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ADM/[ADM] Integrated Logic/ADM_Integrated_Logic_ert_rtw/ADM_Integrated_Logic.c

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/*
* Academic License - for use in teaching, academic research, and meeting
* course requirements at degree granting institutions only. Not for
* government, commercial, or other organizational use.
*
* File: ADM_Integrated_Logic.c
*
* Code generated for Simulink model 'ADM_Integrated_Logic'.
*
* Model version : 11.39
* Simulink Coder version : 24.1 (R2024a) 19-Nov-2023
* C/C++ source code generated on : Thu Jun 19 19:37:54 2025
*
* Target selection: ert.tlc
* Embedded hardware selection: NXP->Cortex-M4
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* 3. Debugging
* Validation result: Not run
*/
#include "ADM_Integrated_Logic.h"
#include <stdint.h>
#include <math.h>
#include <stdbool.h>
/* Named constants for Chart: '<S8>/Chart' */
#define IN_HAC_OFF ((uint8_t)1U)
#define IN_HAC_ON ((uint8_t)2U)
/* Block signals and states (default storage) */
DW_ADM_Integrated_Logic_T ADM_Integrated_Logic_DW;
/* External inputs (root inport signals with default storage) */
ExtU_ADM_Integrated_Logic_T ADM_Integrated_Logic_U;
/* External outputs (root outports fed by signals with default storage) */
ExtY_ADM_Integrated_Logic_T ADM_Integrated_Logic_Y;
/* Real-time model */
static RT_MODEL_ADM_Integrated_Logic_T ADM_Integrated_Logic_M_;
RT_MODEL_ADM_Integrated_Logic_T *const ADM_Integrated_Logic_M =
&ADM_Integrated_Logic_M_;
static void ADM_Integrated_Lo_Calculate_F_c(double rtu_W, double rtu_theta,
double *rty_F_c);
static void ADM_Integrated__MATLABFunction1(double rtu_u, double *rty_y);
static void ADM_Integrated__MATLABFunction2(double rtu_u, double *rty_y);
/*
* Output and update for atomic system:
* '<S43>/Calculate_F_c'
* '<S43>/Calculate_F_c1'
*/
static void ADM_Integrated_Lo_Calculate_F_c(double rtu_W, double rtu_theta,
double *rty_F_c)
{
*rty_F_c = rtu_W * sin(rtu_theta);
}
/*
* Output and update for atomic system:
* '<S1>/MATLAB Function1'
* '<S1>/MATLAB Function5'
*/
static void ADM_Integrated__MATLABFunction1(double rtu_u, double *rty_y)
{
*rty_y = rtu_u;
if (rtu_u < 140.0) {
*rty_y = 140.0;
}
}
/*
* Output and update for atomic system:
* '<S1>/MATLAB Function2'
* '<S1>/MATLAB Function6'
*/
static void ADM_Integrated__MATLABFunction2(double rtu_u, double *rty_y)
{
*rty_y = rtu_u;
if (rtu_u > -140.0) {
*rty_y = -140.0;
}
}
/* Model step function */
void ADM_Integrated_Logic_step(void)
{
double rtb_Add1;
double rtb_Add3;
double rtb_Add_e;
double rtb_Brake_Saturation;
double rtb_Brake_Torque_Cmd;
double rtb_Error_m;
double rtb_Gain_c;
double rtb_Integrator_1;
double rtb_Memory;
double rtb_Product1_ee;
double rtb_Product1_h;
double rtb_Product1_j;
double rtb_Product1_kq;
double rtb_Product1_m;
double rtb_Sum1_aj;
double rtb_Sum1_i2;
double rtb_Sum1_lm;
double rtb_Sum1_o1;
double rtb_Sum1_p;
double rtb_Switch2;
double rtb_TargetSpd_RateLimiter;
double rtb_Target_RPM;
double rtb_UkYk1;
double rtb_UkYk1_a;
double rtb_Vx_Cmd_R;
double rtb_Yk1_e;
double rtb_deltafalllimit_m;
double rtb_y;
double rtb_y_n;
double u0;
int32_t tmp;
bool rtb_Compare;
bool rtb_Compare_d;
/* RelationalOperator: '<S3>/Compare' incorporates:
* Constant: '<S3>/Constant'
* Inport: '<Root>/GV_Operation_Mode'
*/
rtb_Compare = (ADM_Integrated_Logic_U.GV_Operation_Mode == 2.0);
/* MATLAB Function: '<S18>/Vx_OutPut_Function' incorporates:
* Constant: '<S58>/Constant'
* Inport: '<Root>/GV_BrakeTorqueCommand'
* Inport: '<Root>/GV_Vx_Command'
* Inport: '<Root>/GV_Vx_Limit'
* RelationalOperator: '<S58>/Compare'
*/
if (!(ADM_Integrated_Logic_U.GV_BrakeTorqueCommand >= 50.0)) {
if (ADM_Integrated_Logic_U.GV_Vx_Limit <=
ADM_Integrated_Logic_U.GV_Vx_Command) {
rtb_Add_e = ADM_Integrated_Logic_U.GV_Vx_Limit;
} else {
rtb_Add_e = ADM_Integrated_Logic_U.GV_Vx_Command;
}
} else {
rtb_Add_e = 0.0;
}
/* Product: '<S18>/Product' incorporates:
* MATLAB Function: '<S18>/Vx_OutPut_Function'
* Switch: '<S18>/Switch'
*/
rtb_y_n = rtb_Add_e * (double)!rtb_Compare;
/* RateLimiter: '<S18>/Input_Vx_RateLimiter' */
rtb_TargetSpd_RateLimiter = rtb_y_n - ADM_Integrated_Logic_DW.PrevY;
if (rtb_TargetSpd_RateLimiter > 0.004) {
rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.PrevY + 0.004;
} else if (rtb_TargetSpd_RateLimiter < -0.008) {
rtb_Vx_Cmd_R = ADM_Integrated_Logic_DW.PrevY - 0.008;
} else {
rtb_Vx_Cmd_R = rtb_y_n;
}
ADM_Integrated_Logic_DW.PrevY = rtb_Vx_Cmd_R;
/* End of RateLimiter: '<S18>/Input_Vx_RateLimiter' */
/* RelationalOperator: '<S39>/Compare' incorporates:
* Constant: '<S39>/Constant'
* Inport: '<Root>/GV_BrakeTorqueCommand'
*/
rtb_Compare_d = (ADM_Integrated_Logic_U.GV_BrakeTorqueCommand >= 100.0);
/* Delay: '<S7>/Memory' */
