mirror of
https://github.com/Dev-KATECH/ADM.git
synced 2026-05-17 01:43:59 +09:00
267 lines
7.3 KiB
Plaintext
267 lines
7.3 KiB
Plaintext
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
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GV_RWS1_040_RackAngleCmd = _4;
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# DEBUG BEGIN_STMT
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GV_RWS2_040_RackAngleCmd = _4;
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<bb 6> [local count: 220117074]:
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# DEBUG BEGIN_STMT
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Cur_RWS_RACK_ANGLE.44_5 = Cur_RWS_RACK_ANGLE;
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if (GV_MASTER_RWS_RackAngleCommand.35_1 < Cur_RWS_RACK_ANGLE.44_5)
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goto <bb 7>; [50.00%]
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else
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goto <bb 8>; [50.00%]
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<bb 7> [local count: 110058537]:
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# DEBUG BEGIN_STMT
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RWS_Angle_Speed_limit.47_6 = RWS_Angle_Speed_limit;
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_7 = Cur_RWS_RACK_ANGLE.44_5 - RWS_Angle_Speed_limit.47_6;
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Cur_RWS_RACK_ANGLE = _7;
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# DEBUG BEGIN_STMT
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GV_RWS1_040_RackAngleCmd = _7;
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# DEBUG BEGIN_STMT
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GV_RWS2_040_RackAngleCmd = _7;
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<bb 8> [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 9>; [59.00%]
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else
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goto <bb 13>; [41.00%]
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<bb 9> [local count: 316753838]:
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# DEBUG BEGIN_STMT
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Cur_RWS_RACK_ANGLE.51_8 = Cur_RWS_RACK_ANGLE;
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if (GV_MASTER_RWS_RackAngleCommand.35_1 < Cur_RWS_RACK_ANGLE.51_8)
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goto <bb 10>; [50.00%]
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else
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goto <bb 11>; [50.00%]
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<bb 10> [local count: 158376919]:
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# DEBUG BEGIN_STMT
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RWS_Angle_Speed_limit.54_9 = RWS_Angle_Speed_limit;
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_10 = Cur_RWS_RACK_ANGLE.51_8 - RWS_Angle_Speed_limit.54_9;
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Cur_RWS_RACK_ANGLE = _10;
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# DEBUG BEGIN_STMT
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GV_RWS1_040_RackAngleCmd = _10;
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# DEBUG BEGIN_STMT
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GV_RWS2_040_RackAngleCmd = _10;
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<bb 11> [local count: 316753838]:
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# DEBUG BEGIN_STMT
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Cur_RWS_RACK_ANGLE.57_11 = Cur_RWS_RACK_ANGLE;
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if (GV_MASTER_RWS_RackAngleCommand.35_1 > Cur_RWS_RACK_ANGLE.57_11)
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goto <bb 12>; [50.00%]
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else
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goto <bb 13>; [50.00%]
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<bb 12> [local count: 158376919]:
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# DEBUG BEGIN_STMT
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RWS_Angle_Speed_limit.60_12 = RWS_Angle_Speed_limit;
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_13 = Cur_RWS_RACK_ANGLE.57_11 + RWS_Angle_Speed_limit.60_12;
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Cur_RWS_RACK_ANGLE = _13;
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# DEBUG BEGIN_STMT
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GV_RWS1_040_RackAngleCmd = _13;
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# DEBUG BEGIN_STMT
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GV_RWS2_040_RackAngleCmd = _13;
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<bb 13> [local count: 1073741824]:
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return;
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}
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Angle_Speed ()
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{
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long unsigned int GV_VCU_Drive_Mode.0_1;
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float GV_MASTER_RWA_RackAngleCommand.1_2;
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float Cur_RWA_RACK_ANGLE.2_3;
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float RWA_Angle_Speed_limit.6_4;
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float Angle_Speed_Gain.7_5;
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float GV_VCU_Vx_Fbk.8_6;
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float _7;
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float _8;
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float _9;
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float Cur_RWA_RACK_ANGLE.12_10;
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float RWA_Angle_Speed_limit.15_11;
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float Angle_Speed_Gain.16_12;
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float GV_VCU_Vx_Fbk.17_13;
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float _14;
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float _15;
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float _16;
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float Cur_RWA_RACK_ANGLE.21_17;
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float RWA_Angle_Speed_limit.24_18;
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float _19;
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float Cur_RWA_RACK_ANGLE.27_20;
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float RWA_Angle_Speed_limit.30_21;
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float _22;
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float GV_MASTER_RWA_RackAngleCommand.33_23;
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<bb 2> [local count: 1073741824]:
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# DEBUG BEGIN_STMT
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GV_VCU_Drive_Mode.0_1 = GV_VCU_Drive_Mode;
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if (GV_VCU_Drive_Mode.0_1 == 1)
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goto <bb 3>; [34.00%]
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else
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goto <bb 14>; [66.00%]
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<bb 3> [local count: 365072220]:
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# DEBUG BEGIN_STMT
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GV_MASTER_RWA_RackAngleCommand.1_2 = GV_MASTER_RWA_RackAngleCommand;
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Cur_RWA_RACK_ANGLE.2_3 = Cur_RWA_RACK_ANGLE;
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if (GV_MASTER_RWA_RackAngleCommand.1_2 != Cur_RWA_RACK_ANGLE.2_3)
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goto <bb 4>; [50.00%]
