mirror of
https://github.com/Dev-KATECH/ADM.git
synced 2026-05-17 01:43:59 +09:00
458 lines
20 KiB
Plaintext
458 lines
20 KiB
Plaintext
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local analysis of RWS_Angle_Speed
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scanning: GV_MASTER_RWS_RackAngleCommand.35_1 = GV_MASTER_RWS_RackAngleCommand;
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scanning: Cur_RWS_RACK_ANGLE.36_2 = Cur_RWS_RACK_ANGLE;
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scanning: if (GV_MASTER_RWS_RackAngleCommand.35_1 != Cur_RWS_RACK_ANGLE.36_2)
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scanning: if (GV_MASTER_RWS_RackAngleCommand.35_1 < 0.0)
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scanning: if (GV_MASTER_RWS_RackAngleCommand.35_1 > Cur_RWS_RACK_ANGLE.36_2)
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scanning: RWS_Angle_Speed_limit.41_3 = RWS_Angle_Speed_limit;
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scanning: _4 = Cur_RWS_RACK_ANGLE.36_2 + RWS_Angle_Speed_limit.41_3;
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scanning: Cur_RWS_RACK_ANGLE = _4;
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scanning: GV_RWS1_040_RackAngleCmd = _4;
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scanning: GV_RWS2_040_RackAngleCmd = _4;
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scanning: Cur_RWS_RACK_ANGLE.44_5 = Cur_RWS_RACK_ANGLE;
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scanning: if (GV_MASTER_RWS_RackAngleCommand.35_1 < Cur_RWS_RACK_ANGLE.44_5)
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scanning: RWS_Angle_Speed_limit.47_6 = RWS_Angle_Speed_limit;
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scanning: _7 = Cur_RWS_RACK_ANGLE.44_5 - RWS_Angle_Speed_limit.47_6;
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scanning: Cur_RWS_RACK_ANGLE = _7;
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scanning: GV_RWS1_040_RackAngleCmd = _7;
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scanning: GV_RWS2_040_RackAngleCmd = _7;
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scanning: if (GV_MASTER_RWS_RackAngleCommand.35_1 > 0.0)
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scanning: Cur_RWS_RACK_ANGLE.51_8 = Cur_RWS_RACK_ANGLE;
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scanning: if (GV_MASTER_RWS_RackAngleCommand.35_1 < Cur_RWS_RACK_ANGLE.51_8)
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scanning: RWS_Angle_Speed_limit.54_9 = RWS_Angle_Speed_limit;
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scanning: _10 = Cur_RWS_RACK_ANGLE.51_8 - RWS_Angle_Speed_limit.54_9;
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scanning: Cur_RWS_RACK_ANGLE = _10;
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scanning: GV_RWS1_040_RackAngleCmd = _10;
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scanning: GV_RWS2_040_RackAngleCmd = _10;
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scanning: Cur_RWS_RACK_ANGLE.57_11 = Cur_RWS_RACK_ANGLE;
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scanning: if (GV_MASTER_RWS_RackAngleCommand.35_1 > Cur_RWS_RACK_ANGLE.57_11)
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scanning: RWS_Angle_Speed_limit.60_12 = RWS_Angle_Speed_limit;
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scanning: _13 = Cur_RWS_RACK_ANGLE.57_11 + RWS_Angle_Speed_limit.60_12;
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scanning: Cur_RWS_RACK_ANGLE = _13;
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scanning: GV_RWS1_040_RackAngleCmd = _13;
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scanning: GV_RWS2_040_RackAngleCmd = _13;
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scanning: return;
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Function is locally const.
