ex33c_pid_acc.c

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      rtb_Derivative3 = 0.0;
    } else {
      real_T deltaT;
      real_T *lastBank = &ex33C_pid_DWork->Derivative3_RWORK.TimeStampA;
      if (timeStampA < timeStampB) {
        if (timeStampB < t) {
          lastBank += 2;
        }
      } else if (timeStampA >= t) {
        lastBank += 2;
      }
      deltaT = t - *lastBank++;
      rtb_Derivative3 = (ex33C_pid_B->Sum11 - *lastBank++) / deltaT;
    }
  }

  /* Integrator: '<Root>/Integrator' */
  rtb_Integrator = ex33C_pid_X->Integrator_CSTATE;

  /* Integrator: '<Root>/Integrator3' */
  rtb_Integrator3 = ex33C_pid_X->Integrator3_CSTATE;

  ex33C_pid_B->Gain11 = ((ex33C_pid_B->Sum11 + rtb_Integrator3 *
    ex33C_pid_P->Gain9_Gain) + (rtb_Derivative3 * ex33C_pid_P->Gain10_Gain)) *
    ex33C_pid_P->Gain11_Gain;

  ex33C_pid_B->Gain2 = ((ex33C_pid_B->Sum8 + (rtb_Integrator *
    ex33C_pid_P->Gain_Gain)) + (rtb_Derivative * ex33C_pid_P->Gain1_Gain)) *
    ex33C_pid_P->Gain2_Gain;

  /* Integrator: '<Root>/Integrator1' */
  rtb_Integrator1 = ex33C_pid_X->Integrator1_CSTATE;

  ex33C_pid_B->Gain5 = ((ex33C_pid_B->Sum9 + rtb_Integrator1 *
    ex33C_pid_P->Gain3_Gain) + rtb_Derivative1_c * ex33C_pid_P->Gain4_Gain) *
    ex33C_pid_P->Gain5_Gain;

  /* Integrator: '<Root>/Integrator2' */
  rtb_Integrator2 = ex33C_pid_X->Integrator2_CSTATE;

  ex33C_pid_B->Gain8 = ((ex33C_pid_B->Sum10 + rtb_Integrator2 *
    ex33C_pid_P->Gain6_Gain) + rtb_Derivative2 * ex33C_pid_P->Gain7_Gain) *
    ex33C_pid_P->Gain8_Gain;

  /* TransportDelay Block: <Root>/Transport Delay,0.15 sec. */
  {

    real_T **uBuffer =
      (real_T**)&ex33C_pid_DWork->TransportDelay015sec_PWORK.TUbufferPtrs[0];
    real_T **tBuffer =
      (real_T**)&ex33C_pid_DWork->TransportDelay015sec_PWORK.TUbufferPtrs[1];
    real_T simTime = ssGetT(S);
    real_T tMinusDelay = simTime - ex33C_pid_P->TransportDelay015sec_D;

    ex33C_pid_B->TransportDelay015sec = rt_TDelayInterpolate(
      tMinusDelay,
     *tBuffer,
     *uBuffer,
     ex33C_pid_DWork->TransportDelay015sec_IWORK.CircularBufSize,
     &ex33C_pid_DWork->TransportDelay015sec_IWORK.Last,
     ex33C_pid_DWork->TransportDelay015sec_IWORK.Tail,
     ex33C_pid_DWork->TransportDelay015sec_IWORK.Head,
     0,
     (boolean_T) (ssIsMinorTimeStep(S) && (ssGetTimeOfLastOutput(S) ==
       ssGetT(S))));
  }
}

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

  /* simstruct variables */
  ex33C_pid_BlockIO *ex33C_pid_B = (ex33C_pid_BlockIO *) _ssGetBlockIO(S);
  ex33C_pid_D_Work *ex33C_pid_DWork = (ex33C_pid_D_Work *) ssGetRootDWork(S);
  ex33C_pid_Parameters *ex33C_pid_P = (ex33C_pid_Parameters *)
    ssGetDefaultParam(S);

