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HVAC_M7_MODEL/Model_actuator.c

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/*
* File: Model_actuator.c
*
* Code generated for Simulink model 'Model_actuator'.
*
* Model version : 1.541
* Simulink Coder version : 24.1 (R2024a) 19-Nov-2023
* C/C++ source code generated on : Fri Dec 19 16:49:11 2025
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex-M
* Emulation hardware selection:
* Differs from embedded hardware (MATLAB Host)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "Model_actuator.h"
#include <stdint.h>
#include "Model_actuator_private.h"
#include "Model_actuator_types.h"
/* Exported block states */
ActuatorCmdBus controllerData; /* '<Root>/Data Store Memory15' */
/* Block signals (default storage) */
B rtB;
/* Block states (default storage) */
DW rtDW;
/* External inputs (root inport signals with default storage) */
ExtU rtU;
/* External outputs (root outports fed by signals with default storage) */
ExtY rtY;
/* Real-time model */
static RT_MODEL rtM_;
RT_MODEL *const rtM = &rtM_;
/*
* Output and update for action system:
* '<S12>/If Action Subsystem3'
* '<S10>/If Action Subsystem3'
* '<S9>/If Action Subsystem3'
* '<S2>/If Action Subsystem3'
* '<S6>/If Action Subsystem3'
* '<S8>/If Action Subsystem3'
* '<S1>/If Action Subsystem3'
*/
void IfActionSubsystem3(int8_t rtu_stepIn, int8_t *rty_step, uint8_t
rtd_com_loc[9])
{
int32_t i;
/* DataStoreWrite: '<S37>/Data Store Write3' */
for (i = 0; i < 9; i++) {
rtd_com_loc[i] = 0U;
}
/* End of DataStoreWrite: '<S37>/Data Store Write3' */
/* SignalConversion generated from: '<S37>/stepIn' */
*rty_step = rtu_stepIn;
}
/*
* Output and update for action system:
* '<S9>/If Action Subsystem2'
* '<S8>/If Action Subsystem2'
*/
void IfActionSubsystem2(int8_t rtu_stepIn, int8_t *rty_step, uint8_t
rtd_autos_set_loc[9], uint8_t rtd_coils_stop_set_loc[9], uint8_t rtd_com_loc[9],
uint8_t rtd_lnoise_set_loc[9], uint8_t rtd_speed_set_loc[9], uint8_t
rtd_stall_set_loc[9])
{
int32_t i;
for (i = 0; i < 9; i++) {
/* DataStoreWrite: '<S30>/Data Store Write1' incorporates:
* Constant: '<S30>/Constant1'
*/
rtd_stall_set_loc[i] = 0U;
/* DataStoreWrite: '<S30>/Data Store Write3' incorporates:
* Constant: '<S30>/Constant2'
*/
rtd_lnoise_set_loc[i] = 0U;
/* DataStoreWrite: '<S30>/Data Store Write2' */
rtd_com_loc[i] = 3U;
/* DataStoreWrite: '<S30>/Data Store Write4' incorporates:
* Constant: '<S30>/Constant4'
*/
rtd_autos_set_loc[i] = 0U;
/* DataStoreWrite: '<S30>/Data Store Write5' incorporates:
* Constant: '<S30>/Constant5'
*/
rtd_speed_set_loc[i] = 0U;
/* DataStoreWrite: '<S30>/Data Store Write6' incorporates:
* Constant: '<S30>/Constant6'
*/
rtd_coils_stop_set_loc[i] = 0U;
}
/* Sum: '<S30>/step inc' incorporates:
* Constant: '<S30>/Constant'
*/
*rty_step = (int8_t)(rtu_stepIn + 1);
}
/* Model step function */
void Model_actuator_step(void)
{
int32_t i;
uint16_t tmp;
int8_t rtb_Switch;
