smbae/ADM
1
0
Fork 0
mirror of https://github.com/Dev-KATECH/ADM.git synced 2026-05-17 01:43:59 +09:00
Code Issues Actions Packages Projects Releases Wiki Activity
Workspace_2
ADM/ADM_Cruise_Control/WheelSpd1_slrt_rtw/WheelSpd1.c
JaeminSong 3854fbc169 Cruise Control Update 
Cruise Control Update
2024-08-07 11:01:25 +09:00

3590 lines
112 KiB
C
Raw Permalink Blame History

/*
* WheelSpd1.c
*
* 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.
*
* Code generation for model "WheelSpd1".
*
* Model version : 1.397
* Simulink Coder version : 8.14 (R2018a) 06-Feb-2018
* C source code generated on : Tue Jul 11 16:56:29 2023
*
* Target selection: slrt.tlc
* Note: GRT includes extra infrastructure and instrumentation for prototyping
* Embedded hardware selection: Generic->32-bit x86 compatible
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "rt_logging_mmi.h"
#include "WheelSpd1_capi.h"
#include "WheelSpd1.h"
#include "WheelSpd1_private.h"
/* Block signals (default storage) */
B_WheelSpd1_T WheelSpd1_B;
/* Block states (default storage) */
DW_WheelSpd1_T WheelSpd1_DW;
/* Real-time model */
RT_MODEL_WheelSpd1_T WheelSpd1_M_;
RT_MODEL_WheelSpd1_T *const WheelSpd1_M = &WheelSpd1_M_;
real_T rt_powd_snf(real_T u0, real_T u1)
{
real_T y;
real_T tmp;
real_T tmp_0;
if (rtIsNaN(u0) || rtIsNaN(u1)) {
y = (rtNaN);
} else {
tmp = fabs(u0);
tmp_0 = fabs(u1);
if (rtIsInf(u1)) {
if (tmp == 1.0) {
y = 1.0;
} else if (tmp > 1.0) {
if (u1 > 0.0) {
y = (rtInf);
} else {
y = 0.0;
}
} else if (u1 > 0.0) {
y = 0.0;
} else {
y = (rtInf);
}
} else if (tmp_0 == 0.0) {
y = 1.0;
} else if (tmp_0 == 1.0) {
if (u1 > 0.0) {
y = u0;
} else {
y = 1.0 / u0;
}
} else if (u1 == 2.0) {
y = u0 * u0;
} else if ((u1 == 0.5) && (u0 >= 0.0)) {
y = sqrt(u0);
} else if ((u0 < 0.0) && (u1 > floor(u1))) {
y = (rtNaN);
} else {
y = pow(u0, u1);
}
}
return y;
}
/* Model output function */
static void WheelSpd1_output(void)
{
int32_T s1_iter;
real_T u0;
real_T u1;
real_T u2;
/* Gain: '<S4>/ContM' incorporates:
* Constant: '<S4>/ContMode'
*/
WheelSpd1_B.ContMode = WheelSpd1_P.ContM_Gain * WheelSpd1_P.ContMode_Value;
/* Constant: '<S5>/Constant' */
WheelSpd1_B.Ready = WheelSpd1_P.Constant_Value;
/* Constant: '<S5>/Constant1' */
WheelSpd1_B.Gear = WheelSpd1_P.Constant1_Value;
/* Constant: '<S5>/Constant2' */
WheelSpd1_B.BMS = WheelSpd1_P.Constant2_Value;
/* Constant: '<S5>/Constant3' */
WheelSpd1_B.PosTQLim = WheelSpd1_P.Constant3_Value;
/* Constant: '<S5>/Constant4' */
WheelSpd1_B.NegTQLim = WheelSpd1_P.Constant4_Value;
/* Clock: '<S6>/Clock1' */
WheelSpd1_B.Clock1 = WheelSpd1_M->Timing.t[0];
/* Product: '<S6>/Product' incorporates:
* Constant: '<S6>/deltaFreq'
* Constant: '<S6>/targetTime'
*/
u0 = (WheelSpd1_P.ChirpSignal_f2 - WheelSpd1_P.ChirpSignal_f1) *
6.2831853071795862;
WheelSpd1_B.Product = u0 / WheelSpd1_P.ChirpSignal_T;
/* Gain: '<S6>/Gain' */
WheelSpd1_B.Gain = WheelSpd1_P.Gain_Gain_a * WheelSpd1_B.Product;
/* FromWorkspace: '<S10>/FromWs' */
{
real_T *pDataValues = (real_T *) WheelSpd1_DW.FromWs_PWORK.DataPtr;
real_T *pTimeValues = (real_T *) WheelSpd1_DW.FromWs_PWORK.TimePtr;
int_T currTimeIndex = WheelSpd1_DW.FromWs_IWORK.PrevIndex;
real_T t = WheelSpd1_M->Timing.t[0];
/* Get index */
if (t <= pTimeValues[0]) {
currTimeIndex = 0;
} else if (t >= pTimeValues[17]) {
currTimeIndex = 16;
} else {
if (t < pTimeValues[currTimeIndex]) {
while (t < pTimeValues[currTimeIndex]) {
currTimeIndex--;
}
} else {
while (t >= pTimeValues[currTimeIndex + 1]) {
currTimeIndex++;
}
}
}
WheelSpd1_DW.FromWs_IWORK.PrevIndex = currTimeIndex;
/* Post output */
{
real_T t1 = pTimeValues[currTimeIndex];
real_T t2 = pTimeValues[currTimeIndex + 1];
if (t1 == t2) {
if (t < t1) {
WheelSpd1_B.FromWs = pDataValues[currTimeIndex];
} else {
WheelSpd1_B.FromWs = pDataValues[currTimeIndex + 1];
}
} else {
real_T f1 = (t2 - t) / (t2 - t1);
real_T f2 = 1.0 - f1;
real_T d1;
real_T d2;
int_T TimeIndex= currTimeIndex;
d1 = pDataValues[TimeIndex];
d2 = pDataValues[TimeIndex + 1];
WheelSpd1_B.FromWs = (real_T) rtInterpolate(d1, d2, f1, f2);
pDataValues += 18;
}
}
}
/* Sin: '<S4>/InputSine' */
WheelSpd1_B.InputSine = sin(WheelSpd1_P.InputSine_Freq * WheelSpd1_M->
Timing.t[0] + WheelSpd1_P.InputSine_Phase) * WheelSpd1_P.InputSine_Amp +
WheelSpd1_P.InputSine_Bias;
/* MultiPortSwitch: '<S4>/Multiport Switch' incorporates:
* Constant: '<S4>/InputSelector'
*/
switch ((int32_T)WheelSpd1_P.InputSelector_Value) {
case 1:
/* Product: '<S6>/Product1' */
WheelSpd1_B.Product1_lf = WheelSpd1_B.Clock1 * WheelSpd1_B.Gain;
/* Sum: '<S6>/Sum' incorporates:
* Constant: '<S6>/initialFreq'
*/
u0 = 6.2831853071795862 * WheelSpd1_P.ChirpSignal_f1;
WheelSpd1_B.Sum = WheelSpd1_B.Product1_lf + u0;
/* Product: '<S6>/Product2' */
WheelSpd1_B.Product2_g = WheelSpd1_B.Clock1 * WheelSpd1_B.Sum;
/* Trigonometry: '<S6>/Output' */
WheelSpd1_B.Output = sin(WheelSpd1_B.Product2_g);
/* Gain: '<S4>/Gain1' */
WheelSpd1_B.Gain1 = WheelSpd1_P.Gain1_Gain * WheelSpd1_B.Output;
WheelSpd1_B.TargetSpd = WheelSpd1_B.Gain1;
break;
case 2:
/* Gain: '<S4>/Gain' */
WheelSpd1_B.Gain_d = WheelSpd1_P.Gain_Gain * WheelSpd1_B.FromWs;
WheelSpd1_B.TargetSpd = WheelSpd1_B.Gain_d;
break;
default:
WheelSpd1_B.TargetSpd = WheelSpd1_B.InputSine;
break;
}
/* End of MultiPortSwitch: '<S4>/Multiport Switch' */
/* UnitDelay: '<S9>/d1' */
WheelSpd1_B.d1 = WheelSpd1_DW.d1_DSTATE;
/* Sum: '<S9>/Sum3' */
WheelSpd1_B.Sum3 = WheelSpd1_B.TargetSpd + WheelSpd1_B.d1;
/* Gain: '<S9>/gain' */
WheelSpd1_B.gain = WheelSpd1_P.Ts * WheelSpd1_B.Sum3;
/* Gain: '<S9>/gain2' incorporates:
* Constant: '<S4>/Constant1'
*/
WheelSpd1_B.gain2 = WheelSpd1_P.gain2_Gain * WheelSpd1_P.Constant1_Value_a;
/* Product: '<S9>/Product2' incorporates:
* Constant: '<S9>/Constant1'
*/
WheelSpd1_B.Product2 = WheelSpd1_P.Constant1_Value_n / WheelSpd1_B.gain2;
/* Gain: '<S9>/gain1' */
WheelSpd1_B.gain1 = WheelSpd1_P.gain1_Gain * WheelSpd1_B.Product2;
/* Sum: '<S9>/Sum1' incorporates:
* Constant: '<S9>/Constant'
*/
WheelSpd1_B.Sum1 = WheelSpd1_B.gain1 - WheelSpd1_P.Ts;
/* UnitDelay: '<S9>/d' */
WheelSpd1_B.d = WheelSpd1_DW.d_DSTATE;
/* Product: '<S9>/Product11' */
WheelSpd1_B.Product11 = WheelSpd1_B.Sum1 * WheelSpd1_B.d;
/* Sum: '<S9>/Sum2' */
WheelSpd1_B.Sum2 = WheelSpd1_B.gain + WheelSpd1_B.Product11;
/* Sum: '<S9>/Sum4' incorporates:
* Constant: '<S9>/Constant'
*/
WheelSpd1_B.Sum4 = WheelSpd1_B.gain1 + WheelSpd1_P.Ts;
/* Product: '<S9>/Product1' */
WheelSpd1_B.Product1 = WheelSpd1_B.Sum2 / WheelSpd1_B.Sum4;
/* Product: '<S17>/Product2' incorporates:
* Constant: '<S17>/Constant5'
*/
u0 = WheelSpd1_P.P * 196.0;
WheelSpd1_B.Product2_c = u0 * WheelSpd1_B.Product1;
/* UnitDelay: '<S22>/d' */
WheelSpd1_B.d_a = WheelSpd1_DW.d_DSTATE_a;
/* Sum: '<S22>/Sum2' */
WheelSpd1_B.Sum2_h = WheelSpd1_B.Product1 - WheelSpd1_B.d_a;
/* Gain: '<S22>/gain' */
u0 = WheelSpd1_P.Ts;
u0 = 2.0 / u0;
WheelSpd1_B.gain_m = u0 * WheelSpd1_B.Sum2_h;
/* UnitDelay: '<S22>/d1' */
WheelSpd1_B.d1_d = WheelSpd1_DW.d1_DSTATE_l;
/* Sum: '<S22>/Sum1' */
WheelSpd1_B.Sum1_n = WheelSpd1_B.gain_m - WheelSpd1_B.d1_d;
/* Product: '<S17>/Product1' incorporates:
* Constant: '<S17>/Constant4'
*/
u0 = 2.0 * WheelSpd1_P.jeta * WheelSpd1_P.Wn * WheelSpd1_P.P + 196.0;
WheelSpd1_B.Product1_f = u0 * WheelSpd1_B.Sum1_n;
/* UnitDelay: '<S23>/d' */
WheelSpd1_B.d_b = WheelSpd1_DW.d_DSTATE_i;
/* Sum: '<S23>/Sum2' */
WheelSpd1_B.Sum2_g = WheelSpd1_B.Sum1_n - WheelSpd1_B.d_b;
/* Gain: '<S23>/gain' */
u0 = WheelSpd1_P.Ts;
u0 = 2.0 / u0;
WheelSpd1_B.gain_o = u0 * WheelSpd1_B.Sum2_g;
/* UnitDelay: '<S23>/d1' */
WheelSpd1_B.d1_c = WheelSpd1_DW.d1_DSTATE_a;
/* Sum: '<S23>/Sum1' */
WheelSpd1_B.Sum1_p = WheelSpd1_B.gain_o - WheelSpd1_B.d1_c;
/* Product: '<S17>/Product' incorporates:
* Constant: '<S17>/Constant3'
*/
u0 = 2.0 * WheelSpd1_P.jeta * WheelSpd1_P.Wn + WheelSpd1_P.P;
WheelSpd1_B.Product_n = u0 * WheelSpd1_B.Sum1_p;
/* UnitDelay: '<S24>/d' */
WheelSpd1_B.d_bp = WheelSpd1_DW.d_DSTATE_ak;
/* Sum: '<S24>/Sum2' */
WheelSpd1_B.Sum2_k = WheelSpd1_B.Sum1_p - WheelSpd1_B.d_bp;
/* Gain: '<S24>/gain' */
u0 = WheelSpd1_P.Ts;
u0 = 2.0 / u0;
WheelSpd1_B.gain_d = u0 * WheelSpd1_B.Sum2_k;
/* UnitDelay: '<S24>/d1' */
WheelSpd1_B.d1_f = WheelSpd1_DW.d1_DSTATE_f;
/* Sum: '<S24>/Sum1' */
WheelSpd1_B.Sum1_k = WheelSpd1_B.gain_d - WheelSpd1_B.d1_f;
/* Sum: '<S17>/Add5' */
WheelSpd1_B.Add5 = ((WheelSpd1_B.Product2_c + WheelSpd1_B.Product1_f) +
WheelSpd1_B.Product_n) + WheelSpd1_B.Sum1_k;
/* Gain: '<S17>/Gain' */
u0 = 196.0 * WheelSpd1_P.K;
u0 = 1.0 / u0;
WheelSpd1_B.Gain_l = u0 * WheelSpd1_B.Add5;
/* Delay: '<S26>/Delay1' */
WheelSpd1_B.Delay1 = WheelSpd1_DW.Delay1_DSTATE;
/* Gain: '<S26>/gain1' */
WheelSpd1_B.gain1_g = WheelSpd1_P.gain1_Gain_b * WheelSpd1_B.Delay1;
/* Delay: '<S26>/Delay' */
WheelSpd1_B.Delay = WheelSpd1_DW.Delay_DSTATE[0];
/* Sum: '<S26>/Sum3' */
WheelSpd1_B.Sum3_d = (WheelSpd1_B.Gain_l + WheelSpd1_B.gain1_g) +
WheelSpd1_B.Delay;
/* Gain: '<S26>/gain2' incorporates:
* Constant: '<S8>/FF_CutoffFreq'
*/
WheelSpd1_B.gain2_h = WheelSpd1_P.gain2_Gain_p *
WheelSpd1_P.FF_CutoffFreq_Value;
/* Product: '<S26>/Product2' incorporates:
* Constant: '<S26>/Constant'
*/
WheelSpd1_B.Product2_e = WheelSpd1_B.gain2_h * WheelSpd1_B.gain2_h *
WheelSpd1_P.Ts * WheelSpd1_P.Ts;
/* Product: '<S26>/x(n), x(n-1), x(n-2)' */
WheelSpd1_B.xnxn1xn2 = WheelSpd1_B.Sum3_d * WheelSpd1_B.Product2_e;
/* Gain: '<S26>/gain3' */
WheelSpd1_B.gain3 = WheelSpd1_P.gain3_Gain * WheelSpd1_B.Product2_e;
/* Sum: '<S26>/Sum4' incorporates:
* Constant: '<S26>/Constant1'
*/
WheelSpd1_B.Sum4_c = WheelSpd1_B.gain3 - WheelSpd1_P.Constant1_Value_p;
/* Delay: '<S26>/Delay2' */
WheelSpd1_B.Delay2 = WheelSpd1_DW.Delay2_DSTATE;
/* Product: '<S26>/y(n-1)' */
WheelSpd1_B.yn1 = WheelSpd1_B.Sum4_c * WheelSpd1_B.Delay2;
/* Sum: '<S26>/Sum1' */
WheelSpd1_B.Sum1_a = WheelSpd1_B.xnxn1xn2 - WheelSpd1_B.yn1;
/* Product: '<S26>/Product3' incorporates:
* Constant: '<S26>/Constant'
*/
WheelSpd1_B.Product3 = WheelSpd1_B.gain2_h * WheelSpd1_P.Ts;
/* Gain: '<S26>/gain4' */
WheelSpd1_B.gain4 = WheelSpd1_P.gain4_Gain * WheelSpd1_B.Product3;
/* Product: '<S26>/Product4' incorporates:
* Constant: '<S17>/zeta'
*/
WheelSpd1_B.Product4 = WheelSpd1_B.gain4 * WheelSpd1_P.zeta_Value;
/* Sum: '<S26>/Sum5' incorporates:
* Constant: '<S26>/Constant2'
*/
WheelSpd1_B.Sum5 = (WheelSpd1_B.Product2_e - WheelSpd1_B.Product4) +
WheelSpd1_P.Constant2_Value_f;
/* Delay: '<S26>/Delay3' */
WheelSpd1_B.Delay3 = WheelSpd1_DW.Delay3_DSTATE[0];
/* Product: '<S26>/y(n-2)' */
WheelSpd1_B.yn2 = WheelSpd1_B.Sum5 * WheelSpd1_B.Delay3;
/* Sum: '<S26>/Sum2' */
WheelSpd1_B.Sum2_c = WheelSpd1_B.Sum1_a - WheelSpd1_B.yn2;
/* Sum: '<S26>/Sum6' incorporates:
* Constant: '<S26>/Constant2'
*/
WheelSpd1_B.Sum6 = (WheelSpd1_B.Product2_e + WheelSpd1_B.Product4) +
WheelSpd1_P.Constant2_Value_f;
/* Product: '<S26>/Product1' */
WheelSpd1_B.Product1_n = WheelSpd1_B.Sum2_c / WheelSpd1_B.Sum6;
/* UnitDelay: '<S25>/d1' */
WheelSpd1_B.d1_b = WheelSpd1_DW.d1_DSTATE_b;
/* Sum: '<S25>/Sum3' */
WheelSpd1_B.Sum3_c = WheelSpd1_B.Product1_n + WheelSpd1_B.d1_b;
/* Gain: '<S25>/gain' */
WheelSpd1_B.gain_e = WheelSpd1_P.Ts * WheelSpd1_B.Sum3_c;
/* Gain: '<S25>/gain2' incorporates:
* Constant: '<S17>/Constant1'
*/
WheelSpd1_B.gain2_k = WheelSpd1_P.gain2_Gain_po *
WheelSpd1_P.Constant1_Value_i;
/* Product: '<S25>/Product2' incorporates:
* Constant: '<S25>/Constant1'
*/