rtb_Memory = ADM_Integrated_Logic_DW.Memory_DSTATE;
/* MATLAB Function: '<S7>/Gear_FUNCTION1' incorporates:
* Inport: '<Root>/GV_VCU_GearSelStat'
* Inport: '<Root>/GV_Vx_Fbk'
*/
if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 0.0) {
if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && rtb_Compare_d) {
rtb_Memory = 0.0;
}
} else {
switch ((int32_t)rtb_Memory) {
case 0:
if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) &&
((ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 1.0) ||
(ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 3.0) ||
(ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0))) {
rtb_Memory = 2.0;
}
break;
case 1:
if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0) {
rtb_Memory = 2.0;
}
break;
case 2:
if ((ADM_Integrated_Logic_U.GV_Vx_Fbk <= 0.0) && rtb_Compare_d) {
if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 1.0) {
rtb_Memory = 1.0;
} else if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 3.0) {
rtb_Memory = 3.0;
}
}
break;
case 3:
if (ADM_Integrated_Logic_U.GV_VCU_GearSelStat == 2.0) {
rtb_Memory = 2.0;
}
break;
}
}
/* End of MATLAB Function: '<S7>/Gear_FUNCTION1' */
/* Chart: '<S8>/Chart' incorporates:
* Constant: '<S8>/Constant'
* Constant: '<S8>/Constant1'
* Inport: '<Root>/GV_MCU_RPM'
*/
if (ADM_Integrated_Logic_DW.is_active_c6_ADM_Integrated_Log == 0U) {
ADM_Integrated_Logic_DW.is_active_c6_ADM_Integrated_Log = 1U;
ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_OFF;
} else if (ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic == IN_HAC_OFF) {
if (ADM_Integrated_Logic_U.GV_MCU_RPM < -50.0) {
ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_ON;
} else {
/* Outport: '<Root>/Debug_HAC_RPM_Decision' */
ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision = 0.0;
}
/* case IN_HAC_ON: */
} else if (ADM_Integrated_Logic_U.GV_MCU_RPM > 150.0) {
ADM_Integrated_Logic_DW.is_c6_ADM_Integrated_Logic = IN_HAC_OFF;
} else {
/* Outport: '<Root>/Debug_HAC_RPM_Decision' */
ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision = 1.0;
}
/* End of Chart: '<S8>/Chart' */
/* Product: '<S49>/delta rise limit' incorporates:
* Constant: '<S8>/Upper_Torq'
* SampleTimeMath: '<S49>/sample time'
*
* About '<S49>/sample time':
* y = K where K = ( w * Ts )
* */
rtb_y_n = 0.016;
/* UnitDelay: '<S50>/Delay Input2'
*
* Block description for '<S50>/Delay Input2':
*
* Store in Global RAM
*/
rtb_Yk1_e = ADM_Integrated_Logic_DW.DelayInput2_DSTATE_m;
/* Product: '<S50>/delta rise limit' incorporates:
* SampleTimeMath: '<S50>/sample time'
*
* About '<S50>/sample time':
* y = K where K = ( w * Ts )
* */
rtb_Integrator_1 = 0.002;
/* Saturate: '<S8>/Pitch_Saturation' incorporates:
* DiscreteIntegrator: '<S8>/Integrator_2'
*/
if (ADM_Integrated_Logic_DW.Integrator_2_DSTATE > 10.0) {
rtb_Add_e = 10.0;
} else if (ADM_Integrated_Logic_DW.Integrator_2_DSTATE < -10.0) {
rtb_Add_e = -10.0;
} else {
rtb_Add_e = ADM_Integrated_Logic_DW.Integrator_2_DSTATE;
}
/* Sum: '<S50>/Difference Inputs1' incorporates:
* Saturate: '<S8>/Pitch_Saturation'
*
* Block description for '<S50>/Difference Inputs1':
*
* Add in CPU
*/
rtb_UkYk1 = rtb_Add_e - rtb_Yk1_e;
/* Switch: '<S55>/Switch2' incorporates:
* RelationalOperator: '<S55>/LowerRelop1'
*/
if (!(rtb_UkYk1 > 0.002)) {
/* Switch: '<S55>/Switch' incorporates:
* RelationalOperator: '<S55>/UpperRelop'
*/
if (rtb_UkYk1 < -0.002) {
rtb_Integrator_1 = -0.002;
} else {
rtb_Integrator_1 = rtb_UkYk1;
}
/* End of Switch: '<S55>/Switch' */
}
/* End of Switch: '<S55>/Switch2' */
/* Sum: '<S50>/Difference Inputs2'
*
* Block description for '<S50>/Difference Inputs2':
*
* Add in CPU
*/
rtb_Yk1_e += rtb_Integrator_1;
/* MATLAB Function: '<S43>/Calculate_F_c' incorporates:
* Gain: '<S43>/Gain'
*/
ADM_Integrated_Lo_Calculate_F_c(ADM_Integrated_Logic_ConstB.W_value,
0.017453292519943295 * rtb_Yk1_e, &rtb_UkYk1);
/* Gain: '<S43>/Gain2' incorporates:
* Constant: '<S43>/Radius'
* Gain: '<S43>/Gain1'
* Gain: '<S43>/Rolling_Gain'
* MATLAB Function: '<S43>/Calculate_F_R'
* Product: '<S43>/Multiply3'
* Sum: '<S43>/Required_Brake_Cal'
*/
rtb_Integrator_1 = (cos(0.017453292519943295 * rtb_Yk1_e) * 436.7465753424658 *
0.0 + rtb_UkYk1) * 0.292 * 0.083822296730930432;
/* Saturate: '<S43>/Saturation' */
if (rtb_Integrator_1 > 60.0) {
rtb_Integrator_1 = 60.0;
} else if (rtb_Integrator_1 < 0.0) {
rtb_Integrator_1 = 0.0;
}
/* Sum: '<S49>/Difference Inputs1' incorporates:
* Saturate: '<S43>/Saturation'
* UnitDelay: '<S49>/Delay Input2'
*
* Block description for '<S49>/Difference Inputs1':
*
* Add in CPU
*
* Block description for '<S49>/Delay Input2':
*
* Store in Global RAM
*/
rtb_UkYk1 = rtb_Integrator_1 - ADM_Integrated_Logic_DW.DelayInput2_DSTATE;
/* Switch: '<S54>/Switch2' incorporates:
* RelationalOperator: '<S54>/LowerRelop1'
*/