/* BusCreator: '<Root>/Bus Creator' incorporates:
* DataStoreRead: '<Root>/Data Store Read1'
* DataStoreRead: '<Root>/Data Store Read2'
* DataStoreRead: '<Root>/Data Store Read3'
* DataStoreRead: '<Root>/Data Store Read4'
* DataStoreRead: '<Root>/Data Store Read5'
* DataStoreRead: '<Root>/Data Store Read6'
* DataStoreRead: '<Root>/Data Store Read7'
* DataStoreRead: '<Root>/Data Store Read8'
* DataStoreRead: '<Root>/Data Store Read9'
* DataStoreWrite: '<Root>/Data Store Write'
*/
for (i = 0; i < 9; i++) {
controllerData.POS[i] = rtDW.pos_loc[i];
controllerData.BUS_ADR[i] = rtDW.busAdr_loc[i];
controllerData.MODE[i] = rtDW.mode_loc[i];
controllerData.COM[i] = rtDW.com_loc[i];
controllerData.Stall_SET[i] = rtDW.stall_set_loc[i];
controllerData.Lnoise_SET[i] = rtDW.lnoise_set_loc[i];
controllerData.Autos_SET[i] = rtDW.autos_set_loc[i];
controllerData.Speed_SET[i] = rtDW.speed_set_loc[i];
controllerData.Coils_Stop_SET[i] = rtDW.coils_stop_set_loc[i];
}
/* End of BusCreator: '<Root>/Bus Creator' */
/* Switch: '<Root>/Switch' incorporates:
* Constant: '<Root>/Constant1'
* DataStoreRead: '<Root>/Data Store Read'
* UnitDelay: '<Root>/Unit Delay'
*/
if (rtDW.stepSig >= 1) {
rtb_Switch = rtDW.UnitDelay_DSTATE;
} else {
rtb_Switch = 1;
}
/* End of Switch: '<Root>/Switch' */
/* SwitchCase: '<Root>/Switch Case' */
switch (rtb_Switch) {
case 1:
/* Outputs for IfAction SubSystem: '<Root>/Stop Mode' incorporates:
* ActionPort: '<S12>/Action Port'
*/
/* If: '<S12>/If1' incorporates:
* Inport: '<Root>/in_Busy_Ch0'
* Inport: '<Root>/in_Error_Connect_Ch0'
*/
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
/* Outputs for IfAction SubSystem: '<S12>/If Action Subsystem2' incorporates:
* ActionPort: '<S36>/Action Port'
*/
for (i = 0; i < 9; i++) {
/* DataStoreWrite: '<S36>/Data Store Write2' */
rtDW.mode_loc[i] = 2U;
/* DataStoreWrite: '<S36>/Data Store Write3' */
rtDW.com_loc[i] = 1U;
}
/* Merge: '<Root>/Merge' incorporates:
* Constant: '<S36>/Constant'
* Merge: '<S12>/Merge'
* Sum: '<S36>/step inc'
*/
rtB.Merge = (int8_t)(rtb_Switch + 1);
/* End of Outputs for SubSystem: '<S12>/If Action Subsystem2' */
} else {
/* Outputs for IfAction SubSystem: '<S12>/If Action Subsystem3' incorporates:
* ActionPort: '<S37>/Action Port'
*/
/* Merge: '<Root>/Merge' */
IfActionSubsystem3(rtb_Switch, &rtB.Merge, rtDW.com_loc);
/* End of Outputs for SubSystem: '<S12>/If Action Subsystem3' */
}
/* End of If: '<S12>/If1' */
/* MATLAB Function: '<S12>/stop mode' */
/* : y = step; */
/* : fprintf('Stop Mode\n'); */
printf("Stop Mode\n");
fflush(stdout);
/* End of Outputs for SubSystem: '<Root>/Stop Mode' */
break;
case 2:
/* Outputs for IfAction SubSystem: '<Root>/Initial CPOS Min' incorporates:
* ActionPort: '<S7>/Action Port'
*/
/* If: '<S7>/If' incorporates:
* Inport: '<Root>/in_Busy_Ch0'
* Inport: '<Root>/in_Error_Connect_Ch0'
*/
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