  /* Derivative Block: <S1>/Derivative1 */
  {
    real_T timeStampA = ex33C_pid_DWork->Derivative1_RWORK.TimeStampA;
    real_T timeStampB = ex33C_pid_DWork->Derivative1_RWORK.TimeStampB;
    real_T *lastBank = &ex33C_pid_DWork->Derivative1_RWORK.TimeStampA;

    if (timeStampA != rtInf) {
      if (timeStampB == rtInf) {
        lastBank += 2;
      } else if (timeStampA >= timeStampB) {
        lastBank += 2;
      }
    }
    *lastBank++ = ssGetTaskTime(S,tid);
    *lastBank++ = ex33C_pid_B->Sum12;
  }

  /* Derivative Block: <Root>/Derivative */
  {
    real_T timeStampA = ex33C_pid_DWork->Derivative_RWORK.TimeStampA;
    real_T timeStampB = ex33C_pid_DWork->Derivative_RWORK.TimeStampB;
    real_T *lastBank = &ex33C_pid_DWork->Derivative_RWORK.TimeStampA;

    if (timeStampA != rtInf) {
      if (timeStampB == rtInf) {
        lastBank += 2;
      } else if (timeStampA >= timeStampB) {
        lastBank += 2;
      }
    }
    *lastBank++ = ssGetTaskTime(S,tid);
    *lastBank++ = ex33C_pid_B->Sum8;
  }

  /* Derivative Block: <S2>/Derivative1 */
  {
    real_T timeStampA = ex33C_pid_DWork->Derivative1_RWORK_h.TimeStampA;
    real_T timeStampB = ex33C_pid_DWork->Derivative1_RWORK_h.TimeStampB;
    real_T *lastBank = &ex33C_pid_DWork->Derivative1_RWORK_h.TimeStampA;

    if (timeStampA != rtInf) {
      if (timeStampB == rtInf) {
        lastBank += 2;
      } else if (timeStampA >= timeStampB) {
        lastBank += 2;
      }
    }
    *lastBank++ = ssGetTaskTime(S,tid);
    *lastBank++ = ex33C_pid_B->Sum2;
  }

  /* Derivative Block: <Root>/Derivative1 */
  {
    real_T timeStampA = ex33C_pid_DWork->Derivative1_RWORK_o.TimeStampA;
    real_T timeStampB = ex33C_pid_DWork->Derivative1_RWORK_o.TimeStampB;
    real_T *lastBank = &ex33C_pid_DWork->Derivative1_RWORK_o.TimeStampA;

    if (timeStampA != rtInf) {
      if (timeStampB == rtInf) {
        lastBank += 2;
      } else if (timeStampA >= timeStampB) {
        lastBank += 2;
      }
    }
    *lastBank++ = ssGetTaskTime(S,tid);
    *lastBank++ = ex33C_pid_B->Sum9;
  }

  /* Derivative Block: <S3>/Derivative1 */
  {
    real_T timeStampA = ex33C_pid_DWork->Derivative1_RWORK_h5.TimeStampA;
    real_T timeStampB = ex33C_pid_DWork->Derivative1_RWORK_h5.TimeStampB;
    real_T *lastBank = &ex33C_pid_DWork->Derivative1_RWORK_h5.TimeStampA;

    if (timeStampA != rtInf) {
      if (timeStampB == rtInf) {
        lastBank += 2;
      } else if (timeStampA >= timeStampB) {
        lastBank += 2;
      }
    }
    *lastBank++ = ssGetTaskTime(S,tid);
    *lastBank++ = ex33C_pid_B->Sum4;
  }

  /* Derivative Block: <Root>/Derivative2 */
  {
    real_T timeStampA = ex33C_pid_DWork->Derivative2_RWORK.TimeStampA;
    real_T timeStampB = ex33C_pid_DWork->Derivative2_RWORK.TimeStampB;
    real_T *lastBank = &ex33C_pid_DWork->Derivative2_RWORK.TimeStampA;

    if (timeStampA != rtInf) {
      if (timeStampB == rtInf) {
        lastBank += 2;
      } else if (timeStampA >= timeStampB) {
        lastBank += 2;
      }
    }
    *lastBank++ = ssGetTaskTime(S,tid);
    *lastBank++ = ex33C_pid_B->Sum10;
  }

