ps_flc3_controla_acc.c

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/*
 * This file is not available for use in any application other than as a
 * MATLAB(R) MEX file for use with the Simulink(R) Accelerator product.
 */

/*
 * PS_flc3_controlA_acc.c
 * 
 * Real-Time Workshop code generation for Simulink model "PS_flc3_controlA_acc.mdl".
 *
 * Model Version              : 1.86
 * Real-Time Workshop version : 6.1  (R14SP1)  05-Sep-2004
 * C source code generated on : Fri May 13 09:00:18 2005
 */

#include <math.h>
#include <string.h>
#include "PS_flc3_controlA_acc.h"
#include "PS_flc3_controlA_acc_private.h"
#include <stdio.h>
#include "simstruc.h"
#include "fixedpoint.h"

#define CodeFormat                      S-Function
#define AccDefine1                      Accelerator_S-Function

/* Outputs for root system: '<Root>' */
static void mdlOutputs(SimStruct *S, int_T tid)
{
  /* simstruct variables */
  PS_flc3_controlA_BlockIO *PS_flc3_controlA_B = (PS_flc3_controlA_BlockIO *)
    _ssGetBlockIO(S);
  PS_flc3_controlA_ContinuousStates *PS_flc3_controlA_X =
    (PS_flc3_controlA_ContinuousStates*) ssGetContStates(S);
  PS_flc3_controlA_D_Work *PS_flc3_controlA_DWork = (PS_flc3_controlA_D_Work *)
    ssGetRootDWork(S);
  PS_flc3_controlA_Parameters *PS_flc3_controlA_P = (PS_flc3_controlA_Parameters
    *) ssGetDefaultParam(S);

  /* local block i/o variables */

  real_T rtb_Derivative1;

  real_T rtb_Product_b[5];
  real_T rtb_Sum_d;

  real_T rtb_Product[2];
  real_T rtb_Sum_f;
  real_T rtb_Product_c[2];
  real_T rtb_Sum_o;
  real_T rtb_Product_j[2];
  real_T rtb_Sum_m;
  real_T rtb_Product_n[2];
  real_T rtb_Sum_n;
  real_T rtb_Product_i[2];
  real_T rtb_Sum_n2;
  real_T rtb_netsum[5];

  /* Clock: '<Root>/Clock' */
  PS_flc3_controlA_B->Clock = ssGetT(S);

  /* ToWorkspace: '<Root>/To Workspace4' */
  /* Call into Simulink for To Workspace */
  ssCallAccelRunBlock(S, 0, 1, SS_CALL_MDL_OUTPUTS);

  if (ssIsSampleHit(S, 3, tid)) {       /* Sample time: [-2.0s, 0.0s] */

    /* DiscretePulseGenerator: '<Root>/Pulse Generator' */
    real_T time = ssGetTaskTime(S,tid);
    real_T delay = 0.0;
    if ( (int_T)PS_flc3_controlA_DWork->justEnabled ) {
      PS_flc3_controlA_DWork->justEnabled = 0;
      if (time >= delay) {
        real_T ratio = (time - delay)/ PS_flc3_controlA_P->PulseGenerator_Period;

        PS_flc3_controlA_DWork->numCompleteCycles = (int)floor(ratio);