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local analysis of Angle_Speed
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scanning: GV_VCU_Drive_Mode.0_1 = GV_VCU_Drive_Mode;
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scanning: if (GV_VCU_Drive_Mode.0_1 == 1)
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scanning: GV_MASTER_RWA_RackAngleCommand.1_2 = GV_MASTER_RWA_RackAngleCommand;
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scanning: Cur_RWA_RACK_ANGLE.2_3 = Cur_RWA_RACK_ANGLE;
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scanning: if (GV_MASTER_RWA_RackAngleCommand.1_2 != Cur_RWA_RACK_ANGLE.2_3)
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scanning: if (GV_MASTER_RWA_RackAngleCommand.1_2 < 0.0)
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scanning: if (GV_MASTER_RWA_RackAngleCommand.1_2 > Cur_RWA_RACK_ANGLE.2_3)
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scanning: RWA_Angle_Speed_limit.6_4 = RWA_Angle_Speed_limit;
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scanning: Angle_Speed_Gain.7_5 = Angle_Speed_Gain;
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scanning: GV_VCU_Vx_Fbk.8_6 = GV_VCU_Vx_Fbk;
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scanning: _7 = Angle_Speed_Gain.7_5 * GV_VCU_Vx_Fbk.8_6;
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scanning: _8 = RWA_Angle_Speed_limit.6_4 - _7;
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scanning: _9 = Cur_RWA_RACK_ANGLE.2_3 + _8;
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scanning: Cur_RWA_RACK_ANGLE = _9;
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scanning: GV_RWA_040_RackAngleCmd = _9;
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scanning: GV_RWA2_040_RackAngleCmd = _9;
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scanning: Cur_RWA_RACK_ANGLE.12_10 = Cur_RWA_RACK_ANGLE;
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scanning: if (GV_MASTER_RWA_RackAngleCommand.1_2 < Cur_RWA_RACK_ANGLE.12_10)
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scanning: RWA_Angle_Speed_limit.15_11 = RWA_Angle_Speed_limit;
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scanning: Angle_Speed_Gain.16_12 = Angle_Speed_Gain;
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scanning: GV_VCU_Vx_Fbk.17_13 = GV_VCU_Vx_Fbk;
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scanning: _14 = Angle_Speed_Gain.16_12 * GV_VCU_Vx_Fbk.17_13;
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scanning: _15 = RWA_Angle_Speed_limit.15_11 - _14;
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scanning: _16 = Cur_RWA_RACK_ANGLE.12_10 - _15;
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scanning: Cur_RWA_RACK_ANGLE = _16;
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scanning: GV_RWA_040_RackAngleCmd = _16;
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scanning: GV_RWA2_040_RackAngleCmd = _16;
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scanning: if (GV_MASTER_RWA_RackAngleCommand.1_2 > 0.0)
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scanning: Cur_RWA_RACK_ANGLE.21_17 = Cur_RWA_RACK_ANGLE;
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scanning: if (GV_MASTER_RWA_RackAngleCommand.1_2 < Cur_RWA_RACK_ANGLE.21_17)
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scanning: RWA_Angle_Speed_limit.24_18 = RWA_Angle_Speed_limit;
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scanning: _19 = Cur_RWA_RACK_ANGLE.21_17 - RWA_Angle_Speed_limit.24_18;
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scanning: Cur_RWA_RACK_ANGLE = _19;
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scanning: GV_RWA_040_RackAngleCmd = _19;
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scanning: GV_RWA2_040_RackAngleCmd = _19;
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scanning: Cur_RWA_RACK_ANGLE.27_20 = Cur_RWA_RACK_ANGLE;
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scanning: if (GV_MASTER_RWA_RackAngleCommand.1_2 > Cur_RWA_RACK_ANGLE.27_20)
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scanning: RWA_Angle_Speed_limit.30_21 = RWA_Angle_Speed_limit;
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scanning: _22 = Cur_RWA_RACK_ANGLE.27_20 + RWA_Angle_Speed_limit.30_21;
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scanning: Cur_RWA_RACK_ANGLE = _22;
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scanning: GV_RWA_040_RackAngleCmd = _22;
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scanning: GV_RWA2_040_RackAngleCmd = _22;
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scanning: GV_MASTER_RWA_RackAngleCommand.33_23 = GV_MASTER_RWA_RackAngleCommand;
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scanning: GV_RWA_040_RackAngleCmd = GV_MASTER_RWA_RackAngleCommand.33_23;
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scanning: GV_RWA2_040_RackAngleCmd = GV_MASTER_RWA_RackAngleCommand.33_23;
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scanning: return;
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Function is locally const.
