1. 速度改为s32En4

2. 电流环加入平滑处理，在外环的一个时间内达到目标值，主要是防止快速饱和
3. 电压限制圆处理，加入D，Q，平均分配3种计算方式

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/foc/core/foc_core.c

@@ -25,33 +25,37 @@ void PMSM_FOC_CoreInit(void) {
 }
 
 static __INLINE void PMSM_FOC_PWMCurrent_Update(void) {
-	current_samp_t *cs = get_phase_sample_point(pmsm_foc.FOC_Out->sector);
+	current_samp_t *cs = get_phase_sample_point(pmsm_foc.FOC_Out->n_Sector);
 	
-	pwm_update_duty(pmsm_foc.FOC_Out->PWM[0], pmsm_foc.FOC_Out->PWM[1], pmsm_foc.FOC_Out->PWM[2]);
+	pwm_update_duty(pmsm_foc.FOC_Out->pwm_Duty[0], pmsm_foc.FOC_Out->pwm_Duty[1], pmsm_foc.FOC_Out->pwm_Duty[2]);
 	
 	pwm_update_sample(cs->time.Samp_p1, cs->time.Samp_p2, cs->sector);
 }
 
 static __INLINE bool PMSM_FOC_BrakeCtrl(void) {
-
+	return false;
 }
 
 static __INLINE void PMSM_FOC_Controller(void) {
 	u8  hall[3];
 	pwm_clear_updata();
-	phase_current_sample(&pmsm_foc.FOC_In->adc_a, &pmsm_foc.FOC_In->adc_b);
-	pmsm_foc.FOC_In->hw_count = hall_get_hwcount(hall);
-	pmsm_foc.FOC_In->hall_a = hall[0];
-	pmsm_foc.FOC_In->hall_b = hall[1];
-	pmsm_foc.FOC_In->hall_c = hall[2];
+	phase_current_sample(&pmsm_foc.FOC_In->adc_Pha, &pmsm_foc.FOC_In->adc_Phb);
+	pmsm_foc.FOC_In->us_Count = hall_get_hwcount(hall);
+	pmsm_foc.FOC_In->hall_A = hall[0];
+	pmsm_foc.FOC_In->hall_B = hall[1];
+	pmsm_foc.FOC_In->hall_C = hall[2];
 	if (!PMSM_FOC_BrakeCtrl()) {
 		if (pmsm_foc.FOC_In->n_ctrlModReq == SPD_MODE) {
-			pmsm_foc.FOC_In->speed_target = i2sFix1((s16)ramp_get_target(&pmsm_foc.speed_ramp));
-			pmsm_foc.FOC_In->current_target = 0;
+			pmsm_foc.FOC_In->spd_Target = i2sFix32E4((s16)ramp_get_target(&pmsm_foc.speed_ramp));
+			pmsm_foc.FOC_In->idq_Target = 0;
 		}else if(pmsm_foc.FOC_In->n_ctrlModReq == TRQ_MODE){
-			pmsm_foc.FOC_In.speed_target = i2sFix1((s16)pmsm_foc.speed_ramp.final_point);
-			pmsm_foc.FOC_In.current_target = i2sFix6((s16)ramp_get_target(&pmsm_foc.current_ramp));
+			pmsm_foc.FOC_In->spd_Target = i2sFix32E4((s16)pmsm_foc.speed_ramp.final_point);
+			pmsm_foc.FOC_In->idq_Target = i2sFix6((s16)ramp_get_target(&pmsm_foc.current_ramp));
 		}
+	}else {
+		/*PWM 3相输出50%, 停止3相供电*/
+		pmsm_foc.FOC_In->n_ctrlModReq = OPEN_MODE;
+		pmsm_foc.FOC_In->spd_Target = 0;
 	}
 	
 	PMSM_FOC_Step();
@@ -67,11 +71,11 @@ void PMSM_FOC_Start(u8 nCtrlMode) {
 	pmsm_foc.FOC_In->b_motEna = true;
 	pmsm_foc.FOC_In->n_ctrlModReq = nCtrlMode;
 	pmsm_foc.FOC_In->b_cruiseEna = 0;
-	pmsm_foc.FOC_In->foc_calibrate = 0;
-	pmsm_foc.FOC_In->speed_target = 0;
-	pmsm_foc.FOC_In->current_target = 0;
-	pmsm_foc.FOC_In->vdq_open_target[0] = 0;
-	pmsm_foc.FOC_In->vdq_open_target[1] = 0;
+	pmsm_foc.FOC_In->FOC_Flags = 0;
+	pmsm_foc.FOC_In->spd_Target = 0;
+	pmsm_foc.FOC_In->idq_Target = 0;
+	pmsm_foc.FOC_In->vdq_Open[0] = 0;
+	pmsm_foc.FOC_In->vdq_Open[1] = 0;
 }
 
 void PMSM_FOC_Stop(void) {
@@ -83,19 +87,19 @@ void PMSM_FOC_Stop(void) {
 }
 
 void PMSM_FOC_iBusLimit(int16_T ibusLimit) {
-	pmsm_foc.FOC_In->DC_iLimit = i2sFix6(ibusLimit);
+	pmsm_foc.FOC_In->iDC_Limit = i2sFix6(ibusLimit);
 }
 
 void PMSM_FOC_SpeedLimit(int16_T speedLimit) {
-	pmsm_foc.FOC_In->speed_limit = i2sFix2(speedLimit);
+	pmsm_foc.FOC_In->spd_Limit = i2sFix32E4(speedLimit);
 }
 
 s16 PMSM_FOC_GetSpeedLimit(void) {
-	return sFix2ToI(pmsm_foc.FOC_In->speed_limit);
+	return sFix32E4_s16(pmsm_foc.FOC_In->spd_Limit);
 }
 
 void PMSM_FOC_VbusVoltage(int16_T vbusVol) {
-	pmsm_foc.FOC_In->vbus_voltage = i2sFix6(vbusVol);
+	pmsm_foc.FOC_In->vDC = i2sFix6(vbusVol);
 }
 
 void PMSM_FOC_SetCtrlMode(uint8_T mode) {
@@ -103,24 +107,24 @@ void PMSM_FOC_SetCtrlMode(uint8_T mode) {
 }
 
 void PMSM_FOC_SetOpenVdq(int16_T vd, int16_T vq) {
-	pmsm_foc.FOC_In->vdq_open_target[0] = i2sFix6(vd);
-	pmsm_foc.FOC_In->vdq_open_target[1] = i2sFix6(vq);
+	pmsm_foc.FOC_In->vdq_Open[0] = i2sFix6(vd);
+	pmsm_foc.FOC_In->vdq_Open[1] = i2sFix6(vq);
 }
 
 bool PMSM_FOC_EnableCruise(boolean_T enable) {
 	if (enable) {
-		if (sFix2ToI(pmsm_foc.FOC_Out->rpm) < 100) { //
+		if (sFix32E4_s16(pmsm_foc.FOC_Out->f_MotRPM) < 100) { //
 			PMSM_FOC_SetErrCode(FOC_NowAllowed_With_Speed);
 			return false;
 		}
-		ramp_set_target(&pmsm_foc.speed_ramp, ramp_get_target(&pmsm_foc.speed_ramp), pmsm_foc.FOC_Out->rpm, 500);
+		ramp_set_target(&pmsm_foc.speed_ramp, ramp_get_target(&pmsm_foc.speed_ramp), pmsm_foc.FOC_Out->f_MotRPM, 500);
 	}
 	pmsm_foc.FOC_In->b_cruiseEna = enable;
 	return true;
 }
 
 bool PMSM_FOC_Is_CruiseEnabled(void) {
-	return (pmsm_foc.FOC_In->b_cruiseEna && (pmsm_foc.FOC_Out->running_mode == SPD_MODE));
+	return (pmsm_foc.FOC_In->b_cruiseEna && (pmsm_foc.FOC_Out->n_runingMode == SPD_MODE));
 }
 
 bool PMSM_FOC_Set_Speed(s16 rpm, u32 ramp) {
@@ -131,7 +135,7 @@ bool PMSM_FOC_Set_Speed(s16 rpm, u32 ramp) {
 }
 
 bool PMSM_FOC_Set_Current(s16 current, u32 ramp) {
-	if (pmsm_foc.FOC_In.n_ctrlModReq != TRQ_MODE) {
+	if (pmsm_foc.FOC_In->n_ctrlModReq != TRQ_MODE) {
 		return false;
 	}
 	ramp_set_target(&pmsm_foc.current_ramp, ramp_get_target(&pmsm_foc.current_ramp), current, ramp);
@@ -152,22 +156,22 @@ void PMSM_FOC_HallCalibrate(boolean_T b_caliHall, int16_T open_vd) {
 	if (b_caliHall) {
 		foc_cali = FOC_CALIMOD_HALL;
 	}
-	if ((pmsm_foc.FOC_In->foc_calibrate & FOC_CALIMOD_HALL) == foc_cali) {
+	if ((pmsm_foc.FOC_In->FOC_Flags & FOC_CALIMOD_HALL) == foc_cali) {
 		return;
 	}
 	if (pmsm_foc.FOC_In->b_motEna == b_caliHall) { //motor must be stoped when start cali
 		return;
 	}
-	pmsm_foc.FOC_In->foc_calibrate &= ~(FOC_CALIMOD_HALL);
+	pmsm_foc.FOC_In->FOC_Flags &= ~(FOC_CALIMOD_HALL);
 	pmsm_foc.FOC_In->b_motEna = b_caliHall;
-	pmsm_foc.FOC_In->foc_calibrate |= foc_cali;
-	pmsm_foc.FOC_In->vdq_open_target[0] = i2sFix6(open_vd);
-	pmsm_foc.FOC_In->vdq_open_target[1] = 0;
+	pmsm_foc.FOC_In->FOC_Flags |= foc_cali;
+	pmsm_foc.FOC_In->vdq_Open[0] = i2sFix6(open_vd);
+	pmsm_foc.FOC_In->vdq_Open[1] = 0;
 	pmsm_foc.FOC_In->n_ctrlModReq = OPEN_MODE;
 }
 
 s16 PMSM_FOC_GetSpeed(void) {
-	return sFix2ToI(pmsm_foc.FOC_Out->rpm);
+	return sFix32E4_s16(pmsm_foc.FOC_Out->f_MotRPM);
 }
 
 

Applications/foc/core/foc_wapper.c

@@ -16,6 +16,7 @@ static ExtU rtU;                       /* External inputs */
 static ExtY rtY;                       /* External outputs */
 
 
+
 void PMSM_FOC_Init(void) {
 	RT_MODEL *const rtM = rtMPtr;	
 	/* Pack model data into RTM */
@@ -24,6 +25,7 @@ void PMSM_FOC_Init(void) {
 	rtM->inputs = &rtU;
 	rtM->outputs = &rtY;
 
+
 	/* Initialize model */
 	PMSM_Controller_initialize(rtM);
 }
@@ -38,6 +40,9 @@ ExtY *PMSM_FOC_GetOutputs(void) {
 	return rtMPtr->outputs;
 }
 
+P *PMSM_FOC_GetParams(void) {
+	return &rtP;
+}
 
 void PMSM_FOC_Step(void) {
 	

Applications/foc/motor/motor.c

@@ -9,7 +9,7 @@
 #include "bsp/pwm.h"
 
 static bool _motor_started = false;
-static sfix6_t _motor_throttle = 0;
+static sfix16En6_t _motor_throttle = 0;
 bool mc_start(u8 mode) {
 	if (_motor_started) {
 		return true;
@@ -76,7 +76,7 @@ bool mc_throttle_released(void) {
 	return get_throttle_float() < THROTTLE_LOW_VALUE;
 }
 
-s16 _get_speed_from_throttle(sfix6_t throttle) {
+s16 _get_speed_from_throttle(sfix16En6_t throttle) {
 	float f_throttle = sfix6toF(throttle);
 	if (f_throttle <= (THROTTLE_LOW_VALUE)) {
 		return 0;

Applications/foc/samples.c

@@ -6,9 +6,9 @@
 #include "math/fix_math.h"
 
 typedef struct {
-	sfix6_t value;
-	sfix6_t filted_value;
-	sfix10_t lowpass;
+	sfix16En6_t value;
+	sfix16En6_t filted_value;
+	sfix16En10_t lowpass;
 }samples_t;
 
 static void sample_vbus(void);

Applications/math/fix_math.h

@@ -2,22 +2,23 @@
 #define _FIX_MATH_H__
 #include "bsp/bsp.h"
 #include "os/os_types.h"
-typedef signed short sfix10_t;
-typedef signed short sfix6_t;
-typedef signed short sfix2_t;
-typedef signed short sfix1_t;
-
-#define Fix10_6(x) (x >> 4)
-#define i2sFix2(x) ((sfix2_t)(x <<2))
-#define i2sFix6(x) ((sfix6_t)(x <<6))
-#define i2sFix10(x) ((sfix6_t)(x <<10))
+typedef signed short sfix16En10_t;
+typedef signed short sfix16En6_t;
+typedef signed short sfix16En5_t;
+typedef signed short sfix16En4_t;
 
+typedef int          sfix32En4_t;
 
-#define i2sFix1(x) ((sfix2_1)(x <<1))
+#define Fix10_6(x) (x >> 4)
+#define i2sFix6(x) ((sfix16En6_t)(x <<6))
+#define i2sFix5(x) ((sfix16En6_t)(x <<5))
+#define i2sFix4(x) ((sfix16En6_t)(x <<4))
+#define i2sFix10(x) ((sfix16En6_t)(x <<10))
 
-#define sFix2ToI(x) ((s16)(x >> 2))
+#define i2sFix32E4(x) ((sfix32En4_t)(x <<4))
+#define sFix32E4_s16(x) ((s16)(x >> 4))
 
-static __INLINE sfix6_t ftoSfix10(float v) {
+static __INLINE sfix16En10_t ftoSfix10(float v) {
 	s16 num = (s16)v;
 	float tail_f = v - num;
 	u8 tail_u8 = (u8)(tail_f / (1.0f / 1024.0f)); 
@@ -26,14 +27,14 @@ static __INLINE sfix6_t ftoSfix10(float v) {
 }
 
 
-static __INLINE float sfix6toF(sfix6_t v) {
+static __INLINE float sfix6toF(sfix16En6_t v) {
 	s16 num = (v >> 6) & 0xFFFF;
 	u16 tail = v & 0x003F;
 	float f = num + (float)tail / 64.0f;
 	return f;
 } 
 
-static __INLINE sfix6_t ftoSfix6(float v) {
+static __INLINE sfix16En6_t ftoSfix6(float v) {
 	s16 num = (s16)v;
 	float tail_f = v - num;
 	u8 tail_u8 = (u8)(tail_f / (1.0f / 64.0f)); 
@@ -41,20 +42,6 @@ static __INLINE sfix6_t ftoSfix6(float v) {
 	return (s16) ((num << 6) | (tail_u8 & 0x003F));
 }
 
-static __INLINE float sfix2toF(sfix6_t v) {
-	s16 num = (v >> 2) & 0xFFFF;
-	u16 tail = v & 0x003;
-	float f = num + (float)tail / 4.0f;
-	return f;
-} 
-
-static __INLINE sfix6_t ftoSfix2(float v) {
-	s16 num = (s16)v;
-	float tail_f = v - num;
-	u8 tail_u8 = (u8)(tail_f / (1.0f / 4.0f)); 
-
-	return (s16) ((num << 2) | (tail_u8 & 0x0003));
-}
 
 
 #endif /* _FIX_MATH_H__ */

Simulink/PMSM_Controller_ert_rtw/PMSM_Controller.h

@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'PMSM_Controller'.
  *
- * Model version                  : 1.1301
+ * Model version                  : 1.1445
  * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020
- * C/C++ source code generated on : Mon Apr 18 19:32:18 2022
+ * C/C++ source code generated on : Sat May 21 17:50:12 2022
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex-M
@@ -17,6 +17,8 @@
 
 #ifndef RTW_HEADER_PMSM_Controller_h_
 #define RTW_HEADER_PMSM_Controller_h_
+#include "rtwtypes.h"
+#include "zero_crossing_types.h"
 #ifndef PMSM_Controller_COMMON_INCLUDES_
 #define PMSM_Controller_COMMON_INCLUDES_
 #include "rtwtypes.h"
@@ -37,139 +39,134 @@
 /* Forward declaration for rtModel */
 typedef struct tag_RTM RT_MODEL;
 
-/* Block signals and states (default storage) for system '<S40>/Counter' */
-typedef struct {
-  uint16_T UnitDelay_DSTATE;           /* '<S45>/UnitDelay' */
-} DW_Counter;
-
-/* Block signals and states (default storage) for system '<S36>/either_edge' */
-typedef struct {
-  boolean_T UnitDelay_DSTATE;          /* '<S41>/UnitDelay' */
-} DW_either_edge;
-
-/* Block signals and states (default storage) for system '<S35>/Debounce_Filter' */
-typedef struct {
-  DW_either_edge either_edge_j;        /* '<S36>/either_edge' */
-  DW_Counter Counter_d;                /* '<S39>/Counter' */
-  DW_Counter Counter_f;                /* '<S40>/Counter' */
-  boolean_T UnitDelay_DSTATE;          /* '<S36>/UnitDelay' */
-} DW_Debounce_Filter;
-
-/* Block signals and states (default storage) for system '<S46>/Low_Pass_Filter' */
+/* Block signals and states (default storage) for system '<S48>/Low_Pass_Filter' */
 typedef struct {
-  int16_T UnitDelay1_DSTATE[2];        /* '<S56>/UnitDelay1' */
+  int32_T UnitDelay1_DSTATE[2];        /* '<S57>/UnitDelay1' */
 } DW_Low_Pass_Filter;
 
-/* Block signals and states (default storage) for system '<S61>/PI_iq' */
+/* Block signals and states (default storage) for system '<S87>/PI_Speed' */
 typedef struct {
-  int32_T UnitDelay_DSTATE;            /* '<S66>/UnitDelay' */
-  int32_T ResettableDelay_DSTATE;      /* '<S68>/Resettable Delay' */
-  uint8_T icLoad;                      /* '<S68>/Resettable Delay' */
+  int32_T UnitDelay_DSTATE;            /* '<S89>/UnitDelay' */
+  int32_T ResettableDelay_DSTATE;      /* '<S90>/Resettable Delay' */
+  uint8_T icLoad;                      /* '<S90>/Resettable Delay' */
 } DW_PI_backCalc_fixdt;
 
-/* Zero-crossing (trigger) state for system '<S61>/PI_iq' */
+/* Zero-crossing (trigger) state for system '<S87>/PI_Speed' */
 typedef struct {
-  ZCSigState ResettableDelay_Reset_ZCE_p;/* '<S68>/Resettable Delay' */
+  ZCSigState ResettableDelay_Reset_ZCE_f;/* '<S90>/Resettable Delay' */
 } ZCE_PI_backCalc_fixdt;
 
-/* Block signals and states (default storage) for system '<S90>/pi_speed' */
+/* Block signals and states (default storage) for system '<S95>/PI_backCalc_fixdt' */
 typedef struct {
-  int32_T UnitDelay_DSTATE;            /* '<S93>/UnitDelay' */
-  int32_T ResettableDelay_DSTATE;      /* '<S94>/Resettable Delay' */
-  uint8_T icLoad;                      /* '<S94>/Resettable Delay' */
-} DW_pi_speed;
+  int32_T UnitDelay_DSTATE;            /* '<S100>/UnitDelay' */
+  int32_T ResettableDelay_DSTATE;      /* '<S102>/Resettable Delay' */
+  uint8_T icLoad;                      /* '<S102>/Resettable Delay' */
+} DW_PI_backCalc_fixdt_i;
 
-/* Zero-crossing (trigger) state for system '<S90>/pi_speed' */
+/* Zero-crossing (trigger) state for system '<S95>/PI_backCalc_fixdt' */
 typedef struct {
-  ZCSigState ResettableDelay_Reset_ZCE;/* '<S94>/Resettable Delay' */
-} ZCE_pi_speed;
+  ZCSigState ResettableDelay_Reset_ZCE;/* '<S102>/Resettable Delay' */
+} ZCE_PI_backCalc_fixdt_e;
 
 /* Block signals and states (default storage) for system '<Root>' */
 typedef struct {
-  DW_pi_speed pi_speed_d;              /* '<S90>/pi_speed' */
-  DW_PI_backCalc_fixdt PI_id;          /* '<S60>/PI_id' */
-  DW_PI_backCalc_fixdt PI_iq;          /* '<S61>/PI_iq' */
-  DW_Low_Pass_Filter Low_Pass_Filter_d;/* '<S46>/Low_Pass_Filter' */
-  DW_either_edge either_edge_f;        /* '<S35>/either_edge' */
-  DW_Debounce_Filter Debounce_Filter_i;/* '<S35>/Debounce_Filter' */
-  uint32_T z_counterRawPrev;           /* '<S19>/z_counterRawPrev' */
-  uint32_T UnitDelay1_DSTATE;          /* '<S7>/UnitDelay1' */
+  DW_PI_backCalc_fixdt_i PI_backCalc_fixdt1;/* '<S95>/PI_backCalc_fixdt1' */
+  DW_PI_backCalc_fixdt_i PI_backCalc_fixdt_o3;/* '<S95>/PI_backCalc_fixdt' */
+  DW_PI_backCalc_fixdt PI_Speed;       /* '<S87>/PI_Speed' */
+  DW_Low_Pass_Filter Low_Pass_Filter_h;/* '<S6>/Low_Pass_Filter' */
+  DW_Low_Pass_Filter Low_Pass_Filter_d;/* '<S48>/Low_Pass_Filter' */
+  int32_T Merge1;                      /* '<S26>/Merge1' */
+  int32_T Divide11;                    /* '<S20>/Divide11' */
+  int32_T UnitDelay_DSTATE;            /* '<S92>/Unit Delay' */
+  int32_T ResettableDelay_DSTATE;      /* '<S93>/Resettable Delay' */
+  uint32_T z_counterRawPrev;           /* '<S20>/z_counterRawPrev' */
   uint32_T UnitDelay3_DSTATE;          /* '<S14>/UnitDelay3' */
-  uint32_T UnitDelay2_DSTATE;          /* '<S19>/UnitDelay2' */
-  uint32_T UnitDelay3_DSTATE_l;        /* '<S19>/UnitDelay3' */
-  uint32_T UnitDelay5_DSTATE;          /* '<S19>/UnitDelay5' */
+  uint32_T UnitDelay1_DSTATE;          /* '<S7>/UnitDelay1' */
+  uint32_T UnitDelay2_DSTATE;          /* '<S20>/UnitDelay2' */
+  uint32_T UnitDelay3_DSTATE_l;        /* '<S20>/UnitDelay3' */
+  uint32_T UnitDelay5_DSTATE;          /* '<S20>/UnitDelay5' */
+  uint32_T UnitDelay4_DSTATE;          /* '<S14>/UnitDelay4' */
   int16_T Merge[2];                    /* '<S26>/Merge' */
-  int16_T Merge_c[2];                  /* '<S83>/Merge' */
-  int16_T Switch[2];                   /* '<S82>/Switch' */
+  int16_T Merge_c[2];                  /* '<S76>/Merge' */
+  int16_T UnitDelay1_DSTATE_f[2];      /* '<S6>/UnitDelay1' */
   int16_T Divide;                      /* '<S33>/Divide' */
-  int16_T Merge_f;                     /* '<S84>/Merge' */
-  int16_T Switch2;                     /* '<S65>/Switch2' */
-  int16_T Switch2_d;                   /* '<S69>/Switch2' */
+  int16_T Max;                         /* '<S116>/Max' */
+  int16_T Max1;                        /* '<S116>/Max1' */
+  int16_T Max_g;                       /* '<S109>/Max' */
+  int16_T Max1_j;                      /* '<S109>/Max1' */
+  int16_T Merge_f;                     /* '<S74>/Merge' */
+  int16_T Switch;                      /* '<S77>/Switch' */
+  int16_T Switch2;                     /* '<S84>/Switch2' */
   int16_T r_currTgt;                   /* '<S30>/r_currTgt' */
-  int16_T Switch_i;                    /* '<S33>/Switch' */
-  int16_T Switch1;                     /* '<S33>/Switch1' */
+  int16_T Max_p;                       /* '<S33>/Max' */
+  int16_T Max1_g;                      /* '<S33>/Max1' */
   int16_T Merge_i;                     /* '<S3>/Merge' */
-  int16_T Merge1;                      /* '<S26>/Merge1' */
-  int16_T Divide11;                    /* '<S19>/Divide11' */
-  int16_T UnitDelay2_DSTATE_p;         /* '<S6>/UnitDelay2' */
-  int16_T UnitDelay1_DSTATE_f;         /* '<S6>/UnitDelay1' */
-  int16_T UnitDelay1_DSTATE_g;         /* '<S81>/Unit Delay1' */
-  int16_T UnitDelay_DSTATE;            /* '<S29>/Unit Delay' */
-  int16_T UnitDelay_DSTATE_f;          /* '<S34>/UnitDelay' */
-  uint16_T UnitDelay2_DSTATE_f;        /* '<S20>/UnitDelay2' */
-  uint16_T UnitDelay3_DSTATE_lh;       /* '<S20>/UnitDelay3' */
-  uint16_T UnitDelay5_DSTATE_f;        /* '<S20>/UnitDelay5' */
-  uint16_T UnitDelay4_DSTATE;          /* '<S14>/UnitDelay4' */
+  int16_T Divide_l;                    /* '<S116>/Divide' */
+  int16_T Divide_n;                    /* '<S109>/Divide' */
+  int16_T UnitDelay_DSTATE_h;          /* '<S106>/UnitDelay' */
+  int16_T UnitDelay1_DSTATE_i;         /* '<S97>/Unit Delay1' */
+  int16_T UnitDelay_DSTATE_b;          /* '<S112>/UnitDelay' */
+  int16_T UnitDelay_DSTATE_g;          /* '<S108>/Unit Delay' */
+  int16_T UnitDelay_DSTATE_o;          /* '<S113>/UnitDelay' */
+  int16_T UnitDelay1_DSTATE_b;         /* '<S98>/Unit Delay1' */
+  int16_T UnitDelay_DSTATE_d;          /* '<S119>/UnitDelay' */
+  int16_T UnitDelay_DSTATE_a;          /* '<S115>/Unit Delay' */
+  int16_T UnitDelay1_DSTATE_g;         /* '<S71>/Unit Delay1' */
+  int16_T Delay_DSTATE;                /* '<S88>/Delay' */
+  int16_T UnitDelay_DSTATE_l;          /* '<S87>/Unit Delay' */
+  int16_T UnitDelay_DSTATE_e;          /* '<S31>/UnitDelay' */
+  int16_T UnitDelay_DSTATE_fv;         /* '<S36>/UnitDelay' */
+  int16_T UnitDelay_DSTATE_i;          /* '<S32>/Unit Delay' */
+  uint16_T UnitDelay_DSTATE_f;         /* '<S45>/UnitDelay' */
+  uint16_T UnitDelay_DSTATE_p;         /* '<S47>/UnitDelay' */
+  uint16_T UnitDelay2_DSTATE_f;        /* '<S19>/UnitDelay2' */
+  uint16_T UnitDelay3_DSTATE_lh;       /* '<S19>/UnitDelay3' */
+  uint16_T UnitDelay5_DSTATE_f;        /* '<S19>/UnitDelay5' */
   int8_T Switch2_i;                    /* '<S8>/Switch2' */
   int8_T UnitDelay2_DSTATE_j;          /* '<S8>/UnitDelay2' */
-  uint8_T Delay_DSTATE;                /* '<S9>/Delay' */
+  uint8_T UnitDelay_DSTATE_j;          /* '<S37>/UnitDelay' */
+  uint8_T Delay_DSTATE_d;              /* '<S9>/Delay' */
   uint8_T Delay1_DSTATE;               /* '<S9>/Delay1' */
   uint8_T Delay2_DSTATE;               /* '<S9>/Delay2' */
-  uint8_T UnitDelay_DSTATE_j;          /* '<S35>/UnitDelay' */
-  uint8_T UnitDelay_DSTATE_b;          /* '<S48>/Unit Delay' */
-  uint8_T UnitDelay_DSTATE_p;          /* '<S81>/Unit Delay' */
+  uint8_T UnitDelay_DSTATE_bm;         /* '<S55>/Unit Delay' */
+  uint8_T UnitDelay_DSTATE_p2;         /* '<S71>/Unit Delay' */
+  uint8_T icLoad;                      /* '<S88>/Delay' */
+  uint8_T icLoad_k;                    /* '<S93>/Resettable Delay' */
   uint8_T is_active_c5_PMSM_Controller;/* '<S4>/Control_Mode_Manager' */
   uint8_T is_c5_PMSM_Controller;       /* '<S4>/Control_Mode_Manager' */
   uint8_T is_ACTIVE;                   /* '<S4>/Control_Mode_Manager' */
-  boolean_T Compare;                   /* '<S22>/Compare' */
-  boolean_T UnitDelay1_DSTATE_i;       /* '<S19>/UnitDelay1' */
-  boolean_T n_SpeedCtrl_Mode;          /* '<S24>/n_SpeedCtrl' */
-  boolean_T n_commDeacv_Mode;          /* '<S20>/n_commDeacv' */
+  boolean_T Compare;                   /* '<S21>/Compare' */
+  boolean_T UnitDelay_DSTATE_k;        /* '<S38>/UnitDelay' */
+  boolean_T UnitDelay_DSTATE_n;        /* '<S42>/UnitDelay' */
+  boolean_T UnitDelay_DSTATE_bv;       /* '<S39>/UnitDelay' */
+  boolean_T UnitDelay1_DSTATE_iv;      /* '<S20>/UnitDelay1' */
+  boolean_T n_SpeedCtrl_Mode;          /* '<S25>/n_SpeedCtrl' */
+  boolean_T n_commDeacv_Mode;          /* '<S19>/n_commDeacv' */
 } DW;
 
 /* Zero-crossing (trigger) state */
 typedef struct {
-  ZCE_pi_speed pi_speed_d;             /* '<S90>/pi_speed' */
-  ZCE_PI_backCalc_fixdt PI_id;         /* '<S60>/PI_id' */
-  ZCE_PI_backCalc_fixdt PI_iq;         /* '<S61>/PI_iq' */
+  ZCE_PI_backCalc_fixdt_e PI_backCalc_fixdt1;/* '<S95>/PI_backCalc_fixdt1' */
+  ZCE_PI_backCalc_fixdt_e PI_backCalc_fixdt_o3;/* '<S95>/PI_backCalc_fixdt' */
+  ZCSigState ResettableDelay_Reset_ZCE_a;/* '<S93>/Resettable Delay' */
+  ZCE_PI_backCalc_fixdt PI_Speed;      /* '<S87>/PI_Speed' */
 } PrevZCX;
 
-/* Invariant block signals for system '<S61>/PI_iq' */
-typedef struct {
-  const int32_T DataTypeConversion2;   /* '<S68>/Data Type Conversion2' */
-} ConstB_PI_backCalc_fixdt;
-
-/* Invariant block signals (default storage) */
-typedef struct {
-  ConstB_PI_backCalc_fixdt PI_id;      /* '<S60>/PI_id' */
-  ConstB_PI_backCalc_fixdt PI_iq;      /* '<S61>/PI_iq' */
-} ConstB;
-
 /* Constant parameters (default storage) */
 typedef struct {
   /* Pooled Parameter (Expression: r_sin_M1)
    * Referenced by:
-   *   '<S58>/r_sin_M1'
-   *   '<S89>/r_sin_M1'
+   *   '<S59>/r_sin_M1'
+   *   '<S83>/r_sin_M1'
    */
-  int16_T pooled11[1441];
+  int16_T pooled7[361];
 
   /* Pooled Parameter (Expression: r_cos_M1)
    * Referenced by:
-   *   '<S58>/r_cos_M1'
-   *   '<S89>/r_cos_M1'
+   *   '<S59>/r_cos_M1'
+   *   '<S83>/r_cos_M1'
    */
-  int16_T pooled12[1441];
+  int16_T pooled8[361];
 
   /* Computed Parameter: vec_hallToPos_Value
    * Referenced by: '<S11>/vec_hallToPos'
@@ -179,41 +176,97 @@ typedef struct {
 
 /* External inputs (root inport signals with default storage) */
 typedef struct {
-  int16_T adc_a;                       /* '<Root>/adc_a' */
-  int16_T adc_b;                       /* '<Root>/adc_b' */
-  int16_T speed_target;                /* '<Root>/speed_target' */
-  int16_T current_target;              /* '<Root>/current_target' */
-  uint8_T hall_a;                      /* '<Root>/hall_a' */
-  uint8_T hall_b;                      /* '<Root>/hall_b' */
-  uint8_T hall_c;                      /* '<Root>/hall_c' */
-  uint32_T hw_count;                   /* '<Root>/hw_count' */
+  int16_T adc_Pha;                     /* '<Root>/adc_Pha' */
+  int16_T adc_Phb;                     /* '<Root>/adc_Phb' */
+  int32_T spd_Target;                  /* '<Root>/spd_Target' */
+  int16_T idq_Target;                  /* '<Root>/idq_Target' */
+  uint8_T hall_A;                      /* '<Root>/hall_A' */
+  uint8_T hall_B;                      /* '<Root>/hall_B' */
+  uint8_T hall_C;                      /* '<Root>/hall_C' */
+  uint32_T us_Count;                   /* '<Root>/us_Count' */
   boolean_T b_motEna;                  /* '<Root>/b_motEna' */
   boolean_T b_cruiseEna;               /* '<Root>/b_cruiseEna' */
   uint8_T n_ctrlModReq;                /* '<Root>/n_ctrlModReq' */
-  int16_T DC_iLimit;                   /* '<Root>/DC_iLimit' */
-  int16_T speed_limit;                 /* '<Root>/speed_limit' */
-  int16_T vbus_voltage;                /* '<Root>/vbus_voltage' */
-  uint16_T foc_calibrate;              /* '<Root>/foc_calibrate' */
-  int16_T vdq_open_target[2];          /* '<Root>/vdq_open_target' */
-  int16_T open_theta;                  /* '<Root>/open_theta' */
+  int16_T iDC_Limit;                   /* '<Root>/iDC_Limit' */
+  int32_T spd_Limit;                   /* '<Root>/spd_Limit' */
+  int16_T vDC;                         /* '<Root>/vDC' */
+  uint16_T FOC_Flags;                  /* '<Root>/FOC_Flags' */
+  int16_T vdq_Open[2];                 /* '<Root>/vdq_Open' */
+  int16_T theta_Open;                  /* '<Root>/theta_Open' */
 } ExtU;
 
 /* External outputs (root outports fed by signals with default storage) */
 typedef struct {
-  int16_T PWM[3];                      /* '<Root>/PWM' */
-  uint8_T sector;                      /* '<Root>/sector' */
+  int16_T pwm_Duty[3];                 /* '<Root>/pwm_Duty' */
+  uint8_T n_Sector;                    /* '<Root>/n_Sector' */
   uint8_T n_MotError;                  /* '<Root>/n_MotError' */
-  int16_T VdPrev;                      /* '<Root>/VdPrev' */
-  int16_T VqPrev;                      /* '<Root>/VqPrev' */
-  int16_T id;                          /* '<Root>/id' */
-  int16_T iq;                          /* '<Root>/iq' */
-  int16_T angle;                       /* '<Root>/angle' */
-  int16_T rpm;                         /* '<Root>/rpm' */
-  int16_T hall_angle;                  /* '<Root>/hall_angle' */
-  uint8_T hall_state;                  /* '<Root>/hall_state' */
-  uint8_T running_mode;                /* '<Root>/running_mode' */
+  int16_T f_Vdq[2];                    /* '<Root>/f_Vdq' */
+  int16_T f_Idq[2];                    /* '<Root>/f_Idq' */
+  int16_T f_MotAngle;                  /* '<Root>/f_MotAngle' */
+  int32_T f_MotRPM;                    /* '<Root>/f_MotRPM' */
+  int16_T f_hallAngle;                 /* '<Root>/f_hallAngle' */
+  uint8_T n_hallStat;                  /* '<Root>/n_hallStat' */
+  uint8_T n_runingMode;                /* '<Root>/n_runingMode' */
 } ExtY;
 
+/* Parameters (default storage) */
+struct P_ {
+  uint32_T n_hall_count_ps;            /* Variable: n_hall_count_ps
+                                        * Referenced by:
+                                        *   '<S14>/z_maxCntRst'
+                                        *   '<S20>/z_counter'
+                                        *   '<S20>/UnitDelay2'
+                                        */
+  int16_T cf_TrqLimKb;                 /* Variable: cf_TrqLimKb
+                                        * Referenced by: '<S88>/Constant2'
+                                        */
+  int16_T cf_TrqLimKi;                 /* Variable: cf_TrqLimKi
+                                        * Referenced by: '<S88>/Constant1'
+                                        */
+  int16_T cf_TrqLimKp;                 /* Variable: cf_TrqLimKp
+                                        * Referenced by: '<S88>/Constant4'
+                                        */
+  int16_T cf_idKp;                     /* Variable: cf_idKp
+                                        * Referenced by: '<S95>/Constant3'
+                                        */
+  int16_T cf_iqKp;                     /* Variable: cf_iqKp
+                                        * Referenced by: '<S95>/Constant7'
+                                        */
+  int16_T cf_nKp;                      /* Variable: cf_nKp
+                                        * Referenced by: '<S87>/Constant4'
+                                        */
+  int16_T cf_idKb;                     /* Variable: cf_idKb
+                                        * Referenced by: '<S95>/Constant6'
+                                        */
+  int16_T cf_idKi;                     /* Variable: cf_idKi
+                                        * Referenced by: '<S95>/Constant4'
+                                        */
+  int16_T cf_iqKb;                     /* Variable: cf_iqKb
+                                        * Referenced by: '<S95>/Constant1'
+                                        */
+  int16_T cf_iqKi;                     /* Variable: cf_iqKi
+                                        * Referenced by: '<S95>/Constant8'
+                                        */
+  int16_T cf_nKb;                      /* Variable: cf_nKb
+                                        * Referenced by: '<S87>/Constant11'
+                                        */
+  int16_T cf_nKi;                      /* Variable: cf_nKi
+                                        * Referenced by: '<S87>/Constant1'
+                                        */
+  int16_T i_hall_offset;               /* Variable: i_hall_offset
+                                        * Referenced by: '<S15>/Constant2'
+                                        */
+  int16_T dz_OpenStepVol;              /* Variable: dz_OpenStepVol
+                                        * Referenced by: '<S29>/Constant5'
+                                        */
+  uint16_T f_lpf_coeff;                /* Variable: f_lpf_coeff
+                                        * Referenced by: '<S48>/Constant'
+                                        */
+};
+
+/* Parameters (default storage) */
+typedef struct P_ P;
+
 /* Real-time Model Data Structure */
 struct tag_RTM {
   const char_T * volatile errorStatus;
@@ -223,7 +276,8 @@ struct tag_RTM {
   DW *dwork;
 };
 
-extern const ConstB rtConstB;          /* constant block i/o */
+/* Block parameters (default storage) */
+extern P rtP;
 
 /* Constant parameters (default storage) */
 extern const ConstP rtConstP;
@@ -241,109 +295,103 @@ extern void PMSM_Controller_step(RT_MODEL *const rtM);
  * Block '<S11>/Scope' : Unused code path elimination
  * Block '<S3>/Scope' : Unused code path elimination
  * Block '<S14>/Logical Operator4' : Unused code path elimination
- * Block '<S19>/Abs2' : Unused code path elimination
- * Block '<S19>/Add' : Unused code path elimination
- * Block '<S21>/Compare' : Unused code path elimination
- * Block '<S21>/Constant' : Unused code path elimination
- * Block '<S19>/Scope1' : Unused code path elimination
- * Block '<S19>/Sum7' : Unused code path elimination
- * Block '<S19>/UnitDelay4' : Unused code path elimination
- * Block '<S19>/UnitDelay6' : Unused code path elimination
- * Block '<S19>/UnitDelay7' : Unused code path elimination
- * Block '<S19>/UnitDelay8' : Unused code path elimination
- * Block '<S19>/dz_cntTrnsDet' : Unused code path elimination
+ * Block '<S20>/Abs2' : Unused code path elimination
+ * Block '<S20>/Add' : Unused code path elimination
+ * Block '<S22>/Compare' : Unused code path elimination
+ * Block '<S22>/Constant' : Unused code path elimination
+ * Block '<S20>/Scope1' : Unused code path elimination
+ * Block '<S20>/Sum7' : Unused code path elimination
+ * Block '<S20>/UnitDelay4' : Unused code path elimination
+ * Block '<S20>/UnitDelay6' : Unused code path elimination
+ * Block '<S20>/UnitDelay7' : Unused code path elimination
+ * Block '<S20>/UnitDelay8' : Unused code path elimination
+ * Block '<S20>/dz_cntTrnsDet' : Unused code path elimination
  * Block '<S14>/Scope1' : Unused code path elimination
  * Block '<S14>/Scope2' : Unused code path elimination
  * Block '<S4>/Scope' : Unused code path elimination
  * Block '<S26>/Scope' : Unused code path elimination
- * Block '<S32>/Data Type Duplicate' : Unused code path elimination
- * Block '<S32>/Data Type Propagation' : Unused code path elimination
- * Block '<S31>/Scope' : Unused code path elimination
- * Block '<S31>/Scope1' : Unused code path elimination
+ * Block '<S34>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S34>/Data Type Propagation' : Unused code path elimination
  * Block '<S1>/Scope2' : Unused code path elimination
- * Block '<S55>/Scope' : Unused code path elimination
- * Block '<S46>/Scope' : Unused code path elimination
- * Block '<S46>/Scope1' : Unused code path elimination
- * Block '<S58>/Scope' : Unused code path elimination
- * Block '<S47>/Divide' : Unused code path elimination
- * Block '<S47>/Divide1' : Unused code path elimination
- * Block '<S59>/Add1' : Unused code path elimination
- * Block '<S59>/Data Type Duplicate' : Unused code path elimination
- * Block '<S59>/Filter_Constant' : Unused code path elimination
- * Block '<S59>/One' : Unused code path elimination
- * Block '<S59>/Product' : Unused code path elimination
- * Block '<S59>/Product1' : Unused code path elimination
- * Block '<S59>/Unit Delay' : Unused code path elimination
- * Block '<S47>/Math Function1' : Unused code path elimination
- * Block '<S47>/Saturation' : Unused code path elimination
- * Block '<S47>/Scope' : Unused code path elimination
- * Block '<S47>/Sqrt1' : Unused code path elimination
- * Block '<S47>/Sum of Elements1' : Unused code path elimination
+ * Block '<S56>/Scope' : Unused code path elimination
  * Block '<S48>/Scope' : Unused code path elimination
- * Block '<S65>/Data Type Duplicate' : Unused code path elimination
- * Block '<S65>/Data Type Propagation' : Unused code path elimination
- * Block '<S63>/Data Type Duplicate' : Unused code path elimination
- * Block '<S63>/Data Type Propagation' : Unused code path elimination
- * Block '<S60>/Scope' : Unused code path elimination
- * Block '<S69>/Data Type Duplicate' : Unused code path elimination
- * Block '<S69>/Data Type Propagation' : Unused code path elimination
- * Block '<S67>/Data Type Duplicate' : Unused code path elimination
- * Block '<S67>/Data Type Propagation' : Unused code path elimination
+ * Block '<S59>/Scope' : Unused code path elimination
+ * Block '<S60>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S60>/Data Type Propagation' : Unused code path elimination
  * Block '<S61>/Scope' : Unused code path elimination
- * Block '<S49>/Scope' : Unused code path elimination
- * Block '<S78>/Scope' : Unused code path elimination
+ * Block '<S70>/Scope' : Unused code path elimination
  * Block '<S6>/Scope12' : Unused code path elimination
+ * Block '<S52>/Scope' : Unused code path elimination
  * Block '<S80>/Data Type Duplicate' : Unused code path elimination
- * Block '<S82>/Scope1' : Unused code path elimination
- * Block '<S89>/Scope' : Unused code path elimination
- * Block '<S84>/Scope' : Unused code path elimination
- * Block '<S92>/Data Type Duplicate' : Unused code path elimination
- * Block '<S92>/Data Type Propagation' : Unused code path elimination
- * Block '<S90>/Scope' : Unused code path elimination
- * Block '<S90>/Scope2' : Unused code path elimination
- * Block '<S95>/Data Type Duplicate' : Unused code path elimination
- * Block '<S95>/Data Type Propagation' : Unused code path elimination
- * Block '<S96>/Data Type Duplicate' : Unused code path elimination
- * Block '<S96>/Data Type Propagation' : Unused code path elimination
- * Block '<S91>/Scope' : Unused code path elimination
- * Block '<S85>/Scope1' : Unused code path elimination
+ * Block '<S80>/Data Type Propagation' : Unused code path elimination
+ * Block '<S83>/Scope' : Unused code path elimination
+ * Block '<S84>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S84>/Data Type Propagation' : Unused code path elimination
+ * Block '<S85>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S85>/Data Type Propagation' : Unused code path elimination
+ * Block '<S91>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S91>/Data Type Propagation' : Unused code path elimination
+ * Block '<S94>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S94>/Data Type Propagation' : Unused code path elimination
+ * Block '<S103>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S103>/Data Type Propagation' : Unused code path elimination
+ * Block '<S105>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S105>/Data Type Propagation' : Unused code path elimination
+ * Block '<S55>/Scope' : Unused code path elimination
+ * Block '<S110>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S110>/Data Type Propagation' : Unused code path elimination
+ * Block '<S117>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S117>/Data Type Propagation' : Unused code path elimination
  * Block '<S10>/Manual Switch' : Eliminated due to constant selection input
  * Block '<S26>/Data Type Conversion' : Eliminate redundant data type conversion
  * Block '<S6>/Data Type Conversion' : Eliminate redundant data type conversion
- * Block '<S86>/Data Type Conversion1' : Eliminate redundant data type conversion
- * Block '<S87>/Data Type Conversion' : Eliminate redundant data type conversion
- * Block '<S90>/Manual Switch' : Eliminated due to constant selection input
+ * Block '<S79>/Data Type Conversion1' : Eliminate redundant data type conversion
+ * Block '<S81>/Data Type Conversion' : Eliminate redundant data type conversion
  * Block '<S10>/Constant' : Unused code path elimination
- * Block '<S19>/Divide14' : Unused code path elimination
- * Block '<S19>/smooth' : Unused code path elimination
- * Block '<S80>/Add1' : Unused code path elimination
- * Block '<S80>/Filter_Constant' : Unused code path elimination
- * Block '<S80>/One' : Unused code path elimination
- * Block '<S80>/Product' : Unused code path elimination
- * Block '<S80>/Product1' : Unused code path elimination
- * Block '<S80>/Unit Delay' : Unused code path elimination
- * Block '<S82>/Constant1' : Unused code path elimination
- * Block '<S82>/Constant3' : Unused code path elimination
- * Block '<S82>/Constant4' : Unused code path elimination
- * Block '<S82>/Data Type Conversion' : Unused code path elimination
- * Block '<S82>/Gain' : Unused code path elimination
- * Block '<S82>/Gain1' : Unused code path elimination
- * Block '<S86>/Data Type Conversion2' : Unused code path elimination
- * Block '<S86>/Resettable Delay' : Unused code path elimination
- * Block '<S86>/Sum1' : Unused code path elimination
- * Block '<S82>/Math Function1' : Unused code path elimination
- * Block '<S82>/Math Function2' : Unused code path elimination
- * Block '<S82>/Saturation' : Unused code path elimination
- * Block '<S82>/Sqrt' : Unused code path elimination
- * Block '<S82>/Sum' : Unused code path elimination
- * Block '<S82>/Sum of Elements' : Unused code path elimination
- * Block '<S82>/Sum1' : Unused code path elimination
- * Block '<S82>/Sum2' : Unused code path elimination
- * Block '<S82>/Sum3' : Unused code path elimination
- * Block '<S82>/Sum4' : Unused code path elimination
- * Block '<S82>/Unit Delay' : Unused code path elimination
- * Block '<S82>/Unit Delay1' : Unused code path elimination
- * Block '<S90>/Constant' : Unused code path elimination
+ * Block '<S20>/Divide14' : Unused code path elimination
+ * Block '<S20>/smooth' : Unused code path elimination
+ * Block '<S75>/Constant1' : Unused code path elimination
+ * Block '<S75>/Constant2' : Unused code path elimination
+ * Block '<S75>/Constant3' : Unused code path elimination
+ * Block '<S75>/Constant4' : Unused code path elimination
+ * Block '<S75>/Constant5' : Unused code path elimination
+ * Block '<S75>/Constant6' : Unused code path elimination
+ * Block '<S78>/Add' : Unused code path elimination
+ * Block '<S78>/Constant6' : Unused code path elimination
+ * Block '<S78>/Divide' : Unused code path elimination
+ * Block '<S78>/Divide1' : Unused code path elimination
+ * Block '<S79>/Data Type Conversion2' : Unused code path elimination
+ * Block '<S79>/Resettable Delay' : Unused code path elimination
+ * Block '<S79>/Sum1' : Unused code path elimination
+ * Block '<S80>/LowerRelop1' : Unused code path elimination
+ * Block '<S80>/Switch' : Unused code path elimination
+ * Block '<S80>/Switch2' : Unused code path elimination
+ * Block '<S80>/UpperRelop' : Unused code path elimination
+ * Block '<S78>/Sum' : Unused code path elimination
+ * Block '<S78>/Unit Delay' : Unused code path elimination
+ * Block '<S75>/Gain1' : Unused code path elimination
+ * Block '<S75>/Math Function1' : Unused code path elimination
+ * Block '<S75>/Math Function2' : Unused code path elimination
+ * Block '<S75>/Max' : Unused code path elimination
+ * Block '<S75>/Sign' : Unused code path elimination
+ * Block '<S75>/Sqrt' : Unused code path elimination
+ * Block '<S75>/Sum' : Unused code path elimination
+ * Block '<S75>/Sum of Elements' : Unused code path elimination
+ * Block '<S75>/Sum1' : Unused code path elimination
+ * Block '<S75>/Sum2' : Unused code path elimination
+ * Block '<S75>/Unit Delay1' : Unused code path elimination
+ * Block '<S99>/Add' : Unused code path elimination
+ * Block '<S99>/Constant1' : Unused code path elimination
+ * Block '<S99>/Constant3' : Unused code path elimination
+ * Block '<S99>/Constant4' : Unused code path elimination
+ * Block '<S99>/Constant5' : Unused code path elimination
+ * Block '<S99>/Constant6' : Unused code path elimination
+ * Block '<S99>/Divide' : Unused code path elimination
+ * Block '<S99>/Divide1' : Unused code path elimination
+ * Block '<S99>/Divide2' : Unused code path elimination
+ * Block '<S99>/Divide4' : Unused code path elimination
+ * Block '<S99>/Gain' : Unused code path elimination
+ * Block '<S95>/Gain' : Unused code path elimination
  */
 
 /*-
@@ -382,84 +430,107 @@ extern void PMSM_Controller_step(RT_MODEL *const rtM);
  * '<S16>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad/If Action Subsystem'
  * '<S17>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad/If Action Subsystem1'
  * '<S18>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad/If Action Subsystem2'
- * '<S19>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Raw_Motor_Speed_Estimation'
- * '<S20>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Subsystem'
- * '<S21>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Raw_Motor_Speed_Estimation/Compare To Constant'
- * '<S22>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Subsystem/Compare To Constant'
+ * '<S19>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/AdvCtrlDetect'
+ * '<S20>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Raw_Motor_Speed_Estimation'
+ * '<S21>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/AdvCtrlDetect/Compare To Constant'
+ * '<S22>'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Raw_Motor_Speed_Estimation/Compare To Constant'
  * '<S23>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Control_Mode_Manager'
- * '<S24>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Mode_Transition_Calculation'
- * '<S25>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Subsystem'
+ * '<S24>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Limitition'
+ * '<S25>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Mode_Transition_Calculation'
  * '<S26>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale'
  * '<S27>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/If Action Subsystem'
  * '<S28>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/If Action Subsystem1'
  * '<S29>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode'
  * '<S30>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/torque_mode'
- * '<S31>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control'
- * '<S32>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/Saturation Dynamic'
- * '<S33>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/Subsystem'
- * '<S34>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/delayUnit'
- * '<S35>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled'
- * '<S36>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter'
- * '<S37>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/either_edge'
- * '<S38>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Default'
- * '<S39>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification'
- * '<S40>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification'
- * '<S41>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/either_edge'
- * '<S42>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter'
- * '<S43>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter/rst_Delay'
- * '<S44>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter'
- * '<S45>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter/rst_Delay'
- * '<S46>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward'
- * '<S47>'  : 'MotorController_FOC/PMSM_Controller/controller/Motor_Limitations_Enabled'
- * '<S48>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ'
- * '<S49>'  : 'MotorController_FOC/PMSM_Controller/controller/Park_Transform_Inverse'
- * '<S50>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM'
- * '<S51>'  : 'MotorController_FOC/PMSM_Controller/controller/circle_limition'
- * '<S52>'  : 'MotorController_FOC/PMSM_Controller/controller/current_sample'
- * '<S53>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc'
- * '<S54>'  : 'MotorController_FOC/PMSM_Controller/controller/pid_schdule'
- * '<S55>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Clarke'
- * '<S56>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Low_Pass_Filter'
- * '<S57>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Park'
- * '<S58>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Sine_Cosine_Approximation'
- * '<S59>'  : 'MotorController_FOC/PMSM_Controller/controller/Motor_Limitations_Enabled/IIR Filter'
- * '<S60>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl'
- * '<S61>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl'
- * '<S62>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl/PI_id'
- * '<S63>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl/Saturation Dynamic1'
- * '<S64>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl/PI_id/Integrator1'
- * '<S65>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl/PI_id/Saturation Dynamic1'
- * '<S66>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl/PI_iq'
- * '<S67>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl/Saturation Dynamic2'
- * '<S68>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl/PI_iq/Integrator1'
- * '<S69>'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl/PI_iq/Saturation Dynamic1'
- * '<S70>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM'
- * '<S71>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen'
- * '<S72>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/sector_select'
- * '<S73>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector1'
- * '<S74>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector2'
- * '<S75>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector3'
- * '<S76>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector4'
- * '<S77>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector5'
- * '<S78>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector6'
- * '<S79>'  : 'MotorController_FOC/PMSM_Controller/controller/circle_limition/Compare To Constant'
- * '<S80>'  : 'MotorController_FOC/PMSM_Controller/controller/circle_limition/IIR Filter'
- * '<S81>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem'
- * '<S82>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/FW_Calc'
- * '<S83>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/MPTA_Calc'
- * '<S84>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get'
- * '<S85>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/ivbus_limition'
- * '<S86>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/FW_Calc/Intergrator_z'
- * '<S87>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/MPTA_Calc/MTPA_Calc'
- * '<S88>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/MPTA_Calc/MTPA_Cali'
- * '<S89>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/MPTA_Calc/MTPA_Cali/Sine_Cosine_Approximation'
- * '<S90>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode'
- * '<S91>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/torque_mode'
- * '<S92>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode/Saturation Dynamic3'
- * '<S93>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode/pi_speed'
- * '<S94>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode/pi_speed/Integrator'
- * '<S95>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode/pi_speed/Saturation Dynamic1'
- * '<S96>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/torque_mode/Saturation Dynamic'
+ * '<S31>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Edge'
+ * '<S32>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control'
+ * '<S33>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/RateInit'
+ * '<S34>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/Saturation Dynamic'
+ * '<S35>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/StepAdd'
+ * '<S36>'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/StepAdd/delayUnit'
+ * '<S37>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled'
+ * '<S38>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter'
+ * '<S39>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Edge'
+ * '<S40>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Default'
+ * '<S41>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification'
+ * '<S42>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Edge'
+ * '<S43>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification'
+ * '<S44>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Rst_Counter'
+ * '<S45>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Rst_Counter/rst_Delay1'
+ * '<S46>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Rst_Counter'
+ * '<S47>'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Rst_Counter/rst_Delay1'
+ * '<S48>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward'
+ * '<S49>'  : 'MotorController_FOC/PMSM_Controller/controller/Low_Pass_Filter'
+ * '<S50>'  : 'MotorController_FOC/PMSM_Controller/controller/Motor_Limitations_Enabled'
+ * '<S51>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM'
+ * '<S52>'  : 'MotorController_FOC/PMSM_Controller/controller/circle_limiter'
+ * '<S53>'  : 'MotorController_FOC/PMSM_Controller/controller/current_sample'
+ * '<S54>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc'
+ * '<S55>'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc'
+ * '<S56>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Clarke'
+ * '<S57>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Low_Pass_Filter'
+ * '<S58>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Park'
+ * '<S59>'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Sine_Cosine_Approximation'
+ * '<S60>'  : 'MotorController_FOC/PMSM_Controller/controller/Motor_Limitations_Enabled/Saturation Dynamic'
+ * '<S61>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/Park_Transform_Inverse'
+ * '<S62>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM'
+ * '<S63>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen'
+ * '<S64>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/sector_select'
+ * '<S65>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector1'
+ * '<S66>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector2'
+ * '<S67>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector3'
+ * '<S68>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector4'
+ * '<S69>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector5'
+ * '<S70>'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector6'
+ * '<S71>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc'
+ * '<S72>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/pid_schdule'
+ * '<S73>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign'
+ * '<S74>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get'
+ * '<S75>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/FW_Calc'
+ * '<S76>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/MPTA_Calc'
+ * '<S77>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/iDC_Limiter'
+ * '<S78>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/FW_Calc/FW_I_Ctrl'
+ * '<S79>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/FW_Calc/FW_I_Ctrl/Intergrator_z'
+ * '<S80>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/FW_Calc/FW_I_Ctrl/Saturation Dynamic'
+ * '<S81>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/MPTA_Calc/MTPA_Calc'
+ * '<S82>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/MPTA_Calc/MTPA_Cali'
+ * '<S83>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/MPTA_Calc/MTPA_Cali/Sine_Cosine_Approximation'
+ * '<S84>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/iDC_Limiter/Saturation Dynamic1'
+ * '<S85>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/iDC_Limiter/Saturation Dynamic3'
+ * '<S86>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/iDC_Limiter/sqrtSum'
+ * '<S87>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/speed_mode'
+ * '<S88>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/torque_mode'
+ * '<S89>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/speed_mode/PI_Speed'
+ * '<S90>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/speed_mode/PI_Speed/Rst_Integrator'
+ * '<S91>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/speed_mode/PI_Speed/Saturation Dynamic1'
+ * '<S92>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/torque_mode/PI_TrqSpdLim'
+ * '<S93>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/torque_mode/PI_TrqSpdLim/Rst_Integrator'
+ * '<S94>'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/torque_mode/PI_TrqSpdLim/Saturation Dynamic'
+ * '<S95>'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop'
+ * '<S96>'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/OpenLoop'
+ * '<S97>'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep'
+ * '<S98>'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep'
+ * '<S99>'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/FeedForward'
+ * '<S100>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt'
+ * '<S101>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt1'
+ * '<S102>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt/Rst_Integrator'
+ * '<S103>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt/Saturation Dynamic1'
+ * '<S104>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt1/Rst_Integrator'
+ * '<S105>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt1/Saturation Dynamic1'
+ * '<S106>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Edge'
+ * '<S107>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Enabled Subsystem'
+ * '<S108>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control'
+ * '<S109>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control/RateInit'
+ * '<S110>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control/Saturation Dynamic'
+ * '<S111>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control/StepAdd'
+ * '<S112>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control/StepAdd/delayUnit'
+ * '<S113>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Edge'
+ * '<S114>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Enabled Subsystem'
+ * '<S115>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control'
+ * '<S116>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control/RateInit'
+ * '<S117>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control/Saturation Dynamic'
+ * '<S118>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control/StepAdd'
+ * '<S119>' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control/StepAdd/delayUnit'
  */
 #endif                                 /* RTW_HEADER_PMSM_Controller_h_ */
 

Simulink/PMSM_Controller_ert_rtw/PMSM_Controller_data.c

@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'PMSM_Controller'.
  *
- * Model version                  : 1.1301
+ * Model version                  : 1.1445
  * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020
- * C/C++ source code generated on : Mon Apr 18 19:32:18 2022
+ * C/C++ source code generated on : Sat May 21 17:50:12 2022
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex-M
@@ -17,306 +17,173 @@
 
 #include "PMSM_Controller.h"
 
-/* Invariant block signals (default storage) */
-const ConstB rtConstB = {
-  /* Start of '<S60>/PI_id' */
-  {
-    0                                  /* '<S64>/Data Type Conversion2' */
-  }
-  ,
+/* Block parameters (default storage) */
+P rtP = {
+  /* Variable: n_hall_count_ps
+   * Referenced by:
+   *   '<S14>/z_maxCntRst'
+   *   '<S20>/z_counter'
+   *   '<S20>/UnitDelay2'
+   */
+  1000000U,
+
+  /* Variable: cf_TrqLimKb
+   * Referenced by: '<S88>/Constant2'
+   */
+  1024,
+
+  /* Variable: cf_TrqLimKi
+   * Referenced by: '<S88>/Constant1'
+   */
+  9,
+
+  /* Variable: cf_TrqLimKp
+   * Referenced by: '<S88>/Constant4'
+   */
+  154,
+
+  /* Variable: cf_idKp
+   * Referenced by: '<S95>/Constant3'
+   */
+  17877,
+
+  /* Variable: cf_iqKp
+   * Referenced by: '<S95>/Constant7'
+   */
+  19765,
+
+  /* Variable: cf_nKp
+   * Referenced by: '<S87>/Constant4'
+   */
+  154,
+
+  /* Variable: cf_idKb
+   * Referenced by: '<S95>/Constant6'
+   */
+  81,
+
+  /* Variable: cf_idKi
+   * Referenced by: '<S95>/Constant4'
+   */
+  81,
+
+  /* Variable: cf_iqKb
+   * Referenced by: '<S95>/Constant1'
+   */
+  73,
+
+  /* Variable: cf_iqKi
+   * Referenced by: '<S95>/Constant8'
+   */
+  73,
 
-  /* End of '<S60>/PI_id' */
+  /* Variable: cf_nKb
+   * Referenced by: '<S87>/Constant11'
+   */
+  147,
 
-  /* Start of '<S61>/PI_iq' */
-  {
-    0                                  /* '<S68>/Data Type Conversion2' */
-  }
-  /* End of '<S61>/PI_iq' */
+  /* Variable: cf_nKi
+   * Referenced by: '<S87>/Constant1'
+   */
+  147,
+
+  /* Variable: i_hall_offset
+   * Referenced by: '<S15>/Constant2'
+   */
+  -480,
+
+  /* Variable: dz_OpenStepVol
+   * Referenced by: '<S29>/Constant5'
+   */
+  1280,
+
+  /* Variable: f_lpf_coeff
+   * Referenced by: '<S48>/Constant'
+   */
+  26214U
 };
 
 /* Constant parameters (default storage) */
 const ConstP rtConstP = {
   /* Pooled Parameter (Expression: r_sin_M1)
    * Referenced by:
-   *   '<S58>/r_sin_M1'
-   *   '<S89>/r_sin_M1'
+   *   '<S59>/r_sin_M1'
+   *   '<S83>/r_sin_M1'
    */
-  { 0, 71, 143, 214, 286, 357, 429, 500, 572, 643, 715, 786, 857, 929, 1000,
-    1072, 1143, 1214, 1285, 1357, 1428, 1499, 1570, 1641, 1713, 1784, 1855, 1926,
-    1997, 2068, 2139, 2209, 2280, 2351, 2422, 2492, 2563, 2634, 2704, 2775, 2845,
-    2915, 2986, 3056, 3126, 3196, 3266, 3336, 3406, 3476, 3546, 3616, 3686, 3755,
-    3825, 3894, 3964, 4033, 4102, 4171, 4240, 4310, 4378, 4447, 4516, 4585, 4653,
-    4722, 4790, 4859, 4927, 4995, 5063, 5131, 5199, 5266, 5334, 5402, 5469, 5536,
-    5604, 5671, 5738, 5805, 5872, 5938, 6005, 6071, 6138, 6204, 6270, 6336, 6402,
-    6467, 6533, 6599, 6664, 6729, 6794, 6859, 6924, 6989, 7053, 7118, 7182, 7246,
-    7311, 7374, 7438, 7502, 7565, 7629, 7692, 7755, 7818, 7881, 7943, 8006, 8068,
-    8130, 8192, 8254, 8316, 8377, 8438, 8500, 8561, 8621, 8682, 8743, 8803, 8863,
-    8923, 8983, 9043, 9102, 9162, 9221, 9280, 9339, 9397, 9456, 9514, 9572, 9630,
-    9688, 9746, 9803, 9860, 9917, 9974, 10031, 10087, 10143, 10199, 10255, 10311,
-    10366, 10422, 10477, 10531, 10586, 10641, 10695, 10749, 10803, 10856, 10910,
-    10963, 11016, 11069, 11121, 11174, 11226, 11278, 11330, 11381, 11433, 11484,
-    11535, 11585, 11636, 11686, 11736, 11786, 11835, 11885, 11934, 11982, 12031,
-    12080, 12128, 12176, 12223, 12271, 12318, 12365, 12412, 12458, 12505, 12551,
-    12597, 12642, 12688, 12733, 12778, 12822, 12867, 12911, 12955, 12998, 13042,
-    13085, 13128, 13170, 13213, 13255, 13297, 13338, 13380, 13421, 13462, 13502,
-    13543, 13583, 13623, 13662, 13702, 13741, 13780, 13818, 13856, 13894, 13932,
-    13970, 14007, 14044, 14081, 14117, 14153, 14189, 14225, 14260, 14295, 14330,
-    14364, 14399, 14433, 14466, 14500, 14533, 14566, 14598, 14631, 14663, 14694,
-    14726, 14757, 14788, 14819, 14849, 14879, 14909, 14938, 14968, 14996, 15025,
-    15053, 15082, 15109, 15137, 15164, 15191, 15218, 15244, 15270, 15296, 15321,
-    15346, 15371, 15396, 15420, 15444, 15468, 15491, 15515, 15537, 15560, 15582,
-    15604, 15626, 15647, 15668, 15689, 15709, 15729, 15749, 15769, 15788, 15807,
-    15826, 15844, 15862, 15880, 15897, 15914, 15931, 15948, 15964, 15980, 15996,
-    16011, 16026, 16041, 16055, 16069, 16083, 16096, 16110, 16123, 16135, 16147,
-    16159, 16171, 16182, 16193, 16204, 16214, 16225, 16234, 16244, 16253, 16262,
-    16270, 16279, 16287, 16294, 16302, 16309, 16315, 16322, 16328, 16333, 16339,
-    16344, 16349, 16353, 16358, 16362, 16365, 16368, 16371, 16374, 16376, 16378,
-    16380, 16382, 16383, 16383, 16384, 16384, 16384, 16383, 16383, 16382, 16380,
-    16378, 16376, 16374, 16371, 16368, 16365, 16362, 16358, 16353, 16349, 16344,
-    16339, 16333, 16328, 16322, 16315, 16309, 16302, 16294, 16287, 16279, 16270,
-    16262, 16253, 16244, 16234, 16225, 16214, 16204, 16193, 16182, 16171, 16159,
-    16147, 16135, 16123, 16110, 16096, 16083, 16069, 16055, 16041, 16026, 16011,
-    15996, 15980, 15964, 15948, 15931, 15914, 15897, 15880, 15862, 15844, 15826,
-    15807, 15788, 15769, 15749, 15729, 15709, 15689, 15668, 15647, 15626, 15604,
-    15582, 15560, 15537, 15515, 15491, 15468, 15444, 15420, 15396, 15371, 15346,
-    15321, 15296, 15270, 15244, 15218, 15191, 15164, 15137, 15109, 15082, 15053,
-    15025, 14996, 14968, 14938, 14909, 14879, 14849, 14819, 14788, 14757, 14726,
-    14694, 14663, 14631, 14598, 14566, 14533, 14500, 14466, 14433, 14399, 14364,
-    14330, 14295, 14260, 14225, 14189, 14153, 14117, 14081, 14044, 14007, 13970,
-    13932, 13894, 13856, 13818, 13780, 13741, 13702, 13662, 13623, 13583, 13543,
-    13502, 13462, 13421, 13380, 13338, 13297, 13255, 13213, 13170, 13128, 13085,
-    13042, 12998, 12955, 12911, 12867, 12822, 12778, 12733, 12688, 12642, 12597,
-    12551, 12505, 12458, 12412, 12365, 12318, 12271, 12223, 12176, 12128, 12080,
-    12031, 11982, 11934, 11885, 11835, 11786, 11736, 11686, 11636, 11585, 11535,
-    11484, 11433, 11381, 11330, 11278, 11226, 11174, 11121, 11069, 11016, 10963,
-    10910, 10856, 10803, 10749, 10695, 10641, 10586, 10531, 10477, 10422, 10366,
-    10311, 10255, 10199, 10143, 10087, 10031, 9974, 9917, 9860, 9803, 9746, 9688,
-    9630, 9572, 9514, 9456, 9397, 9339, 9280, 9221, 9162, 9102, 9043, 8983, 8923,
-    8863, 8803, 8743, 8682, 8621, 8561, 8500, 8438, 8377, 8316, 8254, 8192, 8130,
-    8068, 8006, 7943, 7881, 7818, 7755, 7692, 7629, 7565, 7502, 7438, 7374, 7311,
-    7246, 7182, 7118, 7053, 6989, 6924, 6859, 6794, 6729, 6664, 6599, 6533, 6467,
-    6402, 6336, 6270, 6204, 6138, 6071, 6005, 5938, 5872, 5805, 5738, 5671, 5604,
-    5536, 5469, 5402, 5334, 5266, 5199, 5131, 5063, 4995, 4927, 4859, 4790, 4722,
-    4653, 4585, 4516, 4447, 4378, 4310, 4240, 4171, 4102, 4033, 3964, 3894, 3825,
-    3755, 3686, 3616, 3546, 3476, 3406, 3336, 3266, 3196, 3126, 3056, 2986, 2915,
-    2845, 2775, 2704, 2634, 2563, 2492, 2422, 2351, 2280, 2209, 2139, 2068, 1997,
-    1926, 1855, 1784, 1713, 1641, 1570, 1499, 1428, 1357, 1285, 1214, 1143, 1072,
-    1000, 929, 857, 786, 715, 643, 572, 500, 429, 357, 286, 214, 143, 71, 0, -71,
-    -143, -214, -286, -357, -429, -500, -572, -643, -715, -786, -857, -929,
-    -1000, -1072, -1143, -1214, -1285, -1357, -1428, -1499, -1570, -1641, -1713,
-    -1784, -1855, -1926, -1997, -2068, -2139, -2209, -2280, -2351, -2422, -2492,
-    -2563, -2634, -2704, -2775, -2845, -2915, -2986, -3056, -3126, -3196, -3266,
-    -3336, -3406, -3476, -3546, -3616, -3686, -3755, -3825, -3894, -3964, -4033,
-    -4102, -4171, -4240, -4310, -4378, -4447, -4516, -4585, -4653, -4722, -4790,
-    -4859, -4927, -4995, -5063, -5131, -5199, -5266, -5334, -5402, -5469, -5536,
-    -5604, -5671, -5738, -5805, -5872, -5938, -6005, -6071, -6138, -6204, -6270,
-    -6336, -6402, -6467, -6533, -6599, -6664, -6729, -6794, -6859, -6924, -6989,
-    -7053, -7118, -7182, -7246, -7311, -7374, -7438, -7502, -7565, -7629, -7692,
-    -7755, -7818, -7881, -7943, -8006, -8068, -8130, -8192, -8254, -8316, -8377,
-    -8438, -8500, -8561, -8621, -8682, -8743, -8803, -8863, -8923, -8983, -9043,
-    -9102, -9162, -9221, -9280, -9339, -9397, -9456, -9514, -9572, -9630, -9688,
-    -9746, -9803, -9860, -9917, -9974, -10031, -10087, -10143, -10199, -10255,
-    -10311, -10366, -10422, -10477, -10531, -10586, -10641, -10695, -10749,
-    -10803, -10856, -10910, -10963, -11016, -11069, -11121, -11174, -11226,
-    -11278, -11330, -11381, -11433, -11484, -11535, -11585, -11636, -11686,
-    -11736, -11786, -11835, -11885, -11934, -11982, -12031, -12080, -12128,
-    -12176, -12223, -12271, -12318, -12365, -12412, -12458, -12505, -12551,
-    -12597, -12642, -12688, -12733, -12778, -12822, -12867, -12911, -12955,
-    -12998, -13042, -13085, -13128, -13170, -13213, -13255, -13297, -13338,
-    -13380, -13421, -13462, -13502, -13543, -13583, -13623, -13662, -13702,
-    -13741, -13780, -13818, -13856, -13894, -13932, -13970, -14007, -14044,
-    -14081, -14117, -14153, -14189, -14225, -14260, -14295, -14330, -14364,
-    -14399, -14433, -14466, -14500, -14533, -14566, -14598, -14631, -14663,
-    -14694, -14726, -14757, -14788, -14819, -14849, -14879, -14909, -14938,
-    -14968, -14996, -15025, -15053, -15082, -15109, -15137, -15164, -15191,
-    -15218, -15244, -15270, -15296, -15321, -15346, -15371, -15396, -15420,
-    -15444, -15468, -15491, -15515, -15537, -15560, -15582, -15604, -15626,
-    -15647, -15668, -15689, -15709, -15729, -15749, -15769, -15788, -15807,
-    -15826, -15844, -15862, -15880, -15897, -15914, -15931, -15948, -15964,
-    -15980, -15996, -16011, -16026, -16041, -16055, -16069, -16083, -16096,
-    -16110, -16123, -16135, -16147, -16159, -16171, -16182, -16193, -16204,
-    -16214, -16225, -16234, -16244, -16253, -16262, -16270, -16279, -16287,
-    -16294, -16302, -16309, -16315, -16322, -16328, -16333, -16339, -16344,
-    -16349, -16353, -16358, -16362, -16365, -16368, -16371, -16374, -16376,
-    -16378, -16380, -16382, -16383, -16383, -16384, -16384, -16384, -16383,
-    -16383, -16382, -16380, -16378, -16376, -16374, -16371, -16368, -16365,
-    -16362, -16358, -16353, -16349, -16344, -16339, -16333, -16328, -16322,
-    -16315, -16309, -16302, -16294, -16287, -16279, -16270, -16262, -16253,
-    -16244, -16234, -16225, -16214, -16204, -16193, -16182, -16171, -16159,
-    -16147, -16135, -16123, -16110, -16096, -16083, -16069, -16055, -16041,
-    -16026, -16011, -15996, -15980, -15964, -15948, -15931, -15914, -15897,
-    -15880, -15862, -15844, -15826, -15807, -15788, -15769, -15749, -15729,
-    -15709, -15689, -15668, -15647, -15626, -15604, -15582, -15560, -15537,
-    -15515, -15491, -15468, -15444, -15420, -15396, -15371, -15346, -15321,
-    -15296, -15270, -15244, -15218, -15191, -15164, -15137, -15109, -15082,
-    -15053, -15025, -14996, -14968, -14938, -14909, -14879, -14849, -14819,
-    -14788, -14757, -14726, -14694, -14663, -14631, -14598, -14566, -14533,
-    -14500, -14466, -14433, -14399, -14364, -14330, -14295, -14260, -14225,
-    -14189, -14153, -14117, -14081, -14044, -14007, -13970, -13932, -13894,
-    -13856, -13818, -13780, -13741, -13702, -13662, -13623, -13583, -13543,
-    -13502, -13462, -13421, -13380, -13338, -13297, -13255, -13213, -13170,
-    -13128, -13085, -13042, -12998, -12955, -12911, -12867, -12822, -12778,
-    -12733, -12688, -12642, -12597, -12551, -12505, -12458, -12412, -12365,
-    -12318, -12271, -12223, -12176, -12128, -12080, -12031, -11982, -11934,
-    -11885, -11835, -11786, -11736, -11686, -11636, -11585, -11535, -11484,
-    -11433, -11381, -11330, -11278, -11226, -11174, -11121, -11069, -11016,
-    -10963, -10910, -10856, -10803, -10749, -10695, -10641, -10586, -10531,
-    -10477, -10422, -10366, -10311, -10255, -10199, -10143, -10087, -10031,
-    -9974, -9917, -9860, -9803, -9746, -9688, -9630, -9572, -9514, -9456, -9397,
-    -9339, -9280, -9221, -9162, -9102, -9043, -8983, -8923, -8863, -8803, -8743,
-    -8682, -8621, -8561, -8500, -8438, -8377, -8316, -8254, -8192, -8130, -8068,
-    -8006, -7943, -7881, -7818, -7755, -7692, -7629, -7565, -7502, -7438, -7374,
-    -7311, -7246, -7182, -7118, -7053, -6989, -6924, -6859, -6794, -6729, -6664,
-    -6599, -6533, -6467, -6402, -6336, -6270, -6204, -6138, -6071, -6005, -5938,
-    -5872, -5805, -5738, -5671, -5604, -5536, -5469, -5402, -5334, -5266, -5199,
-    -5131, -5063, -4995, -4927, -4859, -4790, -4722, -4653, -4585, -4516, -4447,
-    -4378, -4310, -4240, -4171, -4102, -4033, -3964, -3894, -3825, -3755, -3686,
-    -3616, -3546, -3476, -3406, -3336, -3266, -3196, -3126, -3056, -2986, -2915,
-    -2845, -2775, -2704, -2634, -2563, -2492, -2422, -2351, -2280, -2209, -2139,
-    -2068, -1997, -1926, -1855, -1784, -1713, -1641, -1570, -1499, -1428, -1357,
-    -1285, -1214, -1143, -1072, -1000, -929, -857, -786, -715, -643, -572, -500,
-    -429, -357, -286, -214, -143, -71, 0 },
+  { 0, 286, 572, 857, 1143, 1428, 1713, 1997, 2280, 2563, 2845, 3126, 3406, 3686,
+    3964, 4240, 4516, 4790, 5063, 5334, 5604, 5872, 6138, 6402, 6664, 6924, 7182,
+    7438, 7692, 7943, 8192, 8438, 8682, 8923, 9162, 9397, 9630, 9860, 10087,
+    10311, 10531, 10749, 10963, 11174, 11381, 11585, 11786, 11982, 12176, 12365,
+    12551, 12733, 12911, 13085, 13255, 13421, 13583, 13741, 13894, 14044, 14189,
+    14330, 14466, 14598, 14726, 14849, 14968, 15082, 15191, 15296, 15396, 15491,
+    15582, 15668, 15749, 15826, 15897, 15964, 16026, 16083, 16135, 16182, 16225,
+    16262, 16294, 16322, 16344, 16362, 16374, 16382, 16384, 16382, 16374, 16362,
+    16344, 16322, 16294, 16262, 16225, 16182, 16135, 16083, 16026, 15964, 15897,
+    15826, 15749, 15668, 15582, 15491, 15396, 15296, 15191, 15082, 14968, 14849,
+    14726, 14598, 14466, 14330, 14189, 14044, 13894, 13741, 13583, 13421, 13255,
+    13085, 12911, 12733, 12551, 12365, 12176, 11982, 11786, 11585, 11381, 11174,
+    10963, 10749, 10531, 10311, 10087, 9860, 9630, 9397, 9162, 8923, 8682, 8438,
+    8192, 7943, 7692, 7438, 7182, 6924, 6664, 6402, 6138, 5872, 5604, 5334, 5063,
+    4790, 4516, 4240, 3964, 3686, 3406, 3126, 2845, 2563, 2280, 1997, 1713, 1428,
+    1143, 857, 572, 286, 0, -286, -572, -857, -1143, -1428, -1713, -1997, -2280,
+    -2563, -2845, -3126, -3406, -3686, -3964, -4240, -4516, -4790, -5063, -5334,
+    -5604, -5872, -6138, -6402, -6664, -6924, -7182, -7438, -7692, -7943, -8192,
+    -8438, -8682, -8923, -9162, -9397, -9630, -9860, -10087, -10311, -10531,
+    -10749, -10963, -11174, -11381, -11585, -11786, -11982, -12176, -12365,
+    -12551, -12733, -12911, -13085, -13255, -13421, -13583, -13741, -13894,
+    -14044, -14189, -14330, -14466, -14598, -14726, -14849, -14968, -15082,
+    -15191, -15296, -15396, -15491, -15582, -15668, -15749, -15826, -15897,
+    -15964, -16026, -16083, -16135, -16182, -16225, -16262, -16294, -16322,
+    -16344, -16362, -16374, -16382, -16384, -16382, -16374, -16362, -16344,
+    -16322, -16294, -16262, -16225, -16182, -16135, -16083, -16026, -15964,
+    -15897, -15826, -15749, -15668, -15582, -15491, -15396, -15296, -15191,
+    -15082, -14968, -14849, -14726, -14598, -14466, -14330, -14189, -14044,
+    -13894, -13741, -13583, -13421, -13255, -13085, -12911, -12733, -12551,
+    -12365, -12176, -11982, -11786, -11585, -11381, -11174, -10963, -10749,
+    -10531, -10311, -10087, -9860, -9630, -9397, -9162, -8923, -8682, -8438,
+    -8192, -7943, -7692, -7438, -7182, -6924, -6664, -6402, -6138, -5872, -5604,
+    -5334, -5063, -4790, -4516, -4240, -3964, -3686, -3406, -3126, -2845, -2563,
+    -2280, -1997, -1713, -1428, -1143, -857, -572, -286, 0 },
 
   /* Pooled Parameter (Expression: r_cos_M1)
    * Referenced by:
-   *   '<S58>/r_cos_M1'
-   *   '<S89>/r_cos_M1'
+   *   '<S59>/r_cos_M1'
+   *   '<S83>/r_cos_M1'
    */
-  { 16384, 16384, 16383, 16383, 16382, 16380, 16378, 16376, 16374, 16371, 16368,
-    16365, 16362, 16358, 16353, 16349, 16344, 16339, 16333, 16328, 16322, 16315,
-    16309, 16302, 16294, 16287, 16279, 16270, 16262, 16253, 16244, 16234, 16225,
-    16214, 16204, 16193, 16182, 16171, 16159, 16147, 16135, 16123, 16110, 16096,
-    16083, 16069, 16055, 16041, 16026, 16011, 15996, 15980, 15964, 15948, 15931,
-    15914, 15897, 15880, 15862, 15844, 15826, 15807, 15788, 15769, 15749, 15729,
-    15709, 15689, 15668, 15647, 15626, 15604, 15582, 15560, 15537, 15515, 15491,
-    15468, 15444, 15420, 15396, 15371, 15346, 15321, 15296, 15270, 15244, 15218,
-    15191, 15164, 15137, 15109, 15082, 15053, 15025, 14996, 14968, 14938, 14909,
-    14879, 14849, 14819, 14788, 14757, 14726, 14694, 14663, 14631, 14598, 14566,
-    14533, 14500, 14466, 14433, 14399, 14364, 14330, 14295, 14260, 14225, 14189,
-    14153, 14117, 14081, 14044, 14007, 13970, 13932, 13894, 13856, 13818, 13780,
-    13741, 13702, 13662, 13623, 13583, 13543, 13502, 13462, 13421, 13380, 13338,
-    13297, 13255, 13213, 13170, 13128, 13085, 13042, 12998, 12955, 12911, 12867,
-    12822, 12778, 12733, 12688, 12642, 12597, 12551, 12505, 12458, 12412, 12365,
-    12318, 12271, 12223, 12176, 12128, 12080, 12031, 11982, 11934, 11885, 11835,
-    11786, 11736, 11686, 11636, 11585, 11535, 11484, 11433, 11381, 11330, 11278,
-    11226, 11174, 11121, 11069, 11016, 10963, 10910, 10856, 10803, 10749, 10695,
-    10641, 10586, 10531, 10477, 10422, 10366, 10311, 10255, 10199, 10143, 10087,
-    10031, 9974, 9917, 9860, 9803, 9746, 9688, 9630, 9572, 9514, 9456, 9397,
-    9339, 9280, 9221, 9162, 9102, 9043, 8983, 8923, 8863, 8803, 8743, 8682, 8621,
-    8561, 8500, 8438, 8377, 8316, 8254, 8192, 8130, 8068, 8006, 7943, 7881, 7818,
-    7755, 7692, 7629, 7565, 7502, 7438, 7374, 7311, 7246, 7182, 7118, 7053, 6989,
-    6924, 6859, 6794, 6729, 6664, 6599, 6533, 6467, 6402, 6336, 6270, 6204, 6138,
-    6071, 6005, 5938, 5872, 5805, 5738, 5671, 5604, 5536, 5469, 5402, 5334, 5266,
-    5199, 5131, 5063, 4995, 4927, 4859, 4790, 4722, 4653, 4585, 4516, 4447, 4378,
-    4310, 4240, 4171, 4102, 4033, 3964, 3894, 3825, 3755, 3686, 3616, 3546, 3476,
-    3406, 3336, 3266, 3196, 3126, 3056, 2986, 2915, 2845, 2775, 2704, 2634, 2563,
-    2492, 2422, 2351, 2280, 2209, 2139, 2068, 1997, 1926, 1855, 1784, 1713, 1641,
-    1570, 1499, 1428, 1357, 1285, 1214, 1143, 1072, 1000, 929, 857, 786, 715,
-    643, 572, 500, 429, 357, 286, 214, 143, 71, 0, -71, -143, -214, -286, -357,
-    -429, -500, -572, -643, -715, -786, -857, -929, -1000, -1072, -1143, -1214,
-    -1285, -1357, -1428, -1499, -1570, -1641, -1713, -1784, -1855, -1926, -1997,
-    -2068, -2139, -2209, -2280, -2351, -2422, -2492, -2563, -2634, -2704, -2775,
-    -2845, -2915, -2986, -3056, -3126, -3196, -3266, -3336, -3406, -3476, -3546,
-    -3616, -3686, -3755, -3825, -3894, -3964, -4033, -4102, -4171, -4240, -4310,
-    -4378, -4447, -4516, -4585, -4653, -4722, -4790, -4859, -4927, -4995, -5063,
-    -5131, -5199, -5266, -5334, -5402, -5469, -5536, -5604, -5671, -5738, -5805,
-    -5872, -5938, -6005, -6071, -6138, -6204, -6270, -6336, -6402, -6467, -6533,
-    -6599, -6664, -6729, -6794, -6859, -6924, -6989, -7053, -7118, -7182, -7246,
-    -7311, -7374, -7438, -7502, -7565, -7629, -7692, -7755, -7818, -7881, -7943,
-    -8006, -8068, -8130, -8192, -8254, -8316, -8377, -8438, -8500, -8561, -8621,
-    -8682, -8743, -8803, -8863, -8923, -8983, -9043, -9102, -9162, -9221, -9280,
-    -9339, -9397, -9456, -9514, -9572, -9630, -9688, -9746, -9803, -9860, -9917,
-    -9974, -10031, -10087, -10143, -10199, -10255, -10311, -10366, -10422,
-    -10477, -10531, -10586, -10641, -10695, -10749, -10803, -10856, -10910,
-    -10963, -11016, -11069, -11121, -11174, -11226, -11278, -11330, -11381,
-    -11433, -11484, -11535, -11585, -11636, -11686, -11736, -11786, -11835,
-    -11885, -11934, -11982, -12031, -12080, -12128, -12176, -12223, -12271,
-    -12318, -12365, -12412, -12458, -12505, -12551, -12597, -12642, -12688,
-    -12733, -12778, -12822, -12867, -12911, -12955, -12998, -13042, -13085,
-    -13128, -13170, -13213, -13255, -13297, -13338, -13380, -13421, -13462,
-    -13502, -13543, -13583, -13623, -13662, -13702, -13741, -13780, -13818,
-    -13856, -13894, -13932, -13970, -14007, -14044, -14081, -14117, -14153,
-    -14189, -14225, -14260, -14295, -14330, -14364, -14399, -14433, -14466,
-    -14500, -14533, -14566, -14598, -14631, -14663, -14694, -14726, -14757,
-    -14788, -14819, -14849, -14879, -14909, -14938, -14968, -14996, -15025,
-    -15053, -15082, -15109, -15137, -15164, -15191, -15218, -15244, -15270,
-    -15296, -15321, -15346, -15371, -15396, -15420, -15444, -15468, -15491,
-    -15515, -15537, -15560, -15582, -15604, -15626, -15647, -15668, -15689,
-    -15709, -15729, -15749, -15769, -15788, -15807, -15826, -15844, -15862,
-    -15880, -15897, -15914, -15931, -15948, -15964, -15980, -15996, -16011,
-    -16026, -16041, -16055, -16069, -16083, -16096, -16110, -16123, -16135,
-    -16147, -16159, -16171, -16182, -16193, -16204, -16214, -16225, -16234,
-    -16244, -16253, -16262, -16270, -16279, -16287, -16294, -16302, -16309,
-    -16315, -16322, -16328, -16333, -16339, -16344, -16349, -16353, -16358,
-    -16362, -16365, -16368, -16371, -16374, -16376, -16378, -16380, -16382,
-    -16383, -16383, -16384, -16384, -16384, -16383, -16383, -16382, -16380,
-    -16378, -16376, -16374, -16371, -16368, -16365, -16362, -16358, -16353,
-    -16349, -16344, -16339, -16333, -16328, -16322, -16315, -16309, -16302,
-    -16294, -16287, -16279, -16270, -16262, -16253, -16244, -16234, -16225,
-    -16214, -16204, -16193, -16182, -16171, -16159, -16147, -16135, -16123,
-    -16110, -16096, -16083, -16069, -16055, -16041, -16026, -16011, -15996,
-    -15980, -15964, -15948, -15931, -15914, -15897, -15880, -15862, -15844,
-    -15826, -15807, -15788, -15769, -15749, -15729, -15709, -15689, -15668,
-    -15647, -15626, -15604, -15582, -15560, -15537, -15515, -15491, -15468,
-    -15444, -15420, -15396, -15371, -15346, -15321, -15296, -15270, -15244,
-    -15218, -15191, -15164, -15137, -15109, -15082, -15053, -15025, -14996,
-    -14968, -14938, -14909, -14879, -14849, -14819, -14788, -14757, -14726,
-    -14694, -14663, -14631, -14598, -14566, -14533, -14500, -14466, -14433,
-    -14399, -14364, -14330, -14295, -14260, -14225, -14189, -14153, -14117,
-    -14081, -14044, -14007, -13970, -13932, -13894, -13856, -13818, -13780,
-    -13741, -13702, -13662, -13623, -13583, -13543, -13502, -13462, -13421,
-    -13380, -13338, -13297, -13255, -13213, -13170, -13128, -13085, -13042,
-    -12998, -12955, -12911, -12867, -12822, -12778, -12733, -12688, -12642,
-    -12597, -12551, -12505, -12458, -12412, -12365, -12318, -12271, -12223,
-    -12176, -12128, -12080, -12031, -11982, -11934, -11885, -11835, -11786,
-    -11736, -11686, -11636, -11585, -11535, -11484, -11433, -11381, -11330,
-    -11278, -11226, -11174, -11121, -11069, -11016, -10963, -10910, -10856,
-    -10803, -10749, -10695, -10641, -10586, -10531, -10477, -10422, -10366,
-    -10311, -10255, -10199, -10143, -10087, -10031, -9974, -9917, -9860, -9803,
-    -9746, -9688, -9630, -9572, -9514, -9456, -9397, -9339, -9280, -9221, -9162,
-    -9102, -9043, -8983, -8923, -8863, -8803, -8743, -8682, -8621, -8561, -8500,
-    -8438, -8377, -8316, -8254, -8192, -8130, -8068, -8006, -7943, -7881, -7818,
-    -7755, -7692, -7629, -7565, -7502, -7438, -7374, -7311, -7246, -7182, -7118,
-    -7053, -6989, -6924, -6859, -6794, -6729, -6664, -6599, -6533, -6467, -6402,
-    -6336, -6270, -6204, -6138, -6071, -6005, -5938, -5872, -5805, -5738, -5671,
-    -5604, -5536, -5469, -5402, -5334, -5266, -5199, -5131, -5063, -4995, -4927,
-    -4859, -4790, -4722, -4653, -4585, -4516, -4447, -4378, -4310, -4240, -4171,
-    -4102, -4033, -3964, -3894, -3825, -3755, -3686, -3616, -3546, -3476, -3406,
-    -3336, -3266, -3196, -3126, -3056, -2986, -2915, -2845, -2775, -2704, -2634,
-    -2563, -2492, -2422, -2351, -2280, -2209, -2139, -2068, -1997, -1926, -1855,
-    -1784, -1713, -1641, -1570, -1499, -1428, -1357, -1285, -1214, -1143, -1072,
-    -1000, -929, -857, -786, -715, -643, -572, -500, -429, -357, -286, -214,
-    -143, -71, 0, 71, 143, 214, 286, 357, 429, 500, 572, 643, 715, 786, 857, 929,
-    1000, 1072, 1143, 1214, 1285, 1357, 1428, 1499, 1570, 1641, 1713, 1784, 1855,
-    1926, 1997, 2068, 2139, 2209, 2280, 2351, 2422, 2492, 2563, 2634, 2704, 2775,
-    2845, 2915, 2986, 3056, 3126, 3196, 3266, 3336, 3406, 3476, 3546, 3616, 3686,
-    3755, 3825, 3894, 3964, 4033, 4102, 4171, 4240, 4310, 4378, 4447, 4516, 4585,
-    4653, 4722, 4790, 4859, 4927, 4995, 5063, 5131, 5199, 5266, 5334, 5402, 5469,
-    5536, 5604, 5671, 5738, 5805, 5872, 5938, 6005, 6071, 6138, 6204, 6270, 6336,
-    6402, 6467, 6533, 6599, 6664, 6729, 6794, 6859, 6924, 6989, 7053, 7118, 7182,
-    7246, 7311, 7374, 7438, 7502, 7565, 7629, 7692, 7755, 7818, 7881, 7943, 8006,
-    8068, 8130, 8192, 8254, 8316, 8377, 8438, 8500, 8561, 8621, 8682, 8743, 8803,
-    8863, 8923, 8983, 9043, 9102, 9162, 9221, 9280, 9339, 9397, 9456, 9514, 9572,
-    9630, 9688, 9746, 9803, 9860, 9917, 9974, 10031, 10087, 10143, 10199, 10255,
-    10311, 10366, 10422, 10477, 10531, 10586, 10641, 10695, 10749, 10803, 10856,
-    10910, 10963, 11016, 11069, 11121, 11174, 11226, 11278, 11330, 11381, 11433,
-    11484, 11535, 11585, 11636, 11686, 11736, 11786, 11835, 11885, 11934, 11982,
-    12031, 12080, 12128, 12176, 12223, 12271, 12318, 12365, 12412, 12458, 12505,
-    12551, 12597, 12642, 12688, 12733, 12778, 12822, 12867, 12911, 12955, 12998,
-    13042, 13085, 13128, 13170, 13213, 13255, 13297, 13338, 13380, 13421, 13462,
-    13502, 13543, 13583, 13623, 13662, 13702, 13741, 13780, 13818, 13856, 13894,
-    13932, 13970, 14007, 14044, 14081, 14117, 14153, 14189, 14225, 14260, 14295,
-    14330, 14364, 14399, 14433, 14466, 14500, 14533, 14566, 14598, 14631, 14663,
-    14694, 14726, 14757, 14788, 14819, 14849, 14879, 14909, 14938, 14968, 14996,
-    15025, 15053, 15082, 15109, 15137, 15164, 15191, 15218, 15244, 15270, 15296,
-    15321, 15346, 15371, 15396, 15420, 15444, 15468, 15491, 15515, 15537, 15560,
-    15582, 15604, 15626, 15647, 15668, 15689, 15709, 15729, 15749, 15769, 15788,
-    15807, 15826, 15844, 15862, 15880, 15897, 15914, 15931, 15948, 15964, 15980,
-    15996, 16011, 16026, 16041, 16055, 16069, 16083, 16096, 16110, 16123, 16135,
-    16147, 16159, 16171, 16182, 16193, 16204, 16214, 16225, 16234, 16244, 16253,
-    16262, 16270, 16279, 16287, 16294, 16302, 16309, 16315, 16322, 16328, 16333,
-    16339, 16344, 16349, 16353, 16358, 16362, 16365, 16368, 16371, 16374, 16376,
-    16378, 16380, 16382, 16383, 16383, 16384, 16384 },
+  { 16384, 16382, 16374, 16362, 16344, 16322, 16294, 16262, 16225, 16182, 16135,
+    16083, 16026, 15964, 15897, 15826, 15749, 15668, 15582, 15491, 15396, 15296,
+    15191, 15082, 14968, 14849, 14726, 14598, 14466, 14330, 14189, 14044, 13894,
+    13741, 13583, 13421, 13255, 13085, 12911, 12733, 12551, 12365, 12176, 11982,
+    11786, 11585, 11381, 11174, 10963, 10749, 10531, 10311, 10087, 9860, 9630,
+    9397, 9162, 8923, 8682, 8438, 8192, 7943, 7692, 7438, 7182, 6924, 6664, 6402,
+    6138, 5872, 5604, 5334, 5063, 4790, 4516, 4240, 3964, 3686, 3406, 3126, 2845,
+    2563, 2280, 1997, 1713, 1428, 1143, 857, 572, 286, 0, -286, -572, -857,
+    -1143, -1428, -1713, -1997, -2280, -2563, -2845, -3126, -3406, -3686, -3964,
+    -4240, -4516, -4790, -5063, -5334, -5604, -5872, -6138, -6402, -6664, -6924,
+    -7182, -7438, -7692, -7943, -8192, -8438, -8682, -8923, -9162, -9397, -9630,
+    -9860, -10087, -10311, -10531, -10749, -10963, -11174, -11381, -11585,
+    -11786, -11982, -12176, -12365, -12551, -12733, -12911, -13085, -13255,
+    -13421, -13583, -13741, -13894, -14044, -14189, -14330, -14466, -14598,
+    -14726, -14849, -14968, -15082, -15191, -15296, -15396, -15491, -15582,
+    -15668, -15749, -15826, -15897, -15964, -16026, -16083, -16135, -16182,
+    -16225, -16262, -16294, -16322, -16344, -16362, -16374, -16382, -16384,
+    -16382, -16374, -16362, -16344, -16322, -16294, -16262, -16225, -16182,
+    -16135, -16083, -16026, -15964, -15897, -15826, -15749, -15668, -15582,
+    -15491, -15396, -15296, -15191, -15082, -14968, -14849, -14726, -14598,
+    -14466, -14330, -14189, -14044, -13894, -13741, -13583, -13421, -13255,
+    -13085, -12911, -12733, -12551, -12365, -12176, -11982, -11786, -11585,
+    -11381, -11174, -10963, -10749, -10531, -10311, -10087, -9860, -9630, -9397,
+    -9162, -8923, -8682, -8438, -8192, -7943, -7692, -7438, -7182, -6924, -6664,
+    -6402, -6138, -5872, -5604, -5334, -5063, -4790, -4516, -4240, -3964, -3686,
+    -3406, -3126, -2845, -2563, -2280, -1997, -1713, -1428, -1143, -857, -572,
+    -286, 0, 286, 572, 857, 1143, 1428, 1713, 1997, 2280, 2563, 2845, 3126, 3406,
+    3686, 3964, 4240, 4516, 4790, 5063, 5334, 5604, 5872, 6138, 6402, 6664, 6924,
+    7182, 7438, 7692, 7943, 8192, 8438, 8682, 8923, 9162, 9397, 9630, 9860,
+    10087, 10311, 10531, 10749, 10963, 11174, 11381, 11585, 11786, 11982, 12176,
+    12365, 12551, 12733, 12911, 13085, 13255, 13421, 13583, 13741, 13894, 14044,
+    14189, 14330, 14466, 14598, 14726, 14849, 14968, 15082, 15191, 15296, 15396,
+    15491, 15582, 15668, 15749, 15826, 15897, 15964, 16026, 16083, 16135, 16182,
+    16225, 16262, 16294, 16322, 16344, 16362, 16374, 16382, 16384 },
 
   /* Computed Parameter: vec_hallToPos_Value
    * Referenced by: '<S11>/vec_hallToPos'

Simulink/PMSM_Controller_ert_rtw/ert_main.c

@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'PMSM_Controller'.
  *
- * Model version                  : 1.1301
+ * Model version                  : 1.1445
  * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020
- * C/C++ source code generated on : Mon Apr 18 19:32:18 2022
+ * C/C++ source code generated on : Sat May 21 17:50:12 2022
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex-M