/* Outputs for IfAction SubSystem: '<S7>/If Action Subsystem' incorporates:
* ActionPort: '<S24>/Action Port'
*/
for (i = 0; i < 9; i++) {
/* DataStoreWrite: '<S24>/Data Store Write' */
rtDW.pos_loc[i] = 6000U;
/* DataStoreWrite: '<S24>/Data Store Write1' */
rtDW.com_loc[i] = 2U;
}
/* Merge: '<Root>/Merge' incorporates:
* Constant: '<S24>/Constant'
* Merge: '<S7>/Merge'
* Sum: '<S24>/step inc'
*/
rtB.Merge = (int8_t)(rtb_Switch + 1);
/* End of Outputs for SubSystem: '<S7>/If Action Subsystem' */
} else {
/* Outputs for IfAction SubSystem: '<S7>/If Action Subsystem3' incorporates:
* ActionPort: '<S25>/Action Port'
*/
/* DataStoreWrite: '<S25>/Data Store Write3' */
for (i = 0; i < 9; i++) {
rtDW.com_loc[i] = 0U;
}
/* End of DataStoreWrite: '<S25>/Data Store Write3' */
/* Merge: '<Root>/Merge' incorporates:
* Merge: '<S7>/Merge'
* SignalConversion generated from: '<S25>/stepIn1'
*/
rtB.Merge = rtb_Switch;
/* End of Outputs for SubSystem: '<S7>/If Action Subsystem3' */
}
/* End of If: '<S7>/If' */
/* MATLAB Function: '<S7>/Initial CPOS Min' */
/* : y = step; */
/* : fprintf('Initial CPOS Min\n'); */
printf("Initial CPOS Min\n");
fflush(stdout);
/* End of Outputs for SubSystem: '<Root>/Initial CPOS Min' */
break;
case 3:
/* Outputs for IfAction SubSystem: '<Root>/Normal Mode' incorporates:
* ActionPort: '<S10>/Action Port'
*/
/* If: '<S10>/If1' incorporates:
* Inport: '<Root>/in_Busy_Ch0'
* Inport: '<Root>/in_Error_Connect_Ch0'
*/
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
/* Outputs for IfAction SubSystem: '<S10>/If Action Subsystem2' incorporates:
* ActionPort: '<S33>/Action Port'
*/
for (i = 0; i < 9; i++) {
/* DataStoreWrite: '<S33>/Data Store Write' */
rtDW.mode_loc[i] = 0U;
/* DataStoreWrite: '<S33>/Data Store Write2' */
rtDW.com_loc[i] = 1U;
}
/* Merge: '<Root>/Merge' incorporates:
* Constant: '<S33>/Constant'
* Merge: '<S10>/Merge'
* Sum: '<S33>/step inc'
*/
rtB.Merge = (int8_t)(rtb_Switch + 1);
/* End of Outputs for SubSystem: '<S10>/If Action Subsystem2' */
} else {
/* Outputs for IfAction SubSystem: '<S10>/If Action Subsystem3' incorporates:
* ActionPort: '<S34>/Action Port'
*/
/* Merge: '<Root>/Merge' */
IfActionSubsystem3(rtb_Switch, &rtB.Merge, rtDW.com_loc);
/* End of Outputs for SubSystem: '<S10>/If Action Subsystem3' */
}
/* End of If: '<S10>/If1' */
/* MATLAB Function: '<S10>/Normal Mode' */
/* : y = step; */
/* : fprintf('Normal Mode\n'); */
printf("Normal Mode\n");
fflush(stdout);
/* End of Outputs for SubSystem: '<Root>/Normal Mode' */
break;
case 4:
/* Outputs for IfAction SubSystem: '<Root>/Move to position Min' incorporates:
* ActionPort: '<S9>/Action Port'
*/
/* If: '<S9>/If1' incorporates:
* Inport: '<Root>/in_Busy_Ch0'
* Inport: '<Root>/in_Error_Connect_Ch0'
*/
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
/* Outputs for IfAction SubSystem: '<S9>/If Action Subsystem2' incorporates:
* ActionPort: '<S30>/Action Port'
*/
/* Merge: '<Root>/Merge' */