if (!(rtb_UkYk1 > 0.016)) {
/* Switch: '<S54>/Switch' incorporates:
* RelationalOperator: '<S54>/UpperRelop'
*/
if (rtb_UkYk1 < -0.16) {
rtb_y_n = -0.16;
} else {
rtb_y_n = rtb_UkYk1;
}
/* End of Switch: '<S54>/Switch' */
}
/* End of Switch: '<S54>/Switch2' */
/* Sum: '<S49>/Difference Inputs2' incorporates:
* UnitDelay: '<S49>/Delay Input2'
*
* Block description for '<S49>/Difference Inputs2':
*
* Add in CPU
*
* Block description for '<S49>/Delay Input2':
*
* Store in Global RAM
*/
rtb_UkYk1 = rtb_y_n + ADM_Integrated_Logic_DW.DelayInput2_DSTATE;
/* Gain: '<S8>/Grade_GAIN' */
rtb_deltafalllimit_m = 0.8 * rtb_UkYk1;
/* MATLAB Function: '<S8>/HAC_OFF_OK_Func' */
rtb_Brake_Torque_Cmd = 0.0;
/* Outport: '<Root>/Debug_HAC_FLAG' incorporates:
* MATLAB Function: '<S8>/HAC_OFF_OK_Func'
*/
ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 0.0;
/* MATLAB Function: '<S8>/HAC_OFF_OK_Func' incorporates:
* Constant: '<S8>/Accel_Cmd '
* Constant: '<S8>/Brake_Cmd'
* Constant: '<S8>/Gear_D'
* Inport: '<Root>/GV_BrakeTorqueCommand'
* Inport: '<Root>/GV_MCU_EstTrq'
* Outport: '<Root>/Debug_HAC_RPM_Decision'
* RelationalOperator: '<S8>/Relational Operator'
* RelationalOperator: '<S8>/Relational Operator1'
* RelationalOperator: '<S8>/Relational Operator2'
* Sum: '<S8>/HAC_Flags_Add'
*/
if ((double)(((ADM_Integrated_Logic_U.GV_BrakeTorqueCommand <= 20.0) +
(rtb_Vx_Cmd_R <= 2.0)) + (rtb_Memory == 3.0)) +
ADM_Integrated_Logic_Y.Debug_HAC_RPM_Decision >= 4.0) {
if (ADM_Integrated_Logic_DW.HAC_ON_FLAG == 0.0) {
ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0;
}
ADM_Integrated_Logic_DW.HAC_ON_FLAG = 1.0;
rtb_Brake_Torque_Cmd = 1000.0;
ADM_Integrated_Logic_DW.Smoothed_Torque = 1000.0;
if (ADM_Integrated_Logic_DW.HAC_ON_Timer < 3.0) {
ADM_Integrated_Logic_DW.HAC_Desired_Torque = rtb_deltafalllimit_m;
ADM_Integrated_Logic_DW.HAC_ON_Timer += 0.005;
}
/* Outport: '<Root>/Debug_HAC_FLAG' */
ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 1.0;
} else if (ADM_Integrated_Logic_DW.HAC_ON_FLAG == 1.0) {
if (ADM_Integrated_Logic_U.GV_MCU_EstTrq >=
ADM_Integrated_Logic_DW.HAC_Desired_Torque) {
ADM_Integrated_Logic_DW.Smoothed_Torque -= 0.05 *
ADM_Integrated_Logic_DW.Smoothed_Torque;
if (ADM_Integrated_Logic_DW.Smoothed_Torque < 0.01) {
ADM_Integrated_Logic_DW.Smoothed_Torque = 0.0;
ADM_Integrated_Logic_DW.HAC_ON_FLAG = 0.0;
ADM_Integrated_Logic_DW.HAC_Desired_Torque = 0.0;
ADM_Integrated_Logic_DW.HAC_ON_Timer = 0.0;
}
rtb_Brake_Torque_Cmd = ADM_Integrated_Logic_DW.Smoothed_Torque;
} else {
rtb_Brake_Torque_Cmd = 1000.0;
ADM_Integrated_Logic_DW.Smoothed_Torque = 1000.0;
/* Outport: '<Root>/Debug_HAC_FLAG' */
ADM_Integrated_Logic_Y.Debug_HAC_FLAG = 1.0;
}
}
/* Gain: '<S4>/Brake_GAIN' incorporates:
* DiscreteTransferFcn: '<S1>/Discrete Transfer Fcn'
*/
u0 = 0.0625 * ADM_Integrated_Logic_DW.DiscreteTransferFcn_states * -80.0;
/* MATLAB Function: '<S4>/GearCondition_Brake' */
if (rtb_Memory == 1.0) {
tmp = -1;
} else {
tmp = (rtb_Memory == 3.0);
}
/* Saturate: '<S4>/Saturation' */
if (u0 > 1000.0) {
u0 = 1000.0;
} else if (u0 < 0.0) {
u0 = 0.0;
}
/* Product: '<S4>/Multiply2' incorporates:
* MATLAB Function: '<S4>/GearCondition_Brake'
* Saturate: '<S4>/Saturation'
*/
rtb_Integrator_1 = (double)tmp * u0;
/* RateLimiter: '<S4>/Brake_Out_RateLimiter' */
rtb_TargetSpd_RateLimiter = rtb_Integrator_1 - ADM_Integrated_Logic_DW.PrevY_o;
if (rtb_TargetSpd_RateLimiter > 3.0) {
rtb_Integrator_1 = ADM_Integrated_Logic_DW.PrevY_o + 3.0;
} else if (rtb_TargetSpd_RateLimiter < -3.0) {
rtb_Integrator_1 = ADM_Integrated_Logic_DW.PrevY_o - 3.0;
}
ADM_Integrated_Logic_DW.PrevY_o = rtb_Integrator_1;
/* End of RateLimiter: '<S4>/Brake_Out_RateLimiter' */
/* Saturate: '<S4>/Brake_Saturation' */
if (rtb_Integrator_1 > 1000.0) {
rtb_Integrator_1 = 1000.0;
} else if (rtb_Integrator_1 < 0.0) {
rtb_Integrator_1 = 0.0;
}
/* End of Saturate: '<S4>/Brake_Saturation' */
/* MATLAB Function: '<S1>/Emergency_Brake_Func' incorporates:
* Inport: '<Root>/GV_Vx_Fbk'
* Sum: '<S1>/Add'
*/
if (rtb_Compare) {
rtb_Brake_Saturation = ADM_Integrated_Logic_U.GV_Vx_Fbk * 100.0;
} else {
rtb_Brake_Saturation = rtb_Brake_Torque_Cmd + rtb_Integrator_1;
}
/* Saturate: '<S1>/Brake_Saturation' incorporates:
* MATLAB Function: '<S1>/Emergency_Brake_Func'
*/
if (rtb_Brake_Saturation > 1500.0) {
rtb_Brake_Saturation = 1500.0;
} else if (rtb_Brake_Saturation < 0.0) {
rtb_Brake_Saturation = 0.0;
}
/* End of Saturate: '<S1>/Brake_Saturation' */
/* MATLAB Function: '<S1>/IDB_Fault_Injection' incorporates:
* Inport: '<Root>/GV_RC_IDB_Fault'
* Inport: '<Root>/IDB_ECU_FAULT_FLAG'
* Inport: '<Root>/RCU_ECU_FAULT_FLAG'
*/
if ((ADM_Integrated_Logic_U.GV_RC_IDB_Fault == 1.0) ||
((ADM_Integrated_Logic_U.IDB_ECU_FAULT_FLAG == 1.0) &&
(ADM_Integrated_Logic_U.RCU_ECU_FAULT_FLAG == 1.0))) {