WheelSpd1_B.Product2_p = WheelSpd1_P.Constant1_Value_h / WheelSpd1_B.gain2_k;
/* Gain: '<S25>/gain1' */
WheelSpd1_B.gain1_gt = WheelSpd1_P.gain1_Gain_f * WheelSpd1_B.Product2_p;
/* Sum: '<S25>/Sum1' incorporates:
* Constant: '<S25>/Constant'
*/
WheelSpd1_B.Sum1_px = WheelSpd1_B.gain1_gt - WheelSpd1_P.Ts;
/* UnitDelay: '<S25>/d' */
WheelSpd1_B.d_i = WheelSpd1_DW.d_DSTATE_o;
/* Product: '<S25>/Product11' */
WheelSpd1_B.Product11_e = WheelSpd1_B.Sum1_px * WheelSpd1_B.d_i;
/* Sum: '<S25>/Sum2' */
WheelSpd1_B.Sum2_kk = WheelSpd1_B.gain_e + WheelSpd1_B.Product11_e;
/* Sum: '<S25>/Sum4' incorporates:
* Constant: '<S25>/Constant'
*/
WheelSpd1_B.Sum4_l = WheelSpd1_B.gain1_gt + WheelSpd1_P.Ts;
/* Product: '<S25>/Product1' */
WheelSpd1_B.Product1_i = WheelSpd1_B.Sum2_kk / WheelSpd1_B.Sum4_l;
/* Gain: '<S17>/FFGain' */
WheelSpd1_B.FFGain = WheelSpd1_P.FFGain_Gain * WheelSpd1_B.Product1_i;
/* Outputs for Iterator SubSystem: '<Root>/DAQ_In' incorporates:
* WhileIterator: '<S1>/While Iterator'
*/
s1_iter = 1;
do {
/* Level2 S-Function Block: '<S1>/CAN Setup' (sg_IO613_setup_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[0];
sfcnOutputs(rts,1);
}
/* Level2 S-Function Block: '<S1>/CAN Read1' (sg_IO61X_read_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[1];
sfcnOutputs(rts,1);
}
{
/* S-Function (scanunpack): '<S1>/CAN Unpack2' */
if ((8 == WheelSpd1_B.CANRead1_o2.Length) && (WheelSpd1_B.CANRead1_o2.ID
!= INVALID_CAN_ID) ) {
if ((768U == WheelSpd1_B.CANRead1_o2.ID) && (0U ==
WheelSpd1_B.CANRead1_o2.Extended) ) {
{
/* --------------- START Unpacking signal 0 ------------------
* startBit = 32
* length = 16
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 1.0
* offset = -32768.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
{
uint16_T unpackedValue = 0;
{
uint16_T tempValue = (uint16_T) (0);
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[4]) & (uint16_T)
( (uint16_T) (1)<< 0)) >> 0)<<0);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[4]) & (uint16_T)
( (uint16_T) (1)<< 1)) >> 1)<<1);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[4]) & (uint16_T)
( (uint16_T) (1)<< 2)) >> 2)<<2);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[4]) & (uint16_T)
( (uint16_T) (1)<< 3)) >> 3)<<3);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[4]) & (uint16_T)
( (uint16_T) (1)<< 4)) >> 4)<<4);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[4]) & (uint16_T)
( (uint16_T) (1)<< 5)) >> 5)<<5);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[4]) & (uint16_T)
( (uint16_T) (1)<< 6)) >> 6)<<6);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[4]) & (uint16_T)
( (uint16_T) (1)<< 7)) >> 7)<<7);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[5]) & (uint16_T)
( (uint16_T) (1)<< 0)) >> 0)<<8);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[5]) & (uint16_T)
( (uint16_T) (1)<< 1)) >> 1)<<9);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[5]) & (uint16_T)
( (uint16_T) (1)<< 2)) >> 2)<<10);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[5]) & (uint16_T)
( (uint16_T) (1)<< 3)) >> 3)<<11);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[5]) & (uint16_T)
( (uint16_T) (1)<< 4)) >> 4)<<12);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[5]) & (uint16_T)
( (uint16_T) (1)<< 5)) >> 5)<<13);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[5]) & (uint16_T)
( (uint16_T) (1)<< 6)) >> 6)<<14);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[5]) & (uint16_T)
( (uint16_T) (1)<< 7)) >> 7)<<15);
}
unpackedValue = tempValue;
}
outValue = (real64_T) (unpackedValue);
}
}
{
real64_T result = (real64_T) outValue;
result = result + -32768.0;
WheelSpd1_B.RPM = result;
}
}
}
/* --------------- START Unpacking signal 1 ------------------
* startBit = 48
* length = 16
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 0.1
* offset = -200.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
{
uint16_T unpackedValue = 0;
{
uint16_T tempValue = (uint16_T) (0);
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[6]) & (uint16_T)
( (uint16_T) (1)<< 0)) >> 0)<<0);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[6]) & (uint16_T)
( (uint16_T) (1)<< 1)) >> 1)<<1);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[6]) & (uint16_T)
( (uint16_T) (1)<< 2)) >> 2)<<2);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[6]) & (uint16_T)
( (uint16_T) (1)<< 3)) >> 3)<<3);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[6]) & (uint16_T)
( (uint16_T) (1)<< 4)) >> 4)<<4);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[6]) & (uint16_T)
( (uint16_T) (1)<< 5)) >> 5)<<5);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[6]) & (uint16_T)
( (uint16_T) (1)<< 6)) >> 6)<<6);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[6]) & (uint16_T)
( (uint16_T) (1)<< 7)) >> 7)<<7);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[7]) & (uint16_T)
( (uint16_T) (1)<< 0)) >> 0)<<8);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[7]) & (uint16_T)
( (uint16_T) (1)<< 1)) >> 1)<<9);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[7]) & (uint16_T)
( (uint16_T) (1)<< 2)) >> 2)<<10);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[7]) & (uint16_T)
( (uint16_T) (1)<< 3)) >> 3)<<11);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[7]) & (uint16_T)
( (uint16_T) (1)<< 4)) >> 4)<<12);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[7]) & (uint16_T)
( (uint16_T) (1)<< 5)) >> 5)<<13);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[7]) & (uint16_T)
( (uint16_T) (1)<< 6)) >> 6)<<14);
}
{
tempValue = tempValue | (uint16_T)((uint16_T)((uint16_T)
((WheelSpd1_B.CANRead1_o2.Data[7]) & (uint16_T)
( (uint16_T) (1)<< 7)) >> 7)<<15);
}
unpackedValue = tempValue;
}
outValue = (real64_T) (unpackedValue);
}
}
{
real64_T result = (real64_T) outValue;
result = (result * 0.1) + -200.0;
WheelSpd1_B.TQ = result;
}
}
}
}
}
}
}
s1_iter++;
} while (WheelSpd1_B.CANRead1_o1 && (s1_iter <= 501));
/* End of Outputs for SubSystem: '<Root>/DAQ_In' */
/* Sum: '<S4>/Subtract' */
WheelSpd1_B.Error = WheelSpd1_B.Product1 - WheelSpd1_B.RPM;
/* Gain: '<S18>/Gain' incorporates:
* Constant: '<S8>/BW_P'
*/
WheelSpd1_B.Gain_a = WheelSpd1_P.Gain_Gain_n * WheelSpd1_P.BW_P_Value;
/* Fcn: '<S18>/Kp' */
u0 = WheelSpd1_B.Gain_a;
u0 = rt_powd_snf(u0, 3.0);
WheelSpd1_B.Kp = (u0 - 156.8) / 105840.0;
/* Gain: '<S19>/gain ' incorporates:
* Constant: '<S8>/BW_PI'
*/
WheelSpd1_B.gain_mk = WheelSpd1_P.gain_Gain * WheelSpd1_P.BW_PI_Value;
/* Fcn: '<S19>/Kp' */
u0 = WheelSpd1_B.gain_mk;
u0 = rt_powd_snf(u0, 3.0);
WheelSpd1_B.Kp_b = (4.0 * u0 - 156.8) / 105840.0;
/* Fcn: '<S19>/Ki' */
u0 = WheelSpd1_B.gain_mk;
u0 = rt_powd_snf(u0, 4.0);
WheelSpd1_B.Ki = 105840.0 / u0;
/* Gain: '<S20>/gain2' incorporates:
* Constant: '<S19>/Constant'
*/
WheelSpd1_B.gain2_n = WheelSpd1_P.gain2_Gain_c * WheelSpd1_P.Constant_Value_d;
/* Product: '<S20>/Product2' incorporates:
* Constant: '<S20>/Constant1'
*/
WheelSpd1_B.tau = WheelSpd1_P.Constant1_Value_l / WheelSpd1_B.gain2_n;
/* Gain: '<S20>/gain3' */
WheelSpd1_B.utau = WheelSpd1_P.gain3_Gain_o * WheelSpd1_B.tau;
/* UnitDelay: '<S21>/d1' */
WheelSpd1_B.d1_cf = WheelSpd1_DW.d1_DSTATE_g;
/* Sum: '<S21>/Sum1' */
WheelSpd1_B.Sum1_d = WheelSpd1_B.Error + WheelSpd1_B.d1_cf;
/* Gain: '<S21>/gain' */
u0 = WheelSpd1_P.Ts;
u0 /= 2.0;
WheelSpd1_B.gain_ds = u0 * WheelSpd1_B.Sum1_d;
/* UnitDelay: '<S21>/d' */
WheelSpd1_B.d_c = WheelSpd1_DW.d_DSTATE_ir;
/* Sum: '<S21>/Sum2' */
WheelSpd1_B.Sum2_l = WheelSpd1_B.gain_ds + WheelSpd1_B.d_c;
/* UnitDelay: '<S20>/d1' */
WheelSpd1_B.d1_p = WheelSpd1_DW.d1_DSTATE_lw;
/* Sum: '<S20>/Sum3' */
WheelSpd1_B.Sum3_g = WheelSpd1_B.Sum2_l - WheelSpd1_B.d1_p;
/* Product: '<S20>/Product3' */
WheelSpd1_B.Product3_e = WheelSpd1_B.utau * WheelSpd1_B.Sum3_g;
/* Sum: '<S20>/Sum1' incorporates:
* Constant: '<S20>/Constant'
*/
WheelSpd1_B.Sum1_i = WheelSpd1_B.utau - WheelSpd1_P.Ts;
/* UnitDelay: '<S20>/d' */
WheelSpd1_B.d_j = WheelSpd1_DW.d_DSTATE_b;
/* Product: '<S20>/Product11' */
WheelSpd1_B.Product11_n = WheelSpd1_B.Sum1_i * WheelSpd1_B.d_j;
/* Sum: '<S20>/Sum2' */
WheelSpd1_B.Sum2_j = WheelSpd1_B.Product3_e + WheelSpd1_B.Product11_n;
/* Sum: '<S20>/Sum4' incorporates:
* Constant: '<S20>/Constant2'
*/
WheelSpd1_B.Sum4_a = WheelSpd1_B.utau + WheelSpd1_P.Ts;
/* Product: '<S20>/Product1' */
WheelSpd1_B.Product1_a = WheelSpd1_B.Sum2_j / WheelSpd1_B.Sum4_a;
/* MultiPortSwitch: '<S16>/Multiport Switch1' incorporates:
* Constant: '<S8>/Selector'
*/
if ((int32_T)WheelSpd1_P.Selector_Value == 1) {
/* Product: '<S18>/Product' */
WheelSpd1_B.Product_k = WheelSpd1_B.Error * WheelSpd1_B.Kp;
WheelSpd1_B.MultiportSwitch1 = WheelSpd1_B.Product_k;
} else {
/* Product: '<S19>/Divide2' */
WheelSpd1_B.Divide2 = WheelSpd1_B.Ki * WheelSpd1_B.Product1_a;
/* Product: '<S19>/Divide1' */
WheelSpd1_B.Divide1 = WheelSpd1_B.Error * WheelSpd1_B.Kp_b;
/* Sum: '<S19>/Add' */
WheelSpd1_B.Add_k = WheelSpd1_B.Divide1 + WheelSpd1_B.Divide2;
WheelSpd1_B.MultiportSwitch1 = WheelSpd1_B.Add_k;
}
/* End of MultiPortSwitch: '<S16>/Multiport Switch1' */
/* Gain: '<S8>/FBGain' */
WheelSpd1_B.FBOut = WheelSpd1_P.FBGain_Gain * WheelSpd1_B.MultiportSwitch1;
/* Sum: '<S8>/Add' */
WheelSpd1_B.Add = WheelSpd1_B.FFGain + WheelSpd1_B.FBOut;
/* Memory: '<S4>/Memory' */
WheelSpd1_B.Memory = WheelSpd1_DW.Memory_PreviousInput;
/* Product: '<S7>/Product4' incorporates:
* Constant: '<S7>/Constant5'
*/
u0 = WheelSpd1_P.P * 196.0;
WheelSpd1_B.Product4_o = u0 * WheelSpd1_B.Product1;
/* UnitDelay: '<S11>/d' */
WheelSpd1_B.d_in = WheelSpd1_DW.d_DSTATE_bw;
/* Sum: '<S11>/Sum2' */
WheelSpd1_B.Sum2_hn = WheelSpd1_B.Product1 - WheelSpd1_B.d_in;
/* Gain: '<S11>/gain' */
u0 = WheelSpd1_P.Ts;
u0 = 2.0 / u0;
WheelSpd1_B.gain_j = u0 * WheelSpd1_B.Sum2_hn;
/* UnitDelay: '<S11>/d1' */
WheelSpd1_B.d1_e = WheelSpd1_DW.d1_DSTATE_gc;
/* Sum: '<S11>/Sum1' */
WheelSpd1_B.Sum1_m = WheelSpd1_B.gain_j - WheelSpd1_B.d1_e;
/* Product: '<S7>/Product3' incorporates:
* Constant: '<S7>/Constant4'
*/
u0 = 2.0 * WheelSpd1_P.jeta * WheelSpd1_P.Wn * WheelSpd1_P.P + 196.0;
WheelSpd1_B.Product3_f = u0 * WheelSpd1_B.Sum1_m;
/* UnitDelay: '<S12>/d' */
WheelSpd1_B.d_n = WheelSpd1_DW.d_DSTATE_d;
/* Sum: '<S12>/Sum2' */
WheelSpd1_B.Sum2_kl = WheelSpd1_B.Sum1_m - WheelSpd1_B.d_n;
/* Gain: '<S12>/gain' */
u0 = WheelSpd1_P.Ts;
u0 = 2.0 / u0;
WheelSpd1_B.gain_g = u0 * WheelSpd1_B.Sum2_kl;
/* UnitDelay: '<S12>/d1' */
WheelSpd1_B.d1_bp = WheelSpd1_DW.d1_DSTATE_l3;
/* Sum: '<S12>/Sum1' */
WheelSpd1_B.Sum1_f = WheelSpd1_B.gain_g - WheelSpd1_B.d1_bp;
/* Product: '<S7>/Product2' incorporates:
* Constant: '<S7>/Constant3'
*/
u0 = 2.0 * WheelSpd1_P.jeta * WheelSpd1_P.Wn + WheelSpd1_P.P;
WheelSpd1_B.Product2_l = u0 * WheelSpd1_B.Sum1_f;
/* UnitDelay: '<S13>/d' */
WheelSpd1_B.d_cu = WheelSpd1_DW.d_DSTATE_g;
/* Sum: '<S13>/Sum2' */
WheelSpd1_B.Sum2_a = WheelSpd1_B.Sum1_f - WheelSpd1_B.d_cu;
/* Gain: '<S13>/gain' */
u0 = WheelSpd1_P.Ts;
u0 = 2.0 / u0;
WheelSpd1_B.gain_gz = u0 * WheelSpd1_B.Sum2_a;
/* UnitDelay: '<S13>/d1' */
WheelSpd1_B.d1_di = WheelSpd1_DW.d1_DSTATE_c;
/* Sum: '<S13>/Sum1' */
WheelSpd1_B.Sum1_g = WheelSpd1_B.gain_gz - WheelSpd1_B.d1_di;
/* Sum: '<S7>/Add2' */
WheelSpd1_B.Add2 = ((WheelSpd1_B.Product4_o + WheelSpd1_B.Product3_f) +
WheelSpd1_B.Product2_l) + WheelSpd1_B.Sum1_g;
/* Gain: '<S7>/Gain' */
u0 = 196.0 * WheelSpd1_P.K;
u0 = 1.0 / u0;
WheelSpd1_B.Gain_c = u0 * WheelSpd1_B.Add2;