IfActionSubsystem2(rtb_Switch, &rtB.Merge, rtDW.autos_set_loc,
rtDW.coils_stop_set_loc, rtDW.com_loc,
rtDW.lnoise_set_loc, rtDW.speed_set_loc,
rtDW.stall_set_loc);
/* End of Outputs for SubSystem: '<S9>/If Action Subsystem2' */
} else {
/* Outputs for IfAction SubSystem: '<S9>/If Action Subsystem3' incorporates:
* ActionPort: '<S31>/Action Port'
*/
/* Merge: '<Root>/Merge' */
IfActionSubsystem3(rtb_Switch, &rtB.Merge, rtDW.com_loc);
/* End of Outputs for SubSystem: '<S9>/If Action Subsystem3' */
}
/* End of If: '<S9>/If1' */
/* MATLAB Function: '<S9>/Move to position Min' */
/* : y = step; */
/* : fprintf('Move to position Min\n'); */
printf("Move to position Min\n");
fflush(stdout);
/* End of Outputs for SubSystem: '<Root>/Move to position Min' */
break;
case 5:
/* Outputs for IfAction SubSystem: '<Root>/Check Stall Min' incorporates:
* ActionPort: '<S2>/Action Port'
*/
/* If: '<S2>/If1' incorporates:
* Inport: '<Root>/in_Busy_Ch0'
* Inport: '<Root>/in_Error_Connect_Ch0'
*/
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
/* Outputs for IfAction SubSystem: '<S2>/If Action Subsystem2' incorporates:
* ActionPort: '<S17>/Action Port'
*/
/* DataStoreWrite: '<S17>/Data Store Write1' incorporates:
* DataStoreWrite: '<Root>/Data Store Write1'
* Inport: '<Root>/in_CPOS_ALL_Ch0'
*/
for (i = 0; i < 9; i++) {
rtDW.Min_position_Ch0[i] = rtU.in_CPOS_ALL_Ch0[i];
}
/* End of DataStoreWrite: '<S17>/Data Store Write1' */
/* Merge: '<Root>/Merge' incorporates:
* Constant: '<S17>/Constant'
* Merge: '<S2>/Merge'
* Sum: '<S17>/step inc'
*/
rtB.Merge = (int8_t)(rtb_Switch + 1);
/* End of Outputs for SubSystem: '<S2>/If Action Subsystem2' */
} else {
/* Outputs for IfAction SubSystem: '<S2>/If Action Subsystem3' incorporates:
* ActionPort: '<S18>/Action Port'
*/
/* Merge: '<Root>/Merge' */
IfActionSubsystem3(rtb_Switch, &rtB.Merge, rtDW.com_loc);
/* End of Outputs for SubSystem: '<S2>/If Action Subsystem3' */
}
/* End of If: '<S2>/If1' */
/* MATLAB Function: '<S2>/Check Stall Min' */
/* : y = step; */
/* : fprintf('Check Stall Min\n'); */
printf("Check Stall Min\n");
fflush(stdout);
/* End of Outputs for SubSystem: '<Root>/Check Stall Min' */
break;
case 6:
/* Outputs for IfAction SubSystem: '<Root>/Initial CPOS Max' incorporates:
* ActionPort: '<S6>/Action Port'
*/
/* If: '<S6>/If1' incorporates:
* Inport: '<Root>/in_Busy_Ch0'
* Inport: '<Root>/in_Error_Connect_Ch0'
*/
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
/* Outputs for IfAction SubSystem: '<S6>/If Action Subsystem2' incorporates:
* ActionPort: '<S21>/Action Port'
*/
for (i = 0; i < 9; i++) {
/* DataStoreWrite: '<S21>/Data Store Write' */
rtDW.pos_loc[i] = 0U;
/* DataStoreWrite: '<S21>/Data Store Write1' */
rtDW.com_loc[i] = 2U;
}
/* Merge: '<Root>/Merge' incorporates:
* Constant: '<S21>/Constant'
* Merge: '<S6>/Merge'
* Sum: '<S21>/step inc'
*/
rtB.Merge = (int8_t)(rtb_Switch + 1);
/* End of Outputs for SubSystem: '<S6>/If Action Subsystem2' */
} else {
