/* * Academic License - for use in teaching, academic research, and meeting * course requirements at degree granting institutions only. Not for * government, commercial, or other organizational use. * * File: ADM_Integrated_Logic.c * * Code generated for Simulink model 'ADM_Integrated_Logic'. * * Model version : 14.12 * Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 * C/C++ source code generated on : Wed Oct 1 17:28:20 2025 * * Target selection: ert.tlc * Embedded hardware selection: NXP->Cortex-M4 * Code generation objectives: * 1. Execution efficiency * 2. RAM efficiency * 3. Debugging * Validation result: Not run */ #include "ADM_Integrated_Logic.h" #include #include #include /* Named constants for Chart: '/Chart' */ #define IN_HAC_OFF ((uint8_t)1U) #define IN_HAC_ON ((uint8_t)2U) /* Block signals and states (default storage) */ DW_ADM_Integrated_Logic_T ADM_Integrated_Logic_DW; /* External inputs (root inport signals with default storage) */ ExtU_ADM_Integrated_Logic_T ADM_Integrated_Logic_U; /* External outputs (root outports fed by signals with default storage) */ ExtY_ADM_Integrated_Logic_T ADM_Integrated_Logic_Y; /* Real-time model */ static RT_MODEL_ADM_Integrated_Logic_T ADM_Integrated_Logic_M_; RT_MODEL_ADM_Integrated_Logic_T *const ADM_Integrated_Logic_M = &ADM_Integrated_Logic_M_; static void ADM_Integrated_Lo_Calculate_F_c(double rtu_W, double rtu_theta, double *rty_F_c); static void ADM_Integrated__MATLABFunction1(double rtu_u, double *rty_y); static void ADM_Integrated__MATLABFunction2(double rtu_u, double *rty_y); /* * Output and update for atomic system: * '/Calculate_F_c' * '/Calculate_F_c1' */ static void ADM_Integrated_Lo_Calculate_F_c(double rtu_W, double rtu_theta, double *rty_F_c) { *rty_F_c = rtu_W * sin(rtu_theta); } /* * Output and update for atomic system: * '/MATLAB Function1' * '/MATLAB Function5' */ static void ADM_Integrated__MATLABFunction1(double rtu_u, double *rty_y) { *rty_y = rtu_u; if (rtu_u < 140.0) { *rty_y = 140.0; } } /* * Output and update for atomic system: * '/MATLAB Function2' * '/MATLAB Function6' */ static void ADM_Integrated__MATLABFunction2(double rtu_u, double *rty_y) { *rty_y = rtu_u; if (rtu_u > -140.0) { *rty_y = -140.0; } } /* Model step function */ void ADM_Integrated_Logic_step(void) { double rtb_Add3; double rtb_Add_e; double rtb_Brake_Saturation; double rtb_Brake_Torque_Cmd; double rtb_Error_m; double rtb_Gain_c; double rtb_Integrator_1; double rtb_Pitch_Angle; double rtb_Pitch_Saturation; double rtb_Product1_ee; double rtb_Product1_h; double rtb_Product1_j; double rtb_Product1_kq; double rtb_Product1_m; double rtb_Sum1_aj; double rtb_Sum1_i2; double rtb_Sum1_lm; double rtb_Sum1_o1; double rtb_Sum1_p; double rtb_Switch2; double rtb_TargetSpd_RateLimiter; double rtb_Target_RPM; double rtb_UkYk1_j; double rtb_Vx_Cmd_R; double rtb_deltafalllimit_a; double rtb_deltafalllimit_m; double rtb_y; double rtb_y_e_tmp; double rtb_y_k; int32_t tmp; bool rtb_Compare; bool rtb_Compare_d; /* RelationalOperator: '/Compare' incorporates: * Constant: '/Constant' * Inport: '/GV_Drive_Mode' */ rtb_Compare = (ADM_Integrated_Logic_U.GV_Drive_Mode == 2.0); /* MATLAB Function: '/Vx_OutPut_Function' incorporates: * Constant: '/Constant' * Inport: '/GV_BrakeTorqueCommand' * Inport: '/GV_Vx_Command' * Inport: '/GV_Vx_Limit' * RelationalOperator: '/Compare' */ if (!