/* Outport: '<Root>/GV_Brake_Command' */
ADM_Integrated_Logic_Y.GV_Brake_Command = 0.0;
} else {
/* Outport: '<Root>/GV_Brake_Command' */
ADM_Integrated_Logic_Y.GV_Brake_Command = rtb_Brake_Saturation;
}
/* Outport: '<Root>/Target_IDB_Out' incorporates:
* MATLAB Function: '<S1>/IDB_Fault_Injection'
*/
ADM_Integrated_Logic_Y.Target_IDB_Out = rtb_Brake_Saturation;
/* Outport: '<Root>/Debug_CC_Brake_Output' */
ADM_Integrated_Logic_Y.Debug_CC_Brake_Output = rtb_Integrator_1;
/* Outport: '<Root>/Debug_HAC_Brake_Output' */
ADM_Integrated_Logic_Y.Debug_HAC_Brake_Output = rtb_Brake_Torque_Cmd;
/* Outport: '<Root>/GV_Hill_Torque_Assist' */
ADM_Integrated_Logic_Y.GV_Hill_Torque_Assist = rtb_deltafalllimit_m;
/* Outport: '<Root>/Debug_HAC_Pitch_angle' */
ADM_Integrated_Logic_Y.Debug_HAC_Pitch_angle = rtb_Yk1_e;
/* MATLAB Function: '<S43>/Calculate_F_c1' incorporates:
* Gain: '<S43>/Gain3'
*/
ADM_Integrated_Lo_Calculate_F_c(ADM_Integrated_Logic_ConstB.W_Value_for_Brake,
0.017453292519943295 * rtb_Yk1_e, &rtb_deltafalllimit_m);
/* Product: '<S44>/Product1' incorporates:
* Constant: '<S44>/Constant'
* Gain: '<S44>/gain'
* Inport: '<Root>/GV_IMU_AX_Val'
* Product: '<S44>/Product11'
* Sum: '<S44>/Sum1'
* Sum: '<S44>/Sum2'
* Sum: '<S44>/Sum3'
* Sum: '<S44>/Sum4'
* UnitDelay: '<S44>/d'
* UnitDelay: '<S44>/d1'
*/
rtb_deltafalllimit_m = ((ADM_Integrated_Logic_U.GV_IMU_AX_Val +
ADM_Integrated_Logic_DW.d1_DSTATE) * 0.002 + 0.061661977236758134 *
ADM_Integrated_Logic_DW.d_DSTATE) / 0.065661977236758137;
/* Product: '<S45>/Product1' incorporates:
* Constant: '<S45>/Constant'
* Gain: '<S45>/gain'
* Inport: '<Root>/GV_IMU_AY_Val'
* Product: '<S45>/Product11'
* Sum: '<S45>/Sum1'
* Sum: '<S45>/Sum2'
* Sum: '<S45>/Sum3'
* Sum: '<S45>/Sum4'
* UnitDelay: '<S45>/d'
* UnitDelay: '<S45>/d1'
*/
rtb_Brake_Torque_Cmd = ((ADM_Integrated_Logic_U.GV_IMU_AY_Val +
ADM_Integrated_Logic_DW.d1_DSTATE_i) * 0.002 + 0.061661977236758134 *
ADM_Integrated_Logic_DW.d_DSTATE_p) / 0.065661977236758137;
/* Product: '<S46>/Product1' incorporates:
* Constant: '<S46>/Constant'
* Gain: '<S46>/gain'
* Inport: '<Root>/GV_IMU_AZ_Val'
* Product: '<S46>/Product11'
* Sum: '<S46>/Sum1'
* Sum: '<S46>/Sum2'
* Sum: '<S46>/Sum3'
* Sum: '<S46>/Sum4'
* UnitDelay: '<S46>/d'
* UnitDelay: '<S46>/d1'
*/
rtb_Integrator_1 = ((ADM_Integrated_Logic_U.GV_IMU_AZ_Val +
ADM_Integrated_Logic_DW.d1_DSTATE_o) * 0.002 +
0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_n)
/ 0.065661977236758137;
/* MATLAB Function: '<S8>/Pitch_calculate' */
rtb_Brake_Saturation = sqrt(rtb_Brake_Torque_Cmd * rtb_Brake_Torque_Cmd +
rtb_Integrator_1 * rtb_Integrator_1);
if (!(rtb_Brake_Saturation == 0.0)) {
rtb_Brake_Saturation = atan(rtb_deltafalllimit_m / rtb_Brake_Saturation);
}
/* Sum: '<S8>/Sum' incorporates:
* DiscreteIntegrator: '<S8>/Integrator_2'
* MATLAB Function: '<S8>/Pitch_calculate'
*/
rtb_Brake_Saturation = ADM_Integrated_Logic_DW.Integrator_2_DSTATE -
rtb_Brake_Saturation * 57.295779513082323;
/* Product: '<S47>/Product1' incorporates:
* Constant: '<S47>/Constant'
* Gain: '<S47>/gain'
* Inport: '<Root>/GV_IMU_PitchRtVal'
* Product: '<S47>/Product11'
* Sum: '<S47>/Sum1'
* Sum: '<S47>/Sum2'
* Sum: '<S47>/Sum3'
* Sum: '<S47>/Sum4'
* UnitDelay: '<S47>/d'
* UnitDelay: '<S47>/d1'
*/
rtb_Product1_m = ((ADM_Integrated_Logic_U.GV_IMU_PitchRtVal +
ADM_Integrated_Logic_DW.d1_DSTATE_a) * 0.002 +
0.061661977236758134 * ADM_Integrated_Logic_DW.d_DSTATE_d) /
0.065661977236758137;
/* MATLAB Function: '<S4>/Target_RPM' */
if (rtb_Memory == 0.0) {
tmp = 0;
} else if (rtb_Memory == 2.0) {
tmp = 0;
} else if (rtb_Memory == 1.0) {
tmp = -1;
} else {
tmp = (rtb_Memory == 3.0);
}
rtb_Target_RPM = rtb_Vx_Cmd_R * 1000.0 / 3600.0 * 11.93 * 60.0 /
1.7013672006633955 * (double)tmp;
/* End of MATLAB Function: '<S4>/Target_RPM' */
/* RateLimiter: '<S4>/TargetSpd_RateLimiter' */
rtb_TargetSpd_RateLimiter = rtb_Target_RPM - ADM_Integrated_Logic_DW.PrevY_a;
if (rtb_TargetSpd_RateLimiter > 0.4) {
rtb_TargetSpd_RateLimiter = ADM_Integrated_Logic_DW.PrevY_a + 0.4;
} else if (rtb_TargetSpd_RateLimiter < -0.8) {
rtb_TargetSpd_RateLimiter = ADM_Integrated_Logic_DW.PrevY_a - 0.8;
} else {
rtb_TargetSpd_RateLimiter = rtb_Target_RPM;
}
ADM_Integrated_Logic_DW.PrevY_a = rtb_TargetSpd_RateLimiter;
/* End of RateLimiter: '<S4>/TargetSpd_RateLimiter' */
/* Product: '<S24>/Product1' incorporates:
* Constant: '<S24>/Constant'
* Gain: '<S24>/gain'
* Product: '<S24>/Product11'
* Sum: '<S24>/Sum1'
* Sum: '<S24>/Sum2'
* Sum: '<S24>/Sum3'
* Sum: '<S24>/Sum4'
* UnitDelay: '<S24>/d'
* UnitDelay: '<S24>/d1'
*/
rtb_Target_RPM = ((rtb_TargetSpd_RateLimiter +
ADM_Integrated_Logic_DW.d1_DSTATE_c) * 0.002 +
0.1041032953945969 * ADM_Integrated_Logic_DW.d_DSTATE_l) /
0.1081032953945969;
/* Sum: '<S34>/Sum1' incorporates:
* Gain: '<S34>/gain'
* Sum: '<S34>/Sum2'
* UnitDelay: '<S34>/d'
* UnitDelay: '<S34>/d1'
*/
rtb_Sum1_i2 = (rtb_Target_RPM - ADM_Integrated_Logic_DW.d_DSTATE_i) * 1000.0 -
ADM_Integrated_Logic_DW.d1_DSTATE_p;
/* Sum: '<S35>/Sum1' incorporates:
* Gain: '<S35>/gain'
* Sum: '<S35>/Sum2'
* UnitDelay: '<S35>/d'
* UnitDelay: '<S35>/d1'
*/
rtb_Sum1_o1 = (rtb_Sum1_i2 - ADM_Integrated_Logic_DW.d_DSTATE_c) * 1000.0 -
ADM_Integrated_Logic_DW.d1_DSTATE_h;
/* Sum: '<S36>/Sum1' incorporates:
* Gain: '<S36>/gain'
* Sum: '<S36>/Sum2'
* UnitDelay: '<S36>/d'
* UnitDelay: '<S36>/d1'
*/
rtb_Sum1_lm = (rtb_Sum1_o1 - ADM_Integrated_Logic_DW.d_DSTATE_db) * 1000.0 -
ADM_Integrated_Logic_DW.d1_DSTATE_l;
/* Gain: '<S32>/Gain' incorporates:
* Constant: '<S32>/Constant3'
* Constant: '<S32>/Constant4'
* Constant: '<S32>/Constant5'
* Product: '<S32>/Product'
* Product: '<S32>/Product1'
* Product: '<S32>/Product2'
* Sum: '<S32>/Add5'
*/
rtb_Gain_c = (((156.8 * rtb_Target_RPM + 212.8 * rtb_Sum1_i2) + 21.8 *
rtb_Sum1_o1) + rtb_Sum1_lm) * 9.44822373393802E-6;
/* Product: '<S38>/Product1' incorporates:
* Constant: '<S38>/Constant1'
* Constant: '<S38>/Constant2'
* Delay: '<S38>/Delay'
* Delay: '<S38>/Delay1'
* Delay: '<S38>/Delay2'
* Delay: '<S38>/Delay3'
* Gain: '<S38>/gain1'
* Gain: '<S38>/gain3'
* Product: '<S38>/x(n), x(n-1), x(n-2)'
* Product: '<S38>/y(n-1)'
* Product: '<S38>/y(n-2)'
* Sum: '<S38>/Sum1'
* Sum: '<S38>/Sum2'
* Sum: '<S38>/Sum3'
* Sum: '<S38>/Sum4'
* Sum: '<S38>/Sum5'
* Sum: '<S38>/Sum6'
*/
rtb_Product1_j = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE + rtb_Gain_c)
+ ADM_Integrated_Logic_DW.Delay_DSTATE[0]) *
0.39478417604357435 - -7.2104316479128512 *
ADM_Integrated_Logic_DW.Delay2_DSTATE) - 2.6178993711731877
* ADM_Integrated_Logic_DW.Delay3_DSTATE[0]) /
6.1716689809139611;
/* Product: '<S37>/Product1' incorporates:
* Constant: '<S37>/Constant'
* Gain: '<S37>/gain'
* Product: '<S37>/Product11'
* Sum: '<S37>/Sum1'
* Sum: '<S37>/Sum2'
* Sum: '<S37>/Sum3'
* Sum: '<S37>/Sum4'
* UnitDelay: '<S37>/d'
* UnitDelay: '<S37>/d1'
*/
rtb_Product1_ee = ((rtb_Product1_j + ADM_Integrated_Logic_DW.d1_DSTATE_e) *
0.002 + 0.00861032953945969 *
ADM_Integrated_Logic_DW.d_DSTATE_ij) / 0.01261032953945969;
/* Sum: '<S4>/Subtract' incorporates:
* Inport: '<Root>/GV_MCU_RPM'
* MultiPortSwitch: '<S31>/Multiport Switch1'
*/
rtb_Error_m = rtb_Target_RPM - ADM_Integrated_Logic_U.GV_MCU_RPM;
/* Saturate: '<S4>/Error_Saturation' incorporates:
* MultiPortSwitch: '<S31>/Multiport Switch1'
*/
if (rtb_Error_m > 2000.0) {
rtb_Error_m = 2000.0;
} else if (rtb_Error_m < -2000.0) {
rtb_Error_m = -2000.0;
}
/* End of Saturate: '<S4>/Error_Saturation' */
/* DeadZone: '<S21>/Dead Zone' incorporates:
* MultiPortSwitch: '<S31>/Multiport Switch1'
*/
if (rtb_Error_m > 50.0) {
rtb_Add_e = rtb_Error_m - 50.0;
} else if (rtb_Error_m >= -50.0) {
rtb_Add_e = 0.0;
} else {
rtb_Add_e = rtb_Error_m - -50.0;
}
/* Sum: '<S26>/Sum1' incorporates:
* Gain: '<S26>/gain'
* Sum: '<S26>/Sum2'
* UnitDelay: '<S26>/d'
* UnitDelay: '<S26>/d1'
*/
rtb_Error_m = (rtb_Target_RPM - ADM_Integrated_Logic_DW.d_DSTATE_ir) * 1000.0
- ADM_Integrated_Logic_DW.d1_DSTATE_of;
/* Sum: '<S27>/Sum1' incorporates:
* Gain: '<S27>/gain'
* Sum: '<S27>/Sum2'
* UnitDelay: '<S27>/d'
* UnitDelay: '<S27>/d1'
*/
rtb_Sum1_aj = (rtb_Error_m - ADM_Integrated_Logic_DW.d_DSTATE_m) * 1000.0 -
ADM_Integrated_Logic_DW.d1_DSTATE_hm;
/* Sum: '<S28>/Sum1' incorporates:
* Gain: '<S28>/gain'
* Sum: '<S28>/Sum2'
* UnitDelay: '<S28>/d'
* UnitDelay: '<S28>/d1'
*/
rtb_Sum1_p = (rtb_Sum1_aj - ADM_Integrated_Logic_DW.d_DSTATE_mw) * 1000.0 -
ADM_Integrated_Logic_DW.d1_DSTATE_g;
/* Sum: '<S19>/Add3' incorporates:
* Constant: '<S19>/Constant3'
* Constant: '<S19>/Constant4'
* Constant: '<S19>/Constant5'
* Gain: '<S19>/Gain'
* Memory: '<S4>/Memory'
* Product: '<S19>/Product2'
* Product: '<S19>/Product3'
* Product: '<S19>/Product4'
* Sum: '<S19>/Add2'
*/
rtb_Add3 = (((156.8 * rtb_Target_RPM + 212.8 * rtb_Error_m) + 21.8 *
rtb_Sum1_aj) + rtb_Sum1_p) * 9.44822373393802E-6 -
ADM_Integrated_Logic_DW.Memory_PreviousInput;
/* Product: '<S29>/Product1' incorporates:
* Constant: '<S29>/Constant'
* Gain: '<S29>/gain'
* Product: '<S29>/Product11'
* Sum: '<S29>/Sum1'
* Sum: '<S29>/Sum2'
* Sum: '<S29>/Sum3'
* Sum: '<S29>/Sum4'
* UnitDelay: '<S29>/d'
* UnitDelay: '<S29>/d1'
*/
rtb_Product1_h = ((rtb_Add3 + ADM_Integrated_Logic_DW.d1_DSTATE_ej) * 0.002 +
0.029830988618379066 * ADM_Integrated_Logic_DW.d_DSTATE_j) /
0.03383098861837907;
/* Product: '<S30>/Product1' incorporates:
* Constant: '<S30>/Constant1'
* Constant: '<S30>/Constant2'
* Delay: '<S30>/Delay'
* Delay: '<S30>/Delay1'
* Delay: '<S30>/Delay2'
* Delay: '<S30>/Delay3'
* Gain: '<S30>/gain1'
* Gain: '<S30>/gain3'
* Product: '<S30>/x(n), x(n-1), x(n-2)'
