1/*



2 * File: ActuatorLoop.c



3 *



4 * Code generated for Simulink model 'ActuatorLoop'.



5 *



6 * Model version                  : 1.45



7 * Simulink Coder version         : 9.2 (R2019b) 18-Jul-2019



8 * C/C++ source code generated on : Wed May 13 13:52:25 2020



9 *



10 * Target selection: ert.tlc



11 * Embedded hardware selection: Intel->x86-32 (Windows32)



12 * Code generation objectives: Unspecified



13 * Validation result: Not run



14 */



15



16#include "ActuatorLoop.h"



17



18/* Disable for referenced model: 'ActuatorLoop' */



19void ActuatorLoop_Disable(B_ActuatorLoop_caua_T *localB, DW_ActuatorLoop_fwu4_T *



20  localDW)



21{



22  /* Disable for DiscreteIntegrator: '<Root>/Integrator'



23   *



24   * Block requirements for '<Root>/Integrator':



25   *  1. HLR_4: Hydraulic Actuator Loop Control (HelicopterSoftwareRequirements#8)



26   */



27  localDW->Integrator_DSTATE = localB->Integrator;



28}



29



30/* Output and update for referenced model: 'ActuatorLoop' */



31void ActuatorLoop(const int16_T *rtu_PositionFeedback, const real_T



32                  *rtu_PositionCommand, int16_T *rty_ActuatorCommand,



33                  B_ActuatorLoop_caua_T *localB, DW_ActuatorLoop_fwu4_T *localDW,



34                  real_T rtp_Kp, real_T rtp_Kd, real_T rtp_Ki)



35{



36  real_T rtb_Sum;



37  real_T y;



38  real_T u0;



39



40  /* Sum: '<Root>/Sum' incorporates:



41   *  DataTypeConversion: '<Root>/TypeConversion'



42   *  Gain: '<Root>/Scaling'



43   *



44   * Block requirements for '<Root>/Sum':



45   *  1. HLR_4: Hydraulic Actuator Loop Control (HelicopterSoftwareRequirements#8)



46   *



47   * Block requirements for '<Root>/TypeConversion':



48   *  1. HLR_2 : Hydraulic Actuator Feedback (HelicopterSoftwareRequirements#6)



49   *



50   * Block requirements for '<Root>/Scaling':



51   *  1. HLR_2 : Hydraulic Actuator Feedback (HelicopterSoftwareRequirements#6)



52   */



53  rtb_Sum = (*rtu_PositionCommand) - (3.0518509475997192E-6 * ((real_T)



54    (*rtu_PositionFeedback)));



55



56  /* DiscreteIntegrator: '<Root>/Integrator'



57   *



58   * Block requirements for '<Root>/Integrator':



59   *  1. HLR_4: Hydraulic Actuator Loop Control (HelicopterSoftwareRequirements#8)



60   */



61  localB->Integrator = localDW->Integrator_DSTATE;



62



63  /* Sum: '<Root>/Sum1' incorporates:



64   *  Gain: '<Root>/Gain'



65   *  Gain: '<Root>/Gain1'



66   *  Sum: '<S1>/Diff'



67   *  UnitDelay: '<S1>/UD'



68   *



69   * Block requirements for '<Root>/Sum1':



70   *  1. HLR_4: Hydraulic Actuator Loop Control (HelicopterSoftwareRequirements#8)



71   *



72   * Block requirements for '<Root>/Gain':



73   *  1. HLR_4: Hydraulic Actuator Loop Control (HelicopterSoftwareRequirements#8)



74   *



75   * Block requirements for '<Root>/Gain1':



76   *  1. HLR_4: Hydraulic Actuator Loop Control (HelicopterSoftwareRequirements#8)



77   */



78  u0 = (localB->Integrator + (rtp_Kp * rtb_Sum)) - (rtp_Kd * (rtb_Sum -



79    localDW->UD_DSTATE));



80



81  /* Saturate: '<Root>/Saturation'



82   *



83   * Block requirements for '<Root>/Saturation':



84   *  1. HLR_4: Hydraulic Actuator Loop Control (HelicopterSoftwareRequirements#8)



85   */



86  if (u0 > 0.3) {



87    y = 0.3;



88  } else if (u0 < (-0.3)) {



89    y = (-0.3);



90  } else {



91    y = u0;



92  }



93



94  /* End of Saturate: '<Root>/Saturation' */



95



96  /* DataTypeConversion: '<Root>/TypeConversion6' incorporates:



97   *  Gain: '<Root>/Scaling6'



98   *



99   * Block requirements for '<Root>/TypeConversion6':



100   *  1. HLR_3: Hydraulic Actuator Drive (HelicopterSoftwareRequirements#7)



101   *



102   * Block requirements for '<Root>/Scaling6':



103   *  1. HLR_3: Hydraulic Actuator Drive (HelicopterSoftwareRequirements#7)



104   */



105  *rty_ActuatorCommand = (int16_T)floor(109223.33333333334 * y);



106



107  /* Update for UnitDelay: '<S1>/UD' */



108  localDW->UD_DSTATE = rtb_Sum;



109



110  /* Update for DiscreteIntegrator: '<Root>/Integrator' incorporates:



111   *  Gain: '<Root>/Gain2'



112   *



113   * Block requirements for '<Root>/Integrator':



114   *  1. HLR_4: Hydraulic Actuator Loop Control (HelicopterSoftwareRequirements#8)



115   *



116   * Block requirements for '<Root>/Gain2':



117   *  1. HLR_4: Hydraulic Actuator Loop Control (HelicopterSoftwareRequirements#8)



118   */



119  localDW->Integrator_DSTATE = localDW->Integrator_DSTATE + (0.001 * (rtp_Ki *



120    rtb_Sum));



121  if (localDW->Integrator_DSTATE >= 0.1) {



122    localDW->Integrator_DSTATE = 0.1;



123  } else {



124    if (localDW->Integrator_DSTATE <= (-0.1)) {



125      localDW->Integrator_DSTATE = (-0.1);



126    }



127  }



128



129  /* End of Update for DiscreteIntegrator: '<Root>/Integrator' */



130}



131



132/* Model initialize function */



133void ActuatorLoop_initialize(B_ActuatorLoop_caua_T *localB,



134  DW_ActuatorLoop_fwu4_T *localDW)



135{



136  /* Registration code */



137



138  /* block I/O */



139  {



140    localB->Integrator = 0.0;



141  }



142



143  /* states (dwork) */



144  localDW->UD_DSTATE = 0.0;



145  localDW->Integrator_DSTATE = 0.0;



146}



147



148/*



149 * File trailer for generated code.



150 *



151 * [EOF]



152 */



153