/* Outputs for IfAction SubSystem: '<S6>/If Action Subsystem3' incorporates:
* ActionPort: '<S22>/Action Port'
*/
/* Merge: '<Root>/Merge' */
IfActionSubsystem3(rtb_Switch, &rtB.Merge, rtDW.com_loc);
/* End of Outputs for SubSystem: '<S6>/If Action Subsystem3' */
}
/* End of If: '<S6>/If1' */
/* MATLAB Function: '<S6>/Initial CPOS Max' */
/* : y = step; */
/* : fprintf('Initial CPOS Max\n'); */
printf("Initial CPOS Max\n");
fflush(stdout);
/* End of Outputs for SubSystem: '<Root>/Initial CPOS Max' */
break;
case 7:
/* Outputs for IfAction SubSystem: '<Root>/Move to position Max' incorporates:
* ActionPort: '<S8>/Action Port'
*/
/* If: '<S8>/If1' incorporates:
* Inport: '<Root>/in_Busy_Ch0'
* Inport: '<Root>/in_Error_Connect_Ch0'
*/
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
/* Outputs for IfAction SubSystem: '<S8>/If Action Subsystem2' incorporates:
* ActionPort: '<S27>/Action Port'
*/
/* Merge: '<Root>/Merge' */
IfActionSubsystem2(rtb_Switch, &rtB.Merge, rtDW.autos_set_loc,
rtDW.coils_stop_set_loc, rtDW.com_loc,
rtDW.lnoise_set_loc, rtDW.speed_set_loc,
rtDW.stall_set_loc);
/* End of Outputs for SubSystem: '<S8>/If Action Subsystem2' */
} else {
/* Outputs for IfAction SubSystem: '<S8>/If Action Subsystem3' incorporates:
* ActionPort: '<S28>/Action Port'
*/
/* Merge: '<Root>/Merge' */
IfActionSubsystem3(rtb_Switch, &rtB.Merge, rtDW.com_loc);
/* End of Outputs for SubSystem: '<S8>/If Action Subsystem3' */
}
/* End of If: '<S8>/If1' */
/* MATLAB Function: '<S8>/Move to position Max' */
/* : y = step; */
/* : fprintf('Move to position Max\n'); */
printf("Move to position Max\n");
fflush(stdout);
/* End of Outputs for SubSystem: '<Root>/Move to position Max' */
break;
case 8:
/* Outputs for IfAction SubSystem: '<Root>/Check Stall Max' incorporates:
* ActionPort: '<S1>/Action Port'
*/
/* If: '<S1>/If1' incorporates:
* Inport: '<Root>/in_Busy_Ch0'
* Inport: '<Root>/in_Error_Connect_Ch0'
*/
if ((rtU.in_Busy_Ch0 == 0) && (rtU.in_Error_Connect_Ch0 == 0)) {
/* Outputs for IfAction SubSystem: '<S1>/If Action Subsystem2' incorporates:
* ActionPort: '<S14>/Action Port'
*/
/* DataStoreWrite: '<S14>/Data Store Write1' incorporates:
* DataStoreWrite: '<Root>/Data Store Write1'
* Inport: '<Root>/in_CPOS_ALL_Ch0'
*/
for (i = 0; i < 9; i++) {
rtDW.Max_position_Ch0[i] = rtU.in_CPOS_ALL_Ch0[i];
}
/* End of DataStoreWrite: '<S14>/Data Store Write1' */
/* Merge: '<Root>/Merge' incorporates:
* Constant: '<S14>/Constant'
* Merge: '<S1>/Merge'
* Sum: '<S14>/step inc'
*/
rtB.Merge = (int8_t)(rtb_Switch + 1);
/* End of Outputs for SubSystem: '<S1>/If Action Subsystem2' */
} else {
/* Outputs for IfAction SubSystem: '<S1>/If Action Subsystem3' incorporates:
* ActionPort: '<S15>/Action Port'
*/
/* Merge: '<Root>/Merge' */
IfActionSubsystem3(rtb_Switch, &rtB.Merge, rtDW.com_loc);
/* End of Outputs for SubSystem: '<S1>/If Action Subsystem3' */
}
/* End of If: '<S1>/If1' */
/* MATLAB Function: '<S1>/Check Stall Max' */