(ADM_Integrated_Logic_U.GV_BrakeTorqueCommand >= 50.0)) { if (ADM_Integrated_Logic_U.GV_Vx_Limit <= ADM_Integrated_Logic_U.GV_Vx_Command) { rtb_Add_e = ADM_Integrated_Logic_U.GV_Vx_Limit; } else { rtb_Add_e = ADM_Integrated_Logic_U.GV_Vx_Command; } } else { rtb_Add_e = 0.0; } /* Product: '/Product' incorporates: * MATLAB Function: '/Vx_OutPut_Function' * Switch: '/Switch' */ rtb_Pitch_Angle = rtb_Add_e * (double)!rtb_Compare; /* RateLimiter: '/Input_Vx_RateLimiter' */ rtb_TargetSpd_RateLimiter = rtb_Pitch_Angle - ADM_Integrated_Logic_DW.PrevY; if (rtb_TargetSpd_RateLimiter > 0.004) { rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.PrevY + 0.004; } else if (rtb_TargetSpd_RateLimiter < -0.008) { rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.PrevY - 0.008; } else { rtb_Vx_Cmd_R = rtb_Pitch_Angle; } ADM_Integrated_Logic_DW.PrevY = rtb_Vx_Cmd_R; /* End of RateLimiter: '/Input_Vx_RateLimiter' */ /* RelationalOperator: '/Compare' incorporates: * Constant: '/Constant' * Inport: '/GV_BrakeTorqueCommand' */ rtb_Compare_d = (ADM_Integrated_Logic_U.GV_BrakeTorqueCommand >= 100.0); /* Delay: '/Memory' */ rtb_Pitch_Angle = ADM_Integrated_Logic_DW.Memory_DSTATE; /* MATLAB Function: '/Gear_FUNCTION1' incorporates: * Inport: '/GV_VCU_GearSelStat' * Inport: '/GV_Vx_Fbk' */ if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 0.0) { if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && rtb_Compare_d) { rtb_Pitch_Angle = 0.0; } } else { switch ((int32_t)rtb_Pitch_Angle) { case 0: if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && ((ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 1.0) || (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 3.0) || (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0))) { rtb_Pitch_Angle = 2.0; } break; case 1: if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0) { rtb_Pitch_Angle = 2.0; } break; case 2: if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && rtb_Compare_d) { if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 1.0) { rtb_Pitch_Angle = 1.0; } else if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 3.0) { rtb_Pitch_Angle = 3.0; } } break; case 3: if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0) { rtb_Pitch_Angle = 2.0; } break; } } /* End of MATLAB Function: '/Gear_FUNCTION1' */ /* Chart: '/Chart' incorporates: * Constant: '/Constant' * Constant: '/Constant1' * Inport: '/GV_MCU_RPM' */ if (ADM_Integrated_Logic_DW.is_active_c6_ADM_Integrated_Log == 0) { ADM_Integrated_Logic_DW.is_active_c6_ADM_Integrated_Log = 1U; ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_OFF; } else if (ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic == IN_HAC_OFF) { if (ADM_Integrated_Logic_U.GV_MCU_RPM < -50.0) { ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_ON; } else { /* Outport: '/Debug_HAC_RPM_Decision' */ ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision = 0.0; } /* case IN_HAC_ON: */ } else if (ADM_Integrated_Logic_U.GV_MCU_RPM > 150.0) { ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_OFF; } else { /* Outport: '/Debug_HAC_RPM_Decision' */ ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision = 1.0; } /* End of Chart: '/Chart' */ /* Saturate: '/Pitch_Saturation' incorporates: * DiscreteIntegrator: '/Integrator_2' */ if (ADM_Integrated_Logic_DW.Integrator_2_DSTATE > 8.0) { rtb_Pitch_Saturation = 8.0; } else if (ADM_Integrated_Logic_DW.Integrator_2_DSTATE < -8.0) { rtb_Pitch_Saturation = -8.0; } else { rtb_Pitch_Saturation = ADM_Integrated_Logic_DW.Integrator_2_DSTATE; } /* End of Saturate: '/Pitch_Saturation' */ /* Delay: '/Delay' */ if (ADM_Integrated_Logic_DW.icLoad) { ADM_Integrated_Logic_DW.Delay_DSTATE = rtb_Pitch_Saturation; } /* Product: '/delta rise limit' incorporates: * Constant: '/Angle_Upper' * SampleTimeMath: '/sample time' * * About '/sample time': * y = K where K = ( w * Ts ) * */ rtb_Integrator_1 = 0.002; /* Sum: '/Difference Inputs1' incorporates: * Delay: '/Delay' * * Block description for '/Difference Inputs1': * * Add in CPU */ rtb_Pitch_Saturation -= ADM_Integrated_Logic_DW.Delay_DSTATE; /* Switch: '/Switch2' incorporates: * RelationalOperator: '/LowerRelop1' */ if (!