Simulink/PMSM_Controller_ert_rtw/html/PMSM_Controller_c.html

@@ -21,11 +21,11 @@
 <tr name="5" id="5">
 <td><a id="l5" class='ln'>5</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="6" id="6">
-<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1301</span></td></tr>
+<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1445</span></td></tr>
 <tr name="7" id="7">
 <td><a id="l7" class='ln'>7</a></td><td><span class="ct"> * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020</span></td></tr>
 <tr name="8" id="8">
-<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Mon Apr 18 19:32:18 2022</span></td></tr>
+<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Sat May 21 17:50:12 2022</span></td></tr>
 <tr name="9" id="9">
 <td><a id="l9" class='ln'>9</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="10" id="10">
@@ -165,4845 +165,6045 @@
 <tr name="77" id="77">
 <td><a id="l77" class='ln'>77</a></td><td><span class="ct">/* Skipping ulong_long/long_long check: insufficient preprocessor integer range. */</span></td></tr>
 <tr name="78" id="78">
-<td><a id="l78" class='ln'>78</a></td><td><span class="kw">extern</span> <a id="78c8" class="tk">int16_T</a> <a id="78c16" class="tk">rt_sqrt_Us16En12_Ys16E_cQn1iwAF</a>(<a id="78c48" class="tk">int16_T</a> <a id="78c56" class="tk">u</a>);</td></tr>
+<td><a id="l78" class='ln'>78</a></td><td><span class="kw">extern</span> <a id="78c8" class="tk">int16_T</a> <a id="78c16" class="tk">rt_sqrt_Us32En10_Ys16E_7VJYwqF9</a>(<a id="78c48" class="tk">int32_T</a> <a id="78c56" class="tk">u</a>);</td></tr>
 <tr name="79" id="79">
-<td><a id="l79" class='ln'>79</a></td><td><span class="kw">static</span> <a id="79c8" class="tk">uint16_T</a> <a id="79c17" class="tk">plook_u16s16_evencka</a>(<a id="79c38" class="tk">int16_T</a> <a id="79c46" class="tk">u</a>, <a id="79c49" class="tk">int16_T</a> <a id="79c57" class="tk">bp0</a>, <a id="79c62" class="tk">uint16_T</a> <a id="79c71" class="tk">bpSpace</a>,</td></tr>
+<td><a id="l79" class='ln'>79</a></td><td><span class="kw">extern</span> <a id="79c8" class="tk">uint16_T</a> <a id="79c17" class="tk">rt_sqrt_Uu16En14_Yu16E_WMwW1mku</a>(<a id="79c49" class="tk">uint16_T</a> <a id="79c58" class="tk">u</a>);</td></tr>
 <tr name="80" id="80">
-<td><a id="l80" class='ln'>80</a></td><td>  <a id="80c3" class="tk">uint32_T</a> <a id="80c12" class="tk">maxIndex</a>);</td></tr>
+<td><a id="l80" class='ln'>80</a></td><td><a id="80c1" class="tk">uint16_T</a> <a id="80c10" class="tk">plook_u16s16_evencka</a>(<a id="80c31" class="tk">int16_T</a> <a id="80c39" class="tk">u</a>, <a id="80c42" class="tk">int16_T</a> <a id="80c50" class="tk">bp0</a>, <a id="80c55" class="tk">uint16_T</a> <a id="80c64" class="tk">bpSpace</a>, <a id="80c73" class="tk">uint32_T</a></td></tr>
 <tr name="81" id="81">
-<td><a id="l81" class='ln'>81</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="81c13" class="tk">Counter_Init</a>(<a id="81c26" class="tk">DW_Counter</a> <a id="81c37" class="tk">*</a><a id="81c38" class="tk">localDW</a>, <a id="81c47" class="tk">uint16_T</a> <a id="81c56" class="tk">rtp_z_cntInit</a>);</td></tr>
+<td><a id="l81" class='ln'>81</a></td><td>  <a id="81c3" class="tk">maxIndex</a>);</td></tr>
 <tr name="82" id="82">
-<td><a id="l82" class='ln'>82</a></td><td><span class="kw">static</span> <a id="82c8" class="tk">uint16_T</a> <a id="82c17" class="tk">Counter</a>(<a id="82c25" class="tk">uint16_T</a> <a id="82c34" class="tk">rtu_inc</a>, <a id="82c43" class="tk">uint16_T</a> <a id="82c52" class="tk">rtu_max</a>, <a id="82c61" class="tk">boolean_T</a> <a id="82c71" class="tk">rtu_rst</a>,</td></tr>
+<td><a id="l82" class='ln'>82</a></td><td><span class="kw">extern</span> <span class="kw">void</span> <a id="82c13" class="tk">Low_Pass_Filter</a>(<span class="kw">const</span> <a id="82c35" class="tk">int16_T</a> <a id="82c43" class="tk">rtu_u</a>[2], <a id="82c53" class="tk">uint16_T</a> <a id="82c62" class="tk">rtu_coef</a>, <a id="82c72" class="tk">int16_T</a></td></tr>
 <tr name="83" id="83">
-<td><a id="l83" class='ln'>83</a></td><td>  <a id="83c3" class="tk">DW_Counter</a> <a id="83c14" class="tk">*</a><a id="83c15" class="tk">localDW</a>);</td></tr>
+<td><a id="l83" class='ln'>83</a></td><td>  <a id="83c3" class="tk">rty_y</a>[2], <a id="83c13" class="tk">DW_Low_Pass_Filter</a> <a id="83c32" class="tk">*</a><a id="83c33" class="tk">localDW</a>);</td></tr>
 <tr name="84" id="84">
-<td><a id="l84" class='ln'>84</a></td><td><span class="kw">static</span> <a id="84c8" class="tk">boolean_T</a> <a id="84c18" class="tk">either_edge</a>(<a id="84c30" class="tk">boolean_T</a> <a id="84c40" class="tk">rtu_u</a>, <a id="84c47" class="tk">DW_either_edge</a> <a id="84c62" class="tk">*</a><a id="84c63" class="tk">localDW</a>);</td></tr>
+<td><a id="l84" class='ln'>84</a></td><td><span class="kw">extern</span> <span class="kw">void</span> <a id="84c13" class="tk">PI_backCalc_fixdt_Init</a>(<a id="84c36" class="tk">DW_PI_backCalc_fixdt</a> <a id="84c57" class="tk">*</a><a id="84c58" class="tk">localDW</a>);</td></tr>
 <tr name="85" id="85">
-<td><a id="l85" class='ln'>85</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="85c13" class="tk">Debounce_Filter_Init</a>(<a id="85c34" class="tk">DW_Debounce_Filter</a> <a id="85c53" class="tk">*</a><a id="85c54" class="tk">localDW</a>);</td></tr>
+<td><a id="l85" class='ln'>85</a></td><td><span class="kw">extern</span> <a id="85c8" class="tk">int32_T</a> <a id="85c16" class="tk">PI_backCalc_fixdt</a>(<a id="85c34" class="tk">int32_T</a> <a id="85c42" class="tk">rtu_err</a>, <a id="85c51" class="tk">int16_T</a> <a id="85c59" class="tk">rtu_P</a>, <a id="85c66" class="tk">int16_T</a> <a id="85c74" class="tk">rtu_I</a>,</td></tr>
 <tr name="86" id="86">
-<td><a id="l86" class='ln'>86</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="86c13" class="tk">Debounce_Filter</a>(<a id="86c29" class="tk">boolean_T</a> <a id="86c39" class="tk">rtu_u</a>, <a id="86c46" class="tk">uint16_T</a> <a id="86c55" class="tk">rtu_tAcv</a>, <a id="86c65" class="tk">uint16_T</a></td></tr>
+<td><a id="l86" class='ln'>86</a></td><td>  <a id="86c3" class="tk">int16_T</a> <a id="86c11" class="tk">rtu_Kb</a>, <a id="86c19" class="tk">int16_T</a> <a id="86c27" class="tk">rtu_satMax</a>, <a id="86c39" class="tk">int16_T</a> <a id="86c47" class="tk">rtu_satMin</a>, <a id="86c59" class="tk">int16_T</a> <a id="86c67" class="tk">rtu_init</a>,</td></tr>
 <tr name="87" id="87">
-<td><a id="l87" class='ln'>87</a></td><td>  <a id="87c3" class="tk">rtu_tDeacv</a>, <a id="87c15" class="tk">boolean_T</a> <a id="87c25" class="tk">*</a><a id="87c26" class="tk">rty_y</a>, <a id="87c33" class="tk">DW_Debounce_Filter</a> <a id="87c52" class="tk">*</a><a id="87c53" class="tk">localDW</a>);</td></tr>
+<td><a id="l87" class='ln'>87</a></td><td>  <a id="87c3" class="tk">uint8_T</a> <a id="87c11" class="tk">rtu_reset</a>, <a id="87c22" class="tk">DW_PI_backCalc_fixdt</a> <a id="87c43" class="tk">*</a><a id="87c44" class="tk">localDW</a>, <a id="87c53" class="tk">ZCE_PI_backCalc_fixdt</a></td></tr>
 <tr name="88" id="88">
-<td><a id="l88" class='ln'>88</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="88c13" class="tk">Low_Pass_Filter</a>(<span class="kw">const</span> <a id="88c35" class="tk">int16_T</a> <a id="88c43" class="tk">rtu_u</a>[2], <a id="88c53" class="tk">uint16_T</a> <a id="88c62" class="tk">rtu_coef</a>, <a id="88c72" class="tk">int16_T</a></td></tr>
+<td><a id="l88" class='ln'>88</a></td><td>  <a id="88c3" class="tk">*</a><a id="88c4" class="tk">localZCE</a>);</td></tr>
 <tr name="89" id="89">
-<td><a id="l89" class='ln'>89</a></td><td>  <a id="89c3" class="tk">rty_y</a>[2], <a id="89c13" class="tk">DW_Low_Pass_Filter</a> <a id="89c32" class="tk">*</a><a id="89c33" class="tk">localDW</a>);</td></tr>
+<td><a id="l89" class='ln'>89</a></td><td><span class="kw">extern</span> <span class="kw">void</span> <a id="89c13" class="tk">PI_backCalc_fixdt_p_Init</a>(<a id="89c38" class="tk">DW_PI_backCalc_fixdt_i</a> <a id="89c61" class="tk">*</a><a id="89c62" class="tk">localDW</a>);</td></tr>
 <tr name="90" id="90">
-<td><a id="l90" class='ln'>90</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="90c13" class="tk">PI_backCalc_fixdt_Init</a>(<a id="90c36" class="tk">DW_PI_backCalc_fixdt</a> <a id="90c57" class="tk">*</a><a id="90c58" class="tk">localDW</a>);</td></tr>
+<td><a id="l90" class='ln'>90</a></td><td><span class="kw">extern</span> <a id="90c8" class="tk">int32_T</a> <a id="90c16" class="tk">PI_backCalc_fixdt_o</a>(<a id="90c36" class="tk">int16_T</a> <a id="90c44" class="tk">rtu_err</a>, <a id="90c53" class="tk">int16_T</a> <a id="90c61" class="tk">rtu_P</a>, <a id="90c68" class="tk">int16_T</a> <a id="90c76" class="tk">rtu_I</a>,</td></tr>
 <tr name="91" id="91">
-<td><a id="l91" class='ln'>91</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="91c13" class="tk">PI_backCalc_fixdt</a>(<a id="91c31" class="tk">int16_T</a> <a id="91c39" class="tk">rtu_err</a>, <a id="91c48" class="tk">int16_T</a> <a id="91c56" class="tk">rtu_P</a>, <a id="91c63" class="tk">int16_T</a> <a id="91c71" class="tk">rtu_I</a>,</td></tr>
+<td><a id="l91" class='ln'>91</a></td><td>  <a id="91c3" class="tk">int16_T</a> <a id="91c11" class="tk">rtu_Kb</a>, <a id="91c19" class="tk">int16_T</a> <a id="91c27" class="tk">rtu_satMax</a>, <a id="91c39" class="tk">int16_T</a> <a id="91c47" class="tk">rtu_satMin</a>, <a id="91c59" class="tk">int16_T</a> <a id="91c67" class="tk">rtu_init</a>,</td></tr>
 <tr name="92" id="92">
-<td><a id="l92" class='ln'>92</a></td><td>  <a id="92c3" class="tk">int16_T</a> <a id="92c11" class="tk">rtu_Kb</a>, <a id="92c19" class="tk">int16_T</a> <a id="92c27" class="tk">rtu_satMax</a>, <a id="92c39" class="tk">int16_T</a> <a id="92c47" class="tk">rtu_satMin</a>, <a id="92c59" class="tk">int16_T</a></td></tr>
+<td><a id="l92" class='ln'>92</a></td><td>  <a id="92c3" class="tk">uint8_T</a> <a id="92c11" class="tk">rtu_reset</a>, <a id="92c22" class="tk">DW_PI_backCalc_fixdt_i</a> <a id="92c45" class="tk">*</a><a id="92c46" class="tk">localDW</a>, <a id="92c55" class="tk">ZCE_PI_backCalc_fixdt_e</a></td></tr>
 <tr name="93" id="93">
-<td><a id="l93" class='ln'>93</a></td><td>  <a id="93c3" class="tk">rtu_ext_limProt</a>, <a id="93c20" class="tk">uint8_T</a> <a id="93c28" class="tk">rtu_reset</a>, <a id="93c39" class="tk">int16_T</a> <a id="93c47" class="tk">*</a><a id="93c48" class="tk">rty_pi_out</a>, <span class="kw">const</span></td></tr>
+<td><a id="l93" class='ln'>93</a></td><td>  <a id="93c3" class="tk">*</a><a id="93c4" class="tk">localZCE</a>);</td></tr>
 <tr name="94" id="94">
-<td><a id="l94" class='ln'>94</a></td><td>  <a id="94c3" class="tk">ConstB_PI_backCalc_fixdt</a> <a id="94c28" class="tk">*</a><a id="94c29" class="tk">localC</a>, <a id="94c37" class="tk">DW_PI_backCalc_fixdt</a> <a id="94c58" class="tk">*</a><a id="94c59" class="tk">localDW</a>,</td></tr>
+<td><a id="l94" class='ln'>94</a></td><td><span class="kw">extern</span> <span class="kw">void</span> <a id="94c13" class="tk">RateInit</a>(<a id="94c22" class="tk">int16_T</a> <a id="94c30" class="tk">rtu_initVal</a>, <a id="94c43" class="tk">int16_T</a> <a id="94c51" class="tk">rtu_target</a>, <a id="94c63" class="tk">int16_T</a> <a id="94c71" class="tk">rtu_step</a>,</td></tr>
 <tr name="95" id="95">
-<td><a id="l95" class='ln'>95</a></td><td>  <a id="95c3" class="tk">ZCE_PI_backCalc_fixdt</a> <a id="95c25" class="tk">*</a><a id="95c26" class="tk">localZCE</a>);</td></tr>
+<td><a id="l95" class='ln'>95</a></td><td>                     <a id="95c22" class="tk">int16_T</a> <a id="95c30" class="tk">*</a><a id="95c31" class="tk">rty_s_step</a>, <a id="95c43" class="tk">int16_T</a> <a id="95c51" class="tk">*</a><a id="95c52" class="tk">rty_High</a>, <a id="95c62" class="tk">int16_T</a> <a id="95c70" class="tk">*</a><a id="95c71" class="tk">rty_Low</a>);</td></tr>
 <tr name="96" id="96">
-<td><a id="l96" class='ln'>96</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="96c13" class="tk">pi_speed_Init</a>(<a id="96c27" class="tk">DW_pi_speed</a> <a id="96c39" class="tk">*</a><a id="96c40" class="tk">localDW</a>);</td></tr>
+<td><a id="l96" class='ln'>96</a></td><td><a id="96c1" class="tk">uint16_T</a> <a id="96c10" class="tk">plook_u16s16_evencka</a>(<a id="96c31" class="tk">int16_T</a> <a id="96c39" class="tk">u</a>, <a id="96c42" class="tk">int16_T</a> <a id="96c50" class="tk">bp0</a>, <a id="96c55" class="tk">uint16_T</a> <a id="96c64" class="tk">bpSpace</a>, <a id="96c73" class="tk">uint32_T</a></td></tr>
 <tr name="97" id="97">
-<td><a id="l97" class='ln'>97</a></td><td><span class="kw">static</span> <a id="97c8" class="tk">int16_T</a> <a id="97c16" class="tk">pi_speed</a>(<a id="97c25" class="tk">int16_T</a> <a id="97c33" class="tk">rtu_err</a>, <a id="97c42" class="tk">int16_T</a> <a id="97c50" class="tk">rtu_P</a>, <a id="97c57" class="tk">int16_T</a> <a id="97c65" class="tk">rtu_I</a>, <a id="97c72" class="tk">int16_T</a></td></tr>
+<td><a id="l97" class='ln'>97</a></td><td>  <a id="97c3" class="tk">maxIndex</a>)</td></tr>
 <tr name="98" id="98">
-<td><a id="l98" class='ln'>98</a></td><td>  <a id="98c3" class="tk">rtu_Kb</a>, <a id="98c11" class="tk">int16_T</a> <a id="98c19" class="tk">rtu_satMax</a>, <a id="98c31" class="tk">int16_T</a> <a id="98c39" class="tk">rtu_satMin</a>, <a id="98c51" class="tk">int16_T</a> <a id="98c59" class="tk">rtu_ext_limProt</a>,</td></tr>
+<td><a id="l98" class='ln'>98</a></td><td><span class="br">{</span></td></tr>
 <tr name="99" id="99">
-<td><a id="l99" class='ln'>99</a></td><td>  <a id="99c3" class="tk">int16_T</a> <a id="99c11" class="tk">rtu_init</a>, <a id="99c21" class="tk">uint8_T</a> <a id="99c29" class="tk">rtu_reset</a>, <a id="99c40" class="tk">DW_pi_speed</a> <a id="99c52" class="tk">*</a><a id="99c53" class="tk">localDW</a>, <a id="99c62" class="tk">ZCE_pi_speed</a></td></tr>
+<td><a id="l99" class='ln'>99</a></td><td>  <a id="99c3" class="tk">uint16_T</a> <a id="99c12" class="tk">bpIndex</a>;</td></tr>
 <tr name="100" id="100">
-<td><a id="l100" class='ln'>100</a></td><td>  <a id="100c3" class="tk">*</a><a id="100c4" class="tk">localZCE</a>);</td></tr>
+<td><a id="l100" class='ln'>100</a></td><td></td></tr>
 <tr name="101" id="101">
-<td><a id="l101" class='ln'>101</a></td><td><span class="kw">static</span> <a id="101c8" class="tk">uint16_T</a> <a id="101c17" class="tk">plook_u16s16_evencka</a>(<a id="101c38" class="tk">int16_T</a> <a id="101c46" class="tk">u</a>, <a id="101c49" class="tk">int16_T</a> <a id="101c57" class="tk">bp0</a>, <a id="101c62" class="tk">uint16_T</a> <a id="101c71" class="tk">bpSpace</a>,</td></tr>
+<td><a id="l101" class='ln'>101</a></td><td>  <span class="ct">/* Prelookup - Index only</span></td></tr>
 <tr name="102" id="102">
-<td><a id="l102" class='ln'>102</a></td><td>  <a id="102c3" class="tk">uint32_T</a> <a id="102c12" class="tk">maxIndex</a>)</td></tr>
+<td><a id="l102" class='ln'>102</a></td><td><span class="ct">     Index Search method: 'even'</span></td></tr>
 <tr name="103" id="103">
-<td><a id="l103" class='ln'>103</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l103" class='ln'>103</a></td><td><span class="ct">     Extrapolation method: 'Clip'</span></td></tr>
 <tr name="104" id="104">
-<td><a id="l104" class='ln'>104</a></td><td>  <a id="104c3" class="tk">uint16_T</a> <a id="104c12" class="tk">bpIndex</a>;</td></tr>
+<td><a id="l104" class='ln'>104</a></td><td><span class="ct">     Use previous index: 'off'</span></td></tr>
 <tr name="105" id="105">
-<td><a id="l105" class='ln'>105</a></td><td></td></tr>
+<td><a id="l105" class='ln'>105</a></td><td><span class="ct">     Use last breakpoint for index at or above upper limit: 'on'</span></td></tr>
 <tr name="106" id="106">
-<td><a id="l106" class='ln'>106</a></td><td>  <span class="ct">/* Prelookup - Index only</span></td></tr>
+<td><a id="l106" class='ln'>106</a></td><td><span class="ct">     Remove protection against out-of-range input in generated code: 'off'</span></td></tr>
 <tr name="107" id="107">
-<td><a id="l107" class='ln'>107</a></td><td><span class="ct">     Index Search method: 'even'</span></td></tr>
+<td><a id="l107" class='ln'>107</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="108" id="108">
-<td><a id="l108" class='ln'>108</a></td><td><span class="ct">     Extrapolation method: 'Clip'</span></td></tr>
+<td><a id="l108" class='ln'>108</a></td><td>  <span class="kw">if</span> (<a id="108c7" class="tk">u</a> <a id="108c9" class="tk">&lt;=</a> <a id="108c12" class="tk">bp0</a>) <span class="br">{</span></td></tr>
 <tr name="109" id="109">
-<td><a id="l109" class='ln'>109</a></td><td><span class="ct">     Use previous index: 'off'</span></td></tr>
+<td><a id="l109" class='ln'>109</a></td><td>    <a id="109c5" class="tk">bpIndex</a> = 0U;</td></tr>
 <tr name="110" id="110">
-<td><a id="l110" class='ln'>110</a></td><td><span class="ct">     Use last breakpoint for index at or above upper limit: 'on'</span></td></tr>
+<td><a id="l110" class='ln'>110</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="111" id="111">
-<td><a id="l111" class='ln'>111</a></td><td><span class="ct">     Remove protection against out-of-range input in generated code: 'off'</span></td></tr>
+<td><a id="l111" class='ln'>111</a></td><td>    <a id="111c5" class="tk">bpIndex</a> = (<a id="111c16" class="tk">uint16_T</a>)((<a id="111c27" class="tk">uint32_T</a>)(<a id="111c37" class="tk">uint16_T</a>)(<a id="111c47" class="tk">u</a> <a id="111c49" class="tk">-</a> <a id="111c51" class="tk">bp0</a>) <a id="111c56" class="tk">/</a> <a id="111c58" class="tk">bpSpace</a>);</td></tr>
 <tr name="112" id="112">
-<td><a id="l112" class='ln'>112</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l112" class='ln'>112</a></td><td>    <span class="kw">if</span> (<a id="112c9" class="tk">bpIndex</a> <a id="112c17" class="tk">&lt;</a> <a id="112c19" class="tk">maxIndex</a>) <span class="br">{</span></td></tr>
 <tr name="113" id="113">
-<td><a id="l113" class='ln'>113</a></td><td>  <span class="kw">if</span> (<a id="113c7" class="tk">u</a> <a id="113c9" class="tk">&lt;=</a> <a id="113c12" class="tk">bp0</a>) <span class="br">{</span></td></tr>
+<td><a id="l113" class='ln'>113</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="114" id="114">
-<td><a id="l114" class='ln'>114</a></td><td>    <a id="114c5" class="tk">bpIndex</a> = 0U;</td></tr>
+<td><a id="l114" class='ln'>114</a></td><td>      <a id="114c7" class="tk">bpIndex</a> = (<a id="114c18" class="tk">uint16_T</a>)<a id="114c27" class="tk">maxIndex</a>;</td></tr>
 <tr name="115" id="115">
-<td><a id="l115" class='ln'>115</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l115" class='ln'>115</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="116" id="116">
-<td><a id="l116" class='ln'>116</a></td><td>    <a id="116c5" class="tk">bpIndex</a> = (<a id="116c16" class="tk">uint16_T</a>)((<a id="116c27" class="tk">uint32_T</a>)(<a id="116c37" class="tk">uint16_T</a>)(<a id="116c47" class="tk">u</a> <a id="116c49" class="tk">-</a> <a id="116c51" class="tk">bp0</a>) <a id="116c56" class="tk">/</a> <a id="116c58" class="tk">bpSpace</a>);</td></tr>
+<td><a id="l116" class='ln'>116</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="117" id="117">
-<td><a id="l117" class='ln'>117</a></td><td>    <span class="kw">if</span> (<a id="117c9" class="tk">bpIndex</a> <a id="117c17" class="tk">&lt;</a> <a id="117c19" class="tk">maxIndex</a>) <span class="br">{</span></td></tr>
+<td><a id="l117" class='ln'>117</a></td><td></td></tr>
 <tr name="118" id="118">
-<td><a id="l118" class='ln'>118</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l118" class='ln'>118</a></td><td>  <span class="kw">return</span> <a id="118c10" class="tk">bpIndex</a>;</td></tr>
 <tr name="119" id="119">
-<td><a id="l119" class='ln'>119</a></td><td>      <a id="119c7" class="tk">bpIndex</a> = (<a id="119c18" class="tk">uint16_T</a>)<a id="119c27" class="tk">maxIndex</a>;</td></tr>
+<td><a id="l119" class='ln'>119</a></td><td><span class="br">}</span></td></tr>
 <tr name="120" id="120">
-<td><a id="l120" class='ln'>120</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l120" class='ln'>120</a></td><td></td></tr>
 <tr name="121" id="121">
-<td><a id="l121" class='ln'>121</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l121" class='ln'>121</a></td><td><span class="ct">/*</span></td></tr>
 <tr name="122" id="122">
-<td><a id="l122" class='ln'>122</a></td><td></td></tr>
+<td><a id="l122" class='ln'>122</a></td><td><span class="ct"> * Output and update for atomic system:</span></td></tr>
 <tr name="123" id="123">
-<td><a id="l123" class='ln'>123</a></td><td>  <span class="kw">return</span> <a id="123c10" class="tk">bpIndex</a>;</td></tr>
+<td><a id="l123" class='ln'>123</a></td><td><span class="ct"> *    '&lt;S48&gt;/Low_Pass_Filter'</span></td></tr>
 <tr name="124" id="124">
-<td><a id="l124" class='ln'>124</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l124" class='ln'>124</a></td><td><span class="ct"> *    '&lt;S6&gt;/Low_Pass_Filter'</span></td></tr>
 <tr name="125" id="125">
-<td><a id="l125" class='ln'>125</a></td><td></td></tr>
+<td><a id="l125" class='ln'>125</a></td><td><span class="ct"> */</span></td></tr>
 <tr name="126" id="126">
-<td><a id="l126" class='ln'>126</a></td><td><span class="ct">/*</span></td></tr>
+<td><a id="l126" class='ln'>126</a></td><td><span class="kw">void</span> <a id="126c6" class="tk">Low_Pass_Filter</a>(<span class="kw">const</span> <a id="126c28" class="tk">int16_T</a> <a id="126c36" class="tk">rtu_u</a>[2], <a id="126c46" class="tk">uint16_T</a> <a id="126c55" class="tk">rtu_coef</a>, <a id="126c65" class="tk">int16_T</a> <a id="126c73" class="tk">rty_y</a>[2],</td></tr>
 <tr name="127" id="127">
-<td><a id="l127" class='ln'>127</a></td><td><span class="ct"> * System initialize for atomic system:</span></td></tr>
+<td><a id="l127" class='ln'>127</a></td><td>                     <a id="127c22" class="tk">DW_Low_Pass_Filter</a> <a id="127c41" class="tk">*</a><a id="127c42" class="tk">localDW</a>)</td></tr>
 <tr name="128" id="128">
-<td><a id="l128" class='ln'>128</a></td><td><span class="ct"> *    '&lt;S40&gt;/Counter'</span></td></tr>
+<td><a id="l128" class='ln'>128</a></td><td><span class="br">{</span></td></tr>
 <tr name="129" id="129">
-<td><a id="l129" class='ln'>129</a></td><td><span class="ct"> *    '&lt;S39&gt;/Counter'</span></td></tr>
+<td><a id="l129" class='ln'>129</a></td><td>  <a id="129c3" class="tk">int32_T</a> <a id="129c11" class="tk">rtb_Sum3_m</a>;</td></tr>
 <tr name="130" id="130">
-<td><a id="l130" class='ln'>130</a></td><td><span class="ct"> */</span></td></tr>
+<td><a id="l130" class='ln'>130</a></td><td></td></tr>
 <tr name="131" id="131">
-<td><a id="l131" class='ln'>131</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="131c13" class="tk">Counter_Init</a>(<a id="131c26" class="tk">DW_Counter</a> <a id="131c37" class="tk">*</a><a id="131c38" class="tk">localDW</a>, <a id="131c47" class="tk">uint16_T</a> <a id="131c56" class="tk">rtp_z_cntInit</a>)</td></tr>
+<td><a id="l131" class='ln'>131</a></td><td>  <span class="ct">/* Sum: '&lt;S57&gt;/Sum2' incorporates:</span></td></tr>
 <tr name="132" id="132">
-<td><a id="l132" class='ln'>132</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l132" class='ln'>132</a></td><td><span class="ct">   *  UnitDelay: '&lt;S57&gt;/UnitDelay1'</span></td></tr>
 <tr name="133" id="133">
-<td><a id="l133" class='ln'>133</a></td><td>  <span class="ct">/* InitializeConditions for UnitDelay: '&lt;S45&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l133" class='ln'>133</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="134" id="134">
-<td><a id="l134" class='ln'>134</a></td><td>  <a id="134c3" class="tk">localDW</a>-&gt;<a id="134c12" class="tk">UnitDelay_DSTATE</a> = <a id="134c31" class="tk">rtp_z_cntInit</a>;</td></tr>
+<td><a id="l134" class='ln'>134</a></td><td>  <a id="134c3" class="tk">rtb_Sum3_m</a> = <a id="134c16" class="tk">rtu_u</a>[0] <a id="134c25" class="tk">-</a> (<a id="134c28" class="tk">localDW</a>-&gt;<a id="134c37" class="tk">UnitDelay1_DSTATE</a>[0] <a id="134c58" class="tk">&gt;&gt;</a> 16);</td></tr>
 <tr name="135" id="135">
-<td><a id="l135" class='ln'>135</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l135" class='ln'>135</a></td><td>  <span class="kw">if</span> (<a id="135c7" class="tk">rtb_Sum3_m</a> <a id="135c18" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="136" id="136">
-<td><a id="l136" class='ln'>136</a></td><td></td></tr>
+<td><a id="l136" class='ln'>136</a></td><td>    <a id="136c5" class="tk">rtb_Sum3_m</a> = 32767;</td></tr>
 <tr name="137" id="137">
-<td><a id="l137" class='ln'>137</a></td><td><span class="ct">/*</span></td></tr>
+<td><a id="l137" class='ln'>137</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="138" id="138">
-<td><a id="l138" class='ln'>138</a></td><td><span class="ct"> * Output and update for atomic system:</span></td></tr>
+<td><a id="l138" class='ln'>138</a></td><td>    <span class="kw">if</span> (<a id="138c9" class="tk">rtb_Sum3_m</a> <a id="138c20" class="tk">&lt;</a> <a id="138c22" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="139" id="139">
-<td><a id="l139" class='ln'>139</a></td><td><span class="ct"> *    '&lt;S40&gt;/Counter'</span></td></tr>
+<td><a id="l139" class='ln'>139</a></td><td>      <a id="139c7" class="tk">rtb_Sum3_m</a> = <a id="139c20" class="tk">-</a>32768;</td></tr>
 <tr name="140" id="140">
-<td><a id="l140" class='ln'>140</a></td><td><span class="ct"> *    '&lt;S39&gt;/Counter'</span></td></tr>
+<td><a id="l140" class='ln'>140</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="141" id="141">
-<td><a id="l141" class='ln'>141</a></td><td><span class="ct"> */</span></td></tr>
+<td><a id="l141" class='ln'>141</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="142" id="142">
-<td><a id="l142" class='ln'>142</a></td><td><span class="kw">static</span> <a id="142c8" class="tk">uint16_T</a> <a id="142c17" class="tk">Counter</a>(<a id="142c25" class="tk">uint16_T</a> <a id="142c34" class="tk">rtu_inc</a>, <a id="142c43" class="tk">uint16_T</a> <a id="142c52" class="tk">rtu_max</a>, <a id="142c61" class="tk">boolean_T</a> <a id="142c71" class="tk">rtu_rst</a>,</td></tr>
+<td><a id="l142" class='ln'>142</a></td><td></td></tr>
 <tr name="143" id="143">
-<td><a id="l143" class='ln'>143</a></td><td>  <a id="143c3" class="tk">DW_Counter</a> <a id="143c14" class="tk">*</a><a id="143c15" class="tk">localDW</a>)</td></tr>
+<td><a id="l143" class='ln'>143</a></td><td>  <a id="143c3" class="tk">rty_y</a>[0] = (<a id="143c15" class="tk">int16_T</a>)<a id="143c23" class="tk">rtb_Sum3_m</a>;</td></tr>
 <tr name="144" id="144">
-<td><a id="l144" class='ln'>144</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l144" class='ln'>144</a></td><td></td></tr>
 <tr name="145" id="145">
-<td><a id="l145" class='ln'>145</a></td><td>  <a id="145c3" class="tk">uint16_T</a> <a id="145c12" class="tk">rty_cnt_0</a>;</td></tr>
+<td><a id="l145" class='ln'>145</a></td><td>  <span class="ct">/* Sum: '&lt;S57&gt;/Sum3' incorporates:</span></td></tr>
 <tr name="146" id="146">
-<td><a id="l146" class='ln'>146</a></td><td>  <a id="146c3" class="tk">uint16_T</a> <a id="146c12" class="tk">rtu_rst_0</a>;</td></tr>
+<td><a id="l146" class='ln'>146</a></td><td><span class="ct">   *  Product: '&lt;S57&gt;/Divide3'</span></td></tr>
 <tr name="147" id="147">
-<td><a id="l147" class='ln'>147</a></td><td></td></tr>
+<td><a id="l147" class='ln'>147</a></td><td><span class="ct">   *  UnitDelay: '&lt;S57&gt;/UnitDelay1'</span></td></tr>
 <tr name="148" id="148">
-<td><a id="l148" class='ln'>148</a></td><td>  <span class="ct">/* Switch: '&lt;S45&gt;/Switch1' incorporates:</span></td></tr>
+<td><a id="l148" class='ln'>148</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="149" id="149">
-<td><a id="l149" class='ln'>149</a></td><td><span class="ct">   *  Constant: '&lt;S45&gt;/Constant23'</span></td></tr>
+<td><a id="l149" class='ln'>149</a></td><td>  <a id="149c3" class="tk">rtb_Sum3_m</a> = <a id="149c16" class="tk">rtu_coef</a> <a id="149c25" class="tk">*</a> <a id="149c27" class="tk">rty_y</a>[0] <a id="149c36" class="tk">+</a> <a id="149c38" class="tk">localDW</a>-&gt;<a id="149c47" class="tk">UnitDelay1_DSTATE</a>[0];</td></tr>
 <tr name="150" id="150">
-<td><a id="l150" class='ln'>150</a></td><td><span class="ct">   *  UnitDelay: '&lt;S45&gt;/UnitDelay'</span></td></tr>
+<td><a id="l150" class='ln'>150</a></td><td></td></tr>
 <tr name="151" id="151">
-<td><a id="l151" class='ln'>151</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l151" class='ln'>151</a></td><td>  <span class="ct">/* DataTypeConversion: '&lt;S57&gt;/Data Type Conversion' */</span></td></tr>
 <tr name="152" id="152">
-<td><a id="l152" class='ln'>152</a></td><td>  <span class="kw">if</span> (<a id="152c7" class="tk">rtu_rst</a>) <span class="br">{</span></td></tr>
+<td><a id="l152" class='ln'>152</a></td><td>  <a id="152c3" class="tk">rty_y</a>[0] = (<a id="152c15" class="tk">int16_T</a>)(<a id="152c24" class="tk">rtb_Sum3_m</a> <a id="152c35" class="tk">&gt;&gt;</a> 16);</td></tr>
 <tr name="153" id="153">
-<td><a id="l153" class='ln'>153</a></td><td>    <a id="153c5" class="tk">rtu_rst_0</a> = 0U;</td></tr>
+<td><a id="l153" class='ln'>153</a></td><td></td></tr>
 <tr name="154" id="154">
-<td><a id="l154" class='ln'>154</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l154" class='ln'>154</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S57&gt;/UnitDelay1' */</span></td></tr>
 <tr name="155" id="155">
-<td><a id="l155" class='ln'>155</a></td><td>    <a id="155c5" class="tk">rtu_rst_0</a> = <a id="155c17" class="tk">localDW</a>-&gt;<a id="155c26" class="tk">UnitDelay_DSTATE</a>;</td></tr>
+<td><a id="l155" class='ln'>155</a></td><td>  <a id="155c3" class="tk">localDW</a>-&gt;<a id="155c12" class="tk">UnitDelay1_DSTATE</a>[0] = <a id="155c35" class="tk">rtb_Sum3_m</a>;</td></tr>
 <tr name="156" id="156">
-<td><a id="l156" class='ln'>156</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l156" class='ln'>156</a></td><td></td></tr>
 <tr name="157" id="157">
-<td><a id="l157" class='ln'>157</a></td><td></td></tr>
+<td><a id="l157" class='ln'>157</a></td><td>  <span class="ct">/* Sum: '&lt;S57&gt;/Sum2' incorporates:</span></td></tr>
 <tr name="158" id="158">
-<td><a id="l158" class='ln'>158</a></td><td>  <span class="ct">/* End of Switch: '&lt;S45&gt;/Switch1' */</span></td></tr>
+<td><a id="l158" class='ln'>158</a></td><td><span class="ct">   *  UnitDelay: '&lt;S57&gt;/UnitDelay1'</span></td></tr>
 <tr name="159" id="159">
-<td><a id="l159" class='ln'>159</a></td><td></td></tr>
+<td><a id="l159" class='ln'>159</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="160" id="160">
-<td><a id="l160" class='ln'>160</a></td><td>  <span class="ct">/* Sum: '&lt;S44&gt;/Sum1' */</span></td></tr>
+<td><a id="l160" class='ln'>160</a></td><td>  <a id="160c3" class="tk">rtb_Sum3_m</a> = <a id="160c16" class="tk">rtu_u</a>[1] <a id="160c25" class="tk">-</a> (<a id="160c28" class="tk">localDW</a>-&gt;<a id="160c37" class="tk">UnitDelay1_DSTATE</a>[1] <a id="160c58" class="tk">&gt;&gt;</a> 16);</td></tr>
 <tr name="161" id="161">
-<td><a id="l161" class='ln'>161</a></td><td>  <a id="161c3" class="tk">rty_cnt_0</a> = (<a id="161c16" class="tk">uint16_T</a>)((<a id="161c27" class="tk">uint32_T</a>)<a id="161c36" class="tk">rtu_inc</a> <a id="161c44" class="tk">+</a> <a id="161c46" class="tk">rtu_rst_0</a>);</td></tr>
+<td><a id="l161" class='ln'>161</a></td><td>  <span class="kw">if</span> (<a id="161c7" class="tk">rtb_Sum3_m</a> <a id="161c18" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="162" id="162">
-<td><a id="l162" class='ln'>162</a></td><td></td></tr>
+<td><a id="l162" class='ln'>162</a></td><td>    <a id="162c5" class="tk">rtb_Sum3_m</a> = 32767;</td></tr>
 <tr name="163" id="163">
-<td><a id="l163" class='ln'>163</a></td><td>  <span class="ct">/* MinMax: '&lt;S44&gt;/MinMax' */</span></td></tr>
+<td><a id="l163" class='ln'>163</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="164" id="164">
-<td><a id="l164" class='ln'>164</a></td><td>  <span class="kw">if</span> (<a id="164c7" class="tk">rty_cnt_0</a> <a id="164c17" class="tk">&lt;</a> <a id="164c19" class="tk">rtu_max</a>) <span class="br">{</span></td></tr>
+<td><a id="l164" class='ln'>164</a></td><td>    <span class="kw">if</span> (<a id="164c9" class="tk">rtb_Sum3_m</a> <a id="164c20" class="tk">&lt;</a> <a id="164c22" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="165" id="165">
-<td><a id="l165" class='ln'>165</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S45&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l165" class='ln'>165</a></td><td>      <a id="165c7" class="tk">rtb_Sum3_m</a> = <a id="165c20" class="tk">-</a>32768;</td></tr>
 <tr name="166" id="166">
-<td><a id="l166" class='ln'>166</a></td><td>    <a id="166c5" class="tk">localDW</a>-&gt;<a id="166c14" class="tk">UnitDelay_DSTATE</a> = <a id="166c33" class="tk">rty_cnt_0</a>;</td></tr>
+<td><a id="l166" class='ln'>166</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="167" id="167">
-<td><a id="l167" class='ln'>167</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l167" class='ln'>167</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="168" id="168">
-<td><a id="l168" class='ln'>168</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S45&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l168" class='ln'>168</a></td><td></td></tr>
 <tr name="169" id="169">
-<td><a id="l169" class='ln'>169</a></td><td>    <a id="169c5" class="tk">localDW</a>-&gt;<a id="169c14" class="tk">UnitDelay_DSTATE</a> = <a id="169c33" class="tk">rtu_max</a>;</td></tr>
+<td><a id="l169" class='ln'>169</a></td><td>  <a id="169c3" class="tk">rty_y</a>[1] = (<a id="169c15" class="tk">int16_T</a>)<a id="169c23" class="tk">rtb_Sum3_m</a>;</td></tr>
 <tr name="170" id="170">
-<td><a id="l170" class='ln'>170</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l170" class='ln'>170</a></td><td></td></tr>
 <tr name="171" id="171">
-<td><a id="l171" class='ln'>171</a></td><td></td></tr>
+<td><a id="l171" class='ln'>171</a></td><td>  <span class="ct">/* Sum: '&lt;S57&gt;/Sum3' incorporates:</span></td></tr>
 <tr name="172" id="172">
-<td><a id="l172" class='ln'>172</a></td><td>  <span class="ct">/* End of MinMax: '&lt;S44&gt;/MinMax' */</span></td></tr>
+<td><a id="l172" class='ln'>172</a></td><td><span class="ct">   *  Product: '&lt;S57&gt;/Divide3'</span></td></tr>
 <tr name="173" id="173">
-<td><a id="l173" class='ln'>173</a></td><td>  <span class="kw">return</span> <a id="173c10" class="tk">rty_cnt_0</a>;</td></tr>
+<td><a id="l173" class='ln'>173</a></td><td><span class="ct">   *  UnitDelay: '&lt;S57&gt;/UnitDelay1'</span></td></tr>
 <tr name="174" id="174">
-<td><a id="l174" class='ln'>174</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l174" class='ln'>174</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="175" id="175">
-<td><a id="l175" class='ln'>175</a></td><td></td></tr>
+<td><a id="l175" class='ln'>175</a></td><td>  <a id="175c3" class="tk">rtb_Sum3_m</a> = <a id="175c16" class="tk">rtu_coef</a> <a id="175c25" class="tk">*</a> <a id="175c27" class="tk">rty_y</a>[1] <a id="175c36" class="tk">+</a> <a id="175c38" class="tk">localDW</a>-&gt;<a id="175c47" class="tk">UnitDelay1_DSTATE</a>[1];</td></tr>
 <tr name="176" id="176">
-<td><a id="l176" class='ln'>176</a></td><td><span class="ct">/*</span></td></tr>
+<td><a id="l176" class='ln'>176</a></td><td></td></tr>
 <tr name="177" id="177">
-<td><a id="l177" class='ln'>177</a></td><td><span class="ct"> * Output and update for atomic system:</span></td></tr>
+<td><a id="l177" class='ln'>177</a></td><td>  <span class="ct">/* DataTypeConversion: '&lt;S57&gt;/Data Type Conversion' */</span></td></tr>
 <tr name="178" id="178">
-<td><a id="l178" class='ln'>178</a></td><td><span class="ct"> *    '&lt;S36&gt;/either_edge'</span></td></tr>
+<td><a id="l178" class='ln'>178</a></td><td>  <a id="178c3" class="tk">rty_y</a>[1] = (<a id="178c15" class="tk">int16_T</a>)(<a id="178c24" class="tk">rtb_Sum3_m</a> <a id="178c35" class="tk">&gt;&gt;</a> 16);</td></tr>
 <tr name="179" id="179">
-<td><a id="l179" class='ln'>179</a></td><td><span class="ct"> *    '&lt;S35&gt;/either_edge'</span></td></tr>
+<td><a id="l179" class='ln'>179</a></td><td></td></tr>
 <tr name="180" id="180">
-<td><a id="l180" class='ln'>180</a></td><td><span class="ct"> */</span></td></tr>
+<td><a id="l180" class='ln'>180</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S57&gt;/UnitDelay1' */</span></td></tr>
 <tr name="181" id="181">
-<td><a id="l181" class='ln'>181</a></td><td><span class="kw">static</span> <a id="181c8" class="tk">boolean_T</a> <a id="181c18" class="tk">either_edge</a>(<a id="181c30" class="tk">boolean_T</a> <a id="181c40" class="tk">rtu_u</a>, <a id="181c47" class="tk">DW_either_edge</a> <a id="181c62" class="tk">*</a><a id="181c63" class="tk">localDW</a>)</td></tr>
+<td><a id="l181" class='ln'>181</a></td><td>  <a id="181c3" class="tk">localDW</a>-&gt;<a id="181c12" class="tk">UnitDelay1_DSTATE</a>[1] = <a id="181c35" class="tk">rtb_Sum3_m</a>;</td></tr>
 <tr name="182" id="182">
-<td><a id="l182" class='ln'>182</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l182" class='ln'>182</a></td><td><span class="br">}</span></td></tr>
 <tr name="183" id="183">
-<td><a id="l183" class='ln'>183</a></td><td>  <a id="183c3" class="tk">boolean_T</a> <a id="183c13" class="tk">rty_y_0</a>;</td></tr>
+<td><a id="l183" class='ln'>183</a></td><td></td></tr>
 <tr name="184" id="184">
-<td><a id="l184" class='ln'>184</a></td><td></td></tr>
+<td><a id="l184" class='ln'>184</a></td><td><span class="ct">/* System initialize for atomic system: '&lt;S87&gt;/PI_Speed' */</span></td></tr>
 <tr name="185" id="185">
-<td><a id="l185" class='ln'>185</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S41&gt;/Relational Operator' incorporates:</span></td></tr>
+<td><a id="l185" class='ln'>185</a></td><td><span class="kw">void</span> <a id="185c6" class="tk">PI_backCalc_fixdt_Init</a>(<a id="185c29" class="tk">DW_PI_backCalc_fixdt</a> <a id="185c50" class="tk">*</a><a id="185c51" class="tk">localDW</a>)</td></tr>
 <tr name="186" id="186">
-<td><a id="l186" class='ln'>186</a></td><td><span class="ct">   *  UnitDelay: '&lt;S41&gt;/UnitDelay'</span></td></tr>
+<td><a id="l186" class='ln'>186</a></td><td><span class="br">{</span></td></tr>
 <tr name="187" id="187">
-<td><a id="l187" class='ln'>187</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l187" class='ln'>187</a></td><td>  <span class="ct">/* InitializeConditions for Delay: '&lt;S90&gt;/Resettable Delay' */</span></td></tr>
 <tr name="188" id="188">
-<td><a id="l188" class='ln'>188</a></td><td>  <a id="188c3" class="tk">rty_y_0</a> = (<a id="188c14" class="tk">rtu_u</a> <a id="188c20" class="tk">!=</a> <a id="188c23" class="tk">localDW</a>-&gt;<a id="188c32" class="tk">UnitDelay_DSTATE</a>);</td></tr>
+<td><a id="l188" class='ln'>188</a></td><td>  <a id="188c3" class="tk">localDW</a>-&gt;<a id="188c12" class="tk">icLoad</a> = 1U;</td></tr>
 <tr name="189" id="189">
-<td><a id="l189" class='ln'>189</a></td><td></td></tr>
+<td><a id="l189" class='ln'>189</a></td><td><span class="br">}</span></td></tr>
 <tr name="190" id="190">
-<td><a id="l190" class='ln'>190</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S41&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l190" class='ln'>190</a></td><td></td></tr>
 <tr name="191" id="191">
-<td><a id="l191" class='ln'>191</a></td><td>  <a id="191c3" class="tk">localDW</a>-&gt;<a id="191c12" class="tk">UnitDelay_DSTATE</a> = <a id="191c31" class="tk">rtu_u</a>;</td></tr>
+<td><a id="l191" class='ln'>191</a></td><td><span class="ct">/* Output and update for atomic system: '&lt;S87&gt;/PI_Speed' */</span></td></tr>
 <tr name="192" id="192">
-<td><a id="l192" class='ln'>192</a></td><td>  <span class="kw">return</span> <a id="192c10" class="tk">rty_y_0</a>;</td></tr>
+<td><a id="l192" class='ln'>192</a></td><td><a id="192c1" class="tk">int32_T</a> <a id="192c9" class="tk">PI_backCalc_fixdt</a>(<a id="192c27" class="tk">int32_T</a> <a id="192c35" class="tk">rtu_err</a>, <a id="192c44" class="tk">int16_T</a> <a id="192c52" class="tk">rtu_P</a>, <a id="192c59" class="tk">int16_T</a> <a id="192c67" class="tk">rtu_I</a>, <a id="192c74" class="tk">int16_T</a></td></tr>
 <tr name="193" id="193">
-<td><a id="l193" class='ln'>193</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l193" class='ln'>193</a></td><td>  <a id="193c3" class="tk">rtu_Kb</a>, <a id="193c11" class="tk">int16_T</a> <a id="193c19" class="tk">rtu_satMax</a>, <a id="193c31" class="tk">int16_T</a> <a id="193c39" class="tk">rtu_satMin</a>, <a id="193c51" class="tk">int16_T</a> <a id="193c59" class="tk">rtu_init</a>, <a id="193c69" class="tk">uint8_T</a></td></tr>
 <tr name="194" id="194">
-<td><a id="l194" class='ln'>194</a></td><td></td></tr>
+<td><a id="l194" class='ln'>194</a></td><td>  <a id="194c3" class="tk">rtu_reset</a>, <a id="194c14" class="tk">DW_PI_backCalc_fixdt</a> <a id="194c35" class="tk">*</a><a id="194c36" class="tk">localDW</a>, <a id="194c45" class="tk">ZCE_PI_backCalc_fixdt</a> <a id="194c67" class="tk">*</a><a id="194c68" class="tk">localZCE</a>)</td></tr>
 <tr name="195" id="195">
-<td><a id="l195" class='ln'>195</a></td><td><span class="ct">/* System initialize for atomic system: '&lt;S35&gt;/Debounce_Filter' */</span></td></tr>
+<td><a id="l195" class='ln'>195</a></td><td><span class="br">{</span></td></tr>
 <tr name="196" id="196">
-<td><a id="l196" class='ln'>196</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="196c13" class="tk">Debounce_Filter_Init</a>(<a id="196c34" class="tk">DW_Debounce_Filter</a> <a id="196c53" class="tk">*</a><a id="196c54" class="tk">localDW</a>)</td></tr>
+<td><a id="l196" class='ln'>196</a></td><td>  <a id="196c3" class="tk">int32_T</a> <a id="196c11" class="tk">rty_pi_out_0</a>;</td></tr>
 <tr name="197" id="197">
-<td><a id="l197" class='ln'>197</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l197" class='ln'>197</a></td><td>  <a id="197c3" class="tk">int64_T</a> <a id="197c11" class="tk">tmp</a>;</td></tr>
 <tr name="198" id="198">
-<td><a id="l198" class='ln'>198</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S36&gt;/Qualification' */</span></td></tr>
+<td><a id="l198" class='ln'>198</a></td><td>  <a id="198c3" class="tk">int64_T</a> <a id="198c11" class="tk">tmp_0</a>;</td></tr>
 <tr name="199" id="199">
-<td><a id="l199" class='ln'>199</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S40&gt;/Counter' */</span></td></tr>
+<td><a id="l199" class='ln'>199</a></td><td></td></tr>
 <tr name="200" id="200">
-<td><a id="l200" class='ln'>200</a></td><td>  <a id="200c3" class="tk">Counter_Init</a>(<a id="200c16" class="tk">&amp;</a><a id="200c17" class="tk">localDW</a>-&gt;<a id="200c26" class="tk">Counter_f</a>, 0);</td></tr>
+<td><a id="l200" class='ln'>200</a></td><td>  <span class="ct">/* Product: '&lt;S89&gt;/Divide4' */</span></td></tr>
 <tr name="201" id="201">
-<td><a id="l201" class='ln'>201</a></td><td></td></tr>
+<td><a id="l201" class='ln'>201</a></td><td>  <a id="201c3" class="tk">tmp_0</a> = (<a id="201c12" class="tk">int64_T</a>)<a id="201c20" class="tk">rtu_err</a> <a id="201c28" class="tk">*</a> <a id="201c30" class="tk">rtu_P</a>;</td></tr>
 <tr name="202" id="202">
-<td><a id="l202" class='ln'>202</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S40&gt;/Counter' */</span></td></tr>
+<td><a id="l202" class='ln'>202</a></td><td>  <span class="kw">if</span> (<a id="202c7" class="tk">tmp_0</a> <a id="202c13" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="203" id="203">
-<td><a id="l203" class='ln'>203</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S36&gt;/Qualification' */</span></td></tr>
+<td><a id="l203" class='ln'>203</a></td><td>    <a id="203c5" class="tk">tmp_0</a> = 2147483647LL;</td></tr>
 <tr name="204" id="204">
-<td><a id="l204" class='ln'>204</a></td><td></td></tr>
+<td><a id="l204" class='ln'>204</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="205" id="205">
-<td><a id="l205" class='ln'>205</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S36&gt;/Dequalification' */</span></td></tr>
+<td><a id="l205" class='ln'>205</a></td><td>    <span class="kw">if</span> (<a id="205c9" class="tk">tmp_0</a> <a id="205c15" class="tk">&lt;</a> <a id="205c17" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="206" id="206">
-<td><a id="l206" class='ln'>206</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S39&gt;/Counter' */</span></td></tr>
+<td><a id="l206" class='ln'>206</a></td><td>      <a id="206c7" class="tk">tmp_0</a> = <a id="206c15" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="207" id="207">
-<td><a id="l207" class='ln'>207</a></td><td>  <a id="207c3" class="tk">Counter_Init</a>(<a id="207c16" class="tk">&amp;</a><a id="207c17" class="tk">localDW</a>-&gt;<a id="207c26" class="tk">Counter_d</a>, 0);</td></tr>
+<td><a id="l207" class='ln'>207</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="208" id="208">
-<td><a id="l208" class='ln'>208</a></td><td></td></tr>
+<td><a id="l208" class='ln'>208</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="209" id="209">
-<td><a id="l209" class='ln'>209</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S39&gt;/Counter' */</span></td></tr>
+<td><a id="l209" class='ln'>209</a></td><td></td></tr>
 <tr name="210" id="210">
-<td><a id="l210" class='ln'>210</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S36&gt;/Dequalification' */</span></td></tr>
+<td><a id="l210" class='ln'>210</a></td><td>  <span class="ct">/* Delay: '&lt;S90&gt;/Resettable Delay' incorporates:</span></td></tr>
 <tr name="211" id="211">
-<td><a id="l211" class='ln'>211</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l211" class='ln'>211</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S90&gt;/Data Type Conversion2'</span></td></tr>
 <tr name="212" id="212">
-<td><a id="l212" class='ln'>212</a></td><td></td></tr>
+<td><a id="l212" class='ln'>212</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="213" id="213">
-<td><a id="l213" class='ln'>213</a></td><td><span class="ct">/* Output and update for atomic system: '&lt;S35&gt;/Debounce_Filter' */</span></td></tr>
+<td><a id="l213" class='ln'>213</a></td><td>  <span class="kw">if</span> ((<a id="213c8" class="tk">rtu_reset</a> <a id="213c18" class="tk">&gt;</a> 0) <a id="213c23" class="tk">&amp;&amp;</a> (<a id="213c27" class="tk">localZCE</a>-&gt;<a id="213c37" class="tk">ResettableDelay_Reset_ZCE_f</a> <a id="213c65" class="tk">!=</a> <a id="213c68" class="tk">POS_ZCSIG</a>)) <span class="br">{</span></td></tr>
 <tr name="214" id="214">
-<td><a id="l214" class='ln'>214</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="214c13" class="tk">Debounce_Filter</a>(<a id="214c29" class="tk">boolean_T</a> <a id="214c39" class="tk">rtu_u</a>, <a id="214c46" class="tk">uint16_T</a> <a id="214c55" class="tk">rtu_tAcv</a>, <a id="214c65" class="tk">uint16_T</a></td></tr>
+<td><a id="l214" class='ln'>214</a></td><td>    <a id="214c5" class="tk">localDW</a>-&gt;<a id="214c14" class="tk">icLoad</a> = 1U;</td></tr>
 <tr name="215" id="215">
-<td><a id="l215" class='ln'>215</a></td><td>  <a id="215c3" class="tk">rtu_tDeacv</a>, <a id="215c15" class="tk">boolean_T</a> <a id="215c25" class="tk">*</a><a id="215c26" class="tk">rty_y</a>, <a id="215c33" class="tk">DW_Debounce_Filter</a> <a id="215c52" class="tk">*</a><a id="215c53" class="tk">localDW</a>)</td></tr>
+<td><a id="l215" class='ln'>215</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="216" id="216">
-<td><a id="l216" class='ln'>216</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l216" class='ln'>216</a></td><td></td></tr>
 <tr name="217" id="217">
-<td><a id="l217" class='ln'>217</a></td><td>  <a id="217c3" class="tk">uint16_T</a> <a id="217c12" class="tk">rtb_Sum1_jb</a>;</td></tr>
+<td><a id="l217" class='ln'>217</a></td><td>  <a id="217c3" class="tk">localZCE</a>-&gt;<a id="217c13" class="tk">ResettableDelay_Reset_ZCE_f</a> = (<a id="217c44" class="tk">ZCSigState</a>)(<a id="217c56" class="tk">rtu_reset</a> <a id="217c66" class="tk">&gt;</a> 0);</td></tr>
 <tr name="218" id="218">
-<td><a id="l218" class='ln'>218</a></td><td>  <a id="218c3" class="tk">boolean_T</a> <a id="218c13" class="tk">rtb_RelationalOperator_e</a>;</td></tr>
+<td><a id="l218" class='ln'>218</a></td><td>  <span class="kw">if</span> (<a id="218c7" class="tk">localDW</a>-&gt;<a id="218c16" class="tk">icLoad</a> <a id="218c23" class="tk">!=</a> 0) <span class="br">{</span></td></tr>
 <tr name="219" id="219">
-<td><a id="l219" class='ln'>219</a></td><td></td></tr>
+<td><a id="l219" class='ln'>219</a></td><td>    <a id="219c5" class="tk">localDW</a>-&gt;<a id="219c14" class="tk">ResettableDelay_DSTATE</a> = <a id="219c39" class="tk">rtu_init</a> <a id="219c48" class="tk">&lt;&lt;</a> 7;</td></tr>
 <tr name="220" id="220">
-<td><a id="l220" class='ln'>220</a></td><td>  <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S36&gt;/either_edge' */</span></td></tr>
+<td><a id="l220" class='ln'>220</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="221" id="221">
-<td><a id="l221" class='ln'>221</a></td><td>  <a id="221c3" class="tk">rtb_RelationalOperator_e</a> = <a id="221c30" class="tk">either_edge</a>(<a id="221c42" class="tk">rtu_u</a>, <a id="221c49" class="tk">&amp;</a><a id="221c50" class="tk">localDW</a>-&gt;<a id="221c59" class="tk">either_edge_j</a>);</td></tr>
+<td><a id="l221" class='ln'>221</a></td><td></td></tr>
 <tr name="222" id="222">
-<td><a id="l222" class='ln'>222</a></td><td></td></tr>
+<td><a id="l222" class='ln'>222</a></td><td>  <span class="ct">/* Product: '&lt;S89&gt;/Divide1' incorporates:</span></td></tr>
 <tr name="223" id="223">
-<td><a id="l223" class='ln'>223</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;S36&gt;/either_edge' */</span></td></tr>
+<td><a id="l223" class='ln'>223</a></td><td><span class="ct">   *  Product: '&lt;S89&gt;/Divide4'</span></td></tr>
 <tr name="224" id="224">
-<td><a id="l224" class='ln'>224</a></td><td></td></tr>
+<td><a id="l224" class='ln'>224</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="225" id="225">
-<td><a id="l225" class='ln'>225</a></td><td>  <span class="ct">/* If: '&lt;S36&gt;/If2' incorporates:</span></td></tr>
+<td><a id="l225" class='ln'>225</a></td><td>  <a id="225c3" class="tk">tmp</a> = ((<a id="225c11" class="tk">int64_T</a>)(<a id="225c20" class="tk">int32_T</a>)<a id="225c28" class="tk">tmp_0</a> <a id="225c34" class="tk">*</a> <a id="225c36" class="tk">rtu_I</a>) <a id="225c43" class="tk">&gt;&gt;</a> 14;</td></tr>
 <tr name="226" id="226">
-<td><a id="l226" class='ln'>226</a></td><td><span class="ct">   *  Constant: '&lt;S39&gt;/Constant6'</span></td></tr>
+<td><a id="l226" class='ln'>226</a></td><td>  <span class="kw">if</span> (<a id="226c7" class="tk">tmp</a> <a id="226c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="227" id="227">
-<td><a id="l227" class='ln'>227</a></td><td><span class="ct">   *  Constant: '&lt;S40&gt;/Constant6'</span></td></tr>
+<td><a id="l227" class='ln'>227</a></td><td>    <a id="227c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
 <tr name="228" id="228">
-<td><a id="l228" class='ln'>228</a></td><td><span class="ct">   *  Inport: '&lt;S38&gt;/yPrev'</span></td></tr>
+<td><a id="l228" class='ln'>228</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="229" id="229">
-<td><a id="l229" class='ln'>229</a></td><td><span class="ct">   *  Logic: '&lt;S36&gt;/Logical Operator1'</span></td></tr>
+<td><a id="l229" class='ln'>229</a></td><td>    <span class="kw">if</span> (<a id="229c9" class="tk">tmp</a> <a id="229c13" class="tk">&lt;</a> <a id="229c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="230" id="230">
-<td><a id="l230" class='ln'>230</a></td><td><span class="ct">   *  Logic: '&lt;S36&gt;/Logical Operator2'</span></td></tr>
+<td><a id="l230" class='ln'>230</a></td><td>      <a id="230c7" class="tk">tmp</a> = <a id="230c13" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="231" id="231">
-<td><a id="l231" class='ln'>231</a></td><td><span class="ct">   *  Logic: '&lt;S36&gt;/Logical Operator3'</span></td></tr>
+<td><a id="l231" class='ln'>231</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="232" id="232">
-<td><a id="l232" class='ln'>232</a></td><td><span class="ct">   *  Logic: '&lt;S36&gt;/Logical Operator4'</span></td></tr>
+<td><a id="l232" class='ln'>232</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="233" id="233">
-<td><a id="l233" class='ln'>233</a></td><td><span class="ct">   *  UnitDelay: '&lt;S36&gt;/UnitDelay'</span></td></tr>
+<td><a id="l233" class='ln'>233</a></td><td></td></tr>
 <tr name="234" id="234">
-<td><a id="l234" class='ln'>234</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l234" class='ln'>234</a></td><td>  <span class="ct">/* Sum: '&lt;S89&gt;/Sum2' incorporates:</span></td></tr>
 <tr name="235" id="235">
-<td><a id="l235" class='ln'>235</a></td><td>  <span class="kw">if</span> (<a id="235c7" class="tk">rtu_u</a> <a id="235c13" class="tk">&amp;&amp;</a> (<a id="235c17" class="tk">!</a><a id="235c18" class="tk">localDW</a>-&gt;<a id="235c27" class="tk">UnitDelay_DSTATE</a>)) <span class="br">{</span></td></tr>
+<td><a id="l235" class='ln'>235</a></td><td><span class="ct">   *  Product: '&lt;S89&gt;/Divide1'</span></td></tr>
 <tr name="236" id="236">
-<td><a id="l236" class='ln'>236</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S36&gt;/Qualification' incorporates:</span></td></tr>
+<td><a id="l236" class='ln'>236</a></td><td><span class="ct">   *  UnitDelay: '&lt;S89&gt;/UnitDelay'</span></td></tr>
 <tr name="237" id="237">
-<td><a id="l237" class='ln'>237</a></td><td><span class="ct">     *  ActionPort: '&lt;S40&gt;/Action Port'</span></td></tr>
+<td><a id="l237" class='ln'>237</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="238" id="238">
-<td><a id="l238" class='ln'>238</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l238" class='ln'>238</a></td><td>  <a id="238c3" class="tk">tmp</a> = (<a id="238c10" class="tk">int64_T</a>)(<a id="238c19" class="tk">int32_T</a>)<a id="238c27" class="tk">tmp</a> <a id="238c31" class="tk">+</a> <a id="238c33" class="tk">localDW</a>-&gt;<a id="238c42" class="tk">UnitDelay_DSTATE</a>;</td></tr>
 <tr name="239" id="239">
-<td><a id="l239" class='ln'>239</a></td><td>    <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S40&gt;/Counter' */</span></td></tr>
+<td><a id="l239" class='ln'>239</a></td><td>  <span class="kw">if</span> (<a id="239c7" class="tk">tmp</a> <a id="239c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="240" id="240">
-<td><a id="l240" class='ln'>240</a></td><td>    <a id="240c5" class="tk">rtb_Sum1_jb</a> = <a id="240c19" class="tk">Counter</a>(1, <a id="240c30" class="tk">rtu_tAcv</a>, <a id="240c40" class="tk">rtb_RelationalOperator_e</a>,</td></tr>
+<td><a id="l240" class='ln'>240</a></td><td>    <a id="240c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
 <tr name="241" id="241">
-<td><a id="l241" class='ln'>241</a></td><td>                          <a id="241c27" class="tk">&amp;</a><a id="241c28" class="tk">localDW</a>-&gt;<a id="241c37" class="tk">Counter_f</a>);</td></tr>
+<td><a id="l241" class='ln'>241</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="242" id="242">
-<td><a id="l242" class='ln'>242</a></td><td></td></tr>
+<td><a id="l242" class='ln'>242</a></td><td>    <span class="kw">if</span> (<a id="242c9" class="tk">tmp</a> <a id="242c13" class="tk">&lt;</a> <a id="242c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="243" id="243">
-<td><a id="l243" class='ln'>243</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S40&gt;/Counter' */</span></td></tr>
+<td><a id="l243" class='ln'>243</a></td><td>      <a id="243c7" class="tk">tmp</a> = <a id="243c13" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="244" id="244">
-<td><a id="l244" class='ln'>244</a></td><td></td></tr>
+<td><a id="l244" class='ln'>244</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="245" id="245">
-<td><a id="l245" class='ln'>245</a></td><td>    <span class="ct">/* Switch: '&lt;S40&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l245" class='ln'>245</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="246" id="246">
-<td><a id="l246" class='ln'>246</a></td><td><span class="ct">     *  Constant: '&lt;S40&gt;/Constant6'</span></td></tr>
+<td><a id="l246" class='ln'>246</a></td><td></td></tr>
 <tr name="247" id="247">
-<td><a id="l247" class='ln'>247</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S40&gt;/Relational Operator2'</span></td></tr>
+<td><a id="l247" class='ln'>247</a></td><td>  <span class="ct">/* Sum: '&lt;S90&gt;/Sum1' incorporates:</span></td></tr>
 <tr name="248" id="248">
-<td><a id="l248" class='ln'>248</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l248" class='ln'>248</a></td><td><span class="ct">   *  Delay: '&lt;S90&gt;/Resettable Delay'</span></td></tr>
 <tr name="249" id="249">
-<td><a id="l249" class='ln'>249</a></td><td>    <a id="249c5" class="tk">*</a><a id="249c6" class="tk">rty_y</a> = ((<a id="249c16" class="tk">rtb_Sum1_jb</a> <a id="249c28" class="tk">&gt;</a> <a id="249c30" class="tk">rtu_tAcv</a>) <a id="249c40" class="tk">||</a> <a id="249c43" class="tk">localDW</a>-&gt;<a id="249c52" class="tk">UnitDelay_DSTATE</a>);</td></tr>
+<td><a id="l249" class='ln'>249</a></td><td><span class="ct">   *  Sum: '&lt;S89&gt;/Sum2'</span></td></tr>
 <tr name="250" id="250">
-<td><a id="l250" class='ln'>250</a></td><td></td></tr>
+<td><a id="l250" class='ln'>250</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="251" id="251">
-<td><a id="l251" class='ln'>251</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S36&gt;/Qualification' */</span></td></tr>
+<td><a id="l251" class='ln'>251</a></td><td>  <a id="251c3" class="tk">tmp</a> = (((<a id="251c12" class="tk">int64_T</a>)<a id="251c20" class="tk">localDW</a>-&gt;<a id="251c29" class="tk">ResettableDelay_DSTATE</a> <a id="251c52" class="tk">&lt;&lt;</a> 2) <a id="251c58" class="tk">+</a> (<a id="251c61" class="tk">int32_T</a>)<a id="251c69" class="tk">tmp</a>) <a id="251c74" class="tk">&gt;&gt;</a> 2;</td></tr>
 <tr name="252" id="252">
-<td><a id="l252" class='ln'>252</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="252c15" class="tk">!</a><a id="252c16" class="tk">rtu_u</a>) <a id="252c23" class="tk">&amp;&amp;</a> <a id="252c26" class="tk">localDW</a>-&gt;<a id="252c35" class="tk">UnitDelay_DSTATE</a>) <span class="br">{</span></td></tr>
+<td><a id="l252" class='ln'>252</a></td><td>  <span class="kw">if</span> (<a id="252c7" class="tk">tmp</a> <a id="252c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="253" id="253">
-<td><a id="l253" class='ln'>253</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S36&gt;/Dequalification' incorporates:</span></td></tr>
+<td><a id="l253" class='ln'>253</a></td><td>    <a id="253c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
 <tr name="254" id="254">
-<td><a id="l254" class='ln'>254</a></td><td><span class="ct">     *  ActionPort: '&lt;S39&gt;/Action Port'</span></td></tr>
+<td><a id="l254" class='ln'>254</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="255" id="255">
-<td><a id="l255" class='ln'>255</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l255" class='ln'>255</a></td><td>    <span class="kw">if</span> (<a id="255c9" class="tk">tmp</a> <a id="255c13" class="tk">&lt;</a> <a id="255c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="256" id="256">
-<td><a id="l256" class='ln'>256</a></td><td>    <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S39&gt;/Counter' */</span></td></tr>
+<td><a id="l256" class='ln'>256</a></td><td>      <a id="256c7" class="tk">tmp</a> = <a id="256c13" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="257" id="257">
-<td><a id="l257" class='ln'>257</a></td><td>    <a id="257c5" class="tk">rtb_Sum1_jb</a> = <a id="257c19" class="tk">Counter</a>(1, <a id="257c30" class="tk">rtu_tDeacv</a>, <a id="257c42" class="tk">rtb_RelationalOperator_e</a>,</td></tr>
+<td><a id="l257" class='ln'>257</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="258" id="258">
-<td><a id="l258" class='ln'>258</a></td><td>                          <a id="258c27" class="tk">&amp;</a><a id="258c28" class="tk">localDW</a>-&gt;<a id="258c37" class="tk">Counter_d</a>);</td></tr>
+<td><a id="l258" class='ln'>258</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="259" id="259">
 <td><a id="l259" class='ln'>259</a></td><td></td></tr>
 <tr name="260" id="260">
-<td><a id="l260" class='ln'>260</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S39&gt;/Counter' */</span></td></tr>
+<td><a id="l260" class='ln'>260</a></td><td>  <span class="ct">/* Sum: '&lt;S89&gt;/Sum6' incorporates:</span></td></tr>
 <tr name="261" id="261">
-<td><a id="l261" class='ln'>261</a></td><td></td></tr>
+<td><a id="l261" class='ln'>261</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S90&gt;/Data Type Conversion1'</span></td></tr>
 <tr name="262" id="262">
-<td><a id="l262" class='ln'>262</a></td><td>    <span class="ct">/* Switch: '&lt;S39&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l262" class='ln'>262</a></td><td><span class="ct">   *  Product: '&lt;S89&gt;/Divide4'</span></td></tr>
 <tr name="263" id="263">
-<td><a id="l263" class='ln'>263</a></td><td><span class="ct">     *  Constant: '&lt;S39&gt;/Constant6'</span></td></tr>
+<td><a id="l263" class='ln'>263</a></td><td><span class="ct">   *  Sum: '&lt;S90&gt;/Sum1'</span></td></tr>
 <tr name="264" id="264">
-<td><a id="l264" class='ln'>264</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S39&gt;/Relational Operator2'</span></td></tr>
+<td><a id="l264" class='ln'>264</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="265" id="265">
-<td><a id="l265" class='ln'>265</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l265" class='ln'>265</a></td><td>  <a id="265c3" class="tk">tmp_0</a> = (<a id="265c12" class="tk">int64_T</a>)((<a id="265c22" class="tk">int32_T</a>)<a id="265c30" class="tk">tmp</a> <a id="265c34" class="tk">&lt;&lt;</a> 2) <a id="265c40" class="tk">+</a> (<a id="265c43" class="tk">int32_T</a>)<a id="265c51" class="tk">tmp_0</a>;</td></tr>
 <tr name="266" id="266">
-<td><a id="l266" class='ln'>266</a></td><td>    <a id="266c5" class="tk">*</a><a id="266c6" class="tk">rty_y</a> = ((<a id="266c16" class="tk">rtb_Sum1_jb</a> <a id="266c28" class="tk">&lt;=</a> <a id="266c31" class="tk">rtu_tDeacv</a>) <a id="266c43" class="tk">&amp;&amp;</a> <a id="266c46" class="tk">localDW</a>-&gt;<a id="266c55" class="tk">UnitDelay_DSTATE</a>);</td></tr>
+<td><a id="l266" class='ln'>266</a></td><td>  <span class="kw">if</span> (<a id="266c7" class="tk">tmp_0</a> <a id="266c13" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="267" id="267">
-<td><a id="l267" class='ln'>267</a></td><td></td></tr>
+<td><a id="l267" class='ln'>267</a></td><td>    <a id="267c5" class="tk">tmp_0</a> = 2147483647LL;</td></tr>
 <tr name="268" id="268">
-<td><a id="l268" class='ln'>268</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S36&gt;/Dequalification' */</span></td></tr>
+<td><a id="l268" class='ln'>268</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="269" id="269">
-<td><a id="l269" class='ln'>269</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l269" class='ln'>269</a></td><td>    <span class="kw">if</span> (<a id="269c9" class="tk">tmp_0</a> <a id="269c15" class="tk">&lt;</a> <a id="269c17" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="270" id="270">
-<td><a id="l270" class='ln'>270</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S36&gt;/Default' incorporates:</span></td></tr>
+<td><a id="l270" class='ln'>270</a></td><td>      <a id="270c7" class="tk">tmp_0</a> = <a id="270c15" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="271" id="271">
-<td><a id="l271" class='ln'>271</a></td><td><span class="ct">     *  ActionPort: '&lt;S38&gt;/Action Port'</span></td></tr>
+<td><a id="l271" class='ln'>271</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="272" id="272">
-<td><a id="l272" class='ln'>272</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l272" class='ln'>272</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="273" id="273">
-<td><a id="l273" class='ln'>273</a></td><td>    <a id="273c5" class="tk">*</a><a id="273c6" class="tk">rty_y</a> = <a id="273c14" class="tk">localDW</a>-&gt;<a id="273c23" class="tk">UnitDelay_DSTATE</a>;</td></tr>
+<td><a id="l273" class='ln'>273</a></td><td></td></tr>
 <tr name="274" id="274">
-<td><a id="l274" class='ln'>274</a></td><td></td></tr>
+<td><a id="l274" class='ln'>274</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S91&gt;/LowerRelop1' incorporates:</span></td></tr>
 <tr name="275" id="275">
-<td><a id="l275" class='ln'>275</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S36&gt;/Default' */</span></td></tr>
+<td><a id="l275" class='ln'>275</a></td><td><span class="ct">   *  Switch: '&lt;S91&gt;/Switch2'</span></td></tr>
 <tr name="276" id="276">
-<td><a id="l276" class='ln'>276</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l276" class='ln'>276</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="277" id="277">
-<td><a id="l277" class='ln'>277</a></td><td></td></tr>
+<td><a id="l277" class='ln'>277</a></td><td>  <a id="277c3" class="tk">rty_pi_out_0</a> = <a id="277c18" class="tk">rtu_satMax</a> <a id="277c29" class="tk">&lt;&lt;</a> 9;</td></tr>
 <tr name="278" id="278">
-<td><a id="l278" class='ln'>278</a></td><td>  <span class="ct">/* End of If: '&lt;S36&gt;/If2' */</span></td></tr>
+<td><a id="l278" class='ln'>278</a></td><td></td></tr>
 <tr name="279" id="279">
-<td><a id="l279" class='ln'>279</a></td><td></td></tr>
+<td><a id="l279" class='ln'>279</a></td><td>  <span class="ct">/* Switch: '&lt;S91&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="280" id="280">
-<td><a id="l280" class='ln'>280</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S36&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l280" class='ln'>280</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S91&gt;/LowerRelop1'</span></td></tr>
 <tr name="281" id="281">
-<td><a id="l281" class='ln'>281</a></td><td>  <a id="281c3" class="tk">localDW</a>-&gt;<a id="281c12" class="tk">UnitDelay_DSTATE</a> = <a id="281c31" class="tk">*</a><a id="281c32" class="tk">rty_y</a>;</td></tr>
+<td><a id="l281" class='ln'>281</a></td><td><span class="ct">   *  Sum: '&lt;S89&gt;/Sum6'</span></td></tr>
 <tr name="282" id="282">
-<td><a id="l282" class='ln'>282</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l282" class='ln'>282</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="283" id="283">
-<td><a id="l283" class='ln'>283</a></td><td></td></tr>
+<td><a id="l283" class='ln'>283</a></td><td>  <span class="kw">if</span> ((<a id="283c8" class="tk">int32_T</a>)<a id="283c16" class="tk">tmp_0</a> <a id="283c22" class="tk">&lt;=</a> <a id="283c25" class="tk">rty_pi_out_0</a>) <span class="br">{</span></td></tr>
 <tr name="284" id="284">
-<td><a id="l284" class='ln'>284</a></td><td><span class="ct">/* Output and update for atomic system: '&lt;S46&gt;/Low_Pass_Filter' */</span></td></tr>
+<td><a id="l284" class='ln'>284</a></td><td>    <span class="ct">/* RelationalOperator: '&lt;S91&gt;/UpperRelop' incorporates:</span></td></tr>
 <tr name="285" id="285">
-<td><a id="l285" class='ln'>285</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="285c13" class="tk">Low_Pass_Filter</a>(<span class="kw">const</span> <a id="285c35" class="tk">int16_T</a> <a id="285c43" class="tk">rtu_u</a>[2], <a id="285c53" class="tk">uint16_T</a> <a id="285c62" class="tk">rtu_coef</a>, <a id="285c72" class="tk">int16_T</a></td></tr>
+<td><a id="l285" class='ln'>285</a></td><td><span class="ct">     *  Switch: '&lt;S91&gt;/Switch'</span></td></tr>
 <tr name="286" id="286">
-<td><a id="l286" class='ln'>286</a></td><td>  <a id="286c3" class="tk">rty_y</a>[2], <a id="286c13" class="tk">DW_Low_Pass_Filter</a> <a id="286c32" class="tk">*</a><a id="286c33" class="tk">localDW</a>)</td></tr>
+<td><a id="l286" class='ln'>286</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="287" id="287">
-<td><a id="l287" class='ln'>287</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l287" class='ln'>287</a></td><td>    <a id="287c5" class="tk">rty_pi_out_0</a> = <a id="287c20" class="tk">rtu_satMin</a> <a id="287c31" class="tk">&lt;&lt;</a> 9;</td></tr>
 <tr name="288" id="288">
-<td><a id="l288" class='ln'>288</a></td><td>  <a id="288c3" class="tk">int32_T</a> <a id="288c11" class="tk">tmp</a>;</td></tr>
+<td><a id="l288" class='ln'>288</a></td><td></td></tr>
 <tr name="289" id="289">
-<td><a id="l289" class='ln'>289</a></td><td></td></tr>
+<td><a id="l289" class='ln'>289</a></td><td>    <span class="ct">/* Switch: '&lt;S91&gt;/Switch' incorporates:</span></td></tr>
 <tr name="290" id="290">
-<td><a id="l290" class='ln'>290</a></td><td>  <span class="ct">/* Sum: '&lt;S56&gt;/Sum2' incorporates:</span></td></tr>
+<td><a id="l290" class='ln'>290</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S91&gt;/UpperRelop'</span></td></tr>
 <tr name="291" id="291">
-<td><a id="l291" class='ln'>291</a></td><td><span class="ct">   *  UnitDelay: '&lt;S56&gt;/UnitDelay1'</span></td></tr>
+<td><a id="l291" class='ln'>291</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="292" id="292">
-<td><a id="l292" class='ln'>292</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l292" class='ln'>292</a></td><td>    <span class="kw">if</span> ((<a id="292c10" class="tk">int32_T</a>)<a id="292c18" class="tk">tmp_0</a> <a id="292c24" class="tk">&gt;=</a> <a id="292c27" class="tk">rty_pi_out_0</a>) <span class="br">{</span></td></tr>
 <tr name="293" id="293">
-<td><a id="l293" class='ln'>293</a></td><td>  <a id="293c3" class="tk">tmp</a> = <a id="293c9" class="tk">rtu_u</a>[0] <a id="293c18" class="tk">-</a> <a id="293c20" class="tk">localDW</a>-&gt;<a id="293c29" class="tk">UnitDelay1_DSTATE</a>[0];</td></tr>
+<td><a id="l293" class='ln'>293</a></td><td>      <a id="293c7" class="tk">rty_pi_out_0</a> = (<a id="293c23" class="tk">int32_T</a>)<a id="293c31" class="tk">tmp_0</a>;</td></tr>
 <tr name="294" id="294">
-<td><a id="l294" class='ln'>294</a></td><td>  <span class="kw">if</span> (<a id="294c7" class="tk">tmp</a> <a id="294c11" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l294" class='ln'>294</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="295" id="295">
-<td><a id="l295" class='ln'>295</a></td><td>    <a id="295c5" class="tk">tmp</a> = 32767;</td></tr>
+<td><a id="l295" class='ln'>295</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="296" id="296">
-<td><a id="l296" class='ln'>296</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l296" class='ln'>296</a></td><td></td></tr>
 <tr name="297" id="297">
-<td><a id="l297" class='ln'>297</a></td><td>    <span class="kw">if</span> (<a id="297c9" class="tk">tmp</a> <a id="297c13" class="tk">&lt;</a> <a id="297c15" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l297" class='ln'>297</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S89&gt;/UnitDelay' incorporates:</span></td></tr>
 <tr name="298" id="298">
-<td><a id="l298" class='ln'>298</a></td><td>      <a id="298c7" class="tk">tmp</a> = <a id="298c13" class="tk">-</a>32768;</td></tr>
+<td><a id="l298" class='ln'>298</a></td><td><span class="ct">   *  Product: '&lt;S89&gt;/Divide2'</span></td></tr>
 <tr name="299" id="299">
-<td><a id="l299" class='ln'>299</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l299" class='ln'>299</a></td><td><span class="ct">   *  Sum: '&lt;S89&gt;/Sum3'</span></td></tr>
 <tr name="300" id="300">
-<td><a id="l300" class='ln'>300</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l300" class='ln'>300</a></td><td><span class="ct">   *  Sum: '&lt;S89&gt;/Sum6'</span></td></tr>
 <tr name="301" id="301">
-<td><a id="l301" class='ln'>301</a></td><td></td></tr>
+<td><a id="l301" class='ln'>301</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="302" id="302">
-<td><a id="l302" class='ln'>302</a></td><td>  <span class="ct">/* Product: '&lt;S56&gt;/Divide3' incorporates:</span></td></tr>
+<td><a id="l302" class='ln'>302</a></td><td>  <a id="302c3" class="tk">localDW</a>-&gt;<a id="302c12" class="tk">UnitDelay_DSTATE</a> = (<a id="302c32" class="tk">int32_T</a>)(((<a id="302c43" class="tk">int64_T</a>)(<a id="302c52" class="tk">rty_pi_out_0</a> <a id="302c65" class="tk">-</a> (<a id="302c68" class="tk">int32_T</a>)<a id="302c76" class="tk">tmp_0</a>)</td></tr>
 <tr name="303" id="303">
-<td><a id="l303" class='ln'>303</a></td><td><span class="ct">   *  Sum: '&lt;S56&gt;/Sum2'</span></td></tr>
+<td><a id="l303" class='ln'>303</a></td><td>    <a id="303c5" class="tk">*</a> <a id="303c7" class="tk">rtu_Kb</a>) <a id="303c15" class="tk">&gt;&gt;</a> 14);</td></tr>
 <tr name="304" id="304">
-<td><a id="l304" class='ln'>304</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l304" class='ln'>304</a></td><td></td></tr>
 <tr name="305" id="305">
-<td><a id="l305" class='ln'>305</a></td><td>  <a id="305c3" class="tk">rty_y</a>[0] = (<a id="305c15" class="tk">int16_T</a>)((<a id="305c25" class="tk">rtu_coef</a> <a id="305c34" class="tk">*</a> <a id="305c36" class="tk">tmp</a>) <a id="305c41" class="tk">&gt;&gt;</a> 16);</td></tr>
+<td><a id="l305" class='ln'>305</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S90&gt;/Resettable Delay' incorporates:</span></td></tr>
 <tr name="306" id="306">
-<td><a id="l306" class='ln'>306</a></td><td></td></tr>
+<td><a id="l306" class='ln'>306</a></td><td><span class="ct">   *  Sum: '&lt;S90&gt;/Sum1'</span></td></tr>
 <tr name="307" id="307">
-<td><a id="l307" class='ln'>307</a></td><td>  <span class="ct">/* Sum: '&lt;S56&gt;/Sum3' incorporates:</span></td></tr>
+<td><a id="l307" class='ln'>307</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="308" id="308">
-<td><a id="l308" class='ln'>308</a></td><td><span class="ct">   *  UnitDelay: '&lt;S56&gt;/UnitDelay1'</span></td></tr>
+<td><a id="l308" class='ln'>308</a></td><td>  <a id="308c3" class="tk">localDW</a>-&gt;<a id="308c12" class="tk">icLoad</a> = 0U;</td></tr>
 <tr name="309" id="309">
-<td><a id="l309" class='ln'>309</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l309" class='ln'>309</a></td><td>  <a id="309c3" class="tk">localDW</a>-&gt;<a id="309c12" class="tk">ResettableDelay_DSTATE</a> = (<a id="309c38" class="tk">int32_T</a>)<a id="309c46" class="tk">tmp</a>;</td></tr>
 <tr name="310" id="310">
-<td><a id="l310" class='ln'>310</a></td><td>  <a id="310c3" class="tk">rty_y</a>[0] <a id="310c12" class="tk">+=</a> <a id="310c15" class="tk">localDW</a>-&gt;<a id="310c24" class="tk">UnitDelay1_DSTATE</a>[0];</td></tr>
+<td><a id="l310" class='ln'>310</a></td><td>  <span class="kw">return</span> <a id="310c10" class="tk">rty_pi_out_0</a>;</td></tr>
 <tr name="311" id="311">
-<td><a id="l311" class='ln'>311</a></td><td></td></tr>
+<td><a id="l311" class='ln'>311</a></td><td><span class="br">}</span></td></tr>
 <tr name="312" id="312">
-<td><a id="l312" class='ln'>312</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S56&gt;/UnitDelay1' incorporates:</span></td></tr>
+<td><a id="l312" class='ln'>312</a></td><td></td></tr>
 <tr name="313" id="313">
-<td><a id="l313" class='ln'>313</a></td><td><span class="ct">   *  Sum: '&lt;S56&gt;/Sum3'</span></td></tr>
+<td><a id="l313" class='ln'>313</a></td><td><span class="ct">/*</span></td></tr>
 <tr name="314" id="314">
-<td><a id="l314" class='ln'>314</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l314" class='ln'>314</a></td><td><span class="ct"> * System initialize for atomic system:</span></td></tr>
 <tr name="315" id="315">
-<td><a id="l315" class='ln'>315</a></td><td>  <a id="315c3" class="tk">localDW</a>-&gt;<a id="315c12" class="tk">UnitDelay1_DSTATE</a>[0] = <a id="315c35" class="tk">rty_y</a>[0];</td></tr>
+<td><a id="l315" class='ln'>315</a></td><td><span class="ct"> *    '&lt;S95&gt;/PI_backCalc_fixdt'</span></td></tr>
 <tr name="316" id="316">
-<td><a id="l316" class='ln'>316</a></td><td></td></tr>
+<td><a id="l316" class='ln'>316</a></td><td><span class="ct"> *    '&lt;S95&gt;/PI_backCalc_fixdt1'</span></td></tr>
 <tr name="317" id="317">
-<td><a id="l317" class='ln'>317</a></td><td>  <span class="ct">/* Sum: '&lt;S56&gt;/Sum2' incorporates:</span></td></tr>
+<td><a id="l317" class='ln'>317</a></td><td><span class="ct"> */</span></td></tr>
 <tr name="318" id="318">
-<td><a id="l318" class='ln'>318</a></td><td><span class="ct">   *  UnitDelay: '&lt;S56&gt;/UnitDelay1'</span></td></tr>
+<td><a id="l318" class='ln'>318</a></td><td><span class="kw">void</span> <a id="318c6" class="tk">PI_backCalc_fixdt_p_Init</a>(<a id="318c31" class="tk">DW_PI_backCalc_fixdt_i</a> <a id="318c54" class="tk">*</a><a id="318c55" class="tk">localDW</a>)</td></tr>
 <tr name="319" id="319">
-<td><a id="l319" class='ln'>319</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l319" class='ln'>319</a></td><td><span class="br">{</span></td></tr>
 <tr name="320" id="320">
-<td><a id="l320" class='ln'>320</a></td><td>  <a id="320c3" class="tk">tmp</a> = <a id="320c9" class="tk">rtu_u</a>[1] <a id="320c18" class="tk">-</a> <a id="320c20" class="tk">localDW</a>-&gt;<a id="320c29" class="tk">UnitDelay1_DSTATE</a>[1];</td></tr>
+<td><a id="l320" class='ln'>320</a></td><td>  <span class="ct">/* InitializeConditions for Delay: '&lt;S102&gt;/Resettable Delay' */</span></td></tr>
 <tr name="321" id="321">
-<td><a id="l321" class='ln'>321</a></td><td>  <span class="kw">if</span> (<a id="321c7" class="tk">tmp</a> <a id="321c11" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l321" class='ln'>321</a></td><td>  <a id="321c3" class="tk">localDW</a>-&gt;<a id="321c12" class="tk">icLoad</a> = 1U;</td></tr>
 <tr name="322" id="322">
-<td><a id="l322" class='ln'>322</a></td><td>    <a id="322c5" class="tk">tmp</a> = 32767;</td></tr>
+<td><a id="l322" class='ln'>322</a></td><td><span class="br">}</span></td></tr>
 <tr name="323" id="323">
-<td><a id="l323" class='ln'>323</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l323" class='ln'>323</a></td><td></td></tr>
 <tr name="324" id="324">
-<td><a id="l324" class='ln'>324</a></td><td>    <span class="kw">if</span> (<a id="324c9" class="tk">tmp</a> <a id="324c13" class="tk">&lt;</a> <a id="324c15" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l324" class='ln'>324</a></td><td><span class="ct">/*</span></td></tr>
 <tr name="325" id="325">
-<td><a id="l325" class='ln'>325</a></td><td>      <a id="325c7" class="tk">tmp</a> = <a id="325c13" class="tk">-</a>32768;</td></tr>
+<td><a id="l325" class='ln'>325</a></td><td><span class="ct"> * Output and update for atomic system:</span></td></tr>
 <tr name="326" id="326">
-<td><a id="l326" class='ln'>326</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l326" class='ln'>326</a></td><td><span class="ct"> *    '&lt;S95&gt;/PI_backCalc_fixdt'</span></td></tr>
 <tr name="327" id="327">
-<td><a id="l327" class='ln'>327</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l327" class='ln'>327</a></td><td><span class="ct"> *    '&lt;S95&gt;/PI_backCalc_fixdt1'</span></td></tr>
 <tr name="328" id="328">
-<td><a id="l328" class='ln'>328</a></td><td></td></tr>
+<td><a id="l328" class='ln'>328</a></td><td><span class="ct"> */</span></td></tr>
 <tr name="329" id="329">
-<td><a id="l329" class='ln'>329</a></td><td>  <span class="ct">/* Product: '&lt;S56&gt;/Divide3' incorporates:</span></td></tr>
+<td><a id="l329" class='ln'>329</a></td><td><a id="329c1" class="tk">int32_T</a> <a id="329c9" class="tk">PI_backCalc_fixdt_o</a>(<a id="329c29" class="tk">int16_T</a> <a id="329c37" class="tk">rtu_err</a>, <a id="329c46" class="tk">int16_T</a> <a id="329c54" class="tk">rtu_P</a>, <a id="329c61" class="tk">int16_T</a> <a id="329c69" class="tk">rtu_I</a>,</td></tr>
 <tr name="330" id="330">
-<td><a id="l330" class='ln'>330</a></td><td><span class="ct">   *  Sum: '&lt;S56&gt;/Sum2'</span></td></tr>
+<td><a id="l330" class='ln'>330</a></td><td>  <a id="330c3" class="tk">int16_T</a> <a id="330c11" class="tk">rtu_Kb</a>, <a id="330c19" class="tk">int16_T</a> <a id="330c27" class="tk">rtu_satMax</a>, <a id="330c39" class="tk">int16_T</a> <a id="330c47" class="tk">rtu_satMin</a>, <a id="330c59" class="tk">int16_T</a> <a id="330c67" class="tk">rtu_init</a>,</td></tr>
 <tr name="331" id="331">
-<td><a id="l331" class='ln'>331</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l331" class='ln'>331</a></td><td>  <a id="331c3" class="tk">uint8_T</a> <a id="331c11" class="tk">rtu_reset</a>, <a id="331c22" class="tk">DW_PI_backCalc_fixdt_i</a> <a id="331c45" class="tk">*</a><a id="331c46" class="tk">localDW</a>, <a id="331c55" class="tk">ZCE_PI_backCalc_fixdt_e</a></td></tr>
 <tr name="332" id="332">
-<td><a id="l332" class='ln'>332</a></td><td>  <a id="332c3" class="tk">rty_y</a>[1] = (<a id="332c15" class="tk">int16_T</a>)((<a id="332c25" class="tk">rtu_coef</a> <a id="332c34" class="tk">*</a> <a id="332c36" class="tk">tmp</a>) <a id="332c41" class="tk">&gt;&gt;</a> 16);</td></tr>
+<td><a id="l332" class='ln'>332</a></td><td>  <a id="332c3" class="tk">*</a><a id="332c4" class="tk">localZCE</a>)</td></tr>
 <tr name="333" id="333">
-<td><a id="l333" class='ln'>333</a></td><td></td></tr>
+<td><a id="l333" class='ln'>333</a></td><td><span class="br">{</span></td></tr>
 <tr name="334" id="334">
-<td><a id="l334" class='ln'>334</a></td><td>  <span class="ct">/* Sum: '&lt;S56&gt;/Sum3' incorporates:</span></td></tr>
+<td><a id="l334" class='ln'>334</a></td><td>  <a id="334c3" class="tk">int32_T</a> <a id="334c11" class="tk">rty_pi_out_0</a>;</td></tr>
 <tr name="335" id="335">
-<td><a id="l335" class='ln'>335</a></td><td><span class="ct">   *  UnitDelay: '&lt;S56&gt;/UnitDelay1'</span></td></tr>
+<td><a id="l335" class='ln'>335</a></td><td>  <a id="335c3" class="tk">int64_T</a> <a id="335c11" class="tk">tmp</a>;</td></tr>
 <tr name="336" id="336">
-<td><a id="l336" class='ln'>336</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l336" class='ln'>336</a></td><td>  <a id="336c3" class="tk">int64_T</a> <a id="336c11" class="tk">tmp_0</a>;</td></tr>
 <tr name="337" id="337">
-<td><a id="l337" class='ln'>337</a></td><td>  <a id="337c3" class="tk">rty_y</a>[1] <a id="337c12" class="tk">+=</a> <a id="337c15" class="tk">localDW</a>-&gt;<a id="337c24" class="tk">UnitDelay1_DSTATE</a>[1];</td></tr>
+<td><a id="l337" class='ln'>337</a></td><td>  <a id="337c3" class="tk">int32_T</a> <a id="337c11" class="tk">rtb_Divide4_n</a>;</td></tr>
 <tr name="338" id="338">
 <td><a id="l338" class='ln'>338</a></td><td></td></tr>
 <tr name="339" id="339">
-<td><a id="l339" class='ln'>339</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S56&gt;/UnitDelay1' incorporates:</span></td></tr>
+<td><a id="l339" class='ln'>339</a></td><td>  <span class="ct">/* Product: '&lt;S100&gt;/Divide4' */</span></td></tr>
 <tr name="340" id="340">
-<td><a id="l340" class='ln'>340</a></td><td><span class="ct">   *  Sum: '&lt;S56&gt;/Sum3'</span></td></tr>
+<td><a id="l340" class='ln'>340</a></td><td>  <a id="340c3" class="tk">rtb_Divide4_n</a> = (<a id="340c20" class="tk">rtu_err</a> <a id="340c28" class="tk">*</a> <a id="340c30" class="tk">rtu_P</a>) <a id="340c37" class="tk">&gt;&gt;</a> 1;</td></tr>
 <tr name="341" id="341">
-<td><a id="l341" class='ln'>341</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l341" class='ln'>341</a></td><td></td></tr>
 <tr name="342" id="342">
-<td><a id="l342" class='ln'>342</a></td><td>  <a id="342c3" class="tk">localDW</a>-&gt;<a id="342c12" class="tk">UnitDelay1_DSTATE</a>[1] = <a id="342c35" class="tk">rty_y</a>[1];</td></tr>
+<td><a id="l342" class='ln'>342</a></td><td>  <span class="ct">/* Delay: '&lt;S102&gt;/Resettable Delay' incorporates:</span></td></tr>
 <tr name="343" id="343">
-<td><a id="l343" class='ln'>343</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l343" class='ln'>343</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S102&gt;/Data Type Conversion2'</span></td></tr>
 <tr name="344" id="344">
-<td><a id="l344" class='ln'>344</a></td><td></td></tr>
+<td><a id="l344" class='ln'>344</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="345" id="345">
-<td><a id="l345" class='ln'>345</a></td><td><span class="ct">/*</span></td></tr>
+<td><a id="l345" class='ln'>345</a></td><td>  <span class="kw">if</span> ((<a id="345c8" class="tk">rtu_reset</a> <a id="345c18" class="tk">&gt;</a> 0) <a id="345c23" class="tk">&amp;&amp;</a> (<a id="345c27" class="tk">localZCE</a>-&gt;<a id="345c37" class="tk">ResettableDelay_Reset_ZCE</a> <a id="345c63" class="tk">!=</a> <a id="345c66" class="tk">POS_ZCSIG</a>)) <span class="br">{</span></td></tr>
 <tr name="346" id="346">
-<td><a id="l346" class='ln'>346</a></td><td><span class="ct"> * System initialize for atomic system:</span></td></tr>
+<td><a id="l346" class='ln'>346</a></td><td>    <a id="346c5" class="tk">localDW</a>-&gt;<a id="346c14" class="tk">icLoad</a> = 1U;</td></tr>
 <tr name="347" id="347">
-<td><a id="l347" class='ln'>347</a></td><td><span class="ct"> *    '&lt;S61&gt;/PI_iq'</span></td></tr>
+<td><a id="l347" class='ln'>347</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="348" id="348">
-<td><a id="l348" class='ln'>348</a></td><td><span class="ct"> *    '&lt;S60&gt;/PI_id'</span></td></tr>
+<td><a id="l348" class='ln'>348</a></td><td></td></tr>
 <tr name="349" id="349">
-<td><a id="l349" class='ln'>349</a></td><td><span class="ct"> */</span></td></tr>
+<td><a id="l349" class='ln'>349</a></td><td>  <a id="349c3" class="tk">localZCE</a>-&gt;<a id="349c13" class="tk">ResettableDelay_Reset_ZCE</a> = (<a id="349c42" class="tk">ZCSigState</a>)(<a id="349c54" class="tk">rtu_reset</a> <a id="349c64" class="tk">&gt;</a> 0);</td></tr>
 <tr name="350" id="350">
-<td><a id="l350" class='ln'>350</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="350c13" class="tk">PI_backCalc_fixdt_Init</a>(<a id="350c36" class="tk">DW_PI_backCalc_fixdt</a> <a id="350c57" class="tk">*</a><a id="350c58" class="tk">localDW</a>)</td></tr>
+<td><a id="l350" class='ln'>350</a></td><td>  <span class="kw">if</span> (<a id="350c7" class="tk">localDW</a>-&gt;<a id="350c16" class="tk">icLoad</a> <a id="350c23" class="tk">!=</a> 0) <span class="br">{</span></td></tr>
 <tr name="351" id="351">
-<td><a id="l351" class='ln'>351</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l351" class='ln'>351</a></td><td>    <a id="351c5" class="tk">localDW</a>-&gt;<a id="351c14" class="tk">ResettableDelay_DSTATE</a> = <a id="351c39" class="tk">rtu_init</a> <a id="351c48" class="tk">&lt;&lt;</a> 7;</td></tr>
 <tr name="352" id="352">
-<td><a id="l352" class='ln'>352</a></td><td>  <span class="ct">/* InitializeConditions for Delay: '&lt;S68&gt;/Resettable Delay' */</span></td></tr>
+<td><a id="l352" class='ln'>352</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="353" id="353">
-<td><a id="l353" class='ln'>353</a></td><td>  <a id="353c3" class="tk">localDW</a>-&gt;<a id="353c12" class="tk">icLoad</a> = 1U;</td></tr>
+<td><a id="l353" class='ln'>353</a></td><td></td></tr>
 <tr name="354" id="354">
-<td><a id="l354" class='ln'>354</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l354" class='ln'>354</a></td><td>  <span class="ct">/* Product: '&lt;S100&gt;/Divide1' incorporates:</span></td></tr>
 <tr name="355" id="355">
-<td><a id="l355" class='ln'>355</a></td><td></td></tr>
+<td><a id="l355" class='ln'>355</a></td><td><span class="ct">   *  Product: '&lt;S100&gt;/Divide4'</span></td></tr>
 <tr name="356" id="356">
-<td><a id="l356" class='ln'>356</a></td><td><span class="ct">/*</span></td></tr>
+<td><a id="l356" class='ln'>356</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="357" id="357">
-<td><a id="l357" class='ln'>357</a></td><td><span class="ct"> * Output and update for atomic system:</span></td></tr>
+<td><a id="l357" class='ln'>357</a></td><td>  <a id="357c3" class="tk">tmp_0</a> = ((<a id="357c13" class="tk">int64_T</a>)<a id="357c21" class="tk">rtb_Divide4_n</a> <a id="357c35" class="tk">*</a> <a id="357c37" class="tk">rtu_I</a>) <a id="357c44" class="tk">&gt;&gt;</a> 14;</td></tr>
 <tr name="358" id="358">
-<td><a id="l358" class='ln'>358</a></td><td><span class="ct"> *    '&lt;S61&gt;/PI_iq'</span></td></tr>
+<td><a id="l358" class='ln'>358</a></td><td>  <span class="kw">if</span> (<a id="358c7" class="tk">tmp_0</a> <a id="358c13" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="359" id="359">
-<td><a id="l359" class='ln'>359</a></td><td><span class="ct"> *    '&lt;S60&gt;/PI_id'</span></td></tr>
+<td><a id="l359" class='ln'>359</a></td><td>    <a id="359c5" class="tk">tmp_0</a> = 2147483647LL;</td></tr>
 <tr name="360" id="360">
-<td><a id="l360" class='ln'>360</a></td><td><span class="ct"> */</span></td></tr>
+<td><a id="l360" class='ln'>360</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="361" id="361">
-<td><a id="l361" class='ln'>361</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="361c13" class="tk">PI_backCalc_fixdt</a>(<a id="361c31" class="tk">int16_T</a> <a id="361c39" class="tk">rtu_err</a>, <a id="361c48" class="tk">int16_T</a> <a id="361c56" class="tk">rtu_P</a>, <a id="361c63" class="tk">int16_T</a> <a id="361c71" class="tk">rtu_I</a>,</td></tr>
+<td><a id="l361" class='ln'>361</a></td><td>    <span class="kw">if</span> (<a id="361c9" class="tk">tmp_0</a> <a id="361c15" class="tk">&lt;</a> <a id="361c17" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="362" id="362">
-<td><a id="l362" class='ln'>362</a></td><td>  <a id="362c3" class="tk">int16_T</a> <a id="362c11" class="tk">rtu_Kb</a>, <a id="362c19" class="tk">int16_T</a> <a id="362c27" class="tk">rtu_satMax</a>, <a id="362c39" class="tk">int16_T</a> <a id="362c47" class="tk">rtu_satMin</a>, <a id="362c59" class="tk">int16_T</a></td></tr>
+<td><a id="l362" class='ln'>362</a></td><td>      <a id="362c7" class="tk">tmp_0</a> = <a id="362c15" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="363" id="363">
-<td><a id="l363" class='ln'>363</a></td><td>  <a id="363c3" class="tk">rtu_ext_limProt</a>, <a id="363c20" class="tk">uint8_T</a> <a id="363c28" class="tk">rtu_reset</a>, <a id="363c39" class="tk">int16_T</a> <a id="363c47" class="tk">*</a><a id="363c48" class="tk">rty_pi_out</a>, <span class="kw">const</span></td></tr>
+<td><a id="l363" class='ln'>363</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="364" id="364">
-<td><a id="l364" class='ln'>364</a></td><td>  <a id="364c3" class="tk">ConstB_PI_backCalc_fixdt</a> <a id="364c28" class="tk">*</a><a id="364c29" class="tk">localC</a>, <a id="364c37" class="tk">DW_PI_backCalc_fixdt</a> <a id="364c58" class="tk">*</a><a id="364c59" class="tk">localDW</a>,</td></tr>
+<td><a id="l364" class='ln'>364</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="365" id="365">
-<td><a id="l365" class='ln'>365</a></td><td>  <a id="365c3" class="tk">ZCE_PI_backCalc_fixdt</a> <a id="365c25" class="tk">*</a><a id="365c26" class="tk">localZCE</a>)</td></tr>
+<td><a id="l365" class='ln'>365</a></td><td></td></tr>
 <tr name="366" id="366">
-<td><a id="l366" class='ln'>366</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l366" class='ln'>366</a></td><td>  <span class="ct">/* Sum: '&lt;S100&gt;/Sum2' incorporates:</span></td></tr>
 <tr name="367" id="367">
-<td><a id="l367" class='ln'>367</a></td><td>  <a id="367c3" class="tk">int64_T</a> <a id="367c11" class="tk">tmp</a>;</td></tr>
+<td><a id="l367" class='ln'>367</a></td><td><span class="ct">   *  Product: '&lt;S100&gt;/Divide1'</span></td></tr>
 <tr name="368" id="368">
-<td><a id="l368" class='ln'>368</a></td><td>  <a id="368c3" class="tk">int32_T</a> <a id="368c11" class="tk">rtb_Divide4_h</a>;</td></tr>
+<td><a id="l368" class='ln'>368</a></td><td><span class="ct">   *  UnitDelay: '&lt;S100&gt;/UnitDelay'</span></td></tr>
 <tr name="369" id="369">
-<td><a id="l369" class='ln'>369</a></td><td>  <a id="369c3" class="tk">int32_T</a> <a id="369c11" class="tk">rtb_Sum1_ae</a>;</td></tr>
+<td><a id="l369" class='ln'>369</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="370" id="370">
-<td><a id="l370" class='ln'>370</a></td><td></td></tr>
+<td><a id="l370" class='ln'>370</a></td><td>  <a id="370c3" class="tk">tmp_0</a> = (<a id="370c12" class="tk">int64_T</a>)(<a id="370c21" class="tk">int32_T</a>)<a id="370c29" class="tk">tmp_0</a> <a id="370c35" class="tk">+</a> <a id="370c37" class="tk">localDW</a>-&gt;<a id="370c46" class="tk">UnitDelay_DSTATE</a>;</td></tr>
 <tr name="371" id="371">
-<td><a id="l371" class='ln'>371</a></td><td>  <span class="ct">/* Product: '&lt;S66&gt;/Divide4' */</span></td></tr>
+<td><a id="l371" class='ln'>371</a></td><td>  <span class="kw">if</span> (<a id="371c7" class="tk">tmp_0</a> <a id="371c13" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="372" id="372">
-<td><a id="l372" class='ln'>372</a></td><td>  <a id="372c3" class="tk">rtb_Divide4_h</a> = (<a id="372c20" class="tk">rtu_err</a> <a id="372c28" class="tk">*</a> <a id="372c30" class="tk">rtu_P</a>) <a id="372c37" class="tk">&gt;&gt;</a> 6;</td></tr>
+<td><a id="l372" class='ln'>372</a></td><td>    <a id="372c5" class="tk">tmp_0</a> = 2147483647LL;</td></tr>
 <tr name="373" id="373">
-<td><a id="l373" class='ln'>373</a></td><td></td></tr>
+<td><a id="l373" class='ln'>373</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="374" id="374">
-<td><a id="l374" class='ln'>374</a></td><td>  <span class="ct">/* Delay: '&lt;S68&gt;/Resettable Delay' incorporates:</span></td></tr>
+<td><a id="l374" class='ln'>374</a></td><td>    <span class="kw">if</span> (<a id="374c9" class="tk">tmp_0</a> <a id="374c15" class="tk">&lt;</a> <a id="374c17" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="375" id="375">
-<td><a id="l375" class='ln'>375</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S68&gt;/Data Type Conversion2'</span></td></tr>
+<td><a id="l375" class='ln'>375</a></td><td>      <a id="375c7" class="tk">tmp_0</a> = <a id="375c15" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="376" id="376">
-<td><a id="l376" class='ln'>376</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l376" class='ln'>376</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="377" id="377">
-<td><a id="l377" class='ln'>377</a></td><td>  <span class="kw">if</span> ((<a id="377c8" class="tk">rtu_reset</a> <a id="377c18" class="tk">&gt;</a> 0) <a id="377c23" class="tk">&amp;&amp;</a> (<a id="377c27" class="tk">localZCE</a>-&gt;<a id="377c37" class="tk">ResettableDelay_Reset_ZCE_p</a> <a id="377c65" class="tk">!=</a> <a id="377c68" class="tk">POS_ZCSIG</a>)) <span class="br">{</span></td></tr>
+<td><a id="l377" class='ln'>377</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="378" id="378">
-<td><a id="l378" class='ln'>378</a></td><td>    <a id="378c5" class="tk">localDW</a>-&gt;<a id="378c14" class="tk">icLoad</a> = 1U;</td></tr>
+<td><a id="l378" class='ln'>378</a></td><td></td></tr>
 <tr name="379" id="379">
-<td><a id="l379" class='ln'>379</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l379" class='ln'>379</a></td><td>  <span class="ct">/* Sum: '&lt;S102&gt;/Sum1' incorporates:</span></td></tr>
 <tr name="380" id="380">
-<td><a id="l380" class='ln'>380</a></td><td></td></tr>
+<td><a id="l380" class='ln'>380</a></td><td><span class="ct">   *  Delay: '&lt;S102&gt;/Resettable Delay'</span></td></tr>
 <tr name="381" id="381">
-<td><a id="l381" class='ln'>381</a></td><td>  <a id="381c3" class="tk">localZCE</a>-&gt;<a id="381c13" class="tk">ResettableDelay_Reset_ZCE_p</a> = (<a id="381c44" class="tk">ZCSigState</a>)(<a id="381c56" class="tk">rtu_reset</a> <a id="381c66" class="tk">&gt;</a> 0);</td></tr>
+<td><a id="l381" class='ln'>381</a></td><td><span class="ct">   *  Sum: '&lt;S100&gt;/Sum2'</span></td></tr>
 <tr name="382" id="382">
-<td><a id="l382" class='ln'>382</a></td><td>  <span class="kw">if</span> (<a id="382c7" class="tk">localDW</a>-&gt;<a id="382c16" class="tk">icLoad</a> <a id="382c23" class="tk">!=</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l382" class='ln'>382</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="383" id="383">
-<td><a id="l383" class='ln'>383</a></td><td>    <a id="383c5" class="tk">localDW</a>-&gt;<a id="383c14" class="tk">ResettableDelay_DSTATE</a> = <a id="383c39" class="tk">localC</a>-&gt;<a id="383c47" class="tk">DataTypeConversion2</a>;</td></tr>