/* Sum: '<S7>/Add3' */
WheelSpd1_B.Add3 = WheelSpd1_B.Gain_c - WheelSpd1_B.Memory;
/* UnitDelay: '<S14>/d1' */
WheelSpd1_B.d1_n = WheelSpd1_DW.d1_DSTATE_m;
/* Sum: '<S14>/Sum3' */
WheelSpd1_B.Sum3_f = WheelSpd1_B.Add3 + WheelSpd1_B.d1_n;
/* Gain: '<S14>/gain' */
WheelSpd1_B.gain_o3 = WheelSpd1_P.Ts * WheelSpd1_B.Sum3_f;
/* Gain: '<S14>/gain2' incorporates:
* Constant: '<S4>/Pole'
*/
WheelSpd1_B.gain2_m = WheelSpd1_P.gain2_Gain_a * WheelSpd1_P.Pole_Value;
/* Product: '<S14>/Product2' incorporates:
* Constant: '<S14>/Constant1'
*/
WheelSpd1_B.Product2_h = WheelSpd1_P.Constant1_Value_id / WheelSpd1_B.gain2_m;
/* Gain: '<S14>/gain1' */
WheelSpd1_B.gain1_k = WheelSpd1_P.gain1_Gain_f2 * WheelSpd1_B.Product2_h;
/* Sum: '<S14>/Sum1' incorporates:
* Constant: '<S14>/Constant'
*/
WheelSpd1_B.Sum1_e = WheelSpd1_B.gain1_k - WheelSpd1_P.Ts;
/* UnitDelay: '<S14>/d' */
WheelSpd1_B.d_p = WheelSpd1_DW.d_DSTATE_h;
/* Product: '<S14>/Product11' */
WheelSpd1_B.Product11_i = WheelSpd1_B.Sum1_e * WheelSpd1_B.d_p;
/* Sum: '<S14>/Sum2' */
WheelSpd1_B.Sum2_b = WheelSpd1_B.gain_o3 + WheelSpd1_B.Product11_i;
/* Sum: '<S14>/Sum4' incorporates:
* Constant: '<S14>/Constant'
*/
WheelSpd1_B.Sum4_k = WheelSpd1_B.gain1_k + WheelSpd1_P.Ts;
/* Product: '<S14>/Product1' */
WheelSpd1_B.Product1_l = WheelSpd1_B.Sum2_b / WheelSpd1_B.Sum4_k;
/* Delay: '<S15>/Delay1' */
WheelSpd1_B.Delay1_n = WheelSpd1_DW.Delay1_DSTATE_i;
/* Gain: '<S15>/gain1' */
WheelSpd1_B.gain1_f = WheelSpd1_P.gain1_Gain_n * WheelSpd1_B.Delay1_n;
/* Delay: '<S15>/Delay' */
WheelSpd1_B.Delay_a = WheelSpd1_DW.Delay_DSTATE_g[0];
/* Sum: '<S15>/Sum3' */
WheelSpd1_B.Sum3_a = (WheelSpd1_B.Product1_l + WheelSpd1_B.gain1_f) +
WheelSpd1_B.Delay_a;
/* Gain: '<S15>/gain2' incorporates:
* Constant: '<S4>/Qfilter2'
*/
WheelSpd1_B.gain2_d = WheelSpd1_P.gain2_Gain_f * WheelSpd1_P.Qfilter2_Value;
/* Product: '<S15>/Product2' incorporates:
* Constant: '<S15>/Constant'
*/
WheelSpd1_B.Product2_m = WheelSpd1_B.gain2_d * WheelSpd1_B.gain2_d *
WheelSpd1_P.Ts * WheelSpd1_P.Ts;
/* Product: '<S15>/x(n), x(n-1), x(n-2)' */
WheelSpd1_B.xnxn1xn2_a = WheelSpd1_B.Sum3_a * WheelSpd1_B.Product2_m;
/* Gain: '<S15>/gain3' */
WheelSpd1_B.gain3_b = WheelSpd1_P.gain3_Gain_d * WheelSpd1_B.Product2_m;
/* Sum: '<S15>/Sum4' incorporates:
* Constant: '<S15>/Constant1'
*/
WheelSpd1_B.Sum4_kn = WheelSpd1_B.gain3_b - WheelSpd1_P.Constant1_Value_e;
/* Delay: '<S15>/Delay2' */
WheelSpd1_B.Delay2_n = WheelSpd1_DW.Delay2_DSTATE_c;
/* Product: '<S15>/y(n-1)' */
WheelSpd1_B.yn1_m = WheelSpd1_B.Sum4_kn * WheelSpd1_B.Delay2_n;
/* Sum: '<S15>/Sum1' */
WheelSpd1_B.Sum1_ek = WheelSpd1_B.xnxn1xn2_a - WheelSpd1_B.yn1_m;
/* Product: '<S15>/Product3' incorporates:
* Constant: '<S15>/Constant'
*/
WheelSpd1_B.Product3_i = WheelSpd1_B.gain2_d * WheelSpd1_P.Ts;
/* Gain: '<S15>/gain4' */
WheelSpd1_B.gain4_g = WheelSpd1_P.gain4_Gain_i * WheelSpd1_B.Product3_i;
/* Product: '<S15>/Product4' incorporates:
* Constant: '<S7>/zeta1'
*/
WheelSpd1_B.Product4_i = WheelSpd1_B.gain4_g * WheelSpd1_P.zeta1_Value;
/* Sum: '<S15>/Sum5' incorporates:
* Constant: '<S15>/Constant2'
*/
WheelSpd1_B.Sum5_f = (WheelSpd1_B.Product2_m - WheelSpd1_B.Product4_i) +
WheelSpd1_P.Constant2_Value_h;
/* Delay: '<S15>/Delay3' */
WheelSpd1_B.Delay3_i = WheelSpd1_DW.Delay3_DSTATE_o[0];
/* Product: '<S15>/y(n-2)' */
WheelSpd1_B.yn2_g = WheelSpd1_B.Sum5_f * WheelSpd1_B.Delay3_i;
/* Sum: '<S15>/Sum2' */
WheelSpd1_B.Sum2_m = WheelSpd1_B.Sum1_ek - WheelSpd1_B.yn2_g;
/* Sum: '<S15>/Sum6' incorporates:
* Constant: '<S15>/Constant2'
*/
WheelSpd1_B.Sum6_g = (WheelSpd1_B.Product2_m + WheelSpd1_B.Product4_i) +
WheelSpd1_P.Constant2_Value_h;
/* Product: '<S15>/Product1' */
WheelSpd1_B.Product1_fm = WheelSpd1_B.Sum2_m / WheelSpd1_B.Sum6_g;
/* Product: '<S4>/Product' incorporates:
* Constant: '<S4>/DOBFlag'
*/
WheelSpd1_B.Product_d = WheelSpd1_B.Product1_fm * WheelSpd1_P.DOBFlag_Value;
/* Sum: '<S4>/Subtract2' */
WheelSpd1_B.Subtract2 = WheelSpd1_B.Add - WheelSpd1_B.Product_d;
/* Gain: '<S4>/ControlFlag' */
WheelSpd1_B.ControlFlag = WheelSpd1_P.ControlFlag_Gain * WheelSpd1_B.Subtract2;
/* Saturate: '<S4>/Saturation' */
u0 = WheelSpd1_B.ControlFlag;
u1 = WheelSpd1_P.Saturation_LowerSat;
u2 = WheelSpd1_P.Saturation_UpperSat;
if (u0 > u2) {
WheelSpd1_B.ControlOutput = u2;
} else if (u0 < u1) {
WheelSpd1_B.ControlOutput = u1;
} else {
WheelSpd1_B.ControlOutput = u0;
}
/* End of Saturate: '<S4>/Saturation' */
/* S-Function (scanpack): '<S5>/CAN Pack' */
/* S-Function (scanpack): '<S5>/CAN Pack' */
WheelSpd1_B.CANPack.ID = 592U;
WheelSpd1_B.CANPack.Length = 8U;
WheelSpd1_B.CANPack.Extended = 0U;
WheelSpd1_B.CANPack.Remote = 0;
WheelSpd1_B.CANPack.Data[0] = 0;
WheelSpd1_B.CANPack.Data[1] = 0;
WheelSpd1_B.CANPack.Data[2] = 0;
WheelSpd1_B.CANPack.Data[3] = 0;
WheelSpd1_B.CANPack.Data[4] = 0;
WheelSpd1_B.CANPack.Data[5] = 0;
WheelSpd1_B.CANPack.Data[6] = 0;
WheelSpd1_B.CANPack.Data[7] = 0;
{
/* --------------- START Packing signal 0 ------------------
* startBit = 0
* length = 1
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 1.0
* offset = 0.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.ContMode;
/* no scaling required */
outValue = result;
}
{
{
uint8_T packedValue;
if (outValue > (real64_T)(1)) {
packedValue = (uint8_T) 1;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint8_T) 0;
} else {
packedValue = (uint8_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[0] = WheelSpd1_B.CANPack.Data[0] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 0)) >> 0)<<0);
}
}
}
}
}
}
/* --------------- START Packing signal 1 ------------------
* startBit = 1
* length = 1
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 1.0
* offset = 0.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.Ready;
/* no scaling required */
outValue = result;
}
{
{
uint8_T packedValue;
if (outValue > (real64_T)(1)) {
packedValue = (uint8_T) 1;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint8_T) 0;
} else {
packedValue = (uint8_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[0] = WheelSpd1_B.CANPack.Data[0] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 0)) >> 0)<<1);
}
}
}
}
}
}
/* --------------- START Packing signal 2 ------------------
* startBit = 2
* length = 1
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 1.0
* offset = 0.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.Ready;
/* no scaling required */
outValue = result;
}
{
{
uint8_T packedValue;
if (outValue > (real64_T)(1)) {
packedValue = (uint8_T) 1;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint8_T) 0;
} else {
packedValue = (uint8_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[0] = WheelSpd1_B.CANPack.Data[0] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 0)) >> 0)<<2);
}
}
}
}
}
}
/* --------------- START Packing signal 3 ------------------
* startBit = 3
* length = 1
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 1.0
* offset = 0.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.Ready;
/* no scaling required */
outValue = result;
}
{
{
uint8_T packedValue;
if (outValue > (real64_T)(1)) {
packedValue = (uint8_T) 1;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint8_T) 0;
} else {
packedValue = (uint8_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[0] = WheelSpd1_B.CANPack.Data[0] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 0)) >> 0)<<3);
}
}
}
}
}
}
/* --------------- START Packing signal 4 ------------------
* startBit = 4
* length = 4
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 1.0
* offset = 0.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.Gear;
/* no scaling required */
outValue = result;
}
{
{
uint8_T packedValue;
if (outValue > (real64_T)(15)) {
packedValue = (uint8_T) 15;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint8_T) 0;
} else {
packedValue = (uint8_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[0] = WheelSpd1_B.CANPack.Data[0] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 0)) >> 0)<<4);
}
{
WheelSpd1_B.CANPack.Data[0] = WheelSpd1_B.CANPack.Data[0] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 1)) >> 1)<<5);
}
{
WheelSpd1_B.CANPack.Data[0] = WheelSpd1_B.CANPack.Data[0] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 2)) >> 2)<<6);
}
{
WheelSpd1_B.CANPack.Data[0] = WheelSpd1_B.CANPack.Data[0] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 3)) >> 3)<<7);
}
}
}
}
}
}
/* --------------- START Packing signal 5 ------------------
* startBit = 8
* length = 2
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 1.0
* offset = 0.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.Ready;
/* no scaling required */
outValue = result;
}
{
{
uint8_T packedValue;
if (outValue > (real64_T)(3)) {
packedValue = (uint8_T) 3;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint8_T) 0;
} else {
packedValue = (uint8_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[1] = WheelSpd1_B.CANPack.Data[1] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 0)) >> 0)<<0);
}
{
WheelSpd1_B.CANPack.Data[1] = WheelSpd1_B.CANPack.Data[1] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 1)) >> 1)<<1);
}
}
}
}
}
}
/* --------------- START Packing signal 6 ------------------
* startBit = 10
* length = 3
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 1.0
* offset = 0.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.BMS;
/* no scaling required */
outValue = result;
}
{
{
uint8_T packedValue;
if (outValue > (real64_T)(7)) {
packedValue = (uint8_T) 7;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint8_T) 0;
} else {
packedValue = (uint8_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[1] = WheelSpd1_B.CANPack.Data[1] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 0)) >> 0)<<2);
}
{
WheelSpd1_B.CANPack.Data[1] = WheelSpd1_B.CANPack.Data[1] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 1)) >> 1)<<3);
}
{
WheelSpd1_B.CANPack.Data[1] = WheelSpd1_B.CANPack.Data[1] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 2)) >> 2)<<4);
}
}
}
}
}
}
/* --------------- START Packing signal 7 ------------------
* startBit = 13
* length = 2
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 1.0
* offset = 0.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.Ready;
/* no scaling required */
outValue = result;
}
{
{
uint8_T packedValue;
if (outValue > (real64_T)(3)) {
packedValue = (uint8_T) 3;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint8_T) 0;
} else {
packedValue = (uint8_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[1] = WheelSpd1_B.CANPack.Data[1] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 0)) >> 0)<<5);
}
{
WheelSpd1_B.CANPack.Data[1] = WheelSpd1_B.CANPack.Data[1] |
(uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
(((uint8_T)(1)) << 1)) >> 1)<<6);
}
}
}
}
}
}
/* --------------- START Packing signal 8 ------------------
* startBit = 16
* length = 16
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 0.1
* offset = -200.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.PosTQLim;
/* full scaling operation */
result = (result - -200.0) * (1 / 0.1);
outValue = result;
}
{
{
uint16_T packedValue;
if (outValue > (real64_T)(65535)) {
packedValue = (uint16_T) 65535;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint16_T) 0;
} else {
packedValue = (uint16_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[2] = WheelSpd1_B.CANPack.Data[2] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 0)) >> 0)<<0);