(rtb_Pitch_Saturation > 0.002)) { /* Product: '/delta fall limit' incorporates: * Constant: '/Angle_Down' * SampleTimeMath: '/sample time' * * About '/sample time': * y = K where K = ( w * Ts ) * */ rtb_deltafalllimit_m = -0.002; /* Switch: '/Switch' incorporates: * RelationalOperator: '/UpperRelop' */ if (rtb_Pitch_Saturation < -0.002) { rtb_Integrator_1 = -0.002; } else { rtb_Integrator_1 = rtb_Pitch_Saturation; } /* End of Switch: '/Switch' */ } /* End of Switch: '/Switch2' */ /* Sum: '/Difference Inputs2' incorporates: * Delay: '/Delay' * * Block description for '/Difference Inputs2': * * Add in CPU */ rtb_Pitch_Saturation = rtb_Integrator_1 + ADM_Integrated_Logic_DW.Delay_DSTATE; /* MATLAB Function: '/Calculate_F_c' incorporates: * Gain: '/Gain' */ ADM_Integrated_Lo_Calculate_F_c(ADM_Integrated_Logic_ConstB.W_value, 0.017453292519943295 * rtb_Pitch_Saturation, &rtb_deltafalllimit_m); /* Gain: '/Gain2' incorporates: * Constant: '/Radius' * Gain: '/Gain1' * Gain: '/Rolling_Gain' * MATLAB Function: '/Calculate_F_R' * Product: '/Multiply3' * Sum: '/Required_Brake_Cal' */ rtb_deltafalllimit_m = (cos(0.017453292519943295 * rtb_Pitch_Saturation) * 436.7465753424658 * 0.0 + rtb_deltafalllimit_m) * 0.292 * 0.083822296730930432; /* Saturate: '/Saturation' */ if (rtb_deltafalllimit_m > 60.0) { rtb_deltafalllimit_m = 60.0; } else if (rtb_deltafalllimit_m < 0.0) { rtb_deltafalllimit_m = 0.0; } /* End of Saturate: '/Saturation' */ /* Delay: '/Delay' */ if (ADM_Integrated_Logic_DW.icLoad_e) { ADM_Integrated_Logic_DW.Delay_DSTATE_i = rtb_deltafalllimit_m; } /* Product: '/delta rise limit' incorporates: * Constant: '/Upper_Torq' * SampleTimeMath: '/sample time' * * About '/sample time': * y = K where K = ( w * Ts ) * */ rtb_Integrator_1 = 0.016; /* Sum: '/Difference Inputs1' incorporates: * Delay: '/Delay' * * Block description for '/Difference Inputs1': * * Add in CPU */ rtb_deltafalllimit_m -= ADM_Integrated_Logic_DW.Delay_DSTATE_i; /* Switch: '/Switch2' incorporates: * RelationalOperator: '/LowerRelop1' */ if (!(rtb_deltafalllimit_m > 0.016)) { /* Switch: '/Switch' incorporates: * RelationalOperator: '/UpperRelop' */ if (rtb_deltafalllimit_m < -0.16) { rtb_Integrator_1 = -0.16; } else { rtb_Integrator_1 = rtb_deltafalllimit_m; } /* End of Switch: '/Switch' */ } /* End of Switch: '/Switch2' */ /* Sum: '/Difference Inputs2' incorporates: * Delay: '/Delay' * * Block description for '/Difference Inputs2': * * Add in CPU */ rtb_deltafalllimit_m = rtb_Integrator_1 + ADM_Integrated_Logic_DW.Delay_DSTATE_i; /* Gain: '/Grade_GAIN' */ rtb_deltafalllimit_a = 0.8 * rtb_deltafalllimit_m; /* MATLAB Function: '/HAC_OFF_OK_Func' */ rtb_Brake_Torque_Cmd = 0.0; /* Outport: '/Debug_HAC_FLAG' incorporates: * MATLAB Function: '/HAC_OFF_OK_Func' */ ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 0.0; /* MATLAB Function: '/HAC_OFF_OK_Func' incorporates: * Constant: '/Accel_Cmd ' * Constant: '/Brake_Cmd' * Constant: '/Gear_D' * Inport: '/GV_BrakeTorqueCommand' * Inport: '/GV_MCU_EstTrq' * Outport: '/Debug_HAC_RPM_Decision' * RelationalOperator: '/Relational Operator' * RelationalOperator: '/Relational Operator1' * RelationalOperator: '/Relational Operator2' * Sum: '/HAC_Flags_Add' */ if ((double)(((ADM_Integrated_Logic_U.GV_BrakeTorqueCommand <= 