+<td><a id="l383" class='ln'>383</a></td><td>  <a id="383c3" class="tk">tmp_0</a> = (((<a id="383c14" class="tk">int64_T</a>)<a id="383c22" class="tk">localDW</a>-&gt;<a id="383c31" class="tk">ResettableDelay_DSTATE</a> <a id="383c54" class="tk">&lt;&lt;</a> 2) <a id="383c60" class="tk">+</a> (<a id="383c63" class="tk">int32_T</a>)<a id="383c71" class="tk">tmp_0</a>) <a id="383c78" class="tk">&gt;&gt;</a></td></tr>
 <tr name="384" id="384">
-<td><a id="l384" class='ln'>384</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l384" class='ln'>384</a></td><td>    2;</td></tr>
 <tr name="385" id="385">
-<td><a id="l385" class='ln'>385</a></td><td></td></tr>
+<td><a id="l385" class='ln'>385</a></td><td>  <span class="kw">if</span> (<a id="385c7" class="tk">tmp_0</a> <a id="385c13" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="386" id="386">
-<td><a id="l386" class='ln'>386</a></td><td>  <span class="ct">/* Product: '&lt;S66&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l386" class='ln'>386</a></td><td>    <a id="386c5" class="tk">tmp_0</a> = 2147483647LL;</td></tr>
 <tr name="387" id="387">
-<td><a id="l387" class='ln'>387</a></td><td><span class="ct">   *  Product: '&lt;S66&gt;/Divide4'</span></td></tr>
+<td><a id="l387" class='ln'>387</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="388" id="388">
-<td><a id="l388" class='ln'>388</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l388" class='ln'>388</a></td><td>    <span class="kw">if</span> (<a id="388c9" class="tk">tmp_0</a> <a id="388c15" class="tk">&lt;</a> <a id="388c17" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="389" id="389">
-<td><a id="l389" class='ln'>389</a></td><td>  <a id="389c3" class="tk">tmp</a> = ((<a id="389c11" class="tk">int64_T</a>)<a id="389c19" class="tk">rtb_Divide4_h</a> <a id="389c33" class="tk">*</a> <a id="389c35" class="tk">rtu_I</a>) <a id="389c42" class="tk">&gt;&gt;</a> 10;</td></tr>
+<td><a id="l389" class='ln'>389</a></td><td>      <a id="389c7" class="tk">tmp_0</a> = <a id="389c15" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="390" id="390">
-<td><a id="l390" class='ln'>390</a></td><td>  <span class="kw">if</span> (<a id="390c7" class="tk">tmp</a> <a id="390c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
+<td><a id="l390" class='ln'>390</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="391" id="391">
-<td><a id="l391" class='ln'>391</a></td><td>    <a id="391c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
+<td><a id="l391" class='ln'>391</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="392" id="392">
-<td><a id="l392" class='ln'>392</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l392" class='ln'>392</a></td><td></td></tr>
 <tr name="393" id="393">
-<td><a id="l393" class='ln'>393</a></td><td>    <span class="kw">if</span> (<a id="393c9" class="tk">tmp</a> <a id="393c13" class="tk">&lt;</a> <a id="393c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
+<td><a id="l393" class='ln'>393</a></td><td>  <span class="ct">/* Sum: '&lt;S100&gt;/Sum6' incorporates:</span></td></tr>
 <tr name="394" id="394">
-<td><a id="l394" class='ln'>394</a></td><td>      <a id="394c7" class="tk">tmp</a> = <a id="394c13" class="tk">-</a>2147483648LL;</td></tr>
+<td><a id="l394" class='ln'>394</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S102&gt;/Data Type Conversion1'</span></td></tr>
 <tr name="395" id="395">
-<td><a id="l395" class='ln'>395</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l395" class='ln'>395</a></td><td><span class="ct">   *  Product: '&lt;S100&gt;/Divide4'</span></td></tr>
 <tr name="396" id="396">
-<td><a id="l396" class='ln'>396</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l396" class='ln'>396</a></td><td><span class="ct">   *  Sum: '&lt;S102&gt;/Sum1'</span></td></tr>
 <tr name="397" id="397">
-<td><a id="l397" class='ln'>397</a></td><td></td></tr>
+<td><a id="l397" class='ln'>397</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="398" id="398">
-<td><a id="l398" class='ln'>398</a></td><td>  <span class="ct">/* Sum: '&lt;S66&gt;/Sum2' incorporates:</span></td></tr>
+<td><a id="l398" class='ln'>398</a></td><td>  <a id="398c3" class="tk">tmp</a> = (<a id="398c10" class="tk">int64_T</a>)((<a id="398c20" class="tk">int32_T</a>)<a id="398c28" class="tk">tmp_0</a> <a id="398c34" class="tk">&lt;&lt;</a> 2) <a id="398c40" class="tk">+</a> <a id="398c42" class="tk">rtb_Divide4_n</a>;</td></tr>
 <tr name="399" id="399">
-<td><a id="l399" class='ln'>399</a></td><td><span class="ct">   *  Product: '&lt;S66&gt;/Divide1'</span></td></tr>
+<td><a id="l399" class='ln'>399</a></td><td>  <span class="kw">if</span> (<a id="399c7" class="tk">tmp</a> <a id="399c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="400" id="400">
-<td><a id="l400" class='ln'>400</a></td><td><span class="ct">   *  UnitDelay: '&lt;S66&gt;/UnitDelay'</span></td></tr>
+<td><a id="l400" class='ln'>400</a></td><td>    <a id="400c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
 <tr name="401" id="401">
-<td><a id="l401" class='ln'>401</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l401" class='ln'>401</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="402" id="402">
-<td><a id="l402" class='ln'>402</a></td><td>  <a id="402c3" class="tk">tmp</a> = (((<a id="402c12" class="tk">int64_T</a>)<a id="402c20" class="tk">rtu_ext_limProt</a> <a id="402c36" class="tk">&lt;&lt;</a> 3) <a id="402c42" class="tk">+</a> (<a id="402c45" class="tk">int32_T</a>)<a id="402c53" class="tk">tmp</a>) <a id="402c58" class="tk">+</a></td></tr>
+<td><a id="l402" class='ln'>402</a></td><td>    <span class="kw">if</span> (<a id="402c9" class="tk">tmp</a> <a id="402c13" class="tk">&lt;</a> <a id="402c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="403" id="403">
-<td><a id="l403" class='ln'>403</a></td><td>    <a id="403c5" class="tk">localDW</a>-&gt;<a id="403c14" class="tk">UnitDelay_DSTATE</a>;</td></tr>
+<td><a id="l403" class='ln'>403</a></td><td>      <a id="403c7" class="tk">tmp</a> = <a id="403c13" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="404" id="404">
-<td><a id="l404" class='ln'>404</a></td><td>  <span class="kw">if</span> (<a id="404c7" class="tk">tmp</a> <a id="404c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
+<td><a id="l404" class='ln'>404</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="405" id="405">
-<td><a id="l405" class='ln'>405</a></td><td>    <a id="405c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
+<td><a id="l405" class='ln'>405</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="406" id="406">
-<td><a id="l406" class='ln'>406</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l406" class='ln'>406</a></td><td></td></tr>
 <tr name="407" id="407">
-<td><a id="l407" class='ln'>407</a></td><td>    <span class="kw">if</span> (<a id="407c9" class="tk">tmp</a> <a id="407c13" class="tk">&lt;</a> <a id="407c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
+<td><a id="l407" class='ln'>407</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S103&gt;/LowerRelop1' incorporates:</span></td></tr>
 <tr name="408" id="408">
-<td><a id="l408" class='ln'>408</a></td><td>      <a id="408c7" class="tk">tmp</a> = <a id="408c13" class="tk">-</a>2147483648LL;</td></tr>
+<td><a id="l408" class='ln'>408</a></td><td><span class="ct">   *  Switch: '&lt;S103&gt;/Switch2'</span></td></tr>
 <tr name="409" id="409">
-<td><a id="l409" class='ln'>409</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l409" class='ln'>409</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="410" id="410">
-<td><a id="l410" class='ln'>410</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l410" class='ln'>410</a></td><td>  <a id="410c3" class="tk">rty_pi_out_0</a> = <a id="410c18" class="tk">rtu_satMax</a> <a id="410c29" class="tk">&lt;&lt;</a> 9;</td></tr>
 <tr name="411" id="411">
 <td><a id="l411" class='ln'>411</a></td><td></td></tr>
 <tr name="412" id="412">
-<td><a id="l412" class='ln'>412</a></td><td>  <span class="ct">/* Sum: '&lt;S68&gt;/Sum1' incorporates:</span></td></tr>
+<td><a id="l412" class='ln'>412</a></td><td>  <span class="ct">/* Switch: '&lt;S103&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="413" id="413">
-<td><a id="l413" class='ln'>413</a></td><td><span class="ct">   *  Delay: '&lt;S68&gt;/Resettable Delay'</span></td></tr>
+<td><a id="l413" class='ln'>413</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S103&gt;/LowerRelop1'</span></td></tr>
 <tr name="414" id="414">
-<td><a id="l414" class='ln'>414</a></td><td><span class="ct">   *  Sum: '&lt;S66&gt;/Sum2'</span></td></tr>
+<td><a id="l414" class='ln'>414</a></td><td><span class="ct">   *  Sum: '&lt;S100&gt;/Sum6'</span></td></tr>
 <tr name="415" id="415">
 <td><a id="l415" class='ln'>415</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="416" id="416">
-<td><a id="l416" class='ln'>416</a></td><td>  <a id="416c3" class="tk">rtb_Sum1_ae</a> = ((<a id="416c19" class="tk">int32_T</a>)<a id="416c27" class="tk">tmp</a> <a id="416c31" class="tk">&gt;&gt;</a> 2) <a id="416c37" class="tk">+</a> <a id="416c39" class="tk">localDW</a>-&gt;<a id="416c48" class="tk">ResettableDelay_DSTATE</a>;</td></tr>
+<td><a id="l416" class='ln'>416</a></td><td>  <span class="kw">if</span> ((<a id="416c8" class="tk">int32_T</a>)<a id="416c16" class="tk">tmp</a> <a id="416c20" class="tk">&lt;=</a> <a id="416c23" class="tk">rty_pi_out_0</a>) <span class="br">{</span></td></tr>
 <tr name="417" id="417">
-<td><a id="l417" class='ln'>417</a></td><td></td></tr>
+<td><a id="l417" class='ln'>417</a></td><td>    <span class="ct">/* RelationalOperator: '&lt;S103&gt;/UpperRelop' incorporates:</span></td></tr>
 <tr name="418" id="418">
-<td><a id="l418" class='ln'>418</a></td><td>  <span class="ct">/* Sum: '&lt;S66&gt;/Sum6' incorporates:</span></td></tr>
+<td><a id="l418" class='ln'>418</a></td><td><span class="ct">     *  Switch: '&lt;S103&gt;/Switch'</span></td></tr>
 <tr name="419" id="419">
-<td><a id="l419" class='ln'>419</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S68&gt;/Data Type Conversion1'</span></td></tr>
+<td><a id="l419" class='ln'>419</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="420" id="420">
-<td><a id="l420" class='ln'>420</a></td><td><span class="ct">   *  Product: '&lt;S66&gt;/Divide4'</span></td></tr>
+<td><a id="l420" class='ln'>420</a></td><td>    <a id="420c5" class="tk">rty_pi_out_0</a> = <a id="420c20" class="tk">rtu_satMin</a> <a id="420c31" class="tk">&lt;&lt;</a> 9;</td></tr>
 <tr name="421" id="421">
-<td><a id="l421" class='ln'>421</a></td><td><span class="ct">   *  Sum: '&lt;S68&gt;/Sum1'</span></td></tr>
+<td><a id="l421" class='ln'>421</a></td><td></td></tr>
 <tr name="422" id="422">
-<td><a id="l422" class='ln'>422</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l422" class='ln'>422</a></td><td>    <span class="ct">/* Switch: '&lt;S103&gt;/Switch' incorporates:</span></td></tr>
 <tr name="423" id="423">
-<td><a id="l423" class='ln'>423</a></td><td>  <a id="423c3" class="tk">tmp</a> = ((<a id="423c11" class="tk">int64_T</a>)(<a id="423c20" class="tk">rtb_Sum1_ae</a> <a id="423c32" class="tk">&gt;&gt;</a> 2) <a id="423c38" class="tk">&lt;&lt;</a> 4) <a id="423c44" class="tk">+</a> <a id="423c46" class="tk">rtb_Divide4_h</a>;</td></tr>
+<td><a id="l423" class='ln'>423</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S103&gt;/UpperRelop'</span></td></tr>
 <tr name="424" id="424">
-<td><a id="l424" class='ln'>424</a></td><td>  <span class="kw">if</span> (<a id="424c7" class="tk">tmp</a> <a id="424c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
+<td><a id="l424" class='ln'>424</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="425" id="425">
-<td><a id="l425" class='ln'>425</a></td><td>    <a id="425c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
+<td><a id="l425" class='ln'>425</a></td><td>    <span class="kw">if</span> ((<a id="425c10" class="tk">int32_T</a>)<a id="425c18" class="tk">tmp</a> <a id="425c22" class="tk">&gt;=</a> <a id="425c25" class="tk">rty_pi_out_0</a>) <span class="br">{</span></td></tr>
 <tr name="426" id="426">
-<td><a id="l426" class='ln'>426</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l426" class='ln'>426</a></td><td>      <a id="426c7" class="tk">rty_pi_out_0</a> = (<a id="426c23" class="tk">int32_T</a>)<a id="426c31" class="tk">tmp</a>;</td></tr>
 <tr name="427" id="427">
-<td><a id="l427" class='ln'>427</a></td><td>    <span class="kw">if</span> (<a id="427c9" class="tk">tmp</a> <a id="427c13" class="tk">&lt;</a> <a id="427c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
+<td><a id="l427" class='ln'>427</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="428" id="428">
-<td><a id="l428" class='ln'>428</a></td><td>      <a id="428c7" class="tk">tmp</a> = <a id="428c13" class="tk">-</a>2147483648LL;</td></tr>
+<td><a id="l428" class='ln'>428</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="429" id="429">
-<td><a id="l429" class='ln'>429</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l429" class='ln'>429</a></td><td></td></tr>
 <tr name="430" id="430">
-<td><a id="l430" class='ln'>430</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l430" class='ln'>430</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S100&gt;/UnitDelay' incorporates:</span></td></tr>
 <tr name="431" id="431">
-<td><a id="l431" class='ln'>431</a></td><td></td></tr>
+<td><a id="l431" class='ln'>431</a></td><td><span class="ct">   *  Product: '&lt;S100&gt;/Divide2'</span></td></tr>
 <tr name="432" id="432">
-<td><a id="l432" class='ln'>432</a></td><td>  <span class="ct">/* Switch: '&lt;S69&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l432" class='ln'>432</a></td><td><span class="ct">   *  Sum: '&lt;S100&gt;/Sum3'</span></td></tr>
 <tr name="433" id="433">
-<td><a id="l433" class='ln'>433</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S69&gt;/LowerRelop1'</span></td></tr>
+<td><a id="l433" class='ln'>433</a></td><td><span class="ct">   *  Sum: '&lt;S100&gt;/Sum6'</span></td></tr>
 <tr name="434" id="434">
-<td><a id="l434" class='ln'>434</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S69&gt;/UpperRelop'</span></td></tr>
+<td><a id="l434" class='ln'>434</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="435" id="435">
-<td><a id="l435" class='ln'>435</a></td><td><span class="ct">   *  Sum: '&lt;S66&gt;/Sum6'</span></td></tr>
+<td><a id="l435" class='ln'>435</a></td><td>  <a id="435c3" class="tk">localDW</a>-&gt;<a id="435c12" class="tk">UnitDelay_DSTATE</a> = (<a id="435c32" class="tk">int32_T</a>)(((<a id="435c43" class="tk">int64_T</a>)(<a id="435c52" class="tk">rty_pi_out_0</a> <a id="435c65" class="tk">-</a> (<a id="435c68" class="tk">int32_T</a>)<a id="435c76" class="tk">tmp</a>) <a id="435c81" class="tk">*</a></td></tr>
 <tr name="436" id="436">
-<td><a id="l436" class='ln'>436</a></td><td><span class="ct">   *  Switch: '&lt;S69&gt;/Switch'</span></td></tr>
+<td><a id="l436" class='ln'>436</a></td><td>    <a id="436c5" class="tk">rtu_Kb</a>) <a id="436c13" class="tk">&gt;&gt;</a> 14);</td></tr>
 <tr name="437" id="437">
-<td><a id="l437" class='ln'>437</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l437" class='ln'>437</a></td><td></td></tr>
 <tr name="438" id="438">
-<td><a id="l438" class='ln'>438</a></td><td>  <span class="kw">if</span> ((<a id="438c8" class="tk">int32_T</a>)<a id="438c16" class="tk">tmp</a> <a id="438c20" class="tk">&gt;</a> (<a id="438c23" class="tk">rtu_satMax</a> <a id="438c34" class="tk">&lt;&lt;</a> 4)) <span class="br">{</span></td></tr>
+<td><a id="l438" class='ln'>438</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S102&gt;/Resettable Delay' incorporates:</span></td></tr>
 <tr name="439" id="439">
-<td><a id="l439" class='ln'>439</a></td><td>    <a id="439c5" class="tk">*</a><a id="439c6" class="tk">rty_pi_out</a> = <a id="439c19" class="tk">rtu_satMax</a>;</td></tr>
+<td><a id="l439" class='ln'>439</a></td><td><span class="ct">   *  Sum: '&lt;S102&gt;/Sum1'</span></td></tr>
 <tr name="440" id="440">
-<td><a id="l440" class='ln'>440</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="440c15" class="tk">int32_T</a>)<a id="440c23" class="tk">tmp</a> <a id="440c27" class="tk">&lt;</a> (<a id="440c30" class="tk">rtu_satMin</a> <a id="440c41" class="tk">&lt;&lt;</a> 4)) <span class="br">{</span></td></tr>
+<td><a id="l440" class='ln'>440</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="441" id="441">
-<td><a id="l441" class='ln'>441</a></td><td>    <span class="ct">/* Switch: '&lt;S69&gt;/Switch' */</span></td></tr>
+<td><a id="l441" class='ln'>441</a></td><td>  <a id="441c3" class="tk">localDW</a>-&gt;<a id="441c12" class="tk">icLoad</a> = 0U;</td></tr>
 <tr name="442" id="442">
-<td><a id="l442" class='ln'>442</a></td><td>    <a id="442c5" class="tk">*</a><a id="442c6" class="tk">rty_pi_out</a> = <a id="442c19" class="tk">rtu_satMin</a>;</td></tr>
+<td><a id="l442" class='ln'>442</a></td><td>  <a id="442c3" class="tk">localDW</a>-&gt;<a id="442c12" class="tk">ResettableDelay_DSTATE</a> = (<a id="442c38" class="tk">int32_T</a>)<a id="442c46" class="tk">tmp_0</a>;</td></tr>
 <tr name="443" id="443">
-<td><a id="l443" class='ln'>443</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l443" class='ln'>443</a></td><td>  <span class="kw">return</span> <a id="443c10" class="tk">rty_pi_out_0</a>;</td></tr>
 <tr name="444" id="444">
-<td><a id="l444" class='ln'>444</a></td><td>    <a id="444c5" class="tk">*</a><a id="444c6" class="tk">rty_pi_out</a> = (<a id="444c20" class="tk">int16_T</a>)((<a id="444c30" class="tk">int32_T</a>)<a id="444c38" class="tk">tmp</a> <a id="444c42" class="tk">&gt;&gt;</a> 4);</td></tr>
+<td><a id="l444" class='ln'>444</a></td><td><span class="br">}</span></td></tr>
 <tr name="445" id="445">
-<td><a id="l445" class='ln'>445</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l445" class='ln'>445</a></td><td></td></tr>
 <tr name="446" id="446">
-<td><a id="l446" class='ln'>446</a></td><td></td></tr>
+<td><a id="l446" class='ln'>446</a></td><td><span class="ct">/*</span></td></tr>
 <tr name="447" id="447">
-<td><a id="l447" class='ln'>447</a></td><td>  <span class="ct">/* End of Switch: '&lt;S69&gt;/Switch2' */</span></td></tr>
+<td><a id="l447" class='ln'>447</a></td><td><span class="ct"> * Output and update for action system:</span></td></tr>
 <tr name="448" id="448">
-<td><a id="l448" class='ln'>448</a></td><td></td></tr>
+<td><a id="l448" class='ln'>448</a></td><td><span class="ct"> *    '&lt;S108&gt;/RateInit'</span></td></tr>
 <tr name="449" id="449">
-<td><a id="l449" class='ln'>449</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S66&gt;/UnitDelay' incorporates:</span></td></tr>
+<td><a id="l449" class='ln'>449</a></td><td><span class="ct"> *    '&lt;S115&gt;/RateInit'</span></td></tr>
 <tr name="450" id="450">
-<td><a id="l450" class='ln'>450</a></td><td><span class="ct">   *  Product: '&lt;S66&gt;/Divide2'</span></td></tr>
+<td><a id="l450" class='ln'>450</a></td><td><span class="ct"> */</span></td></tr>
 <tr name="451" id="451">
-<td><a id="l451" class='ln'>451</a></td><td><span class="ct">   *  Sum: '&lt;S66&gt;/Sum3'</span></td></tr>
+<td><a id="l451" class='ln'>451</a></td><td><span class="kw">void</span> <a id="451c6" class="tk">RateInit</a>(<a id="451c15" class="tk">int16_T</a> <a id="451c23" class="tk">rtu_initVal</a>, <a id="451c36" class="tk">int16_T</a> <a id="451c44" class="tk">rtu_target</a>, <a id="451c56" class="tk">int16_T</a> <a id="451c64" class="tk">rtu_step</a>, <a id="451c74" class="tk">int16_T</a></td></tr>
 <tr name="452" id="452">
-<td><a id="l452" class='ln'>452</a></td><td><span class="ct">   *  Sum: '&lt;S66&gt;/Sum6'</span></td></tr>
+<td><a id="l452" class='ln'>452</a></td><td>              <a id="452c15" class="tk">*</a><a id="452c16" class="tk">rty_s_step</a>, <a id="452c28" class="tk">int16_T</a> <a id="452c36" class="tk">*</a><a id="452c37" class="tk">rty_High</a>, <a id="452c47" class="tk">int16_T</a> <a id="452c55" class="tk">*</a><a id="452c56" class="tk">rty_Low</a>)</td></tr>
 <tr name="453" id="453">
-<td><a id="l453" class='ln'>453</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l453" class='ln'>453</a></td><td><span class="br">{</span></td></tr>
 <tr name="454" id="454">
-<td><a id="l454" class='ln'>454</a></td><td>  <a id="454c3" class="tk">localDW</a>-&gt;<a id="454c12" class="tk">UnitDelay_DSTATE</a> = (<a id="454c32" class="tk">int32_T</a>)(((<a id="454c43" class="tk">int64_T</a>)((<a id="454c53" class="tk">*</a><a id="454c54" class="tk">rty_pi_out</a> <a id="454c65" class="tk">&lt;&lt;</a> 4) <a id="454c71" class="tk">-</a> (<a id="454c74" class="tk">int32_T</a>)</td></tr>
+<td><a id="l454" class='ln'>454</a></td><td>  <a id="454c3" class="tk">int16_T</a> <a id="454c11" class="tk">rtb_Add_b</a>;</td></tr>
 <tr name="455" id="455">
-<td><a id="l455" class='ln'>455</a></td><td>    <a id="455c5" class="tk">tmp</a>) <a id="455c10" class="tk">*</a> <a id="455c12" class="tk">rtu_Kb</a>) <a id="455c20" class="tk">&gt;&gt;</a> 10);</td></tr>
+<td><a id="l455" class='ln'>455</a></td><td></td></tr>
 <tr name="456" id="456">
-<td><a id="l456" class='ln'>456</a></td><td></td></tr>
+<td><a id="l456" class='ln'>456</a></td><td>  <span class="ct">/* Sum: '&lt;S109&gt;/Add' */</span></td></tr>
 <tr name="457" id="457">
-<td><a id="l457" class='ln'>457</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S68&gt;/Resettable Delay' incorporates:</span></td></tr>
+<td><a id="l457" class='ln'>457</a></td><td>  <a id="457c3" class="tk">rtb_Add_b</a> = (<a id="457c16" class="tk">int16_T</a>)((<a id="457c26" class="tk">rtu_target</a> <a id="457c37" class="tk">-</a> <a id="457c39" class="tk">rtu_initVal</a>) <a id="457c52" class="tk">&gt;&gt;</a> 1);</td></tr>
 <tr name="458" id="458">
-<td><a id="l458" class='ln'>458</a></td><td><span class="ct">   *  Sum: '&lt;S68&gt;/Sum1'</span></td></tr>
+<td><a id="l458" class='ln'>458</a></td><td></td></tr>
 <tr name="459" id="459">
-<td><a id="l459" class='ln'>459</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l459" class='ln'>459</a></td><td>  <span class="ct">/* Signum: '&lt;S109&gt;/Sign' incorporates:</span></td></tr>
 <tr name="460" id="460">
-<td><a id="l460" class='ln'>460</a></td><td>  <a id="460c3" class="tk">localDW</a>-&gt;<a id="460c12" class="tk">icLoad</a> = 0U;</td></tr>
+<td><a id="l460" class='ln'>460</a></td><td><span class="ct">   *  Sum: '&lt;S109&gt;/Add'</span></td></tr>
 <tr name="461" id="461">
-<td><a id="l461" class='ln'>461</a></td><td>  <a id="461c3" class="tk">localDW</a>-&gt;<a id="461c12" class="tk">ResettableDelay_DSTATE</a> = <a id="461c37" class="tk">rtb_Sum1_ae</a>;</td></tr>
+<td><a id="l461" class='ln'>461</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="462" id="462">
-<td><a id="l462" class='ln'>462</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l462" class='ln'>462</a></td><td>  <span class="kw">if</span> (<a id="462c7" class="tk">rtb_Add_b</a> <a id="462c17" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="463" id="463">
-<td><a id="l463" class='ln'>463</a></td><td></td></tr>
+<td><a id="l463" class='ln'>463</a></td><td>    <a id="463c5" class="tk">rtb_Add_b</a> = <a id="463c17" class="tk">-</a>1;</td></tr>
 <tr name="464" id="464">
-<td><a id="l464" class='ln'>464</a></td><td><span class="ct">/* System initialize for atomic system: '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l464" class='ln'>464</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="465" id="465">
-<td><a id="l465" class='ln'>465</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="465c13" class="tk">pi_speed_Init</a>(<a id="465c27" class="tk">DW_pi_speed</a> <a id="465c39" class="tk">*</a><a id="465c40" class="tk">localDW</a>)</td></tr>
+<td><a id="l465" class='ln'>465</a></td><td>    <a id="465c5" class="tk">rtb_Add_b</a> = (<a id="465c18" class="tk">int16_T</a>)(<a id="465c27" class="tk">rtb_Add_b</a> <a id="465c37" class="tk">&gt;</a> 0);</td></tr>
 <tr name="466" id="466">
-<td><a id="l466" class='ln'>466</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l466" class='ln'>466</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="467" id="467">
-<td><a id="l467" class='ln'>467</a></td><td>  <span class="ct">/* InitializeConditions for Delay: '&lt;S94&gt;/Resettable Delay' */</span></td></tr>
+<td><a id="l467" class='ln'>467</a></td><td></td></tr>
 <tr name="468" id="468">
-<td><a id="l468" class='ln'>468</a></td><td>  <a id="468c3" class="tk">localDW</a>-&gt;<a id="468c12" class="tk">icLoad</a> = 1U;</td></tr>
+<td><a id="l468" class='ln'>468</a></td><td>  <span class="ct">/* End of Signum: '&lt;S109&gt;/Sign' */</span></td></tr>
 <tr name="469" id="469">
-<td><a id="l469" class='ln'>469</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l469" class='ln'>469</a></td><td></td></tr>
 <tr name="470" id="470">
-<td><a id="l470" class='ln'>470</a></td><td></td></tr>
+<td><a id="l470" class='ln'>470</a></td><td>  <span class="ct">/* Product: '&lt;S109&gt;/Divide' */</span></td></tr>
 <tr name="471" id="471">
-<td><a id="l471" class='ln'>471</a></td><td><span class="ct">/* Output and update for atomic system: '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l471" class='ln'>471</a></td><td>  <a id="471c3" class="tk">*</a><a id="471c4" class="tk">rty_s_step</a> = (<a id="471c18" class="tk">int16_T</a>)(<a id="471c27" class="tk">rtu_step</a> <a id="471c36" class="tk">*</a> <a id="471c38" class="tk">rtb_Add_b</a>);</td></tr>
 <tr name="472" id="472">
-<td><a id="l472" class='ln'>472</a></td><td><span class="kw">static</span> <a id="472c8" class="tk">int16_T</a> <a id="472c16" class="tk">pi_speed</a>(<a id="472c25" class="tk">int16_T</a> <a id="472c33" class="tk">rtu_err</a>, <a id="472c42" class="tk">int16_T</a> <a id="472c50" class="tk">rtu_P</a>, <a id="472c57" class="tk">int16_T</a> <a id="472c65" class="tk">rtu_I</a>, <a id="472c72" class="tk">int16_T</a></td></tr>
+<td><a id="l472" class='ln'>472</a></td><td></td></tr>
 <tr name="473" id="473">
-<td><a id="l473" class='ln'>473</a></td><td>  <a id="473c3" class="tk">rtu_Kb</a>, <a id="473c11" class="tk">int16_T</a> <a id="473c19" class="tk">rtu_satMax</a>, <a id="473c31" class="tk">int16_T</a> <a id="473c39" class="tk">rtu_satMin</a>, <a id="473c51" class="tk">int16_T</a> <a id="473c59" class="tk">rtu_ext_limProt</a>,</td></tr>
+<td><a id="l473" class='ln'>473</a></td><td>  <span class="ct">/* MinMax: '&lt;S109&gt;/Max' */</span></td></tr>
 <tr name="474" id="474">
-<td><a id="l474" class='ln'>474</a></td><td>  <a id="474c3" class="tk">int16_T</a> <a id="474c11" class="tk">rtu_init</a>, <a id="474c21" class="tk">uint8_T</a> <a id="474c29" class="tk">rtu_reset</a>, <a id="474c40" class="tk">DW_pi_speed</a> <a id="474c52" class="tk">*</a><a id="474c53" class="tk">localDW</a>, <a id="474c62" class="tk">ZCE_pi_speed</a></td></tr>
+<td><a id="l474" class='ln'>474</a></td><td>  <span class="kw">if</span> (<a id="474c7" class="tk">rtu_target</a> <a id="474c18" class="tk">&gt;</a> <a id="474c20" class="tk">rtu_initVal</a>) <span class="br">{</span></td></tr>
 <tr name="475" id="475">
-<td><a id="l475" class='ln'>475</a></td><td>  <a id="475c3" class="tk">*</a><a id="475c4" class="tk">localZCE</a>)</td></tr>
+<td><a id="l475" class='ln'>475</a></td><td>    <a id="475c5" class="tk">*</a><a id="475c6" class="tk">rty_High</a> = <a id="475c17" class="tk">rtu_target</a>;</td></tr>
 <tr name="476" id="476">
-<td><a id="l476" class='ln'>476</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l476" class='ln'>476</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="477" id="477">
-<td><a id="l477" class='ln'>477</a></td><td>  <a id="477c3" class="tk">int16_T</a> <a id="477c11" class="tk">rty_pi_out_0</a>;</td></tr>
+<td><a id="l477" class='ln'>477</a></td><td>    <a id="477c5" class="tk">*</a><a id="477c6" class="tk">rty_High</a> = <a id="477c17" class="tk">rtu_initVal</a>;</td></tr>
 <tr name="478" id="478">
-<td><a id="l478" class='ln'>478</a></td><td>  <a id="478c3" class="tk">int64_T</a> <a id="478c11" class="tk">tmp</a>;</td></tr>
+<td><a id="l478" class='ln'>478</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="479" id="479">
-<td><a id="l479" class='ln'>479</a></td><td>  <a id="479c3" class="tk">int32_T</a> <a id="479c11" class="tk">rtb_Divide4_g</a>;</td></tr>
+<td><a id="l479" class='ln'>479</a></td><td></td></tr>
 <tr name="480" id="480">
-<td><a id="l480" class='ln'>480</a></td><td>  <a id="480c3" class="tk">int32_T</a> <a id="480c11" class="tk">rtb_Sum1_c</a>;</td></tr>
+<td><a id="l480" class='ln'>480</a></td><td>  <span class="ct">/* End of MinMax: '&lt;S109&gt;/Max' */</span></td></tr>
 <tr name="481" id="481">
 <td><a id="l481" class='ln'>481</a></td><td></td></tr>
 <tr name="482" id="482">
-<td><a id="l482" class='ln'>482</a></td><td>  <span class="ct">/* Product: '&lt;S93&gt;/Divide4' */</span></td></tr>
+<td><a id="l482" class='ln'>482</a></td><td>  <span class="ct">/* MinMax: '&lt;S109&gt;/Max1' */</span></td></tr>
 <tr name="483" id="483">
-<td><a id="l483" class='ln'>483</a></td><td>  <a id="483c3" class="tk">rtb_Divide4_g</a> = (<a id="483c20" class="tk">rtu_err</a> <a id="483c28" class="tk">*</a> <a id="483c30" class="tk">rtu_P</a>) <a id="483c37" class="tk">&gt;&gt;</a> 1;</td></tr>
+<td><a id="l483" class='ln'>483</a></td><td>  <span class="kw">if</span> (<a id="483c7" class="tk">rtu_initVal</a> <a id="483c19" class="tk">&lt;</a> <a id="483c21" class="tk">rtu_target</a>) <span class="br">{</span></td></tr>
 <tr name="484" id="484">
-<td><a id="l484" class='ln'>484</a></td><td></td></tr>
+<td><a id="l484" class='ln'>484</a></td><td>    <a id="484c5" class="tk">*</a><a id="484c6" class="tk">rty_Low</a> = <a id="484c16" class="tk">rtu_initVal</a>;</td></tr>
 <tr name="485" id="485">
-<td><a id="l485" class='ln'>485</a></td><td>  <span class="ct">/* Delay: '&lt;S94&gt;/Resettable Delay' incorporates:</span></td></tr>
+<td><a id="l485" class='ln'>485</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="486" id="486">
-<td><a id="l486" class='ln'>486</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S94&gt;/Data Type Conversion2'</span></td></tr>
+<td><a id="l486" class='ln'>486</a></td><td>    <a id="486c5" class="tk">*</a><a id="486c6" class="tk">rty_Low</a> = <a id="486c16" class="tk">rtu_target</a>;</td></tr>
 <tr name="487" id="487">
-<td><a id="l487" class='ln'>487</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l487" class='ln'>487</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="488" id="488">
-<td><a id="l488" class='ln'>488</a></td><td>  <span class="kw">if</span> ((<a id="488c8" class="tk">rtu_reset</a> <a id="488c18" class="tk">&gt;</a> 0) <a id="488c23" class="tk">&amp;&amp;</a> (<a id="488c27" class="tk">localZCE</a>-&gt;<a id="488c37" class="tk">ResettableDelay_Reset_ZCE</a> <a id="488c63" class="tk">!=</a> <a id="488c66" class="tk">POS_ZCSIG</a>)) <span class="br">{</span></td></tr>
+<td><a id="l488" class='ln'>488</a></td><td></td></tr>
 <tr name="489" id="489">
-<td><a id="l489" class='ln'>489</a></td><td>    <a id="489c5" class="tk">localDW</a>-&gt;<a id="489c14" class="tk">icLoad</a> = 1U;</td></tr>
+<td><a id="l489" class='ln'>489</a></td><td>  <span class="ct">/* End of MinMax: '&lt;S109&gt;/Max1' */</span></td></tr>
 <tr name="490" id="490">
-<td><a id="l490" class='ln'>490</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l490" class='ln'>490</a></td><td><span class="br">}</span></td></tr>
 <tr name="491" id="491">
 <td><a id="l491" class='ln'>491</a></td><td></td></tr>
 <tr name="492" id="492">
-<td><a id="l492" class='ln'>492</a></td><td>  <a id="492c3" class="tk">localZCE</a>-&gt;<a id="492c13" class="tk">ResettableDelay_Reset_ZCE</a> = (<a id="492c42" class="tk">ZCSigState</a>)(<a id="492c54" class="tk">rtu_reset</a> <a id="492c64" class="tk">&gt;</a> 0);</td></tr>
+<td><a id="l492" class='ln'>492</a></td><td><a id="492c1" class="tk">int16_T</a> <a id="492c9" class="tk">rt_sqrt_Us32En10_Ys16E_7VJYwqF9</a>(<a id="492c41" class="tk">int32_T</a> <a id="492c49" class="tk">u</a>)</td></tr>
 <tr name="493" id="493">
-<td><a id="l493" class='ln'>493</a></td><td>  <span class="kw">if</span> (<a id="493c7" class="tk">localDW</a>-&gt;<a id="493c16" class="tk">icLoad</a> <a id="493c23" class="tk">!=</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l493" class='ln'>493</a></td><td><span class="br">{</span></td></tr>
 <tr name="494" id="494">
-<td><a id="l494" class='ln'>494</a></td><td>    <a id="494c5" class="tk">localDW</a>-&gt;<a id="494c14" class="tk">ResettableDelay_DSTATE</a> = <a id="494c39" class="tk">rtu_init</a> <a id="494c48" class="tk">&lt;&lt;</a> 2;</td></tr>
+<td><a id="l494" class='ln'>494</a></td><td>  <a id="494c3" class="tk">int32_T</a> <a id="494c11" class="tk">iBit</a>;</td></tr>
 <tr name="495" id="495">
-<td><a id="l495" class='ln'>495</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l495" class='ln'>495</a></td><td>  <a id="495c3" class="tk">int16_T</a> <a id="495c11" class="tk">shiftMask</a>;</td></tr>
 <tr name="496" id="496">
-<td><a id="l496" class='ln'>496</a></td><td></td></tr>
+<td><a id="l496" class='ln'>496</a></td><td>  <a id="496c3" class="tk">int16_T</a> <a id="496c11" class="tk">tmp01_y</a>;</td></tr>
 <tr name="497" id="497">
-<td><a id="l497" class='ln'>497</a></td><td>  <span class="ct">/* Product: '&lt;S93&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l497" class='ln'>497</a></td><td>  <a id="497c3" class="tk">int16_T</a> <a id="497c11" class="tk">y</a>;</td></tr>
 <tr name="498" id="498">
-<td><a id="l498" class='ln'>498</a></td><td><span class="ct">   *  Product: '&lt;S93&gt;/Divide4'</span></td></tr>
+<td><a id="l498" class='ln'>498</a></td><td></td></tr>
 <tr name="499" id="499">
-<td><a id="l499" class='ln'>499</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l499" class='ln'>499</a></td><td>  <span class="ct">/* Fixed-Point Sqrt Computation by the bisection method. */</span></td></tr>
 <tr name="500" id="500">
-<td><a id="l500" class='ln'>500</a></td><td>  <a id="500c3" class="tk">tmp</a> = ((<a id="500c11" class="tk">int64_T</a>)<a id="500c19" class="tk">rtb_Divide4_g</a> <a id="500c33" class="tk">*</a> <a id="500c35" class="tk">rtu_I</a>) <a id="500c42" class="tk">&gt;&gt;</a> 10;</td></tr>
+<td><a id="l500" class='ln'>500</a></td><td>  <span class="kw">if</span> (<a id="500c7" class="tk">u</a> <a id="500c9" class="tk">&gt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="501" id="501">
-<td><a id="l501" class='ln'>501</a></td><td>  <span class="kw">if</span> (<a id="501c7" class="tk">tmp</a> <a id="501c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
+<td><a id="l501" class='ln'>501</a></td><td>    <a id="501c5" class="tk">y</a> = 0;</td></tr>
 <tr name="502" id="502">
-<td><a id="l502" class='ln'>502</a></td><td>    <a id="502c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
+<td><a id="l502" class='ln'>502</a></td><td>    <a id="502c5" class="tk">shiftMask</a> = 16384;</td></tr>
 <tr name="503" id="503">
-<td><a id="l503" class='ln'>503</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l503" class='ln'>503</a></td><td>    <span class="kw">for</span> (<a id="503c10" class="tk">iBit</a> = 0; <a id="503c20" class="tk">iBit</a> <a id="503c25" class="tk">&lt;</a> 15; <a id="503c31" class="tk">iBit</a><a id="503c35" class="tk">++</a>) <span class="br">{</span></td></tr>
 <tr name="504" id="504">
-<td><a id="l504" class='ln'>504</a></td><td>    <span class="kw">if</span> (<a id="504c9" class="tk">tmp</a> <a id="504c13" class="tk">&lt;</a> <a id="504c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
+<td><a id="l504" class='ln'>504</a></td><td>      <a id="504c7" class="tk">tmp01_y</a> = (<a id="504c18" class="tk">int16_T</a>)(<a id="504c27" class="tk">y</a> <a id="504c29" class="tk">|</a> <a id="504c31" class="tk">shiftMask</a>);</td></tr>
 <tr name="505" id="505">
-<td><a id="l505" class='ln'>505</a></td><td>      <a id="505c7" class="tk">tmp</a> = <a id="505c13" class="tk">-</a>2147483648LL;</td></tr>
+<td><a id="l505" class='ln'>505</a></td><td>      <span class="kw">if</span> (<a id="505c11" class="tk">tmp01_y</a> <a id="505c19" class="tk">*</a> <a id="505c21" class="tk">tmp01_y</a> <a id="505c29" class="tk">&lt;=</a> <a id="505c32" class="tk">u</a>) <span class="br">{</span></td></tr>
 <tr name="506" id="506">
-<td><a id="l506" class='ln'>506</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l506" class='ln'>506</a></td><td>        <a id="506c9" class="tk">y</a> = <a id="506c13" class="tk">tmp01_y</a>;</td></tr>
 <tr name="507" id="507">
-<td><a id="l507" class='ln'>507</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l507" class='ln'>507</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="508" id="508">
 <td><a id="l508" class='ln'>508</a></td><td></td></tr>
 <tr name="509" id="509">
-<td><a id="l509" class='ln'>509</a></td><td>  <span class="ct">/* Sum: '&lt;S93&gt;/Sum2' incorporates:</span></td></tr>
+<td><a id="l509" class='ln'>509</a></td><td>      <a id="509c7" class="tk">shiftMask</a> = (<a id="509c20" class="tk">int16_T</a>)((<a id="509c30" class="tk">uint32_T</a>)<a id="509c39" class="tk">shiftMask</a> <a id="509c49" class="tk">&gt;&gt;</a> 1U);</td></tr>
 <tr name="510" id="510">
-<td><a id="l510" class='ln'>510</a></td><td><span class="ct">   *  Product: '&lt;S93&gt;/Divide1'</span></td></tr>
+<td><a id="l510" class='ln'>510</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="511" id="511">
-<td><a id="l511" class='ln'>511</a></td><td><span class="ct">   *  UnitDelay: '&lt;S93&gt;/UnitDelay'</span></td></tr>
+<td><a id="l511" class='ln'>511</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="512" id="512">
-<td><a id="l512" class='ln'>512</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l512" class='ln'>512</a></td><td>    <a id="512c5" class="tk">y</a> = 0;</td></tr>
 <tr name="513" id="513">
-<td><a id="l513" class='ln'>513</a></td><td>  <a id="513c3" class="tk">tmp</a> = (((<a id="513c12" class="tk">int64_T</a>)(<a id="513c21" class="tk">int32_T</a>)<a id="513c29" class="tk">tmp</a> <a id="513c33" class="tk">+</a> <a id="513c35" class="tk">rtu_ext_limProt</a>) <a id="513c52" class="tk">+</a> ((<a id="513c56" class="tk">int64_T</a>)</td></tr>
+<td><a id="l513" class='ln'>513</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="514" id="514">
-<td><a id="l514" class='ln'>514</a></td><td>          <a id="514c11" class="tk">localDW</a>-&gt;<a id="514c20" class="tk">UnitDelay_DSTATE</a> <a id="514c37" class="tk">&lt;&lt;</a> 2)) <a id="514c44" class="tk">&gt;&gt;</a> 2;</td></tr>
+<td><a id="l514" class='ln'>514</a></td><td></td></tr>
 <tr name="515" id="515">
-<td><a id="l515" class='ln'>515</a></td><td>  <span class="kw">if</span> (<a id="515c7" class="tk">tmp</a> <a id="515c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
+<td><a id="l515" class='ln'>515</a></td><td>  <span class="kw">return</span> <a id="515c10" class="tk">y</a>;</td></tr>
 <tr name="516" id="516">
-<td><a id="l516" class='ln'>516</a></td><td>    <a id="516c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
+<td><a id="l516" class='ln'>516</a></td><td><span class="br">}</span></td></tr>
 <tr name="517" id="517">
-<td><a id="l517" class='ln'>517</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l517" class='ln'>517</a></td><td></td></tr>
 <tr name="518" id="518">
-<td><a id="l518" class='ln'>518</a></td><td>    <span class="kw">if</span> (<a id="518c9" class="tk">tmp</a> <a id="518c13" class="tk">&lt;</a> <a id="518c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
+<td><a id="l518" class='ln'>518</a></td><td><a id="518c1" class="tk">uint16_T</a> <a id="518c10" class="tk">rt_sqrt_Uu16En14_Yu16E_WMwW1mku</a>(<a id="518c42" class="tk">uint16_T</a> <a id="518c51" class="tk">u</a>)</td></tr>
 <tr name="519" id="519">
-<td><a id="l519" class='ln'>519</a></td><td>      <a id="519c7" class="tk">tmp</a> = <a id="519c13" class="tk">-</a>2147483648LL;</td></tr>
+<td><a id="l519" class='ln'>519</a></td><td><span class="br">{</span></td></tr>
 <tr name="520" id="520">
-<td><a id="l520" class='ln'>520</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l520" class='ln'>520</a></td><td>  <a id="520c3" class="tk">int32_T</a> <a id="520c11" class="tk">iBit</a>;</td></tr>
 <tr name="521" id="521">
-<td><a id="l521" class='ln'>521</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l521" class='ln'>521</a></td><td>  <a id="521c3" class="tk">uint32_T</a> <a id="521c12" class="tk">tmp03_u</a>;</td></tr>
 <tr name="522" id="522">
-<td><a id="l522" class='ln'>522</a></td><td></td></tr>
+<td><a id="l522" class='ln'>522</a></td><td>  <a id="522c3" class="tk">uint16_T</a> <a id="522c12" class="tk">shiftMask</a>;</td></tr>
 <tr name="523" id="523">
-<td><a id="l523" class='ln'>523</a></td><td>  <span class="ct">/* Sum: '&lt;S94&gt;/Sum1' incorporates:</span></td></tr>
+<td><a id="l523" class='ln'>523</a></td><td>  <a id="523c3" class="tk">uint16_T</a> <a id="523c12" class="tk">tmp01_y</a>;</td></tr>
 <tr name="524" id="524">
-<td><a id="l524" class='ln'>524</a></td><td><span class="ct">   *  Delay: '&lt;S94&gt;/Resettable Delay'</span></td></tr>
+<td><a id="l524" class='ln'>524</a></td><td>  <a id="524c3" class="tk">uint16_T</a> <a id="524c12" class="tk">y</a>;</td></tr>
 <tr name="525" id="525">
-<td><a id="l525" class='ln'>525</a></td><td><span class="ct">   *  Sum: '&lt;S93&gt;/Sum2'</span></td></tr>
+<td><a id="l525" class='ln'>525</a></td><td></td></tr>
 <tr name="526" id="526">
-<td><a id="l526" class='ln'>526</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l526" class='ln'>526</a></td><td>  <span class="ct">/* Fixed-Point Sqrt Computation by the bisection method. */</span></td></tr>
 <tr name="527" id="527">
-<td><a id="l527" class='ln'>527</a></td><td>  <a id="527c3" class="tk">rtb_Sum1_c</a> = (<a id="527c17" class="tk">int32_T</a>)<a id="527c25" class="tk">tmp</a> <a id="527c29" class="tk">+</a> <a id="527c31" class="tk">localDW</a>-&gt;<a id="527c40" class="tk">ResettableDelay_DSTATE</a>;</td></tr>
+<td><a id="l527" class='ln'>527</a></td><td>  <span class="kw">if</span> (<a id="527c7" class="tk">u</a> <a id="527c9" class="tk">&gt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="528" id="528">
-<td><a id="l528" class='ln'>528</a></td><td></td></tr>
+<td><a id="l528" class='ln'>528</a></td><td>    <a id="528c5" class="tk">y</a> = 0U;</td></tr>
 <tr name="529" id="529">
-<td><a id="l529" class='ln'>529</a></td><td>  <span class="ct">/* Sum: '&lt;S93&gt;/Sum6' incorporates:</span></td></tr>
+<td><a id="l529" class='ln'>529</a></td><td>    <a id="529c5" class="tk">shiftMask</a> = 32768U;</td></tr>
 <tr name="530" id="530">
-<td><a id="l530" class='ln'>530</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S94&gt;/Data Type Conversion1'</span></td></tr>
+<td><a id="l530" class='ln'>530</a></td><td>    <a id="530c5" class="tk">tmp03_u</a> = (<a id="530c16" class="tk">uint32_T</a>)<a id="530c25" class="tk">u</a> <a id="530c27" class="tk">&lt;&lt;</a> 14;</td></tr>
 <tr name="531" id="531">
-<td><a id="l531" class='ln'>531</a></td><td><span class="ct">   *  Product: '&lt;S93&gt;/Divide4'</span></td></tr>
+<td><a id="l531" class='ln'>531</a></td><td>    <span class="kw">for</span> (<a id="531c10" class="tk">iBit</a> = 0; <a id="531c20" class="tk">iBit</a> <a id="531c25" class="tk">&lt;</a> 16; <a id="531c31" class="tk">iBit</a><a id="531c35" class="tk">++</a>) <span class="br">{</span></td></tr>
 <tr name="532" id="532">
-<td><a id="l532" class='ln'>532</a></td><td><span class="ct">   *  Sum: '&lt;S94&gt;/Sum1'</span></td></tr>
+<td><a id="l532" class='ln'>532</a></td><td>      <a id="532c7" class="tk">tmp01_y</a> = (<a id="532c18" class="tk">uint16_T</a>)(<a id="532c28" class="tk">y</a> <a id="532c30" class="tk">|</a> <a id="532c32" class="tk">shiftMask</a>);</td></tr>
 <tr name="533" id="533">
-<td><a id="l533" class='ln'>533</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l533" class='ln'>533</a></td><td>      <span class="kw">if</span> ((<a id="533c12" class="tk">uint32_T</a>)<a id="533c21" class="tk">tmp01_y</a> <a id="533c29" class="tk">*</a> <a id="533c31" class="tk">tmp01_y</a> <a id="533c39" class="tk">&lt;=</a> <a id="533c42" class="tk">tmp03_u</a>) <span class="br">{</span></td></tr>
 <tr name="534" id="534">
-<td><a id="l534" class='ln'>534</a></td><td>  <a id="534c3" class="tk">tmp</a> = ((<a id="534c11" class="tk">int64_T</a>)(<a id="534c20" class="tk">rtb_Sum1_c</a> <a id="534c31" class="tk">&gt;&gt;</a> 2) <a id="534c37" class="tk">&lt;&lt;</a> 4) <a id="534c43" class="tk">+</a> <a id="534c45" class="tk">rtb_Divide4_g</a>;</td></tr>
+<td><a id="l534" class='ln'>534</a></td><td>        <a id="534c9" class="tk">y</a> = <a id="534c13" class="tk">tmp01_y</a>;</td></tr>
 <tr name="535" id="535">
-<td><a id="l535" class='ln'>535</a></td><td>  <span class="kw">if</span> (<a id="535c7" class="tk">tmp</a> <a id="535c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
+<td><a id="l535" class='ln'>535</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="536" id="536">
-<td><a id="l536" class='ln'>536</a></td><td>    <a id="536c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
+<td><a id="l536" class='ln'>536</a></td><td></td></tr>
 <tr name="537" id="537">
-<td><a id="l537" class='ln'>537</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l537" class='ln'>537</a></td><td>      <a id="537c7" class="tk">shiftMask</a> = (<a id="537c20" class="tk">uint16_T</a>)((<a id="537c31" class="tk">uint32_T</a>)<a id="537c40" class="tk">shiftMask</a> <a id="537c50" class="tk">&gt;&gt;</a> 1U);</td></tr>
 <tr name="538" id="538">
-<td><a id="l538" class='ln'>538</a></td><td>    <span class="kw">if</span> (<a id="538c9" class="tk">tmp</a> <a id="538c13" class="tk">&lt;</a> <a id="538c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
+<td><a id="l538" class='ln'>538</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="539" id="539">
-<td><a id="l539" class='ln'>539</a></td><td>      <a id="539c7" class="tk">tmp</a> = <a id="539c13" class="tk">-</a>2147483648LL;</td></tr>
+<td><a id="l539" class='ln'>539</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="540" id="540">
-<td><a id="l540" class='ln'>540</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l540" class='ln'>540</a></td><td>    <a id="540c5" class="tk">y</a> = 0U;</td></tr>
 <tr name="541" id="541">
 <td><a id="l541" class='ln'>541</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="542" id="542">
 <td><a id="l542" class='ln'>542</a></td><td></td></tr>
 <tr name="543" id="543">
-<td><a id="l543" class='ln'>543</a></td><td>  <span class="ct">/* Switch: '&lt;S95&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l543" class='ln'>543</a></td><td>  <span class="kw">return</span> <a id="543c10" class="tk">y</a>;</td></tr>
 <tr name="544" id="544">
-<td><a id="l544" class='ln'>544</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S95&gt;/LowerRelop1'</span></td></tr>
+<td><a id="l544" class='ln'>544</a></td><td><span class="br">}</span></td></tr>
 <tr name="545" id="545">
-<td><a id="l545" class='ln'>545</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S95&gt;/UpperRelop'</span></td></tr>
+<td><a id="l545" class='ln'>545</a></td><td></td></tr>
 <tr name="546" id="546">
-<td><a id="l546" class='ln'>546</a></td><td><span class="ct">   *  Sum: '&lt;S93&gt;/Sum6'</span></td></tr>
+<td><a id="l546" class='ln'>546</a></td><td><span class="ct">/* Model step function */</span></td></tr>
 <tr name="547" id="547">
-<td><a id="l547" class='ln'>547</a></td><td><span class="ct">   *  Switch: '&lt;S95&gt;/Switch'</span></td></tr>
+<td><a id="l547" class='ln'>547</a></td><td><span class="kw">void</span> <a id="547c6" class="tk">PMSM_Controller_step</a>(<a id="547c27" class="tk">RT_MODEL</a> <a id="547c36" class="tk">*</a><span class="kw">const</span> <a id="547c43" class="tk">rtM</a>)</td></tr>
 <tr name="548" id="548">
-<td><a id="l548" class='ln'>548</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l548" class='ln'>548</a></td><td><span class="br">{</span></td></tr>
 <tr name="549" id="549">
-<td><a id="l549" class='ln'>549</a></td><td>  <span class="kw">if</span> ((<a id="549c8" class="tk">int32_T</a>)<a id="549c16" class="tk">tmp</a> <a id="549c20" class="tk">&gt;</a> (<a id="549c23" class="tk">rtu_satMax</a> <a id="549c34" class="tk">&lt;&lt;</a> 4)) <span class="br">{</span></td></tr>
+<td><a id="l549" class='ln'>549</a></td><td>  <a id="549c3" class="tk">DW</a> <a id="549c6" class="tk">*</a><a id="549c7" class="tk">rtDW</a> = <a id="549c14" class="tk">rtM</a>-&gt;<a id="549c19" class="tk">dwork</a>;</td></tr>
 <tr name="550" id="550">
-<td><a id="l550" class='ln'>550</a></td><td>    <a id="550c5" class="tk">rty_pi_out_0</a> = <a id="550c20" class="tk">rtu_satMax</a>;</td></tr>
+<td><a id="l550" class='ln'>550</a></td><td>  <a id="550c3" class="tk">PrevZCX</a> <a id="550c11" class="tk">*</a><a id="550c12" class="tk">rtPrevZCX</a> = <a id="550c24" class="tk">rtM</a>-&gt;<a id="550c29" class="tk">prevZCSigState</a>;</td></tr>
 <tr name="551" id="551">
-<td><a id="l551" class='ln'>551</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="551c15" class="tk">int32_T</a>)<a id="551c23" class="tk">tmp</a> <a id="551c27" class="tk">&lt;</a> (<a id="551c30" class="tk">rtu_satMin</a> <a id="551c41" class="tk">&lt;&lt;</a> 4)) <span class="br">{</span></td></tr>
+<td><a id="l551" class='ln'>551</a></td><td>  <a id="551c3" class="tk">ExtU</a> <a id="551c8" class="tk">*</a><a id="551c9" class="tk">rtU</a> = (<a id="551c16" class="tk">ExtU</a> <a id="551c21" class="tk">*</a>) <a id="551c24" class="tk">rtM</a>-&gt;<a id="551c29" class="tk">inputs</a>;</td></tr>
 <tr name="552" id="552">
-<td><a id="l552" class='ln'>552</a></td><td>    <span class="ct">/* Switch: '&lt;S95&gt;/Switch' */</span></td></tr>
+<td><a id="l552" class='ln'>552</a></td><td>  <a id="552c3" class="tk">ExtY</a> <a id="552c8" class="tk">*</a><a id="552c9" class="tk">rtY</a> = (<a id="552c16" class="tk">ExtY</a> <a id="552c21" class="tk">*</a>) <a id="552c24" class="tk">rtM</a>-&gt;<a id="552c29" class="tk">outputs</a>;</td></tr>
 <tr name="553" id="553">
-<td><a id="l553" class='ln'>553</a></td><td>    <a id="553c5" class="tk">rty_pi_out_0</a> = <a id="553c20" class="tk">rtu_satMin</a>;</td></tr>
+<td><a id="l553" class='ln'>553</a></td><td>  <a id="553c3" class="tk">int64_T</a> <a id="553c11" class="tk">tmp</a>;</td></tr>
 <tr name="554" id="554">
-<td><a id="l554" class='ln'>554</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l554" class='ln'>554</a></td><td>  <a id="554c3" class="tk">uint64_T</a> <a id="554c12" class="tk">tmp_3</a>;</td></tr>
 <tr name="555" id="555">
-<td><a id="l555" class='ln'>555</a></td><td>    <a id="555c5" class="tk">rty_pi_out_0</a> = (<a id="555c21" class="tk">int16_T</a>)((<a id="555c31" class="tk">int32_T</a>)<a id="555c39" class="tk">tmp</a> <a id="555c43" class="tk">&gt;&gt;</a> 4);</td></tr>
+<td><a id="l555" class='ln'>555</a></td><td>  <a id="555c3" class="tk">int32_T</a> <a id="555c11" class="tk">rtb_Gain_b0</a>;</td></tr>
 <tr name="556" id="556">
-<td><a id="l556" class='ln'>556</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l556" class='ln'>556</a></td><td>  <a id="556c3" class="tk">int32_T</a> <a id="556c11" class="tk">rtb_Gain_p2</a>;</td></tr>
 <tr name="557" id="557">
-<td><a id="l557" class='ln'>557</a></td><td></td></tr>
+<td><a id="l557" class='ln'>557</a></td><td>  <a id="557c3" class="tk">int32_T</a> <a id="557c11" class="tk">rtb_Sum1</a>;</td></tr>
 <tr name="558" id="558">
-<td><a id="l558" class='ln'>558</a></td><td>  <span class="ct">/* End of Switch: '&lt;S95&gt;/Switch2' */</span></td></tr>
+<td><a id="l558" class='ln'>558</a></td><td>  <a id="558c3" class="tk">int32_T</a> <a id="558c11" class="tk">rtb_Switch</a>;</td></tr>
 <tr name="559" id="559">
-<td><a id="l559" class='ln'>559</a></td><td></td></tr>
+<td><a id="l559" class='ln'>559</a></td><td>  <a id="559c3" class="tk">int32_T</a> <a id="559c11" class="tk">rtb_Switch3</a>;</td></tr>
 <tr name="560" id="560">
-<td><a id="l560" class='ln'>560</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S93&gt;/UnitDelay' incorporates:</span></td></tr>
+<td><a id="l560" class='ln'>560</a></td><td>  <a id="560c3" class="tk">int32_T</a> <a id="560c11" class="tk">tmp_0</a>;</td></tr>
 <tr name="561" id="561">
-<td><a id="l561" class='ln'>561</a></td><td><span class="ct">   *  Product: '&lt;S93&gt;/Divide2'</span></td></tr>
+<td><a id="l561" class='ln'>561</a></td><td>  <a id="561c3" class="tk">int32_T</a> <a id="561c11" class="tk">tmp_1</a>;</td></tr>
 <tr name="562" id="562">
-<td><a id="l562" class='ln'>562</a></td><td><span class="ct">   *  Sum: '&lt;S93&gt;/Sum3'</span></td></tr>
+<td><a id="l562" class='ln'>562</a></td><td>  <a id="562c3" class="tk">int32_T</a> <a id="562c11" class="tk">tmp_2</a>;</td></tr>
 <tr name="563" id="563">
-<td><a id="l563" class='ln'>563</a></td><td><span class="ct">   *  Sum: '&lt;S93&gt;/Sum6'</span></td></tr>
+<td><a id="l563" class='ln'>563</a></td><td>  <a id="563c3" class="tk">uint32_T</a> <a id="563c12" class="tk">qY</a>;</td></tr>
 <tr name="564" id="564">
-<td><a id="l564" class='ln'>564</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l564" class='ln'>564</a></td><td>  <a id="564c3" class="tk">uint32_T</a> <a id="564c12" class="tk">rtb_Switch2</a>;</td></tr>
 <tr name="565" id="565">
-<td><a id="l565" class='ln'>565</a></td><td>  <a id="565c3" class="tk">localDW</a>-&gt;<a id="565c12" class="tk">UnitDelay_DSTATE</a> = (<a id="565c32" class="tk">int32_T</a>)(((<a id="565c43" class="tk">int64_T</a>)((<a id="565c53" class="tk">rty_pi_out_0</a> <a id="565c66" class="tk">&lt;&lt;</a> 4) <a id="565c72" class="tk">-</a></td></tr>
+<td><a id="l565" class='ln'>565</a></td><td>  <a id="565c3" class="tk">int16_T</a> <a id="565c11" class="tk">rtb_DataTypeConversion_b</a>[2];</td></tr>
 <tr name="566" id="566">
-<td><a id="l566" class='ln'>566</a></td><td>    (<a id="566c6" class="tk">int32_T</a>)<a id="566c14" class="tk">tmp</a>) <a id="566c19" class="tk">*</a> <a id="566c21" class="tk">rtu_Kb</a>) <a id="566c29" class="tk">&gt;&gt;</a> 12);</td></tr>
+<td><a id="l566" class='ln'>566</a></td><td>  <a id="566c3" class="tk">int16_T</a> <a id="566c11" class="tk">rtb_UnitDelay1</a>[2];</td></tr>
 <tr name="567" id="567">
-<td><a id="l567" class='ln'>567</a></td><td></td></tr>
+<td><a id="l567" class='ln'>567</a></td><td>  <a id="567c3" class="tk">int16_T</a> <a id="567c11" class="tk">rtb_Divide1_m</a>;</td></tr>
 <tr name="568" id="568">
-<td><a id="l568" class='ln'>568</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S94&gt;/Resettable Delay' incorporates:</span></td></tr>
+<td><a id="l568" class='ln'>568</a></td><td>  <a id="568c3" class="tk">int16_T</a> <a id="568c11" class="tk">rtb_Divide3_k</a>;</td></tr>
 <tr name="569" id="569">
-<td><a id="l569" class='ln'>569</a></td><td><span class="ct">   *  Sum: '&lt;S94&gt;/Sum1'</span></td></tr>
+<td><a id="l569" class='ln'>569</a></td><td>  <a id="569c3" class="tk">int16_T</a> <a id="569c11" class="tk">rtb_Sum1_a</a>;</td></tr>
 <tr name="570" id="570">
-<td><a id="l570" class='ln'>570</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l570" class='ln'>570</a></td><td>  <a id="570c3" class="tk">int16_T</a> <a id="570c11" class="tk">rtb_Sum3_jm</a>;</td></tr>
 <tr name="571" id="571">
-<td><a id="l571" class='ln'>571</a></td><td>  <a id="571c3" class="tk">localDW</a>-&gt;<a id="571c12" class="tk">icLoad</a> = 0U;</td></tr>
+<td><a id="l571" class='ln'>571</a></td><td>  <a id="571c3" class="tk">int16_T</a> <a id="571c11" class="tk">rtb_Sum6_k</a>;</td></tr>
 <tr name="572" id="572">
-<td><a id="l572" class='ln'>572</a></td><td>  <a id="572c3" class="tk">localDW</a>-&gt;<a id="572c12" class="tk">ResettableDelay_DSTATE</a> = <a id="572c37" class="tk">rtb_Sum1_c</a>;</td></tr>
+<td><a id="l572" class='ln'>572</a></td><td>  <a id="572c3" class="tk">int16_T</a> <a id="572c11" class="tk">rtb_Sum6_p</a>;</td></tr>
 <tr name="573" id="573">
-<td><a id="l573" class='ln'>573</a></td><td>  <span class="kw">return</span> <a id="573c10" class="tk">rty_pi_out_0</a>;</td></tr>
+<td><a id="l573" class='ln'>573</a></td><td>  <a id="573c3" class="tk">int16_T</a> <a id="573c11" class="tk">rtb_Switch_f_idx_0</a>;</td></tr>
 <tr name="574" id="574">
-<td><a id="l574" class='ln'>574</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l574" class='ln'>574</a></td><td>  <a id="574c3" class="tk">int16_T</a> <a id="574c11" class="tk">rtb_Switch_f_idx_1</a>;</td></tr>
 <tr name="575" id="575">
-<td><a id="l575" class='ln'>575</a></td><td></td></tr>
+<td><a id="l575" class='ln'>575</a></td><td>  <a id="575c3" class="tk">int16_T</a> <a id="575c11" class="tk">rtb_r_cos_M1</a>;</td></tr>
 <tr name="576" id="576">
-<td><a id="l576" class='ln'>576</a></td><td><a id="576c1" class="tk">int16_T</a> <a id="576c9" class="tk">rt_sqrt_Us16En12_Ys16E_cQn1iwAF</a>(<a id="576c41" class="tk">int16_T</a> <a id="576c49" class="tk">u</a>)</td></tr>
+<td><a id="l576" class='ln'>576</a></td><td>  <a id="576c3" class="tk">uint16_T</a> <a id="576c12" class="tk">rtb_BitwiseOperator2</a>;</td></tr>
 <tr name="577" id="577">
-<td><a id="l577" class='ln'>577</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l577" class='ln'>577</a></td><td>  <a id="577c3" class="tk">uint16_T</a> <a id="577c12" class="tk">rtb_LogicalOperator3</a>;</td></tr>
 <tr name="578" id="578">
-<td><a id="l578" class='ln'>578</a></td><td>  <a id="578c3" class="tk">int32_T</a> <a id="578c11" class="tk">iBit</a>;</td></tr>
+<td><a id="l578" class='ln'>578</a></td><td>  <a id="578c3" class="tk">int8_T</a> <a id="578c10" class="tk">UnitDelay3</a>;</td></tr>
 <tr name="579" id="579">
-<td><a id="l579" class='ln'>579</a></td><td>  <a id="579c3" class="tk">int32_T</a> <a id="579c11" class="tk">tmp03_u</a>;</td></tr>
+<td><a id="l579" class='ln'>579</a></td><td>  <a id="579c3" class="tk">int8_T</a> <a id="579c10" class="tk">rtb_Sum2</a>;</td></tr>
 <tr name="580" id="580">
-<td><a id="l580" class='ln'>580</a></td><td>  <a id="580c3" class="tk">int16_T</a> <a id="580c11" class="tk">shiftMask</a>;</td></tr>
+<td><a id="l580" class='ln'>580</a></td><td>  <a id="580c3" class="tk">int8_T</a> <a id="580c10" class="tk">rtb_Sum2_tmp</a>;</td></tr>
 <tr name="581" id="581">
-<td><a id="l581" class='ln'>581</a></td><td>  <a id="581c3" class="tk">int16_T</a> <a id="581c11" class="tk">tmp01_y</a>;</td></tr>
+<td><a id="l581" class='ln'>581</a></td><td>  <a id="581c3" class="tk">uint8_T</a> <a id="581c11" class="tk">rtb_Add_gf</a>;</td></tr>
 <tr name="582" id="582">
-<td><a id="l582" class='ln'>582</a></td><td>  <a id="582c3" class="tk">int16_T</a> <a id="582c11" class="tk">y</a>;</td></tr>
+<td><a id="l582" class='ln'>582</a></td><td>  <a id="582c3" class="tk">uint8_T</a> <a id="582c11" class="tk">rtb_DataTypeConversion_np</a>;</td></tr>
 <tr name="583" id="583">
-<td><a id="l583" class='ln'>583</a></td><td></td></tr>
+<td><a id="l583" class='ln'>583</a></td><td>  <a id="583c3" class="tk">uint8_T</a> <a id="583c11" class="tk">rtb_Sum_i</a>;</td></tr>
 <tr name="584" id="584">
-<td><a id="l584" class='ln'>584</a></td><td>  <span class="ct">/* Fixed-Point Sqrt Computation by the bisection method. */</span></td></tr>
+<td><a id="l584" class='ln'>584</a></td><td>  <a id="584c3" class="tk">uint8_T</a> <a id="584c11" class="tk">rtb_UnitDelay_bc</a>;</td></tr>
 <tr name="585" id="585">
-<td><a id="l585" class='ln'>585</a></td><td>  <span class="kw">if</span> (<a id="585c7" class="tk">u</a> <a id="585c9" class="tk">&gt;</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l585" class='ln'>585</a></td><td>  <a id="585c3" class="tk">uint8_T</a> <a id="585c11" class="tk">rtb_z_ctrlMod</a>;</td></tr>
 <tr name="586" id="586">
-<td><a id="l586" class='ln'>586</a></td><td>    <a id="586c5" class="tk">y</a> = 0;</td></tr>
+<td><a id="l586" class='ln'>586</a></td><td>  <a id="586c3" class="tk">boolean_T</a> <a id="586c13" class="tk">rtb_Equal_k</a>;</td></tr>
 <tr name="587" id="587">
-<td><a id="l587" class='ln'>587</a></td><td>    <a id="587c5" class="tk">shiftMask</a> = 16384;</td></tr>
+<td><a id="l587" class='ln'>587</a></td><td>  <a id="587c3" class="tk">boolean_T</a> <a id="587c13" class="tk">rtb_LogicalOperator12</a>;</td></tr>
 <tr name="588" id="588">
-<td><a id="l588" class='ln'>588</a></td><td>    <a id="588c5" class="tk">tmp03_u</a> = <a id="588c15" class="tk">u</a> <a id="588c17" class="tk">&lt;&lt;</a> 12;</td></tr>
+<td><a id="l588" class='ln'>588</a></td><td>  <a id="588c3" class="tk">boolean_T</a> <a id="588c13" class="tk">rtb_LogicalOperator2_h</a>;</td></tr>
 <tr name="589" id="589">
-<td><a id="l589" class='ln'>589</a></td><td>    <span class="kw">for</span> (<a id="589c10" class="tk">iBit</a> = 0; <a id="589c20" class="tk">iBit</a> <a id="589c25" class="tk">&lt;</a> 15; <a id="589c31" class="tk">iBit</a><a id="589c35" class="tk">++</a>) <span class="br">{</span></td></tr>
+<td><a id="l589" class='ln'>589</a></td><td>  <a id="589c3" class="tk">boolean_T</a> <a id="589c13" class="tk">rtb_LogicalOperator4_e</a>;</td></tr>
 <tr name="590" id="590">
-<td><a id="l590" class='ln'>590</a></td><td>      <a id="590c7" class="tk">tmp01_y</a> = (<a id="590c18" class="tk">int16_T</a>)(<a id="590c27" class="tk">y</a> <a id="590c29" class="tk">|</a> <a id="590c31" class="tk">shiftMask</a>);</td></tr>
+<td><a id="l590" class='ln'>590</a></td><td>  <a id="590c3" class="tk">boolean_T</a> <a id="590c13" class="tk">rtb_RelationalOperator4_f</a>;</td></tr>
 <tr name="591" id="591">
-<td><a id="l591" class='ln'>591</a></td><td>      <span class="kw">if</span> (<a id="591c11" class="tk">tmp01_y</a> <a id="591c19" class="tk">*</a> <a id="591c21" class="tk">tmp01_y</a> <a id="591c29" class="tk">&lt;=</a> <a id="591c32" class="tk">tmp03_u</a>) <span class="br">{</span></td></tr>
+<td><a id="l591" class='ln'>591</a></td><td>  <a id="591c3" class="tk">boolean_T</a> <a id="591c13" class="tk">rtb_n_commDeacv</a>;</td></tr>
 <tr name="592" id="592">
-<td><a id="l592" class='ln'>592</a></td><td>        <a id="592c9" class="tk">y</a> = <a id="592c13" class="tk">tmp01_y</a>;</td></tr>
+<td><a id="l592" class='ln'>592</a></td><td></td></tr>
 <tr name="593" id="593">
-<td><a id="l593" class='ln'>593</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l593" class='ln'>593</a></td><td>  <span class="ct">/* Outputs for Atomic SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
 <tr name="594" id="594">
-<td><a id="l594" class='ln'>594</a></td><td></td></tr>
+<td><a id="l594" class='ln'>594</a></td><td>  <span class="ct">/* UnitDelay: '&lt;S6&gt;/UnitDelay1' */</span></td></tr>
 <tr name="595" id="595">
-<td><a id="l595" class='ln'>595</a></td><td>      <a id="595c7" class="tk">shiftMask</a> = (<a id="595c20" class="tk">int16_T</a>)((<a id="595c30" class="tk">uint32_T</a>)<a id="595c39" class="tk">shiftMask</a> <a id="595c49" class="tk">&gt;&gt;</a> 1U);</td></tr>
+<td><a id="l595" class='ln'>595</a></td><td>  <a id="595c3" class="tk">rtb_UnitDelay1</a>[0] = <a id="595c23" class="tk">rtDW</a>-&gt;<a id="595c29" class="tk">UnitDelay1_DSTATE_f</a>[0];</td></tr>
 <tr name="596" id="596">
-<td><a id="l596" class='ln'>596</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l596" class='ln'>596</a></td><td>  <a id="596c3" class="tk">rtb_UnitDelay1</a>[1] = <a id="596c23" class="tk">rtDW</a>-&gt;<a id="596c29" class="tk">UnitDelay1_DSTATE_f</a>[1];</td></tr>
 <tr name="597" id="597">
-<td><a id="l597" class='ln'>597</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l597" class='ln'>597</a></td><td></td></tr>
 <tr name="598" id="598">
-<td><a id="l598" class='ln'>598</a></td><td>    <a id="598c5" class="tk">y</a> = 0;</td></tr>
+<td><a id="l598" class='ln'>598</a></td><td>  <span class="ct">/* S-Function (sfix_bitop): '&lt;S4&gt;/Bitwise Operator2' incorporates:</span></td></tr>
 <tr name="599" id="599">
-<td><a id="l599" class='ln'>599</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l599" class='ln'>599</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/FOC_Flags'</span></td></tr>
 <tr name="600" id="600">
-<td><a id="l600" class='ln'>600</a></td><td></td></tr>
+<td><a id="l600" class='ln'>600</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="601" id="601">
-<td><a id="l601" class='ln'>601</a></td><td>  <span class="kw">return</span> <a id="601c10" class="tk">y</a>;</td></tr>
+<td><a id="l601" class='ln'>601</a></td><td>  <a id="601c3" class="tk">rtb_BitwiseOperator2</a> = (<a id="601c27" class="tk">uint16_T</a>)(<a id="601c37" class="tk">rtU</a>-&gt;<a id="601c42" class="tk">FOC_Flags</a> <a id="601c52" class="tk">&amp;</a> 1);</td></tr>
 <tr name="602" id="602">
-<td><a id="l602" class='ln'>602</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l602" class='ln'>602</a></td><td></td></tr>
 <tr name="603" id="603">
-<td><a id="l603" class='ln'>603</a></td><td></td></tr>
+<td><a id="l603" class='ln'>603</a></td><td>  <span class="ct">/* UnitDelay: '&lt;S37&gt;/UnitDelay' */</span></td></tr>
 <tr name="604" id="604">
-<td><a id="l604" class='ln'>604</a></td><td><span class="ct">/* Model step function */</span></td></tr>
+<td><a id="l604" class='ln'>604</a></td><td>  <a id="604c3" class="tk">rtb_UnitDelay_bc</a> = <a id="604c22" class="tk">rtDW</a>-&gt;<a id="604c28" class="tk">UnitDelay_DSTATE_j</a>;</td></tr>
 <tr name="605" id="605">
-<td><a id="l605" class='ln'>605</a></td><td><span class="kw">void</span> <a id="605c6" class="tk">PMSM_Controller_step</a>(<a id="605c27" class="tk">RT_MODEL</a> <a id="605c36" class="tk">*</a><span class="kw">const</span> <a id="605c43" class="tk">rtM</a>)</td></tr>
+<td><a id="l605" class='ln'>605</a></td><td></td></tr>
 <tr name="606" id="606">
-<td><a id="l606" class='ln'>606</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l606" class='ln'>606</a></td><td>  <span class="ct">/* Logic: '&lt;S9&gt;/Edge_Detect' incorporates:</span></td></tr>
 <tr name="607" id="607">
-<td><a id="l607" class='ln'>607</a></td><td>  <a id="607c3" class="tk">DW</a> <a id="607c6" class="tk">*</a><a id="607c7" class="tk">rtDW</a> = <a id="607c14" class="tk">rtM</a>-&gt;<a id="607c19" class="tk">dwork</a>;</td></tr>
+<td><a id="l607" class='ln'>607</a></td><td><span class="ct">   *  Delay: '&lt;S9&gt;/Delay'</span></td></tr>
 <tr name="608" id="608">
-<td><a id="l608" class='ln'>608</a></td><td>  <a id="608c3" class="tk">PrevZCX</a> <a id="608c11" class="tk">*</a><a id="608c12" class="tk">rtPrevZCX</a> = <a id="608c24" class="tk">rtM</a>-&gt;<a id="608c29" class="tk">prevZCSigState</a>;</td></tr>
+<td><a id="l608" class='ln'>608</a></td><td><span class="ct">   *  Delay: '&lt;S9&gt;/Delay1'</span></td></tr>
 <tr name="609" id="609">
-<td><a id="l609" class='ln'>609</a></td><td>  <a id="609c3" class="tk">ExtU</a> <a id="609c8" class="tk">*</a><a id="609c9" class="tk">rtU</a> = (<a id="609c16" class="tk">ExtU</a> <a id="609c21" class="tk">*</a>) <a id="609c24" class="tk">rtM</a>-&gt;<a id="609c29" class="tk">inputs</a>;</td></tr>
+<td><a id="l609" class='ln'>609</a></td><td><span class="ct">   *  Delay: '&lt;S9&gt;/Delay2'</span></td></tr>
 <tr name="610" id="610">
-<td><a id="l610" class='ln'>610</a></td><td>  <a id="610c3" class="tk">ExtY</a> <a id="610c8" class="tk">*</a><a id="610c9" class="tk">rtY</a> = (<a id="610c16" class="tk">ExtY</a> <a id="610c21" class="tk">*</a>) <a id="610c24" class="tk">rtM</a>-&gt;<a id="610c29" class="tk">outputs</a>;</td></tr>
+<td><a id="l610" class='ln'>610</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_A'</span></td></tr>
 <tr name="611" id="611">
-<td><a id="l611" class='ln'>611</a></td><td>  <a id="611c3" class="tk">int64_T</a> <a id="611c11" class="tk">tmp</a>;</td></tr>
+<td><a id="l611" class='ln'>611</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_B'</span></td></tr>
 <tr name="612" id="612">
-<td><a id="l612" class='ln'>612</a></td><td>  <a id="612c3" class="tk">int32_T</a> <a id="612c11" class="tk">rtb_Gain</a>;</td></tr>
+<td><a id="l612" class='ln'>612</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_C'</span></td></tr>
 <tr name="613" id="613">
-<td><a id="l613" class='ln'>613</a></td><td>  <a id="613c3" class="tk">int32_T</a> <a id="613c11" class="tk">tmp_0</a>;</td></tr>
+<td><a id="l613" class='ln'>613</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="614" id="614">
-<td><a id="l614" class='ln'>614</a></td><td>  <a id="614c3" class="tk">int32_T</a> <a id="614c11" class="tk">tmp_1</a>;</td></tr>
+<td><a id="l614" class='ln'>614</a></td><td>  <a id="614c3" class="tk">rtb_Equal_k</a> = (<a id="614c18" class="tk">boolean_T</a>)((<a id="614c30" class="tk">rtU</a>-&gt;<a id="614c35" class="tk">hall_A</a> <a id="614c42" class="tk">!=</a> 0) <a id="614c48" class="tk">^</a> (<a id="614c51" class="tk">rtDW</a>-&gt;<a id="614c57" class="tk">Delay_DSTATE_d</a> <a id="614c72" class="tk">!=</a> 0) <a id="614c78" class="tk">^</a></td></tr>
 <tr name="615" id="615">
-<td><a id="l615" class='ln'>615</a></td><td>  <a id="615c3" class="tk">int32_T</a> <a id="615c11" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l615" class='ln'>615</a></td><td>    (<a id="615c6" class="tk">rtU</a>-&gt;<a id="615c11" class="tk">hall_B</a> <a id="615c18" class="tk">!=</a> 0) <a id="615c24" class="tk">^</a> (<a id="615c27" class="tk">rtDW</a>-&gt;<a id="615c33" class="tk">Delay1_DSTATE</a> <a id="615c47" class="tk">!=</a> 0) <a id="615c53" class="tk">^</a> (<a id="615c56" class="tk">rtU</a>-&gt;<a id="615c61" class="tk">hall_C</a> <a id="615c68" class="tk">!=</a> 0)) <a id="615c75" class="tk">^</a></td></tr>
 <tr name="616" id="616">
-<td><a id="l616" class='ln'>616</a></td><td>  <a id="616c3" class="tk">uint32_T</a> <a id="616c12" class="tk">qY</a>;</td></tr>
+<td><a id="l616" class='ln'>616</a></td><td>    (<a id="616c6" class="tk">rtDW</a>-&gt;<a id="616c12" class="tk">Delay2_DSTATE</a> <a id="616c26" class="tk">!=</a> 0);</td></tr>
 <tr name="617" id="617">
-<td><a id="l617" class='ln'>617</a></td><td>  <a id="617c3" class="tk">uint32_T</a> <a id="617c12" class="tk">tmp_3</a>;</td></tr>
+<td><a id="l617" class='ln'>617</a></td><td></td></tr>
 <tr name="618" id="618">
-<td><a id="l618" class='ln'>618</a></td><td>  <a id="618c3" class="tk">int16_T</a> <a id="618c11" class="tk">rtb_DataTypeConversion</a>[2];</td></tr>
+<td><a id="l618" class='ln'>618</a></td><td>  <span class="ct">/* Sum: '&lt;S11&gt;/Add' incorporates:</span></td></tr>
 <tr name="619" id="619">
-<td><a id="l619" class='ln'>619</a></td><td>  <a id="619c3" class="tk">int16_T</a> <a id="619c11" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[2];</td></tr>
+<td><a id="l619" class='ln'>619</a></td><td><span class="ct">   *  Gain: '&lt;S11&gt;/Gain'</span></td></tr>
 <tr name="620" id="620">
-<td><a id="l620" class='ln'>620</a></td><td>  <a id="620c3" class="tk">int16_T</a> <a id="620c11" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l620" class='ln'>620</a></td><td><span class="ct">   *  Gain: '&lt;S11&gt;/Gain1'</span></td></tr>
 <tr name="621" id="621">
-<td><a id="l621" class='ln'>621</a></td><td>  <a id="621c3" class="tk">int16_T</a> <a id="621c11" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l621" class='ln'>621</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_A'</span></td></tr>
 <tr name="622" id="622">
-<td><a id="l622" class='ln'>622</a></td><td>  <a id="622c3" class="tk">int16_T</a> <a id="622c11" class="tk">rtb_Switch2_l</a>;</td></tr>
+<td><a id="l622" class='ln'>622</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_B'</span></td></tr>
 <tr name="623" id="623">
-<td><a id="l623" class='ln'>623</a></td><td>  <a id="623c3" class="tk">int16_T</a> <a id="623c11" class="tk">rtb_Switch3_c</a>;</td></tr>
+<td><a id="l623" class='ln'>623</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_C'</span></td></tr>
 <tr name="624" id="624">
-<td><a id="l624" class='ln'>624</a></td><td>  <a id="624c3" class="tk">int16_T</a> <a id="624c11" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l624" class='ln'>624</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="625" id="625">
-<td><a id="l625" class='ln'>625</a></td><td>  <a id="625c3" class="tk">uint16_T</a> <a id="625c12" class="tk">rtb_Abs2</a>;</td></tr>
+<td><a id="l625" class='ln'>625</a></td><td>  <a id="625c3" class="tk">rtb_Add_gf</a> = (<a id="625c17" class="tk">uint8_T</a>)((<a id="625c27" class="tk">uint32_T</a>)(<a id="625c37" class="tk">uint8_T</a>)((<a id="625c47" class="tk">uint32_T</a>)(<a id="625c57" class="tk">uint8_T</a>)(<a id="625c66" class="tk">rtU</a>-&gt;<a id="625c71" class="tk">hall_C</a> <a id="625c78" class="tk">&lt;&lt;</a></td></tr>
 <tr name="626" id="626">
-<td><a id="l626" class='ln'>626</a></td><td>  <a id="626c3" class="tk">uint16_T</a> <a id="626c12" class="tk">rtb_LogicalOperator3</a>;</td></tr>
+<td><a id="l626" class='ln'>626</a></td><td>    2) <a id="626c8" class="tk">+</a> (<a id="626c11" class="tk">uint8_T</a>)(<a id="626c20" class="tk">rtU</a>-&gt;<a id="626c25" class="tk">hall_B</a> <a id="626c32" class="tk">&lt;&lt;</a> 1)) <a id="626c39" class="tk">+</a> <a id="626c41" class="tk">rtU</a>-&gt;<a id="626c46" class="tk">hall_A</a>);</td></tr>
 <tr name="627" id="627">
-<td><a id="l627" class='ln'>627</a></td><td>  <a id="627c3" class="tk">uint16_T</a> <a id="627c12" class="tk">rtb_Switch2</a>;</td></tr>
+<td><a id="l627" class='ln'>627</a></td><td></td></tr>
 <tr name="628" id="628">
-<td><a id="l628" class='ln'>628</a></td><td>  <a id="628c3" class="tk">int8_T</a> <a id="628c10" class="tk">UnitDelay3</a>;</td></tr>
+<td><a id="l628" class='ln'>628</a></td><td>  <span class="ct">/* If: '&lt;S3&gt;/If2' incorporates:</span></td></tr>
 <tr name="629" id="629">
-<td><a id="l629" class='ln'>629</a></td><td>  <a id="629c3" class="tk">int8_T</a> <a id="629c10" class="tk">rtb_Sum2</a>;</td></tr>
+<td><a id="l629" class='ln'>629</a></td><td><span class="ct">   *  If: '&lt;S14&gt;/If2'</span></td></tr>
 <tr name="630" id="630">
-<td><a id="l630" class='ln'>630</a></td><td>  <a id="630c3" class="tk">int8_T</a> <a id="630c10" class="tk">rtb_Sum2_tmp</a>;</td></tr>
+<td><a id="l630" class='ln'>630</a></td><td><span class="ct">   *  Inport: '&lt;S20&gt;/z_counterRawPrev'</span></td></tr>
 <tr name="631" id="631">
-<td><a id="l631" class='ln'>631</a></td><td>  <a id="631c3" class="tk">uint8_T</a> <a id="631c11" class="tk">rtb_Add_cr</a>;</td></tr>
+<td><a id="l631" class='ln'>631</a></td><td><span class="ct">   *  UnitDelay: '&lt;S14&gt;/UnitDelay3'</span></td></tr>
 <tr name="632" id="632">
-<td><a id="l632" class='ln'>632</a></td><td>  <a id="632c3" class="tk">uint8_T</a> <a id="632c11" class="tk">rtb_DataTypeConversion_m</a>;</td></tr>
+<td><a id="l632" class='ln'>632</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="633" id="633">
-<td><a id="l633" class='ln'>633</a></td><td>  <a id="633c3" class="tk">uint8_T</a> <a id="633c11" class="tk">rtb_Sum</a>;</td></tr>
+<td><a id="l633" class='ln'>633</a></td><td>  <span class="kw">if</span> (<a id="633c7" class="tk">rtb_Equal_k</a>) <span class="br">{</span></td></tr>
 <tr name="634" id="634">
-<td><a id="l634" class='ln'>634</a></td><td>  <a id="634c3" class="tk">uint8_T</a> <a id="634c11" class="tk">rtb_UnitDelay_bc</a>;</td></tr>
+<td><a id="l634" class='ln'>634</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S3&gt;/Direction_Detection' incorporates:</span></td></tr>
 <tr name="635" id="635">
-<td><a id="l635" class='ln'>635</a></td><td>  <a id="635c3" class="tk">uint8_T</a> <a id="635c11" class="tk">rtb_z_ctrlMod</a>;</td></tr>
+<td><a id="l635" class='ln'>635</a></td><td><span class="ct">     *  ActionPort: '&lt;S8&gt;/Action Port'</span></td></tr>
 <tr name="636" id="636">
-<td><a id="l636" class='ln'>636</a></td><td>  <a id="636c3" class="tk">boolean_T</a> <a id="636c13" class="tk">rtb_Equal_k</a>;</td></tr>
+<td><a id="l636" class='ln'>636</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="637" id="637">
-<td><a id="l637" class='ln'>637</a></td><td>  <a id="637c3" class="tk">boolean_T</a> <a id="637c13" class="tk">rtb_LogicalOperator2</a>;</td></tr>
+<td><a id="l637" class='ln'>637</a></td><td>    <span class="ct">/* UnitDelay: '&lt;S8&gt;/UnitDelay3' */</span></td></tr>
 <tr name="638" id="638">
-<td><a id="l638" class='ln'>638</a></td><td>  <a id="638c3" class="tk">boolean_T</a> <a id="638c13" class="tk">rtb_LogicalOperator4</a>;</td></tr>
+<td><a id="l638" class='ln'>638</a></td><td>    <a id="638c5" class="tk">UnitDelay3</a> = <a id="638c18" class="tk">rtDW</a>-&gt;<a id="638c24" class="tk">Switch2_i</a>;</td></tr>
 <tr name="639" id="639">
-<td><a id="l639" class='ln'>639</a></td><td>  <a id="639c3" class="tk">boolean_T</a> <a id="639c13" class="tk">rtb_LogicalOperator_p</a>;</td></tr>
+<td><a id="l639" class='ln'>639</a></td><td></td></tr>
 <tr name="640" id="640">
-<td><a id="l640" class='ln'>640</a></td><td>  <a id="640c3" class="tk">boolean_T</a> <a id="640c13" class="tk">rtb_RelationalOperator4_f</a>;</td></tr>
+<td><a id="l640" class='ln'>640</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S3&gt;/Direction_Detection' */</span></td></tr>
 <tr name="641" id="641">
-<td><a id="l641" class='ln'>641</a></td><td>  <a id="641c3" class="tk">boolean_T</a> <a id="641c13" class="tk">rtb_n_commDeacv</a>;</td></tr>
+<td><a id="l641" class='ln'>641</a></td><td></td></tr>
 <tr name="642" id="642">
-<td><a id="l642" class='ln'>642</a></td><td></td></tr>
+<td><a id="l642" class='ln'>642</a></td><td>    <span class="ct">/* Selector: '&lt;S11&gt;/Selector' incorporates:</span></td></tr>
 <tr name="643" id="643">
-<td><a id="l643" class='ln'>643</a></td><td>  <span class="ct">/* Outputs for Atomic SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
+<td><a id="l643" class='ln'>643</a></td><td><span class="ct">     *  Constant: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
 <tr name="644" id="644">
-<td><a id="l644" class='ln'>644</a></td><td>  <span class="ct">/* Sum: '&lt;S7&gt;/Sum3' incorporates:</span></td></tr>
+<td><a id="l644" class='ln'>644</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="645" id="645">
-<td><a id="l645" class='ln'>645</a></td><td><span class="ct">   *  UnitDelay: '&lt;S7&gt;/UnitDelay1'</span></td></tr>
+<td><a id="l645" class='ln'>645</a></td><td>    <a id="645c5" class="tk">rtb_Sum2_tmp</a> = <a id="645c20" class="tk">rtConstP</a>.<a id="645c29" class="tk">vec_hallToPos_Value</a>[<a id="645c49" class="tk">rtb_Add_gf</a>];</td></tr>
 <tr name="646" id="646">
-<td><a id="l646" class='ln'>646</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l646" class='ln'>646</a></td><td></td></tr>
 <tr name="647" id="647">
-<td><a id="l647" class='ln'>647</a></td><td>  <a id="647c3" class="tk">qY</a> = <a id="647c8" class="tk">rtDW</a>-&gt;<a id="647c14" class="tk">UnitDelay1_DSTATE</a> <a id="647c32" class="tk">+</a> <span class="ct">/*MW:OvSatOk*/</span> 1U;</td></tr>
+<td><a id="l647" class='ln'>647</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S3&gt;/Direction_Detection' incorporates:</span></td></tr>
 <tr name="648" id="648">
-<td><a id="l648" class='ln'>648</a></td><td>  <span class="kw">if</span> (<a id="648c7" class="tk">rtDW</a>-&gt;<a id="648c13" class="tk">UnitDelay1_DSTATE</a> <a id="648c31" class="tk">+</a> 1U <a id="648c36" class="tk">&lt;</a> 1U) <span class="br">{</span></td></tr>
+<td><a id="l648" class='ln'>648</a></td><td><span class="ct">     *  ActionPort: '&lt;S8&gt;/Action Port'</span></td></tr>
 <tr name="649" id="649">
-<td><a id="l649" class='ln'>649</a></td><td>    <a id="649c5" class="tk">qY</a> = <a id="649c10" class="tk">MAX_uint32_T</a>;</td></tr>
+<td><a id="l649" class='ln'>649</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="650" id="650">
-<td><a id="l650" class='ln'>650</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l650" class='ln'>650</a></td><td>    <span class="ct">/* Sum: '&lt;S8&gt;/Sum2' incorporates:</span></td></tr>
 <tr name="651" id="651">
-<td><a id="l651" class='ln'>651</a></td><td></td></tr>
+<td><a id="l651" class='ln'>651</a></td><td><span class="ct">     *  Constant: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
 <tr name="652" id="652">
-<td><a id="l652" class='ln'>652</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S2&gt;/Equal' incorporates:</span></td></tr>
+<td><a id="l652" class='ln'>652</a></td><td><span class="ct">     *  Selector: '&lt;S11&gt;/Selector'</span></td></tr>
 <tr name="653" id="653">
-<td><a id="l653" class='ln'>653</a></td><td><span class="ct">   *  Constant: '&lt;S2&gt;/Constant1'</span></td></tr>
+<td><a id="l653" class='ln'>653</a></td><td><span class="ct">     *  UnitDelay: '&lt;S8&gt;/UnitDelay2'</span></td></tr>
 <tr name="654" id="654">
-<td><a id="l654" class='ln'>654</a></td><td><span class="ct">   *  Math: '&lt;S2&gt;/Rem'</span></td></tr>
+<td><a id="l654" class='ln'>654</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="655" id="655">
-<td><a id="l655" class='ln'>655</a></td><td><span class="ct">   *  Sum: '&lt;S7&gt;/Sum3'</span></td></tr>
+<td><a id="l655" class='ln'>655</a></td><td>    <a id="655c5" class="tk">rtb_Sum2</a> = (<a id="655c17" class="tk">int8_T</a>)(<a id="655c25" class="tk">rtb_Sum2_tmp</a> <a id="655c38" class="tk">-</a> <a id="655c40" class="tk">rtDW</a>-&gt;<a id="655c46" class="tk">UnitDelay2_DSTATE_j</a>);</td></tr>
 <tr name="656" id="656">
-<td><a id="l656" class='ln'>656</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l656" class='ln'>656</a></td><td></td></tr>
 <tr name="657" id="657">
-<td><a id="l657" class='ln'>657</a></td><td>  <a id="657c3" class="tk">rtb_Equal_k</a> = (<a id="657c18" class="tk">qY</a> <a id="657c21" class="tk">%</a> 20U <a id="657c27" class="tk">==</a> 0U);</td></tr>
+<td><a id="l657" class='ln'>657</a></td><td>    <span class="ct">/* Switch: '&lt;S8&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="658" id="658">
-<td><a id="l658" class='ln'>658</a></td><td></td></tr>
+<td><a id="l658" class='ln'>658</a></td><td><span class="ct">     *  Constant: '&lt;S8&gt;/Constant20'</span></td></tr>
 <tr name="659" id="659">
-<td><a id="l659" class='ln'>659</a></td><td>  <span class="ct">/* Logic: '&lt;S9&gt;/Edge_Detect' incorporates:</span></td></tr>
+<td><a id="l659" class='ln'>659</a></td><td><span class="ct">     *  Constant: '&lt;S8&gt;/Constant8'</span></td></tr>
 <tr name="660" id="660">
-<td><a id="l660" class='ln'>660</a></td><td><span class="ct">   *  Delay: '&lt;S9&gt;/Delay'</span></td></tr>
+<td><a id="l660" class='ln'>660</a></td><td><span class="ct">     *  Logic: '&lt;S8&gt;/Logical Operator3'</span></td></tr>
 <tr name="661" id="661">
-<td><a id="l661" class='ln'>661</a></td><td><span class="ct">   *  Delay: '&lt;S9&gt;/Delay1'</span></td></tr>
+<td><a id="l661" class='ln'>661</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S8&gt;/Relational Operator1'</span></td></tr>
 <tr name="662" id="662">
-<td><a id="l662" class='ln'>662</a></td><td><span class="ct">   *  Delay: '&lt;S9&gt;/Delay2'</span></td></tr>
+<td><a id="l662" class='ln'>662</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S8&gt;/Relational Operator6'</span></td></tr>
 <tr name="663" id="663">
-<td><a id="l663" class='ln'>663</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_a'</span></td></tr>
+<td><a id="l663" class='ln'>663</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="664" id="664">
-<td><a id="l664" class='ln'>664</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_b'</span></td></tr>
+<td><a id="l664" class='ln'>664</a></td><td>    <span class="kw">if</span> ((<a id="664c10" class="tk">rtb_Sum2</a> <a id="664c19" class="tk">==</a> 1) <a id="664c25" class="tk">||</a> (<a id="664c29" class="tk">rtb_Sum2</a> <a id="664c38" class="tk">==</a> <a id="664c41" class="tk">-</a>5)) <span class="br">{</span></td></tr>
 <tr name="665" id="665">
-<td><a id="l665" class='ln'>665</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_c'</span></td></tr>
+<td><a id="l665" class='ln'>665</a></td><td>      <span class="ct">/* Switch: '&lt;S8&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="666" id="666">
-<td><a id="l666" class='ln'>666</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l666" class='ln'>666</a></td><td><span class="ct">       *  Constant: '&lt;S8&gt;/Constant24'</span></td></tr>
 <tr name="667" id="667">
-<td><a id="l667" class='ln'>667</a></td><td>  <a id="667c3" class="tk">rtb_LogicalOperator_p</a> = (<a id="667c28" class="tk">boolean_T</a>)((<a id="667c40" class="tk">rtU</a>-&gt;<a id="667c45" class="tk">hall_a</a> <a id="667c52" class="tk">!=</a> 0) <a id="667c58" class="tk">^</a> (<a id="667c61" class="tk">rtDW</a>-&gt;<a id="667c67" class="tk">Delay_DSTATE</a></td></tr>
+<td><a id="l667" class='ln'>667</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="668" id="668">
-<td><a id="l668" class='ln'>668</a></td><td>    <a id="668c5" class="tk">!=</a> 0) <a id="668c11" class="tk">^</a> (<a id="668c14" class="tk">rtU</a>-&gt;<a id="668c19" class="tk">hall_b</a> <a id="668c26" class="tk">!=</a> 0) <a id="668c32" class="tk">^</a> (<a id="668c35" class="tk">rtDW</a>-&gt;<a id="668c41" class="tk">Delay1_DSTATE</a> <a id="668c55" class="tk">!=</a> 0) <a id="668c61" class="tk">^</a> (<a id="668c64" class="tk">rtU</a>-&gt;<a id="668c69" class="tk">hall_c</a> <a id="668c76" class="tk">!=</a> 0))</td></tr>
+<td><a id="l668" class='ln'>668</a></td><td>      <a id="668c7" class="tk">rtDW</a>-&gt;<a id="668c13" class="tk">Switch2_i</a> = 1;</td></tr>
 <tr name="669" id="669">
-<td><a id="l669" class='ln'>669</a></td><td>    <a id="669c5" class="tk">^</a> (<a id="669c8" class="tk">rtDW</a>-&gt;<a id="669c14" class="tk">Delay2_DSTATE</a> <a id="669c28" class="tk">!=</a> 0);</td></tr>
+<td><a id="l669" class='ln'>669</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="670" id="670">
-<td><a id="l670" class='ln'>670</a></td><td></td></tr>
+<td><a id="l670" class='ln'>670</a></td><td>      <span class="ct">/* Switch: '&lt;S8&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="671" id="671">
-<td><a id="l671" class='ln'>671</a></td><td>  <span class="ct">/* Sum: '&lt;S11&gt;/Add' incorporates:</span></td></tr>
+<td><a id="l671" class='ln'>671</a></td><td><span class="ct">       *  Constant: '&lt;S8&gt;/Constant23'</span></td></tr>
 <tr name="672" id="672">
-<td><a id="l672" class='ln'>672</a></td><td><span class="ct">   *  Gain: '&lt;S11&gt;/Gain'</span></td></tr>
+<td><a id="l672" class='ln'>672</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="673" id="673">
-<td><a id="l673" class='ln'>673</a></td><td><span class="ct">   *  Gain: '&lt;S11&gt;/Gain1'</span></td></tr>
+<td><a id="l673" class='ln'>673</a></td><td>      <a id="673c7" class="tk">rtDW</a>-&gt;<a id="673c13" class="tk">Switch2_i</a> = <a id="673c25" class="tk">-</a>1;</td></tr>
 <tr name="674" id="674">
-<td><a id="l674" class='ln'>674</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_a'</span></td></tr>
+<td><a id="l674" class='ln'>674</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="675" id="675">
-<td><a id="l675" class='ln'>675</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_b'</span></td></tr>
+<td><a id="l675" class='ln'>675</a></td><td></td></tr>
 <tr name="676" id="676">
-<td><a id="l676" class='ln'>676</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_c'</span></td></tr>
+<td><a id="l676" class='ln'>676</a></td><td>    <span class="ct">/* End of Switch: '&lt;S8&gt;/Switch2' */</span></td></tr>
 <tr name="677" id="677">
-<td><a id="l677" class='ln'>677</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l677" class='ln'>677</a></td><td></td></tr>
 <tr name="678" id="678">
-<td><a id="l678" class='ln'>678</a></td><td>  <a id="678c3" class="tk">rtb_Add_cr</a> = (<a id="678c17" class="tk">uint8_T</a>)((<a id="678c27" class="tk">uint32_T</a>)(<a id="678c37" class="tk">uint8_T</a>)((<a id="678c47" class="tk">uint32_T</a>)(<a id="678c57" class="tk">uint8_T</a>)(<a id="678c66" class="tk">rtU</a>-&gt;<a id="678c71" class="tk">hall_c</a> <a id="678c78" class="tk">&lt;&lt;</a></td></tr>
+<td><a id="l678" class='ln'>678</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S8&gt;/UnitDelay2' */</span></td></tr>
 <tr name="679" id="679">
-<td><a id="l679" class='ln'>679</a></td><td>    2) <a id="679c8" class="tk">+</a> (<a id="679c11" class="tk">uint8_T</a>)(<a id="679c20" class="tk">rtU</a>-&gt;<a id="679c25" class="tk">hall_b</a> <a id="679c32" class="tk">&lt;&lt;</a> 1)) <a id="679c39" class="tk">+</a> <a id="679c41" class="tk">rtU</a>-&gt;<a id="679c46" class="tk">hall_a</a>);</td></tr>
+<td><a id="l679" class='ln'>679</a></td><td>    <a id="679c5" class="tk">rtDW</a>-&gt;<a id="679c11" class="tk">UnitDelay2_DSTATE_j</a> = <a id="679c33" class="tk">rtb_Sum2_tmp</a>;</td></tr>
 <tr name="680" id="680">
 <td><a id="l680" class='ln'>680</a></td><td></td></tr>
 <tr name="681" id="681">
-<td><a id="l681" class='ln'>681</a></td><td>  <span class="ct">/* If: '&lt;S3&gt;/If2' incorporates:</span></td></tr>
+<td><a id="l681" class='ln'>681</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S3&gt;/Direction_Detection' */</span></td></tr>
 <tr name="682" id="682">
-<td><a id="l682" class='ln'>682</a></td><td><span class="ct">   *  If: '&lt;S14&gt;/If2'</span></td></tr>
+<td><a id="l682" class='ln'>682</a></td><td></td></tr>
 <tr name="683" id="683">
-<td><a id="l683" class='ln'>683</a></td><td><span class="ct">   *  Inport: '&lt;S19&gt;/z_counterRawPrev'</span></td></tr>
+<td><a id="l683" class='ln'>683</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S14&gt;/Raw_Motor_Speed_Estimation' incorporates:</span></td></tr>
 <tr name="684" id="684">
-<td><a id="l684" class='ln'>684</a></td><td><span class="ct">   *  UnitDelay: '&lt;S14&gt;/UnitDelay3'</span></td></tr>
+<td><a id="l684" class='ln'>684</a></td><td><span class="ct">     *  ActionPort: '&lt;S20&gt;/Action Port'</span></td></tr>
 <tr name="685" id="685">
-<td><a id="l685" class='ln'>685</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l685" class='ln'>685</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="686" id="686">
-<td><a id="l686" class='ln'>686</a></td><td>  <span class="kw">if</span> (<a id="686c7" class="tk">rtb_LogicalOperator_p</a>) <span class="br">{</span></td></tr>
+<td><a id="l686" class='ln'>686</a></td><td>    <span class="ct">/* RelationalOperator: '&lt;S20&gt;/Relational Operator4' */</span></td></tr>
 <tr name="687" id="687">
-<td><a id="l687" class='ln'>687</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S3&gt;/Direction_Detection' incorporates:</span></td></tr>
+<td><a id="l687" class='ln'>687</a></td><td>    <a id="687c5" class="tk">rtb_RelationalOperator4_f</a> = (<a id="687c34" class="tk">rtDW</a>-&gt;<a id="687c40" class="tk">Switch2_i</a> <a id="687c50" class="tk">!=</a> <a id="687c53" class="tk">UnitDelay3</a>);</td></tr>
 <tr name="688" id="688">
-<td><a id="l688" class='ln'>688</a></td><td><span class="ct">     *  ActionPort: '&lt;S8&gt;/Action Port'</span></td></tr>
+<td><a id="l688" class='ln'>688</a></td><td>    <a id="688c5" class="tk">rtDW</a>-&gt;<a id="688c11" class="tk">z_counterRawPrev</a> = <a id="688c30" class="tk">rtDW</a>-&gt;<a id="688c36" class="tk">UnitDelay3_DSTATE</a>;</td></tr>
 <tr name="689" id="689">
-<td><a id="l689" class='ln'>689</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l689" class='ln'>689</a></td><td></td></tr>
 <tr name="690" id="690">
-<td><a id="l690" class='ln'>690</a></td><td>    <span class="ct">/* UnitDelay: '&lt;S8&gt;/UnitDelay3' */</span></td></tr>
+<td><a id="l690" class='ln'>690</a></td><td>    <span class="ct">/* Switch: '&lt;S20&gt;/Switch3' incorporates:</span></td></tr>
 <tr name="691" id="691">
-<td><a id="l691" class='ln'>691</a></td><td>    <a id="691c5" class="tk">UnitDelay3</a> = <a id="691c18" class="tk">rtDW</a>-&gt;<a id="691c24" class="tk">Switch2_i</a>;</td></tr>
+<td><a id="l691" class='ln'>691</a></td><td><span class="ct">     *  Constant: '&lt;S20&gt;/Constant4'</span></td></tr>
 <tr name="692" id="692">
-<td><a id="l692" class='ln'>692</a></td><td></td></tr>
+<td><a id="l692" class='ln'>692</a></td><td><span class="ct">     *  Inport: '&lt;S20&gt;/z_counterRawPrev'</span></td></tr>
 <tr name="693" id="693">
-<td><a id="l693" class='ln'>693</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S3&gt;/Direction_Detection' */</span></td></tr>
+<td><a id="l693" class='ln'>693</a></td><td><span class="ct">     *  Logic: '&lt;S20&gt;/Logical Operator1'</span></td></tr>
 <tr name="694" id="694">
-<td><a id="l694" class='ln'>694</a></td><td></td></tr>
+<td><a id="l694" class='ln'>694</a></td><td><span class="ct">     *  Switch: '&lt;S20&gt;/Switch2'</span></td></tr>
 <tr name="695" id="695">
-<td><a id="l695" class='ln'>695</a></td><td>    <span class="ct">/* Selector: '&lt;S11&gt;/Selector' incorporates:</span></td></tr>
+<td><a id="l695" class='ln'>695</a></td><td><span class="ct">     *  UnitDelay: '&lt;S14&gt;/UnitDelay3'</span></td></tr>
 <tr name="696" id="696">
-<td><a id="l696" class='ln'>696</a></td><td><span class="ct">     *  Constant: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
+<td><a id="l696" class='ln'>696</a></td><td><span class="ct">     *  UnitDelay: '&lt;S20&gt;/UnitDelay1'</span></td></tr>
 <tr name="697" id="697">
 <td><a id="l697" class='ln'>697</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="698" id="698">
-<td><a id="l698" class='ln'>698</a></td><td>    <a id="698c5" class="tk">rtb_Sum2_tmp</a> = <a id="698c20" class="tk">rtConstP</a>.<a id="698c29" class="tk">vec_hallToPos_Value</a>[<a id="698c49" class="tk">rtb_Add_cr</a>];</td></tr>
+<td><a id="l698" class='ln'>698</a></td><td>    <span class="kw">if</span> (<a id="698c9" class="tk">rtb_RelationalOperator4_f</a> <a id="698c35" class="tk">&amp;&amp;</a> <a id="698c38" class="tk">rtDW</a>-&gt;<a id="698c44" class="tk">UnitDelay1_DSTATE_iv</a>) <span class="br">{</span></td></tr>
 <tr name="699" id="699">
-<td><a id="l699" class='ln'>699</a></td><td></td></tr>
+<td><a id="l699" class='ln'>699</a></td><td>      <a id="699c7" class="tk">rtb_Switch3</a> = 0;</td></tr>
 <tr name="700" id="700">
-<td><a id="l700" class='ln'>700</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S3&gt;/Direction_Detection' incorporates:</span></td></tr>
+<td><a id="l700" class='ln'>700</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="701" id="701">
-<td><a id="l701" class='ln'>701</a></td><td><span class="ct">     *  ActionPort: '&lt;S8&gt;/Action Port'</span></td></tr>
+<td><a id="l701" class='ln'>701</a></td><td>      <span class="kw">if</span> (<a id="701c11" class="tk">rtb_RelationalOperator4_f</a>) <span class="br">{</span></td></tr>
 <tr name="702" id="702">
-<td><a id="l702" class='ln'>702</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l702" class='ln'>702</a></td><td>        <span class="ct">/* Switch: '&lt;S20&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="703" id="703">
-<td><a id="l703" class='ln'>703</a></td><td>    <span class="ct">/* Sum: '&lt;S8&gt;/Sum2' incorporates:</span></td></tr>
+<td><a id="l703" class='ln'>703</a></td><td><span class="ct">         *  UnitDelay: '&lt;S14&gt;/UnitDelay4'</span></td></tr>
 <tr name="704" id="704">
-<td><a id="l704" class='ln'>704</a></td><td><span class="ct">     *  Constant: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
+<td><a id="l704" class='ln'>704</a></td><td><span class="ct">         */</span></td></tr>
 <tr name="705" id="705">
-<td><a id="l705" class='ln'>705</a></td><td><span class="ct">     *  Selector: '&lt;S11&gt;/Selector'</span></td></tr>
+<td><a id="l705" class='ln'>705</a></td><td>        <a id="705c9" class="tk">rtb_Switch2</a> = <a id="705c23" class="tk">rtDW</a>-&gt;<a id="705c29" class="tk">UnitDelay4_DSTATE</a>;</td></tr>
 <tr name="706" id="706">
-<td><a id="l706" class='ln'>706</a></td><td><span class="ct">     *  UnitDelay: '&lt;S8&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l706" class='ln'>706</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="707" id="707">
-<td><a id="l707" class='ln'>707</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l707" class='ln'>707</a></td><td>        <span class="ct">/* Sum: '&lt;S20&gt;/Sum13' incorporates:</span></td></tr>
 <tr name="708" id="708">
-<td><a id="l708" class='ln'>708</a></td><td>    <a id="708c5" class="tk">rtb_Sum2</a> = (<a id="708c17" class="tk">int8_T</a>)(<a id="708c25" class="tk">rtb_Sum2_tmp</a> <a id="708c38" class="tk">-</a> <a id="708c40" class="tk">rtDW</a>-&gt;<a id="708c46" class="tk">UnitDelay2_DSTATE_j</a>);</td></tr>
+<td><a id="l708" class='ln'>708</a></td><td><span class="ct">         *  Switch: '&lt;S20&gt;/Switch2'</span></td></tr>
 <tr name="709" id="709">
-<td><a id="l709" class='ln'>709</a></td><td></td></tr>
+<td><a id="l709" class='ln'>709</a></td><td><span class="ct">         *  UnitDelay: '&lt;S20&gt;/UnitDelay2'</span></td></tr>
 <tr name="710" id="710">
-<td><a id="l710" class='ln'>710</a></td><td>    <span class="ct">/* Switch: '&lt;S8&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l710" class='ln'>710</a></td><td><span class="ct">         *  UnitDelay: '&lt;S20&gt;/UnitDelay3'</span></td></tr>
