static void c6_chartstep_c6_motor_control(SFc6_motor_controlInstanceStruct
*chartInstance)
{
real_T c6_hoistedGlobal;
real_T c6_b_hoistedGlobal;
real_T c6_c_hoistedGlobal;
real_T c6_Xd;
real_T c6_Xq;
real_T c6_theta;
uint32_T c6_debug_family_var_map[11];
real_T c6_c;
real_T c6_s;
real_T c6_ipm[4];
real_T c6_xab[2];
real_T c6_nargin = 3.0;
real_T c6_nargout = 2.0;
real_T c6_Xalpha;
real_T c6_Xbeta;
real_T c6_x;
real_T c6_b_x;
real_T c6_c_x;
real_T c6_d_x;
int32_T c6_i0;
real_T c6_a[4];
real_T c6_b_Xd[2];
int32_T c6_i1;
real_T c6_b[2];
int32_T c6_i2;
int32_T c6_i3;
int32_T c6_i4;
real_T c6_C[2];
int32_T c6_i5;
int32_T c6_i6;
int32_T c6_i7;
int32_T c6_i8;
int32_T c6_i9;
int32_T c6_i10;
real_T *c6_c_Xd;
real_T *c6_b_Xq;
real_T *c6_b_theta;
real_T *c6_b_Xalpha;
real_T *c6_b_Xbeta;
c6_b_Xbeta = (real_T *)ssGetOutputPortSignal(chartInstance->S, 2);
c6_b_theta = (real_T *)ssGetInputPortSignal(chartInstance->S, 2);
c6_b_Xq = (real_T *)ssGetInputPortSignal(chartInstance->S, 1);
c6_b_Xalpha = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1);
c6_c_Xd = (real_T *)ssGetInputPortSignal(chartInstance->S, 0);
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 5U, chartInstance->c6_sfEvent);
c6_hoistedGlobal = *c6_c_Xd;
c6_b_hoistedGlobal = *c6_b_Xq;
c6_c_hoistedGlobal = *c6_b_theta;
c6_Xd = c6_hoistedGlobal;
c6_Xq = c6_b_hoistedGlobal;
c6_theta = c6_c_hoistedGlobal;
sf_debug_symbol_scope_push_eml(0U, 11U, 11U, c6_debug_family_names,
c6_debug_family_var_map);
sf_debug_symbol_scope_add_eml_importable(&c6_c, 0U, c6_sf_marshallOut,
c6_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c6_s, 1U, c6_sf_marshallOut,
c6_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(c6_ipm, 2U, c6_c_sf_marshallOut,
c6_c_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(c6_xab, 3U, c6_b_sf_marshallOut,
c6_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c6_nargin, 4U, c6_sf_marshallOut,
c6_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c6_nargout, 5U, c6_sf_marshallOut,
c6_sf_marshallIn);
sf_debug_symbol_scope_add_eml(&c6_Xd, 6U, c6_sf_marshallOut);
sf_debug_symbol_scope_add_eml(&c6_Xq, 7U, c6_sf_marshallOut);
sf_debug_symbol_scope_add_eml(&c6_theta, 8U, c6_sf_marshallOut);
sf_debug_symbol_scope_add_eml_importable(&c6_Xalpha, 9U, c6_sf_marshallOut,
c6_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c6_Xbeta, 10U, c6_sf_marshallOut,
c6_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 5);
c6_x = c6_theta;
c6_c = c6_x;
c6_b_x = c6_c;
c6_c = c6_b_x;
c6_c = muDoubleScalarCos(c6_c);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 6);
c6_c_x = c6_theta;
c6_s = c6_c_x;
c6_d_x = c6_s;
c6_s = c6_d_x;
c6_s = muDoubleScalarSin(c6_s);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 8);
c6_ipm[0] = c6_c;
c6_ipm[2] = -c6_s;
c6_ipm[1] = c6_s;
c6_ipm[3] = c6_c;
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 10);
for (c6_i0 = 0; c6_i0 < 4; c6_i0++) {
c6_a[c6_i0] = c6_ipm[c6_i0];
}
c6_b_Xd[0] = c6_Xd;
c6_b_Xd[1] = c6_Xq;
for (c6_i1 = 0; c6_i1 < 2; c6_i1++) {
c6_b[c6_i1] = c6_b_Xd[c6_i1];
}
c6_eml_scalar_eg(chartInstance);
c6_eml_scalar_eg(chartInstance);
for (c6_i2 = 0; c6_i2 < 2; c6_i2++) {
c6_xab[c6_i2] = 0.0;
}
for (c6_i3 = 0; c6_i3 < 2; c6_i3++) {
c6_xab[c6_i3] = 0.0;
}
for (c6_i4 = 0; c6_i4 < 2; c6_i4++) {
c6_C[c6_i4] = c6_xab[c6_i4];
}
for (c6_i5 = 0; c6_i5 < 2; c6_i5++) {
c6_xab[c6_i5] = c6_C[c6_i5];
}
for (c6_i6 = 0; c6_i6 < 2; c6_i6++) {
c6_C[c6_i6] = c6_xab[c6_i6];
}
for (c6_i7 = 0; c6_i7 < 2; c6_i7++) {
c6_xab[c6_i7] = c6_C[c6_i7];
}
for (c6_i8 = 0; c6_i8 < 2; c6_i8++) {
c6_xab[c6_i8] = 0.0;
c6_i9 = 0;
for (c6_i10 = 0; c6_i10 < 2; c6_i10++) {
c6_xab[c6_i8] += c6_a[c6_i9 + c6_i8] * c6_b[c6_i10];
c6_i9 += 2;
}
}
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 12);
c6_Xalpha = c6_xab[0];
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 13);
c6_Xbeta = c6_xab[1];