/* : y = step; */
/* : fprintf('Check Stall Max\n'); */
printf("Check Stall Max\n");
fflush(stdout);
/* End of Outputs for SubSystem: '<Root>/Check Stall Max' */
break;
case 9:
/* Outputs for IfAction SubSystem: '<Root>/Homing' incorporates:
* ActionPort: '<S4>/Action Port'
*/
/* DataStoreWrite: '<S4>/Data Store Write3' */
for (i = 0; i < 9; i++) {
rtDW.com_loc[i] = 0U;
}
/* End of DataStoreWrite: '<S4>/Data Store Write3' */
/* Merge: '<Root>/Merge' incorporates:
* Constant: '<S4>/Constant2'
* SignalConversion generated from: '<S4>/step'
*/
rtB.Merge = 1;
/* MATLAB Function: '<S4>/MAX POSITION' incorporates:
* DataStoreRead: '<S4>/Data Store Read2'
*/
/* : y = step; */
/* : fprintf('MAX POSITION '); */
printf("MAX POSITION ");
fflush(stdout);
/* : for i = 1:numel(step) */
for (i = 0; i < 9; i++) {
/* : fprintf('%d ', int16(step(i))); */
tmp = rtDW.Max_position_Ch0[i];
if (tmp > 32767) {
tmp = 32767U;
}
printf("%d ", (int16_t)tmp);
fflush(stdout);
}
/* : fprintf('\n'); */
printf("\n");
fflush(stdout);
/* End of MATLAB Function: '<S4>/MAX POSITION' */
/* MATLAB Function: '<S4>/MIN POSITION' incorporates:
* DataStoreRead: '<S4>/Data Store Read3'
*/
/* : y = step; */
/* : fprintf('MIN POSITION '); */
printf("MIN POSITION ");
fflush(stdout);
/* : for i = 1:numel(step) */
for (i = 0; i < 9; i++) {
/* : fprintf('%d ', int16(step(i))); */
tmp = rtDW.Min_position_Ch0[i];
if (tmp > 32767) {
tmp = 32767U;
}
printf("%d ", (int16_t)tmp);
fflush(stdout);
}
/* : fprintf('\n'); */
printf("\n");
fflush(stdout);
/* End of MATLAB Function: '<S4>/MIN POSITION' */
/* End of Outputs for SubSystem: '<Root>/Homing' */
break;
case 0:
/* Outputs for IfAction SubSystem: '<Root>/Homing1' incorporates:
* ActionPort: '<S5>/Action Port'
*/
/* Merge: '<Root>/Merge' incorporates:
* SignalConversion generated from: '<S5>/stepIn'
*/
rtB.Merge = rtb_Switch;
/* End of Outputs for SubSystem: '<Root>/Homing1' */
break;
}
/* End of SwitchCase: '<Root>/Switch Case' */
/* Outport: '<Root>/Out1' incorporates:
* DataStoreRead: '<Root>/Data Store Read10'
*/
rtY.Out1 = controllerData;
/* DataStoreWrite: '<Root>/Start write stepSig' incorporates:
* Constant: '<Root>/Constant1'
*/
rtDW.stepSig = 1;
/* MATLAB Function: '<Root>/Finish case' incorporates:
* UnitDelay: '<Root>/Unit Delay'
*/
/* : y = step; */
/* : fprintf('Finish case: step = %d\n', step); */
printf("Finish case: step = %d\n", rtDW.UnitDelay_DSTATE);
fflush(stdout);
/* MATLAB Function: '<Root>/Start case' */
/* : y = step; */
/* : fprintf('Start case: step = %d\n', step); */
printf("Start case: step = %d\n", rtb_Switch);
fflush(stdout);
/* Update for UnitDelay: '<Root>/Unit Delay' */
rtDW.UnitDelay_DSTATE = rtB.Merge;
}
/* Model initialize function */
void Model_actuator_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void Model_actuator_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
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