 <tr name="711" id="711">
-<td><a id="l711" class='ln'>711</a></td><td><span class="ct">     *  Constant: '&lt;S8&gt;/Constant20'</span></td></tr>
+<td><a id="l711" class='ln'>711</a></td><td><span class="ct">         *  UnitDelay: '&lt;S20&gt;/UnitDelay5'</span></td></tr>
 <tr name="712" id="712">
-<td><a id="l712" class='ln'>712</a></td><td><span class="ct">     *  Constant: '&lt;S8&gt;/Constant8'</span></td></tr>
+<td><a id="l712" class='ln'>712</a></td><td><span class="ct">         */</span></td></tr>
 <tr name="713" id="713">
-<td><a id="l713" class='ln'>713</a></td><td><span class="ct">     *  Logic: '&lt;S8&gt;/Logical Operator3'</span></td></tr>
+<td><a id="l713" class='ln'>713</a></td><td>        <a id="713c9" class="tk">tmp_3</a> = (((<a id="713c20" class="tk">uint64_T</a>)<a id="713c29" class="tk">rtDW</a>-&gt;<a id="713c35" class="tk">UnitDelay2_DSTATE</a> <a id="713c53" class="tk">+</a> <a id="713c55" class="tk">rtDW</a>-&gt;<a id="713c61" class="tk">UnitDelay3_DSTATE_l</a>)</td></tr>
 <tr name="714" id="714">
-<td><a id="l714" class='ln'>714</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S8&gt;/Relational Operator1'</span></td></tr>
+<td><a id="l714" class='ln'>714</a></td><td>                 <a id="714c18" class="tk">+</a> <a id="714c20" class="tk">rtDW</a>-&gt;<a id="714c26" class="tk">UnitDelay5_DSTATE</a>) <a id="714c45" class="tk">+</a> <a id="714c47" class="tk">rtDW</a>-&gt;<a id="714c53" class="tk">z_counterRawPrev</a>;</td></tr>
 <tr name="715" id="715">
-<td><a id="l715" class='ln'>715</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S8&gt;/Relational Operator6'</span></td></tr>
+<td><a id="l715" class='ln'>715</a></td><td>        <span class="kw">if</span> (<a id="715c13" class="tk">tmp_3</a> <a id="715c19" class="tk">&gt;</a> 4294967295ULL) <span class="br">{</span></td></tr>
 <tr name="716" id="716">
-<td><a id="l716" class='ln'>716</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l716" class='ln'>716</a></td><td>          <a id="716c11" class="tk">tmp_3</a> = 4294967295ULL;</td></tr>
 <tr name="717" id="717">
-<td><a id="l717" class='ln'>717</a></td><td>    <span class="kw">if</span> ((<a id="717c10" class="tk">rtb_Sum2</a> <a id="717c19" class="tk">==</a> 1) <a id="717c25" class="tk">||</a> (<a id="717c29" class="tk">rtb_Sum2</a> <a id="717c38" class="tk">==</a> <a id="717c41" class="tk">-</a>5)) <span class="br">{</span></td></tr>
+<td><a id="l717" class='ln'>717</a></td><td>        <span class="br">}</span></td></tr>
 <tr name="718" id="718">
-<td><a id="l718" class='ln'>718</a></td><td>      <span class="ct">/* Switch: '&lt;S8&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l718" class='ln'>718</a></td><td></td></tr>
 <tr name="719" id="719">
-<td><a id="l719" class='ln'>719</a></td><td><span class="ct">       *  Constant: '&lt;S8&gt;/Constant24'</span></td></tr>
+<td><a id="l719" class='ln'>719</a></td><td>        <span class="ct">/* Switch: '&lt;S20&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="720" id="720">
-<td><a id="l720" class='ln'>720</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l720" class='ln'>720</a></td><td><span class="ct">         *  Product: '&lt;S20&gt;/Divide13'</span></td></tr>
 <tr name="721" id="721">
-<td><a id="l721" class='ln'>721</a></td><td>      <a id="721c7" class="tk">rtDW</a>-&gt;<a id="721c13" class="tk">Switch2_i</a> = 1;</td></tr>
+<td><a id="l721" class='ln'>721</a></td><td><span class="ct">         *  Sum: '&lt;S20&gt;/Sum13'</span></td></tr>
 <tr name="722" id="722">
-<td><a id="l722" class='ln'>722</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l722" class='ln'>722</a></td><td><span class="ct">         */</span></td></tr>
 <tr name="723" id="723">
-<td><a id="l723" class='ln'>723</a></td><td>      <span class="ct">/* Switch: '&lt;S8&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l723" class='ln'>723</a></td><td>        <a id="723c9" class="tk">rtb_Switch2</a> = 160000000U <a id="723c34" class="tk">/</a> (<a id="723c37" class="tk">uint32_T</a>)<a id="723c46" class="tk">tmp_3</a>;</td></tr>
 <tr name="724" id="724">
-<td><a id="l724" class='ln'>724</a></td><td><span class="ct">       *  Constant: '&lt;S8&gt;/Constant23'</span></td></tr>
+<td><a id="l724" class='ln'>724</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="725" id="725">
-<td><a id="l725" class='ln'>725</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l725" class='ln'>725</a></td><td></td></tr>
 <tr name="726" id="726">
-<td><a id="l726" class='ln'>726</a></td><td>      <a id="726c7" class="tk">rtDW</a>-&gt;<a id="726c13" class="tk">Switch2_i</a> = <a id="726c25" class="tk">-</a>1;</td></tr>
+<td><a id="l726" class='ln'>726</a></td><td>      <a id="726c7" class="tk">rtb_Switch3</a> = (<a id="726c22" class="tk">int32_T</a>)<a id="726c30" class="tk">rtb_Switch2</a>;</td></tr>
 <tr name="727" id="727">
 <td><a id="l727" class='ln'>727</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="728" id="728">
 <td><a id="l728" class='ln'>728</a></td><td></td></tr>
 <tr name="729" id="729">
-<td><a id="l729" class='ln'>729</a></td><td>    <span class="ct">/* End of Switch: '&lt;S8&gt;/Switch2' */</span></td></tr>
+<td><a id="l729" class='ln'>729</a></td><td>    <span class="ct">/* End of Switch: '&lt;S20&gt;/Switch3' */</span></td></tr>
 <tr name="730" id="730">
 <td><a id="l730" class='ln'>730</a></td><td></td></tr>
 <tr name="731" id="731">
-<td><a id="l731" class='ln'>731</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S8&gt;/UnitDelay2' */</span></td></tr>
+<td><a id="l731" class='ln'>731</a></td><td>    <span class="ct">/* Product: '&lt;S20&gt;/Divide11' incorporates:</span></td></tr>
 <tr name="732" id="732">
-<td><a id="l732" class='ln'>732</a></td><td>    <a id="732c5" class="tk">rtDW</a>-&gt;<a id="732c11" class="tk">UnitDelay2_DSTATE_j</a> = <a id="732c33" class="tk">rtb_Sum2_tmp</a>;</td></tr>
+<td><a id="l732" class='ln'>732</a></td><td><span class="ct">     *  Switch: '&lt;S20&gt;/Switch3'</span></td></tr>
 <tr name="733" id="733">
-<td><a id="l733" class='ln'>733</a></td><td></td></tr>
+<td><a id="l733" class='ln'>733</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="734" id="734">
-<td><a id="l734" class='ln'>734</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S3&gt;/Direction_Detection' */</span></td></tr>
+<td><a id="l734" class='ln'>734</a></td><td>    <a id="734c5" class="tk">rtDW</a>-&gt;<a id="734c11" class="tk">Divide11</a> = <a id="734c22" class="tk">rtb_Switch3</a> <a id="734c34" class="tk">*</a> <a id="734c36" class="tk">rtDW</a>-&gt;<a id="734c42" class="tk">Switch2_i</a>;</td></tr>
 <tr name="735" id="735">
 <td><a id="l735" class='ln'>735</a></td><td></td></tr>
 <tr name="736" id="736">
-<td><a id="l736" class='ln'>736</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S14&gt;/Raw_Motor_Speed_Estimation' incorporates:</span></td></tr>
+<td><a id="l736" class='ln'>736</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S20&gt;/UnitDelay1' */</span></td></tr>
 <tr name="737" id="737">
-<td><a id="l737" class='ln'>737</a></td><td><span class="ct">     *  ActionPort: '&lt;S19&gt;/Action Port'</span></td></tr>
+<td><a id="l737" class='ln'>737</a></td><td>    <a id="737c5" class="tk">rtDW</a>-&gt;<a id="737c11" class="tk">UnitDelay1_DSTATE_iv</a> = <a id="737c34" class="tk">rtb_RelationalOperator4_f</a>;</td></tr>
 <tr name="738" id="738">
-<td><a id="l738" class='ln'>738</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l738" class='ln'>738</a></td><td></td></tr>
 <tr name="739" id="739">
-<td><a id="l739" class='ln'>739</a></td><td>    <span class="ct">/* RelationalOperator: '&lt;S19&gt;/Relational Operator4' */</span></td></tr>
+<td><a id="l739" class='ln'>739</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S20&gt;/UnitDelay2' incorporates:</span></td></tr>
 <tr name="740" id="740">
-<td><a id="l740" class='ln'>740</a></td><td>    <a id="740c5" class="tk">rtb_RelationalOperator4_f</a> = (<a id="740c34" class="tk">rtDW</a>-&gt;<a id="740c40" class="tk">Switch2_i</a> <a id="740c50" class="tk">!=</a> <a id="740c53" class="tk">UnitDelay3</a>);</td></tr>
+<td><a id="l740" class='ln'>740</a></td><td><span class="ct">     *  UnitDelay: '&lt;S20&gt;/UnitDelay3'</span></td></tr>
 <tr name="741" id="741">
-<td><a id="l741" class='ln'>741</a></td><td>    <a id="741c5" class="tk">rtDW</a>-&gt;<a id="741c11" class="tk">z_counterRawPrev</a> = <a id="741c30" class="tk">rtDW</a>-&gt;<a id="741c36" class="tk">UnitDelay3_DSTATE</a>;</td></tr>
+<td><a id="l741" class='ln'>741</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="742" id="742">
-<td><a id="l742" class='ln'>742</a></td><td></td></tr>
+<td><a id="l742" class='ln'>742</a></td><td>    <a id="742c5" class="tk">rtDW</a>-&gt;<a id="742c11" class="tk">UnitDelay2_DSTATE</a> = <a id="742c31" class="tk">rtDW</a>-&gt;<a id="742c37" class="tk">UnitDelay3_DSTATE_l</a>;</td></tr>
 <tr name="743" id="743">
-<td><a id="l743" class='ln'>743</a></td><td>    <span class="ct">/* Switch: '&lt;S19&gt;/Switch3' incorporates:</span></td></tr>
+<td><a id="l743" class='ln'>743</a></td><td></td></tr>
 <tr name="744" id="744">
-<td><a id="l744" class='ln'>744</a></td><td><span class="ct">     *  Constant: '&lt;S19&gt;/Constant4'</span></td></tr>
+<td><a id="l744" class='ln'>744</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S20&gt;/UnitDelay3' incorporates:</span></td></tr>
 <tr name="745" id="745">
-<td><a id="l745" class='ln'>745</a></td><td><span class="ct">     *  Inport: '&lt;S19&gt;/z_counterRawPrev'</span></td></tr>
+<td><a id="l745" class='ln'>745</a></td><td><span class="ct">     *  UnitDelay: '&lt;S20&gt;/UnitDelay5'</span></td></tr>
 <tr name="746" id="746">
-<td><a id="l746" class='ln'>746</a></td><td><span class="ct">     *  Logic: '&lt;S19&gt;/Logical Operator1'</span></td></tr>
+<td><a id="l746" class='ln'>746</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="747" id="747">
-<td><a id="l747" class='ln'>747</a></td><td><span class="ct">     *  Switch: '&lt;S19&gt;/Switch2'</span></td></tr>
+<td><a id="l747" class='ln'>747</a></td><td>    <a id="747c5" class="tk">rtDW</a>-&gt;<a id="747c11" class="tk">UnitDelay3_DSTATE_l</a> = <a id="747c33" class="tk">rtDW</a>-&gt;<a id="747c39" class="tk">UnitDelay5_DSTATE</a>;</td></tr>
 <tr name="748" id="748">
-<td><a id="l748" class='ln'>748</a></td><td><span class="ct">     *  UnitDelay: '&lt;S14&gt;/UnitDelay3'</span></td></tr>
+<td><a id="l748" class='ln'>748</a></td><td></td></tr>
 <tr name="749" id="749">
-<td><a id="l749" class='ln'>749</a></td><td><span class="ct">     *  UnitDelay: '&lt;S19&gt;/UnitDelay1'</span></td></tr>
+<td><a id="l749" class='ln'>749</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S20&gt;/UnitDelay5' */</span></td></tr>
 <tr name="750" id="750">
-<td><a id="l750" class='ln'>750</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l750" class='ln'>750</a></td><td>    <a id="750c5" class="tk">rtDW</a>-&gt;<a id="750c11" class="tk">UnitDelay5_DSTATE</a> = <a id="750c31" class="tk">rtDW</a>-&gt;<a id="750c37" class="tk">z_counterRawPrev</a>;</td></tr>
 <tr name="751" id="751">
-<td><a id="l751" class='ln'>751</a></td><td>    <span class="kw">if</span> (<a id="751c9" class="tk">rtb_RelationalOperator4_f</a> <a id="751c35" class="tk">&amp;&amp;</a> <a id="751c38" class="tk">rtDW</a>-&gt;<a id="751c44" class="tk">UnitDelay1_DSTATE_i</a>) <span class="br">{</span></td></tr>
+<td><a id="l751" class='ln'>751</a></td><td></td></tr>
 <tr name="752" id="752">
-<td><a id="l752" class='ln'>752</a></td><td>      <a id="752c7" class="tk">rtb_Switch3_c</a> = 0;</td></tr>
+<td><a id="l752" class='ln'>752</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S14&gt;/Raw_Motor_Speed_Estimation' */</span></td></tr>
 <tr name="753" id="753">
-<td><a id="l753" class='ln'>753</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l753" class='ln'>753</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="754" id="754">
-<td><a id="l754" class='ln'>754</a></td><td>      <span class="kw">if</span> (<a id="754c11" class="tk">rtb_RelationalOperator4_f</a>) <span class="br">{</span></td></tr>
+<td><a id="l754" class='ln'>754</a></td><td></td></tr>
 <tr name="755" id="755">
-<td><a id="l755" class='ln'>755</a></td><td>        <span class="ct">/* Switch: '&lt;S19&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l755" class='ln'>755</a></td><td>  <span class="ct">/* End of If: '&lt;S3&gt;/If2' */</span></td></tr>
 <tr name="756" id="756">
-<td><a id="l756" class='ln'>756</a></td><td><span class="ct">         *  UnitDelay: '&lt;S14&gt;/UnitDelay4'</span></td></tr>
+<td><a id="l756" class='ln'>756</a></td><td></td></tr>
 <tr name="757" id="757">
-<td><a id="l757" class='ln'>757</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l757" class='ln'>757</a></td><td>  <span class="ct">/* Switch: '&lt;S14&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="758" id="758">
-<td><a id="l758" class='ln'>758</a></td><td>        <a id="758c9" class="tk">rtb_Switch2</a> = (<a id="758c24" class="tk">uint16_T</a>)(<a id="758c34" class="tk">rtDW</a>-&gt;<a id="758c40" class="tk">UnitDelay4_DSTATE</a> <a id="758c58" class="tk">&lt;&lt;</a> 1);</td></tr>
+<td><a id="l758" class='ln'>758</a></td><td><span class="ct">   *  Constant: '&lt;S14&gt;/Constant4'</span></td></tr>
 <tr name="759" id="759">
-<td><a id="l759" class='ln'>759</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l759" class='ln'>759</a></td><td><span class="ct">   *  Constant: '&lt;S14&gt;/z_maxCntRst'</span></td></tr>
 <tr name="760" id="760">
-<td><a id="l760" class='ln'>760</a></td><td>        <span class="ct">/* Product: '&lt;S19&gt;/Divide13' incorporates:</span></td></tr>
+<td><a id="l760" class='ln'>760</a></td><td><span class="ct">   *  Gain: '&lt;S14&gt;/Gain'</span></td></tr>
 <tr name="761" id="761">
-<td><a id="l761" class='ln'>761</a></td><td><span class="ct">         *  Sum: '&lt;S19&gt;/Sum13'</span></td></tr>
+<td><a id="l761" class='ln'>761</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/us_Count'</span></td></tr>
 <tr name="762" id="762">
-<td><a id="l762" class='ln'>762</a></td><td><span class="ct">         *  Switch: '&lt;S19&gt;/Switch2'</span></td></tr>
+<td><a id="l762" class='ln'>762</a></td><td><span class="ct">   *  Product: '&lt;S20&gt;/Divide11'</span></td></tr>
 <tr name="763" id="763">
-<td><a id="l763" class='ln'>763</a></td><td><span class="ct">         *  UnitDelay: '&lt;S19&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l763" class='ln'>763</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S14&gt;/Relational Operator2'</span></td></tr>
 <tr name="764" id="764">
-<td><a id="l764" class='ln'>764</a></td><td><span class="ct">         *  UnitDelay: '&lt;S19&gt;/UnitDelay3'</span></td></tr>
+<td><a id="l764" class='ln'>764</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="765" id="765">
-<td><a id="l765" class='ln'>765</a></td><td><span class="ct">         *  UnitDelay: '&lt;S19&gt;/UnitDelay5'</span></td></tr>
+<td><a id="l765" class='ln'>765</a></td><td>  <span class="kw">if</span> (<a id="765c7" class="tk">rtU</a>-&gt;<a id="765c12" class="tk">us_Count</a> <a id="765c21" class="tk">&gt;=</a> (<a id="765c25" class="tk">rtP</a>.<a id="765c29" class="tk">n_hall_count_ps</a> <a id="765c45" class="tk">&lt;&lt;</a> 1)) <span class="br">{</span></td></tr>
 <tr name="766" id="766">
-<td><a id="l766" class='ln'>766</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l766" class='ln'>766</a></td><td>    <a id="766c5" class="tk">rtb_Switch3</a> = 0;</td></tr>
 <tr name="767" id="767">
-<td><a id="l767" class='ln'>767</a></td><td>        <a id="767c9" class="tk">tmp_3</a> = 4000000U <a id="767c26" class="tk">/</a> (((<a id="767c31" class="tk">rtDW</a>-&gt;<a id="767c37" class="tk">UnitDelay2_DSTATE</a> <a id="767c55" class="tk">+</a></td></tr>
+<td><a id="l767" class='ln'>767</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="768" id="768">
-<td><a id="l768" class='ln'>768</a></td><td>                              <a id="768c31" class="tk">rtDW</a>-&gt;<a id="768c37" class="tk">UnitDelay3_DSTATE_l</a>) <a id="768c58" class="tk">+</a></td></tr>
+<td><a id="l768" class='ln'>768</a></td><td>    <a id="768c5" class="tk">rtb_Switch3</a> = <a id="768c19" class="tk">rtDW</a>-&gt;<a id="768c25" class="tk">Divide11</a>;</td></tr>
 <tr name="769" id="769">
-<td><a id="l769" class='ln'>769</a></td><td>                             <a id="769c30" class="tk">rtDW</a>-&gt;<a id="769c36" class="tk">UnitDelay5_DSTATE</a>) <a id="769c55" class="tk">+</a> <a id="769c57" class="tk">rtDW</a>-&gt;<a id="769c63" class="tk">z_counterRawPrev</a>);</td></tr>
+<td><a id="l769" class='ln'>769</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="770" id="770">
-<td><a id="l770" class='ln'>770</a></td><td>        <span class="kw">if</span> (<a id="770c13" class="tk">tmp_3</a> <a id="770c19" class="tk">&gt;</a> 65535U) <span class="br">{</span></td></tr>
+<td><a id="l770" class='ln'>770</a></td><td></td></tr>
 <tr name="771" id="771">
-<td><a id="l771" class='ln'>771</a></td><td>          <a id="771c11" class="tk">tmp_3</a> = 65535U;</td></tr>
+<td><a id="l771" class='ln'>771</a></td><td>  <span class="ct">/* End of Switch: '&lt;S14&gt;/Switch2' */</span></td></tr>
 <tr name="772" id="772">
-<td><a id="l772" class='ln'>772</a></td><td>        <span class="br">}</span></td></tr>
+<td><a id="l772" class='ln'>772</a></td><td></td></tr>
 <tr name="773" id="773">
-<td><a id="l773" class='ln'>773</a></td><td></td></tr>
+<td><a id="l773" class='ln'>773</a></td><td>  <span class="ct">/* Abs: '&lt;S14&gt;/Abs5' incorporates:</span></td></tr>
 <tr name="774" id="774">
-<td><a id="l774" class='ln'>774</a></td><td>        <span class="ct">/* Switch: '&lt;S19&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l774" class='ln'>774</a></td><td><span class="ct">   *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
 <tr name="775" id="775">
-<td><a id="l775" class='ln'>775</a></td><td><span class="ct">         *  Product: '&lt;S19&gt;/Divide13'</span></td></tr>
+<td><a id="l775" class='ln'>775</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="776" id="776">
-<td><a id="l776" class='ln'>776</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l776" class='ln'>776</a></td><td>  <span class="kw">if</span> (<a id="776c7" class="tk">rtb_Switch3</a> <a id="776c19" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="777" id="777">
-<td><a id="l777" class='ln'>777</a></td><td>        <a id="777c9" class="tk">rtb_Switch2</a> = (<a id="777c24" class="tk">uint16_T</a>)((<a id="777c35" class="tk">uint16_T</a>)<a id="777c44" class="tk">tmp_3</a> <a id="777c50" class="tk">&lt;&lt;</a> 1);</td></tr>
+<td><a id="l777" class='ln'>777</a></td><td>    <a id="777c5" class="tk">rtb_Switch2</a> = (<a id="777c20" class="tk">uint32_T</a>)<a id="777c29" class="tk">-</a><a id="777c30" class="tk">rtb_Switch3</a>;</td></tr>
 <tr name="778" id="778">
-<td><a id="l778" class='ln'>778</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l778" class='ln'>778</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="779" id="779">
-<td><a id="l779" class='ln'>779</a></td><td></td></tr>
+<td><a id="l779" class='ln'>779</a></td><td>    <a id="779c5" class="tk">rtb_Switch2</a> = (<a id="779c20" class="tk">uint32_T</a>)<a id="779c29" class="tk">rtb_Switch3</a>;</td></tr>
 <tr name="780" id="780">
-<td><a id="l780" class='ln'>780</a></td><td>      <a id="780c7" class="tk">rtb_Switch3_c</a> = (<a id="780c24" class="tk">int16_T</a>)<a id="780c32" class="tk">rtb_Switch2</a>;</td></tr>
+<td><a id="l780" class='ln'>780</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="781" id="781">
-<td><a id="l781" class='ln'>781</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l781" class='ln'>781</a></td><td></td></tr>
 <tr name="782" id="782">
-<td><a id="l782" class='ln'>782</a></td><td></td></tr>
+<td><a id="l782" class='ln'>782</a></td><td>  <span class="ct">/* End of Abs: '&lt;S14&gt;/Abs5' */</span></td></tr>
 <tr name="783" id="783">
-<td><a id="l783" class='ln'>783</a></td><td>    <span class="ct">/* End of Switch: '&lt;S19&gt;/Switch3' */</span></td></tr>
+<td><a id="l783" class='ln'>783</a></td><td></td></tr>
 <tr name="784" id="784">
-<td><a id="l784" class='ln'>784</a></td><td></td></tr>
+<td><a id="l784" class='ln'>784</a></td><td>  <span class="ct">/* If: '&lt;S14&gt;/If1' */</span></td></tr>
 <tr name="785" id="785">
-<td><a id="l785" class='ln'>785</a></td><td>    <span class="ct">/* Product: '&lt;S19&gt;/Divide11' incorporates:</span></td></tr>
+<td><a id="l785" class='ln'>785</a></td><td>  <span class="kw">if</span> (<a id="785c7" class="tk">rtb_Equal_k</a>) <span class="br">{</span></td></tr>
 <tr name="786" id="786">
-<td><a id="l786" class='ln'>786</a></td><td><span class="ct">     *  Switch: '&lt;S19&gt;/Switch3'</span></td></tr>
+<td><a id="l786" class='ln'>786</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S14&gt;/AdvCtrlDetect' incorporates:</span></td></tr>
 <tr name="787" id="787">
-<td><a id="l787" class='ln'>787</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l787" class='ln'>787</a></td><td><span class="ct">     *  ActionPort: '&lt;S19&gt;/Action Port'</span></td></tr>
 <tr name="788" id="788">
-<td><a id="l788" class='ln'>788</a></td><td>    <a id="788c5" class="tk">rtDW</a>-&gt;<a id="788c11" class="tk">Divide11</a> = (<a id="788c23" class="tk">int16_T</a>)((<a id="788c33" class="tk">rtb_Switch3_c</a> <a id="788c47" class="tk">*</a> <a id="788c49" class="tk">rtDW</a>-&gt;<a id="788c55" class="tk">Switch2_i</a>) <a id="788c66" class="tk">&gt;&gt;</a> 1);</td></tr>
+<td><a id="l788" class='ln'>788</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="789" id="789">
-<td><a id="l789" class='ln'>789</a></td><td></td></tr>
+<td><a id="l789" class='ln'>789</a></td><td>    <span class="ct">/* Relay: '&lt;S19&gt;/n_commDeacv' incorporates:</span></td></tr>
 <tr name="790" id="790">
-<td><a id="l790" class='ln'>790</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S19&gt;/UnitDelay1' */</span></td></tr>
+<td><a id="l790" class='ln'>790</a></td><td><span class="ct">     *  Abs: '&lt;S14&gt;/Abs5'</span></td></tr>
 <tr name="791" id="791">
-<td><a id="l791" class='ln'>791</a></td><td>    <a id="791c5" class="tk">rtDW</a>-&gt;<a id="791c11" class="tk">UnitDelay1_DSTATE_i</a> = <a id="791c33" class="tk">rtb_RelationalOperator4_f</a>;</td></tr>
+<td><a id="l791" class='ln'>791</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="792" id="792">
-<td><a id="l792" class='ln'>792</a></td><td></td></tr>
+<td><a id="l792" class='ln'>792</a></td><td>    <a id="792c5" class="tk">rtDW</a>-&gt;<a id="792c11" class="tk">n_commDeacv_Mode</a> = ((<a id="792c32" class="tk">rtb_Switch2</a> <a id="792c44" class="tk">&gt;=</a> 480U) <a id="792c53" class="tk">||</a> ((<a id="792c58" class="tk">rtb_Switch2</a> <a id="792c70" class="tk">&gt;</a> 240U) <a id="792c78" class="tk">&amp;&amp;</a></td></tr>
 <tr name="793" id="793">
-<td><a id="l793" class='ln'>793</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S19&gt;/UnitDelay2' incorporates:</span></td></tr>
+<td><a id="l793" class='ln'>793</a></td><td>      <a id="793c7" class="tk">rtDW</a>-&gt;<a id="793c13" class="tk">n_commDeacv_Mode</a>));</td></tr>
 <tr name="794" id="794">
-<td><a id="l794" class='ln'>794</a></td><td><span class="ct">     *  UnitDelay: '&lt;S19&gt;/UnitDelay3'</span></td></tr>
+<td><a id="l794" class='ln'>794</a></td><td></td></tr>
 <tr name="795" id="795">
-<td><a id="l795" class='ln'>795</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l795" class='ln'>795</a></td><td>    <span class="ct">/* RelationalOperator: '&lt;S21&gt;/Compare' incorporates:</span></td></tr>
 <tr name="796" id="796">
-<td><a id="l796" class='ln'>796</a></td><td>    <a id="796c5" class="tk">rtDW</a>-&gt;<a id="796c11" class="tk">UnitDelay2_DSTATE</a> = <a id="796c31" class="tk">rtDW</a>-&gt;<a id="796c37" class="tk">UnitDelay3_DSTATE_l</a>;</td></tr>
+<td><a id="l796" class='ln'>796</a></td><td><span class="ct">     *  Constant: '&lt;S21&gt;/Constant'</span></td></tr>
 <tr name="797" id="797">
-<td><a id="l797" class='ln'>797</a></td><td></td></tr>
+<td><a id="l797" class='ln'>797</a></td><td><span class="ct">     *  Relay: '&lt;S19&gt;/n_commDeacv'</span></td></tr>
 <tr name="798" id="798">
-<td><a id="l798" class='ln'>798</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S19&gt;/UnitDelay3' incorporates:</span></td></tr>
+<td><a id="l798" class='ln'>798</a></td><td><span class="ct">     *  Sum: '&lt;S19&gt;/Sum13'</span></td></tr>
 <tr name="799" id="799">
-<td><a id="l799" class='ln'>799</a></td><td><span class="ct">     *  UnitDelay: '&lt;S19&gt;/UnitDelay5'</span></td></tr>
+<td><a id="l799" class='ln'>799</a></td><td><span class="ct">     *  UnitDelay: '&lt;S19&gt;/UnitDelay2'</span></td></tr>
 <tr name="800" id="800">
-<td><a id="l800" class='ln'>800</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l800" class='ln'>800</a></td><td><span class="ct">     *  UnitDelay: '&lt;S19&gt;/UnitDelay3'</span></td></tr>
 <tr name="801" id="801">
-<td><a id="l801" class='ln'>801</a></td><td>    <a id="801c5" class="tk">rtDW</a>-&gt;<a id="801c11" class="tk">UnitDelay3_DSTATE_l</a> = <a id="801c33" class="tk">rtDW</a>-&gt;<a id="801c39" class="tk">UnitDelay5_DSTATE</a>;</td></tr>
+<td><a id="l801" class='ln'>801</a></td><td><span class="ct">     *  UnitDelay: '&lt;S19&gt;/UnitDelay5'</span></td></tr>
 <tr name="802" id="802">
-<td><a id="l802" class='ln'>802</a></td><td></td></tr>
+<td><a id="l802" class='ln'>802</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="803" id="803">
-<td><a id="l803" class='ln'>803</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S19&gt;/UnitDelay5' */</span></td></tr>
+<td><a id="l803" class='ln'>803</a></td><td>    <a id="803c5" class="tk">rtDW</a>-&gt;<a id="803c11" class="tk">Compare</a> = ((<a id="803c23" class="tk">uint16_T</a>)((<a id="803c34" class="tk">uint32_T</a>)(<a id="803c44" class="tk">uint16_T</a>)((<a id="803c55" class="tk">uint32_T</a>)(<a id="803c65" class="tk">uint16_T</a>)</td></tr>
 <tr name="804" id="804">
-<td><a id="l804" class='ln'>804</a></td><td>    <a id="804c5" class="tk">rtDW</a>-&gt;<a id="804c11" class="tk">UnitDelay5_DSTATE</a> = <a id="804c31" class="tk">rtDW</a>-&gt;<a id="804c37" class="tk">z_counterRawPrev</a>;</td></tr>
+<td><a id="l804" class='ln'>804</a></td><td>      ((<a id="804c9" class="tk">uint32_T</a>)<a id="804c18" class="tk">rtDW</a>-&gt;<a id="804c24" class="tk">UnitDelay2_DSTATE_f</a> <a id="804c44" class="tk">+</a> <a id="804c46" class="tk">rtDW</a>-&gt;<a id="804c52" class="tk">UnitDelay3_DSTATE_lh</a>) <a id="804c74" class="tk">+</a></td></tr>
 <tr name="805" id="805">
-<td><a id="l805" class='ln'>805</a></td><td></td></tr>
+<td><a id="l805" class='ln'>805</a></td><td>      <a id="805c7" class="tk">rtDW</a>-&gt;<a id="805c13" class="tk">UnitDelay5_DSTATE_f</a>) <a id="805c34" class="tk">+</a> <a id="805c36" class="tk">rtDW</a>-&gt;<a id="805c42" class="tk">n_commDeacv_Mode</a>) <a id="805c60" class="tk">&gt;=</a> 4);</td></tr>
 <tr name="806" id="806">
-<td><a id="l806" class='ln'>806</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S14&gt;/Raw_Motor_Speed_Estimation' */</span></td></tr>
+<td><a id="l806" class='ln'>806</a></td><td></td></tr>
 <tr name="807" id="807">
-<td><a id="l807" class='ln'>807</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l807" class='ln'>807</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S19&gt;/UnitDelay2' incorporates:</span></td></tr>
 <tr name="808" id="808">
-<td><a id="l808" class='ln'>808</a></td><td></td></tr>
+<td><a id="l808" class='ln'>808</a></td><td><span class="ct">     *  UnitDelay: '&lt;S19&gt;/UnitDelay3'</span></td></tr>
 <tr name="809" id="809">
-<td><a id="l809" class='ln'>809</a></td><td>  <span class="ct">/* End of If: '&lt;S3&gt;/If2' */</span></td></tr>
+<td><a id="l809" class='ln'>809</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="810" id="810">
-<td><a id="l810" class='ln'>810</a></td><td></td></tr>
+<td><a id="l810" class='ln'>810</a></td><td>    <a id="810c5" class="tk">rtDW</a>-&gt;<a id="810c11" class="tk">UnitDelay2_DSTATE_f</a> = <a id="810c33" class="tk">rtDW</a>-&gt;<a id="810c39" class="tk">UnitDelay3_DSTATE_lh</a>;</td></tr>
 <tr name="811" id="811">
-<td><a id="l811" class='ln'>811</a></td><td>  <span class="ct">/* Switch: '&lt;S10&gt;/Switch3' incorporates:</span></td></tr>
+<td><a id="l811" class='ln'>811</a></td><td></td></tr>
 <tr name="812" id="812">
-<td><a id="l812" class='ln'>812</a></td><td><span class="ct">   *  Constant: '&lt;S10&gt;/Constant16'</span></td></tr>
+<td><a id="l812" class='ln'>812</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S19&gt;/UnitDelay3' incorporates:</span></td></tr>
 <tr name="813" id="813">
-<td><a id="l813" class='ln'>813</a></td><td><span class="ct">   *  Constant: '&lt;S10&gt;/Constant2'</span></td></tr>
+<td><a id="l813" class='ln'>813</a></td><td><span class="ct">     *  UnitDelay: '&lt;S19&gt;/UnitDelay5'</span></td></tr>
 <tr name="814" id="814">
-<td><a id="l814" class='ln'>814</a></td><td><span class="ct">   *  Constant: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
+<td><a id="l814" class='ln'>814</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="815" id="815">
-<td><a id="l815" class='ln'>815</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S10&gt;/Relational Operator7'</span></td></tr>
+<td><a id="l815" class='ln'>815</a></td><td>    <a id="815c5" class="tk">rtDW</a>-&gt;<a id="815c11" class="tk">UnitDelay3_DSTATE_lh</a> = <a id="815c34" class="tk">rtDW</a>-&gt;<a id="815c40" class="tk">UnitDelay5_DSTATE_f</a>;</td></tr>
 <tr name="816" id="816">
-<td><a id="l816" class='ln'>816</a></td><td><span class="ct">   *  Selector: '&lt;S11&gt;/Selector'</span></td></tr>
+<td><a id="l816" class='ln'>816</a></td><td></td></tr>
 <tr name="817" id="817">
-<td><a id="l817" class='ln'>817</a></td><td><span class="ct">   *  Sum: '&lt;S10&gt;/Sum1'</span></td></tr>
+<td><a id="l817" class='ln'>817</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S19&gt;/UnitDelay5' incorporates:</span></td></tr>
 <tr name="818" id="818">
-<td><a id="l818" class='ln'>818</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l818" class='ln'>818</a></td><td><span class="ct">     *  Logic: '&lt;S19&gt;/Logical Operator3'</span></td></tr>
 <tr name="819" id="819">
-<td><a id="l819" class='ln'>819</a></td><td>  <span class="kw">if</span> (<a id="819c7" class="tk">rtDW</a>-&gt;<a id="819c13" class="tk">Switch2_i</a> <a id="819c23" class="tk">==</a> 1) <span class="br">{</span></td></tr>
+<td><a id="l819" class='ln'>819</a></td><td><span class="ct">     *  Relay: '&lt;S19&gt;/n_commDeacv'</span></td></tr>
 <tr name="820" id="820">
-<td><a id="l820" class='ln'>820</a></td><td>    <a id="820c5" class="tk">rtb_Sum2</a> = <a id="820c16" class="tk">rtConstP</a>.<a id="820c25" class="tk">vec_hallToPos_Value</a>[<a id="820c45" class="tk">rtb_Add_cr</a>];</td></tr>
+<td><a id="l820" class='ln'>820</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="821" id="821">
-<td><a id="l821" class='ln'>821</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l821" class='ln'>821</a></td><td>    <a id="821c5" class="tk">rtDW</a>-&gt;<a id="821c11" class="tk">UnitDelay5_DSTATE_f</a> = <a id="821c33" class="tk">rtDW</a>-&gt;<a id="821c39" class="tk">n_commDeacv_Mode</a>;</td></tr>
 <tr name="822" id="822">
-<td><a id="l822" class='ln'>822</a></td><td>    <a id="822c5" class="tk">rtb_Sum2</a> = (<a id="822c17" class="tk">int8_T</a>)(<a id="822c25" class="tk">rtConstP</a>.<a id="822c34" class="tk">vec_hallToPos_Value</a>[<a id="822c54" class="tk">rtb_Add_cr</a>] <a id="822c66" class="tk">+</a> 1);</td></tr>
+<td><a id="l822" class='ln'>822</a></td><td></td></tr>
 <tr name="823" id="823">
-<td><a id="l823" class='ln'>823</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l823" class='ln'>823</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S14&gt;/AdvCtrlDetect' */</span></td></tr>
 <tr name="824" id="824">
-<td><a id="l824" class='ln'>824</a></td><td></td></tr>
+<td><a id="l824" class='ln'>824</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="825" id="825">
-<td><a id="l825" class='ln'>825</a></td><td>  <span class="ct">/* End of Switch: '&lt;S10&gt;/Switch3' */</span></td></tr>
+<td><a id="l825" class='ln'>825</a></td><td></td></tr>
 <tr name="826" id="826">
-<td><a id="l826" class='ln'>826</a></td><td></td></tr>
+<td><a id="l826" class='ln'>826</a></td><td>  <span class="ct">/* End of If: '&lt;S14&gt;/If1' */</span></td></tr>
 <tr name="827" id="827">
-<td><a id="l827" class='ln'>827</a></td><td>  <span class="ct">/* MinMax: '&lt;S10&gt;/MinMax' incorporates:</span></td></tr>
+<td><a id="l827" class='ln'>827</a></td><td></td></tr>
 <tr name="828" id="828">
-<td><a id="l828" class='ln'>828</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hw_count'</span></td></tr>
+<td><a id="l828" class='ln'>828</a></td><td>  <span class="ct">/* Switch: '&lt;S37&gt;/Switch3' incorporates:</span></td></tr>
 <tr name="829" id="829">
-<td><a id="l829" class='ln'>829</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l829" class='ln'>829</a></td><td><span class="ct">   *  Abs: '&lt;S14&gt;/Abs5'</span></td></tr>
 <tr name="830" id="830">
-<td><a id="l830" class='ln'>830</a></td><td>  <span class="kw">if</span> (<a id="830c7" class="tk">rtU</a>-&gt;<a id="830c12" class="tk">hw_count</a> <a id="830c21" class="tk">&lt;</a> <a id="830c23" class="tk">rtDW</a>-&gt;<a id="830c29" class="tk">z_counterRawPrev</a>) <span class="br">{</span></td></tr>
+<td><a id="l830" class='ln'>830</a></td><td><span class="ct">   *  Abs: '&lt;S37&gt;/Abs4'</span></td></tr>
 <tr name="831" id="831">
-<td><a id="l831" class='ln'>831</a></td><td>    <a id="831c5" class="tk">tmp_3</a> = <a id="831c13" class="tk">rtU</a>-&gt;<a id="831c18" class="tk">hw_count</a>;</td></tr>
+<td><a id="l831" class='ln'>831</a></td><td><span class="ct">   *  Constant: '&lt;S37&gt;/CTRL_COMM4'</span></td></tr>
 <tr name="832" id="832">
-<td><a id="l832" class='ln'>832</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l832" class='ln'>832</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/b_motEna'</span></td></tr>
 <tr name="833" id="833">
-<td><a id="l833" class='ln'>833</a></td><td>    <a id="833c5" class="tk">tmp_3</a> = <a id="833c13" class="tk">rtDW</a>-&gt;<a id="833c19" class="tk">z_counterRawPrev</a>;</td></tr>
+<td><a id="l833" class='ln'>833</a></td><td><span class="ct">   *  Logic: '&lt;S37&gt;/Logical Operator1'</span></td></tr>
 <tr name="834" id="834">
-<td><a id="l834" class='ln'>834</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l834" class='ln'>834</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S14&gt;/Relational Operator9'</span></td></tr>
 <tr name="835" id="835">
-<td><a id="l835" class='ln'>835</a></td><td></td></tr>
+<td><a id="l835" class='ln'>835</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S37&gt;/Relational Operator7'</span></td></tr>
 <tr name="836" id="836">
-<td><a id="l836" class='ln'>836</a></td><td>  <span class="ct">/* End of MinMax: '&lt;S10&gt;/MinMax' */</span></td></tr>
+<td><a id="l836" class='ln'>836</a></td><td><span class="ct">   *  S-Function (sfix_bitop): '&lt;S37&gt;/Bitwise Operator1'</span></td></tr>
 <tr name="837" id="837">
-<td><a id="l837" class='ln'>837</a></td><td></td></tr>
+<td><a id="l837" class='ln'>837</a></td><td><span class="ct">   *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="838" id="838">
-<td><a id="l838" class='ln'>838</a></td><td>  <span class="ct">/* Sum: '&lt;S10&gt;/Sum3' incorporates:</span></td></tr>
+<td><a id="l838" class='ln'>838</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="839" id="839">
-<td><a id="l839" class='ln'>839</a></td><td><span class="ct">   *  Product: '&lt;S10&gt;/Divide1'</span></td></tr>
+<td><a id="l839" class='ln'>839</a></td><td>  <span class="kw">if</span> ((<a id="839c8" class="tk">rtb_UnitDelay_bc</a> <a id="839c25" class="tk">&amp;</a> 4U) <a id="839c31" class="tk">!=</a> 0U) <span class="br">{</span></td></tr>
 <tr name="840" id="840">
-<td><a id="l840" class='ln'>840</a></td><td><span class="ct">   *  Product: '&lt;S10&gt;/Divide3'</span></td></tr>
+<td><a id="l840" class='ln'>840</a></td><td>    <a id="840c5" class="tk">rtb_Equal_k</a> = true;</td></tr>
 <tr name="841" id="841">
-<td><a id="l841" class='ln'>841</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l841" class='ln'>841</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="842" id="842">
-<td><a id="l842" class='ln'>842</a></td><td>  <a id="842c3" class="tk">rtb_Switch3_c</a> = (<a id="842c20" class="tk">int16_T</a>)(((<a id="842c31" class="tk">int16_T</a>)((<a id="842c41" class="tk">int16_T</a>)(((<a id="842c52" class="tk">uint64_T</a>)<a id="842c61" class="tk">tmp_3</a> <a id="842c67" class="tk">&lt;&lt;</a> 14) <a id="842c74" class="tk">/</a></td></tr>
+<td><a id="l842" class='ln'>842</a></td><td>    <span class="kw">if</span> (<a id="842c9" class="tk">rtDW</a>-&gt;<a id="842c15" class="tk">UnitDelay1_DSTATE_f</a>[1] <a id="842c38" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="843" id="843">
-<td><a id="l843" class='ln'>843</a></td><td>    <a id="843c5" class="tk">rtDW</a>-&gt;<a id="843c11" class="tk">z_counterRawPrev</a>) <a id="843c29" class="tk">*</a> <a id="843c31" class="tk">rtDW</a>-&gt;<a id="843c37" class="tk">Switch2_i</a>) <a id="843c48" class="tk">+</a> (<a id="843c51" class="tk">rtb_Sum2</a> <a id="843c60" class="tk">&lt;&lt;</a> 14)) <a id="843c68" class="tk">&gt;&gt;</a> 2);</td></tr>
+<td><a id="l843" class='ln'>843</a></td><td>      <span class="ct">/* Abs: '&lt;S37&gt;/Abs4' incorporates:</span></td></tr>
 <tr name="844" id="844">
-<td><a id="l844" class='ln'>844</a></td><td></td></tr>
+<td><a id="l844" class='ln'>844</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="845" id="845">
-<td><a id="l845" class='ln'>845</a></td><td>  <span class="ct">/* MinMax: '&lt;S10&gt;/MinMax1' incorporates:</span></td></tr>
+<td><a id="l845" class='ln'>845</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="846" id="846">
-<td><a id="l846" class='ln'>846</a></td><td><span class="ct">   *  Constant: '&lt;S10&gt;/Constant1'</span></td></tr>
+<td><a id="l846" class='ln'>846</a></td><td>      <a id="846c7" class="tk">rtb_Sum6_p</a> = (<a id="846c21" class="tk">int16_T</a>)<a id="846c29" class="tk">-</a><a id="846c30" class="tk">rtDW</a>-&gt;<a id="846c36" class="tk">UnitDelay1_DSTATE_f</a>[1];</td></tr>
 <tr name="847" id="847">
-<td><a id="l847" class='ln'>847</a></td><td><span class="ct">   *  Sum: '&lt;S10&gt;/Sum3'</span></td></tr>
+<td><a id="l847" class='ln'>847</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="848" id="848">
-<td><a id="l848" class='ln'>848</a></td><td><span class="ct">   *  Switch: '&lt;S10&gt;/Switch2'</span></td></tr>
+<td><a id="l848" class='ln'>848</a></td><td>      <span class="ct">/* Abs: '&lt;S37&gt;/Abs4' incorporates:</span></td></tr>
 <tr name="849" id="849">
-<td><a id="l849" class='ln'>849</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l849" class='ln'>849</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="850" id="850">
-<td><a id="l850" class='ln'>850</a></td><td>  <span class="kw">if</span> (<a id="850c7" class="tk">rtb_Switch3_c</a> <a id="850c21" class="tk">&lt;=</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l850" class='ln'>850</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="851" id="851">
-<td><a id="l851" class='ln'>851</a></td><td>    <a id="851c5" class="tk">rtb_Switch3_c</a> = 0;</td></tr>
+<td><a id="l851" class='ln'>851</a></td><td>      <a id="851c7" class="tk">rtb_Sum6_p</a> = <a id="851c20" class="tk">rtDW</a>-&gt;<a id="851c26" class="tk">UnitDelay1_DSTATE_f</a>[1];</td></tr>
 <tr name="852" id="852">
-<td><a id="l852" class='ln'>852</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l852" class='ln'>852</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="853" id="853">
 <td><a id="l853" class='ln'>853</a></td><td></td></tr>
 <tr name="854" id="854">
-<td><a id="l854" class='ln'>854</a></td><td>  <span class="ct">/* End of MinMax: '&lt;S10&gt;/MinMax1' */</span></td></tr>
+<td><a id="l854" class='ln'>854</a></td><td>    <a id="854c5" class="tk">rtb_Equal_k</a> = (<a id="854c20" class="tk">rtU</a>-&gt;<a id="854c25" class="tk">b_motEna</a> <a id="854c34" class="tk">&amp;&amp;</a> (<a id="854c38" class="tk">rtb_Switch2</a> <a id="854c50" class="tk">&lt;</a> 48U) <a id="854c57" class="tk">&amp;&amp;</a> (<a id="854c61" class="tk">rtb_Sum6_p</a> <a id="854c72" class="tk">&gt;</a> 9920));</td></tr>
 <tr name="855" id="855">
-<td><a id="l855" class='ln'>855</a></td><td></td></tr>
+<td><a id="l855" class='ln'>855</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="856" id="856">
-<td><a id="l856" class='ln'>856</a></td><td>  <span class="ct">/* Sum: '&lt;S15&gt;/Add2' incorporates:</span></td></tr>
+<td><a id="l856" class='ln'>856</a></td><td></td></tr>
 <tr name="857" id="857">
-<td><a id="l857" class='ln'>857</a></td><td><span class="ct">   *  Constant: '&lt;S15&gt;/Constant2'</span></td></tr>
+<td><a id="l857" class='ln'>857</a></td><td>  <span class="ct">/* End of Switch: '&lt;S37&gt;/Switch3' */</span></td></tr>
 <tr name="858" id="858">
-<td><a id="l858" class='ln'>858</a></td><td><span class="ct">   *  Product: '&lt;S10&gt;/Divide2'</span></td></tr>
+<td><a id="l858" class='ln'>858</a></td><td></td></tr>
 <tr name="859" id="859">
-<td><a id="l859" class='ln'>859</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l859" class='ln'>859</a></td><td>  <span class="ct">/* Sum: '&lt;S37&gt;/Sum' incorporates:</span></td></tr>
 <tr name="860" id="860">
-<td><a id="l860" class='ln'>860</a></td><td>  <a id="860c3" class="tk">rtb_Switch3_c</a> = (<a id="860c20" class="tk">int16_T</a>)((((15 <a id="860c35" class="tk">*</a> <a id="860c37" class="tk">rtb_Switch3_c</a>) <a id="860c52" class="tk">&gt;&gt;</a> 4) <a id="860c58" class="tk">+</a> 3840) <a id="860c66" class="tk">&gt;&gt;</a> 2);</td></tr>
+<td><a id="l860" class='ln'>860</a></td><td><span class="ct">   *  Constant: '&lt;S37&gt;/CTRL_COMM'</span></td></tr>
 <tr name="861" id="861">
-<td><a id="l861" class='ln'>861</a></td><td></td></tr>
+<td><a id="l861" class='ln'>861</a></td><td><span class="ct">   *  Constant: '&lt;S37&gt;/CTRL_COMM1'</span></td></tr>
 <tr name="862" id="862">
-<td><a id="l862" class='ln'>862</a></td><td>  <span class="ct">/* DataTypeConversion: '&lt;S15&gt;/Data Type Conversion' incorporates:</span></td></tr>
+<td><a id="l862" class='ln'>862</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S37&gt;/Data Type Conversion3'</span></td></tr>
 <tr name="863" id="863">
-<td><a id="l863" class='ln'>863</a></td><td><span class="ct">   *  Sum: '&lt;S15&gt;/Add2'</span></td></tr>
+<td><a id="l863" class='ln'>863</a></td><td><span class="ct">   *  Gain: '&lt;S37&gt;/g_Hb'</span></td></tr>
 <tr name="864" id="864">
-<td><a id="l864" class='ln'>864</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l864" class='ln'>864</a></td><td><span class="ct">   *  Gain: '&lt;S37&gt;/g_Hb1'</span></td></tr>
 <tr name="865" id="865">
-<td><a id="l865" class='ln'>865</a></td><td>  <a id="865c3" class="tk">rtb_Divide1_m</a> = (<a id="865c20" class="tk">int16_T</a>)(<a id="865c29" class="tk">rtb_Switch3_c</a> <a id="865c43" class="tk">&gt;&gt;</a> 4);</td></tr>
+<td><a id="l865" class='ln'>865</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S37&gt;/Relational Operator1'</span></td></tr>
 <tr name="866" id="866">
-<td><a id="l866" class='ln'>866</a></td><td></td></tr>
+<td><a id="l866" class='ln'>866</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S37&gt;/Relational Operator3'</span></td></tr>
 <tr name="867" id="867">
-<td><a id="l867" class='ln'>867</a></td><td>  <span class="ct">/* If: '&lt;S15&gt;/If' incorporates:</span></td></tr>
+<td><a id="l867" class='ln'>867</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="868" id="868">
-<td><a id="l868" class='ln'>868</a></td><td><span class="ct">   *  Constant: '&lt;S15&gt;/Constant3'</span></td></tr>
+<td><a id="l868" class='ln'>868</a></td><td>  <a id="868c3" class="tk">rtb_Sum_i</a> = (<a id="868c16" class="tk">uint8_T</a>)(((<a id="868c27" class="tk">uint32_T</a>)((<a id="868c38" class="tk">rtb_Add_gf</a> <a id="868c49" class="tk">==</a> 7) <a id="868c55" class="tk">&lt;&lt;</a> 1) <a id="868c61" class="tk">+</a> (<a id="868c64" class="tk">rtb_Add_gf</a> <a id="868c75" class="tk">==</a> 0))</td></tr>
 <tr name="869" id="869">
-<td><a id="l869" class='ln'>869</a></td><td><span class="ct">   *  Inport: '&lt;S16&gt;/In1'</span></td></tr>
+<td><a id="l869" class='ln'>869</a></td><td>                        <a id="869c25" class="tk">+</a> (<a id="869c28" class="tk">rtb_Equal_k</a> <a id="869c40" class="tk">&lt;&lt;</a> 2));</td></tr>
 <tr name="870" id="870">
-<td><a id="l870" class='ln'>870</a></td><td><span class="ct">   *  Merge: '&lt;S15&gt;/Merge'</span></td></tr>
+<td><a id="l870" class='ln'>870</a></td><td></td></tr>
 <tr name="871" id="871">
-<td><a id="l871" class='ln'>871</a></td><td><span class="ct">   *  Sum: '&lt;S15&gt;/Add'</span></td></tr>
+<td><a id="l871" class='ln'>871</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S37&gt;/Relational Operator2' incorporates:</span></td></tr>
 <tr name="872" id="872">
-<td><a id="l872" class='ln'>872</a></td><td><span class="ct">   *  Sum: '&lt;S15&gt;/Add2'</span></td></tr>
+<td><a id="l872" class='ln'>872</a></td><td><span class="ct">   *  Constant: '&lt;S37&gt;/CTRL_COMM2'</span></td></tr>
 <tr name="873" id="873">
 <td><a id="l873" class='ln'>873</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="874" id="874">
-<td><a id="l874" class='ln'>874</a></td><td>  <span class="kw">if</span> (<a id="874c7" class="tk">rtb_Divide1_m</a> <a id="874c21" class="tk">&gt;=</a> 360) <span class="br">{</span></td></tr>
+<td><a id="l874" class='ln'>874</a></td><td>  <a id="874c3" class="tk">rtb_RelationalOperator4_f</a> = (<a id="874c32" class="tk">rtb_Sum_i</a> <a id="874c42" class="tk">!=</a> 0);</td></tr>
 <tr name="875" id="875">
-<td><a id="l875" class='ln'>875</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S15&gt;/If Action Subsystem' incorporates:</span></td></tr>
+<td><a id="l875" class='ln'>875</a></td><td></td></tr>
 <tr name="876" id="876">
-<td><a id="l876" class='ln'>876</a></td><td><span class="ct">     *  ActionPort: '&lt;S16&gt;/Action Port'</span></td></tr>
+<td><a id="l876" class='ln'>876</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S42&gt;/Relational Operator' incorporates:</span></td></tr>
 <tr name="877" id="877">
-<td><a id="l877" class='ln'>877</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l877" class='ln'>877</a></td><td><span class="ct">   *  UnitDelay: '&lt;S42&gt;/UnitDelay'</span></td></tr>
 <tr name="878" id="878">
-<td><a id="l878" class='ln'>878</a></td><td>    <a id="878c5" class="tk">rtb_Switch3_c</a> = (<a id="878c22" class="tk">int16_T</a>)(<a id="878c31" class="tk">rtb_Switch3_c</a> <a id="878c45" class="tk">-</a> 5760);</td></tr>
+<td><a id="l878" class='ln'>878</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="879" id="879">
-<td><a id="l879" class='ln'>879</a></td><td></td></tr>
+<td><a id="l879" class='ln'>879</a></td><td>  <a id="879c3" class="tk">rtb_n_commDeacv</a> = (<a id="879c22" class="tk">rtb_RelationalOperator4_f</a> <a id="879c48" class="tk">!=</a> <a id="879c51" class="tk">rtDW</a>-&gt;<a id="879c57" class="tk">UnitDelay_DSTATE_n</a>);</td></tr>
 <tr name="880" id="880">
-<td><a id="l880" class='ln'>880</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S15&gt;/If Action Subsystem' */</span></td></tr>
+<td><a id="l880" class='ln'>880</a></td><td></td></tr>
 <tr name="881" id="881">
-<td><a id="l881" class='ln'>881</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l881" class='ln'>881</a></td><td>  <span class="ct">/* If: '&lt;S38&gt;/If2' incorporates:</span></td></tr>
 <tr name="882" id="882">
-<td><a id="l882" class='ln'>882</a></td><td></td></tr>
+<td><a id="l882" class='ln'>882</a></td><td><span class="ct">   *  Inport: '&lt;S40&gt;/yPrev'</span></td></tr>
 <tr name="883" id="883">
-<td><a id="l883" class='ln'>883</a></td><td>  <span class="ct">/* End of If: '&lt;S15&gt;/If' */</span></td></tr>
+<td><a id="l883" class='ln'>883</a></td><td><span class="ct">   *  Logic: '&lt;S38&gt;/Logical Operator1'</span></td></tr>
 <tr name="884" id="884">
-<td><a id="l884" class='ln'>884</a></td><td></td></tr>
+<td><a id="l884" class='ln'>884</a></td><td><span class="ct">   *  Logic: '&lt;S38&gt;/Logical Operator2'</span></td></tr>
 <tr name="885" id="885">
-<td><a id="l885" class='ln'>885</a></td><td>  <span class="ct">/* If: '&lt;S3&gt;/If' incorporates:</span></td></tr>
+<td><a id="l885" class='ln'>885</a></td><td><span class="ct">   *  Logic: '&lt;S38&gt;/Logical Operator3'</span></td></tr>
 <tr name="886" id="886">
-<td><a id="l886" class='ln'>886</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/foc_calibrate'</span></td></tr>
+<td><a id="l886" class='ln'>886</a></td><td><span class="ct">   *  Logic: '&lt;S38&gt;/Logical Operator4'</span></td></tr>
 <tr name="887" id="887">
-<td><a id="l887" class='ln'>887</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l887" class='ln'>887</a></td><td><span class="ct">   *  UnitDelay: '&lt;S38&gt;/UnitDelay'</span></td></tr>
 <tr name="888" id="888">
-<td><a id="l888" class='ln'>888</a></td><td>  <span class="kw">if</span> ((<a id="888c8" class="tk">rtU</a>-&gt;<a id="888c13" class="tk">foc_calibrate</a> <a id="888c27" class="tk">==</a> 0) <a id="888c33" class="tk">||</a> (<a id="888c37" class="tk">rtU</a>-&gt;<a id="888c42" class="tk">foc_calibrate</a> <a id="888c56" class="tk">==</a> 2)) <span class="br">{</span></td></tr>
+<td><a id="l888" class='ln'>888</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="889" id="889">
-<td><a id="l889" class='ln'>889</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S3&gt;/If Action Subsystem' incorporates:</span></td></tr>
+<td><a id="l889" class='ln'>889</a></td><td>  <span class="kw">if</span> (<a id="889c7" class="tk">rtb_RelationalOperator4_f</a> <a id="889c33" class="tk">&amp;&amp;</a> (<a id="889c37" class="tk">!</a><a id="889c38" class="tk">rtDW</a>-&gt;<a id="889c44" class="tk">UnitDelay_DSTATE_k</a>)) <span class="br">{</span></td></tr>
 <tr name="890" id="890">
-<td><a id="l890" class='ln'>890</a></td><td><span class="ct">     *  ActionPort: '&lt;S12&gt;/Action Port'</span></td></tr>
+<td><a id="l890" class='ln'>890</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S38&gt;/Qualification' incorporates:</span></td></tr>
 <tr name="891" id="891">
-<td><a id="l891" class='ln'>891</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l891" class='ln'>891</a></td><td><span class="ct">     *  ActionPort: '&lt;S43&gt;/Action Port'</span></td></tr>
 <tr name="892" id="892">
-<td><a id="l892" class='ln'>892</a></td><td>    <span class="ct">/* Merge: '&lt;S3&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l892" class='ln'>892</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="893" id="893">
-<td><a id="l893" class='ln'>893</a></td><td><span class="ct">     *  Inport: '&lt;S12&gt;/In1'</span></td></tr>
+<td><a id="l893" class='ln'>893</a></td><td>    <span class="ct">/* Switch: '&lt;S47&gt;/Switch1' incorporates:</span></td></tr>
 <tr name="894" id="894">
-<td><a id="l894" class='ln'>894</a></td><td><span class="ct">     *  Merge: '&lt;S15&gt;/Merge'</span></td></tr>
+<td><a id="l894" class='ln'>894</a></td><td><span class="ct">     *  Constant: '&lt;S47&gt;/Constant23'</span></td></tr>
 <tr name="895" id="895">
-<td><a id="l895" class='ln'>895</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l895" class='ln'>895</a></td><td><span class="ct">     *  UnitDelay: '&lt;S47&gt;/UnitDelay'</span></td></tr>
 <tr name="896" id="896">
-<td><a id="l896" class='ln'>896</a></td><td>    <a id="896c5" class="tk">rtDW</a>-&gt;<a id="896c11" class="tk">Merge_i</a> = <a id="896c21" class="tk">rtb_Switch3_c</a>;</td></tr>
+<td><a id="l896" class='ln'>896</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="897" id="897">
-<td><a id="l897" class='ln'>897</a></td><td></td></tr>
+<td><a id="l897" class='ln'>897</a></td><td>    <span class="kw">if</span> (<a id="897c9" class="tk">rtb_n_commDeacv</a>) <span class="br">{</span></td></tr>
 <tr name="898" id="898">
-<td><a id="l898" class='ln'>898</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S3&gt;/If Action Subsystem' */</span></td></tr>
+<td><a id="l898" class='ln'>898</a></td><td>      <a id="898c7" class="tk">rtb_LogicalOperator3</a> = 0U;</td></tr>
 <tr name="899" id="899">
-<td><a id="l899" class='ln'>899</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l899" class='ln'>899</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="900" id="900">
-<td><a id="l900" class='ln'>900</a></td><td>    <span class="kw">if</span> (<a id="900c9" class="tk">rtU</a>-&gt;<a id="900c14" class="tk">foc_calibrate</a> <a id="900c28" class="tk">==</a> 1) <span class="br">{</span></td></tr>
+<td><a id="l900" class='ln'>900</a></td><td>      <a id="900c7" class="tk">rtb_LogicalOperator3</a> = <a id="900c30" class="tk">rtDW</a>-&gt;<a id="900c36" class="tk">UnitDelay_DSTATE_p</a>;</td></tr>
 <tr name="901" id="901">
-<td><a id="l901" class='ln'>901</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S3&gt;/If Action Subsystem1' incorporates:</span></td></tr>
+<td><a id="l901" class='ln'>901</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="902" id="902">
-<td><a id="l902" class='ln'>902</a></td><td><span class="ct">       *  ActionPort: '&lt;S13&gt;/Action Port'</span></td></tr>
+<td><a id="l902" class='ln'>902</a></td><td></td></tr>
 <tr name="903" id="903">
-<td><a id="l903" class='ln'>903</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l903" class='ln'>903</a></td><td>    <span class="ct">/* End of Switch: '&lt;S47&gt;/Switch1' */</span></td></tr>
 <tr name="904" id="904">
-<td><a id="l904" class='ln'>904</a></td><td>      <span class="ct">/* Merge: '&lt;S3&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l904" class='ln'>904</a></td><td></td></tr>
 <tr name="905" id="905">
-<td><a id="l905" class='ln'>905</a></td><td><span class="ct">       *  Inport: '&lt;Root&gt;/open_theta'</span></td></tr>
+<td><a id="l905" class='ln'>905</a></td><td>    <span class="ct">/* Switch: '&lt;S43&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="906" id="906">
-<td><a id="l906" class='ln'>906</a></td><td><span class="ct">       *  Inport: '&lt;S13&gt;/In1'</span></td></tr>
+<td><a id="l906" class='ln'>906</a></td><td><span class="ct">     *  Constant: '&lt;S37&gt;/t_errQual'</span></td></tr>
 <tr name="907" id="907">
-<td><a id="l907" class='ln'>907</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l907" class='ln'>907</a></td><td><span class="ct">     *  Constant: '&lt;S43&gt;/Constant6'</span></td></tr>
 <tr name="908" id="908">
-<td><a id="l908" class='ln'>908</a></td><td>      <a id="908c7" class="tk">rtDW</a>-&gt;<a id="908c13" class="tk">Merge_i</a> = <a id="908c23" class="tk">rtU</a>-&gt;<a id="908c28" class="tk">open_theta</a>;</td></tr>
+<td><a id="l908" class='ln'>908</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S43&gt;/Relational Operator2'</span></td></tr>
 <tr name="909" id="909">
-<td><a id="l909" class='ln'>909</a></td><td></td></tr>
+<td><a id="l909" class='ln'>909</a></td><td><span class="ct">     *  Sum: '&lt;S46&gt;/Sum1'</span></td></tr>
 <tr name="910" id="910">
-<td><a id="l910" class='ln'>910</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S3&gt;/If Action Subsystem1' */</span></td></tr>
+<td><a id="l910" class='ln'>910</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="911" id="911">
-<td><a id="l911" class='ln'>911</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l911" class='ln'>911</a></td><td>    <a id="911c5" class="tk">rtb_n_commDeacv</a> = (((<a id="911c26" class="tk">uint16_T</a>)(<a id="911c36" class="tk">rtb_LogicalOperator3</a> <a id="911c57" class="tk">+</a> 1U) <a id="911c63" class="tk">&gt;</a> 1600) <a id="911c71" class="tk">||</a></td></tr>
 <tr name="912" id="912">
-<td><a id="l912" class='ln'>912</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l912" class='ln'>912</a></td><td>                       <a id="912c24" class="tk">rtDW</a>-&gt;<a id="912c30" class="tk">UnitDelay_DSTATE_k</a>);</td></tr>
 <tr name="913" id="913">
 <td><a id="l913" class='ln'>913</a></td><td></td></tr>
 <tr name="914" id="914">
-<td><a id="l914" class='ln'>914</a></td><td>  <span class="ct">/* End of If: '&lt;S3&gt;/If' */</span></td></tr>
+<td><a id="l914" class='ln'>914</a></td><td>    <span class="ct">/* MinMax: '&lt;S46&gt;/MinMax' incorporates:</span></td></tr>
 <tr name="915" id="915">
-<td><a id="l915" class='ln'>915</a></td><td></td></tr>
+<td><a id="l915" class='ln'>915</a></td><td><span class="ct">     *  Constant: '&lt;S43&gt;/Constant6'</span></td></tr>
 <tr name="916" id="916">
-<td><a id="l916" class='ln'>916</a></td><td>  <span class="ct">/* Switch: '&lt;S14&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l916" class='ln'>916</a></td><td><span class="ct">     *  Sum: '&lt;S46&gt;/Sum1'</span></td></tr>
 <tr name="917" id="917">
-<td><a id="l917" class='ln'>917</a></td><td><span class="ct">   *  Constant: '&lt;S14&gt;/Constant4'</span></td></tr>
+<td><a id="l917" class='ln'>917</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="918" id="918">
-<td><a id="l918" class='ln'>918</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hw_count'</span></td></tr>
+<td><a id="l918" class='ln'>918</a></td><td>    <span class="kw">if</span> ((<a id="918c10" class="tk">uint16_T</a>)(<a id="918c20" class="tk">rtb_LogicalOperator3</a> <a id="918c41" class="tk">+</a> 1U) <a id="918c47" class="tk">&lt;</a> 1600) <span class="br">{</span></td></tr>
 <tr name="919" id="919">
-<td><a id="l919" class='ln'>919</a></td><td><span class="ct">   *  Product: '&lt;S19&gt;/Divide11'</span></td></tr>
+<td><a id="l919" class='ln'>919</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S47&gt;/UnitDelay' */</span></td></tr>
 <tr name="920" id="920">
-<td><a id="l920" class='ln'>920</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S14&gt;/Relational Operator2'</span></td></tr>
+<td><a id="l920" class='ln'>920</a></td><td>      <a id="920c7" class="tk">rtDW</a>-&gt;<a id="920c13" class="tk">UnitDelay_DSTATE_p</a> = (<a id="920c35" class="tk">uint16_T</a>)(<a id="920c45" class="tk">rtb_LogicalOperator3</a> <a id="920c66" class="tk">+</a> 1U);</td></tr>
 <tr name="921" id="921">
-<td><a id="l921" class='ln'>921</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l921" class='ln'>921</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="922" id="922">
-<td><a id="l922" class='ln'>922</a></td><td>  <span class="kw">if</span> (<a id="922c7" class="tk">rtU</a>-&gt;<a id="922c12" class="tk">hw_count</a> <a id="922c21" class="tk">&gt;=</a> 400000U) <span class="br">{</span></td></tr>
+<td><a id="l922" class='ln'>922</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S47&gt;/UnitDelay' */</span></td></tr>
 <tr name="923" id="923">
-<td><a id="l923" class='ln'>923</a></td><td>    <a id="923c5" class="tk">rtb_Switch2_l</a> = 0;</td></tr>
+<td><a id="l923" class='ln'>923</a></td><td>      <a id="923c7" class="tk">rtDW</a>-&gt;<a id="923c13" class="tk">UnitDelay_DSTATE_p</a> = 1600U;</td></tr>
 <tr name="924" id="924">
-<td><a id="l924" class='ln'>924</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l924" class='ln'>924</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="925" id="925">
-<td><a id="l925" class='ln'>925</a></td><td>    <a id="925c5" class="tk">rtb_Switch2_l</a> = <a id="925c21" class="tk">rtDW</a>-&gt;<a id="925c27" class="tk">Divide11</a>;</td></tr>
+<td><a id="l925" class='ln'>925</a></td><td></td></tr>
 <tr name="926" id="926">
-<td><a id="l926" class='ln'>926</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l926" class='ln'>926</a></td><td>    <span class="ct">/* End of MinMax: '&lt;S46&gt;/MinMax' */</span></td></tr>
 <tr name="927" id="927">
-<td><a id="l927" class='ln'>927</a></td><td></td></tr>
+<td><a id="l927" class='ln'>927</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S38&gt;/Qualification' */</span></td></tr>
 <tr name="928" id="928">
-<td><a id="l928" class='ln'>928</a></td><td>  <span class="ct">/* End of Switch: '&lt;S14&gt;/Switch2' */</span></td></tr>
+<td><a id="l928" class='ln'>928</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="928c15" class="tk">!</a><a id="928c16" class="tk">rtb_RelationalOperator4_f</a>) <a id="928c43" class="tk">&amp;&amp;</a> <a id="928c46" class="tk">rtDW</a>-&gt;<a id="928c52" class="tk">UnitDelay_DSTATE_k</a>) <span class="br">{</span></td></tr>
 <tr name="929" id="929">
-<td><a id="l929" class='ln'>929</a></td><td></td></tr>
+<td><a id="l929" class='ln'>929</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S38&gt;/Dequalification' incorporates:</span></td></tr>
 <tr name="930" id="930">
-<td><a id="l930" class='ln'>930</a></td><td>  <span class="ct">/* Abs: '&lt;S14&gt;/Abs5' incorporates:</span></td></tr>
+<td><a id="l930" class='ln'>930</a></td><td><span class="ct">     *  ActionPort: '&lt;S41&gt;/Action Port'</span></td></tr>
 <tr name="931" id="931">
-<td><a id="l931" class='ln'>931</a></td><td><span class="ct">   *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
+<td><a id="l931" class='ln'>931</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="932" id="932">
-<td><a id="l932" class='ln'>932</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l932" class='ln'>932</a></td><td>    <span class="ct">/* Switch: '&lt;S45&gt;/Switch1' incorporates:</span></td></tr>
 <tr name="933" id="933">
-<td><a id="l933" class='ln'>933</a></td><td>  <span class="kw">if</span> (<a id="933c7" class="tk">rtb_Switch2_l</a> <a id="933c21" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l933" class='ln'>933</a></td><td><span class="ct">     *  Constant: '&lt;S45&gt;/Constant23'</span></td></tr>
 <tr name="934" id="934">
-<td><a id="l934" class='ln'>934</a></td><td>    <a id="934c5" class="tk">rtb_Switch2</a> = (<a id="934c20" class="tk">uint16_T</a>)<a id="934c29" class="tk">-</a><a id="934c30" class="tk">rtb_Switch2_l</a>;</td></tr>
+<td><a id="l934" class='ln'>934</a></td><td><span class="ct">     *  UnitDelay: '&lt;S45&gt;/UnitDelay'</span></td></tr>
 <tr name="935" id="935">
-<td><a id="l935" class='ln'>935</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l935" class='ln'>935</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="936" id="936">
-<td><a id="l936" class='ln'>936</a></td><td>    <a id="936c5" class="tk">rtb_Switch2</a> = (<a id="936c20" class="tk">uint16_T</a>)<a id="936c29" class="tk">rtb_Switch2_l</a>;</td></tr>
+<td><a id="l936" class='ln'>936</a></td><td>    <span class="kw">if</span> (<a id="936c9" class="tk">rtb_n_commDeacv</a>) <span class="br">{</span></td></tr>
 <tr name="937" id="937">
-<td><a id="l937" class='ln'>937</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l937" class='ln'>937</a></td><td>      <a id="937c7" class="tk">rtb_LogicalOperator3</a> = 0U;</td></tr>
 <tr name="938" id="938">
-<td><a id="l938" class='ln'>938</a></td><td></td></tr>
+<td><a id="l938" class='ln'>938</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="939" id="939">
-<td><a id="l939" class='ln'>939</a></td><td>  <span class="ct">/* End of Abs: '&lt;S14&gt;/Abs5' */</span></td></tr>
+<td><a id="l939" class='ln'>939</a></td><td>      <a id="939c7" class="tk">rtb_LogicalOperator3</a> = <a id="939c30" class="tk">rtDW</a>-&gt;<a id="939c36" class="tk">UnitDelay_DSTATE_f</a>;</td></tr>
 <tr name="940" id="940">
-<td><a id="l940" class='ln'>940</a></td><td></td></tr>
+<td><a id="l940" class='ln'>940</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="941" id="941">
-<td><a id="l941" class='ln'>941</a></td><td>  <span class="ct">/* If: '&lt;S14&gt;/If1' */</span></td></tr>
+<td><a id="l941" class='ln'>941</a></td><td></td></tr>
 <tr name="942" id="942">
-<td><a id="l942" class='ln'>942</a></td><td>  <span class="kw">if</span> (<a id="942c7" class="tk">rtb_LogicalOperator_p</a>) <span class="br">{</span></td></tr>
+<td><a id="l942" class='ln'>942</a></td><td>    <span class="ct">/* End of Switch: '&lt;S45&gt;/Switch1' */</span></td></tr>
 <tr name="943" id="943">
-<td><a id="l943" class='ln'>943</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S14&gt;/Subsystem' incorporates:</span></td></tr>
+<td><a id="l943" class='ln'>943</a></td><td></td></tr>
 <tr name="944" id="944">
-<td><a id="l944" class='ln'>944</a></td><td><span class="ct">     *  ActionPort: '&lt;S20&gt;/Action Port'</span></td></tr>
+<td><a id="l944" class='ln'>944</a></td><td>    <span class="ct">/* Switch: '&lt;S41&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="945" id="945">
-<td><a id="l945" class='ln'>945</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l945" class='ln'>945</a></td><td><span class="ct">     *  Constant: '&lt;S37&gt;/t_errDequal'</span></td></tr>
 <tr name="946" id="946">
-<td><a id="l946" class='ln'>946</a></td><td>    <span class="ct">/* Relay: '&lt;S20&gt;/n_commDeacv' incorporates:</span></td></tr>
+<td><a id="l946" class='ln'>946</a></td><td><span class="ct">     *  Constant: '&lt;S41&gt;/Constant6'</span></td></tr>
 <tr name="947" id="947">
-<td><a id="l947" class='ln'>947</a></td><td><span class="ct">     *  Abs: '&lt;S14&gt;/Abs5'</span></td></tr>
+<td><a id="l947" class='ln'>947</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S41&gt;/Relational Operator2'</span></td></tr>
 <tr name="948" id="948">
-<td><a id="l948" class='ln'>948</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l948" class='ln'>948</a></td><td><span class="ct">     *  Sum: '&lt;S44&gt;/Sum1'</span></td></tr>
 <tr name="949" id="949">
-<td><a id="l949" class='ln'>949</a></td><td>    <a id="949c5" class="tk">rtDW</a>-&gt;<a id="949c11" class="tk">n_commDeacv_Mode</a> = ((<a id="949c32" class="tk">rtb_Switch2</a> <a id="949c44" class="tk">&gt;=</a> 60) <a id="949c51" class="tk">||</a> ((<a id="949c56" class="tk">rtb_Switch2</a> <a id="949c68" class="tk">&gt;</a> 30) <a id="949c74" class="tk">&amp;&amp;</a></td></tr>
+<td><a id="l949" class='ln'>949</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="950" id="950">
-<td><a id="l950" class='ln'>950</a></td><td>      <a id="950c7" class="tk">rtDW</a>-&gt;<a id="950c13" class="tk">n_commDeacv_Mode</a>));</td></tr>
+<td><a id="l950" class='ln'>950</a></td><td>    <a id="950c5" class="tk">rtb_n_commDeacv</a> = (((<a id="950c26" class="tk">uint16_T</a>)(<a id="950c36" class="tk">rtb_LogicalOperator3</a> <a id="950c57" class="tk">+</a> 1U) <a id="950c63" class="tk">&lt;=</a> 12000) <a id="950c73" class="tk">&amp;&amp;</a></td></tr>
 <tr name="951" id="951">
-<td><a id="l951" class='ln'>951</a></td><td></td></tr>
+<td><a id="l951" class='ln'>951</a></td><td>                       <a id="951c24" class="tk">rtDW</a>-&gt;<a id="951c30" class="tk">UnitDelay_DSTATE_k</a>);</td></tr>
 <tr name="952" id="952">
-<td><a id="l952" class='ln'>952</a></td><td>    <span class="ct">/* RelationalOperator: '&lt;S22&gt;/Compare' incorporates:</span></td></tr>
+<td><a id="l952" class='ln'>952</a></td><td></td></tr>
 <tr name="953" id="953">
-<td><a id="l953" class='ln'>953</a></td><td><span class="ct">     *  Constant: '&lt;S22&gt;/Constant'</span></td></tr>
+<td><a id="l953" class='ln'>953</a></td><td>    <span class="ct">/* MinMax: '&lt;S44&gt;/MinMax' incorporates:</span></td></tr>
 <tr name="954" id="954">
-<td><a id="l954" class='ln'>954</a></td><td><span class="ct">     *  Relay: '&lt;S20&gt;/n_commDeacv'</span></td></tr>
+<td><a id="l954" class='ln'>954</a></td><td><span class="ct">     *  Constant: '&lt;S41&gt;/Constant6'</span></td></tr>
 <tr name="955" id="955">
-<td><a id="l955" class='ln'>955</a></td><td><span class="ct">     *  Sum: '&lt;S20&gt;/Sum13'</span></td></tr>
+<td><a id="l955" class='ln'>955</a></td><td><span class="ct">     *  Sum: '&lt;S44&gt;/Sum1'</span></td></tr>
 <tr name="956" id="956">
-<td><a id="l956" class='ln'>956</a></td><td><span class="ct">     *  UnitDelay: '&lt;S20&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l956" class='ln'>956</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="957" id="957">
-<td><a id="l957" class='ln'>957</a></td><td><span class="ct">     *  UnitDelay: '&lt;S20&gt;/UnitDelay3'</span></td></tr>
+<td><a id="l957" class='ln'>957</a></td><td>    <span class="kw">if</span> ((<a id="957c10" class="tk">uint16_T</a>)(<a id="957c20" class="tk">rtb_LogicalOperator3</a> <a id="957c41" class="tk">+</a> 1U) <a id="957c47" class="tk">&lt;</a> 12000) <span class="br">{</span></td></tr>
 <tr name="958" id="958">
-<td><a id="l958" class='ln'>958</a></td><td><span class="ct">     *  UnitDelay: '&lt;S20&gt;/UnitDelay5'</span></td></tr>
+<td><a id="l958" class='ln'>958</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S45&gt;/UnitDelay' */</span></td></tr>
 <tr name="959" id="959">
-<td><a id="l959" class='ln'>959</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l959" class='ln'>959</a></td><td>      <a id="959c7" class="tk">rtDW</a>-&gt;<a id="959c13" class="tk">UnitDelay_DSTATE_f</a> = (<a id="959c35" class="tk">uint16_T</a>)(<a id="959c45" class="tk">rtb_LogicalOperator3</a> <a id="959c66" class="tk">+</a> 1U);</td></tr>
 <tr name="960" id="960">
-<td><a id="l960" class='ln'>960</a></td><td>    <a id="960c5" class="tk">rtDW</a>-&gt;<a id="960c11" class="tk">Compare</a> = ((<a id="960c23" class="tk">uint16_T</a>)((<a id="960c34" class="tk">uint32_T</a>)(<a id="960c44" class="tk">uint16_T</a>)((<a id="960c55" class="tk">uint32_T</a>)(<a id="960c65" class="tk">uint16_T</a>)</td></tr>
+<td><a id="l960" class='ln'>960</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="961" id="961">
-<td><a id="l961" class='ln'>961</a></td><td>      ((<a id="961c9" class="tk">uint32_T</a>)<a id="961c18" class="tk">rtDW</a>-&gt;<a id="961c24" class="tk">UnitDelay2_DSTATE_f</a> <a id="961c44" class="tk">+</a> <a id="961c46" class="tk">rtDW</a>-&gt;<a id="961c52" class="tk">UnitDelay3_DSTATE_lh</a>) <a id="961c74" class="tk">+</a></td></tr>
+<td><a id="l961" class='ln'>961</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S45&gt;/UnitDelay' */</span></td></tr>
 <tr name="962" id="962">
-<td><a id="l962" class='ln'>962</a></td><td>      <a id="962c7" class="tk">rtDW</a>-&gt;<a id="962c13" class="tk">UnitDelay5_DSTATE_f</a>) <a id="962c34" class="tk">+</a> <a id="962c36" class="tk">rtDW</a>-&gt;<a id="962c42" class="tk">n_commDeacv_Mode</a>) <a id="962c60" class="tk">&gt;=</a> 4);</td></tr>
+<td><a id="l962" class='ln'>962</a></td><td>      <a id="962c7" class="tk">rtDW</a>-&gt;<a id="962c13" class="tk">UnitDelay_DSTATE_f</a> = 12000U;</td></tr>
 <tr name="963" id="963">
-<td><a id="l963" class='ln'>963</a></td><td></td></tr>
+<td><a id="l963" class='ln'>963</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="964" id="964">
-<td><a id="l964" class='ln'>964</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S20&gt;/UnitDelay2' incorporates:</span></td></tr>
+<td><a id="l964" class='ln'>964</a></td><td></td></tr>
 <tr name="965" id="965">
-<td><a id="l965" class='ln'>965</a></td><td><span class="ct">     *  UnitDelay: '&lt;S20&gt;/UnitDelay3'</span></td></tr>
+<td><a id="l965" class='ln'>965</a></td><td>    <span class="ct">/* End of MinMax: '&lt;S44&gt;/MinMax' */</span></td></tr>
 <tr name="966" id="966">
-<td><a id="l966" class='ln'>966</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l966" class='ln'>966</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S38&gt;/Dequalification' */</span></td></tr>
 <tr name="967" id="967">
-<td><a id="l967" class='ln'>967</a></td><td>    <a id="967c5" class="tk">rtDW</a>-&gt;<a id="967c11" class="tk">UnitDelay2_DSTATE_f</a> = <a id="967c33" class="tk">rtDW</a>-&gt;<a id="967c39" class="tk">UnitDelay3_DSTATE_lh</a>;</td></tr>
+<td><a id="l967" class='ln'>967</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="968" id="968">
-<td><a id="l968" class='ln'>968</a></td><td></td></tr>
+<td><a id="l968" class='ln'>968</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S38&gt;/Default' incorporates:</span></td></tr>
 <tr name="969" id="969">
-<td><a id="l969" class='ln'>969</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S20&gt;/UnitDelay3' incorporates:</span></td></tr>
+<td><a id="l969" class='ln'>969</a></td><td><span class="ct">     *  ActionPort: '&lt;S40&gt;/Action Port'</span></td></tr>
 <tr name="970" id="970">
-<td><a id="l970" class='ln'>970</a></td><td><span class="ct">     *  UnitDelay: '&lt;S20&gt;/UnitDelay5'</span></td></tr>
+<td><a id="l970" class='ln'>970</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="971" id="971">
-<td><a id="l971" class='ln'>971</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l971" class='ln'>971</a></td><td>    <a id="971c5" class="tk">rtb_n_commDeacv</a> = <a id="971c23" class="tk">rtDW</a>-&gt;<a id="971c29" class="tk">UnitDelay_DSTATE_k</a>;</td></tr>
 <tr name="972" id="972">
-<td><a id="l972" class='ln'>972</a></td><td>    <a id="972c5" class="tk">rtDW</a>-&gt;<a id="972c11" class="tk">UnitDelay3_DSTATE_lh</a> = <a id="972c34" class="tk">rtDW</a>-&gt;<a id="972c40" class="tk">UnitDelay5_DSTATE_f</a>;</td></tr>
+<td><a id="l972" class='ln'>972</a></td><td></td></tr>
 <tr name="973" id="973">
-<td><a id="l973" class='ln'>973</a></td><td></td></tr>
+<td><a id="l973" class='ln'>973</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S38&gt;/Default' */</span></td></tr>
 <tr name="974" id="974">
-<td><a id="l974" class='ln'>974</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S20&gt;/UnitDelay5' incorporates:</span></td></tr>
+<td><a id="l974" class='ln'>974</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="975" id="975">
-<td><a id="l975" class='ln'>975</a></td><td><span class="ct">     *  Logic: '&lt;S20&gt;/Logical Operator3'</span></td></tr>
+<td><a id="l975" class='ln'>975</a></td><td></td></tr>
 <tr name="976" id="976">
-<td><a id="l976" class='ln'>976</a></td><td><span class="ct">     *  Relay: '&lt;S20&gt;/n_commDeacv'</span></td></tr>
+<td><a id="l976" class='ln'>976</a></td><td>  <span class="ct">/* End of If: '&lt;S38&gt;/If2' */</span></td></tr>
 <tr name="977" id="977">
-<td><a id="l977" class='ln'>977</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l977" class='ln'>977</a></td><td></td></tr>
 <tr name="978" id="978">
-<td><a id="l978" class='ln'>978</a></td><td>    <a id="978c5" class="tk">rtDW</a>-&gt;<a id="978c11" class="tk">UnitDelay5_DSTATE_f</a> = <a id="978c33" class="tk">rtDW</a>-&gt;<a id="978c39" class="tk">n_commDeacv_Mode</a>;</td></tr>
+<td><a id="l978" class='ln'>978</a></td><td>  <span class="ct">/* Logic: '&lt;S25&gt;/Logical Operator12' incorporates:</span></td></tr>
 <tr name="979" id="979">
-<td><a id="l979" class='ln'>979</a></td><td></td></tr>
+<td><a id="l979" class='ln'>979</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/b_motEna'</span></td></tr>
 <tr name="980" id="980">
-<td><a id="l980" class='ln'>980</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S14&gt;/Subsystem' */</span></td></tr>
+<td><a id="l980" class='ln'>980</a></td><td><span class="ct">   *  Logic: '&lt;S25&gt;/Logical Operator7'</span></td></tr>
 <tr name="981" id="981">
-<td><a id="l981" class='ln'>981</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l981" class='ln'>981</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="982" id="982">
-<td><a id="l982" class='ln'>982</a></td><td></td></tr>
+<td><a id="l982" class='ln'>982</a></td><td>  <a id="982c3" class="tk">rtb_LogicalOperator12</a> = ((<a id="982c29" class="tk">!</a><a id="982c30" class="tk">rtb_n_commDeacv</a>) <a id="982c47" class="tk">&amp;&amp;</a> <a id="982c50" class="tk">rtU</a>-&gt;<a id="982c55" class="tk">b_motEna</a>);</td></tr>
 <tr name="983" id="983">
-<td><a id="l983" class='ln'>983</a></td><td>  <span class="ct">/* End of If: '&lt;S14&gt;/If1' */</span></td></tr>
+<td><a id="l983" class='ln'>983</a></td><td></td></tr>
 <tr name="984" id="984">
-<td><a id="l984" class='ln'>984</a></td><td></td></tr>
+<td><a id="l984" class='ln'>984</a></td><td>  <span class="ct">/* Logic: '&lt;S25&gt;/Logical Operator4' incorporates:</span></td></tr>
 <tr name="985" id="985">
-<td><a id="l985" class='ln'>985</a></td><td>  <span class="ct">/* Abs: '&lt;S4&gt;/Abs2' incorporates:</span></td></tr>
+<td><a id="l985" class='ln'>985</a></td><td><span class="ct">   *  Constant: '&lt;S25&gt;/constant8'</span></td></tr>
 <tr name="986" id="986">
-<td><a id="l986" class='ln'>986</a></td><td><span class="ct">   *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
+<td><a id="l986" class='ln'>986</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/n_ctrlModReq'</span></td></tr>
 <tr name="987" id="987">
-<td><a id="l987" class='ln'>987</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l987" class='ln'>987</a></td><td><span class="ct">   *  Logic: '&lt;S25&gt;/Logical Operator11'</span></td></tr>
 <tr name="988" id="988">
-<td><a id="l988" class='ln'>988</a></td><td>  <span class="kw">if</span> (<a id="988c7" class="tk">rtb_Switch2_l</a> <a id="988c21" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l988" class='ln'>988</a></td><td><span class="ct">   *  Logic: '&lt;S25&gt;/Logical Operator8'</span></td></tr>
 <tr name="989" id="989">
-<td><a id="l989" class='ln'>989</a></td><td>    <a id="989c5" class="tk">rtb_Abs2</a> = (<a id="989c17" class="tk">uint16_T</a>)((<a id="989c28" class="tk">uint32_T</a>)<a id="989c37" class="tk">-</a><a id="989c38" class="tk">rtb_Switch2_l</a> <a id="989c52" class="tk">&gt;&gt;</a> 1);</td></tr>
+<td><a id="l989" class='ln'>989</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S25&gt;/Relational Operator10'</span></td></tr>
 <tr name="990" id="990">
-<td><a id="l990" class='ln'>990</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l990" class='ln'>990</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="991" id="991">
-<td><a id="l991" class='ln'>991</a></td><td>    <a id="991c5" class="tk">rtb_Abs2</a> = (<a id="991c17" class="tk">uint16_T</a>)((<a id="991c28" class="tk">uint32_T</a>)<a id="991c37" class="tk">rtb_Switch2_l</a> <a id="991c51" class="tk">&gt;&gt;</a> 1);</td></tr>
+<td><a id="l991" class='ln'>991</a></td><td>  <a id="991c3" class="tk">rtb_LogicalOperator4_e</a> = ((<a id="991c30" class="tk">rtb_BitwiseOperator2</a> <a id="991c51" class="tk">!=</a> 0) <a id="991c57" class="tk">||</a> (<a id="991c61" class="tk">!</a><a id="991c62" class="tk">rtDW</a>-&gt;<a id="991c68" class="tk">Compare</a>) <a id="991c77" class="tk">||</a> (</td></tr>
 <tr name="992" id="992">
-<td><a id="l992" class='ln'>992</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l992" class='ln'>992</a></td><td>    <a id="992c5" class="tk">!</a><a id="992c6" class="tk">rtb_LogicalOperator12</a>) <a id="992c29" class="tk">||</a> (<a id="992c33" class="tk">rtU</a>-&gt;<a id="992c38" class="tk">n_ctrlModReq</a> <a id="992c51" class="tk">==</a> 0));</td></tr>
 <tr name="993" id="993">
 <td><a id="l993" class='ln'>993</a></td><td></td></tr>
 <tr name="994" id="994">
-<td><a id="l994" class='ln'>994</a></td><td>  <span class="ct">/* End of Abs: '&lt;S4&gt;/Abs2' */</span></td></tr>
+<td><a id="l994" class='ln'>994</a></td><td>  <span class="ct">/* Abs: '&lt;S4&gt;/Abs2' incorporates:</span></td></tr>
 <tr name="995" id="995">
-<td><a id="l995" class='ln'>995</a></td><td></td></tr>
+<td><a id="l995" class='ln'>995</a></td><td><span class="ct">   *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
 <tr name="996" id="996">
-<td><a id="l996" class='ln'>996</a></td><td>  <span class="ct">/* S-Function (sfix_bitop): '&lt;S4&gt;/Bitwise Operator2' incorporates:</span></td></tr>
+<td><a id="l996" class='ln'>996</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="997" id="997">
-<td><a id="l997" class='ln'>997</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/foc_calibrate'</span></td></tr>
+<td><a id="l997" class='ln'>997</a></td><td>  <span class="kw">if</span> (<a id="997c7" class="tk">rtb_Switch3</a> <a id="997c19" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="998" id="998">
-<td><a id="l998" class='ln'>998</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l998" class='ln'>998</a></td><td>    <a id="998c5" class="tk">rtb_LogicalOperator3</a> = (<a id="998c29" class="tk">uint16_T</a>)((<a id="998c40" class="tk">uint32_T</a>)<a id="998c49" class="tk">-</a><a id="998c50" class="tk">rtb_Switch3</a> <a id="998c62" class="tk">&gt;&gt;</a> 4);</td></tr>
 <tr name="999" id="999">
-<td><a id="l999" class='ln'>999</a></td><td>  <a id="999c3" class="tk">rtb_LogicalOperator3</a> = (<a id="999c27" class="tk">uint16_T</a>)(<a id="999c37" class="tk">rtU</a>-&gt;<a id="999c42" class="tk">foc_calibrate</a> <a id="999c56" class="tk">&amp;</a> 1);</td></tr>
+<td><a id="l999" class='ln'>999</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1000" id="1000">
-<td><a id="l1000" class='ln'>1000</a></td><td></td></tr>
+<td><a id="l1000" class='ln'>1000</a></td><td>    <a id="1000c5" class="tk">rtb_LogicalOperator3</a> = (<a id="1000c29" class="tk">uint16_T</a>)((<a id="1000c40" class="tk">uint32_T</a>)<a id="1000c49" class="tk">rtb_Switch3</a> <a id="1000c61" class="tk">&gt;&gt;</a> 4);</td></tr>
 <tr name="1001" id="1001">
-<td><a id="l1001" class='ln'>1001</a></td><td>  <span class="ct">/* UnitDelay: '&lt;S35&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l1001" class='ln'>1001</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1002" id="1002">
-<td><a id="l1002" class='ln'>1002</a></td><td>  <a id="1002c3" class="tk">rtb_UnitDelay_bc</a> = <a id="1002c22" class="tk">rtDW</a>-&gt;<a id="1002c28" class="tk">UnitDelay_DSTATE_j</a>;</td></tr>
+<td><a id="l1002" class='ln'>1002</a></td><td></td></tr>
 <tr name="1003" id="1003">
-<td><a id="l1003" class='ln'>1003</a></td><td></td></tr>
+<td><a id="l1003" class='ln'>1003</a></td><td>  <span class="ct">/* End of Abs: '&lt;S4&gt;/Abs2' */</span></td></tr>
 <tr name="1004" id="1004">
-<td><a id="l1004" class='ln'>1004</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/VqPrev' incorporates:</span></td></tr>
+<td><a id="l1004" class='ln'>1004</a></td><td></td></tr>
 <tr name="1005" id="1005">
-<td><a id="l1005" class='ln'>1005</a></td><td><span class="ct">   *  UnitDelay: '&lt;S6&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l1005" class='ln'>1005</a></td><td>  <span class="ct">/* Relay: '&lt;S25&gt;/n_SpeedCtrl' */</span></td></tr>
 <tr name="1006" id="1006">
-<td><a id="l1006" class='ln'>1006</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1006" class='ln'>1006</a></td><td>  <a id="1006c3" class="tk">rtDW</a>-&gt;<a id="1006c9" class="tk">n_SpeedCtrl_Mode</a> = ((<a id="1006c30" class="tk">rtb_LogicalOperator3</a> <a id="1006c51" class="tk">&gt;=</a> 300) <a id="1006c59" class="tk">||</a></td></tr>
 <tr name="1007" id="1007">
-<td><a id="l1007" class='ln'>1007</a></td><td>  <a id="1007c3" class="tk">rtY</a>-&gt;<a id="1007c8" class="tk">VqPrev</a> = <a id="1007c17" class="tk">rtDW</a>-&gt;<a id="1007c23" class="tk">UnitDelay2_DSTATE_p</a>;</td></tr>
+<td><a id="l1007" class='ln'>1007</a></td><td>    ((<a id="1007c7" class="tk">rtb_LogicalOperator3</a> <a id="1007c28" class="tk">&gt;</a> 200) <a id="1007c35" class="tk">&amp;&amp;</a> <a id="1007c38" class="tk">rtDW</a>-&gt;<a id="1007c44" class="tk">n_SpeedCtrl_Mode</a>));</td></tr>
 <tr name="1008" id="1008">
 <td><a id="l1008" class='ln'>1008</a></td><td></td></tr>
 <tr name="1009" id="1009">
-<td><a id="l1009" class='ln'>1009</a></td><td>  <span class="ct">/* Switch: '&lt;S35&gt;/Switch3' incorporates:</span></td></tr>
+<td><a id="l1009" class='ln'>1009</a></td><td>  <span class="ct">/* Logic: '&lt;S25&gt;/Logical Operator10' incorporates:</span></td></tr>
 <tr name="1010" id="1010">
-<td><a id="l1010" class='ln'>1010</a></td><td><span class="ct">   *  Abs: '&lt;S14&gt;/Abs5'</span></td></tr>
+<td><a id="l1010" class='ln'>1010</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/b_cruiseEna'</span></td></tr>
 <tr name="1011" id="1011">
-<td><a id="l1011" class='ln'>1011</a></td><td><span class="ct">   *  Abs: '&lt;S35&gt;/Abs4'</span></td></tr>
+<td><a id="l1011" class='ln'>1011</a></td><td><span class="ct">   *  Relay: '&lt;S25&gt;/n_SpeedCtrl'</span></td></tr>
 <tr name="1012" id="1012">
-<td><a id="l1012" class='ln'>1012</a></td><td><span class="ct">   *  Constant: '&lt;S35&gt;/CTRL_COMM4'</span></td></tr>
+<td><a id="l1012" class='ln'>1012</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1013" id="1013">
-<td><a id="l1013" class='ln'>1013</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/b_motEna'</span></td></tr>
+<td><a id="l1013" class='ln'>1013</a></td><td>  <a id="1013c3" class="tk">rtb_Equal_k</a> = (<a id="1013c18" class="tk">rtDW</a>-&gt;<a id="1013c24" class="tk">n_SpeedCtrl_Mode</a> <a id="1013c41" class="tk">&amp;&amp;</a> <a id="1013c44" class="tk">rtU</a>-&gt;<a id="1013c49" class="tk">b_cruiseEna</a>);</td></tr>
 <tr name="1014" id="1014">
-<td><a id="l1014" class='ln'>1014</a></td><td><span class="ct">   *  Logic: '&lt;S35&gt;/Logical Operator1'</span></td></tr>
+<td><a id="l1014" class='ln'>1014</a></td><td></td></tr>
 <tr name="1015" id="1015">
-<td><a id="l1015" class='ln'>1015</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S14&gt;/Relational Operator9'</span></td></tr>
+<td><a id="l1015" class='ln'>1015</a></td><td>  <span class="ct">/* Logic: '&lt;S25&gt;/Logical Operator2' incorporates:</span></td></tr>
 <tr name="1016" id="1016">
-<td><a id="l1016" class='ln'>1016</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S35&gt;/Relational Operator7'</span></td></tr>
+<td><a id="l1016" class='ln'>1016</a></td><td><span class="ct">   *  Constant: '&lt;S25&gt;/constant'</span></td></tr>
 <tr name="1017" id="1017">
-<td><a id="l1017" class='ln'>1017</a></td><td><span class="ct">   *  S-Function (sfix_bitop): '&lt;S35&gt;/Bitwise Operator1'</span></td></tr>
+<td><a id="l1017" class='ln'>1017</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/n_ctrlModReq'</span></td></tr>
 <tr name="1018" id="1018">
-<td><a id="l1018" class='ln'>1018</a></td><td><span class="ct">   *  UnitDelay: '&lt;S6&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l1018" class='ln'>1018</a></td><td><span class="ct">   *  Logic: '&lt;S25&gt;/Logical Operator5'</span></td></tr>
 <tr name="1019" id="1019">
-<td><a id="l1019" class='ln'>1019</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1019" class='ln'>1019</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S25&gt;/Relational Operator4'</span></td></tr>
 <tr name="1020" id="1020">
-<td><a id="l1020" class='ln'>1020</a></td><td>  <span class="kw">if</span> ((<a id="1020c8" class="tk">rtb_UnitDelay_bc</a> <a id="1020c25" class="tk">&amp;</a> 4U) <a id="1020c31" class="tk">!=</a> 0U) <span class="br">{</span></td></tr>
+<td><a id="l1020" class='ln'>1020</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1021" id="1021">
-<td><a id="l1021" class='ln'>1021</a></td><td>    <a id="1021c5" class="tk">rtb_LogicalOperator_p</a> = true;</td></tr>
+<td><a id="l1021" class='ln'>1021</a></td><td>  <a id="1021c3" class="tk">rtb_LogicalOperator2_h</a> = ((<a id="1021c30" class="tk">rtU</a>-&gt;<a id="1021c35" class="tk">n_ctrlModReq</a> <a id="1021c48" class="tk">==</a> 2) <a id="1021c54" class="tk">&amp;&amp;</a> (<a id="1021c58" class="tk">!</a><a id="1021c59" class="tk">rtb_Equal_k</a>));</td></tr>
 <tr name="1022" id="1022">
-<td><a id="l1022" class='ln'>1022</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1022" class='ln'>1022</a></td><td></td></tr>
 <tr name="1023" id="1023">
-<td><a id="l1023" class='ln'>1023</a></td><td>    <span class="kw">if</span> (<a id="1023c9" class="tk">rtDW</a>-&gt;<a id="1023c15" class="tk">UnitDelay2_DSTATE_p</a> <a id="1023c35" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l1023" class='ln'>1023</a></td><td>  <span class="ct">/* Logic: '&lt;S25&gt;/Logical Operator1' incorporates:</span></td></tr>
 <tr name="1024" id="1024">
-<td><a id="l1024" class='ln'>1024</a></td><td>      <span class="ct">/* Abs: '&lt;S35&gt;/Abs4' incorporates:</span></td></tr>
+<td><a id="l1024" class='ln'>1024</a></td><td><span class="ct">   *  Constant: '&lt;S25&gt;/constant1'</span></td></tr>
 <tr name="1025" id="1025">
-<td><a id="l1025" class='ln'>1025</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l1025" class='ln'>1025</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/n_ctrlModReq'</span></td></tr>
 <tr name="1026" id="1026">
-<td><a id="l1026" class='ln'>1026</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1026" class='ln'>1026</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S25&gt;/Relational Operator1'</span></td></tr>
 <tr name="1027" id="1027">
-<td><a id="l1027" class='ln'>1027</a></td><td>      <a id="1027c7" class="tk">rtb_Switch_np</a> = (<a id="1027c24" class="tk">int16_T</a>)<a id="1027c32" class="tk">-</a><a id="1027c33" class="tk">rtDW</a>-&gt;<a id="1027c39" class="tk">UnitDelay2_DSTATE_p</a>;</td></tr>
+<td><a id="l1027" class='ln'>1027</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1028" id="1028">
-<td><a id="l1028" class='ln'>1028</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1028" class='ln'>1028</a></td><td>  <a id="1028c3" class="tk">rtb_Equal_k</a> = ((<a id="1028c19" class="tk">rtU</a>-&gt;<a id="1028c24" class="tk">n_ctrlModReq</a> <a id="1028c37" class="tk">==</a> 1) <a id="1028c43" class="tk">||</a> <a id="1028c46" class="tk">rtb_Equal_k</a>);</td></tr>
 <tr name="1029" id="1029">
-<td><a id="l1029" class='ln'>1029</a></td><td>      <span class="ct">/* Abs: '&lt;S35&gt;/Abs4' incorporates:</span></td></tr>
+<td><a id="l1029" class='ln'>1029</a></td><td></td></tr>
 <tr name="1030" id="1030">
-<td><a id="l1030" class='ln'>1030</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l1030" class='ln'>1030</a></td><td>  <span class="ct">/* Chart: '&lt;S4&gt;/Control_Mode_Manager' incorporates:</span></td></tr>
 <tr name="1031" id="1031">
-<td><a id="l1031" class='ln'>1031</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1031" class='ln'>1031</a></td><td><span class="ct">   *  Logic: '&lt;S25&gt;/Logical Operator3'</span></td></tr>
 <tr name="1032" id="1032">
-<td><a id="l1032" class='ln'>1032</a></td><td>      <a id="1032c7" class="tk">rtb_Switch_np</a> = <a id="1032c23" class="tk">rtDW</a>-&gt;<a id="1032c29" class="tk">UnitDelay2_DSTATE_p</a>;</td></tr>
+<td><a id="l1032" class='ln'>1032</a></td><td><span class="ct">   *  Logic: '&lt;S25&gt;/Logical Operator6'</span></td></tr>
 <tr name="1033" id="1033">
-<td><a id="l1033" class='ln'>1033</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1033" class='ln'>1033</a></td><td><span class="ct">   *  Logic: '&lt;S25&gt;/Logical Operator9'</span></td></tr>
 <tr name="1034" id="1034">
-<td><a id="l1034" class='ln'>1034</a></td><td></td></tr>
+<td><a id="l1034" class='ln'>1034</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1035" id="1035">
-<td><a id="l1035" class='ln'>1035</a></td><td>    <a id="1035c5" class="tk">rtb_LogicalOperator_p</a> = (<a id="1035c30" class="tk">rtU</a>-&gt;<a id="1035c35" class="tk">b_motEna</a> <a id="1035c44" class="tk">&amp;&amp;</a> (<a id="1035c48" class="tk">rtb_Switch2</a> <a id="1035c60" class="tk">&lt;</a> 6) <a id="1035c65" class="tk">&amp;&amp;</a></td></tr>
+<td><a id="l1035" class='ln'>1035</a></td><td>  <span class="kw">if</span> (<a id="1035c7" class="tk">rtDW</a>-&gt;<a id="1035c13" class="tk">is_active_c5_PMSM_Controller</a> <a id="1035c42" class="tk">==</a> 0U) <span class="br">{</span></td></tr>
 <tr name="1036" id="1036">
-<td><a id="l1036" class='ln'>1036</a></td><td>      (<a id="1036c8" class="tk">rtb_Switch_np</a> <a id="1036c22" class="tk">&gt;</a> 960));</td></tr>
+<td><a id="l1036" class='ln'>1036</a></td><td>    <a id="1036c5" class="tk">rtDW</a>-&gt;<a id="1036c11" class="tk">is_active_c5_PMSM_Controller</a> = 1U;</td></tr>
 <tr name="1037" id="1037">
-<td><a id="l1037" class='ln'>1037</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1037" class='ln'>1037</a></td><td>    <a id="1037c5" class="tk">rtDW</a>-&gt;<a id="1037c11" class="tk">is_c5_PMSM_Controller</a> = <a id="1037c35" class="tk">IN_OPEN</a>;</td></tr>
 <tr name="1038" id="1038">
-<td><a id="l1038" class='ln'>1038</a></td><td></td></tr>
+<td><a id="l1038" class='ln'>1038</a></td><td>    <a id="1038c5" class="tk">rtb_z_ctrlMod</a> = <a id="1038c21" class="tk">OPEN_MODE</a>;</td></tr>
 <tr name="1039" id="1039">
-<td><a id="l1039" class='ln'>1039</a></td><td>  <span class="ct">/* End of Switch: '&lt;S35&gt;/Switch3' */</span></td></tr>
+<td><a id="l1039" class='ln'>1039</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1039c14" class="tk">rtDW</a>-&gt;<a id="1039c20" class="tk">is_c5_PMSM_Controller</a> <a id="1039c42" class="tk">==</a> 1) <span class="br">{</span></td></tr>
 <tr name="1040" id="1040">
-<td><a id="l1040" class='ln'>1040</a></td><td></td></tr>
+<td><a id="l1040" class='ln'>1040</a></td><td>    <span class="kw">if</span> (<a id="1040c9" class="tk">rtb_LogicalOperator4_e</a>) <span class="br">{</span></td></tr>
 <tr name="1041" id="1041">
-<td><a id="l1041" class='ln'>1041</a></td><td>  <span class="ct">/* Sum: '&lt;S35&gt;/Sum' incorporates:</span></td></tr>
+<td><a id="l1041" class='ln'>1041</a></td><td>      <a id="1041c7" class="tk">rtDW</a>-&gt;<a id="1041c13" class="tk">is_ACTIVE</a> = <a id="1041c25" class="tk">IN_NO_ACTIVE_CHILD</a>;</td></tr>
 <tr name="1042" id="1042">
-<td><a id="l1042" class='ln'>1042</a></td><td><span class="ct">   *  Constant: '&lt;S35&gt;/CTRL_COMM'</span></td></tr>
+<td><a id="l1042" class='ln'>1042</a></td><td>      <a id="1042c7" class="tk">rtDW</a>-&gt;<a id="1042c13" class="tk">is_c5_PMSM_Controller</a> = <a id="1042c37" class="tk">IN_OPEN</a>;</td></tr>
 <tr name="1043" id="1043">
-<td><a id="l1043" class='ln'>1043</a></td><td><span class="ct">   *  Constant: '&lt;S35&gt;/CTRL_COMM1'</span></td></tr>
+<td><a id="l1043" class='ln'>1043</a></td><td>      <a id="1043c7" class="tk">rtb_z_ctrlMod</a> = <a id="1043c23" class="tk">OPEN_MODE</a>;</td></tr>
 <tr name="1044" id="1044">
-<td><a id="l1044" class='ln'>1044</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S35&gt;/Data Type Conversion3'</span></td></tr>
+<td><a id="l1044" class='ln'>1044</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1044c16" class="tk">rtDW</a>-&gt;<a id="1044c22" class="tk">is_ACTIVE</a> <a id="1044c32" class="tk">==</a> 1) <span class="br">{</span></td></tr>
 <tr name="1045" id="1045">
-<td><a id="l1045" class='ln'>1045</a></td><td><span class="ct">   *  Gain: '&lt;S35&gt;/g_Hb'</span></td></tr>
+<td><a id="l1045" class='ln'>1045</a></td><td>      <a id="1045c7" class="tk">rtb_z_ctrlMod</a> = <a id="1045c23" class="tk">SPD_MODE</a>;</td></tr>
 <tr name="1046" id="1046">
-<td><a id="l1046" class='ln'>1046</a></td><td><span class="ct">   *  Gain: '&lt;S35&gt;/g_Hb1'</span></td></tr>
+<td><a id="l1046" class='ln'>1046</a></td><td>      <span class="kw">if</span> (<a id="1046c11" class="tk">!</a><a id="1046c12" class="tk">rtb_Equal_k</a>) <span class="br">{</span></td></tr>
 <tr name="1047" id="1047">
-<td><a id="l1047" class='ln'>1047</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S35&gt;/Relational Operator1'</span></td></tr>
+<td><a id="l1047" class='ln'>1047</a></td><td>        <span class="kw">if</span> (<a id="1047c13" class="tk">rtb_LogicalOperator2_h</a>) <span class="br">{</span></td></tr>
 <tr name="1048" id="1048">
-<td><a id="l1048" class='ln'>1048</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S35&gt;/Relational Operator3'</span></td></tr>
+<td><a id="l1048" class='ln'>1048</a></td><td>          <a id="1048c11" class="tk">rtDW</a>-&gt;<a id="1048c17" class="tk">is_ACTIVE</a> = <a id="1048c29" class="tk">IN_TORQUE_MODE</a>;</td></tr>
 <tr name="1049" id="1049">
-<td><a id="l1049" class='ln'>1049</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1049" class='ln'>1049</a></td><td>          <a id="1049c11" class="tk">rtb_z_ctrlMod</a> = <a id="1049c27" class="tk">TRQ_MODE</a>;</td></tr>
 <tr name="1050" id="1050">
-<td><a id="l1050" class='ln'>1050</a></td><td>  <a id="1050c3" class="tk">rtb_Sum</a> = (<a id="1050c14" class="tk">uint8_T</a>)(((<a id="1050c25" class="tk">uint32_T</a>)((<a id="1050c36" class="tk">rtb_Add_cr</a> <a id="1050c47" class="tk">==</a> 7) <a id="1050c53" class="tk">&lt;&lt;</a> 1) <a id="1050c59" class="tk">+</a> (<a id="1050c62" class="tk">rtb_Add_cr</a> <a id="1050c73" class="tk">==</a> 0)) <a id="1050c80" class="tk">+</a></td></tr>
+<td><a id="l1050" class='ln'>1050</a></td><td>        <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1051" id="1051">