        if ( fabs((PS_flc3_controlA_DWork->numCompleteCycles+1)- ratio ) <
         DBL_EPSILON * ratio )
        {
          PS_flc3_controlA_DWork->numCompleteCycles =
            PS_flc3_controlA_DWork->numCompleteCycles+1;
        }
        PS_flc3_controlA_DWork->numCompleteCycles =
          PS_flc3_controlA_DWork->numCompleteCycles;
        if (time < delay + PS_flc3_controlA_DWork->numCompleteCycles *
         PS_flc3_controlA_P->PulseGenerator_Period
         + PS_flc3_controlA_P->PulseGenerator_Duty *
         PS_flc3_controlA_P->PulseGenerator_Period/100) {
          PS_flc3_controlA_DWork->currentValue = 1;
          PS_flc3_controlA_DWork->nextTime = delay +
            PS_flc3_controlA_DWork->numCompleteCycles *
            PS_flc3_controlA_P->PulseGenerator_Period
            + PS_flc3_controlA_P->PulseGenerator_Duty *
            PS_flc3_controlA_P->PulseGenerator_Period/100;
        } else {
          PS_flc3_controlA_DWork->currentValue = 0;
          PS_flc3_controlA_DWork->nextTime = delay +
            (PS_flc3_controlA_DWork->numCompleteCycles + 1) *
            PS_flc3_controlA_P->PulseGenerator_Period;
        }
      } else {
        PS_flc3_controlA_DWork->numCompleteCycles = 0;
        PS_flc3_controlA_DWork->currentValue = 0;
        PS_flc3_controlA_DWork->nextTime = delay;
      }
    } else {
      /* Determine if any values need to change */
      if (PS_flc3_controlA_DWork->nextTime <= time) {
        if (PS_flc3_controlA_DWork->currentValue == 1) {
          PS_flc3_controlA_DWork->currentValue = 0;
          PS_flc3_controlA_DWork->nextTime = delay +
            (PS_flc3_controlA_DWork->numCompleteCycles + 1) *
            PS_flc3_controlA_P->PulseGenerator_Period;
        } else {
          if ( PS_flc3_controlA_DWork->nextTime != delay) {
            PS_flc3_controlA_DWork->numCompleteCycles += 1;
          }
          PS_flc3_controlA_DWork->currentValue = 1;
          PS_flc3_controlA_DWork->nextTime = delay +
            PS_flc3_controlA_DWork->numCompleteCycles *
            PS_flc3_controlA_P->PulseGenerator_Period
            + 0.01 * PS_flc3_controlA_P->PulseGenerator_Duty *
            PS_flc3_controlA_P->PulseGenerator_Period;
        }
      }
    }

    /* Set the next hit time */
    {
      real_T tNext = PS_flc3_controlA_DWork->nextTime;
      _ssSetVarNextHitTime(S, (int_T)0.0, tNext);
    }

    /* Output the values */
    if (PS_flc3_controlA_DWork->currentValue == 1){
      PS_flc3_controlA_B->PulseGenerator =
        PS_flc3_controlA_P->PulseGenerator_Amp;
    } else {
      PS_flc3_controlA_B->PulseGenerator = 0.0;
    }
  }
  if (ssIsSampleHit(S, 1, tid)) {       /* Sample time: [0.0s, 1.0s] */

    PS_flc3_controlA_B->Constant = PS_flc3_controlA_P->Constant_Value;

    PS_flc3_controlA_B->Gain = (PS_flc3_controlA_B->PulseGenerator -
      PS_flc3_controlA_B->Constant) * PS_flc3_controlA_P->Gain_Gain;
  }

  /* TransferFcn Block: <Root>/Transfer Fcn2 */
  PS_flc3_controlA_B->TransferFcn2 =
    PS_flc3_controlA_P->TransferFcn2_C*PS_flc3_controlA_X->TransferFcn2_CSTATE[2];

  /* Scope: '<Root>/Scope' */
  /* Call into Simulink for Scope */
  ssCallAccelRunBlock(S, 0, 7, SS_CALL_MDL_OUTPUTS);

  /* ToWorkspace: '<Root>/To Workspace' */
  /* Call into Simulink for To Workspace */
  ssCallAccelRunBlock(S, 0, 8, SS_CALL_MDL_OUTPUTS);

  if (ssIsSampleHit(S, 1, tid)) {       /* Sample time: [0.0s, 1.0s] */

    /* ToWorkspace: '<Root>/To Workspace1' */
    /* Call into Simulink for To Workspace */
    ssCallAccelRunBlock(S, 0, 9, SS_CALL_MDL_OUTPUTS);
  }