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, -13);
sf_debug_symbol_scope_pop();
*c6_b_Xalpha = c6_Xalpha;
*c6_b_Xbeta = c6_Xbeta;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 5U, chartInstance->c6_sfEvent);
}
static void sf_c6_TTR_mdl(SFc6_TTR_mdlInstanceStruct *chartInstance)
{
int32_T c6_i0;
real_T c6_hoistedGlobal;
real_T c6_u_ctrl;
int32_T c6_i1;
real_T c6_U_bounds[2];
uint32_T c6_debug_family_var_map[6];
real_T c6_i;
real_T c6_nargin = 2.0;
real_T c6_nargout = 1.0;
real_T c6_u_ctrl_out;
real_T c6_varargin_1;
real_T c6_varargin_2;
real_T c6_b_varargin_2;
real_T c6_varargin_3;
real_T c6_x;
real_T c6_y;
real_T c6_b_x;
real_T c6_b_y;
real_T c6_xk;
real_T c6_yk;
real_T c6_c_x;
real_T c6_c_y;
real_T c6_b_varargin_1;
real_T c6_c_varargin_2;
real_T c6_d_varargin_2;
real_T c6_b_varargin_3;
real_T c6_d_x;
real_T c6_d_y;
real_T c6_e_x;
real_T c6_e_y;
real_T c6_b_xk;
real_T c6_b_yk;
real_T c6_f_x;
real_T c6_f_y;
real_T *c6_b_u_ctrl;
real_T *c6_b_u_ctrl_out;
real_T (*c6_b_U_bounds)[2];
c6_b_U_bounds = (real_T (*)[2])ssGetInputPortSignal(chartInstance->S, 1);
c6_b_u_ctrl_out = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1);
c6_b_u_ctrl = (real_T *)ssGetInputPortSignal(chartInstance->S, 0);
_sfTime_ = (real_T)ssGetT(chartInstance->S);
_SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 5U, chartInstance->c6_sfEvent);
_SFD_DATA_RANGE_CHECK(*c6_b_u_ctrl, 0U);
_SFD_DATA_RANGE_CHECK(*c6_b_u_ctrl_out, 1U);
for (c6_i0 = 0; c6_i0 < 2; c6_i0++) {
_SFD_DATA_RANGE_CHECK((*c6_b_U_bounds)[c6_i0], 2U);
}
chartInstance->c6_sfEvent = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 5U, chartInstance->c6_sfEvent);
c6_hoistedGlobal = *c6_b_u_ctrl;
c6_u_ctrl = c6_hoistedGlobal;
for (c6_i1 = 0; c6_i1 < 2; c6_i1++) {
c6_U_bounds[c6_i1] = (*c6_b_U_bounds)[c6_i1];
}
_SFD_SYMBOL_SCOPE_PUSH_EML(0U, 6U, 6U, c6_debug_family_names,
c6_debug_family_var_map);
_SFD_SYMBOL_SCOPE_ADD_EML(&c6_i, 0U, c6_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c6_nargin, 1U, c6_sf_marshallOut,
c6_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c6_nargout, 2U, c6_sf_marshallOut,
c6_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML(&c6_u_ctrl, 3U, c6_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML(c6_U_bounds, 4U, c6_b_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c6_u_ctrl_out, 5U, c6_sf_marshallOut,
c6_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 9);
c6_u_ctrl_out = c6_u_ctrl;
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 11);
CV_EML_IF(0, 1, 0, FALSE);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 17);
c6_i = 1.0;
CV_EML_FOR(0, 1, 0, 1);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 18);
c6_varargin_1 = c6_u_ctrl;
c6_varargin_2 = c6_U_bounds[0];
c6_b_varargin_2 = c6_varargin_1;
c6_varargin_3 = c6_varargin_2;
c6_x = c6_b_varargin_2;
c6_y = c6_varargin_3;
c6_b_x = c6_x;
c6_b_y = c6_y;
c6_eml_scalar_eg(chartInstance);
c6_xk = c6_b_x;
c6_yk = c6_b_y;
c6_c_x = c6_xk;
c6_c_y = c6_yk;
c6_eml_scalar_eg(chartInstance);
c6_u_ctrl_out = muDoubleScalarMax(c6_c_x, c6_c_y);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 19);
c6_b_varargin_1 = c6_u_ctrl;
c6_c_varargin_2 = c6_U_bounds[1];
c6_d_varargin_2 = c6_b_varargin_1;
c6_b_varargin_3 = c6_c_varargin_2;
c6_d_x = c6_d_varargin_2;
c6_d_y = c6_b_varargin_3;
c6_e_x = c6_d_x;
c6_e_y = c6_d_y;
c6_eml_scalar_eg(chartInstance);
c6_b_xk = c6_e_x;
c6_b_yk = c6_e_y;
c6_f_x = c6_b_xk;
c6_f_y = c6_b_yk;
c6_eml_scalar_eg(chartInstance);
c6_u_ctrl_out = muDoubleScalarMin(c6_f_x, c6_f_y);
CV_EML_FOR(0, 1, 0, 0);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, -19);
_SFD_SYMBOL_SCOPE_POP();
*c6_b_u_ctrl_out = c6_u_ctrl_out;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 5U, chartInstance->c6_sfEvent);
_SFD_CHECK_FOR_STATE_INCONSISTENCY(_TTR_mdlMachineNumber_,
chartInstance->chartNumber, chartInstance->instanceNumber);
}