-<td><a id="l1051" class='ln'>1051</a></td><td>                      (<a id="1051c24" class="tk">rtb_LogicalOperator_p</a> <a id="1051c46" class="tk">&lt;&lt;</a> 2));</td></tr>
+<td><a id="l1051" class='ln'>1051</a></td><td>          <a id="1051c11" class="tk">rtDW</a>-&gt;<a id="1051c17" class="tk">is_ACTIVE</a> = <a id="1051c29" class="tk">IN_SPEED_MODE</a>;</td></tr>
 <tr name="1052" id="1052">
-<td><a id="l1052" class='ln'>1052</a></td><td></td></tr>
+<td><a id="l1052" class='ln'>1052</a></td><td>        <span class="br">}</span></td></tr>
 <tr name="1053" id="1053">
-<td><a id="l1053" class='ln'>1053</a></td><td>  <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S35&gt;/Debounce_Filter' */</span></td></tr>
+<td><a id="l1053" class='ln'>1053</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1054" id="1054">
-<td><a id="l1054" class='ln'>1054</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S35&gt;/Relational Operator2' incorporates:</span></td></tr>
+<td><a id="l1054" class='ln'>1054</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1055" id="1055">
-<td><a id="l1055" class='ln'>1055</a></td><td><span class="ct">   *  Constant: '&lt;S35&gt;/CTRL_COMM2'</span></td></tr>
+<td><a id="l1055" class='ln'>1055</a></td><td>      <span class="ct">/* case IN_TORQUE_MODE: */</span></td></tr>
 <tr name="1056" id="1056">
-<td><a id="l1056" class='ln'>1056</a></td><td><span class="ct">   *  Constant: '&lt;S35&gt;/t_errDequal'</span></td></tr>
+<td><a id="l1056" class='ln'>1056</a></td><td>      <a id="1056c7" class="tk">rtb_z_ctrlMod</a> = <a id="1056c23" class="tk">TRQ_MODE</a>;</td></tr>
 <tr name="1057" id="1057">
-<td><a id="l1057" class='ln'>1057</a></td><td><span class="ct">   *  Constant: '&lt;S35&gt;/t_errQual'</span></td></tr>
+<td><a id="l1057" class='ln'>1057</a></td><td>      <span class="kw">if</span> (<a id="1057c11" class="tk">!</a><a id="1057c12" class="tk">rtb_LogicalOperator2_h</a>) <span class="br">{</span></td></tr>
 <tr name="1058" id="1058">
-<td><a id="l1058" class='ln'>1058</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1058" class='ln'>1058</a></td><td>        <a id="1058c9" class="tk">rtDW</a>-&gt;<a id="1058c15" class="tk">is_ACTIVE</a> = <a id="1058c27" class="tk">IN_SPEED_MODE</a>;</td></tr>
 <tr name="1059" id="1059">
-<td><a id="l1059" class='ln'>1059</a></td><td>  <a id="1059c3" class="tk">Debounce_Filter</a>(<a id="1059c19" class="tk">rtb_Sum</a> <a id="1059c27" class="tk">!=</a> 0, 1600, 12000, <a id="1059c46" class="tk">&amp;</a><a id="1059c47" class="tk">rtb_RelationalOperator4_f</a>,</td></tr>
+<td><a id="l1059" class='ln'>1059</a></td><td>        <a id="1059c9" class="tk">rtb_z_ctrlMod</a> = <a id="1059c25" class="tk">SPD_MODE</a>;</td></tr>
 <tr name="1060" id="1060">
-<td><a id="l1060" class='ln'>1060</a></td><td>                  <a id="1060c19" class="tk">&amp;</a><a id="1060c20" class="tk">rtDW</a>-&gt;<a id="1060c26" class="tk">Debounce_Filter_i</a>);</td></tr>
+<td><a id="l1060" class='ln'>1060</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1061" id="1061">
-<td><a id="l1061" class='ln'>1061</a></td><td></td></tr>
+<td><a id="l1061" class='ln'>1061</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1062" id="1062">
-<td><a id="l1062" class='ln'>1062</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;S35&gt;/Debounce_Filter' */</span></td></tr>
+<td><a id="l1062" class='ln'>1062</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1063" id="1063">
-<td><a id="l1063" class='ln'>1063</a></td><td></td></tr>
+<td><a id="l1063" class='ln'>1063</a></td><td>    <span class="ct">/* case IN_OPEN: */</span></td></tr>
 <tr name="1064" id="1064">
-<td><a id="l1064" class='ln'>1064</a></td><td>  <span class="ct">/* Logic: '&lt;S24&gt;/Logical Operator12' incorporates:</span></td></tr>
+<td><a id="l1064" class='ln'>1064</a></td><td>    <a id="1064c5" class="tk">rtb_z_ctrlMod</a> = <a id="1064c21" class="tk">OPEN_MODE</a>;</td></tr>
 <tr name="1065" id="1065">
-<td><a id="l1065" class='ln'>1065</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/b_motEna'</span></td></tr>
+<td><a id="l1065" class='ln'>1065</a></td><td>    <span class="kw">if</span> ((<a id="1065c10" class="tk">!</a><a id="1065c11" class="tk">rtb_LogicalOperator4_e</a>) <a id="1065c35" class="tk">&amp;&amp;</a> (<a id="1065c39" class="tk">rtb_LogicalOperator2_h</a> <a id="1065c62" class="tk">||</a> <a id="1065c65" class="tk">rtb_Equal_k</a>)) <span class="br">{</span></td></tr>
 <tr name="1066" id="1066">
-<td><a id="l1066" class='ln'>1066</a></td><td><span class="ct">   *  Logic: '&lt;S24&gt;/Logical Operator7'</span></td></tr>
+<td><a id="l1066" class='ln'>1066</a></td><td>      <a id="1066c7" class="tk">rtDW</a>-&gt;<a id="1066c13" class="tk">is_c5_PMSM_Controller</a> = <a id="1066c37" class="tk">IN_ACTIVE</a>;</td></tr>
 <tr name="1067" id="1067">
-<td><a id="l1067" class='ln'>1067</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1067" class='ln'>1067</a></td><td>      <span class="kw">if</span> (<a id="1067c11" class="tk">rtb_LogicalOperator2_h</a>) <span class="br">{</span></td></tr>
 <tr name="1068" id="1068">
-<td><a id="l1068" class='ln'>1068</a></td><td>  <a id="1068c3" class="tk">rtb_n_commDeacv</a> = ((<a id="1068c23" class="tk">!</a><a id="1068c24" class="tk">rtb_RelationalOperator4_f</a>) <a id="1068c51" class="tk">&amp;&amp;</a> <a id="1068c54" class="tk">rtU</a>-&gt;<a id="1068c59" class="tk">b_motEna</a>);</td></tr>
+<td><a id="l1068" class='ln'>1068</a></td><td>        <a id="1068c9" class="tk">rtDW</a>-&gt;<a id="1068c15" class="tk">is_ACTIVE</a> = <a id="1068c27" class="tk">IN_TORQUE_MODE</a>;</td></tr>
 <tr name="1069" id="1069">
-<td><a id="l1069" class='ln'>1069</a></td><td></td></tr>
+<td><a id="l1069" class='ln'>1069</a></td><td>        <a id="1069c9" class="tk">rtb_z_ctrlMod</a> = <a id="1069c25" class="tk">TRQ_MODE</a>;</td></tr>
 <tr name="1070" id="1070">
-<td><a id="l1070" class='ln'>1070</a></td><td>  <span class="ct">/* Logic: '&lt;S24&gt;/Logical Operator4' incorporates:</span></td></tr>
+<td><a id="l1070" class='ln'>1070</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1071" id="1071">
-<td><a id="l1071" class='ln'>1071</a></td><td><span class="ct">   *  Constant: '&lt;S24&gt;/constant8'</span></td></tr>
+<td><a id="l1071" class='ln'>1071</a></td><td>        <a id="1071c9" class="tk">rtDW</a>-&gt;<a id="1071c15" class="tk">is_ACTIVE</a> = <a id="1071c27" class="tk">IN_SPEED_MODE</a>;</td></tr>
 <tr name="1072" id="1072">
-<td><a id="l1072" class='ln'>1072</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/n_ctrlModReq'</span></td></tr>
+<td><a id="l1072" class='ln'>1072</a></td><td>        <a id="1072c9" class="tk">rtb_z_ctrlMod</a> = <a id="1072c25" class="tk">SPD_MODE</a>;</td></tr>
 <tr name="1073" id="1073">
-<td><a id="l1073" class='ln'>1073</a></td><td><span class="ct">   *  Logic: '&lt;S24&gt;/Logical Operator11'</span></td></tr>
+<td><a id="l1073" class='ln'>1073</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1074" id="1074">
-<td><a id="l1074" class='ln'>1074</a></td><td><span class="ct">   *  Logic: '&lt;S24&gt;/Logical Operator8'</span></td></tr>
+<td><a id="l1074" class='ln'>1074</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1075" id="1075">
-<td><a id="l1075" class='ln'>1075</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S24&gt;/Relational Operator10'</span></td></tr>
+<td><a id="l1075" class='ln'>1075</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1076" id="1076">
-<td><a id="l1076" class='ln'>1076</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1076" class='ln'>1076</a></td><td></td></tr>
 <tr name="1077" id="1077">
-<td><a id="l1077" class='ln'>1077</a></td><td>  <a id="1077c3" class="tk">rtb_LogicalOperator4</a> = ((<a id="1077c28" class="tk">rtb_LogicalOperator3</a> <a id="1077c49" class="tk">!=</a> 0) <a id="1077c55" class="tk">||</a> (<a id="1077c59" class="tk">!</a><a id="1077c60" class="tk">rtDW</a>-&gt;<a id="1077c66" class="tk">Compare</a>) <a id="1077c75" class="tk">||</a></td></tr>
+<td><a id="l1077" class='ln'>1077</a></td><td>  <span class="ct">/* End of Chart: '&lt;S4&gt;/Control_Mode_Manager' */</span></td></tr>
 <tr name="1078" id="1078">
-<td><a id="l1078" class='ln'>1078</a></td><td>    (<a id="1078c6" class="tk">!</a><a id="1078c7" class="tk">rtb_n_commDeacv</a>) <a id="1078c24" class="tk">||</a> (<a id="1078c28" class="tk">rtU</a>-&gt;<a id="1078c33" class="tk">n_ctrlModReq</a> <a id="1078c46" class="tk">==</a> 0));</td></tr>
+<td><a id="l1078" class='ln'>1078</a></td><td></td></tr>
 <tr name="1079" id="1079">
-<td><a id="l1079" class='ln'>1079</a></td><td></td></tr>
+<td><a id="l1079" class='ln'>1079</a></td><td>  <span class="ct">/* Gain: '&lt;S53&gt;/Multiply' incorporates:</span></td></tr>
 <tr name="1080" id="1080">
-<td><a id="l1080" class='ln'>1080</a></td><td>  <span class="ct">/* Relay: '&lt;S24&gt;/n_SpeedCtrl' */</span></td></tr>
+<td><a id="l1080" class='ln'>1080</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/adc_Pha'</span></td></tr>
 <tr name="1081" id="1081">
-<td><a id="l1081" class='ln'>1081</a></td><td>  <a id="1081c3" class="tk">rtDW</a>-&gt;<a id="1081c9" class="tk">n_SpeedCtrl_Mode</a> = ((<a id="1081c30" class="tk">rtb_Abs2</a> <a id="1081c39" class="tk">&gt;=</a> 300) <a id="1081c47" class="tk">||</a> ((<a id="1081c52" class="tk">rtb_Abs2</a> <a id="1081c61" class="tk">&gt;</a> 200) <a id="1081c68" class="tk">&amp;&amp;</a></td></tr>
+<td><a id="l1081" class='ln'>1081</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/adc_Phb'</span></td></tr>
 <tr name="1082" id="1082">
-<td><a id="l1082" class='ln'>1082</a></td><td>    <a id="1082c5" class="tk">rtDW</a>-&gt;<a id="1082c11" class="tk">n_SpeedCtrl_Mode</a>));</td></tr>
+<td><a id="l1082" class='ln'>1082</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1083" id="1083">
-<td><a id="l1083" class='ln'>1083</a></td><td>  <a id="1083c3" class="tk">rtb_LogicalOperator_p</a> = <a id="1083c27" class="tk">rtDW</a>-&gt;<a id="1083c33" class="tk">n_SpeedCtrl_Mode</a>;</td></tr>
+<td><a id="l1083" class='ln'>1083</a></td><td>  <a id="1083c3" class="tk">rtb_Gain_b0</a> = (12351 <a id="1083c24" class="tk">*</a> <a id="1083c26" class="tk">rtU</a>-&gt;<a id="1083c31" class="tk">adc_Pha</a>) <a id="1083c40" class="tk">&gt;&gt;</a> 12;</td></tr>
 <tr name="1084" id="1084">
-<td><a id="l1084" class='ln'>1084</a></td><td></td></tr>
+<td><a id="l1084" class='ln'>1084</a></td><td>  <span class="kw">if</span> (<a id="1084c7" class="tk">rtb_Gain_b0</a> <a id="1084c19" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1085" id="1085">
-<td><a id="l1085" class='ln'>1085</a></td><td>  <span class="ct">/* Logic: '&lt;S24&gt;/Logical Operator10' incorporates:</span></td></tr>
+<td><a id="l1085" class='ln'>1085</a></td><td>    <a id="1085c5" class="tk">rtb_Gain_b0</a> = 32767;</td></tr>
 <tr name="1086" id="1086">
-<td><a id="l1086" class='ln'>1086</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/b_cruiseEna'</span></td></tr>
+<td><a id="l1086" class='ln'>1086</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1087" id="1087">
-<td><a id="l1087" class='ln'>1087</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1087" class='ln'>1087</a></td><td>    <span class="kw">if</span> (<a id="1087c9" class="tk">rtb_Gain_b0</a> <a id="1087c21" class="tk">&lt;</a> <a id="1087c23" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="1088" id="1088">
-<td><a id="l1088" class='ln'>1088</a></td><td>  <a id="1088c3" class="tk">rtb_LogicalOperator_p</a> = (<a id="1088c28" class="tk">rtb_LogicalOperator_p</a> <a id="1088c50" class="tk">&amp;&amp;</a> <a id="1088c53" class="tk">rtU</a>-&gt;<a id="1088c58" class="tk">b_cruiseEna</a>);</td></tr>
+<td><a id="l1088" class='ln'>1088</a></td><td>      <a id="1088c7" class="tk">rtb_Gain_b0</a> = <a id="1088c21" class="tk">-</a>32768;</td></tr>
 <tr name="1089" id="1089">
-<td><a id="l1089" class='ln'>1089</a></td><td></td></tr>
+<td><a id="l1089" class='ln'>1089</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1090" id="1090">
-<td><a id="l1090" class='ln'>1090</a></td><td>  <span class="ct">/* Logic: '&lt;S24&gt;/Logical Operator2' incorporates:</span></td></tr>
+<td><a id="l1090" class='ln'>1090</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1091" id="1091">
-<td><a id="l1091" class='ln'>1091</a></td><td><span class="ct">   *  Constant: '&lt;S24&gt;/constant'</span></td></tr>
+<td><a id="l1091" class='ln'>1091</a></td><td></td></tr>
 <tr name="1092" id="1092">
-<td><a id="l1092" class='ln'>1092</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/n_ctrlModReq'</span></td></tr>
+<td><a id="l1092" class='ln'>1092</a></td><td>  <a id="1092c3" class="tk">tmp_2</a> = (12351 <a id="1092c18" class="tk">*</a> <a id="1092c20" class="tk">rtU</a>-&gt;<a id="1092c25" class="tk">adc_Phb</a>) <a id="1092c34" class="tk">&gt;&gt;</a> 12;</td></tr>
 <tr name="1093" id="1093">
-<td><a id="l1093" class='ln'>1093</a></td><td><span class="ct">   *  Logic: '&lt;S24&gt;/Logical Operator5'</span></td></tr>
+<td><a id="l1093" class='ln'>1093</a></td><td>  <span class="kw">if</span> (<a id="1093c7" class="tk">tmp_2</a> <a id="1093c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1094" id="1094">
-<td><a id="l1094" class='ln'>1094</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S24&gt;/Relational Operator4'</span></td></tr>
+<td><a id="l1094" class='ln'>1094</a></td><td>    <a id="1094c5" class="tk">tmp_2</a> = 32767;</td></tr>
 <tr name="1095" id="1095">
-<td><a id="l1095" class='ln'>1095</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1095" class='ln'>1095</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1096" id="1096">
-<td><a id="l1096" class='ln'>1096</a></td><td>  <a id="1096c3" class="tk">rtb_LogicalOperator2</a> = ((<a id="1096c28" class="tk">rtU</a>-&gt;<a id="1096c33" class="tk">n_ctrlModReq</a> <a id="1096c46" class="tk">==</a> 2) <a id="1096c52" class="tk">&amp;&amp;</a> (<a id="1096c56" class="tk">!</a><a id="1096c57" class="tk">rtb_LogicalOperator_p</a>));</td></tr>
+<td><a id="l1096" class='ln'>1096</a></td><td>    <span class="kw">if</span> (<a id="1096c9" class="tk">tmp_2</a> <a id="1096c15" class="tk">&lt;</a> <a id="1096c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="1097" id="1097">
-<td><a id="l1097" class='ln'>1097</a></td><td></td></tr>
+<td><a id="l1097" class='ln'>1097</a></td><td>      <a id="1097c7" class="tk">tmp_2</a> = <a id="1097c15" class="tk">-</a>32768;</td></tr>
 <tr name="1098" id="1098">
-<td><a id="l1098" class='ln'>1098</a></td><td>  <span class="ct">/* Logic: '&lt;S24&gt;/Logical Operator1' incorporates:</span></td></tr>
+<td><a id="l1098" class='ln'>1098</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1099" id="1099">
-<td><a id="l1099" class='ln'>1099</a></td><td><span class="ct">   *  Constant: '&lt;S24&gt;/constant1'</span></td></tr>
+<td><a id="l1099" class='ln'>1099</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1100" id="1100">
-<td><a id="l1100" class='ln'>1100</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/n_ctrlModReq'</span></td></tr>
+<td><a id="l1100" class='ln'>1100</a></td><td></td></tr>
 <tr name="1101" id="1101">
-<td><a id="l1101" class='ln'>1101</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S24&gt;/Relational Operator1'</span></td></tr>
+<td><a id="l1101" class='ln'>1101</a></td><td>  <span class="ct">/* Sum: '&lt;S48&gt;/Add' incorporates:</span></td></tr>
 <tr name="1102" id="1102">
-<td><a id="l1102" class='ln'>1102</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1102" class='ln'>1102</a></td><td><span class="ct">   *  Gain: '&lt;S53&gt;/Multiply'</span></td></tr>
 <tr name="1103" id="1103">
-<td><a id="l1103" class='ln'>1103</a></td><td>  <a id="1103c3" class="tk">rtb_LogicalOperator_p</a> = ((<a id="1103c29" class="tk">rtU</a>-&gt;<a id="1103c34" class="tk">n_ctrlModReq</a> <a id="1103c47" class="tk">==</a> 1) <a id="1103c53" class="tk">||</a> <a id="1103c56" class="tk">rtb_LogicalOperator_p</a>);</td></tr>
+<td><a id="l1103" class='ln'>1103</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1104" id="1104">
-<td><a id="l1104" class='ln'>1104</a></td><td></td></tr>
+<td><a id="l1104" class='ln'>1104</a></td><td>  <a id="1104c3" class="tk">tmp_0</a> = (<a id="1104c12" class="tk">int16_T</a>)<a id="1104c20" class="tk">rtb_Gain_b0</a> <a id="1104c32" class="tk">+</a> (<a id="1104c35" class="tk">int16_T</a>)<a id="1104c43" class="tk">tmp_2</a>;</td></tr>
 <tr name="1105" id="1105">
-<td><a id="l1105" class='ln'>1105</a></td><td>  <span class="ct">/* Chart: '&lt;S4&gt;/Control_Mode_Manager' incorporates:</span></td></tr>
+<td><a id="l1105" class='ln'>1105</a></td><td>  <span class="kw">if</span> (<a id="1105c7" class="tk">tmp_0</a> <a id="1105c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1106" id="1106">
-<td><a id="l1106" class='ln'>1106</a></td><td><span class="ct">   *  Logic: '&lt;S24&gt;/Logical Operator3'</span></td></tr>
+<td><a id="l1106" class='ln'>1106</a></td><td>    <a id="1106c5" class="tk">tmp_0</a> = 32767;</td></tr>
 <tr name="1107" id="1107">
-<td><a id="l1107" class='ln'>1107</a></td><td><span class="ct">   *  Logic: '&lt;S24&gt;/Logical Operator6'</span></td></tr>
+<td><a id="l1107" class='ln'>1107</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1108" id="1108">
-<td><a id="l1108" class='ln'>1108</a></td><td><span class="ct">   *  Logic: '&lt;S24&gt;/Logical Operator9'</span></td></tr>
+<td><a id="l1108" class='ln'>1108</a></td><td>    <span class="kw">if</span> (<a id="1108c9" class="tk">tmp_0</a> <a id="1108c15" class="tk">&lt;</a> <a id="1108c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="1109" id="1109">
-<td><a id="l1109" class='ln'>1109</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1109" class='ln'>1109</a></td><td>      <a id="1109c7" class="tk">tmp_0</a> = <a id="1109c15" class="tk">-</a>32768;</td></tr>
 <tr name="1110" id="1110">
-<td><a id="l1110" class='ln'>1110</a></td><td>  <span class="kw">if</span> (<a id="1110c7" class="tk">rtDW</a>-&gt;<a id="1110c13" class="tk">is_active_c5_PMSM_Controller</a> <a id="1110c42" class="tk">==</a> 0U) <span class="br">{</span></td></tr>
+<td><a id="l1110" class='ln'>1110</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1111" id="1111">
-<td><a id="l1111" class='ln'>1111</a></td><td>    <a id="1111c5" class="tk">rtDW</a>-&gt;<a id="1111c11" class="tk">is_active_c5_PMSM_Controller</a> = 1U;</td></tr>
+<td><a id="l1111" class='ln'>1111</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1112" id="1112">
-<td><a id="l1112" class='ln'>1112</a></td><td>    <a id="1112c5" class="tk">rtDW</a>-&gt;<a id="1112c11" class="tk">is_c5_PMSM_Controller</a> = <a id="1112c35" class="tk">IN_OPEN</a>;</td></tr>
+<td><a id="l1112" class='ln'>1112</a></td><td></td></tr>
 <tr name="1113" id="1113">
-<td><a id="l1113" class='ln'>1113</a></td><td>    <a id="1113c5" class="tk">rtb_z_ctrlMod</a> = <a id="1113c21" class="tk">OPEN_MODE</a>;</td></tr>
+<td><a id="l1113" class='ln'>1113</a></td><td>  <span class="ct">/* Sum: '&lt;S48&gt;/Add1' incorporates:</span></td></tr>
 <tr name="1114" id="1114">
-<td><a id="l1114" class='ln'>1114</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1114c14" class="tk">rtDW</a>-&gt;<a id="1114c20" class="tk">is_c5_PMSM_Controller</a> <a id="1114c42" class="tk">==</a> 1) <span class="br">{</span></td></tr>
+<td><a id="l1114" class='ln'>1114</a></td><td><span class="ct">   *  Sum: '&lt;S48&gt;/Add'</span></td></tr>
 <tr name="1115" id="1115">
-<td><a id="l1115" class='ln'>1115</a></td><td>    <span class="kw">if</span> (<a id="1115c9" class="tk">rtb_LogicalOperator4</a>) <span class="br">{</span></td></tr>
+<td><a id="l1115" class='ln'>1115</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1116" id="1116">
-<td><a id="l1116" class='ln'>1116</a></td><td>      <a id="1116c7" class="tk">rtDW</a>-&gt;<a id="1116c13" class="tk">is_ACTIVE</a> = <a id="1116c25" class="tk">IN_NO_ACTIVE_CHILD</a>;</td></tr>
+<td><a id="l1116" class='ln'>1116</a></td><td>  <a id="1116c3" class="tk">tmp_1</a> = <a id="1116c11" class="tk">-</a><a id="1116c12" class="tk">tmp_0</a>;</td></tr>
 <tr name="1117" id="1117">
-<td><a id="l1117" class='ln'>1117</a></td><td>      <a id="1117c7" class="tk">rtDW</a>-&gt;<a id="1117c13" class="tk">is_c5_PMSM_Controller</a> = <a id="1117c37" class="tk">IN_OPEN</a>;</td></tr>
+<td><a id="l1117" class='ln'>1117</a></td><td>  <span class="kw">if</span> (<a id="1117c7" class="tk">-</a><a id="1117c8" class="tk">tmp_0</a> <a id="1117c14" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1118" id="1118">
-<td><a id="l1118" class='ln'>1118</a></td><td>      <a id="1118c7" class="tk">rtb_z_ctrlMod</a> = <a id="1118c23" class="tk">OPEN_MODE</a>;</td></tr>
+<td><a id="l1118" class='ln'>1118</a></td><td>    <a id="1118c5" class="tk">tmp_1</a> = 32767;</td></tr>
 <tr name="1119" id="1119">
-<td><a id="l1119" class='ln'>1119</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1119c16" class="tk">rtDW</a>-&gt;<a id="1119c22" class="tk">is_ACTIVE</a> <a id="1119c32" class="tk">==</a> 1) <span class="br">{</span></td></tr>
+<td><a id="l1119" class='ln'>1119</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1120" id="1120">
-<td><a id="l1120" class='ln'>1120</a></td><td>      <a id="1120c7" class="tk">rtb_z_ctrlMod</a> = <a id="1120c23" class="tk">SPD_MODE</a>;</td></tr>
+<td><a id="l1120" class='ln'>1120</a></td><td></td></tr>
 <tr name="1121" id="1121">
-<td><a id="l1121" class='ln'>1121</a></td><td>      <span class="kw">if</span> (<a id="1121c11" class="tk">!</a><a id="1121c12" class="tk">rtb_LogicalOperator_p</a>) <span class="br">{</span></td></tr>
+<td><a id="l1121" class='ln'>1121</a></td><td>  <span class="ct">/* Sum: '&lt;S56&gt;/Add3' incorporates:</span></td></tr>
 <tr name="1122" id="1122">
-<td><a id="l1122" class='ln'>1122</a></td><td>        <span class="kw">if</span> (<a id="1122c13" class="tk">rtb_LogicalOperator2</a>) <span class="br">{</span></td></tr>
+<td><a id="l1122" class='ln'>1122</a></td><td><span class="ct">   *  Gain: '&lt;S53&gt;/Multiply'</span></td></tr>
 <tr name="1123" id="1123">
-<td><a id="l1123" class='ln'>1123</a></td><td>          <a id="1123c11" class="tk">rtDW</a>-&gt;<a id="1123c17" class="tk">is_ACTIVE</a> = <a id="1123c29" class="tk">IN_TORQUE_MODE</a>;</td></tr>
+<td><a id="l1123" class='ln'>1123</a></td><td><span class="ct">   *  Sum: '&lt;S48&gt;/Add1'</span></td></tr>
 <tr name="1124" id="1124">
-<td><a id="l1124" class='ln'>1124</a></td><td>          <a id="1124c11" class="tk">rtb_z_ctrlMod</a> = <a id="1124c27" class="tk">TRQ_MODE</a>;</td></tr>
+<td><a id="l1124" class='ln'>1124</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1125" id="1125">
-<td><a id="l1125" class='ln'>1125</a></td><td>        <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1125" class='ln'>1125</a></td><td>  <a id="1125c3" class="tk">tmp_0</a> = (<a id="1125c12" class="tk">int16_T</a>)<a id="1125c20" class="tk">tmp_2</a> <a id="1125c26" class="tk">+</a> (<a id="1125c29" class="tk">int16_T</a>)<a id="1125c37" class="tk">tmp_1</a>;</td></tr>
 <tr name="1126" id="1126">
-<td><a id="l1126" class='ln'>1126</a></td><td>          <a id="1126c11" class="tk">rtDW</a>-&gt;<a id="1126c17" class="tk">is_ACTIVE</a> = <a id="1126c29" class="tk">IN_SPEED_MODE</a>;</td></tr>
+<td><a id="l1126" class='ln'>1126</a></td><td></td></tr>
 <tr name="1127" id="1127">
-<td><a id="l1127" class='ln'>1127</a></td><td>        <span class="br">}</span></td></tr>
+<td><a id="l1127" class='ln'>1127</a></td><td>  <span class="ct">/* Gain: '&lt;S56&gt;/Gain' incorporates:</span></td></tr>
 <tr name="1128" id="1128">
-<td><a id="l1128" class='ln'>1128</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l1128" class='ln'>1128</a></td><td><span class="ct">   *  Gain: '&lt;S53&gt;/Multiply'</span></td></tr>
 <tr name="1129" id="1129">
-<td><a id="l1129" class='ln'>1129</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1129" class='ln'>1129</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1130" id="1130">
-<td><a id="l1130" class='ln'>1130</a></td><td>      <span class="ct">/* case IN_TORQUE_MODE: */</span></td></tr>
+<td><a id="l1130" class='ln'>1130</a></td><td>  <span class="kw">if</span> ((<a id="1130c8" class="tk">int16_T</a>)<a id="1130c16" class="tk">rtb_Gain_b0</a> <a id="1130c28" class="tk">&gt;</a> 16383) <span class="br">{</span></td></tr>
 <tr name="1131" id="1131">
-<td><a id="l1131" class='ln'>1131</a></td><td>      <a id="1131c7" class="tk">rtb_z_ctrlMod</a> = <a id="1131c23" class="tk">TRQ_MODE</a>;</td></tr>
+<td><a id="l1131" class='ln'>1131</a></td><td>    <a id="1131c5" class="tk">rtb_Sum6_p</a> = <a id="1131c18" class="tk">MAX_int16_T</a>;</td></tr>
 <tr name="1132" id="1132">
-<td><a id="l1132" class='ln'>1132</a></td><td>      <span class="kw">if</span> (<a id="1132c11" class="tk">!</a><a id="1132c12" class="tk">rtb_LogicalOperator2</a>) <span class="br">{</span></td></tr>
+<td><a id="l1132" class='ln'>1132</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="1132c15" class="tk">int16_T</a>)<a id="1132c23" class="tk">rtb_Gain_b0</a> <a id="1132c35" class="tk">&lt;=</a> <a id="1132c38" class="tk">-</a>16384) <span class="br">{</span></td></tr>
 <tr name="1133" id="1133">
-<td><a id="l1133" class='ln'>1133</a></td><td>        <a id="1133c9" class="tk">rtDW</a>-&gt;<a id="1133c15" class="tk">is_ACTIVE</a> = <a id="1133c27" class="tk">IN_SPEED_MODE</a>;</td></tr>
+<td><a id="l1133" class='ln'>1133</a></td><td>    <a id="1133c5" class="tk">rtb_Sum6_p</a> = <a id="1133c18" class="tk">MIN_int16_T</a>;</td></tr>
 <tr name="1134" id="1134">
-<td><a id="l1134" class='ln'>1134</a></td><td>        <a id="1134c9" class="tk">rtb_z_ctrlMod</a> = <a id="1134c25" class="tk">SPD_MODE</a>;</td></tr>
+<td><a id="l1134" class='ln'>1134</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1135" id="1135">
-<td><a id="l1135" class='ln'>1135</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l1135" class='ln'>1135</a></td><td>    <a id="1135c5" class="tk">rtb_Sum6_p</a> = (<a id="1135c19" class="tk">int16_T</a>)((<a id="1135c29" class="tk">int16_T</a>)<a id="1135c37" class="tk">rtb_Gain_b0</a> <a id="1135c49" class="tk">&lt;&lt;</a> 1);</td></tr>
 <tr name="1136" id="1136">
-<td><a id="l1136" class='ln'>1136</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1136" class='ln'>1136</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1137" id="1137">
-<td><a id="l1137" class='ln'>1137</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1137" class='ln'>1137</a></td><td></td></tr>
 <tr name="1138" id="1138">
-<td><a id="l1138" class='ln'>1138</a></td><td>    <span class="ct">/* case IN_OPEN: */</span></td></tr>
+<td><a id="l1138" class='ln'>1138</a></td><td>  <span class="ct">/* End of Gain: '&lt;S56&gt;/Gain' */</span></td></tr>
 <tr name="1139" id="1139">
-<td><a id="l1139" class='ln'>1139</a></td><td>    <a id="1139c5" class="tk">rtb_z_ctrlMod</a> = <a id="1139c21" class="tk">OPEN_MODE</a>;</td></tr>
+<td><a id="l1139" class='ln'>1139</a></td><td></td></tr>
 <tr name="1140" id="1140">
-<td><a id="l1140" class='ln'>1140</a></td><td>    <span class="kw">if</span> ((<a id="1140c10" class="tk">!</a><a id="1140c11" class="tk">rtb_LogicalOperator4</a>) <a id="1140c33" class="tk">&amp;&amp;</a> (<a id="1140c37" class="tk">rtb_LogicalOperator2</a> <a id="1140c58" class="tk">||</a></td></tr>
+<td><a id="l1140" class='ln'>1140</a></td><td>  <span class="ct">/* Sum: '&lt;S56&gt;/Add3' */</span></td></tr>
 <tr name="1141" id="1141">
-<td><a id="l1141" class='ln'>1141</a></td><td>         <a id="1141c10" class="tk">rtb_LogicalOperator_p</a>)) <span class="br">{</span></td></tr>
+<td><a id="l1141" class='ln'>1141</a></td><td>  <span class="kw">if</span> (<a id="1141c7" class="tk">tmp_0</a> <a id="1141c13" class="tk">&gt;</a> 16383) <span class="br">{</span></td></tr>
 <tr name="1142" id="1142">
-<td><a id="l1142" class='ln'>1142</a></td><td>      <a id="1142c7" class="tk">rtDW</a>-&gt;<a id="1142c13" class="tk">is_c5_PMSM_Controller</a> = <a id="1142c37" class="tk">IN_ACTIVE</a>;</td></tr>
+<td><a id="l1142" class='ln'>1142</a></td><td>    <a id="1142c5" class="tk">rtb_Divide1_m</a> = <a id="1142c21" class="tk">MAX_int16_T</a>;</td></tr>
 <tr name="1143" id="1143">
-<td><a id="l1143" class='ln'>1143</a></td><td>      <span class="kw">if</span> (<a id="1143c11" class="tk">rtb_LogicalOperator2</a>) <span class="br">{</span></td></tr>
+<td><a id="l1143" class='ln'>1143</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1143c14" class="tk">tmp_0</a> <a id="1143c20" class="tk">&lt;=</a> <a id="1143c23" class="tk">-</a>16384) <span class="br">{</span></td></tr>
 <tr name="1144" id="1144">
-<td><a id="l1144" class='ln'>1144</a></td><td>        <a id="1144c9" class="tk">rtDW</a>-&gt;<a id="1144c15" class="tk">is_ACTIVE</a> = <a id="1144c27" class="tk">IN_TORQUE_MODE</a>;</td></tr>
+<td><a id="l1144" class='ln'>1144</a></td><td>    <a id="1144c5" class="tk">rtb_Divide1_m</a> = <a id="1144c21" class="tk">MIN_int16_T</a>;</td></tr>
 <tr name="1145" id="1145">
-<td><a id="l1145" class='ln'>1145</a></td><td>        <a id="1145c9" class="tk">rtb_z_ctrlMod</a> = <a id="1145c25" class="tk">TRQ_MODE</a>;</td></tr>
+<td><a id="l1145" class='ln'>1145</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1146" id="1146">
-<td><a id="l1146" class='ln'>1146</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1146" class='ln'>1146</a></td><td>    <a id="1146c5" class="tk">rtb_Divide1_m</a> = (<a id="1146c22" class="tk">int16_T</a>)(<a id="1146c31" class="tk">tmp_0</a> <a id="1146c37" class="tk">&lt;&lt;</a> 1);</td></tr>
 <tr name="1147" id="1147">
-<td><a id="l1147" class='ln'>1147</a></td><td>        <a id="1147c9" class="tk">rtDW</a>-&gt;<a id="1147c15" class="tk">is_ACTIVE</a> = <a id="1147c27" class="tk">IN_SPEED_MODE</a>;</td></tr>
+<td><a id="l1147" class='ln'>1147</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1148" id="1148">
-<td><a id="l1148" class='ln'>1148</a></td><td>        <a id="1148c9" class="tk">rtb_z_ctrlMod</a> = <a id="1148c25" class="tk">SPD_MODE</a>;</td></tr>
+<td><a id="l1148" class='ln'>1148</a></td><td></td></tr>
 <tr name="1149" id="1149">
-<td><a id="l1149" class='ln'>1149</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l1149" class='ln'>1149</a></td><td>  <span class="ct">/* Sum: '&lt;S56&gt;/Add' */</span></td></tr>
 <tr name="1150" id="1150">
-<td><a id="l1150" class='ln'>1150</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1150" class='ln'>1150</a></td><td>  <a id="1150c3" class="tk">rtb_Gain_b0</a> = ((<a id="1150c19" class="tk">rtb_Sum6_p</a> <a id="1150c30" class="tk">&lt;&lt;</a> 1) <a id="1150c36" class="tk">-</a> <a id="1150c38" class="tk">rtb_Divide1_m</a>) <a id="1150c53" class="tk">&gt;&gt;</a> 1;</td></tr>
 <tr name="1151" id="1151">
-<td><a id="l1151" class='ln'>1151</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1151" class='ln'>1151</a></td><td>  <span class="kw">if</span> (<a id="1151c7" class="tk">rtb_Gain_b0</a> <a id="1151c19" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1152" id="1152">
-<td><a id="l1152" class='ln'>1152</a></td><td></td></tr>
+<td><a id="l1152" class='ln'>1152</a></td><td>    <a id="1152c5" class="tk">rtb_Gain_b0</a> = 32767;</td></tr>
 <tr name="1153" id="1153">
-<td><a id="l1153" class='ln'>1153</a></td><td>  <span class="ct">/* End of Chart: '&lt;S4&gt;/Control_Mode_Manager' */</span></td></tr>
+<td><a id="l1153" class='ln'>1153</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1154" id="1154">
-<td><a id="l1154" class='ln'>1154</a></td><td></td></tr>
+<td><a id="l1154" class='ln'>1154</a></td><td>    <span class="kw">if</span> (<a id="1154c9" class="tk">rtb_Gain_b0</a> <a id="1154c21" class="tk">&lt;</a> <a id="1154c23" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="1155" id="1155">
-<td><a id="l1155" class='ln'>1155</a></td><td>  <span class="ct">/* Switch: '&lt;S25&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1155" class='ln'>1155</a></td><td>      <a id="1155c7" class="tk">rtb_Gain_b0</a> = <a id="1155c21" class="tk">-</a>32768;</td></tr>
 <tr name="1156" id="1156">
-<td><a id="l1156" class='ln'>1156</a></td><td><span class="ct">   *  Constant: '&lt;S25&gt;/Constant3'</span></td></tr>
+<td><a id="l1156" class='ln'>1156</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1157" id="1157">
-<td><a id="l1157" class='ln'>1157</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/speed_target'</span></td></tr>
+<td><a id="l1157" class='ln'>1157</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1158" id="1158">
-<td><a id="l1158" class='ln'>1158</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1158" class='ln'>1158</a></td><td></td></tr>
 <tr name="1159" id="1159">
-<td><a id="l1159" class='ln'>1159</a></td><td>  <span class="kw">if</span> (<a id="1159c7" class="tk">rtU</a>-&gt;<a id="1159c12" class="tk">speed_target</a> <a id="1159c25" class="tk">&gt;</a> 30) <span class="br">{</span></td></tr>
+<td><a id="l1159" class='ln'>1159</a></td><td>  <span class="ct">/* Gain: '&lt;S56&gt;/Gain1' incorporates:</span></td></tr>
 <tr name="1160" id="1160">
-<td><a id="l1160" class='ln'>1160</a></td><td>    <span class="ct">/* Switch: '&lt;S25&gt;/Switch1' incorporates:</span></td></tr>
+<td><a id="l1160" class='ln'>1160</a></td><td><span class="ct">   *  Product: '&lt;S58&gt;/Divide1'</span></td></tr>
 <tr name="1161" id="1161">
-<td><a id="l1161" class='ln'>1161</a></td><td><span class="ct">     *  Constant: '&lt;S25&gt;/Constant1'</span></td></tr>
+<td><a id="l1161" class='ln'>1161</a></td><td><span class="ct">   *  Sum: '&lt;S56&gt;/Add'</span></td></tr>
 <tr name="1162" id="1162">
-<td><a id="l1162" class='ln'>1162</a></td><td><span class="ct">     *  DataTypeConversion: '&lt;S25&gt;/Data Type Conversion'</span></td></tr>
+<td><a id="l1162" class='ln'>1162</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1163" id="1163">
-<td><a id="l1163" class='ln'>1163</a></td><td><span class="ct">     *  Switch: '&lt;S25&gt;/Switch'</span></td></tr>
+<td><a id="l1163" class='ln'>1163</a></td><td>  <a id="1163c3" class="tk">rtb_Divide1_m</a> = (<a id="1163c20" class="tk">int16_T</a>)((21845 <a id="1163c36" class="tk">*</a> <a id="1163c38" class="tk">rtb_Gain_b0</a>) <a id="1163c51" class="tk">&gt;&gt;</a> 16);</td></tr>
 <tr name="1164" id="1164">
-<td><a id="l1164" class='ln'>1164</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1164" class='ln'>1164</a></td><td></td></tr>
 <tr name="1165" id="1165">
-<td><a id="l1165" class='ln'>1165</a></td><td>    <span class="kw">if</span> (<a id="1165c9" class="tk">rtb_n_commDeacv</a>) <span class="br">{</span></td></tr>
+<td><a id="l1165" class='ln'>1165</a></td><td>  <span class="ct">/* Switch: '&lt;S10&gt;/Switch3' incorporates:</span></td></tr>
 <tr name="1166" id="1166">
-<td><a id="l1166" class='ln'>1166</a></td><td>      <a id="1166c7" class="tk">rtb_Switch_np</a> = <a id="1166c23" class="tk">rtU</a>-&gt;<a id="1166c28" class="tk">speed_target</a>;</td></tr>
+<td><a id="l1166" class='ln'>1166</a></td><td><span class="ct">   *  Constant: '&lt;S10&gt;/Constant16'</span></td></tr>
 <tr name="1167" id="1167">
-<td><a id="l1167" class='ln'>1167</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1167" class='ln'>1167</a></td><td><span class="ct">   *  Constant: '&lt;S10&gt;/Constant2'</span></td></tr>
 <tr name="1168" id="1168">
-<td><a id="l1168" class='ln'>1168</a></td><td>      <a id="1168c7" class="tk">rtb_Switch_np</a> = 0;</td></tr>
+<td><a id="l1168" class='ln'>1168</a></td><td><span class="ct">   *  Constant: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
 <tr name="1169" id="1169">
-<td><a id="l1169" class='ln'>1169</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1169" class='ln'>1169</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S10&gt;/Relational Operator7'</span></td></tr>
 <tr name="1170" id="1170">
-<td><a id="l1170" class='ln'>1170</a></td><td></td></tr>
+<td><a id="l1170" class='ln'>1170</a></td><td><span class="ct">   *  Selector: '&lt;S11&gt;/Selector'</span></td></tr>
 <tr name="1171" id="1171">
-<td><a id="l1171" class='ln'>1171</a></td><td>    <span class="ct">/* End of Switch: '&lt;S25&gt;/Switch1' */</span></td></tr>
+<td><a id="l1171" class='ln'>1171</a></td><td><span class="ct">   *  Sum: '&lt;S10&gt;/Sum1'</span></td></tr>
 <tr name="1172" id="1172">
-<td><a id="l1172" class='ln'>1172</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1172" class='ln'>1172</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1173" id="1173">
-<td><a id="l1173" class='ln'>1173</a></td><td>    <a id="1173c5" class="tk">rtb_Switch_np</a> = 0;</td></tr>
+<td><a id="l1173" class='ln'>1173</a></td><td>  <span class="kw">if</span> (<a id="1173c7" class="tk">rtDW</a>-&gt;<a id="1173c13" class="tk">Switch2_i</a> <a id="1173c23" class="tk">==</a> 1) <span class="br">{</span></td></tr>
 <tr name="1174" id="1174">
-<td><a id="l1174" class='ln'>1174</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1174" class='ln'>1174</a></td><td>    <a id="1174c5" class="tk">rtb_Sum2</a> = <a id="1174c16" class="tk">rtConstP</a>.<a id="1174c25" class="tk">vec_hallToPos_Value</a>[<a id="1174c45" class="tk">rtb_Add_gf</a>];</td></tr>
 <tr name="1175" id="1175">
-<td><a id="l1175" class='ln'>1175</a></td><td></td></tr>
+<td><a id="l1175" class='ln'>1175</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1176" id="1176">
-<td><a id="l1176" class='ln'>1176</a></td><td>  <span class="ct">/* End of Switch: '&lt;S25&gt;/Switch' */</span></td></tr>
+<td><a id="l1176" class='ln'>1176</a></td><td>    <a id="1176c5" class="tk">rtb_Sum2</a> = (<a id="1176c17" class="tk">int8_T</a>)(<a id="1176c25" class="tk">rtConstP</a>.<a id="1176c34" class="tk">vec_hallToPos_Value</a>[<a id="1176c54" class="tk">rtb_Add_gf</a>] <a id="1176c66" class="tk">+</a> 1);</td></tr>
 <tr name="1177" id="1177">
-<td><a id="l1177" class='ln'>1177</a></td><td></td></tr>
+<td><a id="l1177" class='ln'>1177</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1178" id="1178">
-<td><a id="l1178" class='ln'>1178</a></td><td>  <span class="ct">/* Switch: '&lt;S25&gt;/Switch3' incorporates:</span></td></tr>
+<td><a id="l1178" class='ln'>1178</a></td><td></td></tr>
 <tr name="1179" id="1179">
-<td><a id="l1179" class='ln'>1179</a></td><td><span class="ct">   *  Constant: '&lt;S25&gt;/Constant4'</span></td></tr>
+<td><a id="l1179" class='ln'>1179</a></td><td>  <span class="ct">/* End of Switch: '&lt;S10&gt;/Switch3' */</span></td></tr>
 <tr name="1180" id="1180">
-<td><a id="l1180" class='ln'>1180</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S25&gt;/Data Type Conversion2'</span></td></tr>
+<td><a id="l1180" class='ln'>1180</a></td><td></td></tr>
 <tr name="1181" id="1181">
-<td><a id="l1181" class='ln'>1181</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/vdq_open_target'</span></td></tr>
+<td><a id="l1181" class='ln'>1181</a></td><td>  <span class="ct">/* MinMax: '&lt;S10&gt;/MinMax' incorporates:</span></td></tr>
 <tr name="1182" id="1182">
-<td><a id="l1182" class='ln'>1182</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1182" class='ln'>1182</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/us_Count'</span></td></tr>
 <tr name="1183" id="1183">
-<td><a id="l1183" class='ln'>1183</a></td><td>  <span class="kw">if</span> (<a id="1183c7" class="tk">rtb_n_commDeacv</a>) <span class="br">{</span></td></tr>
+<td><a id="l1183" class='ln'>1183</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1184" id="1184">
-<td><a id="l1184" class='ln'>1184</a></td><td>    <a id="1184c5" class="tk">rtb_Divide1_m</a> = <a id="1184c21" class="tk">rtU</a>-&gt;<a id="1184c26" class="tk">vdq_open_target</a>[1];</td></tr>
+<td><a id="l1184" class='ln'>1184</a></td><td>  <span class="kw">if</span> (<a id="1184c7" class="tk">rtU</a>-&gt;<a id="1184c12" class="tk">us_Count</a> <a id="1184c21" class="tk">&lt;</a> <a id="1184c23" class="tk">rtDW</a>-&gt;<a id="1184c29" class="tk">z_counterRawPrev</a>) <span class="br">{</span></td></tr>
 <tr name="1185" id="1185">
-<td><a id="l1185" class='ln'>1185</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1185" class='ln'>1185</a></td><td>    <a id="1185c5" class="tk">qY</a> = <a id="1185c10" class="tk">rtU</a>-&gt;<a id="1185c15" class="tk">us_Count</a>;</td></tr>
 <tr name="1186" id="1186">
-<td><a id="l1186" class='ln'>1186</a></td><td>    <a id="1186c5" class="tk">rtb_Divide1_m</a> = 0;</td></tr>
+<td><a id="l1186" class='ln'>1186</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1187" id="1187">
-<td><a id="l1187" class='ln'>1187</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1187" class='ln'>1187</a></td><td>    <a id="1187c5" class="tk">qY</a> = <a id="1187c10" class="tk">rtDW</a>-&gt;<a id="1187c16" class="tk">z_counterRawPrev</a>;</td></tr>
 <tr name="1188" id="1188">
-<td><a id="l1188" class='ln'>1188</a></td><td></td></tr>
+<td><a id="l1188" class='ln'>1188</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1189" id="1189">
-<td><a id="l1189" class='ln'>1189</a></td><td>  <span class="ct">/* End of Switch: '&lt;S25&gt;/Switch3' */</span></td></tr>
+<td><a id="l1189" class='ln'>1189</a></td><td></td></tr>
 <tr name="1190" id="1190">
-<td><a id="l1190" class='ln'>1190</a></td><td></td></tr>
+<td><a id="l1190" class='ln'>1190</a></td><td>  <span class="ct">/* End of MinMax: '&lt;S10&gt;/MinMax' */</span></td></tr>
 <tr name="1191" id="1191">
-<td><a id="l1191" class='ln'>1191</a></td><td>  <span class="ct">/* If: '&lt;S26&gt;/If' incorporates:</span></td></tr>
+<td><a id="l1191" class='ln'>1191</a></td><td></td></tr>
 <tr name="1192" id="1192">
-<td><a id="l1192" class='ln'>1192</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S26&gt;/Data Type Conversion1'</span></td></tr>
+<td><a id="l1192" class='ln'>1192</a></td><td>  <span class="ct">/* Sum: '&lt;S10&gt;/Sum3' incorporates:</span></td></tr>
 <tr name="1193" id="1193">
-<td><a id="l1193" class='ln'>1193</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S26&gt;/Data Type Conversion2'</span></td></tr>
+<td><a id="l1193" class='ln'>1193</a></td><td><span class="ct">   *  Product: '&lt;S10&gt;/Divide1'</span></td></tr>
 <tr name="1194" id="1194">
-<td><a id="l1194" class='ln'>1194</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/current_target'</span></td></tr>
+<td><a id="l1194" class='ln'>1194</a></td><td><span class="ct">   *  Product: '&lt;S10&gt;/Divide3'</span></td></tr>
 <tr name="1195" id="1195">
-<td><a id="l1195" class='ln'>1195</a></td><td><span class="ct">   *  Inport: '&lt;S27&gt;/vq_in'</span></td></tr>
+<td><a id="l1195" class='ln'>1195</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1196" id="1196">
-<td><a id="l1196" class='ln'>1196</a></td><td><span class="ct">   *  Inport: '&lt;S30&gt;/r_currTgt'</span></td></tr>
+<td><a id="l1196" class='ln'>1196</a></td><td>  <a id="1196c3" class="tk">rtb_Sum3_jm</a> = (<a id="1196c18" class="tk">int16_T</a>)(((<a id="1196c29" class="tk">int16_T</a>)((<a id="1196c39" class="tk">int16_T</a>)(((<a id="1196c50" class="tk">uint64_T</a>)<a id="1196c59" class="tk">qY</a> <a id="1196c62" class="tk">&lt;&lt;</a> 14) <a id="1196c69" class="tk">/</a></td></tr>
 <tr name="1197" id="1197">
-<td><a id="l1197" class='ln'>1197</a></td><td><span class="ct">   *  Switch: '&lt;S25&gt;/Switch3'</span></td></tr>
+<td><a id="l1197" class='ln'>1197</a></td><td>    <a id="1197c5" class="tk">rtDW</a>-&gt;<a id="1197c11" class="tk">z_counterRawPrev</a>) <a id="1197c29" class="tk">*</a> <a id="1197c31" class="tk">rtDW</a>-&gt;<a id="1197c37" class="tk">Switch2_i</a>) <a id="1197c48" class="tk">+</a> (<a id="1197c51" class="tk">rtb_Sum2</a> <a id="1197c60" class="tk">&lt;&lt;</a> 14)) <a id="1197c68" class="tk">&gt;&gt;</a> 2);</td></tr>
 <tr name="1198" id="1198">
-<td><a id="l1198" class='ln'>1198</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1198" class='ln'>1198</a></td><td></td></tr>
 <tr name="1199" id="1199">
-<td><a id="l1199" class='ln'>1199</a></td><td>  <span class="kw">if</span> (<a id="1199c7" class="tk">rtb_LogicalOperator3</a> <a id="1199c28" class="tk">==</a> 1) <span class="br">{</span></td></tr>
+<td><a id="l1199" class='ln'>1199</a></td><td>  <span class="ct">/* MinMax: '&lt;S10&gt;/MinMax1' incorporates:</span></td></tr>
 <tr name="1200" id="1200">
-<td><a id="l1200" class='ln'>1200</a></td><td>    <span class="ct">/* Switch: '&lt;S25&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l1200" class='ln'>1200</a></td><td><span class="ct">   *  Constant: '&lt;S10&gt;/Constant1'</span></td></tr>
 <tr name="1201" id="1201">
-<td><a id="l1201" class='ln'>1201</a></td><td><span class="ct">     *  Constant: '&lt;S25&gt;/Constant2'</span></td></tr>
+<td><a id="l1201" class='ln'>1201</a></td><td><span class="ct">   *  Sum: '&lt;S10&gt;/Sum3'</span></td></tr>
 <tr name="1202" id="1202">
-<td><a id="l1202" class='ln'>1202</a></td><td><span class="ct">     *  DataTypeConversion: '&lt;S25&gt;/Data Type Conversion1'</span></td></tr>
+<td><a id="l1202" class='ln'>1202</a></td><td><span class="ct">   *  Switch: '&lt;S10&gt;/Switch2'</span></td></tr>
 <tr name="1203" id="1203">
-<td><a id="l1203" class='ln'>1203</a></td><td><span class="ct">     *  Inport: '&lt;Root&gt;/vdq_open_target'</span></td></tr>
+<td><a id="l1203" class='ln'>1203</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1204" id="1204">
-<td><a id="l1204" class='ln'>1204</a></td><td><span class="ct">     *  Inport: '&lt;S27&gt;/vd_in'</span></td></tr>
+<td><a id="l1204" class='ln'>1204</a></td><td>  <span class="kw">if</span> (<a id="1204c7" class="tk">rtb_Sum3_jm</a> <a id="1204c19" class="tk">&lt;=</a> 0) <span class="br">{</span></td></tr>
 <tr name="1205" id="1205">
-<td><a id="l1205" class='ln'>1205</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1205" class='ln'>1205</a></td><td>    <a id="1205c5" class="tk">rtb_Sum3_jm</a> = 0;</td></tr>
 <tr name="1206" id="1206">
-<td><a id="l1206" class='ln'>1206</a></td><td>    <span class="kw">if</span> (<a id="1206c9" class="tk">rtb_n_commDeacv</a>) <span class="br">{</span></td></tr>
+<td><a id="l1206" class='ln'>1206</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1207" id="1207">
-<td><a id="l1207" class='ln'>1207</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/If Action Subsystem' incorporates:</span></td></tr>
+<td><a id="l1207" class='ln'>1207</a></td><td></td></tr>
 <tr name="1208" id="1208">
-<td><a id="l1208" class='ln'>1208</a></td><td><span class="ct">       *  ActionPort: '&lt;S27&gt;/Action Port'</span></td></tr>
+<td><a id="l1208" class='ln'>1208</a></td><td>  <span class="ct">/* End of MinMax: '&lt;S10&gt;/MinMax1' */</span></td></tr>
 <tr name="1209" id="1209">
-<td><a id="l1209" class='ln'>1209</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1209" class='ln'>1209</a></td><td></td></tr>
 <tr name="1210" id="1210">
-<td><a id="l1210" class='ln'>1210</a></td><td>      <a id="1210c7" class="tk">rtDW</a>-&gt;<a id="1210c13" class="tk">Merge</a>[0] = <a id="1210c24" class="tk">rtU</a>-&gt;<a id="1210c29" class="tk">vdq_open_target</a>[0];</td></tr>
+<td><a id="l1210" class='ln'>1210</a></td><td>  <span class="ct">/* Sum: '&lt;S15&gt;/Add2' incorporates:</span></td></tr>
 <tr name="1211" id="1211">
-<td><a id="l1211" class='ln'>1211</a></td><td></td></tr>
+<td><a id="l1211" class='ln'>1211</a></td><td><span class="ct">   *  Constant: '&lt;S15&gt;/Constant2'</span></td></tr>
 <tr name="1212" id="1212">
-<td><a id="l1212" class='ln'>1212</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/If Action Subsystem' */</span></td></tr>
+<td><a id="l1212" class='ln'>1212</a></td><td><span class="ct">   *  Product: '&lt;S10&gt;/Divide2'</span></td></tr>
 <tr name="1213" id="1213">
-<td><a id="l1213" class='ln'>1213</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1213" class='ln'>1213</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1214" id="1214">
-<td><a id="l1214" class='ln'>1214</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/If Action Subsystem' incorporates:</span></td></tr>
+<td><a id="l1214" class='ln'>1214</a></td><td>  <a id="1214c3" class="tk">rtb_Sum3_jm</a> = (<a id="1214c18" class="tk">int16_T</a>)((((15 <a id="1214c33" class="tk">*</a> <a id="1214c35" class="tk">rtb_Sum3_jm</a>) <a id="1214c48" class="tk">&gt;&gt;</a> 4) <a id="1214c54" class="tk">+</a> (<a id="1214c57" class="tk">rtP</a>.<a id="1214c61" class="tk">i_hall_offset</a> <a id="1214c75" class="tk">&lt;&lt;</a> 2))</td></tr>
 <tr name="1215" id="1215">
-<td><a id="l1215" class='ln'>1215</a></td><td><span class="ct">       *  ActionPort: '&lt;S27&gt;/Action Port'</span></td></tr>
+<td><a id="l1215" class='ln'>1215</a></td><td>    <a id="1215c5" class="tk">&gt;&gt;</a> 2);</td></tr>
 <tr name="1216" id="1216">
-<td><a id="l1216" class='ln'>1216</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1216" class='ln'>1216</a></td><td></td></tr>
 <tr name="1217" id="1217">
-<td><a id="l1217" class='ln'>1217</a></td><td>      <a id="1217c7" class="tk">rtDW</a>-&gt;<a id="1217c13" class="tk">Merge</a>[0] = 0;</td></tr>
+<td><a id="l1217" class='ln'>1217</a></td><td>  <span class="ct">/* DataTypeConversion: '&lt;S15&gt;/Data Type Conversion' incorporates:</span></td></tr>
 <tr name="1218" id="1218">
-<td><a id="l1218" class='ln'>1218</a></td><td></td></tr>
+<td><a id="l1218" class='ln'>1218</a></td><td><span class="ct">   *  Sum: '&lt;S15&gt;/Add2'</span></td></tr>
 <tr name="1219" id="1219">
-<td><a id="l1219" class='ln'>1219</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/If Action Subsystem' */</span></td></tr>
+<td><a id="l1219" class='ln'>1219</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1220" id="1220">
-<td><a id="l1220" class='ln'>1220</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1220" class='ln'>1220</a></td><td>  <a id="1220c3" class="tk">rtb_r_cos_M1</a> = (<a id="1220c19" class="tk">int16_T</a>)(<a id="1220c28" class="tk">rtb_Sum3_jm</a> <a id="1220c40" class="tk">&gt;&gt;</a> 4);</td></tr>
 <tr name="1221" id="1221">
 <td><a id="l1221" class='ln'>1221</a></td><td></td></tr>
 <tr name="1222" id="1222">
-<td><a id="l1222" class='ln'>1222</a></td><td>    <span class="ct">/* End of Switch: '&lt;S25&gt;/Switch2' */</span></td></tr>
+<td><a id="l1222" class='ln'>1222</a></td><td>  <span class="ct">/* If: '&lt;S15&gt;/If' incorporates:</span></td></tr>
 <tr name="1223" id="1223">
-<td><a id="l1223" class='ln'>1223</a></td><td></td></tr>
+<td><a id="l1223" class='ln'>1223</a></td><td><span class="ct">   *  Constant: '&lt;S15&gt;/Constant1'</span></td></tr>
 <tr name="1224" id="1224">
-<td><a id="l1224" class='ln'>1224</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/If Action Subsystem' incorporates:</span></td></tr>
+<td><a id="l1224" class='ln'>1224</a></td><td><span class="ct">   *  Constant: '&lt;S15&gt;/Constant3'</span></td></tr>
 <tr name="1225" id="1225">
-<td><a id="l1225" class='ln'>1225</a></td><td><span class="ct">     *  ActionPort: '&lt;S27&gt;/Action Port'</span></td></tr>
+<td><a id="l1225" class='ln'>1225</a></td><td><span class="ct">   *  Inport: '&lt;S16&gt;/In1'</span></td></tr>
 <tr name="1226" id="1226">
-<td><a id="l1226" class='ln'>1226</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1226" class='ln'>1226</a></td><td><span class="ct">   *  Inport: '&lt;S18&gt;/In1'</span></td></tr>
 <tr name="1227" id="1227">
-<td><a id="l1227" class='ln'>1227</a></td><td>    <a id="1227c5" class="tk">rtDW</a>-&gt;<a id="1227c11" class="tk">Merge</a>[1] = <a id="1227c22" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l1227" class='ln'>1227</a></td><td><span class="ct">   *  Merge: '&lt;S15&gt;/Merge'</span></td></tr>
 <tr name="1228" id="1228">
-<td><a id="l1228" class='ln'>1228</a></td><td></td></tr>
+<td><a id="l1228" class='ln'>1228</a></td><td><span class="ct">   *  Sum: '&lt;S15&gt;/Add'</span></td></tr>
 <tr name="1229" id="1229">
-<td><a id="l1229" class='ln'>1229</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/If Action Subsystem' */</span></td></tr>
+<td><a id="l1229" class='ln'>1229</a></td><td><span class="ct">   *  Sum: '&lt;S15&gt;/Add1'</span></td></tr>
 <tr name="1230" id="1230">
-<td><a id="l1230" class='ln'>1230</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="1230c15" class="tk">rtb_z_ctrlMod</a> <a id="1230c29" class="tk">==</a> 0) <a id="1230c35" class="tk">&amp;&amp;</a> <a id="1230c38" class="tk">rtb_Equal_k</a>) <span class="br">{</span></td></tr>
+<td><a id="l1230" class='ln'>1230</a></td><td><span class="ct">   *  Sum: '&lt;S15&gt;/Add2'</span></td></tr>
 <tr name="1231" id="1231">
-<td><a id="l1231" class='ln'>1231</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/open_mode' incorporates:</span></td></tr>
+<td><a id="l1231" class='ln'>1231</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1232" id="1232">
-<td><a id="l1232" class='ln'>1232</a></td><td><span class="ct">     *  ActionPort: '&lt;S29&gt;/Action Port'</span></td></tr>
+<td><a id="l1232" class='ln'>1232</a></td><td>  <span class="kw">if</span> (<a id="1232c7" class="tk">rtb_r_cos_M1</a> <a id="1232c20" class="tk">&gt;=</a> 360) <span class="br">{</span></td></tr>
 <tr name="1233" id="1233">
-<td><a id="l1233" class='ln'>1233</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1233" class='ln'>1233</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S15&gt;/If Action Subsystem' incorporates:</span></td></tr>
 <tr name="1234" id="1234">
-<td><a id="l1234" class='ln'>1234</a></td><td>    <span class="ct">/* RelationalOperator: '&lt;S29&gt;/Equal1' incorporates:</span></td></tr>
+<td><a id="l1234" class='ln'>1234</a></td><td><span class="ct">     *  ActionPort: '&lt;S16&gt;/Action Port'</span></td></tr>
 <tr name="1235" id="1235">
-<td><a id="l1235" class='ln'>1235</a></td><td><span class="ct">     *  Switch: '&lt;S25&gt;/Switch3'</span></td></tr>
+<td><a id="l1235" class='ln'>1235</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1236" id="1236">
-<td><a id="l1236" class='ln'>1236</a></td><td><span class="ct">     *  UnitDelay: '&lt;S29&gt;/Unit Delay'</span></td></tr>
+<td><a id="l1236" class='ln'>1236</a></td><td>    <a id="1236c5" class="tk">rtb_Sum3_jm</a> = (<a id="1236c20" class="tk">int16_T</a>)(<a id="1236c29" class="tk">rtb_Sum3_jm</a> <a id="1236c41" class="tk">-</a> 5760);</td></tr>
 <tr name="1237" id="1237">
-<td><a id="l1237" class='ln'>1237</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1237" class='ln'>1237</a></td><td></td></tr>
 <tr name="1238" id="1238">
-<td><a id="l1238" class='ln'>1238</a></td><td>    <a id="1238c5" class="tk">rtb_LogicalOperator_p</a> = (<a id="1238c30" class="tk">rtDW</a>-&gt;<a id="1238c36" class="tk">UnitDelay_DSTATE</a> <a id="1238c53" class="tk">!=</a> <a id="1238c56" class="tk">rtb_Divide1_m</a>);</td></tr>
+<td><a id="l1238" class='ln'>1238</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S15&gt;/If Action Subsystem' */</span></td></tr>
 <tr name="1239" id="1239">
-<td><a id="l1239" class='ln'>1239</a></td><td></td></tr>
+<td><a id="l1239" class='ln'>1239</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1240" id="1240">
-<td><a id="l1240" class='ln'>1240</a></td><td>    <span class="ct">/* If: '&lt;S31&gt;/If' */</span></td></tr>
+<td><a id="l1240" class='ln'>1240</a></td><td>    <span class="kw">if</span> (<a id="1240c9" class="tk">rtb_r_cos_M1</a> <a id="1240c22" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="1241" id="1241">
-<td><a id="l1241" class='ln'>1241</a></td><td>    <span class="kw">if</span> (<a id="1241c9" class="tk">rtb_LogicalOperator_p</a>) <span class="br">{</span></td></tr>
+<td><a id="l1241" class='ln'>1241</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S15&gt;/If Action Subsystem2' incorporates:</span></td></tr>
 <tr name="1242" id="1242">
-<td><a id="l1242" class='ln'>1242</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S31&gt;/Subsystem' incorporates:</span></td></tr>
+<td><a id="l1242" class='ln'>1242</a></td><td><span class="ct">       *  ActionPort: '&lt;S18&gt;/Action Port'</span></td></tr>
 <tr name="1243" id="1243">
-<td><a id="l1243" class='ln'>1243</a></td><td><span class="ct">       *  ActionPort: '&lt;S33&gt;/Action Port'</span></td></tr>
+<td><a id="l1243" class='ln'>1243</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1244" id="1244">
-<td><a id="l1244" class='ln'>1244</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1244" class='ln'>1244</a></td><td>      <a id="1244c7" class="tk">rtb_Sum3_jm</a> = (<a id="1244c22" class="tk">int16_T</a>)(<a id="1244c31" class="tk">rtb_Sum3_jm</a> <a id="1244c43" class="tk">+</a> 5760);</td></tr>
 <tr name="1245" id="1245">
-<td><a id="l1245" class='ln'>1245</a></td><td>      <span class="ct">/* Sum: '&lt;S33&gt;/Add' incorporates:</span></td></tr>
+<td><a id="l1245" class='ln'>1245</a></td><td></td></tr>
 <tr name="1246" id="1246">
-<td><a id="l1246" class='ln'>1246</a></td><td><span class="ct">       *  Signum: '&lt;S33&gt;/Sign'</span></td></tr>
+<td><a id="l1246" class='ln'>1246</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S15&gt;/If Action Subsystem2' */</span></td></tr>
 <tr name="1247" id="1247">
-<td><a id="l1247" class='ln'>1247</a></td><td><span class="ct">       *  Switch: '&lt;S25&gt;/Switch3'</span></td></tr>
+<td><a id="l1247" class='ln'>1247</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1248" id="1248">
-<td><a id="l1248" class='ln'>1248</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l1248" class='ln'>1248</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1249" id="1249">
-<td><a id="l1249" class='ln'>1249</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1249" class='ln'>1249</a></td><td></td></tr>
 <tr name="1250" id="1250">
-<td><a id="l1250" class='ln'>1250</a></td><td>      <a id="1250c7" class="tk">rtb_Sign</a> = (<a id="1250c19" class="tk">int16_T</a>)((<a id="1250c29" class="tk">rtb_Divide1_m</a> <a id="1250c43" class="tk">-</a> <a id="1250c45" class="tk">rtDW</a>-&gt;<a id="1250c51" class="tk">UnitDelay2_DSTATE_p</a>) <a id="1250c72" class="tk">&gt;&gt;</a> 2);</td></tr>
+<td><a id="l1250" class='ln'>1250</a></td><td>  <span class="ct">/* End of If: '&lt;S15&gt;/If' */</span></td></tr>
 <tr name="1251" id="1251">
 <td><a id="l1251" class='ln'>1251</a></td><td></td></tr>
 <tr name="1252" id="1252">
-<td><a id="l1252" class='ln'>1252</a></td><td>      <span class="ct">/* Signum: '&lt;S33&gt;/Sign' */</span></td></tr>
+<td><a id="l1252" class='ln'>1252</a></td><td>  <span class="ct">/* If: '&lt;S3&gt;/If' incorporates:</span></td></tr>
 <tr name="1253" id="1253">
-<td><a id="l1253" class='ln'>1253</a></td><td>      <span class="kw">if</span> (<a id="1253c11" class="tk">rtb_Sign</a> <a id="1253c20" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l1253" class='ln'>1253</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/FOC_Flags'</span></td></tr>
 <tr name="1254" id="1254">
-<td><a id="l1254" class='ln'>1254</a></td><td>        <a id="1254c9" class="tk">rtb_Sign</a> = <a id="1254c20" class="tk">-</a>1;</td></tr>
+<td><a id="l1254" class='ln'>1254</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1255" id="1255">
-<td><a id="l1255" class='ln'>1255</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1255" class='ln'>1255</a></td><td>  <span class="kw">if</span> ((<a id="1255c8" class="tk">rtU</a>-&gt;<a id="1255c13" class="tk">FOC_Flags</a> <a id="1255c23" class="tk">==</a> 0) <a id="1255c29" class="tk">||</a> (<a id="1255c33" class="tk">rtU</a>-&gt;<a id="1255c38" class="tk">FOC_Flags</a> <a id="1255c48" class="tk">==</a> 2)) <span class="br">{</span></td></tr>
 <tr name="1256" id="1256">
-<td><a id="l1256" class='ln'>1256</a></td><td>        <a id="1256c9" class="tk">rtb_Sign</a> = (<a id="1256c21" class="tk">int16_T</a>)(<a id="1256c30" class="tk">rtb_Sign</a> <a id="1256c39" class="tk">&gt;</a> 0);</td></tr>
+<td><a id="l1256" class='ln'>1256</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S3&gt;/If Action Subsystem' incorporates:</span></td></tr>
 <tr name="1257" id="1257">
-<td><a id="l1257" class='ln'>1257</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l1257" class='ln'>1257</a></td><td><span class="ct">     *  ActionPort: '&lt;S12&gt;/Action Port'</span></td></tr>
 <tr name="1258" id="1258">
-<td><a id="l1258" class='ln'>1258</a></td><td></td></tr>
+<td><a id="l1258" class='ln'>1258</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1259" id="1259">
-<td><a id="l1259" class='ln'>1259</a></td><td>      <span class="ct">/* End of Signum: '&lt;S33&gt;/Sign' */</span></td></tr>
+<td><a id="l1259" class='ln'>1259</a></td><td>    <span class="ct">/* Merge: '&lt;S3&gt;/Merge' incorporates:</span></td></tr>
 <tr name="1260" id="1260">
-<td><a id="l1260" class='ln'>1260</a></td><td></td></tr>
+<td><a id="l1260" class='ln'>1260</a></td><td><span class="ct">     *  Inport: '&lt;S12&gt;/In1'</span></td></tr>
 <tr name="1261" id="1261">
-<td><a id="l1261" class='ln'>1261</a></td><td>      <span class="ct">/* Product: '&lt;S33&gt;/Divide' incorporates:</span></td></tr>
+<td><a id="l1261" class='ln'>1261</a></td><td><span class="ct">     *  Merge: '&lt;S15&gt;/Merge'</span></td></tr>
 <tr name="1262" id="1262">
-<td><a id="l1262" class='ln'>1262</a></td><td><span class="ct">       *  Constant: '&lt;S29&gt;/Constant5'</span></td></tr>
+<td><a id="l1262" class='ln'>1262</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1263" id="1263">
-<td><a id="l1263" class='ln'>1263</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1263" class='ln'>1263</a></td><td>    <a id="1263c5" class="tk">rtDW</a>-&gt;<a id="1263c11" class="tk">Merge_i</a> = <a id="1263c21" class="tk">rtb_Sum3_jm</a>;</td></tr>
 <tr name="1264" id="1264">
-<td><a id="l1264" class='ln'>1264</a></td><td>      <a id="1264c7" class="tk">rtDW</a>-&gt;<a id="1264c13" class="tk">Divide</a> = (<a id="1264c23" class="tk">int16_T</a>)(<a id="1264c32" class="tk">rtb_Sign</a> <a id="1264c41" class="tk">*</a> 6);</td></tr>
+<td><a id="l1264" class='ln'>1264</a></td><td></td></tr>
 <tr name="1265" id="1265">
-<td><a id="l1265" class='ln'>1265</a></td><td></td></tr>
+<td><a id="l1265" class='ln'>1265</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S3&gt;/If Action Subsystem' */</span></td></tr>
 <tr name="1266" id="1266">
-<td><a id="l1266" class='ln'>1266</a></td><td>      <span class="ct">/* Switch: '&lt;S33&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1266" class='ln'>1266</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1267" id="1267">
-<td><a id="l1267" class='ln'>1267</a></td><td><span class="ct">       *  Switch: '&lt;S33&gt;/Switch1'</span></td></tr>
+<td><a id="l1267" class='ln'>1267</a></td><td>    <span class="kw">if</span> (<a id="1267c9" class="tk">rtU</a>-&gt;<a id="1267c14" class="tk">FOC_Flags</a> <a id="1267c24" class="tk">==</a> 1) <span class="br">{</span></td></tr>
 <tr name="1268" id="1268">
-<td><a id="l1268" class='ln'>1268</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1268" class='ln'>1268</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S3&gt;/If Action Subsystem1' incorporates:</span></td></tr>
 <tr name="1269" id="1269">
-<td><a id="l1269" class='ln'>1269</a></td><td>      <span class="kw">if</span> (<a id="1269c11" class="tk">rtb_Sign</a> <a id="1269c20" class="tk">&gt;</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l1269" class='ln'>1269</a></td><td><span class="ct">       *  ActionPort: '&lt;S13&gt;/Action Port'</span></td></tr>
 <tr name="1270" id="1270">
-<td><a id="l1270" class='ln'>1270</a></td><td>        <span class="ct">/* Switch: '&lt;S33&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1270" class='ln'>1270</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1271" id="1271">
-<td><a id="l1271" class='ln'>1271</a></td><td><span class="ct">         *  Switch: '&lt;S25&gt;/Switch3'</span></td></tr>
+<td><a id="l1271" class='ln'>1271</a></td><td>      <span class="ct">/* Merge: '&lt;S3&gt;/Merge' incorporates:</span></td></tr>
 <tr name="1272" id="1272">
-<td><a id="l1272" class='ln'>1272</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1272" class='ln'>1272</a></td><td><span class="ct">       *  Inport: '&lt;Root&gt;/theta_Open'</span></td></tr>
 <tr name="1273" id="1273">
-<td><a id="l1273" class='ln'>1273</a></td><td>        <a id="1273c9" class="tk">rtDW</a>-&gt;<a id="1273c15" class="tk">Switch_i</a> = <a id="1273c26" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l1273" class='ln'>1273</a></td><td><span class="ct">       *  Inport: '&lt;S13&gt;/In1'</span></td></tr>
 <tr name="1274" id="1274">
-<td><a id="l1274" class='ln'>1274</a></td><td></td></tr>
+<td><a id="l1274" class='ln'>1274</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1275" id="1275">
-<td><a id="l1275" class='ln'>1275</a></td><td>        <span class="ct">/* Switch: '&lt;S33&gt;/Switch1' incorporates:</span></td></tr>
+<td><a id="l1275" class='ln'>1275</a></td><td>      <a id="1275c7" class="tk">rtDW</a>-&gt;<a id="1275c13" class="tk">Merge_i</a> = <a id="1275c23" class="tk">rtU</a>-&gt;<a id="1275c28" class="tk">theta_Open</a>;</td></tr>
 <tr name="1276" id="1276">
-<td><a id="l1276" class='ln'>1276</a></td><td><span class="ct">         *  UnitDelay: '&lt;S6&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l1276" class='ln'>1276</a></td><td></td></tr>
 <tr name="1277" id="1277">
-<td><a id="l1277" class='ln'>1277</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1277" class='ln'>1277</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S3&gt;/If Action Subsystem1' */</span></td></tr>
 <tr name="1278" id="1278">
-<td><a id="l1278" class='ln'>1278</a></td><td>        <a id="1278c9" class="tk">rtDW</a>-&gt;<a id="1278c15" class="tk">Switch1</a> = <a id="1278c25" class="tk">rtDW</a>-&gt;<a id="1278c31" class="tk">UnitDelay2_DSTATE_p</a>;</td></tr>
+<td><a id="l1278" class='ln'>1278</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1279" id="1279">
-<td><a id="l1279" class='ln'>1279</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1279" class='ln'>1279</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1280" id="1280">
-<td><a id="l1280" class='ln'>1280</a></td><td>        <span class="ct">/* Switch: '&lt;S33&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1280" class='ln'>1280</a></td><td></td></tr>
 <tr name="1281" id="1281">
-<td><a id="l1281" class='ln'>1281</a></td><td><span class="ct">         *  UnitDelay: '&lt;S6&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l1281" class='ln'>1281</a></td><td>  <span class="ct">/* End of If: '&lt;S3&gt;/If' */</span></td></tr>
 <tr name="1282" id="1282">
-<td><a id="l1282" class='ln'>1282</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1282" class='ln'>1282</a></td><td></td></tr>
 <tr name="1283" id="1283">
-<td><a id="l1283" class='ln'>1283</a></td><td>        <a id="1283c9" class="tk">rtDW</a>-&gt;<a id="1283c15" class="tk">Switch_i</a> = <a id="1283c26" class="tk">rtDW</a>-&gt;<a id="1283c32" class="tk">UnitDelay2_DSTATE_p</a>;</td></tr>
+<td><a id="l1283" class='ln'>1283</a></td><td>  <span class="ct">/* PreLookup: '&lt;S59&gt;/a_elecAngle_XA' incorporates:</span></td></tr>
 <tr name="1284" id="1284">
-<td><a id="l1284" class='ln'>1284</a></td><td></td></tr>
+<td><a id="l1284" class='ln'>1284</a></td><td><span class="ct">   *  Merge: '&lt;S3&gt;/Merge'</span></td></tr>
 <tr name="1285" id="1285">
-<td><a id="l1285" class='ln'>1285</a></td><td>        <span class="ct">/* Switch: '&lt;S33&gt;/Switch1' incorporates:</span></td></tr>
+<td><a id="l1285" class='ln'>1285</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1286" id="1286">
-<td><a id="l1286" class='ln'>1286</a></td><td><span class="ct">         *  Switch: '&lt;S25&gt;/Switch3'</span></td></tr>
+<td><a id="l1286" class='ln'>1286</a></td><td>  <a id="1286c3" class="tk">rtb_LogicalOperator3</a> = <a id="1286c26" class="tk">plook_u16s16_evencka</a>(<a id="1286c47" class="tk">rtDW</a>-&gt;<a id="1286c53" class="tk">Merge_i</a>, 0, 16U, 360U);</td></tr>
 <tr name="1287" id="1287">
-<td><a id="l1287" class='ln'>1287</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1287" class='ln'>1287</a></td><td></td></tr>
 <tr name="1288" id="1288">
-<td><a id="l1288" class='ln'>1288</a></td><td>        <a id="1288c9" class="tk">rtDW</a>-&gt;<a id="1288c15" class="tk">Switch1</a> = <a id="1288c25" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l1288" class='ln'>1288</a></td><td>  <span class="ct">/* Sum: '&lt;S56&gt;/Add2' incorporates:</span></td></tr>
 <tr name="1289" id="1289">
-<td><a id="l1289" class='ln'>1289</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l1289" class='ln'>1289</a></td><td><span class="ct">   *  Gain: '&lt;S53&gt;/Multiply'</span></td></tr>
 <tr name="1290" id="1290">
-<td><a id="l1290" class='ln'>1290</a></td><td></td></tr>
+<td><a id="l1290" class='ln'>1290</a></td><td><span class="ct">   *  Sum: '&lt;S48&gt;/Add1'</span></td></tr>
 <tr name="1291" id="1291">
-<td><a id="l1291" class='ln'>1291</a></td><td>      <span class="ct">/* End of Switch: '&lt;S33&gt;/Switch' */</span></td></tr>
+<td><a id="l1291" class='ln'>1291</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1292" id="1292">
-<td><a id="l1292" class='ln'>1292</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S31&gt;/Subsystem' */</span></td></tr>
+<td><a id="l1292" class='ln'>1292</a></td><td>  <a id="1292c3" class="tk">rtb_Gain_b0</a> = (<a id="1292c18" class="tk">int16_T</a>)<a id="1292c26" class="tk">tmp_2</a> <a id="1292c32" class="tk">-</a> (<a id="1292c35" class="tk">int16_T</a>)<a id="1292c43" class="tk">tmp_1</a>;</td></tr>
 <tr name="1293" id="1293">
-<td><a id="l1293" class='ln'>1293</a></td><td></td></tr>
+<td><a id="l1293" class='ln'>1293</a></td><td>  <span class="kw">if</span> (<a id="1293c7" class="tk">rtb_Gain_b0</a> <a id="1293c19" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1294" id="1294">
-<td><a id="l1294" class='ln'>1294</a></td><td>      <span class="ct">/* Switch: '&lt;S34&gt;/Switch1' incorporates:</span></td></tr>
+<td><a id="l1294" class='ln'>1294</a></td><td>    <a id="1294c5" class="tk">rtb_Gain_b0</a> = 32767;</td></tr>
 <tr name="1295" id="1295">
-<td><a id="l1295" class='ln'>1295</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l1295" class='ln'>1295</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1296" id="1296">
-<td><a id="l1296" class='ln'>1296</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1296" class='ln'>1296</a></td><td>    <span class="kw">if</span> (<a id="1296c9" class="tk">rtb_Gain_b0</a> <a id="1296c21" class="tk">&lt;</a> <a id="1296c23" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="1297" id="1297">
-<td><a id="l1297" class='ln'>1297</a></td><td>      <a id="1297c7" class="tk">rtb_Sign</a> = <a id="1297c18" class="tk">rtDW</a>-&gt;<a id="1297c24" class="tk">UnitDelay2_DSTATE_p</a>;</td></tr>
+<td><a id="l1297" class='ln'>1297</a></td><td>      <a id="1297c7" class="tk">rtb_Gain_b0</a> = <a id="1297c21" class="tk">-</a>32768;</td></tr>
 <tr name="1298" id="1298">
-<td><a id="l1298" class='ln'>1298</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1298" class='ln'>1298</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1299" id="1299">
-<td><a id="l1299" class='ln'>1299</a></td><td>      <span class="ct">/* Switch: '&lt;S34&gt;/Switch1' incorporates:</span></td></tr>
+<td><a id="l1299" class='ln'>1299</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1300" id="1300">
-<td><a id="l1300" class='ln'>1300</a></td><td><span class="ct">       *  UnitDelay: '&lt;S34&gt;/UnitDelay'</span></td></tr>
+<td><a id="l1300" class='ln'>1300</a></td><td></td></tr>
 <tr name="1301" id="1301">
-<td><a id="l1301" class='ln'>1301</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1301" class='ln'>1301</a></td><td>  <span class="ct">/* Gain: '&lt;S56&gt;/Gain2' incorporates:</span></td></tr>
 <tr name="1302" id="1302">
-<td><a id="l1302" class='ln'>1302</a></td><td>      <a id="1302c7" class="tk">rtb_Sign</a> = <a id="1302c18" class="tk">rtDW</a>-&gt;<a id="1302c24" class="tk">UnitDelay_DSTATE_f</a>;</td></tr>
+<td><a id="l1302" class='ln'>1302</a></td><td><span class="ct">   *  Sum: '&lt;S56&gt;/Add2'</span></td></tr>
 <tr name="1303" id="1303">
-<td><a id="l1303" class='ln'>1303</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1303" class='ln'>1303</a></td><td><span class="ct">   *  Sum: '&lt;S58&gt;/Sum6'</span></td></tr>
 <tr name="1304" id="1304">
-<td><a id="l1304" class='ln'>1304</a></td><td></td></tr>
+<td><a id="l1304" class='ln'>1304</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1305" id="1305">
-<td><a id="l1305" class='ln'>1305</a></td><td>    <span class="ct">/* End of If: '&lt;S31&gt;/If' */</span></td></tr>
+<td><a id="l1305" class='ln'>1305</a></td><td>  <a id="1305c3" class="tk">rtb_Sum6_p</a> = (<a id="1305c17" class="tk">int16_T</a>)((18919 <a id="1305c33" class="tk">*</a> <a id="1305c35" class="tk">rtb_Gain_b0</a>) <a id="1305c48" class="tk">&gt;&gt;</a> 15);</td></tr>
 <tr name="1306" id="1306">
 <td><a id="l1306" class='ln'>1306</a></td><td></td></tr>
 <tr name="1307" id="1307">
-<td><a id="l1307" class='ln'>1307</a></td><td>    <span class="ct">/* Sum: '&lt;S31&gt;/Add2' incorporates:</span></td></tr>
+<td><a id="l1307" class='ln'>1307</a></td><td>  <span class="ct">/* Sum: '&lt;S58&gt;/Sum1' incorporates:</span></td></tr>
 <tr name="1308" id="1308">
-<td><a id="l1308" class='ln'>1308</a></td><td><span class="ct">     *  Product: '&lt;S33&gt;/Divide'</span></td></tr>
+<td><a id="l1308" class='ln'>1308</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S59&gt;/r_cos_M1'</span></td></tr>
 <tr name="1309" id="1309">
-<td><a id="l1309" class='ln'>1309</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1309" class='ln'>1309</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S59&gt;/r_sin_M1'</span></td></tr>
 <tr name="1310" id="1310">
-<td><a id="l1310" class='ln'>1310</a></td><td>    <a id="1310c5" class="tk">tmp_2</a> = ((<a id="1310c15" class="tk">rtb_Sign</a> <a id="1310c24" class="tk">&lt;&lt;</a> 1) <a id="1310c30" class="tk">+</a> <a id="1310c32" class="tk">rtDW</a>-&gt;<a id="1310c38" class="tk">Divide</a>) <a id="1310c46" class="tk">&gt;&gt;</a> 1;</td></tr>
+<td><a id="l1310" class='ln'>1310</a></td><td><span class="ct">   *  Product: '&lt;S58&gt;/Divide1'</span></td></tr>
 <tr name="1311" id="1311">
-<td><a id="l1311" class='ln'>1311</a></td><td>    <span class="kw">if</span> (<a id="1311c9" class="tk">tmp_2</a> <a id="1311c15" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1311" class='ln'>1311</a></td><td><span class="ct">   *  Product: '&lt;S58&gt;/Divide2'</span></td></tr>
 <tr name="1312" id="1312">
-<td><a id="l1312" class='ln'>1312</a></td><td>      <a id="1312c7" class="tk">tmp_2</a> = 32767;</td></tr>
+<td><a id="l1312" class='ln'>1312</a></td><td><span class="ct">   *  Product: '&lt;S58&gt;/Divide3'</span></td></tr>
 <tr name="1313" id="1313">
-<td><a id="l1313" class='ln'>1313</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1313" class='ln'>1313</a></td><td><span class="ct">   *  Sum: '&lt;S58&gt;/Sum6'</span></td></tr>
 <tr name="1314" id="1314">
-<td><a id="l1314" class='ln'>1314</a></td><td>      <span class="kw">if</span> (<a id="1314c11" class="tk">tmp_2</a> <a id="1314c17" class="tk">&lt;</a> <a id="1314c19" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1314" class='ln'>1314</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1315" id="1315">
-<td><a id="l1315" class='ln'>1315</a></td><td>        <a id="1315c9" class="tk">tmp_2</a> = <a id="1315c17" class="tk">-</a>32768;</td></tr>
+<td><a id="l1315" class='ln'>1315</a></td><td>  <a id="1315c3" class="tk">rtb_Gain_b0</a> = ((<a id="1315c19" class="tk">rtb_Divide1_m</a> <a id="1315c33" class="tk">*</a> <a id="1315c35" class="tk">rtConstP</a>.<a id="1315c44" class="tk">pooled8</a>[<a id="1315c52" class="tk">rtb_LogicalOperator3</a>]) <a id="1315c75" class="tk">&gt;&gt;</a> 14)</td></tr>
 <tr name="1316" id="1316">
-<td><a id="l1316" class='ln'>1316</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l1316" class='ln'>1316</a></td><td>    <a id="1316c5" class="tk">+</a> (<a id="1316c8" class="tk">int16_T</a>)((<a id="1316c18" class="tk">rtb_Sum6_p</a> <a id="1316c29" class="tk">*</a> <a id="1316c31" class="tk">rtConstP</a>.<a id="1316c40" class="tk">pooled7</a>[<a id="1316c48" class="tk">rtb_LogicalOperator3</a>]) <a id="1316c71" class="tk">&gt;&gt;</a> 14);</td></tr>
 <tr name="1317" id="1317">
-<td><a id="l1317" class='ln'>1317</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1317" class='ln'>1317</a></td><td>  <span class="kw">if</span> (<a id="1317c7" class="tk">rtb_Gain_b0</a> <a id="1317c19" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1318" id="1318">
-<td><a id="l1318" class='ln'>1318</a></td><td></td></tr>
+<td><a id="l1318" class='ln'>1318</a></td><td>    <a id="1318c5" class="tk">rtb_Gain_b0</a> = 32767;</td></tr>
 <tr name="1319" id="1319">
-<td><a id="l1319" class='ln'>1319</a></td><td>    <span class="ct">/* Switch: '&lt;S29&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1319" class='ln'>1319</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1320" id="1320">
-<td><a id="l1320" class='ln'>1320</a></td><td><span class="ct">     *  Switch: '&lt;S25&gt;/Switch'</span></td></tr>
+<td><a id="l1320" class='ln'>1320</a></td><td>    <span class="kw">if</span> (<a id="1320c9" class="tk">rtb_Gain_b0</a> <a id="1320c21" class="tk">&lt;</a> <a id="1320c23" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="1321" id="1321">
-<td><a id="l1321" class='ln'>1321</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1321" class='ln'>1321</a></td><td>      <a id="1321c7" class="tk">rtb_Gain_b0</a> = <a id="1321c21" class="tk">-</a>32768;</td></tr>
 <tr name="1322" id="1322">
-<td><a id="l1322" class='ln'>1322</a></td><td>    <span class="kw">if</span> (<a id="1322c9" class="tk">rtb_Switch_np</a> <a id="1322c23" class="tk">&gt;</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l1322" class='ln'>1322</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1323" id="1323">
-<td><a id="l1323" class='ln'>1323</a></td><td>      <span class="ct">/* Switch: '&lt;S32&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l1323" class='ln'>1323</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1324" id="1324">
-<td><a id="l1324" class='ln'>1324</a></td><td><span class="ct">       *  RelationalOperator: '&lt;S32&gt;/LowerRelop1'</span></td></tr>
+<td><a id="l1324" class='ln'>1324</a></td><td></td></tr>
 <tr name="1325" id="1325">
-<td><a id="l1325" class='ln'>1325</a></td><td><span class="ct">       *  RelationalOperator: '&lt;S32&gt;/UpperRelop'</span></td></tr>
+<td><a id="l1325" class='ln'>1325</a></td><td>  <span class="ct">/* SignalConversion generated from: '&lt;S48&gt;/Low_Pass_Filter' incorporates:</span></td></tr>
 <tr name="1326" id="1326">
-<td><a id="l1326" class='ln'>1326</a></td><td><span class="ct">       *  Sum: '&lt;S31&gt;/Add2'</span></td></tr>
+<td><a id="l1326" class='ln'>1326</a></td><td><span class="ct">   *  Sum: '&lt;S58&gt;/Sum1'</span></td></tr>
 <tr name="1327" id="1327">
-<td><a id="l1327" class='ln'>1327</a></td><td><span class="ct">       *  Switch: '&lt;S32&gt;/Switch'</span></td></tr>
+<td><a id="l1327" class='ln'>1327</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1328" id="1328">
-<td><a id="l1328" class='ln'>1328</a></td><td><span class="ct">       *  Switch: '&lt;S33&gt;/Switch'</span></td></tr>
+<td><a id="l1328" class='ln'>1328</a></td><td>  <a id="1328c3" class="tk">rtb_DataTypeConversion_b</a>[0] = (<a id="1328c34" class="tk">int16_T</a>)<a id="1328c42" class="tk">rtb_Gain_b0</a>;</td></tr>
 <tr name="1329" id="1329">
-<td><a id="l1329" class='ln'>1329</a></td><td><span class="ct">       *  Switch: '&lt;S33&gt;/Switch1'</span></td></tr>
+<td><a id="l1329" class='ln'>1329</a></td><td></td></tr>
 <tr name="1330" id="1330">
-<td><a id="l1330" class='ln'>1330</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1330" class='ln'>1330</a></td><td>  <span class="ct">/* Sum: '&lt;S58&gt;/Sum6' incorporates:</span></td></tr>
 <tr name="1331" id="1331">
-<td><a id="l1331" class='ln'>1331</a></td><td>      <span class="kw">if</span> ((<a id="1331c12" class="tk">int16_T</a>)<a id="1331c20" class="tk">tmp_2</a> <a id="1331c26" class="tk">&gt;</a> <a id="1331c28" class="tk">rtDW</a>-&gt;<a id="1331c34" class="tk">Switch_i</a>) <span class="br">{</span></td></tr>
+<td><a id="l1331" class='ln'>1331</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S59&gt;/r_cos_M1'</span></td></tr>
 <tr name="1332" id="1332">
-<td><a id="l1332" class='ln'>1332</a></td><td>        <span class="ct">/* Merge: '&lt;S26&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l1332" class='ln'>1332</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S59&gt;/r_sin_M1'</span></td></tr>
 <tr name="1333" id="1333">
-<td><a id="l1333" class='ln'>1333</a></td><td><span class="ct">         *  Switch: '&lt;S29&gt;/Switch'</span></td></tr>
+<td><a id="l1333" class='ln'>1333</a></td><td><span class="ct">   *  Product: '&lt;S58&gt;/Divide1'</span></td></tr>
 <tr name="1334" id="1334">
-<td><a id="l1334" class='ln'>1334</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1334" class='ln'>1334</a></td><td><span class="ct">   *  Product: '&lt;S58&gt;/Divide4'</span></td></tr>
 <tr name="1335" id="1335">
-<td><a id="l1335" class='ln'>1335</a></td><td>        <a id="1335c9" class="tk">rtDW</a>-&gt;<a id="1335c15" class="tk">Merge</a>[1] = <a id="1335c26" class="tk">rtDW</a>-&gt;<a id="1335c32" class="tk">Switch_i</a>;</td></tr>
+<td><a id="l1335" class='ln'>1335</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1336" id="1336">
-<td><a id="l1336" class='ln'>1336</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="1336c19" class="tk">int16_T</a>)<a id="1336c27" class="tk">tmp_2</a> <a id="1336c33" class="tk">&lt;</a> <a id="1336c35" class="tk">rtDW</a>-&gt;<a id="1336c41" class="tk">Switch1</a>) <span class="br">{</span></td></tr>
+<td><a id="l1336" class='ln'>1336</a></td><td>  <a id="1336c3" class="tk">rtb_Gain_b0</a> = (<a id="1336c18" class="tk">int16_T</a>)((<a id="1336c28" class="tk">rtb_Sum6_p</a> <a id="1336c39" class="tk">*</a> <a id="1336c41" class="tk">rtConstP</a>.<a id="1336c50" class="tk">pooled8</a>[<a id="1336c58" class="tk">rtb_LogicalOperator3</a>]) <a id="1336c81" class="tk">&gt;&gt;</a></td></tr>
 <tr name="1337" id="1337">
-<td><a id="l1337" class='ln'>1337</a></td><td>        <span class="ct">/* Merge: '&lt;S26&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l1337" class='ln'>1337</a></td><td>    14) <a id="1337c9" class="tk">-</a> ((<a id="1337c13" class="tk">rtb_Divide1_m</a> <a id="1337c27" class="tk">*</a> <a id="1337c29" class="tk">rtConstP</a>.<a id="1337c38" class="tk">pooled7</a>[<a id="1337c46" class="tk">rtb_LogicalOperator3</a>]) <a id="1337c69" class="tk">&gt;&gt;</a> 14);</td></tr>
 <tr name="1338" id="1338">
-<td><a id="l1338" class='ln'>1338</a></td><td><span class="ct">         *  Switch: '&lt;S29&gt;/Switch'</span></td></tr>
+<td><a id="l1338" class='ln'>1338</a></td><td>  <span class="kw">if</span> (<a id="1338c7" class="tk">rtb_Gain_b0</a> <a id="1338c19" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1339" id="1339">
-<td><a id="l1339" class='ln'>1339</a></td><td><span class="ct">         *  Switch: '&lt;S32&gt;/Switch'</span></td></tr>
+<td><a id="l1339" class='ln'>1339</a></td><td>    <a id="1339c5" class="tk">rtb_Gain_b0</a> = 32767;</td></tr>
 <tr name="1340" id="1340">
-<td><a id="l1340" class='ln'>1340</a></td><td><span class="ct">         *  Switch: '&lt;S33&gt;/Switch1'</span></td></tr>
+<td><a id="l1340" class='ln'>1340</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1341" id="1341">
-<td><a id="l1341" class='ln'>1341</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1341" class='ln'>1341</a></td><td>    <span class="kw">if</span> (<a id="1341c9" class="tk">rtb_Gain_b0</a> <a id="1341c21" class="tk">&lt;</a> <a id="1341c23" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="1342" id="1342">
-<td><a id="l1342" class='ln'>1342</a></td><td>        <a id="1342c9" class="tk">rtDW</a>-&gt;<a id="1342c15" class="tk">Merge</a>[1] = <a id="1342c26" class="tk">rtDW</a>-&gt;<a id="1342c32" class="tk">Switch1</a>;</td></tr>
+<td><a id="l1342" class='ln'>1342</a></td><td>      <a id="1342c7" class="tk">rtb_Gain_b0</a> = <a id="1342c21" class="tk">-</a>32768;</td></tr>
 <tr name="1343" id="1343">
-<td><a id="l1343" class='ln'>1343</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1343" class='ln'>1343</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1344" id="1344">
-<td><a id="l1344" class='ln'>1344</a></td><td>        <span class="ct">/* Merge: '&lt;S26&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l1344" class='ln'>1344</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1345" id="1345">
-<td><a id="l1345" class='ln'>1345</a></td><td><span class="ct">         *  Switch: '&lt;S29&gt;/Switch'</span></td></tr>
+<td><a id="l1345" class='ln'>1345</a></td><td></td></tr>
 <tr name="1346" id="1346">
-<td><a id="l1346" class='ln'>1346</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1346" class='ln'>1346</a></td><td>  <span class="ct">/* SignalConversion generated from: '&lt;S48&gt;/Low_Pass_Filter' incorporates:</span></td></tr>
 <tr name="1347" id="1347">
-<td><a id="l1347" class='ln'>1347</a></td><td>        <a id="1347c9" class="tk">rtDW</a>-&gt;<a id="1347c15" class="tk">Merge</a>[1] = (<a id="1347c27" class="tk">int16_T</a>)<a id="1347c35" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l1347" class='ln'>1347</a></td><td><span class="ct">   *  Sum: '&lt;S58&gt;/Sum6'</span></td></tr>
 <tr name="1348" id="1348">
-<td><a id="l1348" class='ln'>1348</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l1348" class='ln'>1348</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1349" id="1349">
-<td><a id="l1349" class='ln'>1349</a></td><td></td></tr>
+<td><a id="l1349" class='ln'>1349</a></td><td>  <a id="1349c3" class="tk">rtb_DataTypeConversion_b</a>[1] = (<a id="1349c34" class="tk">int16_T</a>)<a id="1349c42" class="tk">rtb_Gain_b0</a>;</td></tr>
 <tr name="1350" id="1350">
-<td><a id="l1350" class='ln'>1350</a></td><td>      <span class="ct">/* End of Switch: '&lt;S32&gt;/Switch2' */</span></td></tr>
+<td><a id="l1350" class='ln'>1350</a></td><td></td></tr>
 <tr name="1351" id="1351">
-<td><a id="l1351" class='ln'>1351</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1351" class='ln'>1351</a></td><td>  <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S48&gt;/Low_Pass_Filter' */</span></td></tr>
 <tr name="1352" id="1352">
-<td><a id="l1352" class='ln'>1352</a></td><td>      <span class="ct">/* Merge: '&lt;S26&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l1352" class='ln'>1352</a></td><td>  <span class="ct">/* Constant: '&lt;S48&gt;/Constant' incorporates:</span></td></tr>
 <tr name="1353" id="1353">
-<td><a id="l1353" class='ln'>1353</a></td><td><span class="ct">       *  Constant: '&lt;S29&gt;/Constant1'</span></td></tr>
+<td><a id="l1353" class='ln'>1353</a></td><td><span class="ct">   *  Outport: '&lt;Root&gt;/f_Idq'</span></td></tr>
 <tr name="1354" id="1354">
-<td><a id="l1354" class='ln'>1354</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1354" class='ln'>1354</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1355" id="1355">
-<td><a id="l1355" class='ln'>1355</a></td><td>      <a id="1355c7" class="tk">rtDW</a>-&gt;<a id="1355c13" class="tk">Merge</a>[1] = 0;</td></tr>
+<td><a id="l1355" class='ln'>1355</a></td><td>  <a id="1355c3" class="tk">Low_Pass_Filter</a>(<a id="1355c19" class="tk">rtb_DataTypeConversion_b</a>, <a id="1355c45" class="tk">rtP</a>.<a id="1355c49" class="tk">f_lpf_coeff</a>, <a id="1355c62" class="tk">rtY</a>-&gt;<a id="1355c67" class="tk">f_Idq</a>,</td></tr>
 <tr name="1356" id="1356">
-<td><a id="l1356" class='ln'>1356</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1356" class='ln'>1356</a></td><td>                  <a id="1356c19" class="tk">&amp;</a><a id="1356c20" class="tk">rtDW</a>-&gt;<a id="1356c26" class="tk">Low_Pass_Filter_d</a>);</td></tr>
 <tr name="1357" id="1357">
 <td><a id="l1357" class='ln'>1357</a></td><td></td></tr>
 <tr name="1358" id="1358">
-<td><a id="l1358" class='ln'>1358</a></td><td>    <span class="ct">/* End of Switch: '&lt;S29&gt;/Switch' */</span></td></tr>
+<td><a id="l1358" class='ln'>1358</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;S48&gt;/Low_Pass_Filter' */</span></td></tr>
 <tr name="1359" id="1359">
 <td><a id="l1359" class='ln'>1359</a></td><td></td></tr>
 <tr name="1360" id="1360">
-<td><a id="l1360" class='ln'>1360</a></td><td>    <span class="ct">/* Merge: '&lt;S26&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l1360" class='ln'>1360</a></td><td>  <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S6&gt;/Low_Pass_Filter' */</span></td></tr>
 <tr name="1361" id="1361">
-<td><a id="l1361" class='ln'>1361</a></td><td><span class="ct">     *  Constant: '&lt;S29&gt;/Constant3'</span></td></tr>
+<td><a id="l1361" class='ln'>1361</a></td><td>  <span class="ct">/* Constant: '&lt;S6&gt;/Constant' */</span></td></tr>
 <tr name="1362" id="1362">
-<td><a id="l1362" class='ln'>1362</a></td><td><span class="ct">     *  SignalConversion generated from: '&lt;S29&gt;/open_voltage'</span></td></tr>
+<td><a id="l1362" class='ln'>1362</a></td><td>  <a id="1362c3" class="tk">Low_Pass_Filter</a>(<a id="1362c19" class="tk">rtb_UnitDelay1</a>, 655, <a id="1362c40" class="tk">rtb_DataTypeConversion_b</a>,</td></tr>
 <tr name="1363" id="1363">
-<td><a id="l1363" class='ln'>1363</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1363" class='ln'>1363</a></td><td>                  <a id="1363c19" class="tk">&amp;</a><a id="1363c20" class="tk">rtDW</a>-&gt;<a id="1363c26" class="tk">Low_Pass_Filter_h</a>);</td></tr>
 <tr name="1364" id="1364">
-<td><a id="l1364" class='ln'>1364</a></td><td>    <a id="1364c5" class="tk">rtDW</a>-&gt;<a id="1364c11" class="tk">Merge</a>[0] = 0;</td></tr>
+<td><a id="l1364" class='ln'>1364</a></td><td></td></tr>
 <tr name="1365" id="1365">
-<td><a id="l1365" class='ln'>1365</a></td><td></td></tr>
+<td><a id="l1365" class='ln'>1365</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;S6&gt;/Low_Pass_Filter' */</span></td></tr>
 <tr name="1366" id="1366">
-<td><a id="l1366" class='ln'>1366</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S29&gt;/Unit Delay' incorporates:</span></td></tr>
+<td><a id="l1366" class='ln'>1366</a></td><td></td></tr>
 <tr name="1367" id="1367">
-<td><a id="l1367" class='ln'>1367</a></td><td><span class="ct">     *  Switch: '&lt;S25&gt;/Switch3'</span></td></tr>
+<td><a id="l1367" class='ln'>1367</a></td><td>  <span class="ct">/* Switch: '&lt;S24&gt;/Switch' incorporates:</span></td></tr>
 <tr name="1368" id="1368">
-<td><a id="l1368" class='ln'>1368</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1368" class='ln'>1368</a></td><td><span class="ct">   *  Constant: '&lt;S24&gt;/Constant3'</span></td></tr>
 <tr name="1369" id="1369">
-<td><a id="l1369" class='ln'>1369</a></td><td>    <a id="1369c5" class="tk">rtDW</a>-&gt;<a id="1369c11" class="tk">UnitDelay_DSTATE</a> = <a id="1369c30" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l1369" class='ln'>1369</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/spd_Target'</span></td></tr>
 <tr name="1370" id="1370">
-<td><a id="l1370" class='ln'>1370</a></td><td></td></tr>
+<td><a id="l1370" class='ln'>1370</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1371" id="1371">
-<td><a id="l1371" class='ln'>1371</a></td><td>    <span class="ct">/* Switch: '&lt;S34&gt;/Switch2' */</span></td></tr>
+<td><a id="l1371" class='ln'>1371</a></td><td>  <span class="kw">if</span> (<a id="1371c7" class="tk">rtU</a>-&gt;<a id="1371c12" class="tk">spd_Target</a> <a id="1371c23" class="tk">&gt;</a> 240) <span class="br">{</span></td></tr>
 <tr name="1372" id="1372">
-<td><a id="l1372" class='ln'>1372</a></td><td>    <span class="kw">if</span> (<a id="1372c9" class="tk">rtb_LogicalOperator_p</a>) <span class="br">{</span></td></tr>
+<td><a id="l1372" class='ln'>1372</a></td><td>    <span class="ct">/* Switch: '&lt;S24&gt;/Switch1' incorporates:</span></td></tr>
 <tr name="1373" id="1373">
-<td><a id="l1373" class='ln'>1373</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S34&gt;/UnitDelay' incorporates:</span></td></tr>
+<td><a id="l1373" class='ln'>1373</a></td><td><span class="ct">     *  Constant: '&lt;S24&gt;/Constant1'</span></td></tr>
 <tr name="1374" id="1374">
-<td><a id="l1374" class='ln'>1374</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay2'</span></td></tr>
+<td><a id="l1374" class='ln'>1374</a></td><td><span class="ct">     *  DataTypeConversion: '&lt;S24&gt;/Data Type Conversion'</span></td></tr>
 <tr name="1375" id="1375">
-<td><a id="l1375" class='ln'>1375</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1375" class='ln'>1375</a></td><td><span class="ct">     *  Switch: '&lt;S24&gt;/Switch'</span></td></tr>
 <tr name="1376" id="1376">
-<td><a id="l1376" class='ln'>1376</a></td><td>      <a id="1376c7" class="tk">rtDW</a>-&gt;<a id="1376c13" class="tk">UnitDelay_DSTATE_f</a> = <a id="1376c34" class="tk">rtDW</a>-&gt;<a id="1376c40" class="tk">UnitDelay2_DSTATE_p</a>;</td></tr>
+<td><a id="l1376" class='ln'>1376</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1377" id="1377">
-<td><a id="l1377" class='ln'>1377</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1377" class='ln'>1377</a></td><td>    <span class="kw">if</span> (<a id="1377c9" class="tk">rtb_LogicalOperator12</a>) <span class="br">{</span></td></tr>
 <tr name="1378" id="1378">
-<td><a id="l1378" class='ln'>1378</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S34&gt;/UnitDelay' incorporates:</span></td></tr>
+<td><a id="l1378" class='ln'>1378</a></td><td>      <a id="1378c7" class="tk">rtb_Switch</a> = <a id="1378c20" class="tk">rtU</a>-&gt;<a id="1378c25" class="tk">spd_Target</a>;</td></tr>
 <tr name="1379" id="1379">
-<td><a id="l1379" class='ln'>1379</a></td><td><span class="ct">       *  Sum: '&lt;S31&gt;/Add2'</span></td></tr>
+<td><a id="l1379" class='ln'>1379</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1380" id="1380">
-<td><a id="l1380" class='ln'>1380</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1380" class='ln'>1380</a></td><td>      <a id="1380c7" class="tk">rtb_Switch</a> = 0;</td></tr>
 <tr name="1381" id="1381">
-<td><a id="l1381" class='ln'>1381</a></td><td>      <a id="1381c7" class="tk">rtDW</a>-&gt;<a id="1381c13" class="tk">UnitDelay_DSTATE_f</a> = (<a id="1381c35" class="tk">int16_T</a>)<a id="1381c43" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l1381" class='ln'>1381</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1382" id="1382">
-<td><a id="l1382" class='ln'>1382</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1382" class='ln'>1382</a></td><td></td></tr>
 <tr name="1383" id="1383">
-<td><a id="l1383" class='ln'>1383</a></td><td></td></tr>
+<td><a id="l1383" class='ln'>1383</a></td><td>    <span class="ct">/* End of Switch: '&lt;S24&gt;/Switch1' */</span></td></tr>
 <tr name="1384" id="1384">
-<td><a id="l1384" class='ln'>1384</a></td><td>    <span class="ct">/* End of Switch: '&lt;S34&gt;/Switch2' */</span></td></tr>
+<td><a id="l1384" class='ln'>1384</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1385" id="1385">
-<td><a id="l1385" class='ln'>1385</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/open_mode' */</span></td></tr>
+<td><a id="l1385" class='ln'>1385</a></td><td>    <a id="1385c5" class="tk">rtb_Switch</a> = 0;</td></tr>
 <tr name="1386" id="1386">
-<td><a id="l1386" class='ln'>1386</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1386c14" class="tk">rtb_z_ctrlMod</a> <a id="1386c28" class="tk">==</a> 2) <span class="br">{</span></td></tr>
+<td><a id="l1386" class='ln'>1386</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1387" id="1387">
-<td><a id="l1387" class='ln'>1387</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/torque_mode' incorporates:</span></td></tr>
+<td><a id="l1387" class='ln'>1387</a></td><td></td></tr>
 <tr name="1388" id="1388">
-<td><a id="l1388" class='ln'>1388</a></td><td><span class="ct">     *  ActionPort: '&lt;S30&gt;/Action Port'</span></td></tr>
+<td><a id="l1388" class='ln'>1388</a></td><td>  <span class="ct">/* End of Switch: '&lt;S24&gt;/Switch' */</span></td></tr>
 <tr name="1389" id="1389">
-<td><a id="l1389" class='ln'>1389</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1389" class='ln'>1389</a></td><td></td></tr>
 <tr name="1390" id="1390">
-<td><a id="l1390" class='ln'>1390</a></td><td>    <a id="1390c5" class="tk">rtDW</a>-&gt;<a id="1390c11" class="tk">r_currTgt</a> = <a id="1390c23" class="tk">rtU</a>-&gt;<a id="1390c28" class="tk">current_target</a>;</td></tr>