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callgraph:
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RWS_Angle_Speed/4 (RWS_Angle_Speed) @06b387e0
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Type: function definition analyzed
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Visibility: externally_visible public
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Aux: @06645f28
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References: GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)
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Referring:
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Availability: available
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Function flags: count:1073741824 (estimated locally) body optimize_size
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Called by:
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Calls:
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Angle_Speed/3 (Angle_Speed) @06b38540
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Type: function definition analyzed
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Visibility: externally_visible public
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Aux: @06646168
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References: GV_VCU_Drive_Mode/5 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)GV_MASTER_RWA_RackAngleCommand/6 (read)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)
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Referring:
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Availability: available
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Function flags: count:1073741824 (estimated locally) body optimize_size
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Called by:
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Calls:
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ordered call graph: reduced for nothrow
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RWS_Angle_Speed/4 (RWS_Angle_Speed) @06b387e0
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Type: function definition analyzed
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Visibility: externally_visible public
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Aux: @06645f28
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References: GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)
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Referring:
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Availability: available
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Function flags: count:1073741824 (estimated locally) body optimize_size
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Called by:
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Calls:
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Angle_Speed/3 (Angle_Speed) @06b38540
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Type: function definition analyzed
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Visibility: externally_visible public
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Aux: @06646168
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References: GV_VCU_Drive_Mode/5 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)GV_MASTER_RWA_RackAngleCommand/6 (read)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)
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Referring:
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Availability: available
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Function flags: count:1073741824 (estimated locally) body optimize_size
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Called by:
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Calls:
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MALLOC LATTICE Initial:
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RWS_Angle_Speed: malloc_bottom
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Angle_Speed: malloc_bottom
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MALLOC LATTICE after propagation:
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RWS_Angle_Speed: malloc_bottom
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Angle_Speed: malloc_bottom
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callgraph:
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RWS_Angle_Speed/4 (RWS_Angle_Speed) @06b387e0
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Type: function definition analyzed
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Visibility: externally_visible public
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Aux: @066460e8