}
{
WheelSpd1_B.CANPack.Data[2] = WheelSpd1_B.CANPack.Data[2] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 1)) >> 1)<<1);
}
{
WheelSpd1_B.CANPack.Data[2] = WheelSpd1_B.CANPack.Data[2] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 2)) >> 2)<<2);
}
{
WheelSpd1_B.CANPack.Data[2] = WheelSpd1_B.CANPack.Data[2] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 3)) >> 3)<<3);
}
{
WheelSpd1_B.CANPack.Data[2] = WheelSpd1_B.CANPack.Data[2] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 4)) >> 4)<<4);
}
{
WheelSpd1_B.CANPack.Data[2] = WheelSpd1_B.CANPack.Data[2] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 5)) >> 5)<<5);
}
{
WheelSpd1_B.CANPack.Data[2] = WheelSpd1_B.CANPack.Data[2] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 6)) >> 6)<<6);
}
{
WheelSpd1_B.CANPack.Data[2] = WheelSpd1_B.CANPack.Data[2] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 7)) >> 7)<<7);
}
{
WheelSpd1_B.CANPack.Data[3] = WheelSpd1_B.CANPack.Data[3] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 8)) >> 8)<<0);
}
{
WheelSpd1_B.CANPack.Data[3] = WheelSpd1_B.CANPack.Data[3] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 9)) >> 9)<<1);
}
{
WheelSpd1_B.CANPack.Data[3] = WheelSpd1_B.CANPack.Data[3] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 10)) >> 10)<<2);
}
{
WheelSpd1_B.CANPack.Data[3] = WheelSpd1_B.CANPack.Data[3] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 11)) >> 11)<<3);
}
{
WheelSpd1_B.CANPack.Data[3] = WheelSpd1_B.CANPack.Data[3] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 12)) >> 12)<<4);
}
{
WheelSpd1_B.CANPack.Data[3] = WheelSpd1_B.CANPack.Data[3] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 13)) >> 13)<<5);
}
{
WheelSpd1_B.CANPack.Data[3] = WheelSpd1_B.CANPack.Data[3] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 14)) >> 14)<<6);
}
{
WheelSpd1_B.CANPack.Data[3] = WheelSpd1_B.CANPack.Data[3] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 15)) >> 15)<<7);
}
}
}
}
}
}
/* --------------- START Packing signal 9 ------------------
* startBit = 32
* length = 16
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 0.1
* offset = -200.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.NegTQLim;
/* full scaling operation */
result = (result - -200.0) * (1 / 0.1);
outValue = result;
}
{
{
uint16_T packedValue;
if (outValue > (real64_T)(65535)) {
packedValue = (uint16_T) 65535;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint16_T) 0;
} else {
packedValue = (uint16_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[4] = WheelSpd1_B.CANPack.Data[4] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 0)) >> 0)<<0);
}
{
WheelSpd1_B.CANPack.Data[4] = WheelSpd1_B.CANPack.Data[4] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 1)) >> 1)<<1);
}
{
WheelSpd1_B.CANPack.Data[4] = WheelSpd1_B.CANPack.Data[4] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 2)) >> 2)<<2);
}
{
WheelSpd1_B.CANPack.Data[4] = WheelSpd1_B.CANPack.Data[4] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 3)) >> 3)<<3);
}
{
WheelSpd1_B.CANPack.Data[4] = WheelSpd1_B.CANPack.Data[4] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 4)) >> 4)<<4);
}
{
WheelSpd1_B.CANPack.Data[4] = WheelSpd1_B.CANPack.Data[4] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 5)) >> 5)<<5);
}
{
WheelSpd1_B.CANPack.Data[4] = WheelSpd1_B.CANPack.Data[4] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 6)) >> 6)<<6);
}
{
WheelSpd1_B.CANPack.Data[4] = WheelSpd1_B.CANPack.Data[4] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 7)) >> 7)<<7);
}
{
WheelSpd1_B.CANPack.Data[5] = WheelSpd1_B.CANPack.Data[5] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 8)) >> 8)<<0);
}
{
WheelSpd1_B.CANPack.Data[5] = WheelSpd1_B.CANPack.Data[5] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 9)) >> 9)<<1);
}
{
WheelSpd1_B.CANPack.Data[5] = WheelSpd1_B.CANPack.Data[5] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 10)) >> 10)<<2);
}
{
WheelSpd1_B.CANPack.Data[5] = WheelSpd1_B.CANPack.Data[5] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 11)) >> 11)<<3);
}
{
WheelSpd1_B.CANPack.Data[5] = WheelSpd1_B.CANPack.Data[5] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 12)) >> 12)<<4);
}
{
WheelSpd1_B.CANPack.Data[5] = WheelSpd1_B.CANPack.Data[5] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 13)) >> 13)<<5);
}
{
WheelSpd1_B.CANPack.Data[5] = WheelSpd1_B.CANPack.Data[5] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 14)) >> 14)<<6);
}
{
WheelSpd1_B.CANPack.Data[5] = WheelSpd1_B.CANPack.Data[5] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 15)) >> 15)<<7);
}
}
}
}
}
}
/* --------------- START Packing signal 10 ------------------
* startBit = 48
* length = 16
* desiredSignalByteLayout = LITTLEENDIAN
* dataType = UNSIGNED
* factor = 0.1
* offset = -200.0
* minimum = 0.0
* maximum = 0.0
* -----------------------------------------------------------------------*/
{
{
real64_T outValue = 0;
{
real64_T result = WheelSpd1_B.ControlOutput;
/* full scaling operation */
result = (result - -200.0) * (1 / 0.1);
outValue = result;
}
{
{
uint16_T packedValue;
if (outValue > (real64_T)(65535)) {
packedValue = (uint16_T) 65535;
} else if (outValue < (real64_T)(0)) {
packedValue = (uint16_T) 0;
} else {
packedValue = (uint16_T) (outValue);
}
{
{
WheelSpd1_B.CANPack.Data[6] = WheelSpd1_B.CANPack.Data[6] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 0)) >> 0)<<0);
}
{
WheelSpd1_B.CANPack.Data[6] = WheelSpd1_B.CANPack.Data[6] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 1)) >> 1)<<1);
}
{
WheelSpd1_B.CANPack.Data[6] = WheelSpd1_B.CANPack.Data[6] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 2)) >> 2)<<2);
}
{
WheelSpd1_B.CANPack.Data[6] = WheelSpd1_B.CANPack.Data[6] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 3)) >> 3)<<3);
}
{
WheelSpd1_B.CANPack.Data[6] = WheelSpd1_B.CANPack.Data[6] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 4)) >> 4)<<4);
}
{
WheelSpd1_B.CANPack.Data[6] = WheelSpd1_B.CANPack.Data[6] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 5)) >> 5)<<5);
}
{
WheelSpd1_B.CANPack.Data[6] = WheelSpd1_B.CANPack.Data[6] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 6)) >> 6)<<6);
}
{
WheelSpd1_B.CANPack.Data[6] = WheelSpd1_B.CANPack.Data[6] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 7)) >> 7)<<7);
}
{
WheelSpd1_B.CANPack.Data[7] = WheelSpd1_B.CANPack.Data[7] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 8)) >> 8)<<0);
}
{
WheelSpd1_B.CANPack.Data[7] = WheelSpd1_B.CANPack.Data[7] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 9)) >> 9)<<1);
}
{
WheelSpd1_B.CANPack.Data[7] = WheelSpd1_B.CANPack.Data[7] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 10)) >> 10)<<2);
}
{
WheelSpd1_B.CANPack.Data[7] = WheelSpd1_B.CANPack.Data[7] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 11)) >> 11)<<3);
}
{
WheelSpd1_B.CANPack.Data[7] = WheelSpd1_B.CANPack.Data[7] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 12)) >> 12)<<4);
}
{
WheelSpd1_B.CANPack.Data[7] = WheelSpd1_B.CANPack.Data[7] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 13)) >> 13)<<5);
}
{
WheelSpd1_B.CANPack.Data[7] = WheelSpd1_B.CANPack.Data[7] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 14)) >> 14)<<6);
}
{
WheelSpd1_B.CANPack.Data[7] = WheelSpd1_B.CANPack.Data[7] |
(uint8_T)((uint8_T)((uint16_T)(packedValue & (uint16_T)
(((uint16_T)(1)) << 15)) >> 15)<<7);
}
}
}
}
}
}
}
/* S-Function (sg_IO61X_write_s): '<S5>/CAN Write1' */
/* Level2 S-Function Block: '<S5>/CAN Write1' (sg_IO61X_write_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[2];
sfcnOutputs(rts,1);
}
/* Constant: '<S8>/Constant1' */
WheelSpd1_B.Constant1 = WheelSpd1_P.Wn;
/* Constant: '<S8>/Constant16' */
WheelSpd1_B.Constant16 = WheelSpd1_P.P;
/* Constant: '<S8>/Constant17' */
WheelSpd1_B.Constant17 = WheelSpd1_P.jeta;
/* Constant: '<S8>/Constant2' */
WheelSpd1_B.Constant2 = WheelSpd1_P.K;
}
/* Model update function */
static void WheelSpd1_update(void)
{
/* Update for UnitDelay: '<S9>/d1' */
WheelSpd1_DW.d1_DSTATE = WheelSpd1_B.TargetSpd;
/* Update for UnitDelay: '<S9>/d' */
WheelSpd1_DW.d_DSTATE = WheelSpd1_B.Product1;
/* Update for UnitDelay: '<S22>/d' */
WheelSpd1_DW.d_DSTATE_a = WheelSpd1_B.Product1;
/* Update for UnitDelay: '<S22>/d1' */
WheelSpd1_DW.d1_DSTATE_l = WheelSpd1_B.Sum1_n;
/* Update for UnitDelay: '<S23>/d' */
WheelSpd1_DW.d_DSTATE_i = WheelSpd1_B.Sum1_n;
/* Update for UnitDelay: '<S23>/d1' */
WheelSpd1_DW.d1_DSTATE_a = WheelSpd1_B.Sum1_p;
/* Update for UnitDelay: '<S24>/d' */
WheelSpd1_DW.d_DSTATE_ak = WheelSpd1_B.Sum1_p;
/* Update for UnitDelay: '<S24>/d1' */
WheelSpd1_DW.d1_DSTATE_f = WheelSpd1_B.Sum1_k;
/* Update for Delay: '<S26>/Delay1' */
WheelSpd1_DW.Delay1_DSTATE = WheelSpd1_B.Gain_l;
/* Update for Delay: '<S26>/Delay' */
WheelSpd1_DW.Delay_DSTATE[0] = WheelSpd1_DW.Delay_DSTATE[1];
WheelSpd1_DW.Delay_DSTATE[1] = WheelSpd1_B.Gain_l;
/* Update for Delay: '<S26>/Delay2' */
WheelSpd1_DW.Delay2_DSTATE = WheelSpd1_B.Product1_n;
/* Update for Delay: '<S26>/Delay3' */
WheelSpd1_DW.Delay3_DSTATE[0] = WheelSpd1_DW.Delay3_DSTATE[1];
WheelSpd1_DW.Delay3_DSTATE[1] = WheelSpd1_B.Product1_n;
/* Update for UnitDelay: '<S25>/d1' */
WheelSpd1_DW.d1_DSTATE_b = WheelSpd1_B.Product1_n;
/* Update for UnitDelay: '<S25>/d' */
WheelSpd1_DW.d_DSTATE_o = WheelSpd1_B.Product1_i;
/* Update for UnitDelay: '<S21>/d1' */
WheelSpd1_DW.d1_DSTATE_g = WheelSpd1_B.Error;
/* Update for UnitDelay: '<S21>/d' */
WheelSpd1_DW.d_DSTATE_ir = WheelSpd1_B.Sum2_l;
/* Update for UnitDelay: '<S20>/d1' */
WheelSpd1_DW.d1_DSTATE_lw = WheelSpd1_B.Sum2_l;
/* Update for UnitDelay: '<S20>/d' */
WheelSpd1_DW.d_DSTATE_b = WheelSpd1_B.Product1_a;
/* Update for Memory: '<S4>/Memory' */
WheelSpd1_DW.Memory_PreviousInput = WheelSpd1_B.ControlOutput;
/* Update for UnitDelay: '<S11>/d' */
WheelSpd1_DW.d_DSTATE_bw = WheelSpd1_B.Product1;
/* Update for UnitDelay: '<S11>/d1' */
WheelSpd1_DW.d1_DSTATE_gc = WheelSpd1_B.Sum1_m;
/* Update for UnitDelay: '<S12>/d' */
WheelSpd1_DW.d_DSTATE_d = WheelSpd1_B.Sum1_m;
/* Update for UnitDelay: '<S12>/d1' */
WheelSpd1_DW.d1_DSTATE_l3 = WheelSpd1_B.Sum1_f;
/* Update for UnitDelay: '<S13>/d' */
WheelSpd1_DW.d_DSTATE_g = WheelSpd1_B.Sum1_f;
/* Update for UnitDelay: '<S13>/d1' */
WheelSpd1_DW.d1_DSTATE_c = WheelSpd1_B.Sum1_g;
/* Update for UnitDelay: '<S14>/d1' */
WheelSpd1_DW.d1_DSTATE_m = WheelSpd1_B.Add3;
/* Update for UnitDelay: '<S14>/d' */
WheelSpd1_DW.d_DSTATE_h = WheelSpd1_B.Product1_l;
/* Update for Delay: '<S15>/Delay1' */
WheelSpd1_DW.Delay1_DSTATE_i = WheelSpd1_B.Product1_l;
/* Update for Delay: '<S15>/Delay' */
WheelSpd1_DW.Delay_DSTATE_g[0] = WheelSpd1_DW.Delay_DSTATE_g[1];
WheelSpd1_DW.Delay_DSTATE_g[1] = WheelSpd1_B.Product1_l;
/* Update for Delay: '<S15>/Delay2' */
WheelSpd1_DW.Delay2_DSTATE_c = WheelSpd1_B.Product1_fm;
/* Update for Delay: '<S15>/Delay3' */
WheelSpd1_DW.Delay3_DSTATE_o[0] = WheelSpd1_DW.Delay3_DSTATE_o[1];
WheelSpd1_DW.Delay3_DSTATE_o[1] = WheelSpd1_B.Product1_fm;
/* Update absolute time for base rate */
/* The "clockTick0" counts the number of times the code of this task has
* been executed. The absolute time is the multiplication of "clockTick0"
* and "Timing.stepSize0". Size of "clockTick0" ensures timer will not
* overflow during the application lifespan selected.