+<td><a id="l1390" class='ln'>1390</a></td><td>  <span class="ct">/* Switch: '&lt;S24&gt;/Switch3' incorporates:</span></td></tr>
 <tr name="1391" id="1391">
-<td><a id="l1391" class='ln'>1391</a></td><td></td></tr>
+<td><a id="l1391" class='ln'>1391</a></td><td><span class="ct">   *  Constant: '&lt;S24&gt;/Constant4'</span></td></tr>
 <tr name="1392" id="1392">
-<td><a id="l1392" class='ln'>1392</a></td><td>    <span class="ct">/* Merge: '&lt;S26&gt;/Merge1' incorporates:</span></td></tr>
+<td><a id="l1392" class='ln'>1392</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S24&gt;/Data Type Conversion2'</span></td></tr>
 <tr name="1393" id="1393">
-<td><a id="l1393" class='ln'>1393</a></td><td><span class="ct">     *  Inport: '&lt;Root&gt;/current_target'</span></td></tr>
+<td><a id="l1393" class='ln'>1393</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/vdq_Open'</span></td></tr>
 <tr name="1394" id="1394">
-<td><a id="l1394" class='ln'>1394</a></td><td><span class="ct">     *  Inport: '&lt;S30&gt;/r_currTgt'</span></td></tr>
+<td><a id="l1394" class='ln'>1394</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1395" id="1395">
-<td><a id="l1395" class='ln'>1395</a></td><td><span class="ct">     *  Inport: '&lt;S30&gt;/r_spdTgt'</span></td></tr>
+<td><a id="l1395" class='ln'>1395</a></td><td>  <span class="kw">if</span> (<a id="1395c7" class="tk">rtb_LogicalOperator12</a>) <span class="br">{</span></td></tr>
 <tr name="1396" id="1396">
-<td><a id="l1396" class='ln'>1396</a></td><td><span class="ct">     *  Switch: '&lt;S25&gt;/Switch'</span></td></tr>
+<td><a id="l1396" class='ln'>1396</a></td><td>    <a id="1396c5" class="tk">rtb_Sum6_p</a> = <a id="1396c18" class="tk">rtU</a>-&gt;<a id="1396c23" class="tk">vdq_Open</a>[1];</td></tr>
 <tr name="1397" id="1397">
-<td><a id="l1397" class='ln'>1397</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1397" class='ln'>1397</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1398" id="1398">
-<td><a id="l1398" class='ln'>1398</a></td><td>    <a id="1398c5" class="tk">rtDW</a>-&gt;<a id="1398c11" class="tk">Merge1</a> = <a id="1398c20" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l1398" class='ln'>1398</a></td><td>    <a id="1398c5" class="tk">rtb_Sum6_p</a> = 0;</td></tr>
 <tr name="1399" id="1399">
-<td><a id="l1399" class='ln'>1399</a></td><td></td></tr>
+<td><a id="l1399" class='ln'>1399</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1400" id="1400">
-<td><a id="l1400" class='ln'>1400</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/torque_mode' */</span></td></tr>
+<td><a id="l1400" class='ln'>1400</a></td><td></td></tr>
 <tr name="1401" id="1401">
-<td><a id="l1401" class='ln'>1401</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1401" class='ln'>1401</a></td><td>  <span class="ct">/* End of Switch: '&lt;S24&gt;/Switch3' */</span></td></tr>
 <tr name="1402" id="1402">
-<td><a id="l1402" class='ln'>1402</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/If Action Subsystem1' incorporates:</span></td></tr>
+<td><a id="l1402" class='ln'>1402</a></td><td></td></tr>
 <tr name="1403" id="1403">
-<td><a id="l1403" class='ln'>1403</a></td><td><span class="ct">     *  ActionPort: '&lt;S28&gt;/Action Port'</span></td></tr>
+<td><a id="l1403" class='ln'>1403</a></td><td>  <span class="ct">/* Sum: '&lt;S7&gt;/Sum3' incorporates:</span></td></tr>
 <tr name="1404" id="1404">
-<td><a id="l1404" class='ln'>1404</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1404" class='ln'>1404</a></td><td><span class="ct">   *  UnitDelay: '&lt;S7&gt;/UnitDelay1'</span></td></tr>
 <tr name="1405" id="1405">
-<td><a id="l1405" class='ln'>1405</a></td><td>    <span class="ct">/* Merge: '&lt;S26&gt;/Merge1' incorporates:</span></td></tr>
+<td><a id="l1405" class='ln'>1405</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1406" id="1406">
-<td><a id="l1406" class='ln'>1406</a></td><td><span class="ct">     *  Inport: '&lt;S28&gt;/In1'</span></td></tr>
+<td><a id="l1406" class='ln'>1406</a></td><td>  <a id="1406c3" class="tk">qY</a> = <a id="1406c8" class="tk">rtDW</a>-&gt;<a id="1406c14" class="tk">UnitDelay1_DSTATE</a> <a id="1406c32" class="tk">+</a> <span class="ct">/*MW:OvSatOk*/</span> 1U;</td></tr>
 <tr name="1407" id="1407">
-<td><a id="l1407" class='ln'>1407</a></td><td><span class="ct">     *  Switch: '&lt;S25&gt;/Switch'</span></td></tr>
+<td><a id="l1407" class='ln'>1407</a></td><td>  <span class="kw">if</span> (<a id="1407c7" class="tk">rtDW</a>-&gt;<a id="1407c13" class="tk">UnitDelay1_DSTATE</a> <a id="1407c31" class="tk">+</a> 1U <a id="1407c36" class="tk">&lt;</a> 1U) <span class="br">{</span></td></tr>
 <tr name="1408" id="1408">
-<td><a id="l1408" class='ln'>1408</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1408" class='ln'>1408</a></td><td>    <a id="1408c5" class="tk">qY</a> = <a id="1408c10" class="tk">MAX_uint32_T</a>;</td></tr>
 <tr name="1409" id="1409">
-<td><a id="l1409" class='ln'>1409</a></td><td>    <a id="1409c5" class="tk">rtDW</a>-&gt;<a id="1409c11" class="tk">Merge1</a> = <a id="1409c20" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l1409" class='ln'>1409</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1410" id="1410">
 <td><a id="l1410" class='ln'>1410</a></td><td></td></tr>
 <tr name="1411" id="1411">
-<td><a id="l1411" class='ln'>1411</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/If Action Subsystem1' */</span></td></tr>
+<td><a id="l1411" class='ln'>1411</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S2&gt;/Equal' incorporates:</span></td></tr>
 <tr name="1412" id="1412">
-<td><a id="l1412" class='ln'>1412</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1412" class='ln'>1412</a></td><td><span class="ct">   *  Constant: '&lt;S2&gt;/Constant1'</span></td></tr>
 <tr name="1413" id="1413">
-<td><a id="l1413" class='ln'>1413</a></td><td></td></tr>
+<td><a id="l1413" class='ln'>1413</a></td><td><span class="ct">   *  Math: '&lt;S2&gt;/Rem'</span></td></tr>
 <tr name="1414" id="1414">
-<td><a id="l1414" class='ln'>1414</a></td><td>  <span class="ct">/* End of If: '&lt;S26&gt;/If' */</span></td></tr>
+<td><a id="l1414" class='ln'>1414</a></td><td><span class="ct">   *  Sum: '&lt;S7&gt;/Sum3'</span></td></tr>
 <tr name="1415" id="1415">
-<td><a id="l1415" class='ln'>1415</a></td><td></td></tr>
+<td><a id="l1415" class='ln'>1415</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1416" id="1416">
-<td><a id="l1416" class='ln'>1416</a></td><td>  <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S35&gt;/either_edge' */</span></td></tr>
+<td><a id="l1416" class='ln'>1416</a></td><td>  <a id="1416c3" class="tk">rtb_Equal_k</a> = (<a id="1416c18" class="tk">qY</a> <a id="1416c21" class="tk">%</a> 40U <a id="1416c27" class="tk">==</a> 0U);</td></tr>
 <tr name="1417" id="1417">
-<td><a id="l1417" class='ln'>1417</a></td><td>  <a id="1417c3" class="tk">rtb_LogicalOperator_p</a> = <a id="1417c27" class="tk">either_edge</a>(<a id="1417c39" class="tk">rtb_RelationalOperator4_f</a>,</td></tr>
+<td><a id="l1417" class='ln'>1417</a></td><td></td></tr>
 <tr name="1418" id="1418">
-<td><a id="l1418" class='ln'>1418</a></td><td>    <a id="1418c5" class="tk">&amp;</a><a id="1418c6" class="tk">rtDW</a>-&gt;<a id="1418c12" class="tk">either_edge_f</a>);</td></tr>
+<td><a id="l1418" class='ln'>1418</a></td><td>  <span class="ct">/* If: '&lt;S26&gt;/If' incorporates:</span></td></tr>
 <tr name="1419" id="1419">
-<td><a id="l1419" class='ln'>1419</a></td><td></td></tr>
+<td><a id="l1419" class='ln'>1419</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S26&gt;/Data Type Conversion1'</span></td></tr>
 <tr name="1420" id="1420">
-<td><a id="l1420" class='ln'>1420</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;S35&gt;/either_edge' */</span></td></tr>
+<td><a id="l1420" class='ln'>1420</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S26&gt;/Data Type Conversion2'</span></td></tr>
 <tr name="1421" id="1421">
-<td><a id="l1421" class='ln'>1421</a></td><td></td></tr>
+<td><a id="l1421" class='ln'>1421</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/idq_Target'</span></td></tr>
 <tr name="1422" id="1422">
-<td><a id="l1422" class='ln'>1422</a></td><td>  <span class="ct">/* Switch: '&lt;S35&gt;/Switch1' */</span></td></tr>
+<td><a id="l1422" class='ln'>1422</a></td><td><span class="ct">   *  Inport: '&lt;S27&gt;/vq_in'</span></td></tr>
 <tr name="1423" id="1423">
-<td><a id="l1423" class='ln'>1423</a></td><td>  <span class="kw">if</span> (<a id="1423c7" class="tk">rtb_LogicalOperator_p</a>) <span class="br">{</span></td></tr>
+<td><a id="l1423" class='ln'>1423</a></td><td><span class="ct">   *  Inport: '&lt;S30&gt;/r_currTgt'</span></td></tr>
 <tr name="1424" id="1424">
-<td><a id="l1424" class='ln'>1424</a></td><td>    <a id="1424c5" class="tk">rtb_UnitDelay_bc</a> = <a id="1424c24" class="tk">rtb_Sum</a>;</td></tr>
+<td><a id="l1424" class='ln'>1424</a></td><td><span class="ct">   *  Switch: '&lt;S24&gt;/Switch3'</span></td></tr>
 <tr name="1425" id="1425">
-<td><a id="l1425" class='ln'>1425</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1425" class='ln'>1425</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1426" id="1426">
-<td><a id="l1426" class='ln'>1426</a></td><td></td></tr>
+<td><a id="l1426" class='ln'>1426</a></td><td>  <span class="kw">if</span> (<a id="1426c7" class="tk">rtb_BitwiseOperator2</a> <a id="1426c28" class="tk">==</a> 1) <span class="br">{</span></td></tr>
 <tr name="1427" id="1427">
-<td><a id="l1427" class='ln'>1427</a></td><td>  <span class="ct">/* End of Switch: '&lt;S35&gt;/Switch1' */</span></td></tr>
+<td><a id="l1427" class='ln'>1427</a></td><td>    <span class="ct">/* Switch: '&lt;S24&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="1428" id="1428">
-<td><a id="l1428" class='ln'>1428</a></td><td></td></tr>
+<td><a id="l1428" class='ln'>1428</a></td><td><span class="ct">     *  Constant: '&lt;S24&gt;/Constant2'</span></td></tr>
 <tr name="1429" id="1429">
-<td><a id="l1429" class='ln'>1429</a></td><td>  <span class="ct">/* Gain: '&lt;S52&gt;/Multiply' incorporates:</span></td></tr>
+<td><a id="l1429" class='ln'>1429</a></td><td><span class="ct">     *  DataTypeConversion: '&lt;S24&gt;/Data Type Conversion1'</span></td></tr>
 <tr name="1430" id="1430">
-<td><a id="l1430" class='ln'>1430</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S56&gt;/Data Type Conversion'</span></td></tr>
+<td><a id="l1430" class='ln'>1430</a></td><td><span class="ct">     *  Inport: '&lt;Root&gt;/vdq_Open'</span></td></tr>
 <tr name="1431" id="1431">
-<td><a id="l1431" class='ln'>1431</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/adc_a'</span></td></tr>
+<td><a id="l1431" class='ln'>1431</a></td><td><span class="ct">     *  Inport: '&lt;S27&gt;/vd_in'</span></td></tr>
 <tr name="1432" id="1432">
-<td><a id="l1432" class='ln'>1432</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/adc_b'</span></td></tr>
+<td><a id="l1432" class='ln'>1432</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1433" id="1433">
-<td><a id="l1433" class='ln'>1433</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1433" class='ln'>1433</a></td><td>    <span class="kw">if</span> (<a id="1433c9" class="tk">rtb_LogicalOperator12</a>) <span class="br">{</span></td></tr>
 <tr name="1434" id="1434">
-<td><a id="l1434" class='ln'>1434</a></td><td>  <a id="1434c3" class="tk">tmp_2</a> = (12351 <a id="1434c18" class="tk">*</a> <a id="1434c20" class="tk">rtU</a>-&gt;<a id="1434c25" class="tk">adc_a</a>) <a id="1434c32" class="tk">&gt;&gt;</a> 11;</td></tr>
+<td><a id="l1434" class='ln'>1434</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/If Action Subsystem' incorporates:</span></td></tr>
 <tr name="1435" id="1435">
-<td><a id="l1435" class='ln'>1435</a></td><td>  <span class="kw">if</span> (<a id="1435c7" class="tk">tmp_2</a> <a id="1435c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1435" class='ln'>1435</a></td><td><span class="ct">       *  ActionPort: '&lt;S27&gt;/Action Port'</span></td></tr>
 <tr name="1436" id="1436">
-<td><a id="l1436" class='ln'>1436</a></td><td>    <a id="1436c5" class="tk">tmp_2</a> = 32767;</td></tr>
+<td><a id="l1436" class='ln'>1436</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1437" id="1437">
-<td><a id="l1437" class='ln'>1437</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1437" class='ln'>1437</a></td><td>      <a id="1437c7" class="tk">rtDW</a>-&gt;<a id="1437c13" class="tk">Merge</a>[0] = <a id="1437c24" class="tk">rtU</a>-&gt;<a id="1437c29" class="tk">vdq_Open</a>[0];</td></tr>
 <tr name="1438" id="1438">
-<td><a id="l1438" class='ln'>1438</a></td><td>    <span class="kw">if</span> (<a id="1438c9" class="tk">tmp_2</a> <a id="1438c15" class="tk">&lt;</a> <a id="1438c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1438" class='ln'>1438</a></td><td></td></tr>
 <tr name="1439" id="1439">
-<td><a id="l1439" class='ln'>1439</a></td><td>      <a id="1439c7" class="tk">tmp_2</a> = <a id="1439c15" class="tk">-</a>32768;</td></tr>
+<td><a id="l1439" class='ln'>1439</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/If Action Subsystem' */</span></td></tr>
 <tr name="1440" id="1440">
-<td><a id="l1440" class='ln'>1440</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1440" class='ln'>1440</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1441" id="1441">
-<td><a id="l1441" class='ln'>1441</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1441" class='ln'>1441</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/If Action Subsystem' incorporates:</span></td></tr>
 <tr name="1442" id="1442">
-<td><a id="l1442" class='ln'>1442</a></td><td></td></tr>
+<td><a id="l1442" class='ln'>1442</a></td><td><span class="ct">       *  ActionPort: '&lt;S27&gt;/Action Port'</span></td></tr>
 <tr name="1443" id="1443">
-<td><a id="l1443" class='ln'>1443</a></td><td>  <a id="1443c3" class="tk">rtb_DataTypeConversion</a>[0] = (<a id="1443c32" class="tk">int16_T</a>)<a id="1443c40" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l1443" class='ln'>1443</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1444" id="1444">
-<td><a id="l1444" class='ln'>1444</a></td><td>  <a id="1444c3" class="tk">rtb_Gain</a> = (12351 <a id="1444c21" class="tk">*</a> <a id="1444c23" class="tk">rtU</a>-&gt;<a id="1444c28" class="tk">adc_b</a>) <a id="1444c35" class="tk">&gt;&gt;</a> 11;</td></tr>
+<td><a id="l1444" class='ln'>1444</a></td><td>      <a id="1444c7" class="tk">rtDW</a>-&gt;<a id="1444c13" class="tk">Merge</a>[0] = 0;</td></tr>
 <tr name="1445" id="1445">
-<td><a id="l1445" class='ln'>1445</a></td><td>  <span class="kw">if</span> (<a id="1445c7" class="tk">rtb_Gain</a> <a id="1445c16" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1445" class='ln'>1445</a></td><td></td></tr>
 <tr name="1446" id="1446">
-<td><a id="l1446" class='ln'>1446</a></td><td>    <a id="1446c5" class="tk">rtb_Gain</a> = 32767;</td></tr>
+<td><a id="l1446" class='ln'>1446</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/If Action Subsystem' */</span></td></tr>
 <tr name="1447" id="1447">
-<td><a id="l1447" class='ln'>1447</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1447" class='ln'>1447</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1448" id="1448">
-<td><a id="l1448" class='ln'>1448</a></td><td>    <span class="kw">if</span> (<a id="1448c9" class="tk">rtb_Gain</a> <a id="1448c18" class="tk">&lt;</a> <a id="1448c20" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1448" class='ln'>1448</a></td><td></td></tr>
 <tr name="1449" id="1449">
-<td><a id="l1449" class='ln'>1449</a></td><td>      <a id="1449c7" class="tk">rtb_Gain</a> = <a id="1449c18" class="tk">-</a>32768;</td></tr>
+<td><a id="l1449" class='ln'>1449</a></td><td>    <span class="ct">/* End of Switch: '&lt;S24&gt;/Switch2' */</span></td></tr>
 <tr name="1450" id="1450">
-<td><a id="l1450" class='ln'>1450</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1450" class='ln'>1450</a></td><td></td></tr>
 <tr name="1451" id="1451">
-<td><a id="l1451" class='ln'>1451</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1451" class='ln'>1451</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/If Action Subsystem' incorporates:</span></td></tr>
 <tr name="1452" id="1452">
-<td><a id="l1452" class='ln'>1452</a></td><td></td></tr>
+<td><a id="l1452" class='ln'>1452</a></td><td><span class="ct">     *  ActionPort: '&lt;S27&gt;/Action Port'</span></td></tr>
 <tr name="1453" id="1453">
-<td><a id="l1453" class='ln'>1453</a></td><td>  <a id="1453c3" class="tk">rtb_DataTypeConversion</a>[1] = (<a id="1453c32" class="tk">int16_T</a>)<a id="1453c40" class="tk">rtb_Gain</a>;</td></tr>
+<td><a id="l1453" class='ln'>1453</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1454" id="1454">
-<td><a id="l1454" class='ln'>1454</a></td><td></td></tr>
+<td><a id="l1454" class='ln'>1454</a></td><td>    <a id="1454c5" class="tk">rtDW</a>-&gt;<a id="1454c11" class="tk">Merge</a>[1] = <a id="1454c22" class="tk">rtb_Sum6_p</a>;</td></tr>
 <tr name="1455" id="1455">
-<td><a id="l1455" class='ln'>1455</a></td><td>  <span class="ct">/* Sum: '&lt;S46&gt;/Add' incorporates:</span></td></tr>
+<td><a id="l1455" class='ln'>1455</a></td><td></td></tr>
 <tr name="1456" id="1456">
-<td><a id="l1456" class='ln'>1456</a></td><td><span class="ct">   *  Gain: '&lt;S52&gt;/Multiply'</span></td></tr>
+<td><a id="l1456" class='ln'>1456</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/If Action Subsystem' */</span></td></tr>
 <tr name="1457" id="1457">
-<td><a id="l1457" class='ln'>1457</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1457" class='ln'>1457</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="1457c15" class="tk">rtb_z_ctrlMod</a> <a id="1457c29" class="tk">==</a> 0) <a id="1457c35" class="tk">&amp;&amp;</a> <a id="1457c38" class="tk">rtb_Equal_k</a>) <span class="br">{</span></td></tr>
 <tr name="1458" id="1458">
-<td><a id="l1458" class='ln'>1458</a></td><td>  <a id="1458c3" class="tk">tmp_0</a> = (<a id="1458c12" class="tk">int16_T</a>)<a id="1458c20" class="tk">tmp_2</a> <a id="1458c26" class="tk">+</a> (<a id="1458c29" class="tk">int16_T</a>)<a id="1458c37" class="tk">rtb_Gain</a>;</td></tr>
+<td><a id="l1458" class='ln'>1458</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/open_mode' incorporates:</span></td></tr>
 <tr name="1459" id="1459">
-<td><a id="l1459" class='ln'>1459</a></td><td>  <span class="kw">if</span> (<a id="1459c7" class="tk">tmp_0</a> <a id="1459c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1459" class='ln'>1459</a></td><td><span class="ct">     *  ActionPort: '&lt;S29&gt;/Action Port'</span></td></tr>
 <tr name="1460" id="1460">
-<td><a id="l1460" class='ln'>1460</a></td><td>    <a id="1460c5" class="tk">tmp_0</a> = 32767;</td></tr>
+<td><a id="l1460" class='ln'>1460</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1461" id="1461">
-<td><a id="l1461" class='ln'>1461</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1461" class='ln'>1461</a></td><td>    <span class="ct">/* RelationalOperator: '&lt;S31&gt;/Relational Operator' incorporates:</span></td></tr>
 <tr name="1462" id="1462">
-<td><a id="l1462" class='ln'>1462</a></td><td>    <span class="kw">if</span> (<a id="1462c9" class="tk">tmp_0</a> <a id="1462c15" class="tk">&lt;</a> <a id="1462c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1462" class='ln'>1462</a></td><td><span class="ct">     *  Switch: '&lt;S24&gt;/Switch3'</span></td></tr>
 <tr name="1463" id="1463">
-<td><a id="l1463" class='ln'>1463</a></td><td>      <a id="1463c7" class="tk">tmp_0</a> = <a id="1463c15" class="tk">-</a>32768;</td></tr>
+<td><a id="l1463" class='ln'>1463</a></td><td><span class="ct">     *  UnitDelay: '&lt;S31&gt;/UnitDelay'</span></td></tr>
 <tr name="1464" id="1464">
-<td><a id="l1464" class='ln'>1464</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1464" class='ln'>1464</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1465" id="1465">
-<td><a id="l1465" class='ln'>1465</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1465" class='ln'>1465</a></td><td>    <a id="1465c5" class="tk">rtb_LogicalOperator12</a> = (<a id="1465c30" class="tk">rtb_Sum6_p</a> <a id="1465c41" class="tk">!=</a> <a id="1465c44" class="tk">rtDW</a>-&gt;<a id="1465c50" class="tk">UnitDelay_DSTATE_e</a>);</td></tr>
 <tr name="1466" id="1466">
 <td><a id="l1466" class='ln'>1466</a></td><td></td></tr>
 <tr name="1467" id="1467">
-<td><a id="l1467" class='ln'>1467</a></td><td>  <span class="ct">/* Sum: '&lt;S46&gt;/Add1' incorporates:</span></td></tr>
+<td><a id="l1467" class='ln'>1467</a></td><td>    <span class="ct">/* If: '&lt;S32&gt;/If' */</span></td></tr>
 <tr name="1468" id="1468">
-<td><a id="l1468" class='ln'>1468</a></td><td><span class="ct">   *  Sum: '&lt;S46&gt;/Add'</span></td></tr>
+<td><a id="l1468" class='ln'>1468</a></td><td>    <span class="kw">if</span> (<a id="1468c9" class="tk">rtb_LogicalOperator12</a>) <span class="br">{</span></td></tr>
 <tr name="1469" id="1469">
-<td><a id="l1469" class='ln'>1469</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1469" class='ln'>1469</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S32&gt;/RateInit' incorporates:</span></td></tr>
 <tr name="1470" id="1470">
-<td><a id="l1470" class='ln'>1470</a></td><td>  <a id="1470c3" class="tk">tmp_1</a> = <a id="1470c11" class="tk">-</a><a id="1470c12" class="tk">tmp_0</a>;</td></tr>
+<td><a id="l1470" class='ln'>1470</a></td><td><span class="ct">       *  ActionPort: '&lt;S33&gt;/Action Port'</span></td></tr>
 <tr name="1471" id="1471">
-<td><a id="l1471" class='ln'>1471</a></td><td>  <span class="kw">if</span> (<a id="1471c7" class="tk">-</a><a id="1471c8" class="tk">tmp_0</a> <a id="1471c14" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1471" class='ln'>1471</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1472" id="1472">
-<td><a id="l1472" class='ln'>1472</a></td><td>    <a id="1472c5" class="tk">tmp_1</a> = 32767;</td></tr>
+<td><a id="l1472" class='ln'>1472</a></td><td>      <span class="ct">/* Sum: '&lt;S33&gt;/Add' incorporates:</span></td></tr>
 <tr name="1473" id="1473">
-<td><a id="l1473" class='ln'>1473</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1473" class='ln'>1473</a></td><td><span class="ct">       *  Switch: '&lt;S24&gt;/Switch3'</span></td></tr>
 <tr name="1474" id="1474">
-<td><a id="l1474" class='ln'>1474</a></td><td></td></tr>
+<td><a id="l1474" class='ln'>1474</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="1475" id="1475">
-<td><a id="l1475" class='ln'>1475</a></td><td>  <span class="ct">/* Sum: '&lt;S55&gt;/Add3' incorporates:</span></td></tr>
+<td><a id="l1475" class='ln'>1475</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1476" id="1476">
-<td><a id="l1476" class='ln'>1476</a></td><td><span class="ct">   *  Gain: '&lt;S52&gt;/Multiply'</span></td></tr>
+<td><a id="l1476" class='ln'>1476</a></td><td>      <a id="1476c7" class="tk">rtb_Divide1_m</a> = (<a id="1476c24" class="tk">int16_T</a>)((<a id="1476c34" class="tk">rtb_Sum6_p</a> <a id="1476c45" class="tk">-</a> <a id="1476c47" class="tk">rtDW</a>-&gt;<a id="1476c53" class="tk">UnitDelay1_DSTATE_f</a>[1]) <a id="1476c77" class="tk">&gt;&gt;</a> 1);</td></tr>
 <tr name="1477" id="1477">
-<td><a id="l1477" class='ln'>1477</a></td><td><span class="ct">   *  Sum: '&lt;S46&gt;/Add1'</span></td></tr>
+<td><a id="l1477" class='ln'>1477</a></td><td></td></tr>
 <tr name="1478" id="1478">
-<td><a id="l1478" class='ln'>1478</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1478" class='ln'>1478</a></td><td>      <span class="ct">/* Signum: '&lt;S33&gt;/Sign' incorporates:</span></td></tr>
 <tr name="1479" id="1479">
-<td><a id="l1479" class='ln'>1479</a></td><td>  <a id="1479c3" class="tk">tmp_0</a> = (<a id="1479c12" class="tk">int16_T</a>)<a id="1479c20" class="tk">rtb_Gain</a> <a id="1479c29" class="tk">+</a> (<a id="1479c32" class="tk">int16_T</a>)<a id="1479c40" class="tk">tmp_1</a>;</td></tr>
+<td><a id="l1479" class='ln'>1479</a></td><td><span class="ct">       *  Sum: '&lt;S33&gt;/Add'</span></td></tr>
 <tr name="1480" id="1480">
-<td><a id="l1480" class='ln'>1480</a></td><td>  <span class="kw">if</span> (<a id="1480c7" class="tk">tmp_0</a> <a id="1480c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1480" class='ln'>1480</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1481" id="1481">
-<td><a id="l1481" class='ln'>1481</a></td><td>    <a id="1481c5" class="tk">tmp_0</a> = 32767;</td></tr>
+<td><a id="l1481" class='ln'>1481</a></td><td>      <span class="kw">if</span> (<a id="1481c11" class="tk">rtb_Divide1_m</a> <a id="1481c25" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="1482" id="1482">
-<td><a id="l1482" class='ln'>1482</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1482" class='ln'>1482</a></td><td>        <a id="1482c9" class="tk">rtb_Divide1_m</a> = <a id="1482c25" class="tk">-</a>1;</td></tr>
 <tr name="1483" id="1483">
-<td><a id="l1483" class='ln'>1483</a></td><td>    <span class="kw">if</span> (<a id="1483c9" class="tk">tmp_0</a> <a id="1483c15" class="tk">&lt;</a> <a id="1483c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1483" class='ln'>1483</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1484" id="1484">
-<td><a id="l1484" class='ln'>1484</a></td><td>      <a id="1484c7" class="tk">tmp_0</a> = <a id="1484c15" class="tk">-</a>32768;</td></tr>
+<td><a id="l1484" class='ln'>1484</a></td><td>        <a id="1484c9" class="tk">rtb_Divide1_m</a> = (<a id="1484c26" class="tk">int16_T</a>)(<a id="1484c35" class="tk">rtb_Divide1_m</a> <a id="1484c49" class="tk">&gt;</a> 0);</td></tr>
 <tr name="1485" id="1485">
-<td><a id="l1485" class='ln'>1485</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1485" class='ln'>1485</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1486" id="1486">
-<td><a id="l1486" class='ln'>1486</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1486" class='ln'>1486</a></td><td></td></tr>
 <tr name="1487" id="1487">
-<td><a id="l1487" class='ln'>1487</a></td><td></td></tr>
+<td><a id="l1487" class='ln'>1487</a></td><td>      <span class="ct">/* End of Signum: '&lt;S33&gt;/Sign' */</span></td></tr>
 <tr name="1488" id="1488">
-<td><a id="l1488" class='ln'>1488</a></td><td>  <span class="ct">/* Sum: '&lt;S55&gt;/Add' incorporates:</span></td></tr>
+<td><a id="l1488" class='ln'>1488</a></td><td></td></tr>
 <tr name="1489" id="1489">
-<td><a id="l1489" class='ln'>1489</a></td><td><span class="ct">   *  Gain: '&lt;S52&gt;/Multiply'</span></td></tr>
+<td><a id="l1489" class='ln'>1489</a></td><td>      <span class="ct">/* Product: '&lt;S33&gt;/Divide' incorporates:</span></td></tr>
 <tr name="1490" id="1490">
-<td><a id="l1490" class='ln'>1490</a></td><td><span class="ct">   *  Sum: '&lt;S55&gt;/Add3'</span></td></tr>
+<td><a id="l1490" class='ln'>1490</a></td><td><span class="ct">       *  Constant: '&lt;S29&gt;/Constant5'</span></td></tr>
 <tr name="1491" id="1491">
-<td><a id="l1491" class='ln'>1491</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1491" class='ln'>1491</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1492" id="1492">
-<td><a id="l1492" class='ln'>1492</a></td><td>  <a id="1492c3" class="tk">tmp_2</a> = (((<a id="1492c14" class="tk">int16_T</a>)<a id="1492c22" class="tk">tmp_2</a> <a id="1492c28" class="tk">&lt;&lt;</a> 1) <a id="1492c34" class="tk">-</a> <a id="1492c36" class="tk">tmp_0</a>) <a id="1492c43" class="tk">&gt;&gt;</a> 1;</td></tr>
+<td><a id="l1492" class='ln'>1492</a></td><td>      <a id="1492c7" class="tk">rtDW</a>-&gt;<a id="1492c13" class="tk">Divide</a> = (<a id="1492c23" class="tk">int16_T</a>)(<a id="1492c32" class="tk">rtP</a>.<a id="1492c36" class="tk">dz_OpenStepVol</a> <a id="1492c51" class="tk">*</a> <a id="1492c53" class="tk">rtb_Divide1_m</a>);</td></tr>
 <tr name="1493" id="1493">
-<td><a id="l1493" class='ln'>1493</a></td><td>  <span class="kw">if</span> (<a id="1493c7" class="tk">tmp_2</a> <a id="1493c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1493" class='ln'>1493</a></td><td></td></tr>
 <tr name="1494" id="1494">
-<td><a id="l1494" class='ln'>1494</a></td><td>    <a id="1494c5" class="tk">tmp_2</a> = 32767;</td></tr>
+<td><a id="l1494" class='ln'>1494</a></td><td>      <span class="ct">/* MinMax: '&lt;S33&gt;/Max' incorporates:</span></td></tr>
 <tr name="1495" id="1495">
-<td><a id="l1495" class='ln'>1495</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1495" class='ln'>1495</a></td><td><span class="ct">       *  Switch: '&lt;S24&gt;/Switch3'</span></td></tr>
 <tr name="1496" id="1496">
-<td><a id="l1496" class='ln'>1496</a></td><td>    <span class="kw">if</span> (<a id="1496c9" class="tk">tmp_2</a> <a id="1496c15" class="tk">&lt;</a> <a id="1496c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1496" class='ln'>1496</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="1497" id="1497">
-<td><a id="l1497" class='ln'>1497</a></td><td>      <a id="1497c7" class="tk">tmp_2</a> = <a id="1497c15" class="tk">-</a>32768;</td></tr>
+<td><a id="l1497" class='ln'>1497</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1498" id="1498">
-<td><a id="l1498" class='ln'>1498</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1498" class='ln'>1498</a></td><td>      <span class="kw">if</span> (<a id="1498c11" class="tk">rtb_Sum6_p</a> <a id="1498c22" class="tk">&gt;</a> <a id="1498c24" class="tk">rtDW</a>-&gt;<a id="1498c30" class="tk">UnitDelay1_DSTATE_f</a>[1]) <span class="br">{</span></td></tr>
 <tr name="1499" id="1499">
-<td><a id="l1499" class='ln'>1499</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1499" class='ln'>1499</a></td><td>        <span class="ct">/* MinMax: '&lt;S33&gt;/Max' */</span></td></tr>
 <tr name="1500" id="1500">
-<td><a id="l1500" class='ln'>1500</a></td><td></td></tr>
+<td><a id="l1500" class='ln'>1500</a></td><td>        <a id="1500c9" class="tk">rtDW</a>-&gt;<a id="1500c15" class="tk">Max_p</a> = <a id="1500c23" class="tk">rtb_Sum6_p</a>;</td></tr>
 <tr name="1501" id="1501">
-<td><a id="l1501" class='ln'>1501</a></td><td>  <span class="ct">/* Gain: '&lt;S55&gt;/Gain1' incorporates:</span></td></tr>
+<td><a id="l1501" class='ln'>1501</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1502" id="1502">
-<td><a id="l1502" class='ln'>1502</a></td><td><span class="ct">   *  Product: '&lt;S57&gt;/Divide1'</span></td></tr>
+<td><a id="l1502" class='ln'>1502</a></td><td>        <span class="ct">/* MinMax: '&lt;S33&gt;/Max' */</span></td></tr>
 <tr name="1503" id="1503">
-<td><a id="l1503" class='ln'>1503</a></td><td><span class="ct">   *  Sum: '&lt;S55&gt;/Add'</span></td></tr>
+<td><a id="l1503" class='ln'>1503</a></td><td>        <a id="1503c9" class="tk">rtDW</a>-&gt;<a id="1503c15" class="tk">Max_p</a> = <a id="1503c23" class="tk">rtDW</a>-&gt;<a id="1503c29" class="tk">UnitDelay1_DSTATE_f</a>[1];</td></tr>
 <tr name="1504" id="1504">
-<td><a id="l1504" class='ln'>1504</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1504" class='ln'>1504</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1505" id="1505">
-<td><a id="l1505" class='ln'>1505</a></td><td>  <a id="1505c3" class="tk">rtb_Divide1_m</a> = (<a id="1505c20" class="tk">int16_T</a>)((21845 <a id="1505c36" class="tk">*</a> <a id="1505c38" class="tk">tmp_2</a>) <a id="1505c45" class="tk">&gt;&gt;</a> 15);</td></tr>
+<td><a id="l1505" class='ln'>1505</a></td><td></td></tr>
 <tr name="1506" id="1506">
-<td><a id="l1506" class='ln'>1506</a></td><td></td></tr>
+<td><a id="l1506" class='ln'>1506</a></td><td>      <span class="ct">/* End of MinMax: '&lt;S33&gt;/Max' */</span></td></tr>
 <tr name="1507" id="1507">
-<td><a id="l1507" class='ln'>1507</a></td><td>  <span class="ct">/* Gain: '&lt;S55&gt;/Gain2' incorporates:</span></td></tr>
+<td><a id="l1507" class='ln'>1507</a></td><td></td></tr>
 <tr name="1508" id="1508">
-<td><a id="l1508" class='ln'>1508</a></td><td><span class="ct">   *  Gain: '&lt;S52&gt;/Multiply'</span></td></tr>
+<td><a id="l1508" class='ln'>1508</a></td><td>      <span class="ct">/* MinMax: '&lt;S33&gt;/Max1' incorporates:</span></td></tr>
 <tr name="1509" id="1509">
-<td><a id="l1509" class='ln'>1509</a></td><td><span class="ct">   *  Sum: '&lt;S46&gt;/Add1'</span></td></tr>
+<td><a id="l1509" class='ln'>1509</a></td><td><span class="ct">       *  Switch: '&lt;S24&gt;/Switch3'</span></td></tr>
 <tr name="1510" id="1510">
-<td><a id="l1510" class='ln'>1510</a></td><td><span class="ct">   *  Sum: '&lt;S55&gt;/Add2'</span></td></tr>
+<td><a id="l1510" class='ln'>1510</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="1511" id="1511">
-<td><a id="l1511" class='ln'>1511</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1511" class='ln'>1511</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1512" id="1512">
-<td><a id="l1512" class='ln'>1512</a></td><td>  <a id="1512c3" class="tk">tmp_2</a> = ((((<a id="1512c15" class="tk">int16_T</a>)<a id="1512c23" class="tk">rtb_Gain</a> <a id="1512c32" class="tk">-</a> (<a id="1512c35" class="tk">int16_T</a>)<a id="1512c43" class="tk">tmp_1</a>) <a id="1512c50" class="tk">&gt;&gt;</a> 1) <a id="1512c56" class="tk">*</a> 18919) <a id="1512c65" class="tk">&gt;&gt;</a> 14;</td></tr>
+<td><a id="l1512" class='ln'>1512</a></td><td>      <span class="kw">if</span> (<a id="1512c11" class="tk">rtDW</a>-&gt;<a id="1512c17" class="tk">UnitDelay1_DSTATE_f</a>[1] <a id="1512c40" class="tk">&lt;</a> <a id="1512c42" class="tk">rtb_Sum6_p</a>) <span class="br">{</span></td></tr>
 <tr name="1513" id="1513">
-<td><a id="l1513" class='ln'>1513</a></td><td>  <span class="kw">if</span> (<a id="1513c7" class="tk">tmp_2</a> <a id="1513c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1513" class='ln'>1513</a></td><td>        <span class="ct">/* MinMax: '&lt;S33&gt;/Max1' */</span></td></tr>
 <tr name="1514" id="1514">
-<td><a id="l1514" class='ln'>1514</a></td><td>    <a id="1514c5" class="tk">tmp_2</a> = 32767;</td></tr>
+<td><a id="l1514" class='ln'>1514</a></td><td>        <a id="1514c9" class="tk">rtDW</a>-&gt;<a id="1514c15" class="tk">Max1_g</a> = <a id="1514c24" class="tk">rtDW</a>-&gt;<a id="1514c30" class="tk">UnitDelay1_DSTATE_f</a>[1];</td></tr>
 <tr name="1515" id="1515">
-<td><a id="l1515" class='ln'>1515</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1515" class='ln'>1515</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1516" id="1516">
-<td><a id="l1516" class='ln'>1516</a></td><td>    <span class="kw">if</span> (<a id="1516c9" class="tk">tmp_2</a> <a id="1516c15" class="tk">&lt;</a> <a id="1516c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1516" class='ln'>1516</a></td><td>        <span class="ct">/* MinMax: '&lt;S33&gt;/Max1' */</span></td></tr>
 <tr name="1517" id="1517">
-<td><a id="l1517" class='ln'>1517</a></td><td>      <a id="1517c7" class="tk">tmp_2</a> = <a id="1517c15" class="tk">-</a>32768;</td></tr>
+<td><a id="l1517" class='ln'>1517</a></td><td>        <a id="1517c9" class="tk">rtDW</a>-&gt;<a id="1517c15" class="tk">Max1_g</a> = <a id="1517c24" class="tk">rtb_Sum6_p</a>;</td></tr>
 <tr name="1518" id="1518">
-<td><a id="l1518" class='ln'>1518</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1518" class='ln'>1518</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1519" id="1519">
-<td><a id="l1519" class='ln'>1519</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1519" class='ln'>1519</a></td><td></td></tr>
 <tr name="1520" id="1520">
-<td><a id="l1520" class='ln'>1520</a></td><td></td></tr>
+<td><a id="l1520" class='ln'>1520</a></td><td>      <span class="ct">/* End of MinMax: '&lt;S33&gt;/Max1' */</span></td></tr>
 <tr name="1521" id="1521">
-<td><a id="l1521" class='ln'>1521</a></td><td>  <span class="ct">/* PreLookup: '&lt;S58&gt;/a_elecAngle_XA' incorporates:</span></td></tr>
+<td><a id="l1521" class='ln'>1521</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S32&gt;/RateInit' */</span></td></tr>
 <tr name="1522" id="1522">
-<td><a id="l1522" class='ln'>1522</a></td><td><span class="ct">   *  Merge: '&lt;S3&gt;/Merge'</span></td></tr>
+<td><a id="l1522" class='ln'>1522</a></td><td></td></tr>
 <tr name="1523" id="1523">
-<td><a id="l1523" class='ln'>1523</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1523" class='ln'>1523</a></td><td>      <span class="ct">/* Switch: '&lt;S36&gt;/Switch1' incorporates:</span></td></tr>
 <tr name="1524" id="1524">
-<td><a id="l1524" class='ln'>1524</a></td><td>  <a id="1524c3" class="tk">rtb_LogicalOperator3</a> = <a id="1524c26" class="tk">plook_u16s16_evencka</a>(<a id="1524c47" class="tk">rtDW</a>-&gt;<a id="1524c53" class="tk">Merge_i</a>, 0, 4U, 1440U);</td></tr>
+<td><a id="l1524" class='ln'>1524</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="1525" id="1525">
-<td><a id="l1525" class='ln'>1525</a></td><td></td></tr>
+<td><a id="l1525" class='ln'>1525</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1526" id="1526">
-<td><a id="l1526" class='ln'>1526</a></td><td>  <span class="ct">/* Sum: '&lt;S57&gt;/Sum1' incorporates:</span></td></tr>
+<td><a id="l1526" class='ln'>1526</a></td><td>      <a id="1526c7" class="tk">rtb_r_cos_M1</a> = <a id="1526c22" class="tk">rtDW</a>-&gt;<a id="1526c28" class="tk">UnitDelay1_DSTATE_f</a>[1];</td></tr>
 <tr name="1527" id="1527">
-<td><a id="l1527" class='ln'>1527</a></td><td><span class="ct">   *  Gain: '&lt;S55&gt;/Gain2'</span></td></tr>
+<td><a id="l1527" class='ln'>1527</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1528" id="1528">
-<td><a id="l1528" class='ln'>1528</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S58&gt;/r_cos_M1'</span></td></tr>
+<td><a id="l1528" class='ln'>1528</a></td><td>      <span class="ct">/* Switch: '&lt;S36&gt;/Switch1' incorporates:</span></td></tr>
 <tr name="1529" id="1529">
-<td><a id="l1529" class='ln'>1529</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S58&gt;/r_sin_M1'</span></td></tr>
+<td><a id="l1529" class='ln'>1529</a></td><td><span class="ct">       *  UnitDelay: '&lt;S36&gt;/UnitDelay'</span></td></tr>
 <tr name="1530" id="1530">
-<td><a id="l1530" class='ln'>1530</a></td><td><span class="ct">   *  Product: '&lt;S57&gt;/Divide1'</span></td></tr>
+<td><a id="l1530" class='ln'>1530</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1531" id="1531">
-<td><a id="l1531" class='ln'>1531</a></td><td><span class="ct">   *  Product: '&lt;S57&gt;/Divide2'</span></td></tr>
+<td><a id="l1531" class='ln'>1531</a></td><td>      <a id="1531c7" class="tk">rtb_r_cos_M1</a> = <a id="1531c22" class="tk">rtDW</a>-&gt;<a id="1531c28" class="tk">UnitDelay_DSTATE_fv</a>;</td></tr>
 <tr name="1532" id="1532">
-<td><a id="l1532" class='ln'>1532</a></td><td><span class="ct">   *  Product: '&lt;S57&gt;/Divide3'</span></td></tr>
+<td><a id="l1532" class='ln'>1532</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1533" id="1533">
-<td><a id="l1533" class='ln'>1533</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1533" class='ln'>1533</a></td><td></td></tr>
 <tr name="1534" id="1534">
-<td><a id="l1534" class='ln'>1534</a></td><td>  <a id="1534c3" class="tk">rtb_Gain</a> = (<a id="1534c15" class="tk">int16_T</a>)((<a id="1534c25" class="tk">rtb_Divide1_m</a> <a id="1534c39" class="tk">*</a> <a id="1534c41" class="tk">rtConstP</a>.<a id="1534c50" class="tk">pooled12</a>[<a id="1534c59" class="tk">rtb_LogicalOperator3</a>])</td></tr>
+<td><a id="l1534" class='ln'>1534</a></td><td>    <span class="ct">/* End of If: '&lt;S32&gt;/If' */</span></td></tr>
 <tr name="1535" id="1535">
-<td><a id="l1535" class='ln'>1535</a></td><td>                       <a id="1535c24" class="tk">&gt;&gt;</a> 14) <a id="1535c31" class="tk">+</a> (<a id="1535c34" class="tk">int16_T</a>)(((<a id="1535c45" class="tk">int16_T</a>)<a id="1535c53" class="tk">tmp_2</a> <a id="1535c59" class="tk">*</a></td></tr>
+<td><a id="l1535" class='ln'>1535</a></td><td></td></tr>
 <tr name="1536" id="1536">
-<td><a id="l1536" class='ln'>1536</a></td><td>    <a id="1536c5" class="tk">rtConstP</a>.<a id="1536c14" class="tk">pooled11</a>[<a id="1536c23" class="tk">rtb_LogicalOperator3</a>]) <a id="1536c46" class="tk">&gt;&gt;</a> 14);</td></tr>
+<td><a id="l1536" class='ln'>1536</a></td><td>    <span class="ct">/* Switch: '&lt;S32&gt;/Switch' incorporates:</span></td></tr>
 <tr name="1537" id="1537">
-<td><a id="l1537" class='ln'>1537</a></td><td>  <span class="kw">if</span> (<a id="1537c7" class="tk">rtb_Gain</a> <a id="1537c16" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1537" class='ln'>1537</a></td><td><span class="ct">     *  Constant: '&lt;S32&gt;/Constant'</span></td></tr>
 <tr name="1538" id="1538">
-<td><a id="l1538" class='ln'>1538</a></td><td>    <a id="1538c5" class="tk">rtb_Gain</a> = 32767;</td></tr>
+<td><a id="l1538" class='ln'>1538</a></td><td><span class="ct">     *  Product: '&lt;S33&gt;/Divide'</span></td></tr>
 <tr name="1539" id="1539">
-<td><a id="l1539" class='ln'>1539</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1539" class='ln'>1539</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S32&gt;/Equal'</span></td></tr>
 <tr name="1540" id="1540">
-<td><a id="l1540" class='ln'>1540</a></td><td>    <span class="kw">if</span> (<a id="1540c9" class="tk">rtb_Gain</a> <a id="1540c18" class="tk">&lt;</a> <a id="1540c20" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1540" class='ln'>1540</a></td><td><span class="ct">     *  Switch: '&lt;S24&gt;/Switch3'</span></td></tr>
 <tr name="1541" id="1541">
-<td><a id="l1541" class='ln'>1541</a></td><td>      <a id="1541c7" class="tk">rtb_Gain</a> = <a id="1541c18" class="tk">-</a>32768;</td></tr>
+<td><a id="l1541" class='ln'>1541</a></td><td><span class="ct">     *  UnitDelay: '&lt;S32&gt;/Unit Delay'</span></td></tr>
 <tr name="1542" id="1542">
-<td><a id="l1542" class='ln'>1542</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1542" class='ln'>1542</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1543" id="1543">
-<td><a id="l1543" class='ln'>1543</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1543" class='ln'>1543</a></td><td>    <span class="kw">if</span> (<a id="1543c9" class="tk">rtb_Sum6_p</a> <a id="1543c20" class="tk">!=</a> <a id="1543c23" class="tk">rtDW</a>-&gt;<a id="1543c29" class="tk">UnitDelay_DSTATE_i</a>) <span class="br">{</span></td></tr>
 <tr name="1544" id="1544">
-<td><a id="l1544" class='ln'>1544</a></td><td></td></tr>
+<td><a id="l1544" class='ln'>1544</a></td><td>      <a id="1544c7" class="tk">rtb_Divide1_m</a> = <a id="1544c23" class="tk">rtDW</a>-&gt;<a id="1544c29" class="tk">Divide</a>;</td></tr>
 <tr name="1545" id="1545">
-<td><a id="l1545" class='ln'>1545</a></td><td>  <span class="ct">/* SignalConversion generated from: '&lt;S46&gt;/Low_Pass_Filter' incorporates:</span></td></tr>
+<td><a id="l1545" class='ln'>1545</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1546" id="1546">
-<td><a id="l1546" class='ln'>1546</a></td><td><span class="ct">   *  Sum: '&lt;S57&gt;/Sum1'</span></td></tr>
+<td><a id="l1546" class='ln'>1546</a></td><td>      <a id="1546c7" class="tk">rtb_Divide1_m</a> = 0;</td></tr>
 <tr name="1547" id="1547">
-<td><a id="l1547" class='ln'>1547</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1547" class='ln'>1547</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1548" id="1548">
-<td><a id="l1548" class='ln'>1548</a></td><td>  <a id="1548c3" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0] = (<a id="1548c41" class="tk">int16_T</a>)<a id="1548c49" class="tk">rtb_Gain</a>;</td></tr>
+<td><a id="l1548" class='ln'>1548</a></td><td></td></tr>
 <tr name="1549" id="1549">
-<td><a id="l1549" class='ln'>1549</a></td><td></td></tr>
+<td><a id="l1549" class='ln'>1549</a></td><td>    <span class="ct">/* End of Switch: '&lt;S32&gt;/Switch' */</span></td></tr>
 <tr name="1550" id="1550">
-<td><a id="l1550" class='ln'>1550</a></td><td>  <span class="ct">/* Sum: '&lt;S57&gt;/Sum6' incorporates:</span></td></tr>
+<td><a id="l1550" class='ln'>1550</a></td><td></td></tr>
 <tr name="1551" id="1551">
-<td><a id="l1551" class='ln'>1551</a></td><td><span class="ct">   *  Gain: '&lt;S55&gt;/Gain2'</span></td></tr>
+<td><a id="l1551" class='ln'>1551</a></td><td>    <span class="ct">/* Sum: '&lt;S35&gt;/Add2' */</span></td></tr>
 <tr name="1552" id="1552">
-<td><a id="l1552" class='ln'>1552</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S58&gt;/r_cos_M1'</span></td></tr>
+<td><a id="l1552" class='ln'>1552</a></td><td>    <a id="1552c5" class="tk">rtb_Gain_b0</a> = ((<a id="1552c21" class="tk">rtb_r_cos_M1</a> <a id="1552c34" class="tk">&lt;&lt;</a> 2) <a id="1552c40" class="tk">+</a> <a id="1552c42" class="tk">rtb_Divide1_m</a>) <a id="1552c57" class="tk">&gt;&gt;</a> 2;</td></tr>
 <tr name="1553" id="1553">
-<td><a id="l1553" class='ln'>1553</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S58&gt;/r_sin_M1'</span></td></tr>
+<td><a id="l1553" class='ln'>1553</a></td><td>    <span class="kw">if</span> (<a id="1553c9" class="tk">rtb_Gain_b0</a> <a id="1553c21" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1554" id="1554">
-<td><a id="l1554" class='ln'>1554</a></td><td><span class="ct">   *  Product: '&lt;S57&gt;/Divide1'</span></td></tr>
+<td><a id="l1554" class='ln'>1554</a></td><td>      <a id="1554c7" class="tk">rtb_Gain_b0</a> = 32767;</td></tr>
 <tr name="1555" id="1555">
-<td><a id="l1555" class='ln'>1555</a></td><td><span class="ct">   *  Product: '&lt;S57&gt;/Divide4'</span></td></tr>
+<td><a id="l1555" class='ln'>1555</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1556" id="1556">
-<td><a id="l1556" class='ln'>1556</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1556" class='ln'>1556</a></td><td>      <span class="kw">if</span> (<a id="1556c11" class="tk">rtb_Gain_b0</a> <a id="1556c23" class="tk">&lt;</a> <a id="1556c25" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="1557" id="1557">
-<td><a id="l1557" class='ln'>1557</a></td><td>  <a id="1557c3" class="tk">tmp_2</a> = (<a id="1557c12" class="tk">int16_T</a>)(((<a id="1557c23" class="tk">int16_T</a>)<a id="1557c31" class="tk">tmp_2</a> <a id="1557c37" class="tk">*</a> <a id="1557c39" class="tk">rtConstP</a>.<a id="1557c48" class="tk">pooled12</a>[<a id="1557c57" class="tk">rtb_LogicalOperator3</a>]) <a id="1557c80" class="tk">&gt;&gt;</a></td></tr>
+<td><a id="l1557" class='ln'>1557</a></td><td>        <a id="1557c9" class="tk">rtb_Gain_b0</a> = <a id="1557c23" class="tk">-</a>32768;</td></tr>
 <tr name="1558" id="1558">
-<td><a id="l1558" class='ln'>1558</a></td><td>                    14) <a id="1558c25" class="tk">-</a> (<a id="1558c28" class="tk">int16_T</a>)((<a id="1558c38" class="tk">rtb_Divide1_m</a> <a id="1558c52" class="tk">*</a></td></tr>
+<td><a id="l1558" class='ln'>1558</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1559" id="1559">
-<td><a id="l1559" class='ln'>1559</a></td><td>    <a id="1559c5" class="tk">rtConstP</a>.<a id="1559c14" class="tk">pooled11</a>[<a id="1559c23" class="tk">rtb_LogicalOperator3</a>]) <a id="1559c46" class="tk">&gt;&gt;</a> 14);</td></tr>
+<td><a id="l1559" class='ln'>1559</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1560" id="1560">
-<td><a id="l1560" class='ln'>1560</a></td><td>  <span class="kw">if</span> (<a id="1560c7" class="tk">tmp_2</a> <a id="1560c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1560" class='ln'>1560</a></td><td></td></tr>
 <tr name="1561" id="1561">
-<td><a id="l1561" class='ln'>1561</a></td><td>    <a id="1561c5" class="tk">tmp_2</a> = 32767;</td></tr>
+<td><a id="l1561" class='ln'>1561</a></td><td>    <span class="ct">/* Switch: '&lt;S34&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="1562" id="1562">
-<td><a id="l1562" class='ln'>1562</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1562" class='ln'>1562</a></td><td><span class="ct">     *  MinMax: '&lt;S33&gt;/Max'</span></td></tr>
 <tr name="1563" id="1563">
-<td><a id="l1563" class='ln'>1563</a></td><td>    <span class="kw">if</span> (<a id="1563c9" class="tk">tmp_2</a> <a id="1563c15" class="tk">&lt;</a> <a id="1563c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1563" class='ln'>1563</a></td><td><span class="ct">     *  MinMax: '&lt;S33&gt;/Max1'</span></td></tr>
 <tr name="1564" id="1564">
-<td><a id="l1564" class='ln'>1564</a></td><td>      <a id="1564c7" class="tk">tmp_2</a> = <a id="1564c15" class="tk">-</a>32768;</td></tr>
+<td><a id="l1564" class='ln'>1564</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S34&gt;/LowerRelop1'</span></td></tr>
 <tr name="1565" id="1565">
-<td><a id="l1565" class='ln'>1565</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1565" class='ln'>1565</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S34&gt;/UpperRelop'</span></td></tr>
 <tr name="1566" id="1566">
-<td><a id="l1566" class='ln'>1566</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1566" class='ln'>1566</a></td><td><span class="ct">     *  Sum: '&lt;S35&gt;/Add2'</span></td></tr>
 <tr name="1567" id="1567">
-<td><a id="l1567" class='ln'>1567</a></td><td></td></tr>
+<td><a id="l1567" class='ln'>1567</a></td><td><span class="ct">     *  Switch: '&lt;S34&gt;/Switch'</span></td></tr>
 <tr name="1568" id="1568">
-<td><a id="l1568" class='ln'>1568</a></td><td>  <span class="ct">/* SignalConversion generated from: '&lt;S46&gt;/Low_Pass_Filter' incorporates:</span></td></tr>
+<td><a id="l1568" class='ln'>1568</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1569" id="1569">
-<td><a id="l1569" class='ln'>1569</a></td><td><span class="ct">   *  Sum: '&lt;S57&gt;/Sum6'</span></td></tr>
+<td><a id="l1569" class='ln'>1569</a></td><td>    <span class="kw">if</span> ((<a id="1569c10" class="tk">int16_T</a>)<a id="1569c18" class="tk">rtb_Gain_b0</a> <a id="1569c30" class="tk">&gt;</a> <a id="1569c32" class="tk">rtDW</a>-&gt;<a id="1569c38" class="tk">Max_p</a>) <span class="br">{</span></td></tr>
 <tr name="1570" id="1570">
-<td><a id="l1570" class='ln'>1570</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1570" class='ln'>1570</a></td><td>      <a id="1570c7" class="tk">rtb_r_cos_M1</a> = <a id="1570c22" class="tk">rtDW</a>-&gt;<a id="1570c28" class="tk">Max_p</a>;</td></tr>
 <tr name="1571" id="1571">
-<td><a id="l1571" class='ln'>1571</a></td><td>  <a id="1571c3" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1] = (<a id="1571c41" class="tk">int16_T</a>)<a id="1571c49" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l1571" class='ln'>1571</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="1571c17" class="tk">int16_T</a>)<a id="1571c25" class="tk">rtb_Gain_b0</a> <a id="1571c37" class="tk">&lt;</a> <a id="1571c39" class="tk">rtDW</a>-&gt;<a id="1571c45" class="tk">Max1_g</a>) <span class="br">{</span></td></tr>
 <tr name="1572" id="1572">
-<td><a id="l1572" class='ln'>1572</a></td><td></td></tr>
+<td><a id="l1572" class='ln'>1572</a></td><td>      <span class="ct">/* Switch: '&lt;S34&gt;/Switch' incorporates:</span></td></tr>
 <tr name="1573" id="1573">
-<td><a id="l1573" class='ln'>1573</a></td><td>  <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S46&gt;/Low_Pass_Filter' */</span></td></tr>
+<td><a id="l1573" class='ln'>1573</a></td><td><span class="ct">       *  MinMax: '&lt;S33&gt;/Max1'</span></td></tr>
 <tr name="1574" id="1574">
-<td><a id="l1574" class='ln'>1574</a></td><td>  <span class="ct">/* Constant: '&lt;S46&gt;/Constant' */</span></td></tr>
+<td><a id="l1574" class='ln'>1574</a></td><td><span class="ct">       *  Switch: '&lt;S34&gt;/Switch2'</span></td></tr>
 <tr name="1575" id="1575">
-<td><a id="l1575" class='ln'>1575</a></td><td>  <a id="1575c3" class="tk">Low_Pass_Filter</a>(<a id="1575c19" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>, 26214, <a id="1575c59" class="tk">rtb_DataTypeConversion</a>,</td></tr>
+<td><a id="l1575" class='ln'>1575</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1576" id="1576">
-<td><a id="l1576" class='ln'>1576</a></td><td>                  <a id="1576c19" class="tk">&amp;</a><a id="1576c20" class="tk">rtDW</a>-&gt;<a id="1576c26" class="tk">Low_Pass_Filter_d</a>);</td></tr>
+<td><a id="l1576" class='ln'>1576</a></td><td>      <a id="1576c7" class="tk">rtb_r_cos_M1</a> = <a id="1576c22" class="tk">rtDW</a>-&gt;<a id="1576c28" class="tk">Max1_g</a>;</td></tr>
 <tr name="1577" id="1577">
-<td><a id="l1577" class='ln'>1577</a></td><td></td></tr>
+<td><a id="l1577" class='ln'>1577</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1578" id="1578">
-<td><a id="l1578" class='ln'>1578</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;S46&gt;/Low_Pass_Filter' */</span></td></tr>
+<td><a id="l1578" class='ln'>1578</a></td><td>      <a id="1578c7" class="tk">rtb_r_cos_M1</a> = (<a id="1578c23" class="tk">int16_T</a>)<a id="1578c31" class="tk">rtb_Gain_b0</a>;</td></tr>
 <tr name="1579" id="1579">
-<td><a id="l1579" class='ln'>1579</a></td><td></td></tr>
+<td><a id="l1579" class='ln'>1579</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1580" id="1580">
-<td><a id="l1580" class='ln'>1580</a></td><td>  <span class="ct">/* Switch: '&lt;S54&gt;/Switch2' */</span></td></tr>
+<td><a id="l1580" class='ln'>1580</a></td><td></td></tr>
 <tr name="1581" id="1581">
-<td><a id="l1581" class='ln'>1581</a></td><td>  <a id="1581c3" class="tk">rtb_Sum</a> = (<a id="1581c14" class="tk">uint8_T</a>)(<a id="1581c23" class="tk">rtb_z_ctrlMod</a> <a id="1581c37" class="tk">!=</a> 0);</td></tr>
+<td><a id="l1581" class='ln'>1581</a></td><td>    <span class="ct">/* End of Switch: '&lt;S34&gt;/Switch2' */</span></td></tr>
 <tr name="1582" id="1582">
 <td><a id="l1582" class='ln'>1582</a></td><td></td></tr>
 <tr name="1583" id="1583">
-<td><a id="l1583" class='ln'>1583</a></td><td>  <span class="ct">/* DataTypeConversion: '&lt;S48&gt;/Data Type Conversion' incorporates:</span></td></tr>
+<td><a id="l1583" class='ln'>1583</a></td><td>    <span class="ct">/* Merge: '&lt;S26&gt;/Merge' incorporates:</span></td></tr>
 <tr name="1584" id="1584">
-<td><a id="l1584" class='ln'>1584</a></td><td><span class="ct">   *  Logic: '&lt;S48&gt;/Logical Operator'</span></td></tr>
+<td><a id="l1584" class='ln'>1584</a></td><td><span class="ct">     *  Constant: '&lt;S29&gt;/Constant3'</span></td></tr>
 <tr name="1585" id="1585">
-<td><a id="l1585" class='ln'>1585</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S48&gt;/Equal'</span></td></tr>
+<td><a id="l1585" class='ln'>1585</a></td><td><span class="ct">     *  SignalConversion generated from: '&lt;S29&gt;/open_voltage'</span></td></tr>
 <tr name="1586" id="1586">
-<td><a id="l1586" class='ln'>1586</a></td><td><span class="ct">   *  UnitDelay: '&lt;S48&gt;/Unit Delay'</span></td></tr>
+<td><a id="l1586" class='ln'>1586</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1587" id="1587">
-<td><a id="l1587" class='ln'>1587</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1587" class='ln'>1587</a></td><td>    <a id="1587c5" class="tk">rtDW</a>-&gt;<a id="1587c11" class="tk">Merge</a>[0] = 0;</td></tr>
 <tr name="1588" id="1588">
-<td><a id="l1588" class='ln'>1588</a></td><td>  <a id="1588c3" class="tk">rtb_DataTypeConversion_m</a> = (<a id="1588c31" class="tk">uint8_T</a>)((<a id="1588c41" class="tk">rtb_Sum</a> <a id="1588c49" class="tk">!=</a> 0) <a id="1588c55" class="tk">&amp;&amp;</a></td></tr>
+<td><a id="l1588" class='ln'>1588</a></td><td></td></tr>
 <tr name="1589" id="1589">
-<td><a id="l1589" class='ln'>1589</a></td><td>    (<a id="1589c6" class="tk">rtDW</a>-&gt;<a id="1589c12" class="tk">UnitDelay_DSTATE_b</a> <a id="1589c31" class="tk">!=</a> <a id="1589c34" class="tk">rtb_Sum</a>));</td></tr>
+<td><a id="l1589" class='ln'>1589</a></td><td>    <span class="ct">/* Switch: '&lt;S29&gt;/Switch' incorporates:</span></td></tr>
 <tr name="1590" id="1590">
-<td><a id="l1590" class='ln'>1590</a></td><td></td></tr>
+<td><a id="l1590" class='ln'>1590</a></td><td><span class="ct">     *  Switch: '&lt;S24&gt;/Switch'</span></td></tr>
 <tr name="1591" id="1591">
-<td><a id="l1591" class='ln'>1591</a></td><td>  <span class="ct">/* If: '&lt;S53&gt;/If' incorporates:</span></td></tr>
+<td><a id="l1591" class='ln'>1591</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1592" id="1592">
-<td><a id="l1592" class='ln'>1592</a></td><td><span class="ct">   *  Logic: '&lt;S54&gt;/Logical Operator'</span></td></tr>
+<td><a id="l1592" class='ln'>1592</a></td><td>    <span class="kw">if</span> (<a id="1592c9" class="tk">rtb_Switch</a> <a id="1592c20" class="tk">&gt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="1593" id="1593">
-<td><a id="l1593" class='ln'>1593</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1593" class='ln'>1593</a></td><td>      <span class="ct">/* Merge: '&lt;S26&gt;/Merge' incorporates:</span></td></tr>
 <tr name="1594" id="1594">
-<td><a id="l1594" class='ln'>1594</a></td><td>  <span class="kw">if</span> ((<a id="1594c8" class="tk">rtb_Sum</a> <a id="1594c16" class="tk">!=</a> 0) <a id="1594c22" class="tk">&amp;&amp;</a> <a id="1594c25" class="tk">rtb_Equal_k</a>) <span class="br">{</span></td></tr>
+<td><a id="l1594" class='ln'>1594</a></td><td><span class="ct">       *  SignalConversion generated from: '&lt;S29&gt;/open_voltage'</span></td></tr>
 <tr name="1595" id="1595">
-<td><a id="l1595" class='ln'>1595</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S53&gt;/Subsystem' incorporates:</span></td></tr>
+<td><a id="l1595" class='ln'>1595</a></td><td><span class="ct">       *  Switch: '&lt;S34&gt;/Switch2'</span></td></tr>
 <tr name="1596" id="1596">
-<td><a id="l1596" class='ln'>1596</a></td><td><span class="ct">     *  ActionPort: '&lt;S81&gt;/Action Port'</span></td></tr>
+<td><a id="l1596" class='ln'>1596</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1597" id="1597">
-<td><a id="l1597" class='ln'>1597</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1597" class='ln'>1597</a></td><td>      <a id="1597c7" class="tk">rtDW</a>-&gt;<a id="1597c13" class="tk">Merge</a>[1] = <a id="1597c24" class="tk">rtb_r_cos_M1</a>;</td></tr>
 <tr name="1598" id="1598">
-<td><a id="l1598" class='ln'>1598</a></td><td>    <span class="ct">/* If: '&lt;S84&gt;/If' incorporates:</span></td></tr>
+<td><a id="l1598" class='ln'>1598</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1599" id="1599">
-<td><a id="l1599" class='ln'>1599</a></td><td><span class="ct">     *  Constant: '&lt;S47&gt;/Constant1'</span></td></tr>
+<td><a id="l1599" class='ln'>1599</a></td><td>      <span class="ct">/* Merge: '&lt;S26&gt;/Merge' incorporates:</span></td></tr>
 <tr name="1600" id="1600">
-<td><a id="l1600" class='ln'>1600</a></td><td><span class="ct">     *  Constant: '&lt;S90&gt;/Constant1'</span></td></tr>
+<td><a id="l1600" class='ln'>1600</a></td><td><span class="ct">       *  Constant: '&lt;S29&gt;/Constant1'</span></td></tr>
 <tr name="1601" id="1601">
-<td><a id="l1601" class='ln'>1601</a></td><td><span class="ct">     *  Constant: '&lt;S90&gt;/Constant11'</span></td></tr>
+<td><a id="l1601" class='ln'>1601</a></td><td><span class="ct">       *  SignalConversion generated from: '&lt;S29&gt;/open_voltage'</span></td></tr>
 <tr name="1602" id="1602">
-<td><a id="l1602" class='ln'>1602</a></td><td><span class="ct">     *  Constant: '&lt;S90&gt;/Constant2'</span></td></tr>
+<td><a id="l1602" class='ln'>1602</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1603" id="1603">
-<td><a id="l1603" class='ln'>1603</a></td><td><span class="ct">     *  Constant: '&lt;S90&gt;/Constant4'</span></td></tr>
+<td><a id="l1603" class='ln'>1603</a></td><td>      <a id="1603c7" class="tk">rtDW</a>-&gt;<a id="1603c13" class="tk">Merge</a>[1] = 0;</td></tr>
 <tr name="1604" id="1604">
-<td><a id="l1604" class='ln'>1604</a></td><td><span class="ct">     *  DataTypeConversion: '&lt;S81&gt;/Data Type Conversion'</span></td></tr>
+<td><a id="l1604" class='ln'>1604</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1605" id="1605">
-<td><a id="l1605" class='ln'>1605</a></td><td><span class="ct">     *  Gain: '&lt;S81&gt;/Gain'</span></td></tr>
+<td><a id="l1605" class='ln'>1605</a></td><td></td></tr>
 <tr name="1606" id="1606">
-<td><a id="l1606" class='ln'>1606</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S81&gt;/Equal'</span></td></tr>
+<td><a id="l1606" class='ln'>1606</a></td><td>    <span class="ct">/* End of Switch: '&lt;S29&gt;/Switch' */</span></td></tr>
 <tr name="1607" id="1607">
-<td><a id="l1607" class='ln'>1607</a></td><td><span class="ct">     *  Sum: '&lt;S90&gt;/Add2'</span></td></tr>
+<td><a id="l1607" class='ln'>1607</a></td><td></td></tr>
 <tr name="1608" id="1608">
-<td><a id="l1608" class='ln'>1608</a></td><td><span class="ct">     *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
+<td><a id="l1608" class='ln'>1608</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S31&gt;/UnitDelay' incorporates:</span></td></tr>
 <tr name="1609" id="1609">
-<td><a id="l1609" class='ln'>1609</a></td><td><span class="ct">     *  Switch: '&lt;S95&gt;/Switch2'</span></td></tr>
+<td><a id="l1609" class='ln'>1609</a></td><td><span class="ct">     *  Switch: '&lt;S24&gt;/Switch3'</span></td></tr>
 <tr name="1610" id="1610">
-<td><a id="l1610" class='ln'>1610</a></td><td><span class="ct">     *  UnitDelay: '&lt;S81&gt;/Unit Delay'</span></td></tr>
+<td><a id="l1610" class='ln'>1610</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1611" id="1611">
-<td><a id="l1611" class='ln'>1611</a></td><td><span class="ct">     *  UnitDelay: '&lt;S81&gt;/Unit Delay1'</span></td></tr>
+<td><a id="l1611" class='ln'>1611</a></td><td>    <a id="1611c5" class="tk">rtDW</a>-&gt;<a id="1611c11" class="tk">UnitDelay_DSTATE_e</a> = <a id="1611c32" class="tk">rtb_Sum6_p</a>;</td></tr>
 <tr name="1612" id="1612">
-<td><a id="l1612" class='ln'>1612</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1612" class='ln'>1612</a></td><td></td></tr>
 <tr name="1613" id="1613">
-<td><a id="l1613" class='ln'>1613</a></td><td>    <span class="kw">if</span> (<a id="1613c9" class="tk">rtb_z_ctrlMod</a> <a id="1613c23" class="tk">==</a> 1) <span class="br">{</span></td></tr>
+<td><a id="l1613" class='ln'>1613</a></td><td>    <span class="ct">/* Switch: '&lt;S36&gt;/Switch2' */</span></td></tr>
 <tr name="1614" id="1614">
-<td><a id="l1614" class='ln'>1614</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S84&gt;/speed_mode' incorporates:</span></td></tr>
+<td><a id="l1614" class='ln'>1614</a></td><td>    <span class="kw">if</span> (<a id="1614c9" class="tk">rtb_LogicalOperator12</a>) <span class="br">{</span></td></tr>
 <tr name="1615" id="1615">
-<td><a id="l1615" class='ln'>1615</a></td><td><span class="ct">       *  ActionPort: '&lt;S90&gt;/Action Port'</span></td></tr>
+<td><a id="l1615" class='ln'>1615</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S36&gt;/UnitDelay' incorporates:</span></td></tr>
 <tr name="1616" id="1616">
-<td><a id="l1616" class='ln'>1616</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1616" class='ln'>1616</a></td><td><span class="ct">       *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="1617" id="1617">
-<td><a id="l1617" class='ln'>1617</a></td><td>      <span class="ct">/* Switch: '&lt;S92&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l1617" class='ln'>1617</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1618" id="1618">
-<td><a id="l1618" class='ln'>1618</a></td><td><span class="ct">       *  Inport: '&lt;Root&gt;/speed_limit'</span></td></tr>
+<td><a id="l1618" class='ln'>1618</a></td><td>      <a id="1618c7" class="tk">rtDW</a>-&gt;<a id="1618c13" class="tk">UnitDelay_DSTATE_fv</a> = <a id="1618c35" class="tk">rtDW</a>-&gt;<a id="1618c41" class="tk">UnitDelay1_DSTATE_f</a>[1];</td></tr>
 <tr name="1619" id="1619">
-<td><a id="l1619" class='ln'>1619</a></td><td><span class="ct">       *  Merge: '&lt;S26&gt;/Merge1'</span></td></tr>
+<td><a id="l1619" class='ln'>1619</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1620" id="1620">
-<td><a id="l1620" class='ln'>1620</a></td><td><span class="ct">       *  RelationalOperator: '&lt;S92&gt;/LowerRelop1'</span></td></tr>
+<td><a id="l1620" class='ln'>1620</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S36&gt;/UnitDelay' incorporates:</span></td></tr>
 <tr name="1621" id="1621">
-<td><a id="l1621" class='ln'>1621</a></td><td><span class="ct">       *  RelationalOperator: '&lt;S92&gt;/UpperRelop'</span></td></tr>
+<td><a id="l1621" class='ln'>1621</a></td><td><span class="ct">       *  Sum: '&lt;S35&gt;/Add2'</span></td></tr>
 <tr name="1622" id="1622">
-<td><a id="l1622" class='ln'>1622</a></td><td><span class="ct">       *  Switch: '&lt;S92&gt;/Switch'</span></td></tr>
+<td><a id="l1622" class='ln'>1622</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1623" id="1623">
-<td><a id="l1623" class='ln'>1623</a></td><td><span class="ct">       *  Switch: '&lt;S95&gt;/Switch2'</span></td></tr>
+<td><a id="l1623" class='ln'>1623</a></td><td>      <a id="1623c7" class="tk">rtDW</a>-&gt;<a id="1623c13" class="tk">UnitDelay_DSTATE_fv</a> = (<a id="1623c36" class="tk">int16_T</a>)<a id="1623c44" class="tk">rtb_Gain_b0</a>;</td></tr>
 <tr name="1624" id="1624">
-<td><a id="l1624" class='ln'>1624</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1624" class='ln'>1624</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1625" id="1625">
-<td><a id="l1625" class='ln'>1625</a></td><td>      <span class="kw">if</span> (<a id="1625c11" class="tk">rtDW</a>-&gt;<a id="1625c17" class="tk">Merge1</a> <a id="1625c24" class="tk">&gt;</a> <a id="1625c26" class="tk">rtU</a>-&gt;<a id="1625c31" class="tk">speed_limit</a>) <span class="br">{</span></td></tr>
+<td><a id="l1625" class='ln'>1625</a></td><td></td></tr>
 <tr name="1626" id="1626">
-<td><a id="l1626" class='ln'>1626</a></td><td>        <a id="1626c9" class="tk">rtb_Divide1_m</a> = <a id="1626c25" class="tk">rtU</a>-&gt;<a id="1626c30" class="tk">speed_limit</a>;</td></tr>
+<td><a id="l1626" class='ln'>1626</a></td><td>    <span class="ct">/* End of Switch: '&lt;S36&gt;/Switch2' */</span></td></tr>
 <tr name="1627" id="1627">
-<td><a id="l1627" class='ln'>1627</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1627c18" class="tk">rtDW</a>-&gt;<a id="1627c24" class="tk">Merge1</a> <a id="1627c31" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l1627" class='ln'>1627</a></td><td></td></tr>
 <tr name="1628" id="1628">
-<td><a id="l1628" class='ln'>1628</a></td><td>        <span class="ct">/* Switch: '&lt;S92&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1628" class='ln'>1628</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S32&gt;/Unit Delay' incorporates:</span></td></tr>
 <tr name="1629" id="1629">
-<td><a id="l1629" class='ln'>1629</a></td><td><span class="ct">         *  Constant: '&lt;S90&gt;/Constant5'</span></td></tr>
+<td><a id="l1629" class='ln'>1629</a></td><td><span class="ct">     *  Switch: '&lt;S34&gt;/Switch2'</span></td></tr>
 <tr name="1630" id="1630">
-<td><a id="l1630" class='ln'>1630</a></td><td><span class="ct">         *  Switch: '&lt;S95&gt;/Switch2'</span></td></tr>
+<td><a id="l1630" class='ln'>1630</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1631" id="1631">
-<td><a id="l1631" class='ln'>1631</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1631" class='ln'>1631</a></td><td>    <a id="1631c5" class="tk">rtDW</a>-&gt;<a id="1631c11" class="tk">UnitDelay_DSTATE_i</a> = <a id="1631c32" class="tk">rtb_r_cos_M1</a>;</td></tr>
 <tr name="1632" id="1632">
-<td><a id="l1632" class='ln'>1632</a></td><td>        <a id="1632c9" class="tk">rtb_Divide1_m</a> = 0;</td></tr>
+<td><a id="l1632" class='ln'>1632</a></td><td></td></tr>
 <tr name="1633" id="1633">
-<td><a id="l1633" class='ln'>1633</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1633" class='ln'>1633</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/open_mode' */</span></td></tr>
 <tr name="1634" id="1634">
-<td><a id="l1634" class='ln'>1634</a></td><td>        <a id="1634c9" class="tk">rtb_Divide1_m</a> = <a id="1634c25" class="tk">rtDW</a>-&gt;<a id="1634c31" class="tk">Merge1</a>;</td></tr>
+<td><a id="l1634" class='ln'>1634</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1634c14" class="tk">rtb_z_ctrlMod</a> <a id="1634c28" class="tk">==</a> 2) <span class="br">{</span></td></tr>
 <tr name="1635" id="1635">
-<td><a id="l1635" class='ln'>1635</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l1635" class='ln'>1635</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/torque_mode' incorporates:</span></td></tr>
 <tr name="1636" id="1636">
-<td><a id="l1636" class='ln'>1636</a></td><td></td></tr>
+<td><a id="l1636" class='ln'>1636</a></td><td><span class="ct">     *  ActionPort: '&lt;S30&gt;/Action Port'</span></td></tr>
 <tr name="1637" id="1637">
-<td><a id="l1637" class='ln'>1637</a></td><td>      <span class="ct">/* End of Switch: '&lt;S92&gt;/Switch2' */</span></td></tr>
+<td><a id="l1637" class='ln'>1637</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1638" id="1638">
-<td><a id="l1638" class='ln'>1638</a></td><td></td></tr>
+<td><a id="l1638" class='ln'>1638</a></td><td>    <a id="1638c5" class="tk">rtDW</a>-&gt;<a id="1638c11" class="tk">r_currTgt</a> = <a id="1638c23" class="tk">rtU</a>-&gt;<a id="1638c28" class="tk">idq_Target</a>;</td></tr>
 <tr name="1639" id="1639">
-<td><a id="l1639" class='ln'>1639</a></td><td>      <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l1639" class='ln'>1639</a></td><td></td></tr>
 <tr name="1640" id="1640">
-<td><a id="l1640" class='ln'>1640</a></td><td>      <a id="1640c7" class="tk">rtb_Divide1_m</a> = <a id="1640c23" class="tk">pi_speed</a>((<a id="1640c33" class="tk">int16_T</a>)(<a id="1640c42" class="tk">rtb_Divide1_m</a> <a id="1640c56" class="tk">-</a> <a id="1640c58" class="tk">rtb_Switch2_l</a>), 3174,</td></tr>
+<td><a id="l1640" class='ln'>1640</a></td><td>    <span class="ct">/* Merge: '&lt;S26&gt;/Merge1' incorporates:</span></td></tr>
 <tr name="1641" id="1641">
-<td><a id="l1641" class='ln'>1641</a></td><td>        10, 51, 7680, <a id="1641c23" class="tk">-</a>7680, 0, (<a id="1641c34" class="tk">int16_T</a>)(<a id="1641c43" class="tk">-</a><a id="1641c44" class="tk">rtDW</a>-&gt;<a id="1641c50" class="tk">UnitDelay1_DSTATE_g</a> <a id="1641c70" class="tk">&gt;&gt;</a> 1),</td></tr>
+<td><a id="l1641" class='ln'>1641</a></td><td><span class="ct">     *  Inport: '&lt;Root&gt;/idq_Target'</span></td></tr>
 <tr name="1642" id="1642">
-<td><a id="l1642" class='ln'>1642</a></td><td>        (<a id="1642c10" class="tk">uint8_T</a>)(<a id="1642c19" class="tk">rtDW</a>-&gt;<a id="1642c25" class="tk">UnitDelay_DSTATE_p</a> <a id="1642c44" class="tk">!=</a> 1), <a id="1642c51" class="tk">&amp;</a><a id="1642c52" class="tk">rtDW</a>-&gt;<a id="1642c58" class="tk">pi_speed_d</a>,</td></tr>
+<td><a id="l1642" class='ln'>1642</a></td><td><span class="ct">     *  Inport: '&lt;S30&gt;/r_currTgt'</span></td></tr>
 <tr name="1643" id="1643">
-<td><a id="l1643" class='ln'>1643</a></td><td>        <a id="1643c9" class="tk">&amp;</a><a id="1643c10" class="tk">rtPrevZCX</a>-&gt;<a id="1643c21" class="tk">pi_speed_d</a>);</td></tr>
+<td><a id="l1643" class='ln'>1643</a></td><td><span class="ct">     *  Inport: '&lt;S30&gt;/r_spdTgt'</span></td></tr>
 <tr name="1644" id="1644">
-<td><a id="l1644" class='ln'>1644</a></td><td></td></tr>
+<td><a id="l1644" class='ln'>1644</a></td><td><span class="ct">     *  Switch: '&lt;S24&gt;/Switch'</span></td></tr>
 <tr name="1645" id="1645">
-<td><a id="l1645" class='ln'>1645</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l1645" class='ln'>1645</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1646" id="1646">
-<td><a id="l1646" class='ln'>1646</a></td><td></td></tr>
+<td><a id="l1646" class='ln'>1646</a></td><td>    <a id="1646c5" class="tk">rtDW</a>-&gt;<a id="1646c11" class="tk">Merge1</a> = <a id="1646c20" class="tk">rtb_Switch</a>;</td></tr>
 <tr name="1647" id="1647">
-<td><a id="l1647" class='ln'>1647</a></td><td>      <span class="ct">/* Merge: '&lt;S84&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l1647" class='ln'>1647</a></td><td></td></tr>
 <tr name="1648" id="1648">
-<td><a id="l1648" class='ln'>1648</a></td><td><span class="ct">       *  Constant: '&lt;S47&gt;/Constant1'</span></td></tr>
+<td><a id="l1648" class='ln'>1648</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/torque_mode' */</span></td></tr>
 <tr name="1649" id="1649">
-<td><a id="l1649" class='ln'>1649</a></td><td><span class="ct">       *  Constant: '&lt;S90&gt;/Constant1'</span></td></tr>
+<td><a id="l1649" class='ln'>1649</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1650" id="1650">
-<td><a id="l1650" class='ln'>1650</a></td><td><span class="ct">       *  Constant: '&lt;S90&gt;/Constant11'</span></td></tr>
+<td><a id="l1650" class='ln'>1650</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S26&gt;/If Action Subsystem1' incorporates:</span></td></tr>
 <tr name="1651" id="1651">
-<td><a id="l1651" class='ln'>1651</a></td><td><span class="ct">       *  Constant: '&lt;S90&gt;/Constant2'</span></td></tr>
+<td><a id="l1651" class='ln'>1651</a></td><td><span class="ct">     *  ActionPort: '&lt;S28&gt;/Action Port'</span></td></tr>
 <tr name="1652" id="1652">
-<td><a id="l1652" class='ln'>1652</a></td><td><span class="ct">       *  Constant: '&lt;S90&gt;/Constant4'</span></td></tr>
+<td><a id="l1652" class='ln'>1652</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1653" id="1653">
-<td><a id="l1653" class='ln'>1653</a></td><td><span class="ct">       *  DataTypeConversion: '&lt;S81&gt;/Data Type Conversion'</span></td></tr>
+<td><a id="l1653" class='ln'>1653</a></td><td>    <span class="ct">/* Merge: '&lt;S26&gt;/Merge1' incorporates:</span></td></tr>
 <tr name="1654" id="1654">
-<td><a id="l1654" class='ln'>1654</a></td><td><span class="ct">       *  Gain: '&lt;S81&gt;/Gain'</span></td></tr>
+<td><a id="l1654" class='ln'>1654</a></td><td><span class="ct">     *  Inport: '&lt;S28&gt;/In1'</span></td></tr>
 <tr name="1655" id="1655">
-<td><a id="l1655" class='ln'>1655</a></td><td><span class="ct">       *  RelationalOperator: '&lt;S81&gt;/Equal'</span></td></tr>
+<td><a id="l1655" class='ln'>1655</a></td><td><span class="ct">     *  Switch: '&lt;S24&gt;/Switch'</span></td></tr>
 <tr name="1656" id="1656">
-<td><a id="l1656" class='ln'>1656</a></td><td><span class="ct">       *  SignalConversion generated from: '&lt;S90&gt;/idq_target'</span></td></tr>
+<td><a id="l1656" class='ln'>1656</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1657" id="1657">
-<td><a id="l1657" class='ln'>1657</a></td><td><span class="ct">       *  Sum: '&lt;S90&gt;/Add2'</span></td></tr>
+<td><a id="l1657" class='ln'>1657</a></td><td>    <a id="1657c5" class="tk">rtDW</a>-&gt;<a id="1657c11" class="tk">Merge1</a> = <a id="1657c20" class="tk">rtb_Switch</a>;</td></tr>
 <tr name="1658" id="1658">
-<td><a id="l1658" class='ln'>1658</a></td><td><span class="ct">       *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
+<td><a id="l1658" class='ln'>1658</a></td><td></td></tr>
 <tr name="1659" id="1659">
-<td><a id="l1659" class='ln'>1659</a></td><td><span class="ct">       *  Switch: '&lt;S95&gt;/Switch2'</span></td></tr>
+<td><a id="l1659" class='ln'>1659</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S26&gt;/If Action Subsystem1' */</span></td></tr>
 <tr name="1660" id="1660">
-<td><a id="l1660" class='ln'>1660</a></td><td><span class="ct">       *  UnitDelay: '&lt;S81&gt;/Unit Delay'</span></td></tr>
+<td><a id="l1660" class='ln'>1660</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1661" id="1661">
-<td><a id="l1661" class='ln'>1661</a></td><td><span class="ct">       *  UnitDelay: '&lt;S81&gt;/Unit Delay1'</span></td></tr>
+<td><a id="l1661" class='ln'>1661</a></td><td></td></tr>
 <tr name="1662" id="1662">
-<td><a id="l1662" class='ln'>1662</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1662" class='ln'>1662</a></td><td>  <span class="ct">/* End of If: '&lt;S26&gt;/If' */</span></td></tr>
 <tr name="1663" id="1663">
-<td><a id="l1663" class='ln'>1663</a></td><td>      <a id="1663c7" class="tk">rtDW</a>-&gt;<a id="1663c13" class="tk">Merge_f</a> = <a id="1663c23" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l1663" class='ln'>1663</a></td><td></td></tr>
 <tr name="1664" id="1664">
-<td><a id="l1664" class='ln'>1664</a></td><td></td></tr>
+<td><a id="l1664" class='ln'>1664</a></td><td>  <span class="ct">/* Switch: '&lt;S60&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="1665" id="1665">
-<td><a id="l1665" class='ln'>1665</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S84&gt;/speed_mode' */</span></td></tr>
+<td><a id="l1665" class='ln'>1665</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/spd_Limit'</span></td></tr>
 <tr name="1666" id="1666">
-<td><a id="l1666" class='ln'>1666</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1666" class='ln'>1666</a></td><td><span class="ct">   *  Merge: '&lt;S26&gt;/Merge1'</span></td></tr>
 <tr name="1667" id="1667">
-<td><a id="l1667" class='ln'>1667</a></td><td>      <span class="kw">if</span> (<a id="1667c11" class="tk">rtb_z_ctrlMod</a> <a id="1667c25" class="tk">==</a> 2) <span class="br">{</span></td></tr>
+<td><a id="l1667" class='ln'>1667</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S60&gt;/LowerRelop1'</span></td></tr>
 <tr name="1668" id="1668">
-<td><a id="l1668" class='ln'>1668</a></td><td>        <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S84&gt;/torque_mode' incorporates:</span></td></tr>
+<td><a id="l1668" class='ln'>1668</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S60&gt;/UpperRelop'</span></td></tr>
 <tr name="1669" id="1669">
-<td><a id="l1669" class='ln'>1669</a></td><td><span class="ct">         *  ActionPort: '&lt;S91&gt;/Action Port'</span></td></tr>
+<td><a id="l1669" class='ln'>1669</a></td><td><span class="ct">   *  Switch: '&lt;S60&gt;/Switch'</span></td></tr>
 <tr name="1670" id="1670">
-<td><a id="l1670" class='ln'>1670</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1670" class='ln'>1670</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1671" id="1671">
-<td><a id="l1671" class='ln'>1671</a></td><td>        <span class="ct">/* Switch: '&lt;S91&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1671" class='ln'>1671</a></td><td>  <span class="kw">if</span> (<a id="1671c7" class="tk">rtDW</a>-&gt;<a id="1671c13" class="tk">Merge1</a> <a id="1671c20" class="tk">&gt;</a> <a id="1671c22" class="tk">rtU</a>-&gt;<a id="1671c27" class="tk">spd_Limit</a>) <span class="br">{</span></td></tr>
 <tr name="1672" id="1672">
-<td><a id="l1672" class='ln'>1672</a></td><td><span class="ct">         *  Inport: '&lt;S30&gt;/r_currTgt'</span></td></tr>
+<td><a id="l1672" class='ln'>1672</a></td><td>    <a id="1672c5" class="tk">rtb_Switch</a> = <a id="1672c18" class="tk">rtU</a>-&gt;<a id="1672c23" class="tk">spd_Limit</a>;</td></tr>
 <tr name="1673" id="1673">
-<td><a id="l1673" class='ln'>1673</a></td><td><span class="ct">         *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
+<td><a id="l1673" class='ln'>1673</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1673c14" class="tk">rtDW</a>-&gt;<a id="1673c20" class="tk">Merge1</a> <a id="1673c27" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="1674" id="1674">
-<td><a id="l1674" class='ln'>1674</a></td><td><span class="ct">         *  Switch: '&lt;S91&gt;/Switch1'</span></td></tr>
+<td><a id="l1674" class='ln'>1674</a></td><td>    <span class="ct">/* Switch: '&lt;S60&gt;/Switch' incorporates:</span></td></tr>
 <tr name="1675" id="1675">
-<td><a id="l1675" class='ln'>1675</a></td><td><span class="ct">         */</span></td></tr>
+<td><a id="l1675" class='ln'>1675</a></td><td><span class="ct">     *  Constant: '&lt;S50&gt;/Constant'</span></td></tr>
 <tr name="1676" id="1676">
-<td><a id="l1676" class='ln'>1676</a></td><td>        <span class="kw">if</span> (<a id="1676c13" class="tk">rtDW</a>-&gt;<a id="1676c19" class="tk">r_currTgt</a> <a id="1676c29" class="tk">&gt;=</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l1676" class='ln'>1676</a></td><td><span class="ct">     *  Switch: '&lt;S60&gt;/Switch2'</span></td></tr>
 <tr name="1677" id="1677">
-<td><a id="l1677" class='ln'>1677</a></td><td>          <span class="ct">/* Product: '&lt;S91&gt;/Divide' incorporates:</span></td></tr>
+<td><a id="l1677" class='ln'>1677</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1678" id="1678">
-<td><a id="l1678" class='ln'>1678</a></td><td><span class="ct">           *  Merge: '&lt;S26&gt;/Merge1'</span></td></tr>
+<td><a id="l1678" class='ln'>1678</a></td><td>    <a id="1678c5" class="tk">rtb_Switch</a> = 0;</td></tr>
 <tr name="1679" id="1679">
-<td><a id="l1679" class='ln'>1679</a></td><td><span class="ct">           *  Sum: '&lt;S91&gt;/Sum2'</span></td></tr>
+<td><a id="l1679" class='ln'>1679</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1680" id="1680">
-<td><a id="l1680" class='ln'>1680</a></td><td><span class="ct">           *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
+<td><a id="l1680" class='ln'>1680</a></td><td>    <a id="1680c5" class="tk">rtb_Switch</a> = <a id="1680c18" class="tk">rtDW</a>-&gt;<a id="1680c24" class="tk">Merge1</a>;</td></tr>
 <tr name="1681" id="1681">
-<td><a id="l1681" class='ln'>1681</a></td><td><span class="ct">           */</span></td></tr>
+<td><a id="l1681" class='ln'>1681</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="1682" id="1682">
-<td><a id="l1682" class='ln'>1682</a></td><td>          <a id="1682c11" class="tk">tmp_2</a> = (<a id="1682c20" class="tk">int16_T</a>)(<a id="1682c29" class="tk">rtDW</a>-&gt;<a id="1682c35" class="tk">Merge1</a> <a id="1682c42" class="tk">-</a> <a id="1682c44" class="tk">rtb_Switch2_l</a>) <a id="1682c59" class="tk">*</a> 192;</td></tr>
+<td><a id="l1682" class='ln'>1682</a></td><td></td></tr>
 <tr name="1683" id="1683">
-<td><a id="l1683" class='ln'>1683</a></td><td>          <span class="kw">if</span> (<a id="1683c15" class="tk">tmp_2</a> <a id="1683c21" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1683" class='ln'>1683</a></td><td>  <span class="ct">/* End of Switch: '&lt;S60&gt;/Switch2' */</span></td></tr>
 <tr name="1684" id="1684">
-<td><a id="l1684" class='ln'>1684</a></td><td>            <a id="1684c13" class="tk">tmp_2</a> = 32767;</td></tr>
+<td><a id="l1684" class='ln'>1684</a></td><td></td></tr>
 <tr name="1685" id="1685">
-<td><a id="l1685" class='ln'>1685</a></td><td>          <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1685" class='ln'>1685</a></td><td>  <span class="ct">/* If: '&lt;S54&gt;/If' incorporates:</span></td></tr>
 <tr name="1686" id="1686">
-<td><a id="l1686" class='ln'>1686</a></td><td>            <span class="kw">if</span> (<a id="1686c17" class="tk">tmp_2</a> <a id="1686c23" class="tk">&lt;</a> <a id="1686c25" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1686" class='ln'>1686</a></td><td><span class="ct">   *  Logic: '&lt;S72&gt;/Logical Operator'</span></td></tr>
 <tr name="1687" id="1687">
-<td><a id="l1687" class='ln'>1687</a></td><td>              <a id="1687c15" class="tk">tmp_2</a> = <a id="1687c23" class="tk">-</a>32768;</td></tr>
+<td><a id="l1687" class='ln'>1687</a></td><td><span class="ct">   *  Switch: '&lt;S72&gt;/Switch2'</span></td></tr>
 <tr name="1688" id="1688">
-<td><a id="l1688" class='ln'>1688</a></td><td>            <span class="br">}</span></td></tr>
+<td><a id="l1688" class='ln'>1688</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="1689" id="1689">
-<td><a id="l1689" class='ln'>1689</a></td><td>          <span class="br">}</span></td></tr>
+<td><a id="l1689" class='ln'>1689</a></td><td>  <span class="kw">if</span> ((<a id="1689c8" class="tk">rtb_z_ctrlMod</a> <a id="1689c22" class="tk">!=</a> 0) <a id="1689c28" class="tk">&amp;&amp;</a> <a id="1689c31" class="tk">rtb_Equal_k</a>) <span class="br">{</span></td></tr>
 <tr name="1690" id="1690">
-<td><a id="l1690" class='ln'>1690</a></td><td></td></tr>
+<td><a id="l1690" class='ln'>1690</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S54&gt;/Do_Calc' incorporates:</span></td></tr>
 <tr name="1691" id="1691">
-<td><a id="l1691" class='ln'>1691</a></td><td>          <a id="1691c11" class="tk">rtb_Divide1_m</a> = (<a id="1691c28" class="tk">int16_T</a>)<a id="1691c36" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l1691" class='ln'>1691</a></td><td><span class="ct">     *  ActionPort: '&lt;S71&gt;/Action Port'</span></td></tr>
 <tr name="1692" id="1692">
-<td><a id="l1692" class='ln'>1692</a></td><td></td></tr>
+<td><a id="l1692" class='ln'>1692</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1693" id="1693">
-<td><a id="l1693" class='ln'>1693</a></td><td>          <span class="ct">/* End of Product: '&lt;S91&gt;/Divide' */</span></td></tr>
+<td><a id="l1693" class='ln'>1693</a></td><td>    <span class="ct">/* DataTypeConversion: '&lt;S71&gt;/Data Type Conversion' incorporates:</span></td></tr>
 <tr name="1694" id="1694">
-<td><a id="l1694" class='ln'>1694</a></td><td></td></tr>
+<td><a id="l1694" class='ln'>1694</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S71&gt;/Equal'</span></td></tr>
 <tr name="1695" id="1695">
-<td><a id="l1695" class='ln'>1695</a></td><td>          <span class="ct">/* Product: '&lt;S91&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l1695" class='ln'>1695</a></td><td><span class="ct">     *  UnitDelay: '&lt;S71&gt;/Unit Delay'</span></td></tr>
 <tr name="1696" id="1696">
-<td><a id="l1696" class='ln'>1696</a></td><td><span class="ct">           *  Merge: '&lt;S26&gt;/Merge1'</span></td></tr>
+<td><a id="l1696" class='ln'>1696</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1697" id="1697">
-<td><a id="l1697" class='ln'>1697</a></td><td><span class="ct">           *  Sum: '&lt;S91&gt;/Sum3'</span></td></tr>
+<td><a id="l1697" class='ln'>1697</a></td><td>    <a id="1697c5" class="tk">rtb_DataTypeConversion_np</a> = (<a id="1697c34" class="tk">uint8_T</a>)(<a id="1697c43" class="tk">rtDW</a>-&gt;<a id="1697c49" class="tk">UnitDelay_DSTATE_p2</a> <a id="1697c69" class="tk">!=</a></td></tr>
 <tr name="1698" id="1698">
-<td><a id="l1698" class='ln'>1698</a></td><td><span class="ct">           *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
+<td><a id="l1698" class='ln'>1698</a></td><td>      <a id="1698c7" class="tk">rtb_z_ctrlMod</a>);</td></tr>
 <tr name="1699" id="1699">
-<td><a id="l1699" class='ln'>1699</a></td><td><span class="ct">           */</span></td></tr>
+<td><a id="l1699" class='ln'>1699</a></td><td></td></tr>
 <tr name="1700" id="1700">
-<td><a id="l1700" class='ln'>1700</a></td><td>          <a id="1700c11" class="tk">tmp_2</a> = ((<a id="1700c21" class="tk">int16_T</a>)(<a id="1700c30" class="tk">rtb_Switch2_l</a> <a id="1700c44" class="tk">-</a> <a id="1700c46" class="tk">rtDW</a>-&gt;<a id="1700c52" class="tk">Merge1</a>) <a id="1700c60" class="tk">*</a> 51) <a id="1700c66" class="tk">&gt;&gt;</a> 4;</td></tr>
+<td><a id="l1700" class='ln'>1700</a></td><td>    <span class="ct">/* If: '&lt;S74&gt;/If' incorporates:</span></td></tr>
 <tr name="1701" id="1701">
-<td><a id="l1701" class='ln'>1701</a></td><td>          <span class="kw">if</span> (<a id="1701c15" class="tk">tmp_2</a> <a id="1701c21" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l1701" class='ln'>1701</a></td><td><span class="ct">     *  Constant: '&lt;S87&gt;/Constant1'</span></td></tr>
 <tr name="1702" id="1702">
-<td><a id="l1702" class='ln'>1702</a></td><td>            <a id="1702c13" class="tk">tmp_2</a> = 32767;</td></tr>
+<td><a id="l1702" class='ln'>1702</a></td><td><span class="ct">     *  Constant: '&lt;S87&gt;/Constant11'</span></td></tr>
 <tr name="1703" id="1703">
-<td><a id="l1703" class='ln'>1703</a></td><td>          <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1703" class='ln'>1703</a></td><td><span class="ct">     *  Constant: '&lt;S87&gt;/Constant4'</span></td></tr>
 <tr name="1704" id="1704">
-<td><a id="l1704" class='ln'>1704</a></td><td>            <span class="kw">if</span> (<a id="1704c17" class="tk">tmp_2</a> <a id="1704c23" class="tk">&lt;</a> <a id="1704c25" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l1704" class='ln'>1704</a></td><td><span class="ct">     *  Gain: '&lt;S71&gt;/Gain'</span></td></tr>
 <tr name="1705" id="1705">
-<td><a id="l1705" class='ln'>1705</a></td><td>              <a id="1705c15" class="tk">tmp_2</a> = <a id="1705c23" class="tk">-</a>32768;</td></tr>
+<td><a id="l1705" class='ln'>1705</a></td><td><span class="ct">     *  Sum: '&lt;S87&gt;/Sum1'</span></td></tr>
 <tr name="1706" id="1706">
-<td><a id="l1706" class='ln'>1706</a></td><td>            <span class="br">}</span></td></tr>
+<td><a id="l1706" class='ln'>1706</a></td><td><span class="ct">     *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
 <tr name="1707" id="1707">
-<td><a id="l1707" class='ln'>1707</a></td><td>          <span class="br">}</span></td></tr>
+<td><a id="l1707" class='ln'>1707</a></td><td><span class="ct">     *  Switch: '&lt;S60&gt;/Switch2'</span></td></tr>
 <tr name="1708" id="1708">
-<td><a id="l1708" class='ln'>1708</a></td><td></td></tr>
+<td><a id="l1708" class='ln'>1708</a></td><td><span class="ct">     *  UnitDelay: '&lt;S71&gt;/Unit Delay1'</span></td></tr>
 <tr name="1709" id="1709">
-<td><a id="l1709" class='ln'>1709</a></td><td>          <span class="ct">/* MinMax: '&lt;S91&gt;/Max' incorporates:</span></td></tr>
+<td><a id="l1709" class='ln'>1709</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1710" id="1710">
-<td><a id="l1710" class='ln'>1710</a></td><td><span class="ct">           *  Product: '&lt;S91&gt;/Divide'</span></td></tr>
+<td><a id="l1710" class='ln'>1710</a></td><td>    <span class="kw">if</span> (<a id="1710c9" class="tk">rtb_z_ctrlMod</a> <a id="1710c23" class="tk">==</a> 1) <span class="br">{</span></td></tr>
 <tr name="1711" id="1711">
-<td><a id="l1711" class='ln'>1711</a></td><td><span class="ct">           *  Product: '&lt;S91&gt;/Divide1'</span></td></tr>
+<td><a id="l1711" class='ln'>1711</a></td><td>      <a id="1711c7" class="tk">rtb_Sum2</a> = 0;</td></tr>
 <tr name="1712" id="1712">
-<td><a id="l1712" class='ln'>1712</a></td><td><span class="ct">           */</span></td></tr>
+<td><a id="l1712" class='ln'>1712</a></td><td></td></tr>
 <tr name="1713" id="1713">
-<td><a id="l1713" class='ln'>1713</a></td><td>          <span class="kw">if</span> (<a id="1713c15" class="tk">rtb_Divide1_m</a> <a id="1713c29" class="tk">&gt;</a> (<a id="1713c32" class="tk">int16_T</a>)<a id="1713c40" class="tk">tmp_2</a>) <span class="br">{</span></td></tr>
+<td><a id="l1713" class='ln'>1713</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S74&gt;/speed_mode' incorporates:</span></td></tr>
 <tr name="1714" id="1714">
-<td><a id="l1714" class='ln'>1714</a></td><td>            <a id="1714c13" class="tk">rtb_Sign</a> = <a id="1714c24" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l1714" class='ln'>1714</a></td><td><span class="ct">       *  ActionPort: '&lt;S87&gt;/Action Port'</span></td></tr>
 <tr name="1715" id="1715">
-<td><a id="l1715" class='ln'>1715</a></td><td>          <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1715" class='ln'>1715</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1716" id="1716">
-<td><a id="l1716" class='ln'>1716</a></td><td>            <a id="1716c13" class="tk">rtb_Sign</a> = (<a id="1716c25" class="tk">int16_T</a>)<a id="1716c33" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l1716" class='ln'>1716</a></td><td>      <span class="ct">/* MinMax: '&lt;S87&gt;/Min' incorporates:</span></td></tr>
 <tr name="1717" id="1717">
-<td><a id="l1717" class='ln'>1717</a></td><td>          <span class="br">}</span></td></tr>
+<td><a id="l1717" class='ln'>1717</a></td><td><span class="ct">       *  Constant: '&lt;S87&gt;/Constant6'</span></td></tr>
 <tr name="1718" id="1718">
-<td><a id="l1718" class='ln'>1718</a></td><td></td></tr>
+<td><a id="l1718" class='ln'>1718</a></td><td><span class="ct">       *  UnitDelay: '&lt;S87&gt;/Unit Delay'</span></td></tr>
 <tr name="1719" id="1719">
-<td><a id="l1719" class='ln'>1719</a></td><td>          <span class="ct">/* End of MinMax: '&lt;S91&gt;/Max' */</span></td></tr>
+<td><a id="l1719" class='ln'>1719</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1720" id="1720">
-<td><a id="l1720" class='ln'>1720</a></td><td></td></tr>
+<td><a id="l1720" class='ln'>1720</a></td><td>      <span class="kw">if</span> (4800 <a id="1720c16" class="tk">&lt;</a> <a id="1720c18" class="tk">rtDW</a>-&gt;<a id="1720c24" class="tk">UnitDelay_DSTATE_l</a>) <span class="br">{</span></td></tr>
 <tr name="1721" id="1721">
-<td><a id="l1721" class='ln'>1721</a></td><td>          <span class="ct">/* MinMax: '&lt;S91&gt;/Max3' incorporates:</span></td></tr>
+<td><a id="l1721" class='ln'>1721</a></td><td>        <a id="1721c9" class="tk">rtb_Sum6_p</a> = 4800;</td></tr>
 <tr name="1722" id="1722">
-<td><a id="l1722" class='ln'>1722</a></td><td><span class="ct">           *  Constant: '&lt;S47&gt;/Constant1'</span></td></tr>
+<td><a id="l1722" class='ln'>1722</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1723" id="1723">
-<td><a id="l1723" class='ln'>1723</a></td><td><span class="ct">           *  MinMax: '&lt;S91&gt;/Max'</span></td></tr>
+<td><a id="l1723" class='ln'>1723</a></td><td>        <a id="1723c9" class="tk">rtb_Sum6_p</a> = <a id="1723c22" class="tk">rtDW</a>-&gt;<a id="1723c28" class="tk">UnitDelay_DSTATE_l</a>;</td></tr>
 <tr name="1724" id="1724">
-<td><a id="l1724" class='ln'>1724</a></td><td><span class="ct">           */</span></td></tr>
+<td><a id="l1724" class='ln'>1724</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1725" id="1725">
-<td><a id="l1725" class='ln'>1725</a></td><td>          <span class="kw">if</span> (7680 <a id="1725c20" class="tk">&lt;</a> <a id="1725c22" class="tk">rtb_Sign</a>) <span class="br">{</span></td></tr>
+<td><a id="l1725" class='ln'>1725</a></td><td></td></tr>
 <tr name="1726" id="1726">
-<td><a id="l1726" class='ln'>1726</a></td><td>            <a id="1726c13" class="tk">rtb_Sign</a> = 7680;</td></tr>
+<td><a id="l1726" class='ln'>1726</a></td><td>      <span class="ct">/* End of MinMax: '&lt;S87&gt;/Min' */</span></td></tr>
 <tr name="1727" id="1727">
-<td><a id="l1727" class='ln'>1727</a></td><td>          <span class="br">}</span></td></tr>
+<td><a id="l1727" class='ln'>1727</a></td><td></td></tr>
 <tr name="1728" id="1728">
-<td><a id="l1728" class='ln'>1728</a></td><td></td></tr>
+<td><a id="l1728" class='ln'>1728</a></td><td>      <span class="ct">/* MinMax: '&lt;S87&gt;/Min1' incorporates:</span></td></tr>
 <tr name="1729" id="1729">
-<td><a id="l1729" class='ln'>1729</a></td><td>          <span class="ct">/* End of MinMax: '&lt;S91&gt;/Max3' */</span></td></tr>
+<td><a id="l1729" class='ln'>1729</a></td><td><span class="ct">       *  Constant: '&lt;S87&gt;/Constant2'</span></td></tr>
 <tr name="1730" id="1730">
-<td><a id="l1730" class='ln'>1730</a></td><td></td></tr>
+<td><a id="l1730" class='ln'>1730</a></td><td><span class="ct">       *  Gain: '&lt;S87&gt;/Gain'</span></td></tr>
 <tr name="1731" id="1731">
-<td><a id="l1731" class='ln'>1731</a></td><td>          <span class="ct">/* Switch: '&lt;S96&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l1731" class='ln'>1731</a></td><td><span class="ct">       *  UnitDelay: '&lt;S87&gt;/Unit Delay'</span></td></tr>
 <tr name="1732" id="1732">
-<td><a id="l1732" class='ln'>1732</a></td><td><span class="ct">           *  MinMax: '&lt;S91&gt;/Max1'</span></td></tr>
+<td><a id="l1732" class='ln'>1732</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1733" id="1733">
-<td><a id="l1733" class='ln'>1733</a></td><td><span class="ct">           *  MinMax: '&lt;S91&gt;/Max3'</span></td></tr>
+<td><a id="l1733" class='ln'>1733</a></td><td>      <span class="kw">if</span> ((<a id="1733c12" class="tk">int16_T</a>)<a id="1733c20" class="tk">-</a><a id="1733c21" class="tk">rtDW</a>-&gt;<a id="1733c27" class="tk">UnitDelay_DSTATE_l</a> <a id="1733c46" class="tk">&gt;</a> <a id="1733c48" class="tk">-</a>4800) <span class="br">{</span></td></tr>
 <tr name="1734" id="1734">
-<td><a id="l1734" class='ln'>1734</a></td><td><span class="ct">           *  Product: '&lt;S91&gt;/Divide'</span></td></tr>
+<td><a id="l1734" class='ln'>1734</a></td><td>        <a id="1734c9" class="tk">rtb_Divide1_m</a> = (<a id="1734c26" class="tk">int16_T</a>)<a id="1734c34" class="tk">-</a><a id="1734c35" class="tk">rtDW</a>-&gt;<a id="1734c41" class="tk">UnitDelay_DSTATE_l</a>;</td></tr>
 <tr name="1735" id="1735">
-<td><a id="l1735" class='ln'>1735</a></td><td><span class="ct">           *  Product: '&lt;S91&gt;/Divide1'</span></td></tr>
+<td><a id="l1735" class='ln'>1735</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1736" id="1736">