* Product: '<S30>/y(n-1)'
* Product: '<S30>/y(n-2)'
* Sum: '<S30>/Sum1'
* Sum: '<S30>/Sum2'
* Sum: '<S30>/Sum3'
* Sum: '<S30>/Sum4'
* Sum: '<S30>/Sum5'
* Sum: '<S30>/Sum6'
*/
rtb_Product1_kq = ((((2.0 * ADM_Integrated_Logic_DW.Delay1_DSTATE_c +
rtb_Product1_h) +
ADM_Integrated_Logic_DW.Delay_DSTATE_p[0]) *
0.00035530575843921691 - -7.9992893884831213 *
ADM_Integrated_Logic_DW.Delay2_DSTATE_n) -
3.9470487616123275 *
ADM_Integrated_Logic_DW.Delay3_DSTATE_h[0]) /
4.0536618499045511;
/* MATLAB Function: '<S4>/DOB_Gain' incorporates:
* Inport: '<Root>/GV_Vx_Fbk'
*/
if (ADM_Integrated_Logic_U.GV_Vx_Fbk < 5.0) {
rtb_y_n = 0.0;
} else {
rtb_y_n = (ADM_Integrated_Logic_U.GV_Vx_Fbk - 5.0) * 0.2;
}
if (rtb_y_n >= 1.0) {
rtb_y_n = 1.0;
}
/* End of MATLAB Function: '<S4>/DOB_Gain' */
/* Product: '<S4>/Product1' incorporates:
* Constant: '<S4>/DOBFlag'
* Product: '<S4>/Product'
*/
u0 = -(rtb_Product1_kq * 0.9);
/* Saturate: '<S4>/DOB_Saturation' */
if (u0 > 30.0) {
u0 = 30.0;
} else if (u0 < -30.0) {
u0 = -30.0;
}
/* Sum: '<S4>/Subtract2' incorporates:
* DeadZone: '<S21>/Dead Zone'
* MultiPortSwitch: '<S31>/Multiport Switch1'
* Product: '<S33>/Product'
* Product: '<S4>/Multiply1'
* Saturate: '<S4>/DOB_Saturation'
* Sum: '<S21>/Add'
*/
rtb_Add_e = (rtb_Add_e * 0.044648264844923756 + rtb_Product1_ee) + u0 *
rtb_y_n;
/* Saturate: '<S4>/Torq_Saturation' */
if (rtb_Add_e > 80.0) {
rtb_Add_e = 80.0;
} else if (rtb_Add_e < -80.0) {
rtb_Add_e = -80.0;
}
/* End of Saturate: '<S4>/Torq_Saturation' */
/* MATLAB Function: '<S1>/Emergency_Motor_Func' incorporates:
* Inport: '<Root>/GV_RC_IDB_Fault'
* Inport: '<Root>/GV_Vx_Fbk'
* Inport: '<Root>/IDB_ECU_FAULT_FLAG'
* Inport: '<Root>/RCU_ECU_FAULT_FLAG'
* MATLAB Function: '<S4>/Gear_pos_out'
* Product: '<S4>/Multiply'
*/
if (rtb_Compare) {
if ((ADM_Integrated_Logic_U.GV_RC_IDB_Fault == 1.0) ||
((ADM_Integrated_Logic_U.IDB_ECU_FAULT_FLAG == 1.0) &&
(ADM_Integrated_Logic_U.RCU_ECU_FAULT_FLAG == 1.0))) {
if (ADM_Integrated_Logic_U.GV_Vx_Fbk / 3.6 > 0.5) {
rtb_y_n = -80.0;
} else {
rtb_y_n = 0.0;
}
} else {
rtb_y_n = 0.0;
}
} else {
if (rtb_Memory == 0.0) {
/* MATLAB Function: '<S4>/Gear_pos_out' */
tmp = 0;
} else if (rtb_Memory == 2.0) {
/* MATLAB Function: '<S4>/Gear_pos_out' */
tmp = 0;
} else if (rtb_Memory == 1.0) {
/* MATLAB Function: '<S4>/Gear_pos_out' */
tmp = -1;
} else {
/* MATLAB Function: '<S4>/Gear_pos_out' */
tmp = (rtb_Memory == 3.0);
}
rtb_y_n = (double)tmp * rtb_Add_e;
}
/* End of MATLAB Function: '<S1>/Emergency_Motor_Func' */
/* MATLAB Function: '<S1>/MCU_Fault_Injection' incorporates:
* Inport: '<Root>/GV_RC_MCU_Fault'
*/
if (ADM_Integrated_Logic_U.GV_RC_MCU_Fault == 1.0) {
/* Outport: '<Root>/GV_Motor_Torque_Cmd' */
ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd = 0.0;
} else {
/* Outport: '<Root>/GV_Motor_Torque_Cmd' */
ADM_Integrated_Logic_Y.GV_Motor_Torque_Cmd = rtb_y_n;
}
/* Outport: '<Root>/Target_MCU_Out' incorporates:
* MATLAB Function: '<S1>/MCU_Fault_Injection'
*/
ADM_Integrated_Logic_Y.Target_MCU_Out = rtb_y_n;
/* Outport: '<Root>/GV_Gear_Postion_Out' */
ADM_Integrated_Logic_Y.GV_Gear_Postion_Out = rtb_Memory;
/* Sum: '<S1>/Add2' incorporates:
* Inport: '<Root>/GV_Vx_Fbk'
*/
rtb_Vx_Cmd_R -= ADM_Integrated_Logic_U.GV_Vx_Fbk;
/* Sum: '<S1>/Add1' incorporates:
* Constant: '<S1>/Constant'
* Gain: '<S1>/Gain1'
* Inport: '<Root>/GV_Vx_Fbk'
* Sum: '<S1>/Add3'
*/
u0 = 400.0 - 6.5 * ADM_Integrated_Logic_U.GV_Vx_Fbk;
/* MATLAB Function: '<S1>/MATLAB Function1' incorporates:
* Sum: '<S1>/Add1'
*/
ADM_Integrated__MATLABFunction1(u0, &rtb_y);
/* Product: '<S16>/delta rise limit' incorporates:
* SampleTimeMath: '<S16>/sample time'
*
* About '<S16>/sample time':
* y = K where K = ( w * Ts )
* */
rtb_Switch2 = rtb_y * 0.002;
/* Sum: '<S16>/Difference Inputs1' incorporates:
* Inport: '<Root>/GV_RWA_RackAngleCommand'
* UnitDelay: '<S16>/Delay Input2'
*
* Block description for '<S16>/Difference Inputs1':
*
* Add in CPU
*
* Block description for '<S16>/Delay Input2':
*
* Store in Global RAM
*/
rtb_y_n = ADM_Integrated_Logic_U.GV_RWA_RackAngleCommand -
ADM_Integrated_Logic_DW.DelayInput2_DSTATE_c;
/* MATLAB Function: '<S1>/MATLAB Function2' incorporates:
* Gain: '<S1>/Gain3'
* Sum: '<S1>/Add1'
*/
ADM_Integrated__MATLABFunction2(-u0, &rtb_y);
/* Switch: '<S56>/Switch2' incorporates:
* RelationalOperator: '<S56>/LowerRelop1'
*/
if (!(rtb_y_n > rtb_Switch2)) {
/* Product: '<S16>/delta fall limit' incorporates:
* SampleTimeMath: '<S16>/sample time'
*
* About '<S16>/sample time':
* y = K where K = ( w * Ts )
* */
rtb_Switch2 = rtb_y * 0.002;
/* Switch: '<S56>/Switch' incorporates:
* RelationalOperator: '<S56>/UpperRelop'
*/
if (!(rtb_y_n < rtb_Switch2)) {
rtb_Switch2 = rtb_y_n;
}
/* End of Switch: '<S56>/Switch' */
}