20.0) + (rtb_Vx_Cmd_R <= 2.0)) + (rtb_Pitch_Angle == 3.0)) + ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision >= 4.0) { if (ADM_Integrated_Logic_DW.HAC_ON_FLAG == 0.0) { ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0; } ADM_Integrated_Logic_DW.HAC_ON_FLAG = 1.0; rtb_Brake_Torque_Cmd = 1000.0; ADM_Integrated_Logic_DW.Smoothed_Torque = 1000.0; if (ADM_Integrated_Logic_DW.HAC_ON_Timer < 3.0) { ADM_Integrated_Logic_DW.HAC_Desired_Torque = rtb_deltafalllimit_a; ADM_Integrated_Logic_DW.HAC_ON_Timer += 0.005; } /* Outport: '/Debug_HAC_FLAG' */ ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 1.0; } else if (ADM_Integrated_Logic_DW.HAC_ON_FLAG == 1.0) { if (ADM_Integrated_Logic_U.GV_MCU_EstTrq >= ADM_Integrated_Logic_DW.HAC_Desired_Torque) { ADM_Integrated_Logic_DW.Smoothed_Torque -= 0.05 * ADM_Integrated_Logic_DW.Smoothed_Torque; if (ADM_Integrated_Logic_DW.Smoothed_Torque < 0.01) { ADM_Integrated_Logic_DW.Smoothed_Torque = 0.0; ADM_Integrated_Logic_DW.HAC_ON_FLAG = 0.0; ADM_Integrated_Logic_DW.HAC_Desired_Torque = 0.0; ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0; } rtb_Brake_Torque_Cmd = ADM_Integrated_Logic_DW.Smoothed_Torque; } else { rtb_Brake_Torque_Cmd = 1000.0; ADM_Integrated_Logic_DW.Smoothed_Torque = 1000.0; /* Outport: '/Debug_HAC_FLAG' */ ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 1.0; } } /* Gain: '/Brake_GAIN' incorporates: * DiscreteTransferFcn: '/Discrete Transfer Fcn' */ rtb_y_k = 0.0625 * ADM_Integrated_Logic_DW.DiscreteTransferFcn_states * -80.0; /* MATLAB Function: '/GearCondition_Brake' */ if (rtb_Pitch_Angle == 1.0) { tmp = -1; } else { tmp = (rtb_Pitch_Angle == 3.0); } /* Saturate: '/Saturation' */ if (rtb_y_k > 1000.0) { rtb_y_k = 1000.0; } else if (rtb_y_k < 0.0) { rtb_y_k = 0.0; } /* Product: '/Multiply2' incorporates: * MATLAB Function: '/GearCondition_Brake' * Saturate: '/Saturation' */ rtb_Integrator_1 = (double)tmp * rtb_y_k; /* RateLimiter: '/Brake_Out_RateLimiter' */ rtb_TargetSpd_RateLimiter = rtb_Integrator_1 - ADM_Integrated_Logic_DW.PrevY_o; if (rtb_TargetSpd_RateLimiter > 3.0) { rtb_Integrator_1 = ADM_Integrated_Logic_DW.PrevY_o + 3.0; } else if (rtb_TargetSpd_RateLimiter < -3.0) { rtb_Integrator_1 = ADM_Integrated_Logic_DW.PrevY_o - 3.0; } ADM_Integrated_Logic_DW.PrevY_o = rtb_Integrator_1; /* End of RateLimiter: '/Brake_Out_RateLimiter' */ /* Saturate: '/Brake_Saturation' */ if (rtb_Integrator_1 > 1000.0) { rtb_Integrator_1 = 1000.0; } else if (rtb_Integrator_1 < 0.0) { rtb_Integrator_1 = 0.0; } /* End of Saturate: '/Brake_Saturation' */ /* MATLAB Function: '/Emergency_Brake_Func' incorporates: * Inport: '/GV_Vx_Fbk' * Sum: '/Add' */ if (rtb_Compare) { rtb_Brake_Saturation = ADM_Integrated_Logic_U.GV_Vx_Fbk * 100.0; } else { rtb_Brake_Saturation = rtb_Brake_Torque_Cmd + rtb_Integrator_1; } /* Saturate: '/Brake_Saturation' incorporates: * MATLAB Function: '/Emergency_Brake_Func' */ if (rtb_Brake_Saturation > 2500.0) { rtb_Brake_Saturation = 2500.0; } else if (rtb_Brake_Saturation < 0.0) { rtb_Brake_Saturation = 0.0; } /* End of Saturate: '/Brake_Saturation' */ /* Outport: '/GV_Brake_Command' incorporates: * MATLAB Function: '/IDB_Fault_Injection' */ ADM_Integrated_Logic_Y.GV_Brake_Command = rtb_Brake_Saturation; /* Outport: '/Target_IDB_Out' incorporates: * MATLAB Function: '/IDB_Fault_Injection' */ ADM_Integrated_Logic_Y.Target_IDB_Out = rtb_Brake_Saturation; /* Outport: '/Debug_CC_Brake_Output' */ ADM_Integrated_Logic_Y.Debug_CC_Brake_Output = rtb_Integrator_1; /* Outport: '/Debug_HAC_Brake_Output' */ ADM_Integrated_Logic_Y.Debug_HAC_Brake_Output = rtb_Brake_Torque_Cmd; /* Outport: '/GV_Hill_Torque_Assist' */ ADM_Integrated_Logic_Y.GV_Hill_Torque_Assist = rtb_deltafalllimit_a; /* Outport: '/Debug_HAC_Pitch_angle' */ ADM_Integrated_Logic_Y.Debug_HAC_Pitch_angle = rtb_Pitch_Saturation; /* MATLAB Function: '/Calculate_F_c1' incorporates: * Gain: '/Gain3' */ ADM_Integrated_Lo_Calculate_F_c(ADM_Integrated_Logic_ConstB.W_Value_for_Brake, 0.017453292519943295 * rtb_Pitch_Saturation, &rtb_deltafalllimit_a); /* Product: '/Product1' incorporates: * Constant: '/Constant' * Gain: '/gain' * Inport: '/GV_IMU_AX_Val' * Product: '/Product11' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_deltafalllimit_a = ((ADM_Integrated_Logic_U.GV_IMU_AX_Val + ADM_Integrated_Logic_DW.d1_DSTATE) * 0.002 + 0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE) / 0.065661977236758137; /* Product: '/Product1' incorporates: * Constant: '/Constant' * Gain: '/gain' * Inport: '/GV_IMU_AY_Val' * Product: '/Product11' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Brake_Torque_Cmd = ((ADM_Integrated_Logic_U.GV_IMU_AY_Val + ADM_Integrated_Logic_DW.d1_DSTATE_i) * 0.002 + 0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_p) / 0.065661977236758137; /* Product: '/Product1' incorporates: * Constant: '/Constant' * Gain: '/gain' * Inport: '/GV_IMU_AZ_Val' * Product: '/Product11' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Integrator_1 = ((ADM_Integrated_Logic_U.GV_IMU_AZ_Val + ADM_Integrated_Logic_DW.d1_DSTATE_o) * 0.002 + 0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_n) / 0.065661977236758137; /* MATLAB Function: '/Pitch_calculate' */ rtb_Brake_Saturation = sqrt(rtb_Brake_Torque_Cmd * rtb_Brake_Torque_Cmd + rtb_Integrator_1 * rtb_Integrator_1); if (!(rtb_Brake_Saturation == 0.0)) { rtb_Brake_Saturation = atan(rtb_deltafalllimit_a / rtb_Brake_Saturation); } /* Sum: '/Sum' incorporates: * DiscreteIntegrator: '/Integrator_2' * MATLAB Function: '/Pitch_calculate' */ rtb_Brake_Saturation = ADM_Integrated_Logic_DW.Integrator_2_DSTATE - rtb_Brake_Saturation * 57.295779513082323; /* Product: '/Product1' incorporates: * Constant: '/Constant' * Gain: '/gain' * Inport: '/GV_IMU_PitchRtVal' * Product: '/Product11' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Product1_m = ((ADM_Integrated_Logic_U.GV_IMU_PitchRtVal + ADM_Integrated_Logic_DW.d1_DSTATE_a) * 0.002 + 0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_d) / 0.065661977236758137; /* MATLAB Function: '/Target_RPM' */ if (rtb_Pitch_Angle == 0.0) { tmp = 0; } else if (rtb_Pitch_Angle == 2.0) { tmp = 0; } else if (rtb_Pitch_Angle == 1.0) { tmp = -1; } else { tmp = (rtb_Pitch_Angle == 3.0); } rtb_Target_RPM = rtb_Vx_Cmd_R * 1000.0 / 3600.0 * 11.93 * 60.0 / 1.7013672006633955 * (double)tmp; /* End of MATLAB Function: '/Target_RPM' */ /* RateLimiter: '/TargetSpd_RateLimiter' */ rtb_TargetSpd_RateLimiter = rtb_Target_RPM - ADM_Integrated_Logic_DW.PrevY_a; if (rtb_TargetSpd_RateLimiter > 0.4) { rtb_TargetSpd_RateLimiter = ADM_Integrated_Logic_DW.PrevY_a + 0.4; } else if (rtb_TargetSpd_RateLimiter < -0.8) { rtb_TargetSpd_RateLimiter = ADM_Integrated_Logic_DW.PrevY_a - 0.8; } else { rtb_TargetSpd_RateLimiter = rtb_Target_RPM; } ADM_Integrated_Logic_DW.PrevY_a = rtb_TargetSpd_RateLimiter; /* End of RateLimiter: '/TargetSpd_RateLimiter' */ /* Product: '/Product1' incorporates: * Constant: '/Constant' * Gain: '/gain' * Product: '/Product11' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Target_RPM = ((rtb_TargetSpd_RateLimiter + ADM_Integrated_Logic_DW.d1_DSTATE_c) * 0.002 + 0.1041032953945969 * ADM_Integrated_Logic_DW.d_DSTATE_l) / 0.1081032953945969; /* Sum: '/Sum1' incorporates: * Gain: '/gain' * Sum: '/Sum2' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Sum1_i2 = (rtb_Target_RPM - ADM_Integrated_Logic_DW.d_DSTATE_i) * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_p; /* Sum: '/Sum1' incorporates: * Gain: '/gain' * Sum: '/Sum2' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Sum1_o1 = (rtb_Sum1_i2 - ADM_Integrated_Logic_DW.d_DSTATE_c) * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_h; /* Sum: '/Sum1' incorporates: * Gain: '/gain' * Sum: '/Sum2' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Sum1_lm = (rtb_Sum1_o1 - ADM_Integrated_Logic_DW.d_DSTATE_db) * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_l; /* Gain: '/Gain' incorporates: * Constant: '/Constant3' * Constant: '/Constant4' * Constant: '/Constant5' * Product: '/Product' * Product: '/Product1' * Product: '/Product2' * Sum: '/Add5' */ rtb_Gain_c = (((156.8 * rtb_Target_RPM + 212.8 * rtb_Sum1_i2) + 21.8 * rtb_Sum1_o1) + rtb_Sum1_lm) * 9.44822373393802E-6; /* Product: '/Product1' incorporates: * Constant: '/Constant1' * Constant: '/Constant2' * Delay: '/Delay' * Delay: '/Delay1' * Delay: '/Delay2' * Delay: '/Delay3' * Gain: '/gain1' * Gain: '/gain3' * Product: '/x(n), x(n-1), x(n-2)' * Product: '/y(n-1)' * Product: '/y(n-2)' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' * Sum: '/Sum5' * Sum: '/Sum6' */ rtb_Product1_j = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE + rtb_Gain_c) + ADM_Integrated_Logic_DW.Delay_DSTATE_c[0]) * 0.39478417604357435 - -7.2104316479128512 * ADM_Integrated_Logic_DW.Delay2_DSTATE) - 2.6178993711731877 * ADM_Integrated_Logic_DW.Delay3_DSTATE[0]) / 6.1716689809139611; /* Product: '/Product1' incorporates: * Constant: '/Constant' * Gain: '/gain' * Product: '/Product11' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Product1_ee = ((rtb_Product1_j + ADM_Integrated_Logic_DW.d1_DSTATE_e) * 0.002 + 0.00861032953945969 * ADM_Integrated_Logic_DW.d_DSTATE_ij) / 0.01261032953945969; /* Sum: '/Subtract' incorporates: * Inport: '/GV_MCU_RPM' * MultiPortSwitch: '/Multiport Switch1' */ rtb_Error_m = rtb_Target_RPM - ADM_Integrated_Logic_U.GV_MCU_RPM; /* Saturate: '/Error_Saturation' incorporates: * MultiPortSwitch: '/Multiport Switch1' */ if (rtb_Error_m > 2000.0) { rtb_Error_m = 2000.0; } else if (rtb_Error_m < -2000.0) { rtb_Error_m = -2000.0; } /* End of Saturate: '/Error_Saturation' */ /* DeadZone: '/Dead Zone' incorporates: * MultiPortSwitch: '/Multiport Switch1' */ if (rtb_Error_m > 50.0) { rtb_Add_e = rtb_Error_m - 50.0; } else if (rtb_Error_m >= -50.0) { rtb_Add_e = 0.0; } else { rtb_Add_e = rtb_Error_m - -50.0; } /* Sum: '/Sum1' incorporates: * Gain: '/gain' * Sum: '/Sum2' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Error_m = (rtb_Target_RPM - ADM_Integrated_Logic_DW.d_DSTATE_ir) * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_of; /* Sum: '/Sum1' incorporates: * Gain: '/gain' * Sum: '/Sum2' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Sum1_aj = (rtb_Error_m - ADM_Integrated_Logic_DW.d_DSTATE_m) * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_hm; /* Sum: '/Sum1' incorporates: * Gain: '/gain' * Sum: '/Sum2' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Sum1_p = (rtb_Sum1_aj - ADM_Integrated_Logic_DW.d_DSTATE_mw) * 1000.0 - ADM_Integrated_Logic_DW.d1_DSTATE_g; /* Sum: '/Add3' incorporates: * Constant: '/Constant3' * Constant: '/Constant4' * Constant: '/Constant5' * Gain: '/Gain' * Memory: '/Memory' * Product: '/Product2' * Product: '/Product3' * Product: '/Product4' * Sum: '/Add2' */ rtb_Add3 = (((156.8 * rtb_Target_RPM + 212.8 * rtb_Error_m) + 21.8 * rtb_Sum1_aj) + rtb_Sum1_p) * 9.44822373393802E-6 - ADM_Integrated_Logic_DW.Memory_PreviousInput; /* Product: '/Product1' incorporates: * Constant: '/Constant' * Gain: '/gain' * Product: '/Product11' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' * UnitDelay: '/d' * UnitDelay: '/d1' */ rtb_Product1_h = ((rtb_Add3 + ADM_Integrated_Logic_DW.d1_DSTATE_ej) * 0.002 + 0.029830988618379066 * ADM_Integrated_Logic_DW.d_DSTATE_j) / 0.03383098861837907; /* Product: '/Product1' incorporates: * Constant: '/Constant1' * Constant: '/Constant2' * Delay: '/Delay' * Delay: '/Delay1' * Delay: '/Delay2' * Delay: '/Delay3' * Gain: '/gain1' * Gain: '/gain3' * Product: '/x(n), x(n-1), x(n-2)' * Product: '/y(n-1)' * Product: '/y(n-2)' * Sum: '/Sum1' * Sum: '/Sum2' * Sum: '/Sum3' * Sum: '/Sum4' * Sum: '/Sum5' * Sum: '/Sum6' */ rtb_Product1_kq = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE_c + rtb_Product1_h) + ADM_Integrated_Logic_DW.Delay_DSTATE_p[0]) * 0.00035530575843921691 - -7.9992893884831213 * ADM_Integrated_Logic_DW.Delay2_DSTATE_n) - 3.9470487616123275 * ADM_Integrated_Logic_DW.Delay3_DSTATE_h[0]) / 4.0536618499045511; /* MATLAB Function: '/DOB_Gain' incorporates: * Inport: '/GV_Vx_Fbk' */ if (ADM_Integrated_Logic_U.GV_Vx_Fbk < 5.0) { rtb_Switch2 = 0.0; } else { rtb_Switch2 = (ADM_Integrated_Logic_U.GV_Vx_Fbk - 5.0) * 0.2; } if (rtb_Switch2 >= 1.0) { rtb_Switch2 = 1.0; } /* End of MATLAB Function: '/DOB_Gain' */ /* Product: '/Product1' incorporates: * Constant: '/DOBFlag' * Product: '/Product' */ rtb_y_k = -(rtb_Product1_kq * 0.9); /* Saturate: '/DOB_Saturation' */ if (rtb_y_k > 30.0) { rtb_y_k = 30.0; } else if (rtb_y_k < -30.0) { rtb_y_k = -30.0; } /* Sum: '/Subtract2' incorporates: * DeadZone: '/Dead Zone' * MultiPortSwitch: '/Multiport Switch1' * Product: '/Product' * Product: '/Multiply1' * Saturate: '/DOB_Saturation' * Sum: '/Add' */ rtb_Add_e = (rtb_Add_e * 0.044648264844923756 + rtb_Product1_ee) + rtb_y_k * rtb_Switch2; /* Saturate: '/Torq_Saturation' */ if (rtb_Add_e > 80.0) { rtb_Add_e = 80.0; } else if (rtb_Add_e < -80.0) { rtb_Add_e = -80.0; } /* End of Saturate: '/Torq_Saturation' */ /* MATLAB Function: '/Emergency_Motor_Func' incorporates: * Inport: '/GV_IDB_ECU_Fault_Flag' * Inport: '/GV_RCU_ECU_Fault_Flag' * Inport: '/GV_Vx_Fbk' * MATLAB Function: '/Gear_pos_out' * Product: '/Multiply' */ if (rtb_Compare) { if ((ADM_Integrated_Logic_U.GV_IDB_ECU_Fault_Flag == 1.0) && (ADM_Integrated_Logic_U.GV_RCU_ECU_Fault_Flag == 1.0)) { if (ADM_Integrated_Logic_U.GV_Vx_Fbk / 3.6 > 0.5) { rtb_Switch2 = -80.0; } else { rtb_Switch2 = 0.0; } } else { rtb_Switch2 = 0.0; } } else { if (rtb_Pitch_Angle == 0.0) { /* MATLAB Function: '/Gear_pos_out' */ tmp = 0; } else if (rtb_Pitch_Angle == 2.0) { /* MATLAB Function: '/Gear_pos_out' */ tmp = 0; } else if (rtb_Pitch_Angle == 1.0) { /* MATLAB Function: '/Gear_pos_out' */ tmp = -1; } else { /* MATLAB Function: '/Gear_pos_out' */ tmp = (rtb_Pitch_Angle == 3.0); } rtb_Switch2 = (double)tmp * rtb_Add_e; } /* End of MATLAB Function: '/Emergency_Motor_Func' */ /* MATLAB Function: '/MCU_Fault_Injection' incorporates: * Inport: '/GV_MCU_Actuator_Fault_Flag' */ if (ADM_Integrated_Logic_U.GV_MCU_Actuator_Fault_Flag == 1.0) { /* Outport: '/GV_Motor_Torque_Cmd' */ ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd = 0.0; } else { /* Outport: '/GV_Motor_Torque_Cmd' */ ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd = rtb_Switch2; } /* Outport: '/Target_MCU_Out' incorporates: * MATLAB Function: '/MCU_Fault_Injection' */ ADM_Integrated_Logic_Y.Target_MCU_Out = rtb_Switch2; /* Outport: '/GV_Gear_Postion_Out' */ ADM_Integrated_Logic_Y.GV_Gear_Postion_Out = rtb_Pitch_Angle; /* Sum: '/Add2' incorporates: * Inport: '/GV_Vx_Fbk' */ rtb_Vx_Cmd_R -= ADM_Integrated_Logic_U.GV_Vx_Fbk; /* Sum: '/Add1' incorporates: * Constant: '/Constant' * Gain: '/Gain1' * Inport: '/GV_Vx_Fbk' * Sum: '/Add3' */ rtb_y_e_tmp = 400.0 - 6.5 * ADM_Integrated_Logic_U.GV_Vx_Fbk; rtb_y_k = rtb_y_e_tmp; /* MATLAB Function: '/MATLAB Function1' incorporates: * Sum: '/Add1' */ ADM_Integrated__MATLABFunction1(rtb_y_e_tmp, &rtb_y); /* Product: '/delta rise limit' incorporates: * SampleTimeMath: '/sample time' * * About '/sample time': * y = K where K = ( w * Ts ) * */ rtb_Switch2 = rtb_y * 0.002; /* Delay: '/Delay' incorporates: * Inport: '/GV_RWA_RackAngleCommand' */ if (ADM_Integrated_Logic_DW.icLoad_l) { ADM_Integrated_Logic_DW.Delay_DSTATE_c4 = ADM_Integrated_Logic_U.GV_RWA_RackAngleCommand; } /* Sum: '/Difference Inputs1' incorporates: * Delay: '/Delay' * Inport: '/GV_RWA_RackAngleCommand' * * Block description for '/Difference Inputs1': * * Add in CPU */ rtb_UkYk1_j = ADM_Integrated_Logic_U.GV_RWA_RackAngleCommand - ADM_Integrated_Logic_DW.Delay_DSTATE_c4; /* MATLAB Function: '/MATLAB Function2' incorporates: * Gain: '/Gain3' * Sum: '/Add1' */ ADM_Integrated__MATLABFunction2(-rtb_y_e_tmp, &rtb_y); /* Switch: '/Switch2' incorporates: * RelationalOperator: '/LowerRelop1' */ if (!(rtb_UkYk1_j > rtb_Switch2)) { /* Product: '/delta fall limit' incorporates: * SampleTimeMath: '/sample time' * * About '/sample time': * y = K where K = ( w * Ts ) * */ rtb_Switch2 = 0.002 * rtb_y; /* Switch: '/Switch' incorporates: * RelationalOperator: '/UpperRelop' */ if (!(rtb_UkYk1_j < rtb_Switch2)) { rtb_Switch2 = rtb_UkYk1_j; } /* End of Switch: '/Switch' */ } /* End of Switch: '/Switch2' */ /* Sum: '/Difference Inputs2' incorporates: * Delay: '/Delay' * * Block description for '/Difference Inputs2': * * Add in CPU */ rtb_UkYk1_j = rtb_Switch2 + ADM_Integrated_Logic_DW.Delay_DSTATE_c4; /* Outport: '/GV_Master_Rack_Angle_Cmd' incorporates: * MATLAB Function: '/RWA_Actuator_Fault_Injection' */ ADM_Integrated_Logic_Y.GV_Master_Rack_Angle_Cmd = rtb_UkYk1_j; /* Outport: '/Target_RWA_Out' incorporates: * MATLAB Function: '/RWA_Actuator_Fault_Injection' */ ADM_Integrated_Logic_Y.Target_RWA_Out = rtb_UkYk1_j; /* MATLAB Function: '/MATLAB Function5' */ ADM_Integrated__MATLABFunction1(rtb_y_e_tmp, &rtb_Switch2); /* Product: '/delta rise limit' incorporates: * SampleTimeMath: '/sample time' * * About '/sample time': * y = K where K = ( w * Ts ) * */ rtb_Switch2 *= 0.002; /* Delay: '/Delay' incorporates: * Inport: '/GV_RWS_RackAngleCommand' */ if (ADM_Integrated_Logic_DW.icLoad_d) { ADM_Integrated_Logic_DW.Delay_DSTATE_i1 = ADM_Integrated_Logic_U.GV_RWS_RackAngleCommand; } /* Sum: '/Difference Inputs1' incorporates: * Delay: '/Delay' * Inport: '/GV_RWS_RackAngleCommand' * * Block description for '/Difference Inputs1': * * Add in CPU */ rtb_y = ADM_Integrated_Logic_U.GV_RWS_RackAngleCommand - ADM_Integrated_Logic_DW.Delay_DSTATE_i1; /* MATLAB Function: '/MATLAB Function6' incorporates: * Gain: '/Gain5' */ ADM_Integrated__MATLABFunction2(-rtb_y_e_tmp, &rtb_y_k); /* Switch: '/Switch2' incorporates: * RelationalOperator: '/LowerRelop1' */ if (!(rtb_y > rtb_Switch2)) { /* Product: '/delta fall limit' incorporates: * SampleTimeMath: '/sample time' * * About '/sample time': * y = K where K = ( w * Ts ) * */ rtb_Switch2 = 0.002 * rtb_y_k; /* Switch: '/Switch' incorporates: * RelationalOperator: '/UpperRelop' */ if (!(rtb_y < rtb_Switch2)) { rtb_Switch2 = rtb_y; } /* End of Switch: '/Switch' */ } /* End of Switch: '