-<td><a id="l1736" class='ln'>1736</a></td><td><span class="ct">           *  RelationalOperator: '&lt;S96&gt;/LowerRelop1'</span></td></tr>
+<td><a id="l1736" class='ln'>1736</a></td><td>        <a id="1736c9" class="tk">rtb_Divide1_m</a> = <a id="1736c25" class="tk">-</a>4800;</td></tr>
 <tr name="1737" id="1737">
-<td><a id="l1737" class='ln'>1737</a></td><td><span class="ct">           */</span></td></tr>
+<td><a id="l1737" class='ln'>1737</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1738" id="1738">
-<td><a id="l1738" class='ln'>1738</a></td><td>          <span class="kw">if</span> (<a id="1738c15" class="tk">rtDW</a>-&gt;<a id="1738c21" class="tk">r_currTgt</a> <a id="1738c31" class="tk">&gt;</a> <a id="1738c33" class="tk">rtb_Sign</a>) <span class="br">{</span></td></tr>
+<td><a id="l1738" class='ln'>1738</a></td><td></td></tr>
 <tr name="1739" id="1739">
-<td><a id="l1739" class='ln'>1739</a></td><td>            <span class="ct">/* Merge: '&lt;S84&gt;/Merge' */</span></td></tr>
+<td><a id="l1739" class='ln'>1739</a></td><td>      <span class="ct">/* End of MinMax: '&lt;S87&gt;/Min1' */</span></td></tr>
 <tr name="1740" id="1740">
-<td><a id="l1740" class='ln'>1740</a></td><td>            <a id="1740c13" class="tk">rtDW</a>-&gt;<a id="1740c19" class="tk">Merge_f</a> = <a id="1740c29" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l1740" class='ln'>1740</a></td><td></td></tr>
 <tr name="1741" id="1741">
-<td><a id="l1741" class='ln'>1741</a></td><td>          <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1741" class='ln'>1741</a></td><td>      <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S87&gt;/PI_Speed' */</span></td></tr>
 <tr name="1742" id="1742">
-<td><a id="l1742" class='ln'>1742</a></td><td>            <span class="kw">if</span> (<a id="1742c17" class="tk">rtb_Divide1_m</a> <a id="1742c31" class="tk">&gt;=</a> (<a id="1742c35" class="tk">int16_T</a>)<a id="1742c43" class="tk">tmp_2</a>) <span class="br">{</span></td></tr>
+<td><a id="l1742" class='ln'>1742</a></td><td>      <a id="1742c7" class="tk">rtb_Sum1</a> = <a id="1742c18" class="tk">PI_backCalc_fixdt</a>(<a id="1742c36" class="tk">rtb_Switch</a> <a id="1742c47" class="tk">-</a> <a id="1742c49" class="tk">rtb_Switch3</a>, <a id="1742c62" class="tk">rtP</a>.<a id="1742c66" class="tk">cf_nKp</a>,</td></tr>
 <tr name="1743" id="1743">
-<td><a id="l1743" class='ln'>1743</a></td><td>              <span class="ct">/* MinMax: '&lt;S91&gt;/Max1' incorporates:</span></td></tr>
+<td><a id="l1743" class='ln'>1743</a></td><td>        <a id="1743c9" class="tk">rtP</a>.<a id="1743c13" class="tk">cf_nKi</a>, <a id="1743c21" class="tk">rtP</a>.<a id="1743c25" class="tk">cf_nKb</a>, <a id="1743c33" class="tk">rtb_Sum6_p</a>, <a id="1743c45" class="tk">rtb_Divide1_m</a>, (<a id="1743c61" class="tk">int16_T</a>)</td></tr>
 <tr name="1744" id="1744">
-<td><a id="l1744" class='ln'>1744</a></td><td><span class="ct">               *  Product: '&lt;S91&gt;/Divide1'</span></td></tr>
+<td><a id="l1744" class='ln'>1744</a></td><td>        (<a id="1744c10" class="tk">rtDW</a>-&gt;<a id="1744c16" class="tk">UnitDelay1_DSTATE_g</a> <a id="1744c36" class="tk">&gt;&gt;</a> 1), <a id="1744c43" class="tk">rtb_DataTypeConversion_np</a>,</td></tr>
 <tr name="1745" id="1745">
-<td><a id="l1745" class='ln'>1745</a></td><td><span class="ct">               */</span></td></tr>
+<td><a id="l1745" class='ln'>1745</a></td><td>        <a id="1745c9" class="tk">&amp;</a><a id="1745c10" class="tk">rtDW</a>-&gt;<a id="1745c16" class="tk">PI_Speed</a>, <a id="1745c26" class="tk">&amp;</a><a id="1745c27" class="tk">rtPrevZCX</a>-&gt;<a id="1745c38" class="tk">PI_Speed</a>);</td></tr>
 <tr name="1746" id="1746">
-<td><a id="l1746" class='ln'>1746</a></td><td>              <a id="1746c15" class="tk">rtb_Divide1_m</a> = (<a id="1746c32" class="tk">int16_T</a>)<a id="1746c40" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l1746" class='ln'>1746</a></td><td></td></tr>
 <tr name="1747" id="1747">
-<td><a id="l1747" class='ln'>1747</a></td><td>            <span class="br">}</span></td></tr>
+<td><a id="l1747" class='ln'>1747</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S87&gt;/PI_Speed' */</span></td></tr>
 <tr name="1748" id="1748">
 <td><a id="l1748" class='ln'>1748</a></td><td></td></tr>
 <tr name="1749" id="1749">
-<td><a id="l1749" class='ln'>1749</a></td><td>            <span class="ct">/* MinMax: '&lt;S91&gt;/Max2' incorporates:</span></td></tr>
+<td><a id="l1749" class='ln'>1749</a></td><td>      <span class="ct">/* Merge: '&lt;S74&gt;/Merge' incorporates:</span></td></tr>
 <tr name="1750" id="1750">
-<td><a id="l1750" class='ln'>1750</a></td><td><span class="ct">             *  Gain: '&lt;S47&gt;/Gain1'</span></td></tr>
+<td><a id="l1750" class='ln'>1750</a></td><td><span class="ct">       *  Constant: '&lt;S87&gt;/Constant1'</span></td></tr>
 <tr name="1751" id="1751">
-<td><a id="l1751" class='ln'>1751</a></td><td><span class="ct">             *  MinMax: '&lt;S91&gt;/Max1'</span></td></tr>
+<td><a id="l1751" class='ln'>1751</a></td><td><span class="ct">       *  Constant: '&lt;S87&gt;/Constant11'</span></td></tr>
 <tr name="1752" id="1752">
-<td><a id="l1752" class='ln'>1752</a></td><td><span class="ct">             */</span></td></tr>
+<td><a id="l1752" class='ln'>1752</a></td><td><span class="ct">       *  Constant: '&lt;S87&gt;/Constant4'</span></td></tr>
 <tr name="1753" id="1753">
-<td><a id="l1753" class='ln'>1753</a></td><td>            <span class="kw">if</span> (<a id="1753c17" class="tk">rtb_Divide1_m</a> <a id="1753c31" class="tk">&lt;=</a> <a id="1753c34" class="tk">-</a>7680) <span class="br">{</span></td></tr>
+<td><a id="l1753" class='ln'>1753</a></td><td><span class="ct">       *  DataTypeConversion: '&lt;S87&gt;/Data Type Conversion'</span></td></tr>
 <tr name="1754" id="1754">
-<td><a id="l1754" class='ln'>1754</a></td><td>              <a id="1754c15" class="tk">rtb_Divide1_m</a> = <a id="1754c31" class="tk">-</a>7680;</td></tr>
+<td><a id="l1754" class='ln'>1754</a></td><td><span class="ct">       *  Gain: '&lt;S71&gt;/Gain'</span></td></tr>
 <tr name="1755" id="1755">
-<td><a id="l1755" class='ln'>1755</a></td><td>            <span class="br">}</span></td></tr>
+<td><a id="l1755" class='ln'>1755</a></td><td><span class="ct">       *  Sum: '&lt;S87&gt;/Sum1'</span></td></tr>
 <tr name="1756" id="1756">
-<td><a id="l1756" class='ln'>1756</a></td><td></td></tr>
+<td><a id="l1756" class='ln'>1756</a></td><td><span class="ct">       *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
 <tr name="1757" id="1757">
-<td><a id="l1757" class='ln'>1757</a></td><td>            <span class="ct">/* End of MinMax: '&lt;S91&gt;/Max2' */</span></td></tr>
+<td><a id="l1757" class='ln'>1757</a></td><td><span class="ct">       *  Switch: '&lt;S60&gt;/Switch2'</span></td></tr>
 <tr name="1758" id="1758">
-<td><a id="l1758" class='ln'>1758</a></td><td></td></tr>
+<td><a id="l1758" class='ln'>1758</a></td><td><span class="ct">       *  Switch: '&lt;S91&gt;/Switch2'</span></td></tr>
 <tr name="1759" id="1759">
-<td><a id="l1759" class='ln'>1759</a></td><td>            <span class="ct">/* Switch: '&lt;S96&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1759" class='ln'>1759</a></td><td><span class="ct">       *  UnitDelay: '&lt;S71&gt;/Unit Delay1'</span></td></tr>
 <tr name="1760" id="1760">
-<td><a id="l1760" class='ln'>1760</a></td><td><span class="ct">             *  MinMax: '&lt;S91&gt;/Max2'</span></td></tr>
+<td><a id="l1760" class='ln'>1760</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1761" id="1761">
-<td><a id="l1761" class='ln'>1761</a></td><td><span class="ct">             *  RelationalOperator: '&lt;S96&gt;/UpperRelop'</span></td></tr>
+<td><a id="l1761" class='ln'>1761</a></td><td>      <a id="1761c7" class="tk">rtDW</a>-&gt;<a id="1761c13" class="tk">Merge_f</a> = (<a id="1761c24" class="tk">int16_T</a>)(<a id="1761c33" class="tk">rtb_Sum1</a> <a id="1761c42" class="tk">&gt;&gt;</a> 9);</td></tr>
 <tr name="1762" id="1762">
-<td><a id="l1762" class='ln'>1762</a></td><td><span class="ct">             */</span></td></tr>
+<td><a id="l1762" class='ln'>1762</a></td><td></td></tr>
 <tr name="1763" id="1763">
-<td><a id="l1763" class='ln'>1763</a></td><td>            <span class="kw">if</span> (<a id="1763c17" class="tk">rtDW</a>-&gt;<a id="1763c23" class="tk">r_currTgt</a> <a id="1763c33" class="tk">&lt;</a> <a id="1763c35" class="tk">rtb_Divide1_m</a>) <span class="br">{</span></td></tr>
+<td><a id="l1763" class='ln'>1763</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S74&gt;/speed_mode' */</span></td></tr>
 <tr name="1764" id="1764">
-<td><a id="l1764" class='ln'>1764</a></td><td>              <span class="ct">/* Merge: '&lt;S84&gt;/Merge' */</span></td></tr>
+<td><a id="l1764" class='ln'>1764</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1765" id="1765">
-<td><a id="l1765" class='ln'>1765</a></td><td>              <a id="1765c15" class="tk">rtDW</a>-&gt;<a id="1765c21" class="tk">Merge_f</a> = <a id="1765c31" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l1765" class='ln'>1765</a></td><td>      <a id="1765c7" class="tk">rtb_Sum2</a> = 1;</td></tr>
 <tr name="1766" id="1766">
-<td><a id="l1766" class='ln'>1766</a></td><td>            <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1766" class='ln'>1766</a></td><td></td></tr>
 <tr name="1767" id="1767">
-<td><a id="l1767" class='ln'>1767</a></td><td>              <span class="ct">/* Merge: '&lt;S84&gt;/Merge' */</span></td></tr>
+<td><a id="l1767" class='ln'>1767</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S74&gt;/torque_mode' incorporates:</span></td></tr>
 <tr name="1768" id="1768">
-<td><a id="l1768" class='ln'>1768</a></td><td>              <a id="1768c15" class="tk">rtDW</a>-&gt;<a id="1768c21" class="tk">Merge_f</a> = <a id="1768c31" class="tk">rtDW</a>-&gt;<a id="1768c37" class="tk">r_currTgt</a>;</td></tr>
+<td><a id="l1768" class='ln'>1768</a></td><td><span class="ct">       *  ActionPort: '&lt;S88&gt;/Action Port'</span></td></tr>
 <tr name="1769" id="1769">
-<td><a id="l1769" class='ln'>1769</a></td><td>            <span class="br">}</span></td></tr>
+<td><a id="l1769" class='ln'>1769</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1770" id="1770">
-<td><a id="l1770" class='ln'>1770</a></td><td></td></tr>
+<td><a id="l1770" class='ln'>1770</a></td><td>      <span class="ct">/* Sum: '&lt;S88&gt;/Sum1' incorporates:</span></td></tr>
 <tr name="1771" id="1771">
-<td><a id="l1771" class='ln'>1771</a></td><td>            <span class="ct">/* End of Switch: '&lt;S96&gt;/Switch' */</span></td></tr>
+<td><a id="l1771" class='ln'>1771</a></td><td><span class="ct">       *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
 <tr name="1772" id="1772">
-<td><a id="l1772" class='ln'>1772</a></td><td>          <span class="br">}</span></td></tr>
+<td><a id="l1772" class='ln'>1772</a></td><td><span class="ct">       *  Switch: '&lt;S60&gt;/Switch2'</span></td></tr>
 <tr name="1773" id="1773">
-<td><a id="l1773" class='ln'>1773</a></td><td></td></tr>
+<td><a id="l1773" class='ln'>1773</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1774" id="1774">
-<td><a id="l1774" class='ln'>1774</a></td><td>          <span class="ct">/* End of Switch: '&lt;S96&gt;/Switch2' */</span></td></tr>
+<td><a id="l1774" class='ln'>1774</a></td><td>      <a id="1774c7" class="tk">rtb_Sum1</a> = <a id="1774c18" class="tk">rtb_Switch</a> <a id="1774c29" class="tk">-</a> <a id="1774c31" class="tk">rtb_Switch3</a>;</td></tr>
 <tr name="1775" id="1775">
-<td><a id="l1775" class='ln'>1775</a></td><td>        <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1775c20" class="tk">rtb_Switch2_l</a> <a id="1775c34" class="tk">&gt;</a> 80) <span class="br">{</span></td></tr>
+<td><a id="l1775" class='ln'>1775</a></td><td></td></tr>
 <tr name="1776" id="1776">
-<td><a id="l1776" class='ln'>1776</a></td><td>          <span class="ct">/* Switch: '&lt;S91&gt;/Switch1' incorporates:</span></td></tr>
+<td><a id="l1776" class='ln'>1776</a></td><td>      <span class="ct">/* Delay: '&lt;S88&gt;/Delay' incorporates:</span></td></tr>
 <tr name="1777" id="1777">
-<td><a id="l1777" class='ln'>1777</a></td><td><span class="ct">           *  Merge: '&lt;S84&gt;/Merge'</span></td></tr>
+<td><a id="l1777" class='ln'>1777</a></td><td><span class="ct">       *  Inport: '&lt;S30&gt;/r_currTgt'</span></td></tr>
 <tr name="1778" id="1778">
-<td><a id="l1778" class='ln'>1778</a></td><td><span class="ct">           */</span></td></tr>
+<td><a id="l1778" class='ln'>1778</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1779" id="1779">
-<td><a id="l1779" class='ln'>1779</a></td><td>          <a id="1779c11" class="tk">rtDW</a>-&gt;<a id="1779c17" class="tk">Merge_f</a> = <a id="1779c27" class="tk">rtDW</a>-&gt;<a id="1779c33" class="tk">r_currTgt</a>;</td></tr>
+<td><a id="l1779" class='ln'>1779</a></td><td>      <span class="kw">if</span> (<a id="1779c11" class="tk">rtDW</a>-&gt;<a id="1779c17" class="tk">icLoad</a> <a id="1779c24" class="tk">!=</a> 0) <span class="br">{</span></td></tr>
 <tr name="1780" id="1780">
-<td><a id="l1780" class='ln'>1780</a></td><td>        <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1780" class='ln'>1780</a></td><td>        <a id="1780c9" class="tk">rtDW</a>-&gt;<a id="1780c15" class="tk">Delay_DSTATE</a> = <a id="1780c30" class="tk">rtDW</a>-&gt;<a id="1780c36" class="tk">r_currTgt</a>;</td></tr>
 <tr name="1781" id="1781">
-<td><a id="l1781" class='ln'>1781</a></td><td>          <span class="ct">/* Merge: '&lt;S84&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l1781" class='ln'>1781</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1782" id="1782">
-<td><a id="l1782" class='ln'>1782</a></td><td><span class="ct">           *  Constant: '&lt;S91&gt;/Constant5'</span></td></tr>
+<td><a id="l1782" class='ln'>1782</a></td><td></td></tr>
 <tr name="1783" id="1783">
-<td><a id="l1783" class='ln'>1783</a></td><td><span class="ct">           *  Switch: '&lt;S91&gt;/Switch1'</span></td></tr>
+<td><a id="l1783" class='ln'>1783</a></td><td>      <span class="ct">/* MinMax: '&lt;S88&gt;/Min' incorporates:</span></td></tr>
 <tr name="1784" id="1784">
-<td><a id="l1784" class='ln'>1784</a></td><td><span class="ct">           */</span></td></tr>
+<td><a id="l1784" class='ln'>1784</a></td><td><span class="ct">       *  Delay: '&lt;S88&gt;/Delay'</span></td></tr>
 <tr name="1785" id="1785">
-<td><a id="l1785" class='ln'>1785</a></td><td>          <a id="1785c11" class="tk">rtDW</a>-&gt;<a id="1785c17" class="tk">Merge_f</a> = 0;</td></tr>
+<td><a id="l1785" class='ln'>1785</a></td><td><span class="ct">       *  Inport: '&lt;S30&gt;/r_currTgt'</span></td></tr>
 <tr name="1786" id="1786">
-<td><a id="l1786" class='ln'>1786</a></td><td>        <span class="br">}</span></td></tr>
+<td><a id="l1786" class='ln'>1786</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1787" id="1787">
-<td><a id="l1787" class='ln'>1787</a></td><td></td></tr>
+<td><a id="l1787" class='ln'>1787</a></td><td>      <span class="kw">if</span> (<a id="1787c11" class="tk">rtDW</a>-&gt;<a id="1787c17" class="tk">r_currTgt</a> <a id="1787c27" class="tk">&lt;</a> <a id="1787c29" class="tk">rtDW</a>-&gt;<a id="1787c35" class="tk">Delay_DSTATE</a>) <span class="br">{</span></td></tr>
 <tr name="1788" id="1788">
-<td><a id="l1788" class='ln'>1788</a></td><td>        <span class="ct">/* End of Switch: '&lt;S91&gt;/Switch' */</span></td></tr>
+<td><a id="l1788" class='ln'>1788</a></td><td>        <a id="1788c9" class="tk">rtb_Sum6_p</a> = <a id="1788c22" class="tk">rtDW</a>-&gt;<a id="1788c28" class="tk">r_currTgt</a>;</td></tr>
 <tr name="1789" id="1789">
-<td><a id="l1789" class='ln'>1789</a></td><td>        <span class="ct">/* End of Outputs for SubSystem: '&lt;S84&gt;/torque_mode' */</span></td></tr>
+<td><a id="l1789" class='ln'>1789</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1790" id="1790">
-<td><a id="l1790" class='ln'>1790</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l1790" class='ln'>1790</a></td><td>        <a id="1790c9" class="tk">rtb_Sum6_p</a> = <a id="1790c22" class="tk">rtDW</a>-&gt;<a id="1790c28" class="tk">Delay_DSTATE</a>;</td></tr>
 <tr name="1791" id="1791">
-<td><a id="l1791" class='ln'>1791</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1791" class='ln'>1791</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1792" id="1792">
 <td><a id="l1792" class='ln'>1792</a></td><td></td></tr>
 <tr name="1793" id="1793">
-<td><a id="l1793" class='ln'>1793</a></td><td>    <span class="ct">/* End of If: '&lt;S84&gt;/If' */</span></td></tr>
+<td><a id="l1793" class='ln'>1793</a></td><td>      <span class="ct">/* End of MinMax: '&lt;S88&gt;/Min' */</span></td></tr>
 <tr name="1794" id="1794">
 <td><a id="l1794" class='ln'>1794</a></td><td></td></tr>
 <tr name="1795" id="1795">
-<td><a id="l1795" class='ln'>1795</a></td><td>    <span class="ct">/* If: '&lt;S83&gt;/If' incorporates:</span></td></tr>
+<td><a id="l1795" class='ln'>1795</a></td><td>      <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S88&gt;/PI_TrqSpdLim' */</span></td></tr>
 <tr name="1796" id="1796">
-<td><a id="l1796" class='ln'>1796</a></td><td><span class="ct">     *  Inport: '&lt;Root&gt;/foc_calibrate'</span></td></tr>
+<td><a id="l1796" class='ln'>1796</a></td><td>      <span class="ct">/* Delay: '&lt;S93&gt;/Resettable Delay' incorporates:</span></td></tr>
 <tr name="1797" id="1797">
-<td><a id="l1797" class='ln'>1797</a></td><td><span class="ct">     *  S-Function (sfix_bitop): '&lt;S83&gt;/Bitwise Operator1'</span></td></tr>
+<td><a id="l1797" class='ln'>1797</a></td><td><span class="ct">       *  DataTypeConversion: '&lt;S93&gt;/Data Type Conversion2'</span></td></tr>
 <tr name="1798" id="1798">
-<td><a id="l1798" class='ln'>1798</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1798" class='ln'>1798</a></td><td><span class="ct">       *  Inport: '&lt;S30&gt;/r_currTgt'</span></td></tr>
 <tr name="1799" id="1799">
-<td><a id="l1799" class='ln'>1799</a></td><td>    <span class="kw">if</span> ((<a id="1799c10" class="tk">rtU</a>-&gt;<a id="1799c15" class="tk">foc_calibrate</a> <a id="1799c29" class="tk">&amp;</a> 2U) <a id="1799c35" class="tk">==</a> 0U) <span class="br">{</span></td></tr>
+<td><a id="l1799" class='ln'>1799</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1800" id="1800">
-<td><a id="l1800" class='ln'>1800</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S83&gt;/MTPA_Calc' incorporates:</span></td></tr>
+<td><a id="l1800" class='ln'>1800</a></td><td>      <span class="kw">if</span> ((<a id="1800c12" class="tk">rtb_DataTypeConversion_np</a> <a id="1800c38" class="tk">&gt;</a> 0) <a id="1800c43" class="tk">&amp;&amp;</a></td></tr>
 <tr name="1801" id="1801">
-<td><a id="l1801" class='ln'>1801</a></td><td><span class="ct">       *  ActionPort: '&lt;S87&gt;/Action Port'</span></td></tr>
+<td><a id="l1801" class='ln'>1801</a></td><td>          (<a id="1801c12" class="tk">rtPrevZCX</a>-&gt;<a id="1801c23" class="tk">ResettableDelay_Reset_ZCE_a</a> <a id="1801c51" class="tk">!=</a> 1)) <span class="br">{</span></td></tr>
 <tr name="1802" id="1802">
-<td><a id="l1802" class='ln'>1802</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1802" class='ln'>1802</a></td><td>        <a id="1802c9" class="tk">rtDW</a>-&gt;<a id="1802c15" class="tk">icLoad_k</a> = 1U;</td></tr>
 <tr name="1803" id="1803">
-<td><a id="l1803" class='ln'>1803</a></td><td>      <span class="ct">/* Merge: '&lt;S83&gt;/Merge' incorporates:</span></td></tr>
+<td><a id="l1803" class='ln'>1803</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1804" id="1804">
-<td><a id="l1804" class='ln'>1804</a></td><td><span class="ct">       *  Constant: '&lt;S87&gt;/Constant3'</span></td></tr>
+<td><a id="l1804" class='ln'>1804</a></td><td></td></tr>
 <tr name="1805" id="1805">
-<td><a id="l1805" class='ln'>1805</a></td><td><span class="ct">       *  Switch: '&lt;S87&gt;/Switch'</span></td></tr>
+<td><a id="l1805" class='ln'>1805</a></td><td>      <a id="1805c7" class="tk">rtPrevZCX</a>-&gt;<a id="1805c18" class="tk">ResettableDelay_Reset_ZCE_a</a> = (<a id="1805c49" class="tk">ZCSigState</a>)</td></tr>
 <tr name="1806" id="1806">
-<td><a id="l1806" class='ln'>1806</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1806" class='ln'>1806</a></td><td>        (<a id="1806c10" class="tk">rtb_DataTypeConversion_np</a> <a id="1806c36" class="tk">&gt;</a> 0);</td></tr>
 <tr name="1807" id="1807">
-<td><a id="l1807" class='ln'>1807</a></td><td>      <a id="1807c7" class="tk">rtDW</a>-&gt;<a id="1807c13" class="tk">Merge_c</a>[0] = 0;</td></tr>
+<td><a id="l1807" class='ln'>1807</a></td><td>      <span class="kw">if</span> (<a id="1807c11" class="tk">rtDW</a>-&gt;<a id="1807c17" class="tk">icLoad_k</a> <a id="1807c26" class="tk">!=</a> 0) <span class="br">{</span></td></tr>
 <tr name="1808" id="1808">
-<td><a id="l1808" class='ln'>1808</a></td><td>      <a id="1808c7" class="tk">rtDW</a>-&gt;<a id="1808c13" class="tk">Merge_c</a>[1] = <a id="1808c26" class="tk">rtDW</a>-&gt;<a id="1808c32" class="tk">Merge_f</a>;</td></tr>
+<td><a id="l1808" class='ln'>1808</a></td><td>        <a id="1808c9" class="tk">rtDW</a>-&gt;<a id="1808c15" class="tk">ResettableDelay_DSTATE</a> = <a id="1808c40" class="tk">rtDW</a>-&gt;<a id="1808c46" class="tk">r_currTgt</a> <a id="1808c56" class="tk">&lt;&lt;</a> 7;</td></tr>
 <tr name="1809" id="1809">
-<td><a id="l1809" class='ln'>1809</a></td><td></td></tr>
+<td><a id="l1809" class='ln'>1809</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1810" id="1810">
-<td><a id="l1810" class='ln'>1810</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S83&gt;/MTPA_Calc' */</span></td></tr>
+<td><a id="l1810" class='ln'>1810</a></td><td></td></tr>
 <tr name="1811" id="1811">
-<td><a id="l1811" class='ln'>1811</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1811" class='ln'>1811</a></td><td>      <span class="ct">/* Product: '&lt;S92&gt;/Divide1' incorporates:</span></td></tr>
 <tr name="1812" id="1812">
-<td><a id="l1812" class='ln'>1812</a></td><td>      <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S83&gt;/MTPA_Cali' incorporates:</span></td></tr>
+<td><a id="l1812" class='ln'>1812</a></td><td><span class="ct">       *  Constant: '&lt;S88&gt;/Constant1'</span></td></tr>
 <tr name="1813" id="1813">
-<td><a id="l1813" class='ln'>1813</a></td><td><span class="ct">       *  ActionPort: '&lt;S88&gt;/Action Port'</span></td></tr>
+<td><a id="l1813" class='ln'>1813</a></td><td><span class="ct">       *  Sum: '&lt;S88&gt;/Sum1'</span></td></tr>
 <tr name="1814" id="1814">
 <td><a id="l1814" class='ln'>1814</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1815" id="1815">
-<td><a id="l1815" class='ln'>1815</a></td><td>      <span class="ct">/* PreLookup: '&lt;S89&gt;/a_elecAngle_XA' incorporates:</span></td></tr>
+<td><a id="l1815" class='ln'>1815</a></td><td>      <a id="1815c7" class="tk">tmp</a> = (<a id="1815c14" class="tk">int64_T</a>)<a id="1815c22" class="tk">rtb_Sum1</a> <a id="1815c31" class="tk">*</a> <a id="1815c33" class="tk">rtP</a>.<a id="1815c37" class="tk">cf_TrqLimKi</a>;</td></tr>
 <tr name="1816" id="1816">
-<td><a id="l1816" class='ln'>1816</a></td><td><span class="ct">       *  Inport: '&lt;Root&gt;/open_theta'</span></td></tr>
+<td><a id="l1816" class='ln'>1816</a></td><td>      <span class="kw">if</span> (<a id="1816c11" class="tk">tmp</a> <a id="1816c15" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="1817" id="1817">
-<td><a id="l1817" class='ln'>1817</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1817" class='ln'>1817</a></td><td>        <a id="1817c9" class="tk">tmp</a> = 2147483647LL;</td></tr>
 <tr name="1818" id="1818">
-<td><a id="l1818" class='ln'>1818</a></td><td>      <a id="1818c7" class="tk">rtb_Abs2</a> = <a id="1818c18" class="tk">plook_u16s16_evencka</a>(<a id="1818c39" class="tk">rtU</a>-&gt;<a id="1818c44" class="tk">open_theta</a>, 0, 4U, 1440U);</td></tr>
+<td><a id="l1818" class='ln'>1818</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1819" id="1819">
-<td><a id="l1819" class='ln'>1819</a></td><td></td></tr>
+<td><a id="l1819" class='ln'>1819</a></td><td>        <span class="kw">if</span> (<a id="1819c13" class="tk">tmp</a> <a id="1819c17" class="tk">&lt;</a> <a id="1819c19" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="1820" id="1820">
-<td><a id="l1820" class='ln'>1820</a></td><td>      <span class="ct">/* Product: '&lt;S88&gt;/Divide' incorporates:</span></td></tr>
+<td><a id="l1820" class='ln'>1820</a></td><td>          <a id="1820c11" class="tk">tmp</a> = <a id="1820c17" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="1821" id="1821">
-<td><a id="l1821" class='ln'>1821</a></td><td><span class="ct">       *  Gain: '&lt;S88&gt;/Gain'</span></td></tr>
+<td><a id="l1821" class='ln'>1821</a></td><td>        <span class="br">}</span></td></tr>
 <tr name="1822" id="1822">
-<td><a id="l1822" class='ln'>1822</a></td><td><span class="ct">       *  Interpolation_n-D: '&lt;S89&gt;/r_sin_M1'</span></td></tr>
+<td><a id="l1822" class='ln'>1822</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1823" id="1823">
-<td><a id="l1823" class='ln'>1823</a></td><td><span class="ct">       *  Merge: '&lt;S84&gt;/Merge'</span></td></tr>
+<td><a id="l1823" class='ln'>1823</a></td><td></td></tr>
 <tr name="1824" id="1824">
-<td><a id="l1824" class='ln'>1824</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1824" class='ln'>1824</a></td><td>      <span class="ct">/* Sum: '&lt;S92&gt;/Sum2' incorporates:</span></td></tr>
 <tr name="1825" id="1825">
-<td><a id="l1825" class='ln'>1825</a></td><td>      <a id="1825c7" class="tk">rtDW</a>-&gt;<a id="1825c13" class="tk">Merge_c</a>[0] = (<a id="1825c27" class="tk">int16_T</a>)(((<a id="1825c38" class="tk">int64_T</a>)(<a id="1825c47" class="tk">-</a>32768 <a id="1825c54" class="tk">*</a></td></tr>
+<td><a id="l1825" class='ln'>1825</a></td><td><span class="ct">       *  Product: '&lt;S92&gt;/Divide1'</span></td></tr>
 <tr name="1826" id="1826">
-<td><a id="l1826" class='ln'>1826</a></td><td>        <a id="1826c9" class="tk">rtConstP</a>.<a id="1826c18" class="tk">pooled11</a>[<a id="1826c27" class="tk">rtb_Abs2</a>]) <a id="1826c38" class="tk">*</a> <a id="1826c40" class="tk">rtDW</a>-&gt;<a id="1826c46" class="tk">Merge_f</a>) <a id="1826c55" class="tk">&gt;&gt;</a> 29);</td></tr>
+<td><a id="l1826" class='ln'>1826</a></td><td><span class="ct">       *  UnitDelay: '&lt;S92&gt;/Unit Delay'</span></td></tr>
 <tr name="1827" id="1827">
-<td><a id="l1827" class='ln'>1827</a></td><td></td></tr>
+<td><a id="l1827" class='ln'>1827</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1828" id="1828">
-<td><a id="l1828" class='ln'>1828</a></td><td>      <span class="ct">/* Product: '&lt;S88&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l1828" class='ln'>1828</a></td><td>      <span class="kw">if</span> (((<a id="1828c13" class="tk">int32_T</a>)<a id="1828c21" class="tk">tmp</a> <a id="1828c25" class="tk">&lt;</a> 0) <a id="1828c30" class="tk">&amp;&amp;</a> (<a id="1828c34" class="tk">rtDW</a>-&gt;<a id="1828c40" class="tk">UnitDelay_DSTATE</a> <a id="1828c57" class="tk">&lt;</a> <a id="1828c59" class="tk">MIN_int32_T</a> <a id="1828c71" class="tk">-</a> (<a id="1828c74" class="tk">int32_T</a>)</td></tr>
 <tr name="1829" id="1829">
-<td><a id="l1829" class='ln'>1829</a></td><td><span class="ct">       *  Interpolation_n-D: '&lt;S89&gt;/r_cos_M1'</span></td></tr>
+<td><a id="l1829" class='ln'>1829</a></td><td>           <a id="1829c12" class="tk">tmp</a>)) <span class="br">{</span></td></tr>
 <tr name="1830" id="1830">
-<td><a id="l1830" class='ln'>1830</a></td><td><span class="ct">       *  Merge: '&lt;S84&gt;/Merge'</span></td></tr>
+<td><a id="l1830" class='ln'>1830</a></td><td>        <a id="1830c9" class="tk">rtb_Gain_b0</a> = <a id="1830c23" class="tk">MIN_int32_T</a>;</td></tr>
 <tr name="1831" id="1831">
-<td><a id="l1831" class='ln'>1831</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1831" class='ln'>1831</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (((<a id="1831c20" class="tk">int32_T</a>)<a id="1831c28" class="tk">tmp</a> <a id="1831c32" class="tk">&gt;</a> 0) <a id="1831c37" class="tk">&amp;&amp;</a> (<a id="1831c41" class="tk">rtDW</a>-&gt;<a id="1831c47" class="tk">UnitDelay_DSTATE</a> <a id="1831c64" class="tk">&gt;</a> <a id="1831c66" class="tk">MAX_int32_T</a></td></tr>
 <tr name="1832" id="1832">
-<td><a id="l1832" class='ln'>1832</a></td><td>      <a id="1832c7" class="tk">rtDW</a>-&gt;<a id="1832c13" class="tk">Merge_c</a>[1] = (<a id="1832c27" class="tk">int16_T</a>)((<a id="1832c37" class="tk">rtConstP</a>.<a id="1832c46" class="tk">pooled12</a>[<a id="1832c55" class="tk">rtb_Abs2</a>] <a id="1832c65" class="tk">*</a> <a id="1832c67" class="tk">rtDW</a>-&gt;<a id="1832c73" class="tk">Merge_f</a>)</td></tr>
+<td><a id="l1832" class='ln'>1832</a></td><td>                  <a id="1832c19" class="tk">-</a> (<a id="1832c22" class="tk">int32_T</a>)<a id="1832c30" class="tk">tmp</a>)) <span class="br">{</span></td></tr>
 <tr name="1833" id="1833">
-<td><a id="l1833" class='ln'>1833</a></td><td>        <a id="1833c9" class="tk">&gt;&gt;</a> 14);</td></tr>
+<td><a id="l1833" class='ln'>1833</a></td><td>        <a id="1833c9" class="tk">rtb_Gain_b0</a> = <a id="1833c23" class="tk">MAX_int32_T</a>;</td></tr>
 <tr name="1834" id="1834">
-<td><a id="l1834" class='ln'>1834</a></td><td></td></tr>
+<td><a id="l1834" class='ln'>1834</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1835" id="1835">
-<td><a id="l1835" class='ln'>1835</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S83&gt;/MTPA_Cali' */</span></td></tr>
+<td><a id="l1835" class='ln'>1835</a></td><td>        <a id="1835c9" class="tk">rtb_Gain_b0</a> = (<a id="1835c24" class="tk">int32_T</a>)<a id="1835c32" class="tk">tmp</a> <a id="1835c36" class="tk">+</a> <a id="1835c38" class="tk">rtDW</a>-&gt;<a id="1835c44" class="tk">UnitDelay_DSTATE</a>;</td></tr>
 <tr name="1836" id="1836">
-<td><a id="l1836" class='ln'>1836</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1836" class='ln'>1836</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1837" id="1837">
 <td><a id="l1837" class='ln'>1837</a></td><td></td></tr>
 <tr name="1838" id="1838">
-<td><a id="l1838" class='ln'>1838</a></td><td>    <span class="ct">/* End of If: '&lt;S83&gt;/If' */</span></td></tr>
+<td><a id="l1838" class='ln'>1838</a></td><td>      <span class="ct">/* End of Sum: '&lt;S92&gt;/Sum2' */</span></td></tr>
 <tr name="1839" id="1839">
 <td><a id="l1839" class='ln'>1839</a></td><td></td></tr>
 <tr name="1840" id="1840">
-<td><a id="l1840" class='ln'>1840</a></td><td>    <span class="ct">/* Switch: '&lt;S82&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1840" class='ln'>1840</a></td><td>      <span class="ct">/* Sum: '&lt;S93&gt;/Sum1' incorporates:</span></td></tr>
 <tr name="1841" id="1841">
-<td><a id="l1841" class='ln'>1841</a></td><td><span class="ct">     *  Merge: '&lt;S83&gt;/Merge'</span></td></tr>
+<td><a id="l1841" class='ln'>1841</a></td><td><span class="ct">       *  Delay: '&lt;S93&gt;/Resettable Delay'</span></td></tr>
 <tr name="1842" id="1842">
-<td><a id="l1842" class='ln'>1842</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1842" class='ln'>1842</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1843" id="1843">
-<td><a id="l1843" class='ln'>1843</a></td><td>    <a id="1843c5" class="tk">rtDW</a>-&gt;<a id="1843c11" class="tk">Switch</a>[0] = <a id="1843c23" class="tk">rtDW</a>-&gt;<a id="1843c29" class="tk">Merge_c</a>[0];</td></tr>
+<td><a id="l1843" class='ln'>1843</a></td><td>      <a id="1843c7" class="tk">tmp</a> = (((<a id="1843c16" class="tk">int64_T</a>)<a id="1843c24" class="tk">rtDW</a>-&gt;<a id="1843c30" class="tk">ResettableDelay_DSTATE</a> <a id="1843c53" class="tk">&lt;&lt;</a> 2) <a id="1843c59" class="tk">+</a> <a id="1843c61" class="tk">rtb_Gain_b0</a>) <a id="1843c74" class="tk">&gt;&gt;</a> 2;</td></tr>
 <tr name="1844" id="1844">
-<td><a id="l1844" class='ln'>1844</a></td><td>    <a id="1844c5" class="tk">rtDW</a>-&gt;<a id="1844c11" class="tk">Switch</a>[1] = <a id="1844c23" class="tk">rtDW</a>-&gt;<a id="1844c29" class="tk">Merge_c</a>[1];</td></tr>
+<td><a id="l1844" class='ln'>1844</a></td><td>      <span class="kw">if</span> (<a id="1844c11" class="tk">tmp</a> <a id="1844c15" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="1845" id="1845">
-<td><a id="l1845" class='ln'>1845</a></td><td></td></tr>
+<td><a id="l1845" class='ln'>1845</a></td><td>        <a id="1845c9" class="tk">tmp</a> = 2147483647LL;</td></tr>
 <tr name="1846" id="1846">
-<td><a id="l1846" class='ln'>1846</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S81&gt;/Unit Delay' */</span></td></tr>
+<td><a id="l1846" class='ln'>1846</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1847" id="1847">
-<td><a id="l1847" class='ln'>1847</a></td><td>    <a id="1847c5" class="tk">rtDW</a>-&gt;<a id="1847c11" class="tk">UnitDelay_DSTATE_p</a> = <a id="1847c32" class="tk">rtb_z_ctrlMod</a>;</td></tr>
+<td><a id="l1847" class='ln'>1847</a></td><td>        <span class="kw">if</span> (<a id="1847c13" class="tk">tmp</a> <a id="1847c17" class="tk">&lt;</a> <a id="1847c19" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="1848" id="1848">
-<td><a id="l1848" class='ln'>1848</a></td><td></td></tr>
+<td><a id="l1848" class='ln'>1848</a></td><td>          <a id="1848c11" class="tk">tmp</a> = <a id="1848c17" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="1849" id="1849">
-<td><a id="l1849" class='ln'>1849</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S81&gt;/Unit Delay1' incorporates:</span></td></tr>
+<td><a id="l1849" class='ln'>1849</a></td><td>        <span class="br">}</span></td></tr>
 <tr name="1850" id="1850">
-<td><a id="l1850" class='ln'>1850</a></td><td><span class="ct">     *  Merge: '&lt;S84&gt;/Merge'</span></td></tr>
+<td><a id="l1850" class='ln'>1850</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1851" id="1851">
-<td><a id="l1851" class='ln'>1851</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1851" class='ln'>1851</a></td><td></td></tr>
 <tr name="1852" id="1852">
-<td><a id="l1852" class='ln'>1852</a></td><td>    <a id="1852c5" class="tk">rtDW</a>-&gt;<a id="1852c11" class="tk">UnitDelay1_DSTATE_g</a> = <a id="1852c33" class="tk">rtDW</a>-&gt;<a id="1852c39" class="tk">Merge_f</a>;</td></tr>
+<td><a id="l1852" class='ln'>1852</a></td><td>      <a id="1852c7" class="tk">rtb_Switch</a> = (<a id="1852c21" class="tk">int32_T</a>)<a id="1852c29" class="tk">tmp</a>;</td></tr>
 <tr name="1853" id="1853">
 <td><a id="l1853" class='ln'>1853</a></td><td></td></tr>
 <tr name="1854" id="1854">
-<td><a id="l1854" class='ln'>1854</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S53&gt;/Subsystem' */</span></td></tr>
+<td><a id="l1854" class='ln'>1854</a></td><td>      <span class="ct">/* End of Sum: '&lt;S93&gt;/Sum1' */</span></td></tr>
 <tr name="1855" id="1855">
-<td><a id="l1855" class='ln'>1855</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1855" class='ln'>1855</a></td><td></td></tr>
 <tr name="1856" id="1856">
-<td><a id="l1856" class='ln'>1856</a></td><td></td></tr>
+<td><a id="l1856" class='ln'>1856</a></td><td>      <span class="ct">/* Product: '&lt;S92&gt;/Divide4' incorporates:</span></td></tr>
 <tr name="1857" id="1857">
-<td><a id="l1857" class='ln'>1857</a></td><td>  <span class="ct">/* End of If: '&lt;S53&gt;/If' */</span></td></tr>
+<td><a id="l1857" class='ln'>1857</a></td><td><span class="ct">       *  Constant: '&lt;S88&gt;/Constant4'</span></td></tr>
 <tr name="1858" id="1858">
-<td><a id="l1858" class='ln'>1858</a></td><td></td></tr>
+<td><a id="l1858" class='ln'>1858</a></td><td><span class="ct">       *  Sum: '&lt;S88&gt;/Sum1'</span></td></tr>
 <tr name="1859" id="1859">
-<td><a id="l1859" class='ln'>1859</a></td><td>  <span class="ct">/* If: '&lt;S48&gt;/If' incorporates:</span></td></tr>
+<td><a id="l1859" class='ln'>1859</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1860" id="1860">
-<td><a id="l1860" class='ln'>1860</a></td><td><span class="ct">   *  Constant: '&lt;S60&gt;/Constant3'</span></td></tr>
+<td><a id="l1860" class='ln'>1860</a></td><td>      <a id="1860c7" class="tk">tmp</a> = (<a id="1860c14" class="tk">int64_T</a>)<a id="1860c22" class="tk">rtb_Sum1</a> <a id="1860c31" class="tk">*</a> <a id="1860c33" class="tk">rtP</a>.<a id="1860c37" class="tk">cf_TrqLimKp</a>;</td></tr>
 <tr name="1861" id="1861">
-<td><a id="l1861" class='ln'>1861</a></td><td><span class="ct">   *  Constant: '&lt;S60&gt;/Constant4'</span></td></tr>
+<td><a id="l1861" class='ln'>1861</a></td><td>      <span class="kw">if</span> (<a id="1861c11" class="tk">tmp</a> <a id="1861c15" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="1862" id="1862">
-<td><a id="l1862" class='ln'>1862</a></td><td><span class="ct">   *  Constant: '&lt;S60&gt;/Constant6'</span></td></tr>
+<td><a id="l1862" class='ln'>1862</a></td><td>        <a id="1862c9" class="tk">tmp</a> = 2147483647LL;</td></tr>
 <tr name="1863" id="1863">
-<td><a id="l1863" class='ln'>1863</a></td><td><span class="ct">   *  Constant: '&lt;S60&gt;/Constant9'</span></td></tr>
+<td><a id="l1863" class='ln'>1863</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1864" id="1864">
-<td><a id="l1864" class='ln'>1864</a></td><td><span class="ct">   *  Constant: '&lt;S61&gt;/Constant1'</span></td></tr>
+<td><a id="l1864" class='ln'>1864</a></td><td>        <span class="kw">if</span> (<a id="1864c13" class="tk">tmp</a> <a id="1864c17" class="tk">&lt;</a> <a id="1864c19" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="1865" id="1865">
-<td><a id="l1865" class='ln'>1865</a></td><td><span class="ct">   *  Constant: '&lt;S61&gt;/Constant7'</span></td></tr>
+<td><a id="l1865" class='ln'>1865</a></td><td>          <a id="1865c11" class="tk">tmp</a> = <a id="1865c17" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="1866" id="1866">
-<td><a id="l1866" class='ln'>1866</a></td><td><span class="ct">   *  Constant: '&lt;S61&gt;/Constant8'</span></td></tr>
+<td><a id="l1866" class='ln'>1866</a></td><td>        <span class="br">}</span></td></tr>
 <tr name="1867" id="1867">
-<td><a id="l1867" class='ln'>1867</a></td><td><span class="ct">   *  Constant: '&lt;S61&gt;/Constant9'</span></td></tr>
+<td><a id="l1867" class='ln'>1867</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1868" id="1868">
-<td><a id="l1868" class='ln'>1868</a></td><td><span class="ct">   *  Gain: '&lt;S47&gt;/Gain3'</span></td></tr>
+<td><a id="l1868" class='ln'>1868</a></td><td></td></tr>
 <tr name="1869" id="1869">
-<td><a id="l1869" class='ln'>1869</a></td><td><span class="ct">   *  Gain: '&lt;S47&gt;/Gain5'</span></td></tr>
+<td><a id="l1869" class='ln'>1869</a></td><td>      <span class="ct">/* Sum: '&lt;S92&gt;/Sum6' incorporates:</span></td></tr>
 <tr name="1870" id="1870">
-<td><a id="l1870" class='ln'>1870</a></td><td><span class="ct">   *  If: '&lt;S48&gt;/If1'</span></td></tr>
+<td><a id="l1870" class='ln'>1870</a></td><td><span class="ct">       *  DataTypeConversion: '&lt;S93&gt;/Data Type Conversion1'</span></td></tr>
 <tr name="1871" id="1871">
-<td><a id="l1871" class='ln'>1871</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/vbus_voltage'</span></td></tr>
+<td><a id="l1871" class='ln'>1871</a></td><td><span class="ct">       *  Product: '&lt;S92&gt;/Divide4'</span></td></tr>
 <tr name="1872" id="1872">
-<td><a id="l1872" class='ln'>1872</a></td><td><span class="ct">   *  Sum: '&lt;S60&gt;/Add'</span></td></tr>
+<td><a id="l1872" class='ln'>1872</a></td><td><span class="ct">       *  Sum: '&lt;S93&gt;/Sum1'</span></td></tr>
 <tr name="1873" id="1873">
-<td><a id="l1873" class='ln'>1873</a></td><td><span class="ct">   *  Sum: '&lt;S61&gt;/Add1'</span></td></tr>
+<td><a id="l1873" class='ln'>1873</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1874" id="1874">
-<td><a id="l1874" class='ln'>1874</a></td><td><span class="ct">   *  Switch: '&lt;S63&gt;/Switch2'</span></td></tr>
+<td><a id="l1874" class='ln'>1874</a></td><td>      <a id="1874c7" class="tk">tmp</a> = (<a id="1874c14" class="tk">int64_T</a>)(<a id="1874c23" class="tk">rtb_Switch</a> <a id="1874c34" class="tk">&lt;&lt;</a> 2) <a id="1874c40" class="tk">+</a> (<a id="1874c43" class="tk">int32_T</a>)<a id="1874c51" class="tk">tmp</a>;</td></tr>
 <tr name="1875" id="1875">
-<td><a id="l1875" class='ln'>1875</a></td><td><span class="ct">   *  Switch: '&lt;S67&gt;/Switch2'</span></td></tr>
+<td><a id="l1875" class='ln'>1875</a></td><td>      <span class="kw">if</span> (<a id="1875c11" class="tk">tmp</a> <a id="1875c15" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="1876" id="1876">
-<td><a id="l1876" class='ln'>1876</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1876" class='ln'>1876</a></td><td>        <a id="1876c9" class="tk">tmp</a> = 2147483647LL;</td></tr>
 <tr name="1877" id="1877">
-<td><a id="l1877" class='ln'>1877</a></td><td>  <span class="kw">if</span> (<a id="1877c7" class="tk">rtb_Sum</a> <a id="1877c15" class="tk">==</a> 1) <span class="br">{</span></td></tr>
+<td><a id="l1877" class='ln'>1877</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1878" id="1878">
-<td><a id="l1878" class='ln'>1878</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S48&gt;/iq_ctrl' incorporates:</span></td></tr>
+<td><a id="l1878" class='ln'>1878</a></td><td>        <span class="kw">if</span> (<a id="1878c13" class="tk">tmp</a> <a id="1878c17" class="tk">&lt;</a> <a id="1878c19" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="1879" id="1879">
-<td><a id="l1879" class='ln'>1879</a></td><td><span class="ct">     *  ActionPort: '&lt;S61&gt;/Action Port'</span></td></tr>
+<td><a id="l1879" class='ln'>1879</a></td><td>          <a id="1879c11" class="tk">tmp</a> = <a id="1879c17" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="1880" id="1880">
-<td><a id="l1880" class='ln'>1880</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1880" class='ln'>1880</a></td><td>        <span class="br">}</span></td></tr>
 <tr name="1881" id="1881">
-<td><a id="l1881" class='ln'>1881</a></td><td>    <span class="ct">/* Switch: '&lt;S67&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l1881" class='ln'>1881</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1882" id="1882">
-<td><a id="l1882" class='ln'>1882</a></td><td><span class="ct">     *  Constant: '&lt;S47&gt;/Constant1'</span></td></tr>
+<td><a id="l1882" class='ln'>1882</a></td><td></td></tr>
 <tr name="1883" id="1883">
-<td><a id="l1883" class='ln'>1883</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S67&gt;/LowerRelop1'</span></td></tr>
+<td><a id="l1883" class='ln'>1883</a></td><td>      <a id="1883c7" class="tk">rtb_Sum1</a> = (<a id="1883c19" class="tk">int32_T</a>)<a id="1883c27" class="tk">tmp</a>;</td></tr>
 <tr name="1884" id="1884">
-<td><a id="l1884" class='ln'>1884</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S67&gt;/UpperRelop'</span></td></tr>
+<td><a id="l1884" class='ln'>1884</a></td><td></td></tr>
 <tr name="1885" id="1885">
-<td><a id="l1885" class='ln'>1885</a></td><td><span class="ct">     *  Switch: '&lt;S67&gt;/Switch'</span></td></tr>
+<td><a id="l1885" class='ln'>1885</a></td><td>      <span class="ct">/* End of Sum: '&lt;S92&gt;/Sum6' */</span></td></tr>
 <tr name="1886" id="1886">
-<td><a id="l1886" class='ln'>1886</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1886" class='ln'>1886</a></td><td></td></tr>
 <tr name="1887" id="1887">
-<td><a id="l1887" class='ln'>1887</a></td><td>    <span class="kw">if</span> (<a id="1887c9" class="tk">rtDW</a>-&gt;<a id="1887c15" class="tk">Switch</a>[1] <a id="1887c25" class="tk">&gt;</a> 7680) <span class="br">{</span></td></tr>
+<td><a id="l1887" class='ln'>1887</a></td><td>      <span class="ct">/* RelationalOperator: '&lt;S94&gt;/LowerRelop1' incorporates:</span></td></tr>
 <tr name="1888" id="1888">
-<td><a id="l1888" class='ln'>1888</a></td><td>      <a id="1888c7" class="tk">rtb_Divide1_m</a> = 7680;</td></tr>
+<td><a id="l1888" class='ln'>1888</a></td><td><span class="ct">       *  MinMax: '&lt;S88&gt;/Min'</span></td></tr>
 <tr name="1889" id="1889">
-<td><a id="l1889" class='ln'>1889</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1889c16" class="tk">rtDW</a>-&gt;<a id="1889c22" class="tk">Switch</a>[1] <a id="1889c32" class="tk">&lt;</a> <a id="1889c34" class="tk">-</a>7680) <span class="br">{</span></td></tr>
+<td><a id="l1889" class='ln'>1889</a></td><td><span class="ct">       *  Switch: '&lt;S94&gt;/Switch2'</span></td></tr>
 <tr name="1890" id="1890">
-<td><a id="l1890" class='ln'>1890</a></td><td>      <span class="ct">/* Switch: '&lt;S67&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1890" class='ln'>1890</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1891" id="1891">
-<td><a id="l1891" class='ln'>1891</a></td><td><span class="ct">       *  Gain: '&lt;S47&gt;/Gain1'</span></td></tr>
+<td><a id="l1891" class='ln'>1891</a></td><td>      <a id="1891c7" class="tk">rtb_Gain_b0</a> = <a id="1891c21" class="tk">rtb_Sum6_p</a> <a id="1891c32" class="tk">&lt;&lt;</a> 9;</td></tr>
 <tr name="1892" id="1892">
-<td><a id="l1892" class='ln'>1892</a></td><td><span class="ct">       *  Switch: '&lt;S67&gt;/Switch2'</span></td></tr>
+<td><a id="l1892" class='ln'>1892</a></td><td></td></tr>
 <tr name="1893" id="1893">
-<td><a id="l1893" class='ln'>1893</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1893" class='ln'>1893</a></td><td>      <span class="ct">/* Switch: '&lt;S94&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="1894" id="1894">
-<td><a id="l1894" class='ln'>1894</a></td><td>      <a id="1894c7" class="tk">rtb_Divide1_m</a> = <a id="1894c23" class="tk">-</a>7680;</td></tr>
+<td><a id="l1894" class='ln'>1894</a></td><td><span class="ct">       *  RelationalOperator: '&lt;S94&gt;/LowerRelop1'</span></td></tr>
 <tr name="1895" id="1895">
-<td><a id="l1895" class='ln'>1895</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1895" class='ln'>1895</a></td><td><span class="ct">       *  Sum: '&lt;S92&gt;/Sum6'</span></td></tr>
 <tr name="1896" id="1896">
-<td><a id="l1896" class='ln'>1896</a></td><td>      <a id="1896c7" class="tk">rtb_Divide1_m</a> = <a id="1896c23" class="tk">rtDW</a>-&gt;<a id="1896c29" class="tk">Switch</a>[1];</td></tr>
+<td><a id="l1896" class='ln'>1896</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1897" id="1897">
-<td><a id="l1897" class='ln'>1897</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1897" class='ln'>1897</a></td><td>      <span class="kw">if</span> (<a id="1897c11" class="tk">rtb_Sum1</a> <a id="1897c20" class="tk">&lt;=</a> <a id="1897c23" class="tk">rtb_Gain_b0</a>) <span class="br">{</span></td></tr>
 <tr name="1898" id="1898">
-<td><a id="l1898" class='ln'>1898</a></td><td></td></tr>
+<td><a id="l1898" class='ln'>1898</a></td><td>        <span class="ct">/* Gain: '&lt;S92&gt;/Gain' incorporates:</span></td></tr>
 <tr name="1899" id="1899">
-<td><a id="l1899" class='ln'>1899</a></td><td>    <span class="ct">/* End of Switch: '&lt;S67&gt;/Switch2' */</span></td></tr>
+<td><a id="l1899" class='ln'>1899</a></td><td><span class="ct">         *  MinMax: '&lt;S88&gt;/Min'</span></td></tr>
 <tr name="1900" id="1900">
-<td><a id="l1900" class='ln'>1900</a></td><td></td></tr>
+<td><a id="l1900" class='ln'>1900</a></td><td><span class="ct">         */</span></td></tr>
 <tr name="1901" id="1901">
-<td><a id="l1901" class='ln'>1901</a></td><td>    <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l1901" class='ln'>1901</a></td><td>        <a id="1901c9" class="tk">rtb_Gain_b0</a> = <a id="1901c23" class="tk">-</a>32768 <a id="1901c30" class="tk">*</a> <a id="1901c32" class="tk">rtb_Sum6_p</a>;</td></tr>
 <tr name="1902" id="1902">
-<td><a id="l1902" class='ln'>1902</a></td><td>    <a id="1902c5" class="tk">PI_backCalc_fixdt</a>((<a id="1902c24" class="tk">int16_T</a>)(<a id="1902c33" class="tk">rtb_Divide1_m</a> <a id="1902c47" class="tk">-</a> <a id="1902c49" class="tk">rtb_DataTypeConversion</a>[1]), 2048,</td></tr>
+<td><a id="l1902" class='ln'>1902</a></td><td></td></tr>
 <tr name="1903" id="1903">
-<td><a id="l1903" class='ln'>1903</a></td><td>                      26, 1024, <a id="1903c33" class="tk">rtU</a>-&gt;<a id="1903c38" class="tk">vbus_voltage</a>, (<a id="1903c53" class="tk">int16_T</a>)<a id="1903c61" class="tk">-</a><a id="1903c62" class="tk">rtU</a>-&gt;<a id="1903c67" class="tk">vbus_voltage</a>,</td></tr>
+<td><a id="l1903" class='ln'>1903</a></td><td>        <span class="ct">/* Switch: '&lt;S94&gt;/Switch' incorporates:</span></td></tr>
 <tr name="1904" id="1904">
-<td><a id="l1904" class='ln'>1904</a></td><td>                      0, <a id="1904c26" class="tk">rtb_DataTypeConversion_m</a>, <a id="1904c52" class="tk">&amp;</a><a id="1904c53" class="tk">rtDW</a>-&gt;<a id="1904c59" class="tk">Switch2_d</a>,</td></tr>
+<td><a id="l1904" class='ln'>1904</a></td><td><span class="ct">         *  Gain: '&lt;S92&gt;/Gain'</span></td></tr>
 <tr name="1905" id="1905">
-<td><a id="l1905" class='ln'>1905</a></td><td>                      <a id="1905c23" class="tk">&amp;</a><a id="1905c24" class="tk">rtConstB</a>.<a id="1905c33" class="tk">PI_iq</a>, <a id="1905c40" class="tk">&amp;</a><a id="1905c41" class="tk">rtDW</a>-&gt;<a id="1905c47" class="tk">PI_iq</a>, <a id="1905c54" class="tk">&amp;</a><a id="1905c55" class="tk">rtPrevZCX</a>-&gt;<a id="1905c66" class="tk">PI_iq</a>);</td></tr>
+<td><a id="l1905" class='ln'>1905</a></td><td><span class="ct">         *  RelationalOperator: '&lt;S94&gt;/UpperRelop'</span></td></tr>
 <tr name="1906" id="1906">
-<td><a id="l1906" class='ln'>1906</a></td><td></td></tr>
+<td><a id="l1906" class='ln'>1906</a></td><td><span class="ct">         *  Switch: '&lt;S94&gt;/Switch2'</span></td></tr>
 <tr name="1907" id="1907">
-<td><a id="l1907" class='ln'>1907</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l1907" class='ln'>1907</a></td><td><span class="ct">         */</span></td></tr>
 <tr name="1908" id="1908">
-<td><a id="l1908" class='ln'>1908</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S48&gt;/iq_ctrl' */</span></td></tr>
+<td><a id="l1908" class='ln'>1908</a></td><td>        <span class="kw">if</span> (((<a id="1908c15" class="tk">int64_T</a>)<a id="1908c23" class="tk">rtb_Sum1</a> <a id="1908c32" class="tk">&lt;&lt;</a> 6) <a id="1908c38" class="tk">&lt;</a> <a id="1908c40" class="tk">rtb_Gain_b0</a>) <span class="br">{</span></td></tr>
 <tr name="1909" id="1909">
-<td><a id="l1909" class='ln'>1909</a></td><td></td></tr>
+<td><a id="l1909" class='ln'>1909</a></td><td>          <a id="1909c11" class="tk">rtb_Gain_b0</a> <a id="1909c23" class="tk">&gt;&gt;=</a> 6;</td></tr>
 <tr name="1910" id="1910">
-<td><a id="l1910" class='ln'>1910</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S48&gt;/id_ctrl' incorporates:</span></td></tr>
+<td><a id="l1910" class='ln'>1910</a></td><td>        <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1911" id="1911">
-<td><a id="l1911" class='ln'>1911</a></td><td><span class="ct">     *  ActionPort: '&lt;S60&gt;/Action Port'</span></td></tr>
+<td><a id="l1911" class='ln'>1911</a></td><td>          <a id="1911c11" class="tk">rtb_Gain_b0</a> = <a id="1911c25" class="tk">rtb_Sum1</a>;</td></tr>
 <tr name="1912" id="1912">
-<td><a id="l1912" class='ln'>1912</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1912" class='ln'>1912</a></td><td>        <span class="br">}</span></td></tr>
 <tr name="1913" id="1913">
-<td><a id="l1913" class='ln'>1913</a></td><td>    <span class="ct">/* Switch: '&lt;S63&gt;/Switch2' incorporates:</span></td></tr>
+<td><a id="l1913" class='ln'>1913</a></td><td></td></tr>
 <tr name="1914" id="1914">
-<td><a id="l1914" class='ln'>1914</a></td><td><span class="ct">     *  Constant: '&lt;S47&gt;/Constant1'</span></td></tr>
+<td><a id="l1914" class='ln'>1914</a></td><td>        <span class="ct">/* End of Switch: '&lt;S94&gt;/Switch' */</span></td></tr>
 <tr name="1915" id="1915">
-<td><a id="l1915" class='ln'>1915</a></td><td><span class="ct">     *  Constant: '&lt;S61&gt;/Constant1'</span></td></tr>
+<td><a id="l1915" class='ln'>1915</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1916" id="1916">
-<td><a id="l1916" class='ln'>1916</a></td><td><span class="ct">     *  Constant: '&lt;S61&gt;/Constant7'</span></td></tr>
+<td><a id="l1916" class='ln'>1916</a></td><td></td></tr>
 <tr name="1917" id="1917">
-<td><a id="l1917" class='ln'>1917</a></td><td><span class="ct">     *  Constant: '&lt;S61&gt;/Constant8'</span></td></tr>
+<td><a id="l1917" class='ln'>1917</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S92&gt;/Unit Delay' incorporates:</span></td></tr>
 <tr name="1918" id="1918">
-<td><a id="l1918" class='ln'>1918</a></td><td><span class="ct">     *  Constant: '&lt;S61&gt;/Constant9'</span></td></tr>
+<td><a id="l1918" class='ln'>1918</a></td><td><span class="ct">       *  Constant: '&lt;S88&gt;/Constant2'</span></td></tr>
 <tr name="1919" id="1919">
-<td><a id="l1919" class='ln'>1919</a></td><td><span class="ct">     *  Gain: '&lt;S47&gt;/Gain5'</span></td></tr>
+<td><a id="l1919" class='ln'>1919</a></td><td><span class="ct">       *  Product: '&lt;S92&gt;/Divide2'</span></td></tr>
 <tr name="1920" id="1920">
-<td><a id="l1920" class='ln'>1920</a></td><td><span class="ct">     *  Inport: '&lt;Root&gt;/vbus_voltage'</span></td></tr>
+<td><a id="l1920" class='ln'>1920</a></td><td><span class="ct">       *  Sum: '&lt;S92&gt;/Sum3'</span></td></tr>
 <tr name="1921" id="1921">
-<td><a id="l1921" class='ln'>1921</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S63&gt;/LowerRelop1'</span></td></tr>
+<td><a id="l1921" class='ln'>1921</a></td><td><span class="ct">       *  Sum: '&lt;S92&gt;/Sum6'</span></td></tr>
 <tr name="1922" id="1922">
-<td><a id="l1922" class='ln'>1922</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S63&gt;/UpperRelop'</span></td></tr>
+<td><a id="l1922" class='ln'>1922</a></td><td><span class="ct">       *  Switch: '&lt;S94&gt;/Switch2'</span></td></tr>
 <tr name="1923" id="1923">
-<td><a id="l1923" class='ln'>1923</a></td><td><span class="ct">     *  Sum: '&lt;S61&gt;/Add1'</span></td></tr>
+<td><a id="l1923" class='ln'>1923</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1924" id="1924">
-<td><a id="l1924" class='ln'>1924</a></td><td><span class="ct">     *  Switch: '&lt;S63&gt;/Switch'</span></td></tr>
+<td><a id="l1924" class='ln'>1924</a></td><td>      <a id="1924c7" class="tk">rtDW</a>-&gt;<a id="1924c13" class="tk">UnitDelay_DSTATE</a> = (<a id="1924c33" class="tk">int32_T</a>)(((<a id="1924c44" class="tk">int64_T</a>)(<a id="1924c53" class="tk">rtb_Gain_b0</a> <a id="1924c65" class="tk">-</a> <a id="1924c67" class="tk">rtb_Sum1</a>) <a id="1924c77" class="tk">*</a></td></tr>
 <tr name="1925" id="1925">
-<td><a id="l1925" class='ln'>1925</a></td><td><span class="ct">     *  Switch: '&lt;S67&gt;/Switch2'</span></td></tr>
+<td><a id="l1925" class='ln'>1925</a></td><td>        <a id="1925c9" class="tk">rtP</a>.<a id="1925c13" class="tk">cf_TrqLimKb</a>) <a id="1925c26" class="tk">&gt;&gt;</a> 10);</td></tr>
 <tr name="1926" id="1926">
-<td><a id="l1926" class='ln'>1926</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l1926" class='ln'>1926</a></td><td></td></tr>
 <tr name="1927" id="1927">
-<td><a id="l1927" class='ln'>1927</a></td><td>    <span class="kw">if</span> (<a id="1927c9" class="tk">rtDW</a>-&gt;<a id="1927c15" class="tk">Switch</a>[0] <a id="1927c25" class="tk">&gt;</a> 7680) <span class="br">{</span></td></tr>
+<td><a id="l1927" class='ln'>1927</a></td><td>      <span class="ct">/* Update for Delay: '&lt;S93&gt;/Resettable Delay' incorporates:</span></td></tr>
 <tr name="1928" id="1928">
-<td><a id="l1928" class='ln'>1928</a></td><td>      <a id="1928c7" class="tk">rtb_Divide1_m</a> = 7680;</td></tr>
+<td><a id="l1928" class='ln'>1928</a></td><td><span class="ct">       *  Sum: '&lt;S93&gt;/Sum1'</span></td></tr>
 <tr name="1929" id="1929">
-<td><a id="l1929" class='ln'>1929</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="1929c16" class="tk">rtDW</a>-&gt;<a id="1929c22" class="tk">Switch</a>[0] <a id="1929c32" class="tk">&lt;</a> <a id="1929c34" class="tk">-</a>7680) <span class="br">{</span></td></tr>
+<td><a id="l1929" class='ln'>1929</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1930" id="1930">
-<td><a id="l1930" class='ln'>1930</a></td><td>      <span class="ct">/* Switch: '&lt;S63&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1930" class='ln'>1930</a></td><td>      <a id="1930c7" class="tk">rtDW</a>-&gt;<a id="1930c13" class="tk">icLoad_k</a> = 0U;</td></tr>
 <tr name="1931" id="1931">
-<td><a id="l1931" class='ln'>1931</a></td><td><span class="ct">       *  Gain: '&lt;S47&gt;/Gain4'</span></td></tr>
+<td><a id="l1931" class='ln'>1931</a></td><td>      <a id="1931c7" class="tk">rtDW</a>-&gt;<a id="1931c13" class="tk">ResettableDelay_DSTATE</a> = <a id="1931c38" class="tk">rtb_Switch</a>;</td></tr>
 <tr name="1932" id="1932">
-<td><a id="l1932" class='ln'>1932</a></td><td><span class="ct">       *  Switch: '&lt;S63&gt;/Switch2'</span></td></tr>
+<td><a id="l1932" class='ln'>1932</a></td><td></td></tr>
 <tr name="1933" id="1933">
-<td><a id="l1933" class='ln'>1933</a></td><td><span class="ct">       */</span></td></tr>
+<td><a id="l1933" class='ln'>1933</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S88&gt;/PI_TrqSpdLim' */</span></td></tr>
 <tr name="1934" id="1934">
-<td><a id="l1934" class='ln'>1934</a></td><td>      <a id="1934c7" class="tk">rtb_Divide1_m</a> = <a id="1934c23" class="tk">-</a>7680;</td></tr>
+<td><a id="l1934" class='ln'>1934</a></td><td></td></tr>
 <tr name="1935" id="1935">
-<td><a id="l1935" class='ln'>1935</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1935" class='ln'>1935</a></td><td>      <span class="ct">/* Merge: '&lt;S74&gt;/Merge' incorporates:</span></td></tr>
 <tr name="1936" id="1936">
-<td><a id="l1936" class='ln'>1936</a></td><td>      <a id="1936c7" class="tk">rtb_Divide1_m</a> = <a id="1936c23" class="tk">rtDW</a>-&gt;<a id="1936c29" class="tk">Switch</a>[0];</td></tr>
+<td><a id="l1936" class='ln'>1936</a></td><td><span class="ct">       *  DataTypeConversion: '&lt;S88&gt;/Data Type Conversion'</span></td></tr>
 <tr name="1937" id="1937">
-<td><a id="l1937" class='ln'>1937</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1937" class='ln'>1937</a></td><td><span class="ct">       *  ManualSwitch: '&lt;S88&gt;/Manual Switch'</span></td></tr>
 <tr name="1938" id="1938">
-<td><a id="l1938" class='ln'>1938</a></td><td></td></tr>
+<td><a id="l1938" class='ln'>1938</a></td><td><span class="ct">       *  Switch: '&lt;S94&gt;/Switch2'</span></td></tr>
 <tr name="1939" id="1939">
-<td><a id="l1939" class='ln'>1939</a></td><td>    <span class="ct">/* End of Switch: '&lt;S63&gt;/Switch2' */</span></td></tr>
+<td><a id="l1939" class='ln'>1939</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="1940" id="1940">
-<td><a id="l1940" class='ln'>1940</a></td><td></td></tr>
+<td><a id="l1940" class='ln'>1940</a></td><td>      <a id="1940c7" class="tk">rtDW</a>-&gt;<a id="1940c13" class="tk">Merge_f</a> = (<a id="1940c24" class="tk">int16_T</a>)(<a id="1940c33" class="tk">rtb_Gain_b0</a> <a id="1940c45" class="tk">&gt;&gt;</a> 9);</td></tr>
 <tr name="1941" id="1941">
-<td><a id="l1941" class='ln'>1941</a></td><td>    <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S60&gt;/PI_id' */</span></td></tr>
+<td><a id="l1941" class='ln'>1941</a></td><td></td></tr>
 <tr name="1942" id="1942">
-<td><a id="l1942" class='ln'>1942</a></td><td>    <a id="1942c5" class="tk">PI_backCalc_fixdt</a>((<a id="1942c24" class="tk">int16_T</a>)(<a id="1942c33" class="tk">rtb_Divide1_m</a> <a id="1942c47" class="tk">-</a> <a id="1942c49" class="tk">rtb_DataTypeConversion</a>[0]), 4096,</td></tr>
+<td><a id="l1942" class='ln'>1942</a></td><td>      <span class="ct">/* End of Outputs for SubSystem: '&lt;S74&gt;/torque_mode' */</span></td></tr>
 <tr name="1943" id="1943">
-<td><a id="l1943" class='ln'>1943</a></td><td>                      51, 1024, <a id="1943c33" class="tk">rtU</a>-&gt;<a id="1943c38" class="tk">vbus_voltage</a>, (<a id="1943c53" class="tk">int16_T</a>)<a id="1943c61" class="tk">-</a><a id="1943c62" class="tk">rtU</a>-&gt;<a id="1943c67" class="tk">vbus_voltage</a>,</td></tr>
+<td><a id="l1943" class='ln'>1943</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1944" id="1944">
-<td><a id="l1944" class='ln'>1944</a></td><td>                      0, <a id="1944c26" class="tk">rtb_DataTypeConversion_m</a>, <a id="1944c52" class="tk">&amp;</a><a id="1944c53" class="tk">rtDW</a>-&gt;<a id="1944c59" class="tk">Switch2</a>,</td></tr>
+<td><a id="l1944" class='ln'>1944</a></td><td></td></tr>
 <tr name="1945" id="1945">
-<td><a id="l1945" class='ln'>1945</a></td><td>                      <a id="1945c23" class="tk">&amp;</a><a id="1945c24" class="tk">rtConstB</a>.<a id="1945c33" class="tk">PI_id</a>, <a id="1945c40" class="tk">&amp;</a><a id="1945c41" class="tk">rtDW</a>-&gt;<a id="1945c47" class="tk">PI_id</a>, <a id="1945c54" class="tk">&amp;</a><a id="1945c55" class="tk">rtPrevZCX</a>-&gt;<a id="1945c66" class="tk">PI_id</a>);</td></tr>
+<td><a id="l1945" class='ln'>1945</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S76&gt;/MTPA_Calc' incorporates:</span></td></tr>
 <tr name="1946" id="1946">
-<td><a id="l1946" class='ln'>1946</a></td><td></td></tr>
+<td><a id="l1946" class='ln'>1946</a></td><td><span class="ct">     *  ActionPort: '&lt;S81&gt;/Action Port'</span></td></tr>
 <tr name="1947" id="1947">
-<td><a id="l1947" class='ln'>1947</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S60&gt;/PI_id' */</span></td></tr>
+<td><a id="l1947" class='ln'>1947</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1948" id="1948">
-<td><a id="l1948" class='ln'>1948</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S48&gt;/id_ctrl' */</span></td></tr>
+<td><a id="l1948" class='ln'>1948</a></td><td>    <span class="ct">/* If: '&lt;S76&gt;/If' incorporates:</span></td></tr>
 <tr name="1949" id="1949">
-<td><a id="l1949" class='ln'>1949</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1949" class='ln'>1949</a></td><td><span class="ct">     *  Constant: '&lt;S81&gt;/Constant3'</span></td></tr>
 <tr name="1950" id="1950">
-<td><a id="l1950" class='ln'>1950</a></td><td></td></tr>
+<td><a id="l1950" class='ln'>1950</a></td><td><span class="ct">     *  Merge: '&lt;S76&gt;/Merge'</span></td></tr>
 <tr name="1951" id="1951">
-<td><a id="l1951" class='ln'>1951</a></td><td>  <span class="ct">/* End of If: '&lt;S48&gt;/If' */</span></td></tr>
+<td><a id="l1951" class='ln'>1951</a></td><td><span class="ct">     *  Switch: '&lt;S81&gt;/Switch'</span></td></tr>
 <tr name="1952" id="1952">
-<td><a id="l1952" class='ln'>1952</a></td><td></td></tr>
+<td><a id="l1952" class='ln'>1952</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1953" id="1953">
-<td><a id="l1953" class='ln'>1953</a></td><td>  <span class="ct">/* Switch: '&lt;S6&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1953" class='ln'>1953</a></td><td>    <a id="1953c5" class="tk">rtDW</a>-&gt;<a id="1953c11" class="tk">Merge_c</a>[0] = 0;</td></tr>
 <tr name="1954" id="1954">
-<td><a id="l1954" class='ln'>1954</a></td><td><span class="ct">   *  Merge: '&lt;S26&gt;/Merge'</span></td></tr>
+<td><a id="l1954" class='ln'>1954</a></td><td>    <a id="1954c5" class="tk">rtDW</a>-&gt;<a id="1954c11" class="tk">Merge_c</a>[1] = <a id="1954c24" class="tk">rtDW</a>-&gt;<a id="1954c30" class="tk">Merge_f</a>;</td></tr>
 <tr name="1955" id="1955">
-<td><a id="l1955" class='ln'>1955</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1955" class='ln'>1955</a></td><td></td></tr>
 <tr name="1956" id="1956">
-<td><a id="l1956" class='ln'>1956</a></td><td>  <span class="kw">if</span> (<a id="1956c7" class="tk">rtb_z_ctrlMod</a> <a id="1956c21" class="tk">!=</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l1956" class='ln'>1956</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S76&gt;/MTPA_Calc' */</span></td></tr>
 <tr name="1957" id="1957">
-<td><a id="l1957" class='ln'>1957</a></td><td>    <a id="1957c5" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0] = <a id="1957c42" class="tk">rtDW</a>-&gt;<a id="1957c48" class="tk">Switch2</a>;</td></tr>
+<td><a id="l1957" class='ln'>1957</a></td><td></td></tr>
 <tr name="1958" id="1958">
-<td><a id="l1958" class='ln'>1958</a></td><td>    <a id="1958c5" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1] = <a id="1958c42" class="tk">rtDW</a>-&gt;<a id="1958c48" class="tk">Switch2_d</a>;</td></tr>
+<td><a id="l1958" class='ln'>1958</a></td><td>    <span class="ct">/* Sum: '&lt;S77&gt;/Add' incorporates:</span></td></tr>
 <tr name="1959" id="1959">
-<td><a id="l1959" class='ln'>1959</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1959" class='ln'>1959</a></td><td><span class="ct">     *  Inport: '&lt;Root&gt;/iDC_Limit'</span></td></tr>
 <tr name="1960" id="1960">
-<td><a id="l1960" class='ln'>1960</a></td><td>    <a id="1960c5" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0] = <a id="1960c42" class="tk">rtDW</a>-&gt;<a id="1960c48" class="tk">Merge</a>[0];</td></tr>
+<td><a id="l1960" class='ln'>1960</a></td><td><span class="ct">     *  Inport: '&lt;Root&gt;/vDC'</span></td></tr>
 <tr name="1961" id="1961">
-<td><a id="l1961" class='ln'>1961</a></td><td>    <a id="1961c5" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1] = <a id="1961c42" class="tk">rtDW</a>-&gt;<a id="1961c48" class="tk">Merge</a>[1];</td></tr>
+<td><a id="l1961" class='ln'>1961</a></td><td><span class="ct">     *  Math: '&lt;S86&gt;/Math Function3'</span></td></tr>
 <tr name="1962" id="1962">
-<td><a id="l1962" class='ln'>1962</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1962" class='ln'>1962</a></td><td><span class="ct">     *  Merge: '&lt;S76&gt;/Merge'</span></td></tr>
 <tr name="1963" id="1963">
-<td><a id="l1963" class='ln'>1963</a></td><td></td></tr>
+<td><a id="l1963" class='ln'>1963</a></td><td><span class="ct">     *  Product: '&lt;S50&gt;/Divide'</span></td></tr>
 <tr name="1964" id="1964">
-<td><a id="l1964" class='ln'>1964</a></td><td>  <span class="ct">/* End of Switch: '&lt;S6&gt;/Switch' */</span></td></tr>
+<td><a id="l1964" class='ln'>1964</a></td><td><span class="ct">     *  Product: '&lt;S77&gt;/Divide'</span></td></tr>
 <tr name="1965" id="1965">
-<td><a id="l1965" class='ln'>1965</a></td><td></td></tr>
+<td><a id="l1965" class='ln'>1965</a></td><td><span class="ct">     *  Switch: '&lt;S75&gt;/Switch'</span></td></tr>
 <tr name="1966" id="1966">
-<td><a id="l1966" class='ln'>1966</a></td><td>  <span class="ct">/* Gain: '&lt;S51&gt;/Gain' incorporates:</span></td></tr>
+<td><a id="l1966" class='ln'>1966</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1967" id="1967">
-<td><a id="l1967" class='ln'>1967</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/vbus_voltage'</span></td></tr>
+<td><a id="l1967" class='ln'>1967</a></td><td>    <a id="1967c5" class="tk">rtb_Switch</a> = <a id="1967c18" class="tk">rtU</a>-&gt;<a id="1967c23" class="tk">iDC_Limit</a> <a id="1967c33" class="tk">*</a> <a id="1967c35" class="tk">rtU</a>-&gt;<a id="1967c40" class="tk">vDC</a> <a id="1967c44" class="tk">-</a> <a id="1967c46" class="tk">rtDW</a>-&gt;<a id="1967c52" class="tk">Merge_c</a>[0] <a id="1967c63" class="tk">*</a></td></tr>
 <tr name="1968" id="1968">
-<td><a id="l1968" class='ln'>1968</a></td><td><span class="ct">   *  Product: '&lt;S49&gt;/Divide1'</span></td></tr>
+<td><a id="l1968" class='ln'>1968</a></td><td>      <a id="1968c7" class="tk">rtb_DataTypeConversion_b</a>[0];</td></tr>
 <tr name="1969" id="1969">
-<td><a id="l1969" class='ln'>1969</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1969" class='ln'>1969</a></td><td></td></tr>
 <tr name="1970" id="1970">
-<td><a id="l1970" class='ln'>1970</a></td><td>  <a id="1970c3" class="tk">rtb_Divide1_m</a> = (<a id="1970c20" class="tk">int16_T</a>)((15565 <a id="1970c36" class="tk">*</a> <a id="1970c38" class="tk">rtU</a>-&gt;<a id="1970c43" class="tk">vbus_voltage</a>) <a id="1970c57" class="tk">&gt;&gt;</a> 14);</td></tr>
+<td><a id="l1970" class='ln'>1970</a></td><td>    <span class="ct">/* Product: '&lt;S77&gt;/Divide3' incorporates:</span></td></tr>
 <tr name="1971" id="1971">
-<td><a id="l1971" class='ln'>1971</a></td><td></td></tr>
+<td><a id="l1971" class='ln'>1971</a></td><td><span class="ct">     *  Constant: '&lt;S77&gt;/Constant5'</span></td></tr>
 <tr name="1972" id="1972">
-<td><a id="l1972" class='ln'>1972</a></td><td>  <span class="ct">/* Product: '&lt;S51&gt;/Divide' incorporates:</span></td></tr>
+<td><a id="l1972" class='ln'>1972</a></td><td><span class="ct">     *  Math: '&lt;S86&gt;/Math Function3'</span></td></tr>
 <tr name="1973" id="1973">
-<td><a id="l1973" class='ln'>1973</a></td><td><span class="ct">   *  Math: '&lt;S51&gt;/Math Function'</span></td></tr>
+<td><a id="l1973" class='ln'>1973</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1974" id="1974">
-<td><a id="l1974" class='ln'>1974</a></td><td><span class="ct">   *  Math: '&lt;S51&gt;/Math Function1'</span></td></tr>
+<td><a id="l1974" class='ln'>1974</a></td><td>    <a id="1974c5" class="tk">rtb_Gain_b0</a> = <a id="1974c19" class="tk">rtb_Switch</a> <a id="1974c30" class="tk">/</a> 9600;</td></tr>
 <tr name="1975" id="1975">
-<td><a id="l1975" class='ln'>1975</a></td><td><span class="ct">   *  Product: '&lt;S49&gt;/Divide1'</span></td></tr>
+<td><a id="l1975" class='ln'>1975</a></td><td>    <span class="kw">if</span> (<a id="1975c9" class="tk">rtb_Gain_b0</a> <a id="1975c21" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="1976" id="1976">
-<td><a id="l1976" class='ln'>1976</a></td><td><span class="ct">   *  Sum: '&lt;S51&gt;/Sum of Elements'</span></td></tr>
+<td><a id="l1976" class='ln'>1976</a></td><td>      <a id="1976c7" class="tk">rtb_Gain_b0</a> = 32767;</td></tr>
 <tr name="1977" id="1977">
-<td><a id="l1977" class='ln'>1977</a></td><td><span class="ct">   *  Switch: '&lt;S6&gt;/Switch'</span></td></tr>
+<td><a id="l1977" class='ln'>1977</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1978" id="1978">
-<td><a id="l1978" class='ln'>1978</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1978" class='ln'>1978</a></td><td>      <span class="kw">if</span> (<a id="1978c11" class="tk">rtb_Gain_b0</a> <a id="1978c23" class="tk">&lt;</a> <a id="1978c25" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="1979" id="1979">
-<td><a id="l1979" class='ln'>1979</a></td><td>  <a id="1979c3" class="tk">tmp</a> = ((<a id="1979c11" class="tk">int64_T</a>)(((<a id="1979c22" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0] <a id="1979c57" class="tk">*</a></td></tr>
+<td><a id="l1979" class='ln'>1979</a></td><td>        <a id="1979c9" class="tk">rtb_Gain_b0</a> = <a id="1979c23" class="tk">-</a>32768;</td></tr>
 <tr name="1980" id="1980">
-<td><a id="l1980" class='ln'>1980</a></td><td>                     <a id="1980c22" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0]) <a id="1980c58" class="tk">&gt;&gt;</a> 6) <a id="1980c64" class="tk">+</a></td></tr>
+<td><a id="l1980" class='ln'>1980</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="1981" id="1981">
-<td><a id="l1981" class='ln'>1981</a></td><td>                   ((<a id="1981c22" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1] <a id="1981c57" class="tk">*</a></td></tr>
+<td><a id="l1981" class='ln'>1981</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1982" id="1982">
-<td><a id="l1982" class='ln'>1982</a></td><td>                     <a id="1982c22" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1]) <a id="1982c58" class="tk">&gt;&gt;</a> 6)) <a id="1982c65" class="tk">&lt;&lt;</a> 12) <a id="1982c72" class="tk">/</a></td></tr>
+<td><a id="l1982" class='ln'>1982</a></td><td></td></tr>
 <tr name="1983" id="1983">
-<td><a id="l1983" class='ln'>1983</a></td><td>    ((<a id="1983c7" class="tk">rtb_Divide1_m</a> <a id="1983c21" class="tk">*</a> <a id="1983c23" class="tk">rtb_Divide1_m</a>) <a id="1983c38" class="tk">&gt;&gt;</a> 6);</td></tr>
+<td><a id="l1983" class='ln'>1983</a></td><td>    <span class="ct">/* Product: '&lt;S77&gt;/Divide1' incorporates:</span></td></tr>
 <tr name="1984" id="1984">
-<td><a id="l1984" class='ln'>1984</a></td><td>  <span class="kw">if</span> (<a id="1984c7" class="tk">tmp</a> <a id="1984c11" class="tk">&gt;</a> 32767LL) <span class="br">{</span></td></tr>
+<td><a id="l1984" class='ln'>1984</a></td><td><span class="ct">     *  Math: '&lt;S86&gt;/Math Function3'</span></td></tr>
 <tr name="1985" id="1985">
-<td><a id="l1985" class='ln'>1985</a></td><td>    <a id="1985c5" class="tk">tmp</a> = 32767LL;</td></tr>
+<td><a id="l1985" class='ln'>1985</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1986" id="1986">
-<td><a id="l1986" class='ln'>1986</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l1986" class='ln'>1986</a></td><td>    <a id="1986c5" class="tk">tmp_2</a> = <a id="1986c13" class="tk">rtb_Switch</a>;</td></tr>
 <tr name="1987" id="1987">
-<td><a id="l1987" class='ln'>1987</a></td><td>    <span class="kw">if</span> (<a id="1987c9" class="tk">tmp</a> <a id="1987c13" class="tk">&lt;</a> <a id="1987c15" class="tk">-</a>32768LL) <span class="br">{</span></td></tr>
+<td><a id="l1987" class='ln'>1987</a></td><td></td></tr>
 <tr name="1988" id="1988">
-<td><a id="l1988" class='ln'>1988</a></td><td>      <a id="1988c7" class="tk">tmp</a> = <a id="1988c13" class="tk">-</a>32768LL;</td></tr>
+<td><a id="l1988" class='ln'>1988</a></td><td>    <span class="ct">/* MinMax: '&lt;S77&gt;/Min2' incorporates:</span></td></tr>
 <tr name="1989" id="1989">
-<td><a id="l1989" class='ln'>1989</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l1989" class='ln'>1989</a></td><td><span class="ct">     *  Product: '&lt;S77&gt;/Divide3'</span></td></tr>
 <tr name="1990" id="1990">
-<td><a id="l1990" class='ln'>1990</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l1990" class='ln'>1990</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="1991" id="1991">
-<td><a id="l1991" class='ln'>1991</a></td><td></td></tr>
+<td><a id="l1991" class='ln'>1991</a></td><td>    <span class="kw">if</span> (<a id="1991c9" class="tk">rtb_DataTypeConversion_b</a>[1] <a id="1991c37" class="tk">&gt;</a> (<a id="1991c40" class="tk">int16_T</a>)<a id="1991c48" class="tk">rtb_Gain_b0</a>) <span class="br">{</span></td></tr>
 <tr name="1992" id="1992">
-<td><a id="l1992" class='ln'>1992</a></td><td>  <span class="ct">/* Sqrt: '&lt;S51&gt;/Sqrt' incorporates:</span></td></tr>
+<td><a id="l1992" class='ln'>1992</a></td><td>      <a id="1992c7" class="tk">rtb_Divide1_m</a> = <a id="1992c23" class="tk">rtb_DataTypeConversion_b</a>[1];</td></tr>
 <tr name="1993" id="1993">
-<td><a id="l1993" class='ln'>1993</a></td><td><span class="ct">   *  Product: '&lt;S51&gt;/Divide'</span></td></tr>
+<td><a id="l1993" class='ln'>1993</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="1994" id="1994">
-<td><a id="l1994" class='ln'>1994</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l1994" class='ln'>1994</a></td><td>      <a id="1994c7" class="tk">rtb_Divide1_m</a> = (<a id="1994c24" class="tk">int16_T</a>)<a id="1994c32" class="tk">rtb_Gain_b0</a>;</td></tr>
 <tr name="1995" id="1995">
-<td><a id="l1995" class='ln'>1995</a></td><td>  <a id="1995c3" class="tk">rtb_Divide1_m</a> = <a id="1995c19" class="tk">rt_sqrt_Us16En12_Ys16E_cQn1iwAF</a>((<a id="1995c52" class="tk">int16_T</a>)<a id="1995c60" class="tk">tmp</a>);</td></tr>
+<td><a id="l1995" class='ln'>1995</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="1996" id="1996">
 <td><a id="l1996" class='ln'>1996</a></td><td></td></tr>
 <tr name="1997" id="1997">
-<td><a id="l1997" class='ln'>1997</a></td><td>  <span class="ct">/* Switch: '&lt;S51&gt;/Switch' incorporates:</span></td></tr>
+<td><a id="l1997" class='ln'>1997</a></td><td>    <span class="ct">/* End of MinMax: '&lt;S77&gt;/Min2' */</span></td></tr>
 <tr name="1998" id="1998">
-<td><a id="l1998" class='ln'>1998</a></td><td><span class="ct">   *  Product: '&lt;S51&gt;/Divide1'</span></td></tr>
+<td><a id="l1998" class='ln'>1998</a></td><td></td></tr>
 <tr name="1999" id="1999">
-<td><a id="l1999" class='ln'>1999</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S79&gt;/Compare'</span></td></tr>
+<td><a id="l1999" class='ln'>1999</a></td><td>    <span class="ct">/* Product: '&lt;S77&gt;/Divide1' */</span></td></tr>
 <tr name="2000" id="2000">
-<td><a id="l2000" class='ln'>2000</a></td><td><span class="ct">   *  Sqrt: '&lt;S51&gt;/Sqrt'</span></td></tr>
+<td><a id="l2000" class='ln'>2000</a></td><td>    <a id="2000c5" class="tk">rtb_Gain_b0</a> = <a id="2000c19" class="tk">tmp_2</a> <a id="2000c25" class="tk">/</a> <a id="2000c27" class="tk">rtb_Divide1_m</a>;</td></tr>
 <tr name="2001" id="2001">
-<td><a id="l2001" class='ln'>2001</a></td><td><span class="ct">   *  Switch: '&lt;S6&gt;/Switch'</span></td></tr>
+<td><a id="l2001" class='ln'>2001</a></td><td>    <span class="kw">if</span> (<a id="2001c9" class="tk">rtb_Gain_b0</a> <a id="2001c21" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="2002" id="2002">
-<td><a id="l2002" class='ln'>2002</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2002" class='ln'>2002</a></td><td>      <a id="2002c7" class="tk">rtb_Gain_b0</a> = 32767;</td></tr>
 <tr name="2003" id="2003">
-<td><a id="l2003" class='ln'>2003</a></td><td>  <span class="kw">if</span> (<a id="2003c7" class="tk">rtb_Divide1_m</a> <a id="2003c21" class="tk">&gt;</a> 4096) <span class="br">{</span></td></tr>
+<td><a id="l2003" class='ln'>2003</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2004" id="2004">
-<td><a id="l2004" class='ln'>2004</a></td><td>    <span class="ct">/* Product: '&lt;S51&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l2004" class='ln'>2004</a></td><td>      <span class="kw">if</span> (<a id="2004c11" class="tk">rtb_Gain_b0</a> <a id="2004c23" class="tk">&lt;</a> <a id="2004c25" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="2005" id="2005">
-<td><a id="l2005" class='ln'>2005</a></td><td><span class="ct">     *  Switch: '&lt;S6&gt;/Switch'</span></td></tr>
+<td><a id="l2005" class='ln'>2005</a></td><td>        <a id="2005c9" class="tk">rtb_Gain_b0</a> = <a id="2005c23" class="tk">-</a>32768;</td></tr>
 <tr name="2006" id="2006">
-<td><a id="l2006" class='ln'>2006</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2006" class='ln'>2006</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="2007" id="2007">
-<td><a id="l2007" class='ln'>2007</a></td><td>    <a id="2007c5" class="tk">tmp_2</a> = (<a id="2007c14" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0] <a id="2007c49" class="tk">&lt;&lt;</a> 12) <a id="2007c56" class="tk">/</a> <a id="2007c58" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l2007" class='ln'>2007</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2008" id="2008">
-<td><a id="l2008" class='ln'>2008</a></td><td>    <a id="2008c5" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0] = (<a id="2008c43" class="tk">int16_T</a>)<a id="2008c51" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l2008" class='ln'>2008</a></td><td></td></tr>
 <tr name="2009" id="2009">
-<td><a id="l2009" class='ln'>2009</a></td><td></td></tr>
+<td><a id="l2009" class='ln'>2009</a></td><td>    <span class="ct">/* Signum: '&lt;S77&gt;/Sign' incorporates:</span></td></tr>
 <tr name="2010" id="2010">
-<td><a id="l2010" class='ln'>2010</a></td><td>    <span class="ct">/* Product: '&lt;S51&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l2010" class='ln'>2010</a></td><td><span class="ct">     *  Merge: '&lt;S76&gt;/Merge'</span></td></tr>
 <tr name="2011" id="2011">
-<td><a id="l2011" class='ln'>2011</a></td><td><span class="ct">     *  Switch: '&lt;S51&gt;/Switch'</span></td></tr>
+<td><a id="l2011" class='ln'>2011</a></td><td><span class="ct">     *  Switch: '&lt;S75&gt;/Switch'</span></td></tr>
 <tr name="2012" id="2012">
-<td><a id="l2012" class='ln'>2012</a></td><td><span class="ct">     *  Switch: '&lt;S6&gt;/Switch'</span></td></tr>
+<td><a id="l2012" class='ln'>2012</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2013" id="2013">
-<td><a id="l2013" class='ln'>2013</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2013" class='ln'>2013</a></td><td>    <span class="kw">if</span> (<a id="2013c9" class="tk">rtDW</a>-&gt;<a id="2013c15" class="tk">Merge_c</a>[1] <a id="2013c26" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="2014" id="2014">
-<td><a id="l2014" class='ln'>2014</a></td><td>    <a id="2014c5" class="tk">tmp_2</a> = (<a id="2014c14" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1] <a id="2014c49" class="tk">&lt;&lt;</a> 12) <a id="2014c56" class="tk">/</a> <a id="2014c58" class="tk">rtb_Divide1_m</a>;</td></tr>
+<td><a id="l2014" class='ln'>2014</a></td><td>      <a id="2014c7" class="tk">rtb_Divide1_m</a> = <a id="2014c23" class="tk">-</a>1;</td></tr>
 <tr name="2015" id="2015">
-<td><a id="l2015" class='ln'>2015</a></td><td>    <a id="2015c5" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1] = (<a id="2015c43" class="tk">int16_T</a>)<a id="2015c51" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l2015" class='ln'>2015</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2016" id="2016">
-<td><a id="l2016" class='ln'>2016</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l2016" class='ln'>2016</a></td><td>      <a id="2016c7" class="tk">rtb_Divide1_m</a> = (<a id="2016c24" class="tk">int16_T</a>)(<a id="2016c33" class="tk">rtDW</a>-&gt;<a id="2016c39" class="tk">Merge_c</a>[1] <a id="2016c50" class="tk">&gt;</a> 0);</td></tr>
 <tr name="2017" id="2017">
-<td><a id="l2017" class='ln'>2017</a></td><td></td></tr>
+<td><a id="l2017" class='ln'>2017</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2018" id="2018">
-<td><a id="l2018" class='ln'>2018</a></td><td>  <span class="ct">/* End of Switch: '&lt;S51&gt;/Switch' */</span></td></tr>
+<td><a id="l2018" class='ln'>2018</a></td><td></td></tr>
 <tr name="2019" id="2019">
-<td><a id="l2019" class='ln'>2019</a></td><td></td></tr>
+<td><a id="l2019" class='ln'>2019</a></td><td>    <span class="ct">/* End of Signum: '&lt;S77&gt;/Sign' */</span></td></tr>
 <tr name="2020" id="2020">
-<td><a id="l2020" class='ln'>2020</a></td><td>  <span class="ct">/* Sum: '&lt;S49&gt;/Sum1' incorporates:</span></td></tr>
+<td><a id="l2020" class='ln'>2020</a></td><td></td></tr>
 <tr name="2021" id="2021">
-<td><a id="l2021" class='ln'>2021</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S58&gt;/r_cos_M1'</span></td></tr>
+<td><a id="l2021" class='ln'>2021</a></td><td>    <span class="ct">/* Product: '&lt;S77&gt;/Divide2' incorporates:</span></td></tr>
 <tr name="2022" id="2022">
-<td><a id="l2022" class='ln'>2022</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S58&gt;/r_sin_M1'</span></td></tr>
+<td><a id="l2022" class='ln'>2022</a></td><td><span class="ct">     *  Product: '&lt;S77&gt;/Divide1'</span></td></tr>
 <tr name="2023" id="2023">
-<td><a id="l2023" class='ln'>2023</a></td><td><span class="ct">   *  Product: '&lt;S49&gt;/Divide2'</span></td></tr>
+<td><a id="l2023" class='ln'>2023</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2024" id="2024">
-<td><a id="l2024" class='ln'>2024</a></td><td><span class="ct">   *  Product: '&lt;S49&gt;/Divide3'</span></td></tr>
+<td><a id="l2024" class='ln'>2024</a></td><td>    <a id="2024c5" class="tk">rtb_Sum6_p</a> = (<a id="2024c19" class="tk">int16_T</a>)((<a id="2024c29" class="tk">int16_T</a>)<a id="2024c37" class="tk">rtb_Gain_b0</a> <a id="2024c49" class="tk">*</a> <a id="2024c51" class="tk">rtb_Divide1_m</a>);</td></tr>
 <tr name="2025" id="2025">
-<td><a id="l2025" class='ln'>2025</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2025" class='ln'>2025</a></td><td></td></tr>
 <tr name="2026" id="2026">
-<td><a id="l2026" class='ln'>2026</a></td><td>  <a id="2026c3" class="tk">tmp_2</a> = (<a id="2026c12" class="tk">int16_T</a>)((<a id="2026c22" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0] <a id="2026c57" class="tk">*</a></td></tr>
+<td><a id="l2026" class='ln'>2026</a></td><td>    <span class="ct">/* Switch: '&lt;S85&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="2027" id="2027">
-<td><a id="l2027" class='ln'>2027</a></td><td>                     <a id="2027c22" class="tk">rtConstP</a>.<a id="2027c31" class="tk">pooled11</a>[<a id="2027c40" class="tk">rtb_LogicalOperator3</a>]) <a id="2027c63" class="tk">&gt;&gt;</a> 14) <a id="2027c70" class="tk">+</a> (<a id="2027c73" class="tk">int16_T</a>)</td></tr>
+<td><a id="l2027" class='ln'>2027</a></td><td><span class="ct">     *  Constant: '&lt;S77&gt;/Constant3'</span></td></tr>
 <tr name="2028" id="2028">
-<td><a id="l2028" class='ln'>2028</a></td><td>    ((<a id="2028c7" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1] <a id="2028c42" class="tk">*</a></td></tr>
+<td><a id="l2028" class='ln'>2028</a></td><td><span class="ct">     *  Product: '&lt;S77&gt;/Divide2'</span></td></tr>
 <tr name="2029" id="2029">
-<td><a id="l2029" class='ln'>2029</a></td><td>      <a id="2029c7" class="tk">rtConstP</a>.<a id="2029c16" class="tk">pooled12</a>[<a id="2029c25" class="tk">rtb_LogicalOperator3</a>]) <a id="2029c48" class="tk">&gt;&gt;</a> 14);</td></tr>
+<td><a id="l2029" class='ln'>2029</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S85&gt;/LowerRelop1'</span></td></tr>
 <tr name="2030" id="2030">
-<td><a id="l2030" class='ln'>2030</a></td><td>  <span class="kw">if</span> (<a id="2030c7" class="tk">tmp_2</a> <a id="2030c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l2030" class='ln'>2030</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S85&gt;/UpperRelop'</span></td></tr>
 <tr name="2031" id="2031">
-<td><a id="l2031" class='ln'>2031</a></td><td>    <a id="2031c5" class="tk">tmp_2</a> = 32767;</td></tr>
+<td><a id="l2031" class='ln'>2031</a></td><td><span class="ct">     *  Switch: '&lt;S85&gt;/Switch'</span></td></tr>
 <tr name="2032" id="2032">
-<td><a id="l2032" class='ln'>2032</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l2032" class='ln'>2032</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2033" id="2033">
-<td><a id="l2033" class='ln'>2033</a></td><td>    <span class="kw">if</span> (<a id="2033c9" class="tk">tmp_2</a> <a id="2033c15" class="tk">&lt;</a> <a id="2033c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l2033" class='ln'>2033</a></td><td>    <span class="kw">if</span> (<a id="2033c9" class="tk">rtb_Sum6_p</a> <a id="2033c20" class="tk">&gt;</a> 4800) <span class="br">{</span></td></tr>
 <tr name="2034" id="2034">
-<td><a id="l2034" class='ln'>2034</a></td><td>      <a id="2034c7" class="tk">tmp_2</a> = <a id="2034c15" class="tk">-</a>32768;</td></tr>
+<td><a id="l2034" class='ln'>2034</a></td><td>      <a id="2034c7" class="tk">rtb_Sum6_p</a> = 4800;</td></tr>
 <tr name="2035" id="2035">
-<td><a id="l2035" class='ln'>2035</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l2035" class='ln'>2035</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2036" id="2036">
-<td><a id="l2036" class='ln'>2036</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l2036" class='ln'>2036</a></td><td>      <span class="kw">if</span> (<a id="2036c11" class="tk">rtb_Sum6_p</a> <a id="2036c22" class="tk">&lt;</a> <a id="2036c24" class="tk">-</a>4800) <span class="br">{</span></td></tr>
 <tr name="2037" id="2037">
-<td><a id="l2037" class='ln'>2037</a></td><td></td></tr>
+<td><a id="l2037" class='ln'>2037</a></td><td>        <span class="ct">/* Switch: '&lt;S85&gt;/Switch' incorporates:</span></td></tr>
 <tr name="2038" id="2038">
-<td><a id="l2038" class='ln'>2038</a></td><td>  <a id="2038c3" class="tk">rtb_Divide1_m</a> = (<a id="2038c20" class="tk">int16_T</a>)<a id="2038c28" class="tk">tmp_2</a>;</td></tr>
+<td><a id="l2038" class='ln'>2038</a></td><td><span class="ct">         *  Gain: '&lt;S77&gt;/Gain1'</span></td></tr>
 <tr name="2039" id="2039">
-<td><a id="l2039" class='ln'>2039</a></td><td></td></tr>
+<td><a id="l2039" class='ln'>2039</a></td><td><span class="ct">         *  Switch: '&lt;S85&gt;/Switch2'</span></td></tr>
 <tr name="2040" id="2040">
-<td><a id="l2040" class='ln'>2040</a></td><td>  <span class="ct">/* End of Sum: '&lt;S49&gt;/Sum1' */</span></td></tr>
+<td><a id="l2040" class='ln'>2040</a></td><td><span class="ct">         */</span></td></tr>
 <tr name="2041" id="2041">
-<td><a id="l2041" class='ln'>2041</a></td><td></td></tr>
+<td><a id="l2041" class='ln'>2041</a></td><td>        <a id="2041c9" class="tk">rtb_Sum6_p</a> = <a id="2041c22" class="tk">-</a>4800;</td></tr>
 <tr name="2042" id="2042">
-<td><a id="l2042" class='ln'>2042</a></td><td>  <span class="ct">/* Sum: '&lt;S49&gt;/Sum6' incorporates:</span></td></tr>
+<td><a id="l2042" class='ln'>2042</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="2043" id="2043">
-<td><a id="l2043" class='ln'>2043</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S58&gt;/r_cos_M1'</span></td></tr>
+<td><a id="l2043" class='ln'>2043</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2044" id="2044">
-<td><a id="l2044" class='ln'>2044</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S58&gt;/r_sin_M1'</span></td></tr>
+<td><a id="l2044" class='ln'>2044</a></td><td></td></tr>
 <tr name="2045" id="2045">
-<td><a id="l2045" class='ln'>2045</a></td><td><span class="ct">   *  Product: '&lt;S49&gt;/Divide1'</span></td></tr>
+<td><a id="l2045" class='ln'>2045</a></td><td>    <span class="ct">/* End of Switch: '&lt;S85&gt;/Switch2' */</span></td></tr>
 <tr name="2046" id="2046">
-<td><a id="l2046" class='ln'>2046</a></td><td><span class="ct">   *  Product: '&lt;S49&gt;/Divide4'</span></td></tr>
+<td><a id="l2046" class='ln'>2046</a></td><td></td></tr>
 <tr name="2047" id="2047">
-<td><a id="l2047" class='ln'>2047</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2047" class='ln'>2047</a></td><td>    <span class="ct">/* Switch: '&lt;S77&gt;/Switch' incorporates:</span></td></tr>
 <tr name="2048" id="2048">
-<td><a id="l2048" class='ln'>2048</a></td><td>  <a id="2048c3" class="tk">tmp_2</a> = (<a id="2048c12" class="tk">int16_T</a>)((<a id="2048c22" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0] <a id="2048c57" class="tk">*</a></td></tr>
+<td><a id="l2048" class='ln'>2048</a></td><td><span class="ct">     *  Merge: '&lt;S76&gt;/Merge'</span></td></tr>
 <tr name="2049" id="2049">
-<td><a id="l2049" class='ln'>2049</a></td><td>                     <a id="2049c22" class="tk">rtConstP</a>.<a id="2049c31" class="tk">pooled12</a>[<a id="2049c40" class="tk">rtb_LogicalOperator3</a>]) <a id="2049c63" class="tk">&gt;&gt;</a> 14) <a id="2049c70" class="tk">-</a> (<a id="2049c73" class="tk">int16_T</a>)</td></tr>
+<td><a id="l2049" class='ln'>2049</a></td><td><span class="ct">     *  MinMax: '&lt;S77&gt;/Min1'</span></td></tr>
 <tr name="2050" id="2050">
-<td><a id="l2050" class='ln'>2050</a></td><td>    ((<a id="2050c7" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1] <a id="2050c42" class="tk">*</a></td></tr>
+<td><a id="l2050" class='ln'>2050</a></td><td><span class="ct">     *  Switch: '&lt;S75&gt;/Switch'</span></td></tr>
 <tr name="2051" id="2051">
-<td><a id="l2051" class='ln'>2051</a></td><td>      <a id="2051c7" class="tk">rtConstP</a>.<a id="2051c16" class="tk">pooled11</a>[<a id="2051c25" class="tk">rtb_LogicalOperator3</a>]) <a id="2051c48" class="tk">&gt;&gt;</a> 14);</td></tr>
+<td><a id="l2051" class='ln'>2051</a></td><td><span class="ct">     *  Switch: '&lt;S85&gt;/Switch2'</span></td></tr>
 <tr name="2052" id="2052">
-<td><a id="l2052" class='ln'>2052</a></td><td>  <span class="kw">if</span> (<a id="2052c7" class="tk">tmp_2</a> <a id="2052c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<td><a id="l2052" class='ln'>2052</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2053" id="2053">
-<td><a id="l2053" class='ln'>2053</a></td><td>    <a id="2053c5" class="tk">tmp_2</a> = 32767;</td></tr>
+<td><a id="l2053" class='ln'>2053</a></td><td>    <span class="kw">if</span> (<a id="2053c9" class="tk">rtb_Divide1_m</a> <a id="2053c23" class="tk">&gt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="2054" id="2054">
-<td><a id="l2054" class='ln'>2054</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l2054" class='ln'>2054</a></td><td>      <span class="ct">/* MinMax: '&lt;S77&gt;/Min' incorporates:</span></td></tr>
 <tr name="2055" id="2055">
-<td><a id="l2055" class='ln'>2055</a></td><td>    <span class="kw">if</span> (<a id="2055c9" class="tk">tmp_2</a> <a id="2055c15" class="tk">&lt;</a> <a id="2055c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<td><a id="l2055" class='ln'>2055</a></td><td><span class="ct">       *  Merge: '&lt;S76&gt;/Merge'</span></td></tr>
 <tr name="2056" id="2056">
-<td><a id="l2056" class='ln'>2056</a></td><td>      <a id="2056c7" class="tk">tmp_2</a> = <a id="2056c15" class="tk">-</a>32768;</td></tr>
+<td><a id="l2056" class='ln'>2056</a></td><td><span class="ct">       *  Switch: '&lt;S75&gt;/Switch'</span></td></tr>
 <tr name="2057" id="2057">
-<td><a id="l2057" class='ln'>2057</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l2057" class='ln'>2057</a></td><td><span class="ct">       *  Switch: '&lt;S85&gt;/Switch2'</span></td></tr>
 <tr name="2058" id="2058">
-<td><a id="l2058" class='ln'>2058</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l2058" class='ln'>2058</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="2059" id="2059">
-<td><a id="l2059" class='ln'>2059</a></td><td></td></tr>
+<td><a id="l2059" class='ln'>2059</a></td><td>      <span class="kw">if</span> (<a id="2059c11" class="tk">rtb_Sum6_p</a> <a id="2059c22" class="tk">&lt;</a> <a id="2059c24" class="tk">rtDW</a>-&gt;<a id="2059c30" class="tk">Merge_c</a>[1]) <span class="br">{</span></td></tr>
 <tr name="2060" id="2060">
-<td><a id="l2060" class='ln'>2060</a></td><td>  <span class="ct">/* Product: '&lt;S70&gt;/Divide7' incorporates:</span></td></tr>
+<td><a id="l2060" class='ln'>2060</a></td><td>        <span class="ct">/* Switch: '&lt;S77&gt;/Switch' */</span></td></tr>
 <tr name="2061" id="2061">
-<td><a id="l2061" class='ln'>2061</a></td><td><span class="ct">   *  Constant: '&lt;S70&gt;/Constant3'</span></td></tr>
+<td><a id="l2061" class='ln'>2061</a></td><td>        <a id="2061c9" class="tk">rtDW</a>-&gt;<a id="2061c15" class="tk">Switch</a> = <a id="2061c24" class="tk">rtb_Sum6_p</a>;</td></tr>
 <tr name="2062" id="2062">
-<td><a id="l2062" class='ln'>2062</a></td><td><span class="ct">   *  Sum: '&lt;S49&gt;/Sum1'</span></td></tr>
+<td><a id="l2062" class='ln'>2062</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2063" id="2063">
-<td><a id="l2063" class='ln'>2063</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2063" class='ln'>2063</a></td><td>        <span class="ct">/* Switch: '&lt;S77&gt;/Switch' */</span></td></tr>
 <tr name="2064" id="2064">
-<td><a id="l2064" class='ln'>2064</a></td><td>  <a id="2064c3" class="tk">rtb_Sign</a> = (<a id="2064c15" class="tk">int16_T</a>)((2365 <a id="2064c30" class="tk">*</a> <a id="2064c32" class="tk">rtb_Divide1_m</a>) <a id="2064c47" class="tk">&gt;&gt;</a> 12);</td></tr>
+<td><a id="l2064" class='ln'>2064</a></td><td>        <a id="2064c9" class="tk">rtDW</a>-&gt;<a id="2064c15" class="tk">Switch</a> = <a id="2064c24" class="tk">rtDW</a>-&gt;<a id="2064c30" class="tk">Merge_c</a>[1];</td></tr>
 <tr name="2065" id="2065">
-<td><a id="l2065" class='ln'>2065</a></td><td></td></tr>
+<td><a id="l2065" class='ln'>2065</a></td><td>      <span class="br">}</span></td></tr>
 <tr name="2066" id="2066">
-<td><a id="l2066" class='ln'>2066</a></td><td>  <span class="ct">/* MATLAB Function: '&lt;S70&gt;/sector_select' incorporates:</span></td></tr>
+<td><a id="l2066" class='ln'>2066</a></td><td></td></tr>
 <tr name="2067" id="2067">
-<td><a id="l2067" class='ln'>2067</a></td><td><span class="ct">   *  Product: '&lt;S70&gt;/Divide7'</span></td></tr>
+<td><a id="l2067" class='ln'>2067</a></td><td>      <span class="ct">/* End of MinMax: '&lt;S77&gt;/Min' */</span></td></tr>
 <tr name="2068" id="2068">
-<td><a id="l2068" class='ln'>2068</a></td><td><span class="ct">   *  Sum: '&lt;S49&gt;/Sum1'</span></td></tr>
+<td><a id="l2068" class='ln'>2068</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="2068c16" class="tk">rtb_Sum6_p</a> <a id="2068c27" class="tk">&gt;</a> <a id="2068c29" class="tk">rtDW</a>-&gt;<a id="2068c35" class="tk">Merge_c</a>[1]) <span class="br">{</span></td></tr>
 <tr name="2069" id="2069">
-<td><a id="l2069" class='ln'>2069</a></td><td><span class="ct">   *  Sum: '&lt;S49&gt;/Sum6'</span></td></tr>