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References: GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)
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Referring:
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Availability: available
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Function flags: count:1073741824 (estimated locally) body optimize_size
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Called by:
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Calls:
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Angle_Speed/3 (Angle_Speed) @06b38540
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Type: function definition analyzed
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Visibility: externally_visible public
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Aux: @066461c8
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References: GV_VCU_Drive_Mode/5 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)GV_MASTER_RWA_RackAngleCommand/6 (read)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)
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Referring:
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Availability: available
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Function flags: count:1073741824 (estimated locally) body optimize_size
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Called by:
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Calls:
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ordered call graph: reduced
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RWS_Angle_Speed/4 (RWS_Angle_Speed) @06b387e0
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Type: function definition analyzed
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Visibility: externally_visible public
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Aux: @066460e8
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References: GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)GV_RWS1_040_RackAngleCmd/13 (write)GV_RWS2_040_RackAngleCmd/14 (write)
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Referring:
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Availability: available
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Function flags: count:1073741824 (estimated locally) body optimize_size
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Called by:
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Calls:
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Angle_Speed/3 (Angle_Speed) @06b38540
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Type: function definition analyzed
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Visibility: externally_visible public
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Aux: @066461c8
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References: GV_VCU_Drive_Mode/5 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Cur_RWA_RACK_ANGLE/7 (write)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)GV_MASTER_RWA_RackAngleCommand/6 (read)GV_RWA_040_RackAngleCmd/9 (write)GV_RWA2_040_RackAngleCmd/10 (write)
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Referring:
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Availability: available
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Function flags: count:1073741824 (estimated locally) body optimize_size
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Called by:
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Calls:
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Function found not to call free: Angle_Speed
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Function found not to call free: RWS_Angle_Speed
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RWS_Angle_Speed ()
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{
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float GV_MASTER_RWS_RackAngleCommand.35_1;
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float Cur_RWS_RACK_ANGLE.36_2;
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float RWS_Angle_Speed_limit.41_3;
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float _4;
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float Cur_RWS_RACK_ANGLE.44_5;
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float RWS_Angle_Speed_limit.47_6;
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float _7;
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float Cur_RWS_RACK_ANGLE.51_8;
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float RWS_Angle_Speed_limit.54_9;
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float _10;
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float Cur_RWS_RACK_ANGLE.57_11;