  PS_flc3_controlA_B->Sum = PS_flc3_controlA_B->Gain -
    PS_flc3_controlA_B->TransferFcn2;

  /* Derivative Block: <S1>/Derivative1 */
  {
    real_T t = ssGetTaskTime(S,tid);
    real_T timeStampA = PS_flc3_controlA_DWork->Derivative1_RWORK.TimeStampA;
    real_T timeStampB = PS_flc3_controlA_DWork->Derivative1_RWORK.TimeStampB;

    if (timeStampA >= t && timeStampB >= t) {
      rtb_Derivative1 = 0.0;
    } else {
      real_T deltaT;
      real_T *lastBank = &PS_flc3_controlA_DWork->Derivative1_RWORK.TimeStampA;
      if (timeStampA < timeStampB) {
        if (timeStampB < t) {
          lastBank += 2;
        }
      } else if (timeStampA >= t) {
        lastBank += 2;
      }
      deltaT = t - *lastBank++;
      rtb_Derivative1 = (PS_flc3_controlA_B->Sum - *lastBank++) / deltaT;
    }
  }

  if (ssIsSampleHit(S, 2, tid)) {       /* Sample time: [0.001s, 0.0s] */

    PS_flc3_controlA_B->IW111[0] = PS_flc3_controlA_P->IW111_Value[0];
    PS_flc3_controlA_B->IW111[1] = PS_flc3_controlA_P->IW111_Value[1];

    PS_flc3_controlA_B->IW112[0] = PS_flc3_controlA_P->IW112_Value[0];
    PS_flc3_controlA_B->IW112[1] = PS_flc3_controlA_P->IW112_Value[1];

    PS_flc3_controlA_B->IW113[0] = PS_flc3_controlA_P->IW113_Value[0];
    PS_flc3_controlA_B->IW113[1] = PS_flc3_controlA_P->IW113_Value[1];

    PS_flc3_controlA_B->IW114[0] = PS_flc3_controlA_P->IW114_Value[0];
    PS_flc3_controlA_B->IW114[1] = PS_flc3_controlA_P->IW114_Value[1];

    PS_flc3_controlA_B->IW115[0] = PS_flc3_controlA_P->IW115_Value[0];
    PS_flc3_controlA_B->IW115[1] = PS_flc3_controlA_P->IW115_Value[1];
  }

  PS_flc3_controlA_B->SE1 = PS_flc3_controlA_B->Sum *
    PS_flc3_controlA_P->SE1_Gain;

  PS_flc3_controlA_B->SDE001 = rtb_Derivative1 * PS_flc3_controlA_P->SDE001_Gain;

  if (ssIsSampleHit(S, 2, tid)) {       /* Sample time: [0.001s, 0.0s] */

    rtb_Product[0] = PS_flc3_controlA_B->IW111[0] * PS_flc3_controlA_B->SE1;
    rtb_Product[1] = PS_flc3_controlA_B->IW111[1] * PS_flc3_controlA_B->SDE001;

    /* Sum: '<S13>/Sum' */
    rtb_Sum_f = rtb_Product[0];
    rtb_Sum_f += rtb_Product[1];

    rtb_Product_c[0] = PS_flc3_controlA_B->IW112[0] * PS_flc3_controlA_B->SE1;
    rtb_Product_c[1] = PS_flc3_controlA_B->IW112[1] * PS_flc3_controlA_B->SDE001;

    /* Sum: '<S14>/Sum' */
    rtb_Sum_o = rtb_Product_c[0];
    rtb_Sum_o += rtb_Product_c[1];

    rtb_Product_j[0] = PS_flc3_controlA_B->IW113[0] * PS_flc3_controlA_B->SE1;
    rtb_Product_j[1] = PS_flc3_controlA_B->IW113[1] * PS_flc3_controlA_B->SDE001;

    /* Sum: '<S15>/Sum' */
    rtb_Sum_m = rtb_Product_j[0];
    rtb_Sum_m += rtb_Product_j[1];

    rtb_Product_n[0] = PS_flc3_controlA_B->IW114[0] * PS_flc3_controlA_B->SE1;
    rtb_Product_n[1] = PS_flc3_controlA_B->IW114[1] * PS_flc3_controlA_B->SDE001;