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else
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goto <bb 15>; [50.00%]
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<bb 4> [local count: 182536110]:
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# DEBUG BEGIN_STMT
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if (GV_MASTER_RWA_RackAngleCommand.1_2 < 0.0)
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goto <bb 5>; [41.00%]
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else
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goto <bb 9>; [59.00%]
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<bb 5> [local count: 74839805]:
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# DEBUG BEGIN_STMT
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if (GV_MASTER_RWA_RackAngleCommand.1_2 > Cur_RWA_RACK_ANGLE.2_3)
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goto <bb 6>; [50.00%]
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else
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goto <bb 7>; [50.00%]
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<bb 6> [local count: 37419903]:
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# DEBUG BEGIN_STMT
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RWA_Angle_Speed_limit.6_4 = RWA_Angle_Speed_limit;
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Angle_Speed_Gain.7_5 = Angle_Speed_Gain;
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GV_VCU_Vx_Fbk.8_6 = GV_VCU_Vx_Fbk;
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_7 = Angle_Speed_Gain.7_5 * GV_VCU_Vx_Fbk.8_6;
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_8 = RWA_Angle_Speed_limit.6_4 - _7;
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_9 = Cur_RWA_RACK_ANGLE.2_3 + _8;
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Cur_RWA_RACK_ANGLE = _9;
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# DEBUG BEGIN_STMT
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GV_RWA_040_RackAngleCmd = _9;
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# DEBUG BEGIN_STMT
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GV_RWA2_040_RackAngleCmd = _9;
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<bb 7> [local count: 74839805]:
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# DEBUG BEGIN_STMT
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Cur_RWA_RACK_ANGLE.12_10 = Cur_RWA_RACK_ANGLE;
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if (GV_MASTER_RWA_RackAngleCommand.1_2 < Cur_RWA_RACK_ANGLE.12_10)
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goto <bb 8>; [50.00%]
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else
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goto <bb 9>; [50.00%]
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<bb 8> [local count: 37419903]:
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# DEBUG BEGIN_STMT
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RWA_Angle_Speed_limit.15_11 = RWA_Angle_Speed_limit;
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Angle_Speed_Gain.16_12 = Angle_Speed_Gain;
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GV_VCU_Vx_Fbk.17_13 = GV_VCU_Vx_Fbk;
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_14 = Angle_Speed_Gain.16_12 * GV_VCU_Vx_Fbk.17_13;
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_15 = RWA_Angle_Speed_limit.15_11 - _14;
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_16 = Cur_RWA_RACK_ANGLE.12_10 - _15;
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Cur_RWA_RACK_ANGLE = _16;
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# DEBUG BEGIN_STMT
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GV_RWA_040_RackAngleCmd = _16;
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# DEBUG BEGIN_STMT
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GV_RWA2_040_RackAngleCmd = _16;
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<bb 9> [local count: 182536110]:
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# DEBUG BEGIN_STMT
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if (GV_MASTER_RWA_RackAngleCommand.1_2 > 0.0)
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goto <bb 10>; [59.00%]
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else
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goto <bb 15>; [41.00%]
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<bb 10> [local count: 107696305]:
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# DEBUG BEGIN_STMT
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Cur_RWA_RACK_ANGLE.21_17 = Cur_RWA_RACK_ANGLE;
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if (GV_MASTER_RWA_RackAngleCommand.1_2 < Cur_RWA_RACK_ANGLE.21_17)
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goto <bb 11>; [50.00%]
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else
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goto <bb 12>; [50.00%]
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<bb 11> [local count: 53848152]:
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# DEBUG BEGIN_STMT
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RWA_Angle_Speed_limit.24_18 = RWA_Angle_Speed_limit;
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_19 = Cur_RWA_RACK_ANGLE.21_17 - RWA_Angle_Speed_limit.24_18;
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Cur_RWA_RACK_ANGLE = _19;
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# DEBUG BEGIN_STMT
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GV_RWA_040_RackAngleCmd = _19;
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# DEBUG BEGIN_STMT
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GV_RWA2_040_RackAngleCmd = _19;
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<bb 12> [local count: 107696305]:
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# DEBUG BEGIN_STMT
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Cur_RWA_RACK_ANGLE.27_20 = Cur_RWA_RACK_ANGLE;
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if (GV_MASTER_RWA_RackAngleCommand.1_2 > Cur_RWA_RACK_ANGLE.27_20)
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goto <bb 13>; [50.00%]
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else
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goto <bb 15>; [50.00%]
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<bb 13> [local count: 53848152]:
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# DEBUG BEGIN_STMT
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RWA_Angle_Speed_limit.30_21 = RWA_Angle_Speed_limit;
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_22 = Cur_RWA_RACK_ANGLE.27_20 + RWA_Angle_Speed_limit.30_21;
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Cur_RWA_RACK_ANGLE = _22;
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# DEBUG BEGIN_STMT
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GV_RWA_040_RackAngleCmd = _22;
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# DEBUG BEGIN_STMT
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GV_RWA2_040_RackAngleCmd = _22;
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goto <bb 15>; [100.00%]
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<bb 14> [local count: 708669605]:
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# DEBUG BEGIN_STMT
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GV_MASTER_RWA_RackAngleCommand.33_23 = GV_MASTER_RWA_RackAngleCommand;
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GV_RWA_040_RackAngleCmd = GV_MASTER_RWA_RackAngleCommand.33_23;
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# DEBUG BEGIN_STMT
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GV_RWA2_040_RackAngleCmd = GV_MASTER_RWA_RackAngleCommand.33_23;
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<bb 15> [local count: 1073741824]:
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return;
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}
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