  /* Derivative Block: <S4>/Derivative1 */
  {
    real_T timeStampA = ex33C_pid_DWork->Derivative1_RWORK_g.TimeStampA;
    real_T timeStampB = ex33C_pid_DWork->Derivative1_RWORK_g.TimeStampB;
    real_T *lastBank = &ex33C_pid_DWork->Derivative1_RWORK_g.TimeStampA;

    if (timeStampA != rtInf) {
      if (timeStampB == rtInf) {
        lastBank += 2;
      } else if (timeStampA >= timeStampB) {
        lastBank += 2;
      }
    }
    *lastBank++ = ssGetTaskTime(S,tid);
    *lastBank++ = ex33C_pid_B->Sum6;
  }

  /* Derivative Block: <Root>/Derivative3 */
  {
    real_T timeStampA = ex33C_pid_DWork->Derivative3_RWORK.TimeStampA;
    real_T timeStampB = ex33C_pid_DWork->Derivative3_RWORK.TimeStampB;
    real_T *lastBank = &ex33C_pid_DWork->Derivative3_RWORK.TimeStampA;

    if (timeStampA != rtInf) {
      if (timeStampB == rtInf) {
        lastBank += 2;
      } else if (timeStampA >= timeStampB) {
        lastBank += 2;
      }
    }
    *lastBank++ = ssGetTaskTime(S,tid);
    *lastBank++ = ex33C_pid_B->Sum11;
  }

  /* TransportDelay Block: <Root>/Transport Delay,0.15 sec. */
  {
    real_T **uBuffer =
      (real_T**)&ex33C_pid_DWork->TransportDelay015sec_PWORK.TUbufferPtrs[0];
    real_T **tBuffer =
      (real_T**)&ex33C_pid_DWork->TransportDelay015sec_PWORK.TUbufferPtrs[1];
    real_T simTime = ssGetT(S);

    ex33C_pid_DWork->TransportDelay015sec_IWORK.Head =
      ((ex33C_pid_DWork->TransportDelay015sec_IWORK.Head <
      (ex33C_pid_DWork->TransportDelay015sec_IWORK.CircularBufSize-1)) ?
      (ex33C_pid_DWork->TransportDelay015sec_IWORK.Head+1) : 0);

    if (ex33C_pid_DWork->TransportDelay015sec_IWORK.Head ==
     ex33C_pid_DWork->TransportDelay015sec_IWORK.Tail) {
      if (!rt_TDelayUpdateTailOrGrowBuf(
        &ex33C_pid_DWork->TransportDelay015sec_IWORK.CircularBufSize,
        &ex33C_pid_DWork->TransportDelay015sec_IWORK.Tail,
        &ex33C_pid_DWork->TransportDelay015sec_IWORK.Head,
        &ex33C_pid_DWork->TransportDelay015sec_IWORK.Last, simTime -
        ex33C_pid_P->TransportDelay015sec_D, tBuffer, uBuffer,
        &ex33C_pid_DWork->TransportDelay015sec_IWORK.MaxNewBufSize)) {
        ssSetErrorStatus(S, "tdelay memory allocation error");
      }
    }

    (*tBuffer)[ex33C_pid_DWork->TransportDelay015sec_IWORK.Head] = simTime;
    (*uBuffer)[ex33C_pid_DWork->TransportDelay015sec_IWORK.Head] =
      ex33C_pid_B->Gain11;
  }
}

/* Derivatives for root system: '<Root>' */
#define MDL_DERIVATIVES
static void mdlDerivatives(SimStruct *S)
{
  /* simstruct variables */
  ex33C_pid_BlockIO *ex33C_pid_B = (ex33C_pid_BlockIO *) _ssGetBlockIO(S);
  ex33C_pid_ContinuousStates *ex33C_pid_X = (ex33C_pid_ContinuousStates*)
    ssGetContStates(S);
  ex33C_pid_StateDerivatives *ex33C_pid_Xdot = (ex33C_pid_StateDerivatives*)
    ssGetdX(S);
  ex33C_pid_Parameters *ex33C_pid_P = (ex33C_pid_Parameters *)
    ssGetDefaultParam(S);