/* End of Switch: '<S56>/Switch2' */
/* Sum: '<S16>/Difference Inputs2' incorporates:
* UnitDelay: '<S16>/Delay Input2'
*
* Block description for '<S16>/Difference Inputs2':
*
* Add in CPU
*
* Block description for '<S16>/Delay Input2':
*
* Store in Global RAM
*/
rtb_Add1 = rtb_Switch2 + ADM_Integrated_Logic_DW.DelayInput2_DSTATE_c;
/* MATLAB Function: '<S1>/RWA_Actuator_Fault_Injection' incorporates:
* Inport: '<Root>/GV_RC_RWA1_2_FAULT'
* Inport: '<Root>/RWA2_ECU_FAULT_FLAG'
* Inport: '<Root>/RWA_ECU_FAULT_FLAG'
*/
if ((ADM_Integrated_Logic_U.GV_RC_RWA1_2_FAULT == 1.0) ||
((ADM_Integrated_Logic_U.RWA_ECU_FAULT_FLAG == 1.0) &&
(ADM_Integrated_Logic_U.RWA2_ECU_FAULT_FLAG == 1.0))) {
/* Outport: '<Root>/GV_Master_Rack_Angle_Cmd' */
ADM_Integrated_Logic_Y.GV_Master_Rack_Angle_Cmd = 0.0;
} else {
/* Outport: '<Root>/GV_Master_Rack_Angle_Cmd' */
ADM_Integrated_Logic_Y.GV_Master_Rack_Angle_Cmd = rtb_Add1;
}
/* Outport: '<Root>/Target_RWA_Out' incorporates:
* MATLAB Function: '<S1>/RWA_Actuator_Fault_Injection'
*/
ADM_Integrated_Logic_Y.Target_RWA_Out = rtb_Add1;
/* MATLAB Function: '<S1>/MATLAB Function5' */
ADM_Integrated__MATLABFunction1(u0, &rtb_Switch2);
/* Product: '<S17>/delta rise limit' incorporates:
* SampleTimeMath: '<S17>/sample time'
*
* About '<S17>/sample time':
* y = K where K = ( w * Ts )
* */
rtb_Switch2 *= 0.002;
/* UnitDelay: '<S17>/Delay Input2'
*
* Block description for '<S17>/Delay Input2':
*
* Store in Global RAM
*/
rtb_y = ADM_Integrated_Logic_DW.DelayInput2_DSTATE_i;
/* Sum: '<S17>/Difference Inputs1' incorporates:
* Inport: '<Root>/GV_RWS_RackAngleCommand'
*
* Block description for '<S17>/Difference Inputs1':
*
* Add in CPU
*/
rtb_UkYk1_a = ADM_Integrated_Logic_U.GV_RWS_RackAngleCommand - rtb_y;
/* MATLAB Function: '<S1>/MATLAB Function6' incorporates:
* Gain: '<S1>/Gain5'
*/
ADM_Integrated__MATLABFunction2(-u0, &rtb_y_n);
/* Switch: '<S57>/Switch2' incorporates:
* RelationalOperator: '<S57>/LowerRelop1'
*/
if (!(rtb_UkYk1_a > rtb_Switch2)) {
/* Product: '<S17>/delta fall limit' incorporates:
* SampleTimeMath: '<S17>/sample time'
*
* About '<S17>/sample time':
* y = K where K = ( w * Ts )
* */
rtb_y_n *= 0.002;
/* Switch: '<S57>/Switch' incorporates:
* RelationalOperator: '<S57>/UpperRelop'
*/
if (rtb_UkYk1_a < rtb_y_n) {
rtb_Switch2 = rtb_y_n;
} else {
rtb_Switch2 = rtb_UkYk1_a;
}
/* End of Switch: '<S57>/Switch' */
}
/* End of Switch: '<S57>/Switch2' */
/* Sum: '<S17>/Difference Inputs2'
*
* Block description for '<S17>/Difference Inputs2':
*
* Add in CPU
*/
rtb_y_n = rtb_Switch2 + rtb_y;
/* Outport: '<Root>/GV_RWS_RackAngleCmd1' */
ADM_Integrated_Logic_Y.GV_RWS_RackAngleCmd1 = rtb_y_n;
/* Outport: '<Root>/Act_Fault_Exist' incorporates:
* MATLAB Function: '<S1>/Actuator_Fault_Decision'
*/
ADM_Integrated_Logic_Y.Act_Fault_Exist = 0.0;
/* MATLAB Function: '<S1>/Actuator_Fault_Decision' incorporates:
* Inport: '<Root>/GV_RC_IDB_Fault'
* Inport: '<Root>/GV_RC_MCU_Fault'
* Inport: '<Root>/GV_RC_RWA1_2_FAULT'
* Inport: '<Root>/IDB_ECU_FAULT_FLAG'
* Inport: '<Root>/RCU_ECU_FAULT_FLAG'
* Inport: '<Root>/RWA2_ECU_FAULT_FLAG'
* Inport: '<Root>/RWA_ECU_FAULT_FLAG'
*/
if ((ADM_Integrated_Logic_U.GV_RC_MCU_Fault == 1.0) ||
(ADM_Integrated_Logic_U.GV_RC_RWA1_2_FAULT == 1.0) ||
(ADM_Integrated_Logic_U.GV_RC_IDB_Fault == 1.0)) {
/* Outport: '<Root>/Act_Fault_Exist' */
ADM_Integrated_Logic_Y.Act_Fault_Exist = 1.0;
}
if ((ADM_Integrated_Logic_U.IDB_ECU_FAULT_FLAG == 1.0) ||
(ADM_Integrated_Logic_U.RCU_ECU_FAULT_FLAG == 1.0)) {
/* Outport: '<Root>/Act_Fault_Exist' */
ADM_Integrated_Logic_Y.Act_Fault_Exist = 1.0;
} else if ((ADM_Integrated_Logic_U.RWA_ECU_FAULT_FLAG == 1.0) &&
(ADM_Integrated_Logic_U.RWA2_ECU_FAULT_FLAG == 1.0)) {
/* Outport: '<Root>/Act_Fault_Exist' */
ADM_Integrated_Logic_Y.Act_Fault_Exist = 1.0;
}
/* Update for Delay: '<S7>/Memory' */
ADM_Integrated_Logic_DW.Memory_DSTATE = rtb_Memory;
/* Update for UnitDelay: '<S49>/Delay Input2'
*
* Block description for '<S49>/Delay Input2':
*
* Store in Global RAM
*/
ADM_Integrated_Logic_DW.DelayInput2_DSTATE = rtb_UkYk1;
/* Update for UnitDelay: '<S50>/Delay Input2'
*
* Block description for '<S50>/Delay Input2':
*
* Store in Global RAM
*/
ADM_Integrated_Logic_DW.DelayInput2_DSTATE_m = rtb_Yk1_e;
/* Update for DiscreteIntegrator: '<S8>/Integrator_2' incorporates:
* Constant: '<S8>/I_gain'
* Constant: '<S8>/P_gain'
* DiscreteIntegrator: '<S8>/Integrator_1'
* Product: '<S8>/Product'
* Product: '<S8>/Product1'
* Sum: '<S8>/Sum1'
* Sum: '<S8>/Sum2'
*/
ADM_Integrated_Logic_DW.Integrator_2_DSTATE += (rtb_Product1_m -
(ADM_Integrated_Logic_DW.Integrator_1_DSTATE * 5.0 + rtb_Brake_Saturation *
100.0)) * 0.002;
/* Update for DiscreteTransferFcn: '<S1>/Discrete Transfer Fcn' */
ADM_Integrated_Logic_DW.DiscreteTransferFcn_states = rtb_Vx_Cmd_R - -0.9375 *