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float RWS_Angle_Speed_limit.60_12;
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float _13;
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<bb 2> [local count: 1073741824]:
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# DEBUG BEGIN_STMT
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GV_MASTER_RWS_RackAngleCommand.35_1 = GV_MASTER_RWS_RackAngleCommand;
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Cur_RWS_RACK_ANGLE.36_2 = Cur_RWS_RACK_ANGLE;
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if (GV_MASTER_RWS_RackAngleCommand.35_1 != Cur_RWS_RACK_ANGLE.36_2)
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goto <bb 3>; [50.00%]
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else
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goto <bb 13>; [50.00%]
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<bb 3> [local count: 536870913]:
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# DEBUG BEGIN_STMT
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if (GV_MASTER_RWS_RackAngleCommand.35_1 < 0.0)
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goto <bb 4>; [41.00%]
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else
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goto <bb 8>; [59.00%]
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<bb 4> [local count: 220117074]:
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# DEBUG BEGIN_STMT
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if (GV_MASTER_RWS_RackAngleCommand.35_1 > Cur_RWS_RACK_ANGLE.36_2)
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goto <bb 5>; [50.00%]
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else
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goto <bb 6>; [50.00%]
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<bb 5> [local count: 110058537]:
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# DEBUG BEGIN_STMT
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RWS_Angle_Speed_limit.41_3 = RWS_Angle_Speed_limit;
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_4 = Cur_RWS_RACK_ANGLE.36_2 + RWS_Angle_Speed_limit.41_3;
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Cur_RWS_RACK_ANGLE = _4;
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|
# DEBUG BEGIN_STMT
|
|
GV_RWS1_040_RackAngleCmd = _4;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS2_040_RackAngleCmd = _4;
|
|
|
|
<bb 6> [local count: 220117074]:
|
|
# DEBUG BEGIN_STMT
|
|
Cur_RWS_RACK_ANGLE.44_5 = Cur_RWS_RACK_ANGLE;
|
|
if (GV_MASTER_RWS_RackAngleCommand.35_1 < Cur_RWS_RACK_ANGLE.44_5)
|
|
goto <bb 7>; [50.00%]
|
|
else
|
|
goto <bb 8>; [50.00%]
|
|
|
|
<bb 7> [local count: 110058537]:
|
|
# DEBUG BEGIN_STMT
|
|
RWS_Angle_Speed_limit.47_6 = RWS_Angle_Speed_limit;
|
|
_7 = Cur_RWS_RACK_ANGLE.44_5 - RWS_Angle_Speed_limit.47_6;
|
|
Cur_RWS_RACK_ANGLE = _7;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS1_040_RackAngleCmd = _7;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS2_040_RackAngleCmd = _7;
|
|
|
|
<bb 8> [local count: 536870913]:
|
|
# DEBUG BEGIN_STMT
|
|
if (GV_MASTER_RWS_RackAngleCommand.35_1 > 0.0)
|
|
goto <bb 9>; [59.00%]
|
|
else
|
|
goto <bb 13>; [41.00%]
|
|
|
|
<bb 9> [local count: 316753838]:
|
|
# DEBUG BEGIN_STMT
|
|
Cur_RWS_RACK_ANGLE.51_8 = Cur_RWS_RACK_ANGLE;
|
|
if (GV_MASTER_RWS_RackAngleCommand.35_1 < Cur_RWS_RACK_ANGLE.51_8)
|
|
goto <bb 10>; [50.00%]
|
|
else
|
|
goto <bb 11>; [50.00%]
|
|
|
|
<bb 10> [local count: 158376919]:
|
|
# DEBUG BEGIN_STMT
|
|
RWS_Angle_Speed_limit.54_9 = RWS_Angle_Speed_limit;
|
|
_10 = Cur_RWS_RACK_ANGLE.51_8 - RWS_Angle_Speed_limit.54_9;
|
|
Cur_RWS_RACK_ANGLE = _10;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS1_040_RackAngleCmd = _10;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS2_040_RackAngleCmd = _10;
|
|
|
|
<bb 11> [local count: 316753838]:
|
|
# DEBUG BEGIN_STMT
|
|
Cur_RWS_RACK_ANGLE.57_11 = Cur_RWS_RACK_ANGLE;
|
|
if (GV_MASTER_RWS_RackAngleCommand.35_1 > Cur_RWS_RACK_ANGLE.57_11)
|
|
goto <bb 12>; [50.00%]
|
|
else
|
|
goto <bb 13>; [50.00%]
|
|
|
|
<bb 12> [local count: 158376919]:
|
|
# DEBUG BEGIN_STMT
|
|
RWS_Angle_Speed_limit.60_12 = RWS_Angle_Speed_limit;
|
|
_13 = Cur_RWS_RACK_ANGLE.57_11 + RWS_Angle_Speed_limit.60_12;
|
|
Cur_RWS_RACK_ANGLE = _13;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS1_040_RackAngleCmd = _13;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWS2_040_RackAngleCmd = _13;
|
|
|
|
<bb 13> [local count: 1073741824]:
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
Angle_Speed ()
|
|
{
|
|
long unsigned int GV_VCU_Drive_Mode.0_1;