  /* TransferFcn Block: <Root>/Transfer Fcn1 */
  {

    ex33C_pid_Xdot->TransferFcn1_CSTATE[0] =
      ex33C_pid_P->TransferFcn1_B*ex33C_pid_B->Gain2;
    ex33C_pid_Xdot->TransferFcn1_CSTATE[0] +=
      (ex33C_pid_P->TransferFcn1_A[0])*ex33C_pid_X->TransferFcn1_CSTATE[0]
      + (ex33C_pid_P->TransferFcn1_A[1])*ex33C_pid_X->TransferFcn1_CSTATE[1];

    ex33C_pid_Xdot->TransferFcn1_CSTATE[1] =
      (ex33C_pid_P->TransferFcn1_A[2])*ex33C_pid_X->TransferFcn1_CSTATE[0];
  }

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

    ex33C_pid_Xdot->TransferFcn2_CSTATE[0] =
      ex33C_pid_P->TransferFcn2_B*ex33C_pid_B->Gain5;
    ex33C_pid_Xdot->TransferFcn2_CSTATE[0] +=
      (ex33C_pid_P->TransferFcn2_A[0])*ex33C_pid_X->TransferFcn2_CSTATE[0]
      + (ex33C_pid_P->TransferFcn2_A[1])*ex33C_pid_X->TransferFcn2_CSTATE[1];

    ex33C_pid_Xdot->TransferFcn2_CSTATE[1] =
      (ex33C_pid_P->TransferFcn2_A[2])*ex33C_pid_X->TransferFcn2_CSTATE[0];
  }

  /* TransferFcn Block: <Root>/Transfer Fcn3 */
  {

    ex33C_pid_Xdot->TransferFcn3_CSTATE[0] =
      ex33C_pid_P->TransferFcn3_B*ex33C_pid_B->Gain8;
    ex33C_pid_Xdot->TransferFcn3_CSTATE[0] +=
      (ex33C_pid_P->TransferFcn3_A[0])*ex33C_pid_X->TransferFcn3_CSTATE[0]
      + (ex33C_pid_P->TransferFcn3_A[1])*ex33C_pid_X->TransferFcn3_CSTATE[1];

    ex33C_pid_Xdot->TransferFcn3_CSTATE[1] =
      (ex33C_pid_P->TransferFcn3_A[2])*ex33C_pid_X->TransferFcn3_CSTATE[0];
  }

  /* TransferFcn Block: <Root>/Transfer Fcn4 */
  {

    ex33C_pid_Xdot->TransferFcn4_CSTATE[0] =
      ex33C_pid_P->TransferFcn4_B*ex33C_pid_B->TransportDelay015sec;
    ex33C_pid_Xdot->TransferFcn4_CSTATE[0] +=
      (ex33C_pid_P->TransferFcn4_A[0])*ex33C_pid_X->TransferFcn4_CSTATE[0]
      + (ex33C_pid_P->TransferFcn4_A[1])*ex33C_pid_X->TransferFcn4_CSTATE[1];

    ex33C_pid_Xdot->TransferFcn4_CSTATE[1] =
      (ex33C_pid_P->TransferFcn4_A[2])*ex33C_pid_X->TransferFcn4_CSTATE[0];
  }

  /* Integrator Block: <Root>/Integrator */
  {

    ex33C_pid_Xdot->Integrator_CSTATE = ex33C_pid_B->Sum8;
  }

  /* Integrator Block: <Root>/Integrator3 */
  {

    ex33C_pid_Xdot->Integrator3_CSTATE = ex33C_pid_B->Sum11;
  }

  /* Integrator Block: <Root>/Integrator1 */
  {

    ex33C_pid_Xdot->Integrator1_CSTATE = ex33C_pid_B->Sum9;
  }

  /* Integrator Block: <Root>/Integrator2 */
  {

    ex33C_pid_Xdot->Integrator2_CSTATE = ex33C_pid_B->Sum10;
  }
}

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

  /* checksum */
  ssSetChecksumVal(S, 0, 546563217U);
  ssSetChecksumVal(S, 1, 3006981950U);
  ssSetChecksumVal(S, 2, 3412167337U);
  ssSetChecksumVal(S, 3, 3700485568U);

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

  /* Accelerator check memory map size match for DWork */
  if (ssGetSizeofDWork(S) != sizeof(ex33C_pid_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(ex33C_pid_BlockIO)) {
    ssSetErrorStatus(S,"Unexpected error: Internal BlockIO sizes do "
     "not match for accelerator mex file.");
  }

  /* model parameters */
  _ssSetDefaultParam(S, (real_T *) &ex33C_pid_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"