ADM_Integrated_Logic_DW.DiscreteTransferFcn_states;
/* Update for UnitDelay: '<S44>/d1' incorporates:
* Inport: '<Root>/GV_IMU_AX_Val'
*/
ADM_Integrated_Logic_DW.d1_DSTATE = ADM_Integrated_Logic_U.GV_IMU_AX_Val;
/* Update for UnitDelay: '<S44>/d' */
ADM_Integrated_Logic_DW.d_DSTATE = rtb_deltafalllimit_m;
/* Update for UnitDelay: '<S45>/d1' incorporates:
* Inport: '<Root>/GV_IMU_AY_Val'
*/
ADM_Integrated_Logic_DW.d1_DSTATE_i = ADM_Integrated_Logic_U.GV_IMU_AY_Val;
/* Update for UnitDelay: '<S45>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_p = rtb_Brake_Torque_Cmd;
/* Update for UnitDelay: '<S46>/d1' incorporates:
* Inport: '<Root>/GV_IMU_AZ_Val'
*/
ADM_Integrated_Logic_DW.d1_DSTATE_o = ADM_Integrated_Logic_U.GV_IMU_AZ_Val;
/* Update for UnitDelay: '<S46>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_n = rtb_Integrator_1;
/* Update for DiscreteIntegrator: '<S8>/Integrator_1' */
ADM_Integrated_Logic_DW.Integrator_1_DSTATE += 0.002 * rtb_Brake_Saturation;
/* Update for UnitDelay: '<S47>/d1' incorporates:
* Inport: '<Root>/GV_IMU_PitchRtVal'
*/
ADM_Integrated_Logic_DW.d1_DSTATE_a = ADM_Integrated_Logic_U.GV_IMU_PitchRtVal;
/* Update for UnitDelay: '<S47>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_d = rtb_Product1_m;
/* Update for UnitDelay: '<S24>/d1' */
ADM_Integrated_Logic_DW.d1_DSTATE_c = rtb_TargetSpd_RateLimiter;
/* Update for UnitDelay: '<S24>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_l = rtb_Target_RPM;
/* Update for UnitDelay: '<S34>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_i = rtb_Target_RPM;
/* Update for UnitDelay: '<S34>/d1' */
ADM_Integrated_Logic_DW.d1_DSTATE_p = rtb_Sum1_i2;
/* Update for UnitDelay: '<S35>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_c = rtb_Sum1_i2;
/* Update for UnitDelay: '<S35>/d1' */
ADM_Integrated_Logic_DW.d1_DSTATE_h = rtb_Sum1_o1;
/* Update for UnitDelay: '<S36>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_db = rtb_Sum1_o1;
/* Update for UnitDelay: '<S36>/d1' */
ADM_Integrated_Logic_DW.d1_DSTATE_l = rtb_Sum1_lm;
/* Update for Delay: '<S38>/Delay1' */
ADM_Integrated_Logic_DW.Delay1_DSTATE = rtb_Gain_c;
/* Update for Delay: '<S38>/Delay' */
ADM_Integrated_Logic_DW.Delay_DSTATE[0] =
ADM_Integrated_Logic_DW.Delay_DSTATE[1];
ADM_Integrated_Logic_DW.Delay_DSTATE[1] = rtb_Gain_c;
/* Update for Delay: '<S38>/Delay2' */
ADM_Integrated_Logic_DW.Delay2_DSTATE = rtb_Product1_j;
/* Update for Delay: '<S38>/Delay3' */
ADM_Integrated_Logic_DW.Delay3_DSTATE[0] =
ADM_Integrated_Logic_DW.Delay3_DSTATE[1];
ADM_Integrated_Logic_DW.Delay3_DSTATE[1] = rtb_Product1_j;
/* Update for UnitDelay: '<S37>/d1' */
ADM_Integrated_Logic_DW.d1_DSTATE_e = rtb_Product1_j;
/* Update for UnitDelay: '<S37>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_ij = rtb_Product1_ee;
/* Update for Memory: '<S4>/Memory' */
ADM_Integrated_Logic_DW.Memory_PreviousInput = rtb_Add_e;
/* Update for UnitDelay: '<S26>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_ir = rtb_Target_RPM;
/* Update for UnitDelay: '<S26>/d1' */
ADM_Integrated_Logic_DW.d1_DSTATE_of = rtb_Error_m;
/* Update for UnitDelay: '<S27>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_m = rtb_Error_m;
/* Update for UnitDelay: '<S27>/d1' */
ADM_Integrated_Logic_DW.d1_DSTATE_hm = rtb_Sum1_aj;
/* Update for UnitDelay: '<S28>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_mw = rtb_Sum1_aj;
/* Update for UnitDelay: '<S28>/d1' */
ADM_Integrated_Logic_DW.d1_DSTATE_g = rtb_Sum1_p;
/* Update for UnitDelay: '<S29>/d1' */
ADM_Integrated_Logic_DW.d1_DSTATE_ej = rtb_Add3;
/* Update for UnitDelay: '<S29>/d' */
ADM_Integrated_Logic_DW.d_DSTATE_j = rtb_Product1_h;
/* Update for Delay: '<S30>/Delay1' */
ADM_Integrated_Logic_DW.Delay1_DSTATE_c = rtb_Product1_h;
/* Update for Delay: '<S30>/Delay' */
ADM_Integrated_Logic_DW.Delay_DSTATE_p[0] =
ADM_Integrated_Logic_DW.Delay_DSTATE_p[1];
ADM_Integrated_Logic_DW.Delay_DSTATE_p[1] = rtb_Product1_h;
/* Update for Delay: '<S30>/Delay2' */
ADM_Integrated_Logic_DW.Delay2_DSTATE_n = rtb_Product1_kq;
/* Update for Delay: '<S30>/Delay3' */
ADM_Integrated_Logic_DW.Delay3_DSTATE_h[0] =
ADM_Integrated_Logic_DW.Delay3_DSTATE_h[1];
ADM_Integrated_Logic_DW.Delay3_DSTATE_h[1] = rtb_Product1_kq;
/* Update for UnitDelay: '<S16>/Delay Input2'
*
* Block description for '<S16>/Delay Input2':
*
* Store in Global RAM
*/
ADM_Integrated_Logic_DW.DelayInput2_DSTATE_c = rtb_Add1;
/* Update for UnitDelay: '<S17>/Delay Input2'
*
* Block description for '<S17>/Delay Input2':
*
* Store in Global RAM
*/
ADM_Integrated_Logic_DW.DelayInput2_DSTATE_i = rtb_y_n;
}
/* Model initialize function */
void ADM_Integrated_Logic_initialize(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
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