  _6 = (double) GV_VCU_Vx_Fbk.23_5;
  _7 = _6 * 6.5e+0;
  _8 = _4 - _7;
  _9 = -_8;
  RateLimiter_U.Down_Slewrate = _9;
  # DEBUG BEGIN_STMT
  if (_9 > -1.4e+2)
    goto <bb 3>; [50.00%]
  else
    goto <bb 4>; [50.00%]

  <bb 3> [local count: 536870913]:
  # DEBUG BEGIN_STMT
  RateLimiter_U.Down_Slewrate = -1.4e+2;

  <bb 4> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  RateLimiter_U.Upper_Slewrate = _8;
  # DEBUG BEGIN_STMT
  if (_8 < 1.4e+2)
    goto <bb 5>; [50.00%]
  else
    goto <bb 6>; [50.00%]

  <bb 5> [local count: 536870913]:
  # DEBUG BEGIN_STMT
  RateLimiter_U.Upper_Slewrate = 1.4e+2;

  <bb 6> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  RateLimiter_step ();
  # DEBUG BEGIN_STMT
  _10 = RateLimiter_Y.Data_Output;
  _11 = (float) _10;
  GV_MASTER_RWA_RackAngleCommand = _11;
  # DEBUG BEGIN_STMT
  GV_RWA_040_RackAngleCmd = _11;
  # DEBUG BEGIN_STMT
  GV_RWA2_040_RackAngleCmd = _11;
  # DEBUG BEGIN_STMT
  GV_RWS1_040_RackAngleCmd = 0.0;
  # DEBUG BEGIN_STMT
  GV_RWS2_040_RackAngleCmd = 0.0;
  # DEBUG BEGIN_STMT
  Set_RC_VCU_Dynamics_logic ();
  # DEBUG BEGIN_STMT
  GV_RWA1_RackAngleFbk.28_12 = GV_RWA1_RackAngleFbk;
  GV_VCU_RWA_Rack_Fbk = GV_RWA1_RackAngleFbk.28_12;
  # DEBUG BEGIN_STMT
  BREAK_Speed ();
  # DEBUG BEGIN_STMT
  GV_SpeedGoat_BrakeTorqueCommand_master.29_13 = GV_SpeedGoat_BrakeTorqueCommand_master;
  if (GV_SpeedGoat_BrakeTorqueCommand_master.29_13 != 0.0)
    goto <bb 7>; [50.00%]
  else
    goto <bb 8>; [50.00%]

  <bb 7> [local count: 536870913]:
  # DEBUG BEGIN_STMT
  GV_BrakeTorqueCommand = GV_SpeedGoat_BrakeTorqueCommand_master.29_13;
  goto <bb 9>; [100.00%]

  <bb 8> [local count: 536870913]:
  # DEBUG BEGIN_STMT
  GV_RC_BrakeTorqueCommand.31_14 = GV_RC_BrakeTorqueCommand;
  GV_BrakeTorqueCommand = GV_RC_BrakeTorqueCommand.31_14;

  <bb 9> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_RC_GearSelStat.32_15 = GV_RC_GearSelStat;
  GV_VCU_GearSelStat = GV_RC_GearSelStat.32_15;
  # DEBUG BEGIN_STMT
  GV_RC_Emergency_Stop.33_16 = GV_RC_Emergency_Stop;
  if (GV_RC_Emergency_Stop.33_16 != 1)
    goto <bb 10>; [66.00%]
  else
    goto <bb 11>; [34.00%]

  <bb 10> [local count: 708669605]:
  # DEBUG BEGIN_STMT
  GV_VCU_RC_Emergency_Stop = 0;

  <bb 11> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_RC_VX_Limit.34_17 = GV_RC_VX_Limit;
  GV_VCU_Vx_Limit = GV_RC_VX_Limit.34_17;
  return;

}


Autonomous_Mode_Func ()
{
  float GV_ACU_RWA_cmd_deg.15_1;
  float GV_ACU_RWS_cmd_deg.16_2;
  long unsigned int GV_VCU_GearSelStat.17_3;
  long unsigned int GV_ACU_VCU_GearPos.19_4;
  float GV_ACU_BrakeTorqueCommand.20_5;