* Timer of this task consists of two 32 bit unsigned integers.
* The two integers represent the low bits Timing.clockTick0 and the high bits
* Timing.clockTickH0. When the low bit overflows to 0, the high bits increment.
*/
if (!(++WheelSpd1_M->Timing.clockTick0)) {
++WheelSpd1_M->Timing.clockTickH0;
}
WheelSpd1_M->Timing.t[0] = WheelSpd1_M->Timing.clockTick0 *
WheelSpd1_M->Timing.stepSize0 + WheelSpd1_M->Timing.clockTickH0 *
WheelSpd1_M->Timing.stepSize0 * 4294967296.0;
{
/* Update absolute timer for sample time: [0.002s, 0.0s] */
/* The "clockTick1" counts the number of times the code of this task has
* been executed. The absolute time is the multiplication of "clockTick1"
* and "Timing.stepSize1". Size of "clockTick1" ensures timer will not
* overflow during the application lifespan selected.
* Timer of this task consists of two 32 bit unsigned integers.
* The two integers represent the low bits Timing.clockTick1 and the high bits
* Timing.clockTickH1. When the low bit overflows to 0, the high bits increment.
*/
if (!(++WheelSpd1_M->Timing.clockTick1)) {
++WheelSpd1_M->Timing.clockTickH1;
}
WheelSpd1_M->Timing.t[1] = WheelSpd1_M->Timing.clockTick1 *
WheelSpd1_M->Timing.stepSize1 + WheelSpd1_M->Timing.clockTickH1 *
WheelSpd1_M->Timing.stepSize1 * 4294967296.0;
}
}
/* Model initialize function */
static void WheelSpd1_initialize(void)
{
/* Start for Constant: '<S5>/Constant' */
WheelSpd1_B.Ready = WheelSpd1_P.Constant_Value;
/* Start for Constant: '<S5>/Constant1' */
WheelSpd1_B.Gear = WheelSpd1_P.Constant1_Value;
/* Start for Constant: '<S5>/Constant2' */
WheelSpd1_B.BMS = WheelSpd1_P.Constant2_Value;
/* Start for Constant: '<S5>/Constant3' */
WheelSpd1_B.PosTQLim = WheelSpd1_P.Constant3_Value;
/* Start for Constant: '<S5>/Constant4' */
WheelSpd1_B.NegTQLim = WheelSpd1_P.Constant4_Value;
/* Start for FromWorkspace: '<S10>/FromWs' */
{
static real_T pTimeValues0[] = { 0.0, 1.9, 1.9, 2.0, 2.0, 4.0, 4.0, 4.1, 4.1,
5.9, 5.9, 6.0, 6.0, 8.0, 8.0, 8.1, 8.1, 10.0 } ;
static real_T pDataValues0[] = { 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0,
0.0, 0.0, -1.0, -1.0, -1.0, -1.0, 0.0, 0.0, 0.0 } ;
WheelSpd1_DW.FromWs_PWORK.TimePtr = (void *) pTimeValues0;
WheelSpd1_DW.FromWs_PWORK.DataPtr = (void *) pDataValues0;
WheelSpd1_DW.FromWs_IWORK.PrevIndex = 0;
}
/* Start for Iterator SubSystem: '<Root>/DAQ_In' */
/* Start for S-Function (sg_IO613_setup_s): '<S1>/CAN Setup' */
/* Level2 S-Function Block: '<S1>/CAN Setup' (sg_IO613_setup_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[0];
sfcnStart(rts);
if (ssGetErrorStatus(rts) != (NULL))
return;
}
/* Start for S-Function (sg_IO61X_read_s): '<S1>/CAN Read1' */
/* Level2 S-Function Block: '<S1>/CAN Read1' (sg_IO61X_read_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[1];
sfcnStart(rts);
if (ssGetErrorStatus(rts) != (NULL))
return;
}
/* Start for S-Function (scanunpack): '<S1>/CAN Unpack2' */
/*-----------S-Function Block: <S1>/CAN Unpack2 -----------------*/
/* End of Start for SubSystem: '<Root>/DAQ_In' */
/* Start for S-Function (sg_IO61X_write_s): '<S5>/CAN Write1' */
/* Level2 S-Function Block: '<S5>/CAN Write1' (sg_IO61X_write_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[2];
sfcnStart(rts);
if (ssGetErrorStatus(rts) != (NULL))
return;
}
/* InitializeConditions for UnitDelay: '<S9>/d1' */
WheelSpd1_DW.d1_DSTATE = WheelSpd1_P.d1_InitialCondition;
/* InitializeConditions for UnitDelay: '<S9>/d' */
WheelSpd1_DW.d_DSTATE = WheelSpd1_P.d_InitialCondition;
/* InitializeConditions for UnitDelay: '<S22>/d' */
WheelSpd1_DW.d_DSTATE_a = WheelSpd1_P.d_InitialCondition_j;
/* InitializeConditions for UnitDelay: '<S22>/d1' */
WheelSpd1_DW.d1_DSTATE_l = WheelSpd1_P.d1_InitialCondition_p;
/* InitializeConditions for UnitDelay: '<S23>/d' */
WheelSpd1_DW.d_DSTATE_i = WheelSpd1_P.d_InitialCondition_b;
/* InitializeConditions for UnitDelay: '<S23>/d1' */
WheelSpd1_DW.d1_DSTATE_a = WheelSpd1_P.d1_InitialCondition_j;
/* InitializeConditions for UnitDelay: '<S24>/d' */
WheelSpd1_DW.d_DSTATE_ak = WheelSpd1_P.d_InitialCondition_f;
/* InitializeConditions for UnitDelay: '<S24>/d1' */
WheelSpd1_DW.d1_DSTATE_f = WheelSpd1_P.d1_InitialCondition_l;
/* InitializeConditions for Delay: '<S26>/Delay1' */
WheelSpd1_DW.Delay1_DSTATE = WheelSpd1_P.Delay1_InitialCondition;
/* InitializeConditions for Delay: '<S26>/Delay2' */
WheelSpd1_DW.Delay2_DSTATE = WheelSpd1_P.Delay2_InitialCondition;
/* InitializeConditions for UnitDelay: '<S25>/d1' */
WheelSpd1_DW.d1_DSTATE_b = WheelSpd1_P.d1_InitialCondition_e;
/* InitializeConditions for UnitDelay: '<S25>/d' */
WheelSpd1_DW.d_DSTATE_o = WheelSpd1_P.d_InitialCondition_o;
/* InitializeConditions for UnitDelay: '<S21>/d1' */
WheelSpd1_DW.d1_DSTATE_g = WheelSpd1_P.d1_InitialCondition_a;
/* InitializeConditions for UnitDelay: '<S21>/d' */
WheelSpd1_DW.d_DSTATE_ir = WheelSpd1_P.d_InitialCondition_g;
/* InitializeConditions for UnitDelay: '<S20>/d1' */
WheelSpd1_DW.d1_DSTATE_lw = WheelSpd1_P.d1_InitialCondition_g;
/* InitializeConditions for UnitDelay: '<S20>/d' */
WheelSpd1_DW.d_DSTATE_b = WheelSpd1_P.d_InitialCondition_l;
/* InitializeConditions for Memory: '<S4>/Memory' */
WheelSpd1_DW.Memory_PreviousInput = WheelSpd1_P.Memory_InitialCondition;
/* InitializeConditions for UnitDelay: '<S11>/d' */
WheelSpd1_DW.d_DSTATE_bw = WheelSpd1_P.d_InitialCondition_k;
/* InitializeConditions for UnitDelay: '<S11>/d1' */
WheelSpd1_DW.d1_DSTATE_gc = WheelSpd1_P.d1_InitialCondition_e1;
/* InitializeConditions for UnitDelay: '<S12>/d' */
WheelSpd1_DW.d_DSTATE_d = WheelSpd1_P.d_InitialCondition_be;
/* InitializeConditions for UnitDelay: '<S12>/d1' */
WheelSpd1_DW.d1_DSTATE_l3 = WheelSpd1_P.d1_InitialCondition_h;
/* InitializeConditions for UnitDelay: '<S13>/d' */
WheelSpd1_DW.d_DSTATE_g = WheelSpd1_P.d_InitialCondition_k0;
/* InitializeConditions for UnitDelay: '<S13>/d1' */
WheelSpd1_DW.d1_DSTATE_c = WheelSpd1_P.d1_InitialCondition_d;
/* InitializeConditions for UnitDelay: '<S14>/d1' */
WheelSpd1_DW.d1_DSTATE_m = WheelSpd1_P.d1_InitialCondition_c;
/* InitializeConditions for UnitDelay: '<S14>/d' */
WheelSpd1_DW.d_DSTATE_h = WheelSpd1_P.d_InitialCondition_kh;
/* InitializeConditions for Delay: '<S15>/Delay1' */
WheelSpd1_DW.Delay1_DSTATE_i = WheelSpd1_P.Delay1_InitialCondition_c;
/* InitializeConditions for Delay: '<S15>/Delay2' */
WheelSpd1_DW.Delay2_DSTATE_c = WheelSpd1_P.Delay2_InitialCondition_c;
/* InitializeConditions for Delay: '<S26>/Delay' */
WheelSpd1_DW.Delay_DSTATE[0] = WheelSpd1_P.Delay_InitialCondition;
/* InitializeConditions for Delay: '<S26>/Delay3' */
WheelSpd1_DW.Delay3_DSTATE[0] = WheelSpd1_P.Delay3_InitialCondition;
/* InitializeConditions for Delay: '<S15>/Delay' */
WheelSpd1_DW.Delay_DSTATE_g[0] = WheelSpd1_P.Delay_InitialCondition_c;
/* InitializeConditions for Delay: '<S15>/Delay3' */
WheelSpd1_DW.Delay3_DSTATE_o[0] = WheelSpd1_P.Delay3_InitialCondition_f;
/* InitializeConditions for Delay: '<S26>/Delay' */
WheelSpd1_DW.Delay_DSTATE[1] = WheelSpd1_P.Delay_InitialCondition;
/* InitializeConditions for Delay: '<S26>/Delay3' */
WheelSpd1_DW.Delay3_DSTATE[1] = WheelSpd1_P.Delay3_InitialCondition;
/* InitializeConditions for Delay: '<S15>/Delay' */
WheelSpd1_DW.Delay_DSTATE_g[1] = WheelSpd1_P.Delay_InitialCondition_c;
/* InitializeConditions for Delay: '<S15>/Delay3' */
WheelSpd1_DW.Delay3_DSTATE_o[1] = WheelSpd1_P.Delay3_InitialCondition_f;
}
/* Model terminate function */
static void WheelSpd1_terminate(void)
{
/* Terminate for Iterator SubSystem: '<Root>/DAQ_In' */
/* Terminate for S-Function (sg_IO613_setup_s): '<S1>/CAN Setup' */
/* Level2 S-Function Block: '<S1>/CAN Setup' (sg_IO613_setup_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[0];
sfcnTerminate(rts);
}
/* Terminate for S-Function (sg_IO61X_read_s): '<S1>/CAN Read1' */
/* Level2 S-Function Block: '<S1>/CAN Read1' (sg_IO61X_read_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[1];
sfcnTerminate(rts);
}
/* End of Terminate for SubSystem: '<Root>/DAQ_In' */
/* Terminate for S-Function (sg_IO61X_write_s): '<S5>/CAN Write1' */
/* Level2 S-Function Block: '<S5>/CAN Write1' (sg_IO61X_write_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[2];
sfcnTerminate(rts);
}
}
/*========================================================================*
* Start of Classic call interface *
*========================================================================*/
void MdlOutputs(int_T tid)
{
WheelSpd1_output();
UNUSED_PARAMETER(tid);
}
void MdlUpdate(int_T tid)
{
WheelSpd1_update();
UNUSED_PARAMETER(tid);
}
void MdlInitializeSizes(void)
{
}
void MdlInitializeSampleTimes(void)
{
}
void MdlInitialize(void)
{
}
void MdlStart(void)
{
WheelSpd1_initialize();
}
void MdlTerminate(void)
{
WheelSpd1_terminate();
}
/* Registration function */
RT_MODEL_WheelSpd1_T *WheelSpd1(void)
{
/* Registration code */
/* initialize non-finites */
rt_InitInfAndNaN(sizeof(real_T));
/* initialize real-time model */
(void) memset((void *)WheelSpd1_M, 0,
sizeof(RT_MODEL_WheelSpd1_T));
{
/* Setup solver object */
rtsiSetSimTimeStepPtr(&WheelSpd1_M->solverInfo,
&WheelSpd1_M->Timing.simTimeStep);
rtsiSetTPtr(&WheelSpd1_M->solverInfo, &rtmGetTPtr(WheelSpd1_M));
rtsiSetStepSizePtr(&WheelSpd1_M->solverInfo, &WheelSpd1_M->Timing.stepSize0);
rtsiSetErrorStatusPtr(&WheelSpd1_M->solverInfo, (&rtmGetErrorStatus
(WheelSpd1_M)));
rtsiSetRTModelPtr(&WheelSpd1_M->solverInfo, WheelSpd1_M);
}
