/* Model step function */
void speed_control_step(real_T KR,real_T KI, real_T* r_sim)
{
real_T rtb_KR;
ptr=r_sim;
if (rtmIsMajorTimeStep(speed_control_M)) {
/* set solver stop time */
if (!(speed_control_M->Timing.clockTick0+1)) {
rtsiSetSolverStopTime(&speed_control_M->solverInfo,
((speed_control_M->Timing.clockTickH0 + 1) *
speed_control_M->Timing.stepSize0 * 4294967296.0));
} else {
rtsiSetSolverStopTime(&speed_control_M->solverInfo,
((speed_control_M->Timing.clockTick0 + 1) *
speed_control_M->Timing.stepSize0 + speed_control_M->Timing.clockTickH0 *
speed_control_M->Timing.stepSize0 * 4294967296.0));
}
} /* end MajorTimeStep */
/* Update absolute time of base rate at minor time step */
if (rtmIsMinorTimeStep(speed_control_M)) {
speed_control_M->Timing.t[0] = rtsiGetT(&speed_control_M->solverInfo);
}
/* Integrator: '<S2>/Integrator1_M' */
speed_control_B.Integrator1_M = speed_control_X.Integrator1_M_CSTATE;
/* Outport: '<Root>/ysim' */
speed_control_Y.ysim = speed_control_B.Integrator1_M;
*r_sim=speed_control_Y.ysim;
r_sim++;
/* Gain: '<Root>/KR' incorporates:
* Step: '<Root>/Step w_ref [rad//s]'2.5
*
* Sum: '<Root>/Add2'
*/
rtb_KR = ((real_T)!(speed_control_M->Timing.t[0] < 0.0) -
speed_control_B.Integrator1_M) * KR;
/* Gain: '<S1>/one_over_L' incorporates:
* Gain: '<S1>/K_M'
* Gain: '<S1>/R'
* Integrator: '<Root>/Integrator'
* Integrator: '<S1>/Integrator_Ak'
* Sum: '<Root>/Add6'
* Sum: '<S1>/add'
*/
speed_control_B.one_over_L = (((speed_control_X.Integrator_CSTATE + rtb_KR) -
1 * speed_control_B.Integrator1_M) - 3.0 *
speed_control_X.Integrator_Ak_CSTATE) * 100.0;
/* Gain: '<S2>/one_over_J' incorporates:
* Gain: '<S2>/K_M'
* Integrator: '<S1>/Integrator_Ak'
*/
speed_control_B.one_over_J = 1 * speed_control_X.Integrator_Ak_CSTATE *
100.0;
/* Gain: '<Root>/KI' */
speed_control_B.KI = KI * rtb_KR;
// if (rtmIsMajorTimeStep(speed_control_M)) {
// /* Matfile logging */
// rt_UpdateTXYLogVars(speed_control_M->rtwLogInfo, (speed_control_M->Timing.t));
// } /* end MajorTimeStep */
if (rtmIsMajorTimeStep(speed_control_M)) {
/* signal main to stop simulation */
{ /* Sample time: [0.0s, 0.0s] */
if ((rtmGetTFinal(speed_control_M)!=-1) &&
!((rtmGetTFinal(speed_control_M)-(((speed_control_M->Timing.clockTick1
+speed_control_M->Timing.clockTickH1* 4294967296.0)) * 0.01)) >
(((speed_control_M->Timing.clockTick1+
speed_control_M->Timing.clockTickH1* 4294967296.0)) * 0.01) *
(DBL_EPSILON))) {
rtmSetErrorStatus(speed_control_M, "Simulation finished");
}
}
rt_ertODEUpdateContinuousStates(&speed_control_M->solverInfo,KR,KI,ptr);
/* Update absolute time for base rate */
/* The "clockTick0" counts the number of times the code of this task has
* been executed. The absolute time is the multiplication of "clockTick0"
* and "Timing.stepSize0". Size of "clockTick0" ensures timer will not
* overflow during the application lifespan selected.
* Timer of this task consists of two 32 bit unsigned integers.
* The two integers represent the low bits Timing.clockTick0 and the high bits
* Timing.clockTickH0. When the low bit overflows to 0, the high bits increment.
*/
if (!(++speed_control_M->Timing.clockTick0)) {
++speed_control_M->Timing.clockTickH0;
}
speed_control_M->Timing.t[0] = rtsiGetSolverStopTime
(&speed_control_M->solverInfo);
{
/* Update absolute timer for sample time: [0.01s, 0.0s] */
/* The "clockTick1" counts the number of times the code of this task has
* been executed. The resolution of this integer timer is 0.01, which is the step size
* of the task. Size of "clockTick1" ensures timer will not overflow during the
* application lifespan selected.
* Timer of this task consists of two 32 bit unsigned integers.
* The two integers represent the low bits Timing.clockTick1 and the high bits
* Timing.clockTickH1. When the low bit overflows to 0, the high bits increment.
*/
speed_control_M->Timing.clockTick1++;
if (!speed_control_M->Timing.clockTick1) {
speed_control_M->Timing.clockTickH1++;
}
}
}/* end MajorTimeStep */
}