  <bb 2> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  HV_ON_FUNC ();
  # DEBUG BEGIN_STMT
  GV_ACU_RWA_cmd_deg.15_1 = GV_ACU_RWA_cmd_deg;
  GV_MASTER_RWA_RackAngleCommand = GV_ACU_RWA_cmd_deg.15_1;
  # DEBUG BEGIN_STMT
  GV_ACU_RWS_cmd_deg.16_2 = GV_ACU_RWS_cmd_deg;
  GV_MASTER_RWS_RackAngleCommand = GV_ACU_RWS_cmd_deg.16_2;
  # DEBUG BEGIN_STMT
  GV_VCU_GearSelStat.17_3 = GV_VCU_GearSelStat;
  if (GV_VCU_GearSelStat.17_3 == 1)
    goto <bb 4>; [20.24%]
  else
    goto <bb 3>; [79.76%]

  <bb 3> [local count: 856416480]:
  if (GV_VCU_GearSelStat.17_3 == 3)
    goto <bb 4>; [34.00%]
  else
    goto <bb 5>; [66.00%]

  <bb 4> [local count: 508506948]:
  # DEBUG BEGIN_STMT
  Set_ACU_VCU_Dynamics_logic ();

  <bb 5> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_VCU_RC_Emergency_Stop = 0;
  # DEBUG BEGIN_STMT
  GV_ACU_VCU_GearPos.19_4 = GV_ACU_VCU_GearPos;
  GV_VCU_GearSelStat = GV_ACU_VCU_GearPos.19_4;
  # DEBUG BEGIN_STMT
  GV_ACU_BrakeTorqueCommand.20_5 = GV_ACU_BrakeTorqueCommand;
  GV_BrakeTorqueCommand = GV_ACU_BrakeTorqueCommand.20_5;
  return;

}


Default_Mode_Func ()
{
  short unsigned int EMEMERGNECY_BUTTEN.13_1;
  long unsigned int GV_RC_Emergency_Stop.14_2;

  <bb 2> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_BrakeTorqueCommand = 0.0;
  # DEBUG BEGIN_STMT
  GV_VCU_TrqCmd = 0.0;
  # DEBUG BEGIN_STMT
  GV_MASTER_RWA_RackAngleCommand = 0.0;
  # DEBUG BEGIN_STMT
  GV_MASTER_RWS_RackAngleCommand = 0.0;
  # DEBUG BEGIN_STMT
  HV_OFF_FUNC ();
  # DEBUG BEGIN_STMT
  EMEMERGNECY_BUTTEN.13_1 = EMEMERGNECY_BUTTEN;
  if (EMEMERGNECY_BUTTEN.13_1 == 0)
    goto <bb 3>; [50.00%]
  else
    goto <bb 5>; [50.00%]

  <bb 3> [local count: 536870913]:
  GV_RC_Emergency_Stop.14_2 = GV_RC_Emergency_Stop;
  if (GV_RC_Emergency_Stop.14_2 == 0)
    goto <bb 4>; [50.00%]
  else
    goto <bb 5>; [50.00%]

  <bb 4> [local count: 268435456]:
  # DEBUG BEGIN_STMT
  GV_Out_Lamp_BRAKE_CMD = 0;
  # DEBUG BEGIN_STMT
  GV_Out_Lamp_Hazard_CMD = 0;
  # DEBUG BEGIN_STMT
  GV_RC_Lamp_Hazard_CMD = 0;
  # DEBUG BEGIN_STMT
  GV_RC_Lamp_BRAKE_CMD = 0;

  <bb 5> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_VCU_RC_Emergency_Stop = 0;
  return;

}


Operation_Mode_Check ()
{
  long unsigned int GV_RC_Emergency_Stop.0_1;
  short unsigned int EMEMERGNECY_BUTTEN.1_2;
  long unsigned int GV_ACU_Emergency_Stop.2_3;
  long unsigned int GV_ACU_Drive_mode.3_4;
  long unsigned int GV_VCU_Drive_Mode.4_5;
  long unsigned int GV_RC_Drive_Mode.5_6;
  long unsigned int GV_VCU_Drive_Mode.6_7;
  long unsigned int GV_VCU_Drive_Mode.8_8;
  long unsigned int GV_VCU_Drive_Mode.10_9;
  long unsigned int GV_VCU_Drive_Mode.11_10;
  unsigned char _11;
  unsigned char GV_Charging_Status_val.12_12;
  unsigned char _13;

  <bb 2> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_RC_Emergency_Stop.0_1 = GV_RC_Emergency_Stop;
  if (GV_RC_Emergency_Stop.0_1 == 1)
    goto <bb 5>; [34.00%]
  else
    goto <bb 3>; [66.00%]