rtsiSetSimTimeStep(&WheelSpd1_M->solverInfo, MAJOR_TIME_STEP);
rtsiSetSolverName(&WheelSpd1_M->solverInfo,"FixedStepDiscrete");
WheelSpd1_M->solverInfoPtr = (&WheelSpd1_M->solverInfo);
/* Initialize timing info */
{
int_T *mdlTsMap = WheelSpd1_M->Timing.sampleTimeTaskIDArray;
mdlTsMap[0] = 0;
mdlTsMap[1] = 1;
WheelSpd1_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]);
WheelSpd1_M->Timing.sampleTimes = (&WheelSpd1_M->Timing.sampleTimesArray[0]);
WheelSpd1_M->Timing.offsetTimes = (&WheelSpd1_M->Timing.offsetTimesArray[0]);
/* task periods */
WheelSpd1_M->Timing.sampleTimes[0] = (0.0);
WheelSpd1_M->Timing.sampleTimes[1] = (0.002);
/* task offsets */
WheelSpd1_M->Timing.offsetTimes[0] = (0.0);
WheelSpd1_M->Timing.offsetTimes[1] = (0.0);
}
rtmSetTPtr(WheelSpd1_M, &WheelSpd1_M->Timing.tArray[0]);
{
int_T *mdlSampleHits = WheelSpd1_M->Timing.sampleHitArray;
mdlSampleHits[0] = 1;
mdlSampleHits[1] = 1;
WheelSpd1_M->Timing.sampleHits = (&mdlSampleHits[0]);
}
rtmSetTFinal(WheelSpd1_M, -1);
WheelSpd1_M->Timing.stepSize0 = 0.002;
WheelSpd1_M->Timing.stepSize1 = 0.002;
/* Setup for data logging */
{
static RTWLogInfo rt_DataLoggingInfo;
rt_DataLoggingInfo.loggingInterval = NULL;
WheelSpd1_M->rtwLogInfo = &rt_DataLoggingInfo;
}
/* Setup for data logging */
{
/*
* Set pointers to the data and signal info each state
*/
{
static int_T rt_LoggedStateWidths[] = {
1,
1,
1,
1,
1,
1,
1,
1,
1,
2,
1,
2,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
2,
1,
2
};
static int_T rt_LoggedStateNumDimensions[] = {
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1
};
static int_T rt_LoggedStateDimensions[] = {
1,
1,
1,
1,
1,
1,
1,
1,
1,
2,
1,
2,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
2,
1,
2
};
static boolean_T rt_LoggedStateIsVarDims[] = {
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
};
static BuiltInDTypeId rt_LoggedStateDataTypeIds[] = {
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE,
SS_DOUBLE
};
static int_T rt_LoggedStateComplexSignals[] = {
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
};
static RTWPreprocessingFcnPtr rt_LoggingStatePreprocessingFcnPtrs[] = {
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL),
(NULL)
};
static const char_T *rt_LoggedStateLabels[] = {
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE",
"DSTATE"
};
static const char_T *rt_LoggedStateBlockNames[] = {
"WheelSpd1/Mon_Cont/LPFM/d1",
"WheelSpd1/Mon_Cont/LPFM/d",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Dot/d",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Dot/d1",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Dot2/d",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Dot2/d1",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Dot3/d",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Dot3/d1",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Second order\nLPF/Delay1",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Second order\nLPF/Delay",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Second order\nLPF/Delay2",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/Second order\nLPF/Delay3",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/LPFM/d1",
"WheelSpd1/Mon_Cont/FF+PID Controller/FF/LPFM/d",
"WheelSpd1/Mon_Cont/FF+PID Controller/FB/PI/Integrator1/d1",
"WheelSpd1/Mon_Cont/FF+PID Controller/FB/PI/Integrator1/d",
"WheelSpd1/Mon_Cont/FF+PID Controller/FB/PI/HPF/d1",
"WheelSpd1/Mon_Cont/FF+PID Controller/FB/PI/HPF/d",
"WheelSpd1/Mon_Cont/DOB/Dot3/d",
"WheelSpd1/Mon_Cont/DOB/Dot3/d1",
"WheelSpd1/Mon_Cont/DOB/Dot4/d",
"WheelSpd1/Mon_Cont/DOB/Dot4/d1",
"WheelSpd1/Mon_Cont/DOB/Dot5/d",
"WheelSpd1/Mon_Cont/DOB/Dot5/d1",
"WheelSpd1/Mon_Cont/DOB/LPFM/d1",
"WheelSpd1/Mon_Cont/DOB/LPFM/d",
"WheelSpd1/Mon_Cont/DOB/Second order\nLPF/Delay1",
"WheelSpd1/Mon_Cont/DOB/Second order\nLPF/Delay",
"WheelSpd1/Mon_Cont/DOB/Second order\nLPF/Delay2",
"WheelSpd1/Mon_Cont/DOB/Second order\nLPF/Delay3"
};
static const char_T *rt_LoggedStateNames[] = {
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
"",
""
};
static boolean_T rt_LoggedStateCrossMdlRef[] = {
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
};
static RTWLogDataTypeConvert rt_RTWLogDataTypeConvert[] = {
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 },
{ 0, SS_DOUBLE, SS_DOUBLE, 0, 0, 0, 1.0, 0, 0.0 }
};
static RTWLogSignalInfo rt_LoggedStateSignalInfo = {
30,
rt_LoggedStateWidths,
rt_LoggedStateNumDimensions,
rt_LoggedStateDimensions,
rt_LoggedStateIsVarDims,
(NULL),
(NULL),
rt_LoggedStateDataTypeIds,
rt_LoggedStateComplexSignals,
(NULL),
rt_LoggingStatePreprocessingFcnPtrs,
{ rt_LoggedStateLabels },
(NULL),
(NULL),
(NULL),
{ rt_LoggedStateBlockNames },
{ rt_LoggedStateNames },
rt_LoggedStateCrossMdlRef,
rt_RTWLogDataTypeConvert
};
static void * rt_LoggedStateSignalPtrs[30];
rtliSetLogXSignalPtrs(WheelSpd1_M->rtwLogInfo, (LogSignalPtrsType)
rt_LoggedStateSignalPtrs);
rtliSetLogXSignalInfo(WheelSpd1_M->rtwLogInfo, &rt_LoggedStateSignalInfo);
rt_LoggedStateSignalPtrs[0] = (void*)&WheelSpd1_DW.d1_DSTATE;
rt_LoggedStateSignalPtrs[1] = (void*)&WheelSpd1_DW.d_DSTATE;
rt_LoggedStateSignalPtrs[2] = (void*)&WheelSpd1_DW.d_DSTATE_a;
rt_LoggedStateSignalPtrs[3] = (void*)&WheelSpd1_DW.d1_DSTATE_l;
rt_LoggedStateSignalPtrs[4] = (void*)&WheelSpd1_DW.d_DSTATE_i;
rt_LoggedStateSignalPtrs[5] = (void*)&WheelSpd1_DW.d1_DSTATE_a;
rt_LoggedStateSignalPtrs[6] = (void*)&WheelSpd1_DW.d_DSTATE_ak;
rt_LoggedStateSignalPtrs[7] = (void*)&WheelSpd1_DW.d1_DSTATE_f;
rt_LoggedStateSignalPtrs[8] = (void*)&WheelSpd1_DW.Delay1_DSTATE;
rt_LoggedStateSignalPtrs[9] = (void*)WheelSpd1_DW.Delay_DSTATE;
rt_LoggedStateSignalPtrs[10] = (void*)&WheelSpd1_DW.Delay2_DSTATE;
rt_LoggedStateSignalPtrs[11] = (void*)WheelSpd1_DW.Delay3_DSTATE;
rt_LoggedStateSignalPtrs[12] = (void*)&WheelSpd1_DW.d1_DSTATE_b;
rt_LoggedStateSignalPtrs[13] = (void*)&WheelSpd1_DW.d_DSTATE_o;
rt_LoggedStateSignalPtrs[14] = (void*)&WheelSpd1_DW.d1_DSTATE_g;
rt_LoggedStateSignalPtrs[15] = (void*)&WheelSpd1_DW.d_DSTATE_ir;
rt_LoggedStateSignalPtrs[16] = (void*)&WheelSpd1_DW.d1_DSTATE_lw;
rt_LoggedStateSignalPtrs[17] = (void*)&WheelSpd1_DW.d_DSTATE_b;
rt_LoggedStateSignalPtrs[18] = (void*)&WheelSpd1_DW.d_DSTATE_bw;
rt_LoggedStateSignalPtrs[19] = (void*)&WheelSpd1_DW.d1_DSTATE_gc;
rt_LoggedStateSignalPtrs[20] = (void*)&WheelSpd1_DW.d_DSTATE_d;
rt_LoggedStateSignalPtrs[21] = (void*)&WheelSpd1_DW.d1_DSTATE_l3;
rt_LoggedStateSignalPtrs[22] = (void*)&WheelSpd1_DW.d_DSTATE_g;
rt_LoggedStateSignalPtrs[23] = (void*)&WheelSpd1_DW.d1_DSTATE_c;
rt_LoggedStateSignalPtrs[24] = (void*)&WheelSpd1_DW.d1_DSTATE_m;
rt_LoggedStateSignalPtrs[25] = (void*)&WheelSpd1_DW.d_DSTATE_h;
rt_LoggedStateSignalPtrs[26] = (void*)&WheelSpd1_DW.Delay1_DSTATE_i;
rt_LoggedStateSignalPtrs[27] = (void*)WheelSpd1_DW.Delay_DSTATE_g;
rt_LoggedStateSignalPtrs[28] = (void*)&WheelSpd1_DW.Delay2_DSTATE_c;
rt_LoggedStateSignalPtrs[29] = (void*)WheelSpd1_DW.Delay3_DSTATE_o;
}
rtliSetLogT(WheelSpd1_M->rtwLogInfo, "tout");
rtliSetLogX(WheelSpd1_M->rtwLogInfo, "xout");
rtliSetLogXFinal(WheelSpd1_M->rtwLogInfo, "");
rtliSetLogVarNameModifier(WheelSpd1_M->rtwLogInfo, "rt_");
rtliSetLogFormat(WheelSpd1_M->rtwLogInfo, 2);
rtliSetLogMaxRows(WheelSpd1_M->rtwLogInfo, 0);
rtliSetLogDecimation(WheelSpd1_M->rtwLogInfo, 1);
rtliSetLogY(WheelSpd1_M->rtwLogInfo, "");
rtliSetLogYSignalInfo(WheelSpd1_M->rtwLogInfo, (NULL));
rtliSetLogYSignalPtrs(WheelSpd1_M->rtwLogInfo, (NULL));
}
WheelSpd1_M->solverInfoPtr = (&WheelSpd1_M->solverInfo);
WheelSpd1_M->Timing.stepSize = (0.002);
rtsiSetFixedStepSize(&WheelSpd1_M->solverInfo, 0.002);
rtsiSetSolverMode(&WheelSpd1_M->solverInfo, SOLVER_MODE_SINGLETASKING);
/* block I/O */
WheelSpd1_M->blockIO = ((void *) &WheelSpd1_B);
(void) memset(((void *) &WheelSpd1_B), 0,
sizeof(B_WheelSpd1_T));
{
WheelSpd1_B.CANPack = CAN_DATATYPE_GROUND;
WheelSpd1_B.CANRead1_o2 = CAN_DATATYPE_GROUND;
WheelSpd1_B.ContMode = 0.0;
WheelSpd1_B.Ready = 0.0;
WheelSpd1_B.Gear = 0.0;
WheelSpd1_B.BMS = 0.0;
WheelSpd1_B.PosTQLim = 0.0;
WheelSpd1_B.NegTQLim = 0.0;
WheelSpd1_B.Clock1 = 0.0;
WheelSpd1_B.Product = 0.0;
WheelSpd1_B.Gain = 0.0;
WheelSpd1_B.FromWs = 0.0;
WheelSpd1_B.InputSine = 0.0;
WheelSpd1_B.TargetSpd = 0.0;
WheelSpd1_B.d1 = 0.0;
WheelSpd1_B.Sum3 = 0.0;
WheelSpd1_B.gain = 0.0;
WheelSpd1_B.gain2 = 0.0;
WheelSpd1_B.Product2 = 0.0;
WheelSpd1_B.gain1 = 0.0;
WheelSpd1_B.Sum1 = 0.0;
WheelSpd1_B.d = 0.0;
WheelSpd1_B.Product11 = 0.0;
WheelSpd1_B.Sum2 = 0.0;
WheelSpd1_B.Sum4 = 0.0;
WheelSpd1_B.Product1 = 0.0;
WheelSpd1_B.Product2_c = 0.0;
WheelSpd1_B.d_a = 0.0;
WheelSpd1_B.Sum2_h = 0.0;
WheelSpd1_B.gain_m = 0.0;
WheelSpd1_B.d1_d = 0.0;
WheelSpd1_B.Sum1_n = 0.0;
WheelSpd1_B.Product1_f = 0.0;
WheelSpd1_B.d_b = 0.0;
WheelSpd1_B.Sum2_g = 0.0;
WheelSpd1_B.gain_o = 0.0;
WheelSpd1_B.d1_c = 0.0;
WheelSpd1_B.Sum1_p = 0.0;
WheelSpd1_B.Product_n = 0.0;
WheelSpd1_B.d_bp = 0.0;
WheelSpd1_B.Sum2_k = 0.0;
WheelSpd1_B.gain_d = 0.0;
WheelSpd1_B.d1_f = 0.0;
WheelSpd1_B.Sum1_k = 0.0;
WheelSpd1_B.Add5 = 0.0;
WheelSpd1_B.Gain_l = 0.0;
WheelSpd1_B.Delay1 = 0.0;
WheelSpd1_B.gain1_g = 0.0;
WheelSpd1_B.Delay = 0.0;
WheelSpd1_B.Sum3_d = 0.0;
WheelSpd1_B.gain2_h = 0.0;
WheelSpd1_B.Product2_e = 0.0;
WheelSpd1_B.xnxn1xn2 = 0.0;
WheelSpd1_B.gain3 = 0.0;
WheelSpd1_B.Sum4_c = 0.0;
WheelSpd1_B.Delay2 = 0.0;
WheelSpd1_B.yn1 = 0.0;
WheelSpd1_B.Sum1_a = 0.0;
WheelSpd1_B.Product3 = 0.0;
WheelSpd1_B.gain4 = 0.0;
WheelSpd1_B.Product4 = 0.0;
WheelSpd1_B.Sum5 = 0.0;