|
|
float GV_MASTER_RWA_RackAngleCommand.1_2;
|
|
float Cur_RWA_RACK_ANGLE.2_3;
|
|
float RWA_Angle_Speed_limit.6_4;
|
|
float Angle_Speed_Gain.7_5;
|
|
float GV_VCU_Vx_Fbk.8_6;
|
|
float _7;
|
|
float _8;
|
|
float _9;
|
|
float Cur_RWA_RACK_ANGLE.12_10;
|
|
float RWA_Angle_Speed_limit.15_11;
|
|
float Angle_Speed_Gain.16_12;
|
|
float GV_VCU_Vx_Fbk.17_13;
|
|
float _14;
|
|
float _15;
|
|
float _16;
|
|
float Cur_RWA_RACK_ANGLE.21_17;
|
|
float RWA_Angle_Speed_limit.24_18;
|
|
float _19;
|
|
float Cur_RWA_RACK_ANGLE.27_20;
|
|
float RWA_Angle_Speed_limit.30_21;
|
|
float _22;
|
|
float GV_MASTER_RWA_RackAngleCommand.33_23;
|
|
|
|
<bb 2> [local count: 1073741824]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_VCU_Drive_Mode.0_1 = GV_VCU_Drive_Mode;
|
|
if (GV_VCU_Drive_Mode.0_1 == 1)
|
|
goto <bb 3>; [34.00%]
|
|
else
|
|
goto <bb 14>; [66.00%]
|
|
|
|
<bb 3> [local count: 365072220]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_MASTER_RWA_RackAngleCommand.1_2 = GV_MASTER_RWA_RackAngleCommand;
|
|
Cur_RWA_RACK_ANGLE.2_3 = Cur_RWA_RACK_ANGLE;
|
|
if (GV_MASTER_RWA_RackAngleCommand.1_2 != Cur_RWA_RACK_ANGLE.2_3)
|
|
goto <bb 4>; [50.00%]
|
|
else
|
|
goto <bb 15>; [50.00%]
|
|
|
|
<bb 4> [local count: 182536110]:
|
|
# DEBUG BEGIN_STMT
|
|
if (GV_MASTER_RWA_RackAngleCommand.1_2 < 0.0)
|
|
goto <bb 5>; [41.00%]
|
|
else
|
|
goto <bb 9>; [59.00%]
|
|
|
|
<bb 5> [local count: 74839805]:
|
|
# DEBUG BEGIN_STMT
|
|
if (GV_MASTER_RWA_RackAngleCommand.1_2 > Cur_RWA_RACK_ANGLE.2_3)
|
|
goto <bb 6>; [50.00%]
|
|
else
|
|
goto <bb 7>; [50.00%]
|
|
|
|
<bb 6> [local count: 37419903]:
|
|
# DEBUG BEGIN_STMT
|
|
RWA_Angle_Speed_limit.6_4 = RWA_Angle_Speed_limit;
|
|
Angle_Speed_Gain.7_5 = Angle_Speed_Gain;
|
|
GV_VCU_Vx_Fbk.8_6 = GV_VCU_Vx_Fbk;
|
|
_7 = Angle_Speed_Gain.7_5 * GV_VCU_Vx_Fbk.8_6;
|
|
_8 = RWA_Angle_Speed_limit.6_4 - _7;
|
|
_9 = Cur_RWA_RACK_ANGLE.2_3 + _8;
|
|
Cur_RWA_RACK_ANGLE = _9;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA_040_RackAngleCmd = _9;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA2_040_RackAngleCmd = _9;
|
|
|
|
<bb 7> [local count: 74839805]:
|
|
# DEBUG BEGIN_STMT
|
|
Cur_RWA_RACK_ANGLE.12_10 = Cur_RWA_RACK_ANGLE;
|
|
if (GV_MASTER_RWA_RackAngleCommand.1_2 < Cur_RWA_RACK_ANGLE.12_10)
|
|
goto <bb 8>; [50.00%]
|
|
else
|
|
goto <bb 9>; [50.00%]
|
|
|
|
<bb 8> [local count: 37419903]:
|
|
# DEBUG BEGIN_STMT
|
|
RWA_Angle_Speed_limit.15_11 = RWA_Angle_Speed_limit;
|
|
Angle_Speed_Gain.16_12 = Angle_Speed_Gain;
|
|
GV_VCU_Vx_Fbk.17_13 = GV_VCU_Vx_Fbk;
|
|
_14 = Angle_Speed_Gain.16_12 * GV_VCU_Vx_Fbk.17_13;
|
|
_15 = RWA_Angle_Speed_limit.15_11 - _14;
|
|
_16 = Cur_RWA_RACK_ANGLE.12_10 - _15;
|
|
Cur_RWA_RACK_ANGLE = _16;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA_040_RackAngleCmd = _16;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA2_040_RackAngleCmd = _16;
|
|
|
|
<bb 9> [local count: 182536110]:
|
|
# DEBUG BEGIN_STMT
|
|
if (GV_MASTER_RWA_RackAngleCommand.1_2 > 0.0)
|
|
goto <bb 10>; [59.00%]
|
|
else
|
|
goto <bb 15>; [41.00%]
|
|
|
|
<bb 10> [local count: 107696305]:
|
|
# DEBUG BEGIN_STMT
|
|
Cur_RWA_RACK_ANGLE.21_17 = Cur_RWA_RACK_ANGLE;
|
|
if (GV_MASTER_RWA_RackAngleCommand.1_2 < Cur_RWA_RACK_ANGLE.21_17)
|
|
goto <bb 11>; [50.00%]
|
|
else
|
|
goto <bb 12>; [50.00%]
|
|
|
|
<bb 11> [local count: 53848152]:
|
|
# DEBUG BEGIN_STMT
|
|
RWA_Angle_Speed_limit.24_18 = RWA_Angle_Speed_limit;
|
|
_19 = Cur_RWA_RACK_ANGLE.21_17 - RWA_Angle_Speed_limit.24_18;
|
|
Cur_RWA_RACK_ANGLE = _19;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA_040_RackAngleCmd = _19;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA2_040_RackAngleCmd = _19;
|
|
|
|
<bb 12> [local count: 107696305]:
|
|
# DEBUG BEGIN_STMT
|
|
Cur_RWA_RACK_ANGLE.27_20 = Cur_RWA_RACK_ANGLE;
|
|
if (GV_MASTER_RWA_RackAngleCommand.1_2 > Cur_RWA_RACK_ANGLE.27_20)
|
|
goto <bb 13>; [50.00%]
|
|
else
|
|
goto <bb 15>; [50.00%]
|
|
|
|
<bb 13> [local count: 53848152]:
|
|
# DEBUG BEGIN_STMT
|
|
RWA_Angle_Speed_limit.30_21 = RWA_Angle_Speed_limit;
|
|
_22 = Cur_RWA_RACK_ANGLE.27_20 + RWA_Angle_Speed_limit.30_21;
|
|
Cur_RWA_RACK_ANGLE = _22;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA_040_RackAngleCmd = _22;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA2_040_RackAngleCmd = _22;
|
|
goto <bb 15>; [100.00%]
|
|
|
|
<bb 14> [local count: 708669605]:
|
|
# DEBUG BEGIN_STMT
|
|
GV_MASTER_RWA_RackAngleCommand.33_23 = GV_MASTER_RWA_RackAngleCommand;
|
|
GV_RWA_040_RackAngleCmd = GV_MASTER_RWA_RackAngleCommand.33_23;
|
|
# DEBUG BEGIN_STMT
|
|
GV_RWA2_040_RackAngleCmd = GV_MASTER_RWA_RackAngleCommand.33_23;
|
|
|
|
<bb 15> [local count: 1073741824]:
|
|
return;
|
|
|
|
}
|
|
|
|
|