  <bb 3> [local count: 708669605]:
  EMEMERGNECY_BUTTEN.1_2 = EMEMERGNECY_BUTTEN;
  if (EMEMERGNECY_BUTTEN.1_2 == 1)
    goto <bb 5>; [34.00%]
  else
    goto <bb 4>; [66.00%]

  <bb 4> [local count: 467721939]:
  GV_ACU_Emergency_Stop.2_3 = GV_ACU_Emergency_Stop;
  if (GV_ACU_Emergency_Stop.2_3 == 1)
    goto <bb 5>; [34.00%]
  else
    goto <bb 6>; [66.00%]

  <bb 5> [local count: 765045346]:
  # DEBUG BEGIN_STMT
  GV_VCU_Drive_Mode = 2;
  goto <bb 18>; [100.00%]

  <bb 6> [local count: 308696480]:
  # DEBUG BEGIN_STMT
  GV_ACU_Drive_mode.3_4 = GV_ACU_Drive_mode;
  if (GV_ACU_Drive_mode.3_4 == 1)
    goto <bb 7>; [34.00%]
  else
    goto <bb 9>; [66.00%]

  <bb 7> [local count: 104956803]:
  GV_VCU_Drive_Mode.4_5 = GV_VCU_Drive_Mode;
  if (GV_VCU_Drive_Mode.4_5 == 3)
    goto <bb 8>; [34.00%]
  else
    goto <bb 9>; [66.00%]

  <bb 8> [local count: 35685313]:
  # DEBUG BEGIN_STMT
  GV_VCU_Drive_Mode = 0;
  goto <bb 18>; [100.00%]

  <bb 9> [local count: 273011167]:
  # DEBUG BEGIN_STMT
  GV_RC_Drive_Mode.5_6 = GV_RC_Drive_Mode;
  if (GV_RC_Drive_Mode.5_6 == 1)
    goto <bb 10>; [34.00%]
  else
    goto <bb 12>; [66.00%]

  <bb 10> [local count: 92823797]:
  GV_VCU_Drive_Mode.6_7 = GV_VCU_Drive_Mode;
  if (GV_VCU_Drive_Mode.6_7 == 3)
    goto <bb 11>; [34.00%]
  else
    goto <bb 12>; [66.00%]

  <bb 11> [local count: 31560091]:
  # DEBUG BEGIN_STMT
  GV_VCU_Drive_Mode = 1;
  goto <bb 18>; [100.00%]

  <bb 12> [local count: 241451076]:
  # DEBUG BEGIN_STMT
  if (GV_ACU_Drive_mode.3_4 == 0)
    goto <bb 13>; [50.00%]
  else
    goto <bb 15>; [50.00%]

  <bb 13> [local count: 120725538]:
  GV_VCU_Drive_Mode.8_8 = GV_VCU_Drive_Mode;
  if (GV_VCU_Drive_Mode.8_8 == 0)
    goto <bb 14>; [50.00%]
  else
    goto <bb 15>; [50.00%]

  <bb 14> [local count: 60362769]:
  # DEBUG BEGIN_STMT
  GV_VCU_Drive_Mode = 3;
  goto <bb 18>; [100.00%]

  <bb 15> [local count: 181088307]:
  # DEBUG BEGIN_STMT
  if (GV_RC_Drive_Mode.5_6 == 0)
    goto <bb 16>; [50.00%]
  else
    goto <bb 18>; [50.00%]

  <bb 16> [local count: 90544153]:
  GV_VCU_Drive_Mode.10_9 = GV_VCU_Drive_Mode;
  if (GV_VCU_Drive_Mode.10_9 == 1)
    goto <bb 17>; [34.00%]
  else
    goto <bb 18>; [66.00%]

  <bb 17> [local count: 30785012]:
  # DEBUG BEGIN_STMT
  GV_VCU_Drive_Mode = 3;

  <bb 18> [local count: 1073741824]:
  # DEBUG BEGIN_STMT
  GV_VCU_Drive_Mode.11_10 = GV_VCU_Drive_Mode;
  _11 = (unsigned char) GV_VCU_Drive_Mode.11_10;
  GV_Operation_Mode = _11;
  # DEBUG BEGIN_STMT
  GV_Charging_Status_val.12_12 = GV_Charging_Status_val;
  _13 = GV_Charging_Status_val.12_12 + 255;
  if (_13 <= 1)
    goto <bb 19>; [41.00%]
  else
    goto <bb 20>; [59.00%]

  <bb 19> [local count: 440234147]:
  # DEBUG BEGIN_STMT
  GV_Operation_Mode = 3;

  <bb 20> [local count: 1073741823]:
  return;

}