WheelSpd1_B.Delay3 = 0.0;
WheelSpd1_B.yn2 = 0.0;
WheelSpd1_B.Sum2_c = 0.0;
WheelSpd1_B.Sum6 = 0.0;
WheelSpd1_B.Product1_n = 0.0;
WheelSpd1_B.d1_b = 0.0;
WheelSpd1_B.Sum3_c = 0.0;
WheelSpd1_B.gain_e = 0.0;
WheelSpd1_B.gain2_k = 0.0;
WheelSpd1_B.Product2_p = 0.0;
WheelSpd1_B.gain1_gt = 0.0;
WheelSpd1_B.Sum1_px = 0.0;
WheelSpd1_B.d_i = 0.0;
WheelSpd1_B.Product11_e = 0.0;
WheelSpd1_B.Sum2_kk = 0.0;
WheelSpd1_B.Sum4_l = 0.0;
WheelSpd1_B.Product1_i = 0.0;
WheelSpd1_B.FFGain = 0.0;
WheelSpd1_B.Error = 0.0;
WheelSpd1_B.Gain_a = 0.0;
WheelSpd1_B.Kp = 0.0;
WheelSpd1_B.gain_mk = 0.0;
WheelSpd1_B.Kp_b = 0.0;
WheelSpd1_B.Ki = 0.0;
WheelSpd1_B.gain2_n = 0.0;
WheelSpd1_B.tau = 0.0;
WheelSpd1_B.utau = 0.0;
WheelSpd1_B.d1_cf = 0.0;
WheelSpd1_B.Sum1_d = 0.0;
WheelSpd1_B.gain_ds = 0.0;
WheelSpd1_B.d_c = 0.0;
WheelSpd1_B.Sum2_l = 0.0;
WheelSpd1_B.d1_p = 0.0;
WheelSpd1_B.Sum3_g = 0.0;
WheelSpd1_B.Product3_e = 0.0;
WheelSpd1_B.Sum1_i = 0.0;
WheelSpd1_B.d_j = 0.0;
WheelSpd1_B.Product11_n = 0.0;
WheelSpd1_B.Sum2_j = 0.0;
WheelSpd1_B.Sum4_a = 0.0;
WheelSpd1_B.Product1_a = 0.0;
WheelSpd1_B.MultiportSwitch1 = 0.0;
WheelSpd1_B.FBOut = 0.0;
WheelSpd1_B.Add = 0.0;
WheelSpd1_B.Memory = 0.0;
WheelSpd1_B.Product4_o = 0.0;
WheelSpd1_B.d_in = 0.0;
WheelSpd1_B.Sum2_hn = 0.0;
WheelSpd1_B.gain_j = 0.0;
WheelSpd1_B.d1_e = 0.0;
WheelSpd1_B.Sum1_m = 0.0;
WheelSpd1_B.Product3_f = 0.0;
WheelSpd1_B.d_n = 0.0;
WheelSpd1_B.Sum2_kl = 0.0;
WheelSpd1_B.gain_g = 0.0;
WheelSpd1_B.d1_bp = 0.0;
WheelSpd1_B.Sum1_f = 0.0;
WheelSpd1_B.Product2_l = 0.0;
WheelSpd1_B.d_cu = 0.0;
WheelSpd1_B.Sum2_a = 0.0;
WheelSpd1_B.gain_gz = 0.0;
WheelSpd1_B.d1_di = 0.0;
WheelSpd1_B.Sum1_g = 0.0;
WheelSpd1_B.Add2 = 0.0;
WheelSpd1_B.Gain_c = 0.0;
WheelSpd1_B.Add3 = 0.0;
WheelSpd1_B.d1_n = 0.0;
WheelSpd1_B.Sum3_f = 0.0;
WheelSpd1_B.gain_o3 = 0.0;
WheelSpd1_B.gain2_m = 0.0;
WheelSpd1_B.Product2_h = 0.0;
WheelSpd1_B.gain1_k = 0.0;
WheelSpd1_B.Sum1_e = 0.0;
WheelSpd1_B.d_p = 0.0;
WheelSpd1_B.Product11_i = 0.0;
WheelSpd1_B.Sum2_b = 0.0;
WheelSpd1_B.Sum4_k = 0.0;
WheelSpd1_B.Product1_l = 0.0;
WheelSpd1_B.Delay1_n = 0.0;
WheelSpd1_B.gain1_f = 0.0;
WheelSpd1_B.Delay_a = 0.0;
WheelSpd1_B.Sum3_a = 0.0;
WheelSpd1_B.gain2_d = 0.0;
WheelSpd1_B.Product2_m = 0.0;
WheelSpd1_B.xnxn1xn2_a = 0.0;
WheelSpd1_B.gain3_b = 0.0;
WheelSpd1_B.Sum4_kn = 0.0;
WheelSpd1_B.Delay2_n = 0.0;
WheelSpd1_B.yn1_m = 0.0;
WheelSpd1_B.Sum1_ek = 0.0;
WheelSpd1_B.Product3_i = 0.0;
WheelSpd1_B.gain4_g = 0.0;
WheelSpd1_B.Product4_i = 0.0;
WheelSpd1_B.Sum5_f = 0.0;
WheelSpd1_B.Delay3_i = 0.0;
WheelSpd1_B.yn2_g = 0.0;
WheelSpd1_B.Sum2_m = 0.0;
WheelSpd1_B.Sum6_g = 0.0;
WheelSpd1_B.Product1_fm = 0.0;
WheelSpd1_B.Product_d = 0.0;
WheelSpd1_B.Subtract2 = 0.0;
WheelSpd1_B.ControlFlag = 0.0;
WheelSpd1_B.ControlOutput = 0.0;
WheelSpd1_B.Constant1 = 0.0;
WheelSpd1_B.Constant16 = 0.0;
WheelSpd1_B.Constant17 = 0.0;
WheelSpd1_B.Constant2 = 0.0;
WheelSpd1_B.Product_k = 0.0;
WheelSpd1_B.Divide2 = 0.0;
WheelSpd1_B.Divide1 = 0.0;
WheelSpd1_B.Add_k = 0.0;
WheelSpd1_B.Product1_lf = 0.0;
WheelSpd1_B.Sum = 0.0;
WheelSpd1_B.Product2_g = 0.0;
WheelSpd1_B.Output = 0.0;
WheelSpd1_B.Gain1 = 0.0;
WheelSpd1_B.Gain_d = 0.0;
WheelSpd1_B.RPM = 0.0;
WheelSpd1_B.TQ = 0.0;
}
/* parameters */
WheelSpd1_M->defaultParam = ((real_T *)&WheelSpd1_P);
/* states (dwork) */
WheelSpd1_M->dwork = ((void *) &WheelSpd1_DW);
(void) memset((void *)&WheelSpd1_DW, 0,
sizeof(DW_WheelSpd1_T));
WheelSpd1_DW.d1_DSTATE = 0.0;
WheelSpd1_DW.d_DSTATE = 0.0;
WheelSpd1_DW.d_DSTATE_a = 0.0;
WheelSpd1_DW.d1_DSTATE_l = 0.0;
WheelSpd1_DW.d_DSTATE_i = 0.0;
WheelSpd1_DW.d1_DSTATE_a = 0.0;
WheelSpd1_DW.d_DSTATE_ak = 0.0;
WheelSpd1_DW.d1_DSTATE_f = 0.0;
WheelSpd1_DW.Delay1_DSTATE = 0.0;
WheelSpd1_DW.Delay_DSTATE[0] = 0.0;
WheelSpd1_DW.Delay_DSTATE[1] = 0.0;
WheelSpd1_DW.Delay2_DSTATE = 0.0;
WheelSpd1_DW.Delay3_DSTATE[0] = 0.0;
WheelSpd1_DW.Delay3_DSTATE[1] = 0.0;
WheelSpd1_DW.d1_DSTATE_b = 0.0;
WheelSpd1_DW.d_DSTATE_o = 0.0;
WheelSpd1_DW.d1_DSTATE_g = 0.0;
WheelSpd1_DW.d_DSTATE_ir = 0.0;
WheelSpd1_DW.d1_DSTATE_lw = 0.0;
WheelSpd1_DW.d_DSTATE_b = 0.0;
WheelSpd1_DW.d_DSTATE_bw = 0.0;
WheelSpd1_DW.d1_DSTATE_gc = 0.0;
WheelSpd1_DW.d_DSTATE_d = 0.0;
WheelSpd1_DW.d1_DSTATE_l3 = 0.0;
WheelSpd1_DW.d_DSTATE_g = 0.0;
WheelSpd1_DW.d1_DSTATE_c = 0.0;
WheelSpd1_DW.d1_DSTATE_m = 0.0;
WheelSpd1_DW.d_DSTATE_h = 0.0;
WheelSpd1_DW.Delay1_DSTATE_i = 0.0;
WheelSpd1_DW.Delay_DSTATE_g[0] = 0.0;
WheelSpd1_DW.Delay_DSTATE_g[1] = 0.0;
WheelSpd1_DW.Delay2_DSTATE_c = 0.0;
WheelSpd1_DW.Delay3_DSTATE_o[0] = 0.0;
WheelSpd1_DW.Delay3_DSTATE_o[1] = 0.0;
WheelSpd1_DW.Memory_PreviousInput = 0.0;
/* Initialize DataMapInfo substructure containing ModelMap for C API */
WheelSpd1_InitializeDataMapInfo();
/* child S-Function registration */
{
RTWSfcnInfo *sfcnInfo = &WheelSpd1_M->NonInlinedSFcns.sfcnInfo;
WheelSpd1_M->sfcnInfo = (sfcnInfo);
rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(WheelSpd1_M)));
rtssSetNumRootSampTimesPtr(sfcnInfo, &WheelSpd1_M->Sizes.numSampTimes);
WheelSpd1_M->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(WheelSpd1_M)[0]);
WheelSpd1_M->NonInlinedSFcns.taskTimePtrs[1] = &(rtmGetTPtr(WheelSpd1_M)[1]);
rtssSetTPtrPtr(sfcnInfo,WheelSpd1_M->NonInlinedSFcns.taskTimePtrs);
rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(WheelSpd1_M));
rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(WheelSpd1_M));
rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(WheelSpd1_M));
rtssSetStepSizePtr(sfcnInfo, &WheelSpd1_M->Timing.stepSize);
rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(WheelSpd1_M));
rtssSetDerivCacheNeedsResetPtr(sfcnInfo, &WheelSpd1_M->derivCacheNeedsReset);
rtssSetZCCacheNeedsResetPtr(sfcnInfo, &WheelSpd1_M->zCCacheNeedsReset);
rtssSetContTimeOutputInconsistentWithStateAtMajorStepPtr(sfcnInfo,
&WheelSpd1_M->CTOutputIncnstWithState);
rtssSetSampleHitsPtr(sfcnInfo, &WheelSpd1_M->Timing.sampleHits);
rtssSetPerTaskSampleHitsPtr(sfcnInfo, &WheelSpd1_M->Timing.perTaskSampleHits);
rtssSetSimModePtr(sfcnInfo, &WheelSpd1_M->simMode);
rtssSetSolverInfoPtr(sfcnInfo, &WheelSpd1_M->solverInfoPtr);
}
WheelSpd1_M->Sizes.numSFcns = (3);
/* register each child */
{
(void) memset((void *)&WheelSpd1_M->NonInlinedSFcns.childSFunctions[0], 0,
3*sizeof(SimStruct));
WheelSpd1_M->childSfunctions =
(&WheelSpd1_M->NonInlinedSFcns.childSFunctionPtrs[0]);
WheelSpd1_M->childSfunctions[0] =
(&WheelSpd1_M->NonInlinedSFcns.childSFunctions[0]);
WheelSpd1_M->childSfunctions[1] =
(&WheelSpd1_M->NonInlinedSFcns.childSFunctions[1]);
WheelSpd1_M->childSfunctions[2] =
(&WheelSpd1_M->NonInlinedSFcns.childSFunctions[2]);
/* Level2 S-Function Block: WheelSpd1/<S1>/CAN Setup (sg_IO613_setup_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[0];
/* timing info */
time_T *sfcnPeriod = WheelSpd1_M->NonInlinedSFcns.Sfcn0.sfcnPeriod;
time_T *sfcnOffset = WheelSpd1_M->NonInlinedSFcns.Sfcn0.sfcnOffset;
int_T *sfcnTsMap = WheelSpd1_M->NonInlinedSFcns.Sfcn0.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
{
ssSetBlkInfo2Ptr(rts, &WheelSpd1_M->NonInlinedSFcns.blkInfo2[0]);
}
_ssSetBlkInfo2PortInfo2Ptr(rts,
&WheelSpd1_M->NonInlinedSFcns.inputOutputPortInfo2[0]);
/* Set up the mdlInfo pointer */
ssSetRTWSfcnInfo(rts, WheelSpd1_M->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &WheelSpd1_M->NonInlinedSFcns.methods2[0]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &WheelSpd1_M->NonInlinedSFcns.methods3[0]);
}
/* Allocate memory of model methods 4 */
{
ssSetModelMethods4(rts, &WheelSpd1_M->NonInlinedSFcns.methods4[0]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &WheelSpd1_M->NonInlinedSFcns.statesInfo2[0]);
ssSetPeriodicStatesInfo(rts,
&WheelSpd1_M->NonInlinedSFcns.periodicStatesInfo[0]);
}
/* path info */
ssSetModelName(rts, "CAN Setup");
ssSetPath(rts, "WheelSpd1/DAQ_In/CAN Setup");
ssSetRTModel(rts,WheelSpd1_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&WheelSpd1_M->NonInlinedSFcns.Sfcn0.params;
ssSetSFcnParamsCount(rts, 24);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)WheelSpd1_P.CANSetup_P1_Size);
ssSetSFcnParam(rts, 1, (mxArray*)WheelSpd1_P.CANSetup_P2_Size);
ssSetSFcnParam(rts, 2, (mxArray*)WheelSpd1_P.CANSetup_P3_Size);
ssSetSFcnParam(rts, 3, (mxArray*)WheelSpd1_P.CANSetup_P4_Size);
ssSetSFcnParam(rts, 4, (mxArray*)WheelSpd1_P.CANSetup_P5_Size);
ssSetSFcnParam(rts, 5, (mxArray*)WheelSpd1_P.CANSetup_P6_Size);
ssSetSFcnParam(rts, 6, (mxArray*)WheelSpd1_P.CANSetup_P7_Size);
ssSetSFcnParam(rts, 7, (mxArray*)WheelSpd1_P.CANSetup_P8_Size);
ssSetSFcnParam(rts, 8, (mxArray*)WheelSpd1_P.CANSetup_P9_Size);
ssSetSFcnParam(rts, 9, (mxArray*)WheelSpd1_P.CANSetup_P10_Size);
ssSetSFcnParam(rts, 10, (mxArray*)WheelSpd1_P.CANSetup_P11_Size);
ssSetSFcnParam(rts, 11, (mxArray*)WheelSpd1_P.CANSetup_P12_Size);
ssSetSFcnParam(rts, 12, (mxArray*)WheelSpd1_P.CANSetup_P13_Size);
ssSetSFcnParam(rts, 13, (mxArray*)WheelSpd1_P.CANSetup_P14_Size);
ssSetSFcnParam(rts, 14, (mxArray*)WheelSpd1_P.CANSetup_P15_Size);
ssSetSFcnParam(rts, 15, (mxArray*)WheelSpd1_P.CANSetup_P16_Size);
ssSetSFcnParam(rts, 16, (mxArray*)WheelSpd1_P.CANSetup_P17_Size);
ssSetSFcnParam(rts, 17, (mxArray*)WheelSpd1_P.CANSetup_P18_Size);
ssSetSFcnParam(rts, 18, (mxArray*)WheelSpd1_P.CANSetup_P19_Size);
ssSetSFcnParam(rts, 19, (mxArray*)WheelSpd1_P.CANSetup_P20_Size);
ssSetSFcnParam(rts, 20, (mxArray*)WheelSpd1_P.CANSetup_P21_Size);
ssSetSFcnParam(rts, 21, (mxArray*)WheelSpd1_P.CANSetup_P22_Size);
ssSetSFcnParam(rts, 22, (mxArray*)WheelSpd1_P.CANSetup_P23_Size);