    /* Sum: '<S16>/Sum' */
    rtb_Sum_n = rtb_Product_n[0];
    rtb_Sum_n += rtb_Product_n[1];

    rtb_Product_i[0] = PS_flc3_controlA_B->IW115[0] * PS_flc3_controlA_B->SE1;
    rtb_Product_i[1] = PS_flc3_controlA_B->IW115[1] * PS_flc3_controlA_B->SDE001;

    /* Sum: '<S17>/Sum' */
    rtb_Sum_n2 = rtb_Product_i[0];
    rtb_Sum_n2 += rtb_Product_i[1];

    {
      real_T cg_in_0_30_0[5];
      int32_T i1;

      for(i1=0; i1<5; i1++) {
        PS_flc3_controlA_B->b1[i1] = PS_flc3_controlA_P->b1_Value[i1];
      }

      cg_in_0_30_0[0] = rtb_Sum_f;
      cg_in_0_30_0[1] = rtb_Sum_o;
      cg_in_0_30_0[2] = rtb_Sum_m;
      cg_in_0_30_0[3] = rtb_Sum_n;
      cg_in_0_30_0[4] = rtb_Sum_n2;
      for(i1=0; i1<5; i1++) {
        rtb_netsum[i1] = cg_in_0_30_0[i1] + PS_flc3_controlA_B->b1[i1];

        PS_flc3_controlA_B->Saturation[i1] = rt_SATURATE(rtb_netsum[i1],
         PS_flc3_controlA_P->Saturation_LowerSat,
         PS_flc3_controlA_P->Saturation_UpperSat);
      }
    }
  }
  if (ssIsSampleHit(S, 1, tid)) {       /* Sample time: [0.0s, 1.0s] */

    {
      int32_T i1;

      for(i1=0; i1<5; i1++) {
        PS_flc3_controlA_B->IW211[i1] = PS_flc3_controlA_P->IW211_Value[i1];

        rtb_Product_b[i1] = PS_flc3_controlA_B->IW211[i1] *
          PS_flc3_controlA_B->Saturation[i1];
      }
    }

    /* Sum: '<S22>/Sum' */
    rtb_Sum_d = rtb_Product_b[0];
    rtb_Sum_d += rtb_Product_b[1];
    rtb_Sum_d += rtb_Product_b[2];
    rtb_Sum_d += rtb_Product_b[3];
    rtb_Sum_d += rtb_Product_b[4];

    PS_flc3_controlA_B->b2 = PS_flc3_controlA_P->b2_Value;

    PS_flc3_controlA_B->SU1 = (rtb_Sum_d + PS_flc3_controlA_B->b2) *
      PS_flc3_controlA_P->SU1_Gain;
  }

  PS_flc3_controlA_B->Sum1 = PS_flc3_controlA_B->SU1 + PS_flc3_controlA_B->Sum;
}

/* Update for root system: '<Root>' */
#define MDL_UPDATE
static void mdlUpdate(SimStruct *S, int_T tid)
{

  /* simstruct variables */
  PS_flc3_controlA_BlockIO *PS_flc3_controlA_B = (PS_flc3_controlA_BlockIO *)
    _ssGetBlockIO(S);
  PS_flc3_controlA_D_Work *PS_flc3_controlA_DWork = (PS_flc3_controlA_D_Work *)
    ssGetRootDWork(S);

  /* Derivative Block: <S1>/Derivative1 */
  {
    real_T timeStampA = PS_flc3_controlA_DWork->Derivative1_RWORK.TimeStampA;
    real_T timeStampB = PS_flc3_controlA_DWork->Derivative1_RWORK.TimeStampB;
    real_T *lastBank = &PS_flc3_controlA_DWork->Derivative1_RWORK.TimeStampA;

    if (timeStampA != rtInf) {
      if (timeStampB == rtInf) {
        lastBank += 2;
      } else if (timeStampA >= timeStampB) {
        lastBank += 2;
      }
    }
    *lastBank++ = ssGetTaskTime(S,tid);
    *lastBank++ = PS_flc3_controlA_B->Sum;
  }
}