ssSetSFcnParam(rts, 23, (mxArray*)WheelSpd1_P.CANSetup_P24_Size);
}
/* work vectors */
ssSetIWork(rts, (int_T *) &WheelSpd1_DW.CANSetup_IWORK);
{
struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *)
&WheelSpd1_M->NonInlinedSFcns.Sfcn0.dWork;
struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *)
&WheelSpd1_M->NonInlinedSFcns.Sfcn0.dWorkAux;
ssSetSFcnDWork(rts, dWorkRecord);
ssSetSFcnDWorkAux(rts, dWorkAuxRecord);
_ssSetNumDWork(rts, 1);
/* IWORK */
ssSetDWorkWidth(rts, 0, 1);
ssSetDWorkDataType(rts, 0,SS_INTEGER);
ssSetDWorkComplexSignal(rts, 0, 0);
ssSetDWork(rts, 0, &WheelSpd1_DW.CANSetup_IWORK);
}
/* registration */
sg_IO613_setup_s(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.002);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 1;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
/* Update the BufferDstPort flags for each input port */
}
/* Level2 S-Function Block: WheelSpd1/<S1>/CAN Read1 (sg_IO61X_read_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[1];
/* timing info */
time_T *sfcnPeriod = WheelSpd1_M->NonInlinedSFcns.Sfcn1.sfcnPeriod;
time_T *sfcnOffset = WheelSpd1_M->NonInlinedSFcns.Sfcn1.sfcnOffset;
int_T *sfcnTsMap = WheelSpd1_M->NonInlinedSFcns.Sfcn1.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
{
ssSetBlkInfo2Ptr(rts, &WheelSpd1_M->NonInlinedSFcns.blkInfo2[1]);
}
_ssSetBlkInfo2PortInfo2Ptr(rts,
&WheelSpd1_M->NonInlinedSFcns.inputOutputPortInfo2[1]);
/* Set up the mdlInfo pointer */
ssSetRTWSfcnInfo(rts, WheelSpd1_M->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &WheelSpd1_M->NonInlinedSFcns.methods2[1]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &WheelSpd1_M->NonInlinedSFcns.methods3[1]);
}
/* Allocate memory of model methods 4 */
{
ssSetModelMethods4(rts, &WheelSpd1_M->NonInlinedSFcns.methods4[1]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &WheelSpd1_M->NonInlinedSFcns.statesInfo2[1]);
ssSetPeriodicStatesInfo(rts,
&WheelSpd1_M->NonInlinedSFcns.periodicStatesInfo[1]);
}
/* outputs */
{
ssSetPortInfoForOutputs(rts,
&WheelSpd1_M->NonInlinedSFcns.Sfcn1.outputPortInfo[0]);
_ssSetNumOutputPorts(rts, 2);
_ssSetPortInfo2ForOutputUnits(rts,
&WheelSpd1_M->NonInlinedSFcns.Sfcn1.outputPortUnits[0]);
ssSetOutputPortUnit(rts, 0, 0);
ssSetOutputPortUnit(rts, 1, 0);
_ssSetPortInfo2ForOutputCoSimAttribute(rts,
&WheelSpd1_M->NonInlinedSFcns.Sfcn1.outputPortCoSimAttribute[0]);
ssSetOutputPortIsContinuousQuantity(rts, 0, 0);
ssSetOutputPortIsContinuousQuantity(rts, 1, 0);
/* port 0 */
{
_ssSetOutputPortNumDimensions(rts, 0, 1);
ssSetOutputPortWidth(rts, 0, 1);
ssSetOutputPortSignal(rts, 0, ((boolean_T *) &WheelSpd1_B.CANRead1_o1));
}
/* port 1 */
{
_ssSetOutputPortNumDimensions(rts, 1, 1);
ssSetOutputPortWidth(rts, 1, 1);
ssSetOutputPortSignal(rts, 1, ((CAN_DATATYPE *)
&WheelSpd1_B.CANRead1_o2));
}
}
/* path info */
ssSetModelName(rts, "CAN Read1");
ssSetPath(rts, "WheelSpd1/DAQ_In/CAN Read1");
ssSetRTModel(rts,WheelSpd1_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&WheelSpd1_M->NonInlinedSFcns.Sfcn1.params;
ssSetSFcnParamsCount(rts, 6);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)WheelSpd1_P.CANRead1_P1_Size);
ssSetSFcnParam(rts, 1, (mxArray*)WheelSpd1_P.CANRead1_P2_Size);
ssSetSFcnParam(rts, 2, (mxArray*)WheelSpd1_P.CANRead1_P3_Size);
ssSetSFcnParam(rts, 3, (mxArray*)WheelSpd1_P.CANRead1_P4_Size);
ssSetSFcnParam(rts, 4, (mxArray*)WheelSpd1_P.CANRead1_P5_Size);
ssSetSFcnParam(rts, 5, (mxArray*)WheelSpd1_P.CANRead1_P6_Size);
}
/* work vectors */
ssSetIWork(rts, (int_T *) &WheelSpd1_DW.CANRead1_IWORK);
{
struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *)
&WheelSpd1_M->NonInlinedSFcns.Sfcn1.dWork;
struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *)
&WheelSpd1_M->NonInlinedSFcns.Sfcn1.dWorkAux;
ssSetSFcnDWork(rts, dWorkRecord);
ssSetSFcnDWorkAux(rts, dWorkAuxRecord);
_ssSetNumDWork(rts, 1);
/* IWORK */
ssSetDWorkWidth(rts, 0, 1);
ssSetDWorkDataType(rts, 0,SS_INTEGER);
ssSetDWorkComplexSignal(rts, 0, 0);
ssSetDWork(rts, 0, &WheelSpd1_DW.CANRead1_IWORK);
}
/* registration */
sg_IO61X_read_s(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.002);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 1;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetOutputPortConnected(rts, 0, 1);
_ssSetOutputPortConnected(rts, 1, 1);
_ssSetOutputPortBeingMerged(rts, 0, 0);
_ssSetOutputPortBeingMerged(rts, 1, 0);
/* Update the BufferDstPort flags for each input port */
}
/* Level2 S-Function Block: WheelSpd1/<S5>/CAN Write1 (sg_IO61X_write_s) */
{
SimStruct *rts = WheelSpd1_M->childSfunctions[2];
/* timing info */
time_T *sfcnPeriod = WheelSpd1_M->NonInlinedSFcns.Sfcn2.sfcnPeriod;
time_T *sfcnOffset = WheelSpd1_M->NonInlinedSFcns.Sfcn2.sfcnOffset;
int_T *sfcnTsMap = WheelSpd1_M->NonInlinedSFcns.Sfcn2.sfcnTsMap;
(void) memset((void*)sfcnPeriod, 0,
sizeof(time_T)*1);
(void) memset((void*)sfcnOffset, 0,
sizeof(time_T)*1);
ssSetSampleTimePtr(rts, &sfcnPeriod[0]);
ssSetOffsetTimePtr(rts, &sfcnOffset[0]);
ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap);
{
ssSetBlkInfo2Ptr(rts, &WheelSpd1_M->NonInlinedSFcns.blkInfo2[2]);
}
_ssSetBlkInfo2PortInfo2Ptr(rts,
&WheelSpd1_M->NonInlinedSFcns.inputOutputPortInfo2[2]);
/* Set up the mdlInfo pointer */
ssSetRTWSfcnInfo(rts, WheelSpd1_M->sfcnInfo);
/* Allocate memory of model methods 2 */
{
ssSetModelMethods2(rts, &WheelSpd1_M->NonInlinedSFcns.methods2[2]);
}
/* Allocate memory of model methods 3 */
{
ssSetModelMethods3(rts, &WheelSpd1_M->NonInlinedSFcns.methods3[2]);
}
/* Allocate memory of model methods 4 */
{
ssSetModelMethods4(rts, &WheelSpd1_M->NonInlinedSFcns.methods4[2]);
}
/* Allocate memory for states auxilliary information */
{
ssSetStatesInfo2(rts, &WheelSpd1_M->NonInlinedSFcns.statesInfo2[2]);
ssSetPeriodicStatesInfo(rts,
&WheelSpd1_M->NonInlinedSFcns.periodicStatesInfo[2]);
}
/* inputs */
{
_ssSetNumInputPorts(rts, 1);
ssSetPortInfoForInputs(rts,
&WheelSpd1_M->NonInlinedSFcns.Sfcn2.inputPortInfo[0]);
_ssSetPortInfo2ForInputUnits(rts,
&WheelSpd1_M->NonInlinedSFcns.Sfcn2.inputPortUnits[0]);
ssSetInputPortUnit(rts, 0, 0);
_ssSetPortInfo2ForInputCoSimAttribute(rts,
&WheelSpd1_M->NonInlinedSFcns.Sfcn2.inputPortCoSimAttribute[0]);
ssSetInputPortIsContinuousQuantity(rts, 0, 0);
/* port 0 */
{
ssSetInputPortRequiredContiguous(rts, 0, 1);
ssSetInputPortSignal(rts, 0, &WheelSpd1_B.CANPack);
_ssSetInputPortNumDimensions(rts, 0, 1);
ssSetInputPortWidth(rts, 0, 1);
}
}
/* path info */
ssSetModelName(rts, "CAN Write1");
ssSetPath(rts, "WheelSpd1/DAQ_Out/CANBoard/CAN Write1");
ssSetRTModel(rts,WheelSpd1_M);
ssSetParentSS(rts, (NULL));
ssSetRootSS(rts, rts);
ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2);
/* parameters */
{
mxArray **sfcnParams = (mxArray **)
&WheelSpd1_M->NonInlinedSFcns.Sfcn2.params;
ssSetSFcnParamsCount(rts, 7);
ssSetSFcnParamsPtr(rts, &sfcnParams[0]);
ssSetSFcnParam(rts, 0, (mxArray*)WheelSpd1_P.CANWrite1_P1_Size);
ssSetSFcnParam(rts, 1, (mxArray*)WheelSpd1_P.CANWrite1_P2_Size);
ssSetSFcnParam(rts, 2, (mxArray*)WheelSpd1_P.CANWrite1_P3_Size);
ssSetSFcnParam(rts, 3, (mxArray*)WheelSpd1_P.CANWrite1_P4_Size);
ssSetSFcnParam(rts, 4, (mxArray*)WheelSpd1_P.CANWrite1_P5_Size);
ssSetSFcnParam(rts, 5, (mxArray*)WheelSpd1_P.CANWrite1_P6_Size);
ssSetSFcnParam(rts, 6, (mxArray*)WheelSpd1_P.CANWrite1_P7_Size);
}
/* work vectors */
ssSetIWork(rts, (int_T *) &WheelSpd1_DW.CANWrite1_IWORK);
ssSetPWork(rts, (void **) &WheelSpd1_DW.CANWrite1_PWORK);
{
struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *)
&WheelSpd1_M->NonInlinedSFcns.Sfcn2.dWork;
struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *)
&WheelSpd1_M->NonInlinedSFcns.Sfcn2.dWorkAux;
ssSetSFcnDWork(rts, dWorkRecord);
ssSetSFcnDWorkAux(rts, dWorkAuxRecord);
_ssSetNumDWork(rts, 2);
/* IWORK */
ssSetDWorkWidth(rts, 0, 1);
ssSetDWorkDataType(rts, 0,SS_INTEGER);
ssSetDWorkComplexSignal(rts, 0, 0);
ssSetDWork(rts, 0, &WheelSpd1_DW.CANWrite1_IWORK);
/* PWORK */
ssSetDWorkWidth(rts, 1, 1);
ssSetDWorkDataType(rts, 1,SS_POINTER);
ssSetDWorkComplexSignal(rts, 1, 0);
ssSetDWork(rts, 1, &WheelSpd1_DW.CANWrite1_PWORK);
}
/* registration */
sg_IO61X_write_s(rts);
sfcnInitializeSizes(rts);
sfcnInitializeSampleTimes(rts);
/* adjust sample time */
ssSetSampleTime(rts, 0, 0.002);
ssSetOffsetTime(rts, 0, 0.0);
sfcnTsMap[0] = 1;
/* set compiled values of dynamic vector attributes */
ssSetNumNonsampledZCs(rts, 0);
/* Update connectivity flags for each port */
_ssSetInputPortConnected(rts, 0, 1);
/* Update the BufferDstPort flags for each input port */
ssSetInputPortBufferDstPort(rts, 0, -1);
}
}
/* Initialize Sizes */
WheelSpd1_M->Sizes.numContStates = (0);/* Number of continuous states */
WheelSpd1_M->Sizes.numY = (0); /* Number of model outputs */
WheelSpd1_M->Sizes.numU = (0); /* Number of model inputs */
WheelSpd1_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */
WheelSpd1_M->Sizes.numSampTimes = (2);/* Number of sample times */
WheelSpd1_M->Sizes.numBlocks = (242);/* Number of blocks */
WheelSpd1_M->Sizes.numBlockIO = (182);/* Number of block outputs */
WheelSpd1_M->Sizes.numBlockPrms = (253);/* Sum of parameter "widths" */
return WheelSpd1_M;
}
/*========================================================================*
* End of Classic call interface *
*========================================================================*/
Reference in New Issue View Git Blame Copy Permalink