/* Derivatives for root system: '<Root>' */
#define MDL_DERIVATIVES
static void mdlDerivatives(SimStruct *S)
{
  /* simstruct variables */
  PS_flc3_controlA_BlockIO *PS_flc3_controlA_B = (PS_flc3_controlA_BlockIO *)
    _ssGetBlockIO(S);
  PS_flc3_controlA_ContinuousStates *PS_flc3_controlA_X =
    (PS_flc3_controlA_ContinuousStates*) ssGetContStates(S);
  PS_flc3_controlA_StateDerivatives *PS_flc3_controlA_Xdot =
    (PS_flc3_controlA_StateDerivatives*) ssGetdX(S);
  PS_flc3_controlA_Parameters *PS_flc3_controlA_P = (PS_flc3_controlA_Parameters
    *) ssGetDefaultParam(S);

  /* TransferFcn Block: <Root>/Transfer Fcn2 */
  {

    PS_flc3_controlA_Xdot->TransferFcn2_CSTATE[0] =
      PS_flc3_controlA_P->TransferFcn2_B*PS_flc3_controlA_B->Sum1;
    PS_flc3_controlA_Xdot->TransferFcn2_CSTATE[0] +=
      (PS_flc3_controlA_P->TransferFcn2_A[0])*PS_flc3_controlA_X->TransferFcn2_CSTATE[0]
      +
      (PS_flc3_controlA_P->TransferFcn2_A[1])*PS_flc3_controlA_X->TransferFcn2_CSTATE[1]
      +
      (PS_flc3_controlA_P->TransferFcn2_A[2])*PS_flc3_controlA_X->TransferFcn2_CSTATE[2];

    PS_flc3_controlA_Xdot->TransferFcn2_CSTATE[1] =
      (PS_flc3_controlA_P->TransferFcn2_A[3])*PS_flc3_controlA_X->TransferFcn2_CSTATE[0];

    PS_flc3_controlA_Xdot->TransferFcn2_CSTATE[2] =
      (PS_flc3_controlA_P->TransferFcn2_A[4])*PS_flc3_controlA_X->TransferFcn2_CSTATE[1];
  }
}

/* Function to initialize sizes */
static void mdlInitializeSizes(SimStruct *S)
{

  /* checksum */
  ssSetChecksumVal(S, 0, 2861163539U);
  ssSetChecksumVal(S, 1, 1188581179U);
  ssSetChecksumVal(S, 2, 3292980389U);
  ssSetChecksumVal(S, 3, 1177302536U);

  /* options */
  ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);

  /* Accelerator check memory map size match for DWork */
  if (ssGetSizeofDWork(S) != sizeof(PS_flc3_controlA_D_Work)) {
    ssSetErrorStatus(S,"Unexpected error: Internal DWork sizes do "
     "not match for accelerator mex file.");
  }

  /* Accelerator check memory map size match for BlockIO */
  if (ssGetSizeofGlobalBlockIO(S) != sizeof(PS_flc3_controlA_BlockIO)) {
    ssSetErrorStatus(S,"Unexpected error: Internal BlockIO sizes do "
     "not match for accelerator mex file.");
  }

  /* model parameters */
  _ssSetDefaultParam(S, (real_T *) &PS_flc3_controlA_DefaultParameters);

  /* non-finites */
  rt_InitInfAndNaN(sizeof(real_T));
}

/* Empty mdlInitializeSampleTimes function (never called) */
static void mdlInitializeSampleTimes(SimStruct *S) { }

/* Empty mdlTerminate function (never called) */
static void mdlTerminate(SimStruct *S) { }

/* MATLAB MEX Glue */
#include "simulink.c"