+<td><a id="l2069" class='ln'>2069</a></td><td>      <span class="ct">/* MinMax: '&lt;S77&gt;/Min1' incorporates:</span></td></tr>
 <tr name="2070" id="2070">
-<td><a id="l2070" class='ln'>2070</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2070" class='ln'>2070</a></td><td><span class="ct">       *  Switch: '&lt;S77&gt;/Switch'</span></td></tr>
 <tr name="2071" id="2071">
-<td><a id="l2071" class='ln'>2071</a></td><td>  <span class="kw">if</span> (<a id="2071c7" class="tk">rtb_Divide1_m</a> <a id="2071c21" class="tk">&gt;=</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l2071" class='ln'>2071</a></td><td><span class="ct">       *  Switch: '&lt;S85&gt;/Switch2'</span></td></tr>
 <tr name="2072" id="2072">
-<td><a id="l2072" class='ln'>2072</a></td><td>    <span class="kw">if</span> ((<a id="2072c10" class="tk">int16_T</a>)<a id="2072c18" class="tk">tmp_2</a> <a id="2072c24" class="tk">&gt;=</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l2072" class='ln'>2072</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="2073" id="2073">
-<td><a id="l2073" class='ln'>2073</a></td><td>      <span class="kw">if</span> (<a id="2073c11" class="tk">rtb_Sign</a> <a id="2073c20" class="tk">&gt;</a> (<a id="2073c23" class="tk">int16_T</a>)<a id="2073c31" class="tk">tmp_2</a>) <span class="br">{</span></td></tr>
+<td><a id="l2073" class='ln'>2073</a></td><td>      <a id="2073c7" class="tk">rtDW</a>-&gt;<a id="2073c13" class="tk">Switch</a> = <a id="2073c22" class="tk">rtb_Sum6_p</a>;</td></tr>
 <tr name="2074" id="2074">
-<td><a id="l2074" class='ln'>2074</a></td><td>        <span class="ct">/* DataTypeConversion: '&lt;S70&gt;/Data Type Conversion' */</span></td></tr>
+<td><a id="l2074" class='ln'>2074</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2075" id="2075">
-<td><a id="l2075" class='ln'>2075</a></td><td>        <a id="2075c9" class="tk">rtb_DataTypeConversion_m</a> = 2U;</td></tr>
+<td><a id="l2075" class='ln'>2075</a></td><td>      <span class="ct">/* Switch: '&lt;S77&gt;/Switch' incorporates:</span></td></tr>
 <tr name="2076" id="2076">
-<td><a id="l2076" class='ln'>2076</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l2076" class='ln'>2076</a></td><td><span class="ct">       *  Merge: '&lt;S76&gt;/Merge'</span></td></tr>
 <tr name="2077" id="2077">
-<td><a id="l2077" class='ln'>2077</a></td><td>        <span class="ct">/* DataTypeConversion: '&lt;S70&gt;/Data Type Conversion' */</span></td></tr>
+<td><a id="l2077" class='ln'>2077</a></td><td><span class="ct">       *  Switch: '&lt;S75&gt;/Switch'</span></td></tr>
 <tr name="2078" id="2078">
-<td><a id="l2078" class='ln'>2078</a></td><td>        <a id="2078c9" class="tk">rtb_DataTypeConversion_m</a> = 1U;</td></tr>
+<td><a id="l2078" class='ln'>2078</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="2079" id="2079">
-<td><a id="l2079" class='ln'>2079</a></td><td>      <span class="br">}</span></td></tr>
+<td><a id="l2079" class='ln'>2079</a></td><td>      <a id="2079c7" class="tk">rtDW</a>-&gt;<a id="2079c13" class="tk">Switch</a> = <a id="2079c22" class="tk">rtDW</a>-&gt;<a id="2079c28" class="tk">Merge_c</a>[1];</td></tr>
 <tr name="2080" id="2080">
-<td><a id="l2080" class='ln'>2080</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="2080c16" class="tk">-</a><a id="2080c17" class="tk">rtb_Sign</a> <a id="2080c26" class="tk">&gt;</a> (<a id="2080c29" class="tk">int16_T</a>)<a id="2080c37" class="tk">tmp_2</a>) <span class="br">{</span></td></tr>
+<td><a id="l2080" class='ln'>2080</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2081" id="2081">
-<td><a id="l2081" class='ln'>2081</a></td><td>      <span class="ct">/* DataTypeConversion: '&lt;S70&gt;/Data Type Conversion' */</span></td></tr>
+<td><a id="l2081" class='ln'>2081</a></td><td></td></tr>
 <tr name="2082" id="2082">
-<td><a id="l2082" class='ln'>2082</a></td><td>      <a id="2082c7" class="tk">rtb_DataTypeConversion_m</a> = 3U;</td></tr>
+<td><a id="l2082" class='ln'>2082</a></td><td>    <span class="ct">/* End of Switch: '&lt;S77&gt;/Switch' */</span></td></tr>
 <tr name="2083" id="2083">
-<td><a id="l2083" class='ln'>2083</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l2083" class='ln'>2083</a></td><td></td></tr>
 <tr name="2084" id="2084">
-<td><a id="l2084" class='ln'>2084</a></td><td>      <span class="ct">/* DataTypeConversion: '&lt;S70&gt;/Data Type Conversion' */</span></td></tr>
+<td><a id="l2084" class='ln'>2084</a></td><td>    <span class="ct">/* Switch: '&lt;S84&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="2085" id="2085">
-<td><a id="l2085" class='ln'>2085</a></td><td>      <a id="2085c7" class="tk">rtb_DataTypeConversion_m</a> = 2U;</td></tr>
+<td><a id="l2085" class='ln'>2085</a></td><td><span class="ct">     *  Merge: '&lt;S76&gt;/Merge'</span></td></tr>
 <tr name="2086" id="2086">
-<td><a id="l2086" class='ln'>2086</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l2086" class='ln'>2086</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S84&gt;/LowerRelop1'</span></td></tr>
 <tr name="2087" id="2087">
-<td><a id="l2087" class='ln'>2087</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="2087c15" class="tk">int16_T</a>)<a id="2087c23" class="tk">tmp_2</a> <a id="2087c29" class="tk">&gt;=</a> 0) <span class="br">{</span></td></tr>
+<td><a id="l2087" class='ln'>2087</a></td><td><span class="ct">     *  RelationalOperator: '&lt;S84&gt;/UpperRelop'</span></td></tr>
 <tr name="2088" id="2088">
-<td><a id="l2088" class='ln'>2088</a></td><td>    <span class="kw">if</span> (<a id="2088c9" class="tk">-</a><a id="2088c10" class="tk">rtb_Sign</a> <a id="2088c19" class="tk">&gt;</a> (<a id="2088c22" class="tk">int16_T</a>)<a id="2088c30" class="tk">tmp_2</a>) <span class="br">{</span></td></tr>
+<td><a id="l2088" class='ln'>2088</a></td><td><span class="ct">     *  Switch: '&lt;S75&gt;/Switch'</span></td></tr>
 <tr name="2089" id="2089">
-<td><a id="l2089" class='ln'>2089</a></td><td>      <span class="ct">/* DataTypeConversion: '&lt;S70&gt;/Data Type Conversion' */</span></td></tr>
+<td><a id="l2089" class='ln'>2089</a></td><td><span class="ct">     *  Switch: '&lt;S84&gt;/Switch'</span></td></tr>
 <tr name="2090" id="2090">
-<td><a id="l2090" class='ln'>2090</a></td><td>      <a id="2090c7" class="tk">rtb_DataTypeConversion_m</a> = 5U;</td></tr>
+<td><a id="l2090" class='ln'>2090</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2091" id="2091">
-<td><a id="l2091" class='ln'>2091</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l2091" class='ln'>2091</a></td><td>    <span class="kw">if</span> (<a id="2091c9" class="tk">rtDW</a>-&gt;<a id="2091c15" class="tk">Merge_c</a>[0] <a id="2091c26" class="tk">&gt;</a> 4800) <span class="br">{</span></td></tr>
 <tr name="2092" id="2092">
-<td><a id="l2092" class='ln'>2092</a></td><td>      <span class="ct">/* DataTypeConversion: '&lt;S70&gt;/Data Type Conversion' */</span></td></tr>
+<td><a id="l2092" class='ln'>2092</a></td><td>      <span class="ct">/* Switch: '&lt;S84&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="2093" id="2093">
-<td><a id="l2093" class='ln'>2093</a></td><td>      <a id="2093c7" class="tk">rtb_DataTypeConversion_m</a> = 6U;</td></tr>
+<td><a id="l2093" class='ln'>2093</a></td><td><span class="ct">       *  Constant: '&lt;S77&gt;/Constant1'</span></td></tr>
 <tr name="2094" id="2094">
-<td><a id="l2094" class='ln'>2094</a></td><td>    <span class="br">}</span></td></tr>
+<td><a id="l2094" class='ln'>2094</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="2095" id="2095">
-<td><a id="l2095" class='ln'>2095</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="2095c14" class="tk">rtb_Sign</a> <a id="2095c23" class="tk">&gt;</a> (<a id="2095c26" class="tk">int16_T</a>)<a id="2095c34" class="tk">tmp_2</a>) <span class="br">{</span></td></tr>
+<td><a id="l2095" class='ln'>2095</a></td><td>      <a id="2095c7" class="tk">rtDW</a>-&gt;<a id="2095c13" class="tk">Switch2</a> = 4800;</td></tr>
 <tr name="2096" id="2096">
-<td><a id="l2096" class='ln'>2096</a></td><td>    <span class="ct">/* DataTypeConversion: '&lt;S70&gt;/Data Type Conversion' */</span></td></tr>
+<td><a id="l2096" class='ln'>2096</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="2096c16" class="tk">rtDW</a>-&gt;<a id="2096c22" class="tk">Merge_c</a>[0] <a id="2096c33" class="tk">&lt;</a> <a id="2096c35" class="tk">-</a>4800) <span class="br">{</span></td></tr>
 <tr name="2097" id="2097">
-<td><a id="l2097" class='ln'>2097</a></td><td>    <a id="2097c5" class="tk">rtb_DataTypeConversion_m</a> = 4U;</td></tr>
+<td><a id="l2097" class='ln'>2097</a></td><td>      <span class="ct">/* Switch: '&lt;S84&gt;/Switch' incorporates:</span></td></tr>
 <tr name="2098" id="2098">
-<td><a id="l2098" class='ln'>2098</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<td><a id="l2098" class='ln'>2098</a></td><td><span class="ct">       *  Gain: '&lt;S77&gt;/Gain1'</span></td></tr>
 <tr name="2099" id="2099">
-<td><a id="l2099" class='ln'>2099</a></td><td>    <span class="ct">/* DataTypeConversion: '&lt;S70&gt;/Data Type Conversion' */</span></td></tr>
+<td><a id="l2099" class='ln'>2099</a></td><td><span class="ct">       *  Switch: '&lt;S84&gt;/Switch2'</span></td></tr>
 <tr name="2100" id="2100">
-<td><a id="l2100" class='ln'>2100</a></td><td>    <a id="2100c5" class="tk">rtb_DataTypeConversion_m</a> = 5U;</td></tr>
+<td><a id="l2100" class='ln'>2100</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="2101" id="2101">
-<td><a id="l2101" class='ln'>2101</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l2101" class='ln'>2101</a></td><td>      <a id="2101c7" class="tk">rtDW</a>-&gt;<a id="2101c13" class="tk">Switch2</a> = <a id="2101c23" class="tk">-</a>4800;</td></tr>
 <tr name="2102" id="2102">
-<td><a id="l2102" class='ln'>2102</a></td><td></td></tr>
+<td><a id="l2102" class='ln'>2102</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2103" id="2103">
-<td><a id="l2103" class='ln'>2103</a></td><td>  <span class="ct">/* End of MATLAB Function: '&lt;S70&gt;/sector_select' */</span></td></tr>
+<td><a id="l2103" class='ln'>2103</a></td><td>      <span class="ct">/* Switch: '&lt;S84&gt;/Switch2' */</span></td></tr>
 <tr name="2104" id="2104">
-<td><a id="l2104" class='ln'>2104</a></td><td></td></tr>
+<td><a id="l2104" class='ln'>2104</a></td><td>      <a id="2104c7" class="tk">rtDW</a>-&gt;<a id="2104c13" class="tk">Switch2</a> = <a id="2104c23" class="tk">rtDW</a>-&gt;<a id="2104c29" class="tk">Merge_c</a>[0];</td></tr>
 <tr name="2105" id="2105">
-<td><a id="l2105" class='ln'>2105</a></td><td>  <span class="ct">/* Gain: '&lt;S70&gt;/Gain' incorporates:</span></td></tr>
+<td><a id="l2105" class='ln'>2105</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2106" id="2106">
-<td><a id="l2106" class='ln'>2106</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/vbus_voltage'</span></td></tr>
+<td><a id="l2106" class='ln'>2106</a></td><td></td></tr>
 <tr name="2107" id="2107">
-<td><a id="l2107" class='ln'>2107</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2107" class='ln'>2107</a></td><td>    <span class="ct">/* End of Switch: '&lt;S84&gt;/Switch2' */</span></td></tr>
 <tr name="2108" id="2108">
-<td><a id="l2108" class='ln'>2108</a></td><td>  <a id="2108c3" class="tk">rtb_Gain</a> = 18919 <a id="2108c20" class="tk">*</a> <a id="2108c22" class="tk">rtU</a>-&gt;<a id="2108c27" class="tk">vbus_voltage</a>;</td></tr>
+<td><a id="l2108" class='ln'>2108</a></td><td></td></tr>
 <tr name="2109" id="2109">
-<td><a id="l2109" class='ln'>2109</a></td><td></td></tr>
+<td><a id="l2109" class='ln'>2109</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S71&gt;/Unit Delay' */</span></td></tr>
 <tr name="2110" id="2110">
-<td><a id="l2110" class='ln'>2110</a></td><td>  <span class="ct">/* Product: '&lt;S70&gt;/Divide' incorporates:</span></td></tr>
+<td><a id="l2110" class='ln'>2110</a></td><td>    <a id="2110c5" class="tk">rtDW</a>-&gt;<a id="2110c11" class="tk">UnitDelay_DSTATE_p2</a> = <a id="2110c33" class="tk">rtb_z_ctrlMod</a>;</td></tr>
 <tr name="2111" id="2111">
-<td><a id="l2111" class='ln'>2111</a></td><td><span class="ct">   *  Gain: '&lt;S70&gt;/Gain'</span></td></tr>
+<td><a id="l2111" class='ln'>2111</a></td><td></td></tr>
 <tr name="2112" id="2112">
-<td><a id="l2112" class='ln'>2112</a></td><td><span class="ct">   *  Sum: '&lt;S49&gt;/Sum6'</span></td></tr>
+<td><a id="l2112" class='ln'>2112</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S71&gt;/Unit Delay1' incorporates:</span></td></tr>
 <tr name="2113" id="2113">
-<td><a id="l2113" class='ln'>2113</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2113" class='ln'>2113</a></td><td><span class="ct">     *  Merge: '&lt;S74&gt;/Merge'</span></td></tr>
 <tr name="2114" id="2114">
-<td><a id="l2114" class='ln'>2114</a></td><td>  <a id="2114c3" class="tk">rtb_Switch_np</a> = (<a id="2114c20" class="tk">int16_T</a>)(((<a id="2114c31" class="tk">int64_T</a>)(<a id="2114c40" class="tk">int16_T</a>)<a id="2114c48" class="tk">tmp_2</a> <a id="2114c54" class="tk">&lt;&lt;</a> 26) <a id="2114c61" class="tk">/</a> <a id="2114c63" class="tk">rtb_Gain</a>);</td></tr>
+<td><a id="l2114" class='ln'>2114</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2115" id="2115">
-<td><a id="l2115" class='ln'>2115</a></td><td></td></tr>
+<td><a id="l2115" class='ln'>2115</a></td><td>    <a id="2115c5" class="tk">rtDW</a>-&gt;<a id="2115c11" class="tk">UnitDelay1_DSTATE_g</a> = <a id="2115c33" class="tk">rtDW</a>-&gt;<a id="2115c39" class="tk">Merge_f</a>;</td></tr>
 <tr name="2116" id="2116">
-<td><a id="l2116" class='ln'>2116</a></td><td>  <span class="ct">/* Product: '&lt;S70&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l2116" class='ln'>2116</a></td><td></td></tr>
 <tr name="2117" id="2117">
-<td><a id="l2117" class='ln'>2117</a></td><td><span class="ct">   *  Gain: '&lt;S70&gt;/Gain'</span></td></tr>
+<td><a id="l2117" class='ln'>2117</a></td><td>    <span class="ct">/* If: '&lt;S74&gt;/If' */</span></td></tr>
 <tr name="2118" id="2118">
-<td><a id="l2118" class='ln'>2118</a></td><td><span class="ct">   *  Sum: '&lt;S49&gt;/Sum1'</span></td></tr>
+<td><a id="l2118" class='ln'>2118</a></td><td>    <span class="kw">switch</span> (<a id="2118c13" class="tk">rtb_Sum2</a>) <span class="br">{</span></td></tr>
 <tr name="2119" id="2119">
-<td><a id="l2119" class='ln'>2119</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2119" class='ln'>2119</a></td><td>     <span class="kw">case</span> 0<a id="2119c12" class="tk">:</a></td></tr>
 <tr name="2120" id="2120">
-<td><a id="l2120" class='ln'>2120</a></td><td>  <a id="2120c3" class="tk">rtb_Divide1_m</a> = (<a id="2120c20" class="tk">int16_T</a>)(((<a id="2120c31" class="tk">int64_T</a>)<a id="2120c39" class="tk">rtb_Divide1_m</a> <a id="2120c53" class="tk">&lt;&lt;</a> 26) <a id="2120c60" class="tk">/</a> <a id="2120c62" class="tk">rtb_Gain</a>);</td></tr>
+<td><a id="l2120" class='ln'>2120</a></td><td>      <span class="ct">/* Update for IfAction SubSystem: '&lt;S74&gt;/speed_mode' incorporates:</span></td></tr>
 <tr name="2121" id="2121">
-<td><a id="l2121" class='ln'>2121</a></td><td></td></tr>
+<td><a id="l2121" class='ln'>2121</a></td><td><span class="ct">       *  ActionPort: '&lt;S87&gt;/Action Port'</span></td></tr>
 <tr name="2122" id="2122">
-<td><a id="l2122" class='ln'>2122</a></td><td>  <span class="ct">/* MultiPortSwitch: '&lt;S71&gt;/Multiport Switch' incorporates:</span></td></tr>
+<td><a id="l2122" class='ln'>2122</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="2123" id="2123">
-<td><a id="l2123" class='ln'>2123</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S70&gt;/Data Type Conversion1'</span></td></tr>
+<td><a id="l2123" class='ln'>2123</a></td><td>      <span class="ct">/* Update for UnitDelay: '&lt;S87&gt;/Unit Delay' incorporates:</span></td></tr>
 <tr name="2124" id="2124">
-<td><a id="l2124" class='ln'>2124</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2124" class='ln'>2124</a></td><td><span class="ct">       *  Math: '&lt;S86&gt;/Math Function2'</span></td></tr>
 <tr name="2125" id="2125">
-<td><a id="l2125" class='ln'>2125</a></td><td>  <span class="kw">switch</span> (<a id="2125c11" class="tk">rtb_DataTypeConversion_m</a>) <span class="br">{</span></td></tr>
+<td><a id="l2125" class='ln'>2125</a></td><td><span class="ct">       *  Math: '&lt;S86&gt;/Math Function3'</span></td></tr>
 <tr name="2126" id="2126">
-<td><a id="l2126" class='ln'>2126</a></td><td>   <span class="kw">case</span> 1<a id="2126c10" class="tk">:</a></td></tr>
+<td><a id="l2126" class='ln'>2126</a></td><td><span class="ct">       *  Merge: '&lt;S76&gt;/Merge'</span></td></tr>
 <tr name="2127" id="2127">
-<td><a id="l2127" class='ln'>2127</a></td><td>    <span class="ct">/* Product: '&lt;S73&gt;/Divide3' incorporates:</span></td></tr>
+<td><a id="l2127" class='ln'>2127</a></td><td><span class="ct">       *  Product: '&lt;S77&gt;/Divide1'</span></td></tr>
 <tr name="2128" id="2128">
-<td><a id="l2128" class='ln'>2128</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2128" class='ln'>2128</a></td><td><span class="ct">       *  Sqrt: '&lt;S86&gt;/Sqrt1'</span></td></tr>
 <tr name="2129" id="2129">
-<td><a id="l2129" class='ln'>2129</a></td><td><span class="ct">     *  Product: '&lt;S73&gt;/Divide2'</span></td></tr>
+<td><a id="l2129" class='ln'>2129</a></td><td><span class="ct">       *  Sum: '&lt;S86&gt;/Add'</span></td></tr>
 <tr name="2130" id="2130">
-<td><a id="l2130" class='ln'>2130</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2130" class='ln'>2130</a></td><td><span class="ct">       *  Switch: '&lt;S75&gt;/Switch'</span></td></tr>
 <tr name="2131" id="2131">
-<td><a id="l2131" class='ln'>2131</a></td><td>    <a id="2131c5" class="tk">rtb_Sign</a> = (<a id="2131c17" class="tk">int16_T</a>)(((<a id="2131c28" class="tk">int16_T</a>)((<a id="2131c38" class="tk">rtb_Divide1_m</a> <a id="2131c52" class="tk">*</a> 9459) <a id="2131c60" class="tk">&gt;&gt;</a> 13) <a id="2131c67" class="tk">*</a> 375) <a id="2131c74" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2131" class='ln'>2131</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="2132" id="2132">
-<td><a id="l2132" class='ln'>2132</a></td><td></td></tr>
+<td><a id="l2132" class='ln'>2132</a></td><td>      <a id="2132c7" class="tk">rtDW</a>-&gt;<a id="2132c13" class="tk">UnitDelay_DSTATE_l</a> = <a id="2132c34" class="tk">rt_sqrt_Us32En10_Ys16E_7VJYwqF9</a>(<a id="2132c66" class="tk">rtDW</a>-&gt;<a id="2132c72" class="tk">Merge_c</a>[0]</td></tr>
 <tr name="2133" id="2133">
-<td><a id="l2133" class='ln'>2133</a></td><td>    <span class="ct">/* Product: '&lt;S73&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l2133" class='ln'>2133</a></td><td>        <a id="2133c9" class="tk">*</a> <a id="2133c11" class="tk">rtDW</a>-&gt;<a id="2133c17" class="tk">Merge_c</a>[0] <a id="2133c28" class="tk">+</a> (<a id="2133c31" class="tk">int16_T</a>)<a id="2133c39" class="tk">rtb_Gain_b0</a> <a id="2133c51" class="tk">*</a> (<a id="2133c54" class="tk">int16_T</a>)<a id="2133c62" class="tk">rtb_Gain_b0</a>);</td></tr>
 <tr name="2134" id="2134">
-<td><a id="l2134" class='ln'>2134</a></td><td><span class="ct">     *  Constant: '&lt;S73&gt;/Constant'</span></td></tr>
+<td><a id="l2134" class='ln'>2134</a></td><td></td></tr>
 <tr name="2135" id="2135">
-<td><a id="l2135" class='ln'>2135</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide'</span></td></tr>
+<td><a id="l2135" class='ln'>2135</a></td><td>      <span class="ct">/* End of Update for SubSystem: '&lt;S74&gt;/speed_mode' */</span></td></tr>
 <tr name="2136" id="2136">
-<td><a id="l2136" class='ln'>2136</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2136" class='ln'>2136</a></td><td>      <span class="kw">break</span>;</td></tr>
 <tr name="2137" id="2137">
-<td><a id="l2137" class='ln'>2137</a></td><td><span class="ct">     *  Product: '&lt;S73&gt;/Divide'</span></td></tr>
+<td><a id="l2137" class='ln'>2137</a></td><td></td></tr>
 <tr name="2138" id="2138">
-<td><a id="l2138" class='ln'>2138</a></td><td><span class="ct">     *  Sum: '&lt;S73&gt;/Add'</span></td></tr>
+<td><a id="l2138" class='ln'>2138</a></td><td>     <span class="kw">case</span> 1<a id="2138c12" class="tk">:</a></td></tr>
 <tr name="2139" id="2139">
-<td><a id="l2139" class='ln'>2139</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2139" class='ln'>2139</a></td><td>      <span class="ct">/* Update for IfAction SubSystem: '&lt;S74&gt;/torque_mode' incorporates:</span></td></tr>
 <tr name="2140" id="2140">
-<td><a id="l2140" class='ln'>2140</a></td><td>    <a id="2140c5" class="tk">rtb_Divide1_m</a> = (<a id="2140c22" class="tk">int16_T</a>)(((<a id="2140c33" class="tk">int16_T</a>)(<a id="2140c42" class="tk">rtb_Switch_np</a> <a id="2140c56" class="tk">-</a> ((<a id="2140c60" class="tk">rtb_Divide1_m</a> <a id="2140c74" class="tk">*</a> 9459)</td></tr>
+<td><a id="l2140" class='ln'>2140</a></td><td><span class="ct">       *  ActionPort: '&lt;S88&gt;/Action Port'</span></td></tr>
 <tr name="2141" id="2141">
-<td><a id="l2141" class='ln'>2141</a></td><td>      <a id="2141c7" class="tk">&gt;&gt;</a> 14)) <a id="2141c15" class="tk">*</a> 375) <a id="2141c22" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2141" class='ln'>2141</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="2142" id="2142">
-<td><a id="l2142" class='ln'>2142</a></td><td></td></tr>
+<td><a id="l2142" class='ln'>2142</a></td><td>      <span class="ct">/* Update for Delay: '&lt;S88&gt;/Delay' incorporates:</span></td></tr>
 <tr name="2143" id="2143">
-<td><a id="l2143" class='ln'>2143</a></td><td>    <span class="ct">/* Product: '&lt;S73&gt;/Divide4' incorporates:</span></td></tr>
+<td><a id="l2143" class='ln'>2143</a></td><td><span class="ct">       *  Math: '&lt;S86&gt;/Math Function2'</span></td></tr>
 <tr name="2144" id="2144">
-<td><a id="l2144" class='ln'>2144</a></td><td><span class="ct">     *  Sum: '&lt;S73&gt;/Add1'</span></td></tr>
+<td><a id="l2144" class='ln'>2144</a></td><td><span class="ct">       *  Math: '&lt;S86&gt;/Math Function3'</span></td></tr>
 <tr name="2145" id="2145">
-<td><a id="l2145" class='ln'>2145</a></td><td><span class="ct">     *  Sum: '&lt;S73&gt;/Add2'</span></td></tr>
+<td><a id="l2145" class='ln'>2145</a></td><td><span class="ct">       *  Merge: '&lt;S76&gt;/Merge'</span></td></tr>
 <tr name="2146" id="2146">
-<td><a id="l2146" class='ln'>2146</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2146" class='ln'>2146</a></td><td><span class="ct">       *  Product: '&lt;S77&gt;/Divide1'</span></td></tr>
 <tr name="2147" id="2147">
-<td><a id="l2147" class='ln'>2147</a></td><td>    <a id="2147c5" class="tk">rtb_Switch_np</a> = (<a id="2147c22" class="tk">int16_T</a>)((<a id="2147c32" class="tk">int16_T</a>)(3000 <a id="2147c46" class="tk">-</a> (<a id="2147c49" class="tk">int16_T</a>)(<a id="2147c58" class="tk">rtb_Divide1_m</a> <a id="2147c72" class="tk">+</a></td></tr>
+<td><a id="l2147" class='ln'>2147</a></td><td><span class="ct">       *  Sqrt: '&lt;S86&gt;/Sqrt1'</span></td></tr>
 <tr name="2148" id="2148">
-<td><a id="l2148" class='ln'>2148</a></td><td>      <a id="2148c7" class="tk">rtb_Sign</a>)) <a id="2148c18" class="tk">&gt;&gt;</a> 1);</td></tr>
+<td><a id="l2148" class='ln'>2148</a></td><td><span class="ct">       *  Sum: '&lt;S86&gt;/Add'</span></td></tr>
 <tr name="2149" id="2149">
-<td><a id="l2149" class='ln'>2149</a></td><td></td></tr>
+<td><a id="l2149" class='ln'>2149</a></td><td><span class="ct">       *  Switch: '&lt;S75&gt;/Switch'</span></td></tr>
 <tr name="2150" id="2150">
-<td><a id="l2150" class='ln'>2150</a></td><td>    <span class="ct">/* Sum: '&lt;S73&gt;/Add3' */</span></td></tr>
+<td><a id="l2150" class='ln'>2150</a></td><td><span class="ct">       */</span></td></tr>
 <tr name="2151" id="2151">
-<td><a id="l2151" class='ln'>2151</a></td><td>    <a id="2151c5" class="tk">rtb_Sign</a> <a id="2151c14" class="tk">+=</a> <a id="2151c17" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2151" class='ln'>2151</a></td><td>      <a id="2151c7" class="tk">rtDW</a>-&gt;<a id="2151c13" class="tk">icLoad</a> = 0U;</td></tr>
 <tr name="2152" id="2152">
-<td><a id="l2152" class='ln'>2152</a></td><td></td></tr>
+<td><a id="l2152" class='ln'>2152</a></td><td>      <a id="2152c7" class="tk">rtDW</a>-&gt;<a id="2152c13" class="tk">Delay_DSTATE</a> = <a id="2152c28" class="tk">rt_sqrt_Us32En10_Ys16E_7VJYwqF9</a>(<a id="2152c60" class="tk">rtDW</a>-&gt;<a id="2152c66" class="tk">Merge_c</a>[0] <a id="2152c77" class="tk">*</a></td></tr>
 <tr name="2153" id="2153">
-<td><a id="l2153" class='ln'>2153</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/PWM' incorporates:</span></td></tr>
+<td><a id="l2153" class='ln'>2153</a></td><td>        <a id="2153c9" class="tk">rtDW</a>-&gt;<a id="2153c15" class="tk">Merge_c</a>[0] <a id="2153c26" class="tk">+</a> (<a id="2153c29" class="tk">int16_T</a>)<a id="2153c37" class="tk">rtb_Gain_b0</a> <a id="2153c49" class="tk">*</a> (<a id="2153c52" class="tk">int16_T</a>)<a id="2153c60" class="tk">rtb_Gain_b0</a>);</td></tr>
 <tr name="2154" id="2154">
-<td><a id="l2154" class='ln'>2154</a></td><td><span class="ct">     *  Sum: '&lt;S73&gt;/Add4'</span></td></tr>
+<td><a id="l2154" class='ln'>2154</a></td><td></td></tr>
 <tr name="2155" id="2155">
-<td><a id="l2155" class='ln'>2155</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2155" class='ln'>2155</a></td><td>      <span class="ct">/* End of Update for SubSystem: '&lt;S74&gt;/torque_mode' */</span></td></tr>
 <tr name="2156" id="2156">
-<td><a id="l2156" class='ln'>2156</a></td><td>    <a id="2156c5" class="tk">rtY</a>-&gt;<a id="2156c10" class="tk">PWM</a>[0] = (<a id="2156c20" class="tk">int16_T</a>)(<a id="2156c29" class="tk">rtb_Sign</a> <a id="2156c38" class="tk">+</a> <a id="2156c40" class="tk">rtb_Divide1_m</a>);</td></tr>
+<td><a id="l2156" class='ln'>2156</a></td><td>      <span class="kw">break</span>;</td></tr>
 <tr name="2157" id="2157">
-<td><a id="l2157" class='ln'>2157</a></td><td>    <a id="2157c5" class="tk">rtY</a>-&gt;<a id="2157c10" class="tk">PWM</a>[1] = <a id="2157c19" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l2157" class='ln'>2157</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2158" id="2158">
-<td><a id="l2158" class='ln'>2158</a></td><td>    <a id="2158c5" class="tk">rtY</a>-&gt;<a id="2158c10" class="tk">PWM</a>[2] = <a id="2158c19" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2158" class='ln'>2158</a></td><td></td></tr>
 <tr name="2159" id="2159">
-<td><a id="l2159" class='ln'>2159</a></td><td>    <span class="kw">break</span>;</td></tr>
+<td><a id="l2159" class='ln'>2159</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S54&gt;/Do_Calc' */</span></td></tr>
 <tr name="2160" id="2160">
-<td><a id="l2160" class='ln'>2160</a></td><td></td></tr>
+<td><a id="l2160" class='ln'>2160</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2161" id="2161">
-<td><a id="l2161" class='ln'>2161</a></td><td>   <span class="kw">case</span> 2<a id="2161c10" class="tk">:</a></td></tr>
+<td><a id="l2161" class='ln'>2161</a></td><td></td></tr>
 <tr name="2162" id="2162">
-<td><a id="l2162" class='ln'>2162</a></td><td>    <span class="ct">/* Product: '&lt;S74&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l2162" class='ln'>2162</a></td><td>  <span class="ct">/* End of If: '&lt;S54&gt;/If' */</span></td></tr>
 <tr name="2163" id="2163">
-<td><a id="l2163" class='ln'>2163</a></td><td><span class="ct">     *  Constant: '&lt;S74&gt;/Constant'</span></td></tr>
+<td><a id="l2163" class='ln'>2163</a></td><td></td></tr>
 <tr name="2164" id="2164">
-<td><a id="l2164" class='ln'>2164</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide'</span></td></tr>
+<td><a id="l2164" class='ln'>2164</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S106&gt;/Relational Operator' incorporates:</span></td></tr>
 <tr name="2165" id="2165">
-<td><a id="l2165" class='ln'>2165</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2165" class='ln'>2165</a></td><td><span class="ct">   *  Switch: '&lt;S84&gt;/Switch2'</span></td></tr>
 <tr name="2166" id="2166">
-<td><a id="l2166" class='ln'>2166</a></td><td><span class="ct">     *  Product: '&lt;S74&gt;/Divide'</span></td></tr>
+<td><a id="l2166" class='ln'>2166</a></td><td><span class="ct">   *  UnitDelay: '&lt;S106&gt;/UnitDelay'</span></td></tr>
 <tr name="2167" id="2167">
-<td><a id="l2167" class='ln'>2167</a></td><td><span class="ct">     *  Sum: '&lt;S74&gt;/Add'</span></td></tr>
+<td><a id="l2167" class='ln'>2167</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2168" id="2168">
-<td><a id="l2168" class='ln'>2168</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2168" class='ln'>2168</a></td><td>  <a id="2168c3" class="tk">rtb_Equal_k</a> = (<a id="2168c18" class="tk">rtDW</a>-&gt;<a id="2168c24" class="tk">Switch2</a> <a id="2168c32" class="tk">!=</a> <a id="2168c35" class="tk">rtDW</a>-&gt;<a id="2168c41" class="tk">UnitDelay_DSTATE_h</a>);</td></tr>
 <tr name="2169" id="2169">
-<td><a id="l2169" class='ln'>2169</a></td><td>    <a id="2169c5" class="tk">rtb_Sign</a> = (<a id="2169c17" class="tk">int16_T</a>)(((<a id="2169c28" class="tk">int16_T</a>)(((<a id="2169c39" class="tk">rtb_Divide1_m</a> <a id="2169c53" class="tk">*</a> 9459) <a id="2169c61" class="tk">&gt;&gt;</a> 14) <a id="2169c68" class="tk">+</a></td></tr>
+<td><a id="l2169" class='ln'>2169</a></td><td></td></tr>
 <tr name="2170" id="2170">
-<td><a id="l2170" class='ln'>2170</a></td><td>      <a id="2170c7" class="tk">rtb_Switch_np</a>) <a id="2170c22" class="tk">*</a> 375) <a id="2170c29" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2170" class='ln'>2170</a></td><td>  <span class="ct">/* Sum: '&lt;S97&gt;/Add' incorporates:</span></td></tr>
 <tr name="2171" id="2171">
-<td><a id="l2171" class='ln'>2171</a></td><td></td></tr>
+<td><a id="l2171" class='ln'>2171</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2172" id="2172">
-<td><a id="l2172" class='ln'>2172</a></td><td>    <span class="ct">/* Product: '&lt;S74&gt;/Divide3' incorporates:</span></td></tr>
+<td><a id="l2172" class='ln'>2172</a></td><td><span class="ct">   *  Switch: '&lt;S84&gt;/Switch2'</span></td></tr>
 <tr name="2173" id="2173">
-<td><a id="l2173" class='ln'>2173</a></td><td><span class="ct">     *  Constant: '&lt;S74&gt;/Constant'</span></td></tr>
+<td><a id="l2173" class='ln'>2173</a></td><td><span class="ct">   *  UnitDelay: '&lt;S97&gt;/Unit Delay1'</span></td></tr>
 <tr name="2174" id="2174">
-<td><a id="l2174" class='ln'>2174</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide'</span></td></tr>
+<td><a id="l2174" class='ln'>2174</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2175" id="2175">
-<td><a id="l2175" class='ln'>2175</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2175" class='ln'>2175</a></td><td>  <a id="2175c3" class="tk">rtb_r_cos_M1</a> = (<a id="2175c19" class="tk">int16_T</a>)(<a id="2175c28" class="tk">rtDW</a>-&gt;<a id="2175c34" class="tk">Switch2</a> <a id="2175c42" class="tk">-</a> <a id="2175c44" class="tk">rtDW</a>-&gt;<a id="2175c50" class="tk">UnitDelay1_DSTATE_i</a>);</td></tr>
 <tr name="2176" id="2176">
-<td><a id="l2176" class='ln'>2176</a></td><td><span class="ct">     *  Product: '&lt;S74&gt;/Divide2'</span></td></tr>
+<td><a id="l2176" class='ln'>2176</a></td><td></td></tr>
 <tr name="2177" id="2177">
-<td><a id="l2177" class='ln'>2177</a></td><td><span class="ct">     *  Sum: '&lt;S74&gt;/Add5'</span></td></tr>
+<td><a id="l2177" class='ln'>2177</a></td><td>  <span class="ct">/* Abs: '&lt;S97&gt;/Abs' incorporates:</span></td></tr>
 <tr name="2178" id="2178">
-<td><a id="l2178" class='ln'>2178</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2178" class='ln'>2178</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2179" id="2179">
-<td><a id="l2179" class='ln'>2179</a></td><td>    <a id="2179c5" class="tk">rtb_Divide1_m</a> = (<a id="2179c22" class="tk">int16_T</a>)(((<a id="2179c33" class="tk">int16_T</a>)(((<a id="2179c44" class="tk">rtb_Divide1_m</a> <a id="2179c58" class="tk">*</a> 9459) <a id="2179c66" class="tk">&gt;&gt;</a> 14) <a id="2179c73" class="tk">-</a></td></tr>
+<td><a id="l2179" class='ln'>2179</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2180" id="2180">
-<td><a id="l2180" class='ln'>2180</a></td><td>      <a id="2180c7" class="tk">rtb_Switch_np</a>) <a id="2180c22" class="tk">*</a> 375) <a id="2180c29" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2180" class='ln'>2180</a></td><td>  <span class="kw">if</span> (<a id="2180c7" class="tk">rtb_r_cos_M1</a> <a id="2180c20" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="2181" id="2181">
-<td><a id="l2181" class='ln'>2181</a></td><td></td></tr>
+<td><a id="l2181" class='ln'>2181</a></td><td>    <a id="2181c5" class="tk">rtb_r_cos_M1</a> = (<a id="2181c21" class="tk">int16_T</a>)<a id="2181c29" class="tk">-</a><a id="2181c30" class="tk">rtb_r_cos_M1</a>;</td></tr>
 <tr name="2182" id="2182">
-<td><a id="l2182" class='ln'>2182</a></td><td>    <span class="ct">/* Product: '&lt;S74&gt;/Divide4' incorporates:</span></td></tr>
+<td><a id="l2182" class='ln'>2182</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2183" id="2183">
-<td><a id="l2183" class='ln'>2183</a></td><td><span class="ct">     *  Sum: '&lt;S74&gt;/Add1'</span></td></tr>
+<td><a id="l2183" class='ln'>2183</a></td><td></td></tr>
 <tr name="2184" id="2184">
-<td><a id="l2184" class='ln'>2184</a></td><td><span class="ct">     *  Sum: '&lt;S74&gt;/Add2'</span></td></tr>
+<td><a id="l2184" class='ln'>2184</a></td><td>  <span class="ct">/* End of Abs: '&lt;S97&gt;/Abs' */</span></td></tr>
 <tr name="2185" id="2185">
-<td><a id="l2185" class='ln'>2185</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2185" class='ln'>2185</a></td><td></td></tr>
 <tr name="2186" id="2186">
-<td><a id="l2186" class='ln'>2186</a></td><td>    <a id="2186c5" class="tk">rtb_Switch_np</a> = (<a id="2186c22" class="tk">int16_T</a>)((<a id="2186c32" class="tk">int16_T</a>)(3000 <a id="2186c46" class="tk">-</a> (<a id="2186c49" class="tk">int16_T</a>)(<a id="2186c58" class="tk">rtb_Divide1_m</a> <a id="2186c72" class="tk">+</a></td></tr>
+<td><a id="l2186" class='ln'>2186</a></td><td>  <span class="ct">/* Outputs for Enabled SubSystem: '&lt;S97&gt;/Enabled Subsystem' incorporates:</span></td></tr>
 <tr name="2187" id="2187">
-<td><a id="l2187" class='ln'>2187</a></td><td>      <a id="2187c7" class="tk">rtb_Sign</a>)) <a id="2187c18" class="tk">&gt;&gt;</a> 1);</td></tr>
+<td><a id="l2187" class='ln'>2187</a></td><td><span class="ct">   *  EnablePort: '&lt;S107&gt;/Enable'</span></td></tr>
 <tr name="2188" id="2188">
-<td><a id="l2188" class='ln'>2188</a></td><td></td></tr>
+<td><a id="l2188" class='ln'>2188</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2189" id="2189">
-<td><a id="l2189" class='ln'>2189</a></td><td>    <span class="ct">/* Sum: '&lt;S74&gt;/Add3' */</span></td></tr>
+<td><a id="l2189" class='ln'>2189</a></td><td>  <span class="ct">/* If: '&lt;S108&gt;/If' incorporates:</span></td></tr>
 <tr name="2190" id="2190">
-<td><a id="l2190" class='ln'>2190</a></td><td>    <a id="2190c5" class="tk">rtb_Sign</a> <a id="2190c14" class="tk">+=</a> <a id="2190c17" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2190" class='ln'>2190</a></td><td><span class="ct">   *  Gain: '&lt;S97&gt;/Gain'</span></td></tr>
 <tr name="2191" id="2191">
-<td><a id="l2191" class='ln'>2191</a></td><td></td></tr>
+<td><a id="l2191" class='ln'>2191</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2192" id="2192">
-<td><a id="l2192" class='ln'>2192</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/PWM' incorporates:</span></td></tr>
+<td><a id="l2192" class='ln'>2192</a></td><td><span class="ct">   *  UnitDelay: '&lt;S97&gt;/Unit Delay1'</span></td></tr>
 <tr name="2193" id="2193">
-<td><a id="l2193" class='ln'>2193</a></td><td><span class="ct">     *  Sum: '&lt;S74&gt;/Add4'</span></td></tr>
+<td><a id="l2193" class='ln'>2193</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2194" id="2194">
-<td><a id="l2194" class='ln'>2194</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2194" class='ln'>2194</a></td><td>  <span class="kw">if</span> (<a id="2194c7" class="tk">rtb_Equal_k</a>) <span class="br">{</span></td></tr>
 <tr name="2195" id="2195">
-<td><a id="l2195" class='ln'>2195</a></td><td>    <a id="2195c5" class="tk">rtY</a>-&gt;<a id="2195c10" class="tk">PWM</a>[0] = <a id="2195c19" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l2195" class='ln'>2195</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S108&gt;/RateInit' incorporates:</span></td></tr>
 <tr name="2196" id="2196">
-<td><a id="l2196" class='ln'>2196</a></td><td>    <a id="2196c5" class="tk">rtY</a>-&gt;<a id="2196c10" class="tk">PWM</a>[1] = (<a id="2196c20" class="tk">int16_T</a>)(<a id="2196c29" class="tk">rtb_Sign</a> <a id="2196c38" class="tk">+</a> <a id="2196c40" class="tk">rtb_Divide1_m</a>);</td></tr>
+<td><a id="l2196" class='ln'>2196</a></td><td><span class="ct">     *  ActionPort: '&lt;S109&gt;/Action Port'</span></td></tr>
 <tr name="2197" id="2197">
-<td><a id="l2197" class='ln'>2197</a></td><td>    <a id="2197c5" class="tk">rtY</a>-&gt;<a id="2197c10" class="tk">PWM</a>[2] = <a id="2197c19" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2197" class='ln'>2197</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2198" id="2198">
-<td><a id="l2198" class='ln'>2198</a></td><td>    <span class="kw">break</span>;</td></tr>
+<td><a id="l2198" class='ln'>2198</a></td><td>    <a id="2198c5" class="tk">RateInit</a>(<a id="2198c14" class="tk">rtDW</a>-&gt;<a id="2198c20" class="tk">UnitDelay1_DSTATE_i</a>, <a id="2198c41" class="tk">rtDW</a>-&gt;<a id="2198c47" class="tk">Switch2</a>, (<a id="2198c57" class="tk">int16_T</a>)((13107 <a id="2198c73" class="tk">*</a></td></tr>
 <tr name="2199" id="2199">
-<td><a id="l2199" class='ln'>2199</a></td><td></td></tr>
+<td><a id="l2199" class='ln'>2199</a></td><td>               <a id="2199c16" class="tk">rtb_r_cos_M1</a>) <a id="2199c30" class="tk">&gt;&gt;</a> 13), <a id="2199c38" class="tk">&amp;</a><a id="2199c39" class="tk">rtDW</a>-&gt;<a id="2199c45" class="tk">Divide_n</a>, <a id="2199c55" class="tk">&amp;</a><a id="2199c56" class="tk">rtDW</a>-&gt;<a id="2199c62" class="tk">Max_g</a>,</td></tr>
 <tr name="2200" id="2200">
-<td><a id="l2200" class='ln'>2200</a></td><td>   <span class="kw">case</span> 3<a id="2200c10" class="tk">:</a></td></tr>
+<td><a id="l2200" class='ln'>2200</a></td><td>             <a id="2200c14" class="tk">&amp;</a><a id="2200c15" class="tk">rtDW</a>-&gt;<a id="2200c21" class="tk">Max1_j</a>);</td></tr>
 <tr name="2201" id="2201">
-<td><a id="l2201" class='ln'>2201</a></td><td>    <span class="ct">/* Product: '&lt;S75&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l2201" class='ln'>2201</a></td><td></td></tr>
 <tr name="2202" id="2202">
-<td><a id="l2202" class='ln'>2202</a></td><td><span class="ct">     *  Constant: '&lt;S75&gt;/Constant'</span></td></tr>
+<td><a id="l2202" class='ln'>2202</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S108&gt;/RateInit' */</span></td></tr>
 <tr name="2203" id="2203">
-<td><a id="l2203" class='ln'>2203</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide'</span></td></tr>
+<td><a id="l2203" class='ln'>2203</a></td><td></td></tr>
 <tr name="2204" id="2204">
-<td><a id="l2204" class='ln'>2204</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2204" class='ln'>2204</a></td><td>    <span class="ct">/* Switch: '&lt;S112&gt;/Switch1' incorporates:</span></td></tr>
 <tr name="2205" id="2205">
-<td><a id="l2205" class='ln'>2205</a></td><td><span class="ct">     *  Product: '&lt;S75&gt;/Divide'</span></td></tr>
+<td><a id="l2205" class='ln'>2205</a></td><td><span class="ct">     *  Gain: '&lt;S97&gt;/Gain'</span></td></tr>
 <tr name="2206" id="2206">
-<td><a id="l2206" class='ln'>2206</a></td><td><span class="ct">     *  Sum: '&lt;S75&gt;/Add'</span></td></tr>
+<td><a id="l2206" class='ln'>2206</a></td><td><span class="ct">     *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2207" id="2207">
-<td><a id="l2207" class='ln'>2207</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2207" class='ln'>2207</a></td><td><span class="ct">     *  UnitDelay: '&lt;S97&gt;/Unit Delay1'</span></td></tr>
 <tr name="2208" id="2208">
-<td><a id="l2208" class='ln'>2208</a></td><td>    <a id="2208c5" class="tk">rtb_Switch_np</a> = (<a id="2208c22" class="tk">int16_T</a>)(((<a id="2208c33" class="tk">int16_T</a>)(<a id="2208c42" class="tk">-</a><a id="2208c43" class="tk">rtb_Switch_np</a> <a id="2208c57" class="tk">-</a> ((<a id="2208c61" class="tk">rtb_Divide1_m</a> <a id="2208c75" class="tk">*</a> 9459)</td></tr>
+<td><a id="l2208" class='ln'>2208</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2209" id="2209">
-<td><a id="l2209" class='ln'>2209</a></td><td>      <a id="2209c7" class="tk">&gt;&gt;</a> 14)) <a id="2209c15" class="tk">*</a> 375) <a id="2209c22" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2209" class='ln'>2209</a></td><td>    <a id="2209c5" class="tk">rtb_Divide1_m</a> = <a id="2209c21" class="tk">rtDW</a>-&gt;<a id="2209c27" class="tk">UnitDelay1_DSTATE_i</a>;</td></tr>
 <tr name="2210" id="2210">
-<td><a id="l2210" class='ln'>2210</a></td><td></td></tr>
+<td><a id="l2210" class='ln'>2210</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2211" id="2211">
-<td><a id="l2211" class='ln'>2211</a></td><td>    <span class="ct">/* Product: '&lt;S75&gt;/Divide3' incorporates:</span></td></tr>
+<td><a id="l2211" class='ln'>2211</a></td><td>    <span class="ct">/* Switch: '&lt;S112&gt;/Switch1' incorporates:</span></td></tr>
 <tr name="2212" id="2212">
-<td><a id="l2212" class='ln'>2212</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2212" class='ln'>2212</a></td><td><span class="ct">     *  UnitDelay: '&lt;S112&gt;/UnitDelay'</span></td></tr>
 <tr name="2213" id="2213">
-<td><a id="l2213" class='ln'>2213</a></td><td><span class="ct">     *  Product: '&lt;S75&gt;/Divide2'</span></td></tr>
+<td><a id="l2213" class='ln'>2213</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2214" id="2214">
-<td><a id="l2214" class='ln'>2214</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2214" class='ln'>2214</a></td><td>    <a id="2214c5" class="tk">rtb_Divide1_m</a> = <a id="2214c21" class="tk">rtDW</a>-&gt;<a id="2214c27" class="tk">UnitDelay_DSTATE_b</a>;</td></tr>
 <tr name="2215" id="2215">
-<td><a id="l2215" class='ln'>2215</a></td><td>    <a id="2215c5" class="tk">rtb_Divide1_m</a> = (<a id="2215c22" class="tk">int16_T</a>)(((<a id="2215c33" class="tk">int16_T</a>)((<a id="2215c43" class="tk">rtb_Divide1_m</a> <a id="2215c57" class="tk">*</a> 9459) <a id="2215c65" class="tk">&gt;&gt;</a> 13) <a id="2215c72" class="tk">*</a> 375) <a id="2215c79" class="tk">&gt;&gt;</a></td></tr>
+<td><a id="l2215" class='ln'>2215</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2216" id="2216">
-<td><a id="l2216" class='ln'>2216</a></td><td>      9);</td></tr>
+<td><a id="l2216" class='ln'>2216</a></td><td></td></tr>
 <tr name="2217" id="2217">
-<td><a id="l2217" class='ln'>2217</a></td><td></td></tr>
+<td><a id="l2217" class='ln'>2217</a></td><td>  <span class="ct">/* End of If: '&lt;S108&gt;/If' */</span></td></tr>
 <tr name="2218" id="2218">
-<td><a id="l2218" class='ln'>2218</a></td><td>    <span class="ct">/* Product: '&lt;S75&gt;/Divide4' incorporates:</span></td></tr>
+<td><a id="l2218" class='ln'>2218</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;S97&gt;/Enabled Subsystem' */</span></td></tr>
 <tr name="2219" id="2219">
-<td><a id="l2219" class='ln'>2219</a></td><td><span class="ct">     *  Sum: '&lt;S75&gt;/Add1'</span></td></tr>
+<td><a id="l2219" class='ln'>2219</a></td><td></td></tr>
 <tr name="2220" id="2220">
-<td><a id="l2220" class='ln'>2220</a></td><td><span class="ct">     *  Sum: '&lt;S75&gt;/Add2'</span></td></tr>
+<td><a id="l2220" class='ln'>2220</a></td><td>  <span class="ct">/* Switch: '&lt;S108&gt;/Switch' incorporates:</span></td></tr>
 <tr name="2221" id="2221">
-<td><a id="l2221" class='ln'>2221</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2221" class='ln'>2221</a></td><td><span class="ct">   *  Constant: '&lt;S108&gt;/Constant'</span></td></tr>
 <tr name="2222" id="2222">
-<td><a id="l2222" class='ln'>2222</a></td><td>    <a id="2222c5" class="tk">rtb_Sign</a> = (<a id="2222c17" class="tk">int16_T</a>)((<a id="2222c27" class="tk">int16_T</a>)(3000 <a id="2222c41" class="tk">-</a> (<a id="2222c44" class="tk">int16_T</a>)(<a id="2222c53" class="tk">rtb_Divide1_m</a> <a id="2222c67" class="tk">+</a></td></tr>
+<td><a id="l2222" class='ln'>2222</a></td><td><span class="ct">   *  Product: '&lt;S109&gt;/Divide'</span></td></tr>
 <tr name="2223" id="2223">
-<td><a id="l2223" class='ln'>2223</a></td><td>      <a id="2223c7" class="tk">rtb_Switch_np</a>)) <a id="2223c23" class="tk">&gt;&gt;</a> 1);</td></tr>
+<td><a id="l2223" class='ln'>2223</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S108&gt;/Equal'</span></td></tr>
 <tr name="2224" id="2224">
-<td><a id="l2224" class='ln'>2224</a></td><td></td></tr>
+<td><a id="l2224" class='ln'>2224</a></td><td><span class="ct">   *  Switch: '&lt;S84&gt;/Switch2'</span></td></tr>
 <tr name="2225" id="2225">
-<td><a id="l2225" class='ln'>2225</a></td><td>    <span class="ct">/* Sum: '&lt;S75&gt;/Add3' */</span></td></tr>
+<td><a id="l2225" class='ln'>2225</a></td><td><span class="ct">   *  UnitDelay: '&lt;S108&gt;/Unit Delay'</span></td></tr>
 <tr name="2226" id="2226">
-<td><a id="l2226" class='ln'>2226</a></td><td>    <a id="2226c5" class="tk">rtb_Switch_np</a> <a id="2226c19" class="tk">+=</a> <a id="2226c22" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l2226" class='ln'>2226</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2227" id="2227">
-<td><a id="l2227" class='ln'>2227</a></td><td></td></tr>
+<td><a id="l2227" class='ln'>2227</a></td><td>  <span class="kw">if</span> (<a id="2227c7" class="tk">rtDW</a>-&gt;<a id="2227c13" class="tk">Switch2</a> <a id="2227c21" class="tk">!=</a> <a id="2227c24" class="tk">rtDW</a>-&gt;<a id="2227c30" class="tk">UnitDelay_DSTATE_g</a>) <span class="br">{</span></td></tr>
 <tr name="2228" id="2228">
-<td><a id="l2228" class='ln'>2228</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/PWM' incorporates:</span></td></tr>
+<td><a id="l2228" class='ln'>2228</a></td><td>    <a id="2228c5" class="tk">rtb_Sum6_p</a> = <a id="2228c18" class="tk">rtDW</a>-&gt;<a id="2228c24" class="tk">Divide_n</a>;</td></tr>
 <tr name="2229" id="2229">
-<td><a id="l2229" class='ln'>2229</a></td><td><span class="ct">     *  Sum: '&lt;S75&gt;/Add4'</span></td></tr>
+<td><a id="l2229" class='ln'>2229</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2230" id="2230">
-<td><a id="l2230" class='ln'>2230</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2230" class='ln'>2230</a></td><td>    <a id="2230c5" class="tk">rtb_Sum6_p</a> = 0;</td></tr>
 <tr name="2231" id="2231">
-<td><a id="l2231" class='ln'>2231</a></td><td>    <a id="2231c5" class="tk">rtY</a>-&gt;<a id="2231c10" class="tk">PWM</a>[0] = <a id="2231c19" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l2231" class='ln'>2231</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2232" id="2232">
-<td><a id="l2232" class='ln'>2232</a></td><td>    <a id="2232c5" class="tk">rtY</a>-&gt;<a id="2232c10" class="tk">PWM</a>[1] = (<a id="2232c20" class="tk">int16_T</a>)(<a id="2232c29" class="tk">rtb_Switch_np</a> <a id="2232c43" class="tk">+</a> <a id="2232c45" class="tk">rtb_Divide1_m</a>);</td></tr>
+<td><a id="l2232" class='ln'>2232</a></td><td></td></tr>
 <tr name="2233" id="2233">
-<td><a id="l2233" class='ln'>2233</a></td><td>    <a id="2233c5" class="tk">rtY</a>-&gt;<a id="2233c10" class="tk">PWM</a>[2] = <a id="2233c19" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2233" class='ln'>2233</a></td><td>  <span class="ct">/* End of Switch: '&lt;S108&gt;/Switch' */</span></td></tr>
 <tr name="2234" id="2234">
-<td><a id="l2234" class='ln'>2234</a></td><td>    <span class="kw">break</span>;</td></tr>
+<td><a id="l2234" class='ln'>2234</a></td><td></td></tr>
 <tr name="2235" id="2235">
-<td><a id="l2235" class='ln'>2235</a></td><td></td></tr>
+<td><a id="l2235" class='ln'>2235</a></td><td>  <span class="ct">/* Sum: '&lt;S111&gt;/Add2' */</span></td></tr>
 <tr name="2236" id="2236">
-<td><a id="l2236" class='ln'>2236</a></td><td>   <span class="kw">case</span> 4<a id="2236c10" class="tk">:</a></td></tr>
+<td><a id="l2236" class='ln'>2236</a></td><td>  <a id="2236c3" class="tk">rtb_Gain_b0</a> = ((<a id="2236c19" class="tk">rtb_Divide1_m</a> <a id="2236c33" class="tk">&lt;&lt;</a> 5) <a id="2236c39" class="tk">+</a> <a id="2236c41" class="tk">rtb_Sum6_p</a>) <a id="2236c53" class="tk">&gt;&gt;</a> 5;</td></tr>
 <tr name="2237" id="2237">
-<td><a id="l2237" class='ln'>2237</a></td><td>    <span class="ct">/* Product: '&lt;S76&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l2237" class='ln'>2237</a></td><td>  <span class="kw">if</span> (<a id="2237c7" class="tk">rtb_Gain_b0</a> <a id="2237c19" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="2238" id="2238">
-<td><a id="l2238" class='ln'>2238</a></td><td><span class="ct">     *  Constant: '&lt;S76&gt;/Constant'</span></td></tr>
+<td><a id="l2238" class='ln'>2238</a></td><td>    <a id="2238c5" class="tk">rtb_Gain_b0</a> = 32767;</td></tr>
 <tr name="2239" id="2239">
-<td><a id="l2239" class='ln'>2239</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide'</span></td></tr>
+<td><a id="l2239" class='ln'>2239</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2240" id="2240">
-<td><a id="l2240" class='ln'>2240</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2240" class='ln'>2240</a></td><td>    <span class="kw">if</span> (<a id="2240c9" class="tk">rtb_Gain_b0</a> <a id="2240c21" class="tk">&lt;</a> <a id="2240c23" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="2241" id="2241">
-<td><a id="l2241" class='ln'>2241</a></td><td><span class="ct">     *  Product: '&lt;S76&gt;/Divide'</span></td></tr>
+<td><a id="l2241" class='ln'>2241</a></td><td>      <a id="2241c7" class="tk">rtb_Gain_b0</a> = <a id="2241c21" class="tk">-</a>32768;</td></tr>
 <tr name="2242" id="2242">
-<td><a id="l2242" class='ln'>2242</a></td><td><span class="ct">     *  Sum: '&lt;S76&gt;/Add'</span></td></tr>
+<td><a id="l2242" class='ln'>2242</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2243" id="2243">
-<td><a id="l2243" class='ln'>2243</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2243" class='ln'>2243</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2244" id="2244">
-<td><a id="l2244" class='ln'>2244</a></td><td>    <a id="2244c5" class="tk">rtb_Switch_np</a> = (<a id="2244c22" class="tk">int16_T</a>)(((<a id="2244c33" class="tk">int16_T</a>)(((<a id="2244c44" class="tk">rtb_Divide1_m</a> <a id="2244c58" class="tk">*</a> 9459) <a id="2244c66" class="tk">&gt;&gt;</a> 14) <a id="2244c73" class="tk">-</a></td></tr>
+<td><a id="l2244" class='ln'>2244</a></td><td></td></tr>
 <tr name="2245" id="2245">
-<td><a id="l2245" class='ln'>2245</a></td><td>      <a id="2245c7" class="tk">rtb_Switch_np</a>) <a id="2245c22" class="tk">*</a> 375) <a id="2245c29" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2245" class='ln'>2245</a></td><td>  <span class="ct">/* Switch: '&lt;S110&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="2246" id="2246">
-<td><a id="l2246" class='ln'>2246</a></td><td></td></tr>
+<td><a id="l2246" class='ln'>2246</a></td><td><span class="ct">   *  MinMax: '&lt;S109&gt;/Max'</span></td></tr>
 <tr name="2247" id="2247">
-<td><a id="l2247" class='ln'>2247</a></td><td>    <span class="ct">/* Product: '&lt;S76&gt;/Divide3' incorporates:</span></td></tr>
+<td><a id="l2247" class='ln'>2247</a></td><td><span class="ct">   *  MinMax: '&lt;S109&gt;/Max1'</span></td></tr>
 <tr name="2248" id="2248">
-<td><a id="l2248" class='ln'>2248</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2248" class='ln'>2248</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S110&gt;/LowerRelop1'</span></td></tr>
 <tr name="2249" id="2249">
-<td><a id="l2249" class='ln'>2249</a></td><td><span class="ct">     *  Product: '&lt;S76&gt;/Divide2'</span></td></tr>
+<td><a id="l2249" class='ln'>2249</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S110&gt;/UpperRelop'</span></td></tr>
 <tr name="2250" id="2250">
-<td><a id="l2250" class='ln'>2250</a></td><td><span class="ct">     *  Sum: '&lt;S76&gt;/Add5'</span></td></tr>
+<td><a id="l2250" class='ln'>2250</a></td><td><span class="ct">   *  Sum: '&lt;S111&gt;/Add2'</span></td></tr>
 <tr name="2251" id="2251">
-<td><a id="l2251" class='ln'>2251</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2251" class='ln'>2251</a></td><td><span class="ct">   *  Switch: '&lt;S110&gt;/Switch'</span></td></tr>
 <tr name="2252" id="2252">
-<td><a id="l2252" class='ln'>2252</a></td><td>    <a id="2252c5" class="tk">rtb_Divide1_m</a> = (<a id="2252c22" class="tk">int16_T</a>)(((<a id="2252c33" class="tk">int16_T</a>)(<a id="2252c42" class="tk">-</a>((<a id="2252c45" class="tk">int16_T</a>)((<a id="2252c55" class="tk">rtb_Divide1_m</a> <a id="2252c69" class="tk">*</a> 9459) <a id="2252c77" class="tk">&gt;&gt;</a></td></tr>
+<td><a id="l2252" class='ln'>2252</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2253" id="2253">
-<td><a id="l2253" class='ln'>2253</a></td><td>      13) <a id="2253c11" class="tk">&lt;&lt;</a> 2) <a id="2253c17" class="tk">&gt;&gt;</a> 2) <a id="2253c23" class="tk">*</a> 375) <a id="2253c30" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2253" class='ln'>2253</a></td><td>  <span class="kw">if</span> ((<a id="2253c8" class="tk">int16_T</a>)<a id="2253c16" class="tk">rtb_Gain_b0</a> <a id="2253c28" class="tk">&gt;</a> <a id="2253c30" class="tk">rtDW</a>-&gt;<a id="2253c36" class="tk">Max_g</a>) <span class="br">{</span></td></tr>
 <tr name="2254" id="2254">
-<td><a id="l2254" class='ln'>2254</a></td><td></td></tr>
+<td><a id="l2254" class='ln'>2254</a></td><td>    <a id="2254c5" class="tk">rtb_Divide1_m</a> = <a id="2254c21" class="tk">rtDW</a>-&gt;<a id="2254c27" class="tk">Max_g</a>;</td></tr>
 <tr name="2255" id="2255">
-<td><a id="l2255" class='ln'>2255</a></td><td>    <span class="ct">/* Product: '&lt;S76&gt;/Divide4' incorporates:</span></td></tr>
+<td><a id="l2255" class='ln'>2255</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="2255c15" class="tk">int16_T</a>)<a id="2255c23" class="tk">rtb_Gain_b0</a> <a id="2255c35" class="tk">&lt;</a> <a id="2255c37" class="tk">rtDW</a>-&gt;<a id="2255c43" class="tk">Max1_j</a>) <span class="br">{</span></td></tr>
 <tr name="2256" id="2256">
-<td><a id="l2256" class='ln'>2256</a></td><td><span class="ct">     *  Sum: '&lt;S76&gt;/Add1'</span></td></tr>
+<td><a id="l2256" class='ln'>2256</a></td><td>    <span class="ct">/* Switch: '&lt;S110&gt;/Switch' incorporates:</span></td></tr>
 <tr name="2257" id="2257">
-<td><a id="l2257" class='ln'>2257</a></td><td><span class="ct">     *  Sum: '&lt;S76&gt;/Add2'</span></td></tr>
+<td><a id="l2257" class='ln'>2257</a></td><td><span class="ct">     *  MinMax: '&lt;S109&gt;/Max1'</span></td></tr>
 <tr name="2258" id="2258">
-<td><a id="l2258" class='ln'>2258</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2258" class='ln'>2258</a></td><td><span class="ct">     *  Switch: '&lt;S110&gt;/Switch2'</span></td></tr>
 <tr name="2259" id="2259">
-<td><a id="l2259" class='ln'>2259</a></td><td>    <a id="2259c5" class="tk">rtb_Sign</a> = (<a id="2259c17" class="tk">int16_T</a>)((<a id="2259c27" class="tk">int16_T</a>)(3000 <a id="2259c41" class="tk">-</a> (<a id="2259c44" class="tk">int16_T</a>)(<a id="2259c53" class="tk">rtb_Divide1_m</a> <a id="2259c67" class="tk">+</a></td></tr>
+<td><a id="l2259" class='ln'>2259</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2260" id="2260">
-<td><a id="l2260" class='ln'>2260</a></td><td>      <a id="2260c7" class="tk">rtb_Switch_np</a>)) <a id="2260c23" class="tk">&gt;&gt;</a> 1);</td></tr>
+<td><a id="l2260" class='ln'>2260</a></td><td>    <a id="2260c5" class="tk">rtb_Divide1_m</a> = <a id="2260c21" class="tk">rtDW</a>-&gt;<a id="2260c27" class="tk">Max1_j</a>;</td></tr>
 <tr name="2261" id="2261">
-<td><a id="l2261" class='ln'>2261</a></td><td></td></tr>
+<td><a id="l2261" class='ln'>2261</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2262" id="2262">
-<td><a id="l2262" class='ln'>2262</a></td><td>    <span class="ct">/* Sum: '&lt;S76&gt;/Add3' */</span></td></tr>
+<td><a id="l2262" class='ln'>2262</a></td><td>    <a id="2262c5" class="tk">rtb_Divide1_m</a> = (<a id="2262c22" class="tk">int16_T</a>)<a id="2262c30" class="tk">rtb_Gain_b0</a>;</td></tr>
 <tr name="2263" id="2263">
-<td><a id="l2263" class='ln'>2263</a></td><td>    <a id="2263c5" class="tk">rtb_Switch_np</a> <a id="2263c19" class="tk">+=</a> <a id="2263c22" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l2263" class='ln'>2263</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2264" id="2264">
 <td><a id="l2264" class='ln'>2264</a></td><td></td></tr>
 <tr name="2265" id="2265">
-<td><a id="l2265" class='ln'>2265</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/PWM' incorporates:</span></td></tr>
+<td><a id="l2265" class='ln'>2265</a></td><td>  <span class="ct">/* End of Switch: '&lt;S110&gt;/Switch2' */</span></td></tr>
 <tr name="2266" id="2266">
-<td><a id="l2266" class='ln'>2266</a></td><td><span class="ct">     *  Sum: '&lt;S76&gt;/Add4'</span></td></tr>
+<td><a id="l2266" class='ln'>2266</a></td><td></td></tr>
 <tr name="2267" id="2267">
-<td><a id="l2267" class='ln'>2267</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2267" class='ln'>2267</a></td><td>  <span class="ct">/* RelationalOperator: '&lt;S113&gt;/Relational Operator' incorporates:</span></td></tr>
 <tr name="2268" id="2268">
-<td><a id="l2268" class='ln'>2268</a></td><td>    <a id="2268c5" class="tk">rtY</a>-&gt;<a id="2268c10" class="tk">PWM</a>[0] = <a id="2268c19" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l2268" class='ln'>2268</a></td><td><span class="ct">   *  Switch: '&lt;S77&gt;/Switch'</span></td></tr>
 <tr name="2269" id="2269">
-<td><a id="l2269" class='ln'>2269</a></td><td>    <a id="2269c5" class="tk">rtY</a>-&gt;<a id="2269c10" class="tk">PWM</a>[1] = <a id="2269c19" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2269" class='ln'>2269</a></td><td><span class="ct">   *  UnitDelay: '&lt;S113&gt;/UnitDelay'</span></td></tr>
 <tr name="2270" id="2270">
-<td><a id="l2270" class='ln'>2270</a></td><td>    <a id="2270c5" class="tk">rtY</a>-&gt;<a id="2270c10" class="tk">PWM</a>[2] = (<a id="2270c20" class="tk">int16_T</a>)(<a id="2270c29" class="tk">rtb_Switch_np</a> <a id="2270c43" class="tk">+</a> <a id="2270c45" class="tk">rtb_Divide1_m</a>);</td></tr>
+<td><a id="l2270" class='ln'>2270</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2271" id="2271">
-<td><a id="l2271" class='ln'>2271</a></td><td>    <span class="kw">break</span>;</td></tr>
+<td><a id="l2271" class='ln'>2271</a></td><td>  <a id="2271c3" class="tk">rtb_LogicalOperator12</a> = (<a id="2271c28" class="tk">rtDW</a>-&gt;<a id="2271c34" class="tk">Switch</a> <a id="2271c41" class="tk">!=</a> <a id="2271c44" class="tk">rtDW</a>-&gt;<a id="2271c50" class="tk">UnitDelay_DSTATE_o</a>);</td></tr>
 <tr name="2272" id="2272">
 <td><a id="l2272" class='ln'>2272</a></td><td></td></tr>
 <tr name="2273" id="2273">
-<td><a id="l2273" class='ln'>2273</a></td><td>   <span class="kw">case</span> 5<a id="2273c10" class="tk">:</a></td></tr>
+<td><a id="l2273" class='ln'>2273</a></td><td>  <span class="ct">/* Sum: '&lt;S98&gt;/Add' incorporates:</span></td></tr>
 <tr name="2274" id="2274">
-<td><a id="l2274" class='ln'>2274</a></td><td>    <span class="ct">/* Product: '&lt;S77&gt;/Divide3' incorporates:</span></td></tr>
+<td><a id="l2274" class='ln'>2274</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2275" id="2275">
-<td><a id="l2275" class='ln'>2275</a></td><td><span class="ct">     *  Constant: '&lt;S77&gt;/Constant'</span></td></tr>
+<td><a id="l2275" class='ln'>2275</a></td><td><span class="ct">   *  Switch: '&lt;S77&gt;/Switch'</span></td></tr>
 <tr name="2276" id="2276">
-<td><a id="l2276" class='ln'>2276</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide'</span></td></tr>
+<td><a id="l2276" class='ln'>2276</a></td><td><span class="ct">   *  UnitDelay: '&lt;S98&gt;/Unit Delay1'</span></td></tr>
 <tr name="2277" id="2277">
-<td><a id="l2277" class='ln'>2277</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2277" class='ln'>2277</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2278" id="2278">
-<td><a id="l2278" class='ln'>2278</a></td><td><span class="ct">     *  Product: '&lt;S77&gt;/Divide2'</span></td></tr>
+<td><a id="l2278" class='ln'>2278</a></td><td>  <a id="2278c3" class="tk">rtb_r_cos_M1</a> = (<a id="2278c19" class="tk">int16_T</a>)(<a id="2278c28" class="tk">rtDW</a>-&gt;<a id="2278c34" class="tk">Switch</a> <a id="2278c41" class="tk">-</a> <a id="2278c43" class="tk">rtDW</a>-&gt;<a id="2278c49" class="tk">UnitDelay1_DSTATE_b</a>);</td></tr>
 <tr name="2279" id="2279">
-<td><a id="l2279" class='ln'>2279</a></td><td><span class="ct">     *  Sum: '&lt;S77&gt;/Add5'</span></td></tr>
+<td><a id="l2279" class='ln'>2279</a></td><td></td></tr>
 <tr name="2280" id="2280">
-<td><a id="l2280" class='ln'>2280</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2280" class='ln'>2280</a></td><td>  <span class="ct">/* Abs: '&lt;S98&gt;/Abs' incorporates:</span></td></tr>
 <tr name="2281" id="2281">
-<td><a id="l2281" class='ln'>2281</a></td><td>    <a id="2281c5" class="tk">rtb_Sign</a> = (<a id="2281c17" class="tk">int16_T</a>)(((<a id="2281c28" class="tk">int16_T</a>)(<a id="2281c37" class="tk">rtb_Switch_np</a> <a id="2281c51" class="tk">-</a> ((<a id="2281c55" class="tk">rtb_Divide1_m</a> <a id="2281c69" class="tk">*</a> 9459) <a id="2281c77" class="tk">&gt;&gt;</a></td></tr>
+<td><a id="l2281" class='ln'>2281</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2282" id="2282">
-<td><a id="l2282" class='ln'>2282</a></td><td>      14)) <a id="2282c12" class="tk">*</a> 375) <a id="2282c19" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2282" class='ln'>2282</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2283" id="2283">
-<td><a id="l2283" class='ln'>2283</a></td><td></td></tr>
+<td><a id="l2283" class='ln'>2283</a></td><td>  <span class="kw">if</span> (<a id="2283c7" class="tk">rtb_r_cos_M1</a> <a id="2283c20" class="tk">&lt;</a> 0) <span class="br">{</span></td></tr>
 <tr name="2284" id="2284">
-<td><a id="l2284" class='ln'>2284</a></td><td>    <span class="ct">/* Product: '&lt;S77&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l2284" class='ln'>2284</a></td><td>    <a id="2284c5" class="tk">rtb_r_cos_M1</a> = (<a id="2284c21" class="tk">int16_T</a>)<a id="2284c29" class="tk">-</a><a id="2284c30" class="tk">rtb_r_cos_M1</a>;</td></tr>
 <tr name="2285" id="2285">
-<td><a id="l2285" class='ln'>2285</a></td><td><span class="ct">     *  Constant: '&lt;S77&gt;/Constant'</span></td></tr>
+<td><a id="l2285" class='ln'>2285</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2286" id="2286">
-<td><a id="l2286" class='ln'>2286</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide'</span></td></tr>
+<td><a id="l2286" class='ln'>2286</a></td><td></td></tr>
 <tr name="2287" id="2287">
-<td><a id="l2287" class='ln'>2287</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2287" class='ln'>2287</a></td><td>  <span class="ct">/* End of Abs: '&lt;S98&gt;/Abs' */</span></td></tr>
 <tr name="2288" id="2288">
-<td><a id="l2288" class='ln'>2288</a></td><td><span class="ct">     *  Product: '&lt;S77&gt;/Divide'</span></td></tr>
+<td><a id="l2288" class='ln'>2288</a></td><td></td></tr>
 <tr name="2289" id="2289">
-<td><a id="l2289" class='ln'>2289</a></td><td><span class="ct">     *  Sum: '&lt;S77&gt;/Add'</span></td></tr>
+<td><a id="l2289" class='ln'>2289</a></td><td>  <span class="ct">/* Outputs for Enabled SubSystem: '&lt;S98&gt;/Enabled Subsystem' incorporates:</span></td></tr>
 <tr name="2290" id="2290">
-<td><a id="l2290" class='ln'>2290</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2290" class='ln'>2290</a></td><td><span class="ct">   *  EnablePort: '&lt;S114&gt;/Enable'</span></td></tr>
 <tr name="2291" id="2291">
-<td><a id="l2291" class='ln'>2291</a></td><td>    <a id="2291c5" class="tk">rtb_Divide1_m</a> = (<a id="2291c22" class="tk">int16_T</a>)(((<a id="2291c33" class="tk">int16_T</a>)(<a id="2291c42" class="tk">-</a><a id="2291c43" class="tk">rtb_Switch_np</a> <a id="2291c57" class="tk">-</a> ((<a id="2291c61" class="tk">rtb_Divide1_m</a> <a id="2291c75" class="tk">*</a> 9459)</td></tr>
+<td><a id="l2291" class='ln'>2291</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2292" id="2292">
-<td><a id="l2292" class='ln'>2292</a></td><td>      <a id="2292c7" class="tk">&gt;&gt;</a> 14)) <a id="2292c15" class="tk">*</a> 375) <a id="2292c22" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2292" class='ln'>2292</a></td><td>  <span class="ct">/* If: '&lt;S115&gt;/If' incorporates:</span></td></tr>
 <tr name="2293" id="2293">
-<td><a id="l2293" class='ln'>2293</a></td><td></td></tr>
+<td><a id="l2293" class='ln'>2293</a></td><td><span class="ct">   *  Gain: '&lt;S98&gt;/Gain'</span></td></tr>
 <tr name="2294" id="2294">
-<td><a id="l2294" class='ln'>2294</a></td><td>    <span class="ct">/* Product: '&lt;S77&gt;/Divide4' incorporates:</span></td></tr>
+<td><a id="l2294" class='ln'>2294</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2295" id="2295">
-<td><a id="l2295" class='ln'>2295</a></td><td><span class="ct">     *  Sum: '&lt;S77&gt;/Add1'</span></td></tr>
+<td><a id="l2295" class='ln'>2295</a></td><td><span class="ct">   *  UnitDelay: '&lt;S98&gt;/Unit Delay1'</span></td></tr>
 <tr name="2296" id="2296">
-<td><a id="l2296" class='ln'>2296</a></td><td><span class="ct">     *  Sum: '&lt;S77&gt;/Add2'</span></td></tr>
+<td><a id="l2296" class='ln'>2296</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2297" id="2297">
-<td><a id="l2297" class='ln'>2297</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2297" class='ln'>2297</a></td><td>  <span class="kw">if</span> (<a id="2297c7" class="tk">rtb_LogicalOperator12</a>) <span class="br">{</span></td></tr>
 <tr name="2298" id="2298">
-<td><a id="l2298" class='ln'>2298</a></td><td>    <a id="2298c5" class="tk">rtb_Switch_np</a> = (<a id="2298c22" class="tk">int16_T</a>)((<a id="2298c32" class="tk">int16_T</a>)(3000 <a id="2298c46" class="tk">-</a> (<a id="2298c49" class="tk">int16_T</a>)(<a id="2298c58" class="tk">rtb_Divide1_m</a> <a id="2298c72" class="tk">+</a></td></tr>
+<td><a id="l2298" class='ln'>2298</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S115&gt;/RateInit' incorporates:</span></td></tr>
 <tr name="2299" id="2299">
-<td><a id="l2299" class='ln'>2299</a></td><td>      <a id="2299c7" class="tk">rtb_Sign</a>)) <a id="2299c18" class="tk">&gt;&gt;</a> 1);</td></tr>
+<td><a id="l2299" class='ln'>2299</a></td><td><span class="ct">     *  ActionPort: '&lt;S116&gt;/Action Port'</span></td></tr>
 <tr name="2300" id="2300">
-<td><a id="l2300" class='ln'>2300</a></td><td></td></tr>
+<td><a id="l2300" class='ln'>2300</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2301" id="2301">
-<td><a id="l2301" class='ln'>2301</a></td><td>    <span class="ct">/* Sum: '&lt;S77&gt;/Add3' */</span></td></tr>
+<td><a id="l2301" class='ln'>2301</a></td><td>    <a id="2301c5" class="tk">RateInit</a>(<a id="2301c14" class="tk">rtDW</a>-&gt;<a id="2301c20" class="tk">UnitDelay1_DSTATE_b</a>, <a id="2301c41" class="tk">rtDW</a>-&gt;<a id="2301c47" class="tk">Switch</a>, (<a id="2301c56" class="tk">int16_T</a>)((13107 <a id="2301c72" class="tk">*</a></td></tr>
 <tr name="2302" id="2302">
-<td><a id="l2302" class='ln'>2302</a></td><td>    <a id="2302c5" class="tk">rtb_Sign</a> <a id="2302c14" class="tk">+=</a> <a id="2302c17" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2302" class='ln'>2302</a></td><td>               <a id="2302c16" class="tk">rtb_r_cos_M1</a>) <a id="2302c30" class="tk">&gt;&gt;</a> 13), <a id="2302c38" class="tk">&amp;</a><a id="2302c39" class="tk">rtDW</a>-&gt;<a id="2302c45" class="tk">Divide_l</a>, <a id="2302c55" class="tk">&amp;</a><a id="2302c56" class="tk">rtDW</a>-&gt;<a id="2302c62" class="tk">Max</a>, <a id="2302c67" class="tk">&amp;</a><a id="2302c68" class="tk">rtDW</a>-&gt;<a id="2302c74" class="tk">Max1</a>);</td></tr>
 <tr name="2303" id="2303">
 <td><a id="l2303" class='ln'>2303</a></td><td></td></tr>
 <tr name="2304" id="2304">
-<td><a id="l2304" class='ln'>2304</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/PWM' incorporates:</span></td></tr>
+<td><a id="l2304" class='ln'>2304</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S115&gt;/RateInit' */</span></td></tr>
 <tr name="2305" id="2305">
-<td><a id="l2305" class='ln'>2305</a></td><td><span class="ct">     *  Sum: '&lt;S77&gt;/Add4'</span></td></tr>
+<td><a id="l2305" class='ln'>2305</a></td><td></td></tr>
 <tr name="2306" id="2306">
-<td><a id="l2306" class='ln'>2306</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2306" class='ln'>2306</a></td><td>    <span class="ct">/* Switch: '&lt;S119&gt;/Switch1' incorporates:</span></td></tr>
 <tr name="2307" id="2307">
-<td><a id="l2307" class='ln'>2307</a></td><td>    <a id="2307c5" class="tk">rtY</a>-&gt;<a id="2307c10" class="tk">PWM</a>[0] = <a id="2307c19" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l2307" class='ln'>2307</a></td><td><span class="ct">     *  Gain: '&lt;S98&gt;/Gain'</span></td></tr>
 <tr name="2308" id="2308">
-<td><a id="l2308" class='ln'>2308</a></td><td>    <a id="2308c5" class="tk">rtY</a>-&gt;<a id="2308c10" class="tk">PWM</a>[1] = <a id="2308c19" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2308" class='ln'>2308</a></td><td><span class="ct">     *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2309" id="2309">
-<td><a id="l2309" class='ln'>2309</a></td><td>    <a id="2309c5" class="tk">rtY</a>-&gt;<a id="2309c10" class="tk">PWM</a>[2] = (<a id="2309c20" class="tk">int16_T</a>)(<a id="2309c29" class="tk">rtb_Sign</a> <a id="2309c38" class="tk">+</a> <a id="2309c40" class="tk">rtb_Divide1_m</a>);</td></tr>
+<td><a id="l2309" class='ln'>2309</a></td><td><span class="ct">     *  UnitDelay: '&lt;S98&gt;/Unit Delay1'</span></td></tr>
 <tr name="2310" id="2310">
-<td><a id="l2310" class='ln'>2310</a></td><td>    <span class="kw">break</span>;</td></tr>
+<td><a id="l2310" class='ln'>2310</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2311" id="2311">
-<td><a id="l2311" class='ln'>2311</a></td><td></td></tr>
+<td><a id="l2311" class='ln'>2311</a></td><td>    <a id="2311c5" class="tk">rtb_r_cos_M1</a> = <a id="2311c20" class="tk">rtDW</a>-&gt;<a id="2311c26" class="tk">UnitDelay1_DSTATE_b</a>;</td></tr>
 <tr name="2312" id="2312">
-<td><a id="l2312" class='ln'>2312</a></td><td>   <span class="kw">default</span><a id="2312c11" class="tk">:</a></td></tr>
+<td><a id="l2312" class='ln'>2312</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2313" id="2313">
-<td><a id="l2313" class='ln'>2313</a></td><td>    <span class="ct">/* Product: '&lt;S78&gt;/Divide3' incorporates:</span></td></tr>
+<td><a id="l2313" class='ln'>2313</a></td><td>    <span class="ct">/* Switch: '&lt;S119&gt;/Switch1' incorporates:</span></td></tr>
 <tr name="2314" id="2314">
-<td><a id="l2314" class='ln'>2314</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2314" class='ln'>2314</a></td><td><span class="ct">     *  UnitDelay: '&lt;S119&gt;/UnitDelay'</span></td></tr>
 <tr name="2315" id="2315">
-<td><a id="l2315" class='ln'>2315</a></td><td><span class="ct">     *  Product: '&lt;S78&gt;/Divide2'</span></td></tr>
+<td><a id="l2315" class='ln'>2315</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2316" id="2316">
-<td><a id="l2316" class='ln'>2316</a></td><td><span class="ct">     *  Sum: '&lt;S78&gt;/Add5'</span></td></tr>
+<td><a id="l2316" class='ln'>2316</a></td><td>    <a id="2316c5" class="tk">rtb_r_cos_M1</a> = <a id="2316c20" class="tk">rtDW</a>-&gt;<a id="2316c26" class="tk">UnitDelay_DSTATE_d</a>;</td></tr>
 <tr name="2317" id="2317">
-<td><a id="l2317" class='ln'>2317</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2317" class='ln'>2317</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2318" id="2318">
-<td><a id="l2318" class='ln'>2318</a></td><td>    <a id="2318c5" class="tk">rtb_Sign</a> = (<a id="2318c17" class="tk">int16_T</a>)(((<a id="2318c28" class="tk">int16_T</a>)(<a id="2318c37" class="tk">-</a>((<a id="2318c40" class="tk">int16_T</a>)((<a id="2318c50" class="tk">rtb_Divide1_m</a> <a id="2318c64" class="tk">*</a> 9459) <a id="2318c72" class="tk">&gt;&gt;</a> 13) <a id="2318c79" class="tk">&lt;&lt;</a></td></tr>
+<td><a id="l2318" class='ln'>2318</a></td><td></td></tr>
 <tr name="2319" id="2319">
-<td><a id="l2319" class='ln'>2319</a></td><td>      2) <a id="2319c10" class="tk">&gt;&gt;</a> 2) <a id="2319c16" class="tk">*</a> 375) <a id="2319c23" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2319" class='ln'>2319</a></td><td>  <span class="ct">/* End of If: '&lt;S115&gt;/If' */</span></td></tr>
 <tr name="2320" id="2320">
-<td><a id="l2320" class='ln'>2320</a></td><td></td></tr>
+<td><a id="l2320" class='ln'>2320</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;S98&gt;/Enabled Subsystem' */</span></td></tr>
 <tr name="2321" id="2321">
-<td><a id="l2321" class='ln'>2321</a></td><td>    <span class="ct">/* Product: '&lt;S78&gt;/Divide1' incorporates:</span></td></tr>
+<td><a id="l2321" class='ln'>2321</a></td><td></td></tr>
 <tr name="2322" id="2322">
-<td><a id="l2322" class='ln'>2322</a></td><td><span class="ct">     *  Constant: '&lt;S78&gt;/Constant'</span></td></tr>
+<td><a id="l2322" class='ln'>2322</a></td><td>  <span class="ct">/* Switch: '&lt;S115&gt;/Switch' incorporates:</span></td></tr>
 <tr name="2323" id="2323">
-<td><a id="l2323" class='ln'>2323</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide'</span></td></tr>
+<td><a id="l2323" class='ln'>2323</a></td><td><span class="ct">   *  Constant: '&lt;S115&gt;/Constant'</span></td></tr>
 <tr name="2324" id="2324">
-<td><a id="l2324" class='ln'>2324</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide1'</span></td></tr>
+<td><a id="l2324" class='ln'>2324</a></td><td><span class="ct">   *  Product: '&lt;S116&gt;/Divide'</span></td></tr>
 <tr name="2325" id="2325">
-<td><a id="l2325" class='ln'>2325</a></td><td><span class="ct">     *  Product: '&lt;S78&gt;/Divide'</span></td></tr>
+<td><a id="l2325" class='ln'>2325</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S115&gt;/Equal'</span></td></tr>
 <tr name="2326" id="2326">
-<td><a id="l2326" class='ln'>2326</a></td><td><span class="ct">     *  Sum: '&lt;S78&gt;/Add'</span></td></tr>
+<td><a id="l2326" class='ln'>2326</a></td><td><span class="ct">   *  Switch: '&lt;S77&gt;/Switch'</span></td></tr>
 <tr name="2327" id="2327">
-<td><a id="l2327" class='ln'>2327</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2327" class='ln'>2327</a></td><td><span class="ct">   *  UnitDelay: '&lt;S115&gt;/Unit Delay'</span></td></tr>
 <tr name="2328" id="2328">
-<td><a id="l2328" class='ln'>2328</a></td><td>    <a id="2328c5" class="tk">rtb_Divide1_m</a> = (<a id="2328c22" class="tk">int16_T</a>)(((<a id="2328c33" class="tk">int16_T</a>)(((<a id="2328c44" class="tk">rtb_Divide1_m</a> <a id="2328c58" class="tk">*</a> 9459) <a id="2328c66" class="tk">&gt;&gt;</a> 14) <a id="2328c73" class="tk">+</a></td></tr>
+<td><a id="l2328" class='ln'>2328</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2329" id="2329">
-<td><a id="l2329" class='ln'>2329</a></td><td>      <a id="2329c7" class="tk">rtb_Switch_np</a>) <a id="2329c22" class="tk">*</a> 375) <a id="2329c29" class="tk">&gt;&gt;</a> 9);</td></tr>
+<td><a id="l2329" class='ln'>2329</a></td><td>  <span class="kw">if</span> (<a id="2329c7" class="tk">rtDW</a>-&gt;<a id="2329c13" class="tk">Switch</a> <a id="2329c20" class="tk">!=</a> <a id="2329c23" class="tk">rtDW</a>-&gt;<a id="2329c29" class="tk">UnitDelay_DSTATE_a</a>) <span class="br">{</span></td></tr>
 <tr name="2330" id="2330">
-<td><a id="l2330" class='ln'>2330</a></td><td></td></tr>
+<td><a id="l2330" class='ln'>2330</a></td><td>    <a id="2330c5" class="tk">rtb_Sum6_p</a> = <a id="2330c18" class="tk">rtDW</a>-&gt;<a id="2330c24" class="tk">Divide_l</a>;</td></tr>
 <tr name="2331" id="2331">
-<td><a id="l2331" class='ln'>2331</a></td><td>    <span class="ct">/* Product: '&lt;S78&gt;/Divide4' incorporates:</span></td></tr>
+<td><a id="l2331" class='ln'>2331</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2332" id="2332">
-<td><a id="l2332" class='ln'>2332</a></td><td><span class="ct">     *  Sum: '&lt;S78&gt;/Add1'</span></td></tr>
+<td><a id="l2332" class='ln'>2332</a></td><td>    <a id="2332c5" class="tk">rtb_Sum6_p</a> = 0;</td></tr>
 <tr name="2333" id="2333">
-<td><a id="l2333" class='ln'>2333</a></td><td><span class="ct">     *  Sum: '&lt;S78&gt;/Add2'</span></td></tr>
+<td><a id="l2333" class='ln'>2333</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2334" id="2334">
-<td><a id="l2334" class='ln'>2334</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2334" class='ln'>2334</a></td><td></td></tr>
 <tr name="2335" id="2335">
-<td><a id="l2335" class='ln'>2335</a></td><td>    <a id="2335c5" class="tk">rtb_Switch_np</a> = (<a id="2335c22" class="tk">int16_T</a>)((<a id="2335c32" class="tk">int16_T</a>)(3000 <a id="2335c46" class="tk">-</a> (<a id="2335c49" class="tk">int16_T</a>)(<a id="2335c58" class="tk">rtb_Divide1_m</a> <a id="2335c72" class="tk">+</a></td></tr>
+<td><a id="l2335" class='ln'>2335</a></td><td>  <span class="ct">/* End of Switch: '&lt;S115&gt;/Switch' */</span></td></tr>
 <tr name="2336" id="2336">
-<td><a id="l2336" class='ln'>2336</a></td><td>      <a id="2336c7" class="tk">rtb_Sign</a>)) <a id="2336c18" class="tk">&gt;&gt;</a> 1);</td></tr>
+<td><a id="l2336" class='ln'>2336</a></td><td></td></tr>
 <tr name="2337" id="2337">
-<td><a id="l2337" class='ln'>2337</a></td><td></td></tr>
+<td><a id="l2337" class='ln'>2337</a></td><td>  <span class="ct">/* Sum: '&lt;S118&gt;/Add2' */</span></td></tr>
 <tr name="2338" id="2338">
-<td><a id="l2338" class='ln'>2338</a></td><td>    <span class="ct">/* Sum: '&lt;S78&gt;/Add3' */</span></td></tr>
+<td><a id="l2338" class='ln'>2338</a></td><td>  <a id="2338c3" class="tk">tmp_2</a> = ((<a id="2338c13" class="tk">rtb_r_cos_M1</a> <a id="2338c26" class="tk">&lt;&lt;</a> 5) <a id="2338c32" class="tk">+</a> <a id="2338c34" class="tk">rtb_Sum6_p</a>) <a id="2338c46" class="tk">&gt;&gt;</a> 5;</td></tr>
 <tr name="2339" id="2339">
-<td><a id="l2339" class='ln'>2339</a></td><td>    <a id="2339c5" class="tk">rtb_Sign</a> <a id="2339c14" class="tk">+=</a> <a id="2339c17" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2339" class='ln'>2339</a></td><td>  <span class="kw">if</span> (<a id="2339c7" class="tk">tmp_2</a> <a id="2339c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
 <tr name="2340" id="2340">
-<td><a id="l2340" class='ln'>2340</a></td><td></td></tr>
+<td><a id="l2340" class='ln'>2340</a></td><td>    <a id="2340c5" class="tk">tmp_2</a> = 32767;</td></tr>
 <tr name="2341" id="2341">
-<td><a id="l2341" class='ln'>2341</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/PWM' incorporates:</span></td></tr>
+<td><a id="l2341" class='ln'>2341</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2342" id="2342">
-<td><a id="l2342" class='ln'>2342</a></td><td><span class="ct">     *  Sum: '&lt;S78&gt;/Add4'</span></td></tr>
+<td><a id="l2342" class='ln'>2342</a></td><td>    <span class="kw">if</span> (<a id="2342c9" class="tk">tmp_2</a> <a id="2342c15" class="tk">&lt;</a> <a id="2342c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
 <tr name="2343" id="2343">
-<td><a id="l2343" class='ln'>2343</a></td><td><span class="ct">     */</span></td></tr>
+<td><a id="l2343" class='ln'>2343</a></td><td>      <a id="2343c7" class="tk">tmp_2</a> = <a id="2343c15" class="tk">-</a>32768;</td></tr>
 <tr name="2344" id="2344">
-<td><a id="l2344" class='ln'>2344</a></td><td>    <a id="2344c5" class="tk">rtY</a>-&gt;<a id="2344c10" class="tk">PWM</a>[0] = (<a id="2344c20" class="tk">int16_T</a>)(<a id="2344c29" class="tk">rtb_Sign</a> <a id="2344c38" class="tk">+</a> <a id="2344c40" class="tk">rtb_Divide1_m</a>);</td></tr>
+<td><a id="l2344" class='ln'>2344</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2345" id="2345">
-<td><a id="l2345" class='ln'>2345</a></td><td>    <a id="2345c5" class="tk">rtY</a>-&gt;<a id="2345c10" class="tk">PWM</a>[1] = <a id="2345c19" class="tk">rtb_Switch_np</a>;</td></tr>
+<td><a id="l2345" class='ln'>2345</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2346" id="2346">
-<td><a id="l2346" class='ln'>2346</a></td><td>    <a id="2346c5" class="tk">rtY</a>-&gt;<a id="2346c10" class="tk">PWM</a>[2] = <a id="2346c19" class="tk">rtb_Sign</a>;</td></tr>
+<td><a id="l2346" class='ln'>2346</a></td><td></td></tr>
 <tr name="2347" id="2347">
-<td><a id="l2347" class='ln'>2347</a></td><td>    <span class="kw">break</span>;</td></tr>
+<td><a id="l2347" class='ln'>2347</a></td><td>  <span class="ct">/* Switch: '&lt;S117&gt;/Switch2' incorporates:</span></td></tr>
 <tr name="2348" id="2348">
-<td><a id="l2348" class='ln'>2348</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l2348" class='ln'>2348</a></td><td><span class="ct">   *  MinMax: '&lt;S116&gt;/Max'</span></td></tr>
 <tr name="2349" id="2349">
-<td><a id="l2349" class='ln'>2349</a></td><td></td></tr>
+<td><a id="l2349" class='ln'>2349</a></td><td><span class="ct">   *  MinMax: '&lt;S116&gt;/Max1'</span></td></tr>
 <tr name="2350" id="2350">
-<td><a id="l2350" class='ln'>2350</a></td><td>  <span class="ct">/* End of MultiPortSwitch: '&lt;S71&gt;/Multiport Switch' */</span></td></tr>
+<td><a id="l2350" class='ln'>2350</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S117&gt;/LowerRelop1'</span></td></tr>
 <tr name="2351" id="2351">
-<td><a id="l2351" class='ln'>2351</a></td><td></td></tr>
+<td><a id="l2351" class='ln'>2351</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S117&gt;/UpperRelop'</span></td></tr>
 <tr name="2352" id="2352">
-<td><a id="l2352" class='ln'>2352</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/VdPrev' incorporates:</span></td></tr>
+<td><a id="l2352" class='ln'>2352</a></td><td><span class="ct">   *  Sum: '&lt;S118&gt;/Add2'</span></td></tr>
 <tr name="2353" id="2353">
-<td><a id="l2353" class='ln'>2353</a></td><td><span class="ct">   *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
+<td><a id="l2353" class='ln'>2353</a></td><td><span class="ct">   *  Switch: '&lt;S117&gt;/Switch'</span></td></tr>
 <tr name="2354" id="2354">
 <td><a id="l2354" class='ln'>2354</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2355" id="2355">
-<td><a id="l2355" class='ln'>2355</a></td><td>  <a id="2355c3" class="tk">rtY</a>-&gt;<a id="2355c8" class="tk">VdPrev</a> = <a id="2355c17" class="tk">rtDW</a>-&gt;<a id="2355c23" class="tk">UnitDelay1_DSTATE_f</a>;</td></tr>
+<td><a id="l2355" class='ln'>2355</a></td><td>  <span class="kw">if</span> ((<a id="2355c8" class="tk">int16_T</a>)<a id="2355c16" class="tk">tmp_2</a> <a id="2355c22" class="tk">&gt;</a> <a id="2355c24" class="tk">rtDW</a>-&gt;<a id="2355c30" class="tk">Max</a>) <span class="br">{</span></td></tr>
 <tr name="2356" id="2356">
-<td><a id="l2356" class='ln'>2356</a></td><td></td></tr>
+<td><a id="l2356" class='ln'>2356</a></td><td>    <a id="2356c5" class="tk">rtb_Sum6_p</a> = <a id="2356c18" class="tk">rtDW</a>-&gt;<a id="2356c24" class="tk">Max</a>;</td></tr>
 <tr name="2357" id="2357">
-<td><a id="l2357" class='ln'>2357</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S7&gt;/UnitDelay1' incorporates:</span></td></tr>
+<td><a id="l2357" class='ln'>2357</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="2357c15" class="tk">int16_T</a>)<a id="2357c23" class="tk">tmp_2</a> <a id="2357c29" class="tk">&lt;</a> <a id="2357c31" class="tk">rtDW</a>-&gt;<a id="2357c37" class="tk">Max1</a>) <span class="br">{</span></td></tr>
 <tr name="2358" id="2358">
-<td><a id="l2358" class='ln'>2358</a></td><td><span class="ct">   *  Sum: '&lt;S7&gt;/Sum3'</span></td></tr>
+<td><a id="l2358" class='ln'>2358</a></td><td>    <span class="ct">/* Switch: '&lt;S117&gt;/Switch' incorporates:</span></td></tr>
 <tr name="2359" id="2359">
-<td><a id="l2359" class='ln'>2359</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2359" class='ln'>2359</a></td><td><span class="ct">     *  MinMax: '&lt;S116&gt;/Max1'</span></td></tr>
 <tr name="2360" id="2360">
-<td><a id="l2360" class='ln'>2360</a></td><td>  <a id="2360c3" class="tk">rtDW</a>-&gt;<a id="2360c9" class="tk">UnitDelay1_DSTATE</a> = <a id="2360c29" class="tk">qY</a>;</td></tr>
+<td><a id="l2360" class='ln'>2360</a></td><td><span class="ct">     *  Switch: '&lt;S117&gt;/Switch2'</span></td></tr>
 <tr name="2361" id="2361">
-<td><a id="l2361" class='ln'>2361</a></td><td></td></tr>
+<td><a id="l2361" class='ln'>2361</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2362" id="2362">
-<td><a id="l2362" class='ln'>2362</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S9&gt;/Delay' incorporates:</span></td></tr>
+<td><a id="l2362" class='ln'>2362</a></td><td>    <a id="2362c5" class="tk">rtb_Sum6_p</a> = <a id="2362c18" class="tk">rtDW</a>-&gt;<a id="2362c24" class="tk">Max1</a>;</td></tr>
 <tr name="2363" id="2363">
-<td><a id="l2363" class='ln'>2363</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_a'</span></td></tr>
+<td><a id="l2363" class='ln'>2363</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2364" id="2364">
-<td><a id="l2364" class='ln'>2364</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2364" class='ln'>2364</a></td><td>    <a id="2364c5" class="tk">rtb_Sum6_p</a> = (<a id="2364c19" class="tk">int16_T</a>)<a id="2364c27" class="tk">tmp_2</a>;</td></tr>
 <tr name="2365" id="2365">
-<td><a id="l2365" class='ln'>2365</a></td><td>  <a id="2365c3" class="tk">rtDW</a>-&gt;<a id="2365c9" class="tk">Delay_DSTATE</a> = <a id="2365c24" class="tk">rtU</a>-&gt;<a id="2365c29" class="tk">hall_a</a>;</td></tr>
+<td><a id="l2365" class='ln'>2365</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2366" id="2366">
 <td><a id="l2366" class='ln'>2366</a></td><td></td></tr>
 <tr name="2367" id="2367">
-<td><a id="l2367" class='ln'>2367</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S9&gt;/Delay1' incorporates:</span></td></tr>
+<td><a id="l2367" class='ln'>2367</a></td><td>  <span class="ct">/* End of Switch: '&lt;S117&gt;/Switch2' */</span></td></tr>
 <tr name="2368" id="2368">
-<td><a id="l2368" class='ln'>2368</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_b'</span></td></tr>
+<td><a id="l2368" class='ln'>2368</a></td><td></td></tr>
 <tr name="2369" id="2369">
-<td><a id="l2369" class='ln'>2369</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2369" class='ln'>2369</a></td><td>  <span class="ct">/* DataTypeConversion: '&lt;S55&gt;/Data Type Conversion' incorporates:</span></td></tr>
 <tr name="2370" id="2370">
-<td><a id="l2370" class='ln'>2370</a></td><td>  <a id="2370c3" class="tk">rtDW</a>-&gt;<a id="2370c9" class="tk">Delay1_DSTATE</a> = <a id="2370c25" class="tk">rtU</a>-&gt;<a id="2370c30" class="tk">hall_b</a>;</td></tr>
+<td><a id="l2370" class='ln'>2370</a></td><td><span class="ct">   *  Logic: '&lt;S55&gt;/Logical Operator'</span></td></tr>
 <tr name="2371" id="2371">
-<td><a id="l2371" class='ln'>2371</a></td><td></td></tr>
+<td><a id="l2371" class='ln'>2371</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S55&gt;/Equal'</span></td></tr>
 <tr name="2372" id="2372">
-<td><a id="l2372" class='ln'>2372</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S9&gt;/Delay2' incorporates:</span></td></tr>
+<td><a id="l2372" class='ln'>2372</a></td><td><span class="ct">   *  UnitDelay: '&lt;S55&gt;/Unit Delay'</span></td></tr>
 <tr name="2373" id="2373">
-<td><a id="l2373" class='ln'>2373</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_c'</span></td></tr>
+<td><a id="l2373" class='ln'>2373</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2374" id="2374">
-<td><a id="l2374" class='ln'>2374</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2374" class='ln'>2374</a></td><td>  <a id="2374c3" class="tk">rtb_DataTypeConversion_np</a> = (<a id="2374c32" class="tk">uint8_T</a>)((<a id="2374c42" class="tk">rtb_z_ctrlMod</a> <a id="2374c56" class="tk">!=</a> 0) <a id="2374c62" class="tk">&amp;&amp;</a></td></tr>
 <tr name="2375" id="2375">
-<td><a id="l2375" class='ln'>2375</a></td><td>  <a id="2375c3" class="tk">rtDW</a>-&gt;<a id="2375c9" class="tk">Delay2_DSTATE</a> = <a id="2375c25" class="tk">rtU</a>-&gt;<a id="2375c30" class="tk">hall_c</a>;</td></tr>
+<td><a id="l2375" class='ln'>2375</a></td><td>    (<a id="2375c6" class="tk">rtDW</a>-&gt;<a id="2375c12" class="tk">UnitDelay_DSTATE_bm</a> <a id="2375c32" class="tk">!=</a> <a id="2375c35" class="tk">rtb_z_ctrlMod</a>));</td></tr>
 <tr name="2376" id="2376">
 <td><a id="l2376" class='ln'>2376</a></td><td></td></tr>
 <tr name="2377" id="2377">
-<td><a id="l2377" class='ln'>2377</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S14&gt;/UnitDelay3' incorporates:</span></td></tr>
+<td><a id="l2377" class='ln'>2377</a></td><td>  <span class="ct">/* If: '&lt;S55&gt;/If1' incorporates:</span></td></tr>
 <tr name="2378" id="2378">
-<td><a id="l2378" class='ln'>2378</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hw_count'</span></td></tr>
+<td><a id="l2378" class='ln'>2378</a></td><td><span class="ct">   *  Constant: '&lt;S95&gt;/Constant1'</span></td></tr>
 <tr name="2379" id="2379">
-<td><a id="l2379" class='ln'>2379</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2379" class='ln'>2379</a></td><td><span class="ct">   *  Constant: '&lt;S95&gt;/Constant3'</span></td></tr>
 <tr name="2380" id="2380">
-<td><a id="l2380" class='ln'>2380</a></td><td>  <a id="2380c3" class="tk">rtDW</a>-&gt;<a id="2380c9" class="tk">UnitDelay3_DSTATE</a> = <a id="2380c29" class="tk">rtU</a>-&gt;<a id="2380c34" class="tk">hw_count</a>;</td></tr>
+<td><a id="l2380" class='ln'>2380</a></td><td><span class="ct">   *  Constant: '&lt;S95&gt;/Constant4'</span></td></tr>
 <tr name="2381" id="2381">
-<td><a id="l2381" class='ln'>2381</a></td><td></td></tr>
+<td><a id="l2381" class='ln'>2381</a></td><td><span class="ct">   *  Constant: '&lt;S95&gt;/Constant6'</span></td></tr>
 <tr name="2382" id="2382">
-<td><a id="l2382" class='ln'>2382</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S14&gt;/UnitDelay4' incorporates:</span></td></tr>
+<td><a id="l2382" class='ln'>2382</a></td><td><span class="ct">   *  Constant: '&lt;S95&gt;/Constant7'</span></td></tr>
 <tr name="2383" id="2383">
-<td><a id="l2383" class='ln'>2383</a></td><td><span class="ct">   *  Abs: '&lt;S14&gt;/Abs5'</span></td></tr>
+<td><a id="l2383" class='ln'>2383</a></td><td><span class="ct">   *  Constant: '&lt;S95&gt;/Constant8'</span></td></tr>
 <tr name="2384" id="2384">
-<td><a id="l2384" class='ln'>2384</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2384" class='ln'>2384</a></td><td><span class="ct">   *  Gain: '&lt;S95&gt;/Gain1'</span></td></tr>
 <tr name="2385" id="2385">
-<td><a id="l2385" class='ln'>2385</a></td><td>  <a id="2385c3" class="tk">rtDW</a>-&gt;<a id="2385c9" class="tk">UnitDelay4_DSTATE</a> = <a id="2385c29" class="tk">rtb_Switch2</a>;</td></tr>
+<td><a id="l2385" class='ln'>2385</a></td><td><span class="ct">   *  Gain: '&lt;S95&gt;/Gain2'</span></td></tr>
 <tr name="2386" id="2386">
-<td><a id="l2386" class='ln'>2386</a></td><td></td></tr>
+<td><a id="l2386" class='ln'>2386</a></td><td><span class="ct">   *  Inport: '&lt;S96&gt;/In1'</span></td></tr>
 <tr name="2387" id="2387">
-<td><a id="l2387" class='ln'>2387</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S35&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l2387" class='ln'>2387</a></td><td><span class="ct">   *  Merge: '&lt;S26&gt;/Merge'</span></td></tr>
 <tr name="2388" id="2388">
-<td><a id="l2388" class='ln'>2388</a></td><td>  <a id="2388c3" class="tk">rtDW</a>-&gt;<a id="2388c9" class="tk">UnitDelay_DSTATE_j</a> = <a id="2388c30" class="tk">rtb_UnitDelay_bc</a>;</td></tr>
+<td><a id="l2388" class='ln'>2388</a></td><td><span class="ct">   *  Merge: '&lt;S55&gt;/Merge'</span></td></tr>
 <tr name="2389" id="2389">
-<td><a id="l2389" class='ln'>2389</a></td><td></td></tr>
+<td><a id="l2389" class='ln'>2389</a></td><td><span class="ct">   *  Outport: '&lt;Root&gt;/f_Idq'</span></td></tr>
 <tr name="2390" id="2390">
-<td><a id="l2390" class='ln'>2390</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S6&gt;/UnitDelay2' */</span></td></tr>
+<td><a id="l2390" class='ln'>2390</a></td><td><span class="ct">   *  Product: '&lt;S95&gt;/Divide'</span></td></tr>
 <tr name="2391" id="2391">
-<td><a id="l2391" class='ln'>2391</a></td><td>  <a id="2391c3" class="tk">rtDW</a>-&gt;<a id="2391c9" class="tk">UnitDelay2_DSTATE_p</a> = <a id="2391c31" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[1];</td></tr>
+<td><a id="l2391" class='ln'>2391</a></td><td><span class="ct">   *  Sum: '&lt;S95&gt;/Sum'</span></td></tr>
 <tr name="2392" id="2392">
-<td><a id="l2392" class='ln'>2392</a></td><td></td></tr>
+<td><a id="l2392" class='ln'>2392</a></td><td><span class="ct">   *  Sum: '&lt;S95&gt;/Sum1'</span></td></tr>
 <tr name="2393" id="2393">
-<td><a id="l2393" class='ln'>2393</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S48&gt;/Unit Delay' */</span></td></tr>
+<td><a id="l2393" class='ln'>2393</a></td><td><span class="ct">   *  Switch: '&lt;S110&gt;/Switch2'</span></td></tr>
 <tr name="2394" id="2394">
-<td><a id="l2394" class='ln'>2394</a></td><td>  <a id="2394c3" class="tk">rtDW</a>-&gt;<a id="2394c9" class="tk">UnitDelay_DSTATE_b</a> = <a id="2394c30" class="tk">rtb_Sum</a>;</td></tr>
+<td><a id="l2394" class='ln'>2394</a></td><td><span class="ct">   *  Switch: '&lt;S117&gt;/Switch2'</span></td></tr>
 <tr name="2395" id="2395">
-<td><a id="l2395" class='ln'>2395</a></td><td></td></tr>
+<td><a id="l2395" class='ln'>2395</a></td><td><span class="ct">   *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="2396" id="2396">
-<td><a id="l2396" class='ln'>2396</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S6&gt;/UnitDelay1' */</span></td></tr>
+<td><a id="l2396" class='ln'>2396</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2397" id="2397">
-<td><a id="l2397" class='ln'>2397</a></td><td>  <a id="2397c3" class="tk">rtDW</a>-&gt;<a id="2397c9" class="tk">UnitDelay1_DSTATE_f</a> = <a id="2397c31" class="tk">rtb_TmpSignalConversionAtLow_Pa</a>[0];</td></tr>
+<td><a id="l2397" class='ln'>2397</a></td><td>  <span class="kw">if</span> (<a id="2397c7" class="tk">rtb_z_ctrlMod</a> <a id="2397c21" class="tk">!=</a> 0) <span class="br">{</span></td></tr>
 <tr name="2398" id="2398">
-<td><a id="l2398" class='ln'>2398</a></td><td></td></tr>
+<td><a id="l2398" class='ln'>2398</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S55&gt;/CurrentLoop' incorporates:</span></td></tr>
 <tr name="2399" id="2399">
-<td><a id="l2399" class='ln'>2399</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
+<td><a id="l2399" class='ln'>2399</a></td><td><span class="ct">     *  ActionPort: '&lt;S95&gt;/Action Port'</span></td></tr>
 <tr name="2400" id="2400">
-<td><a id="l2400" class='ln'>2400</a></td><td></td></tr>
+<td><a id="l2400" class='ln'>2400</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2401" id="2401">
-<td><a id="l2401" class='ln'>2401</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/sector' */</span></td></tr>
+<td><a id="l2401" class='ln'>2401</a></td><td>    <span class="ct">/* Product: '&lt;S95&gt;/Divide' incorporates:</span></td></tr>
 <tr name="2402" id="2402">
-<td><a id="l2402" class='ln'>2402</a></td><td>  <a id="2402c3" class="tk">rtY</a>-&gt;<a id="2402c8" class="tk">sector</a> = <a id="2402c17" class="tk">rtb_DataTypeConversion_m</a>;</td></tr>
+<td><a id="l2402" class='ln'>2402</a></td><td><span class="ct">     *  Inport: '&lt;Root&gt;/vDC'</span></td></tr>
 <tr name="2403" id="2403">
-<td><a id="l2403" class='ln'>2403</a></td><td></td></tr>
+<td><a id="l2403" class='ln'>2403</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2404" id="2404">
-<td><a id="l2404" class='ln'>2404</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/n_MotError' */</span></td></tr>
+<td><a id="l2404" class='ln'>2404</a></td><td>    <a id="2404c5" class="tk">rtb_r_cos_M1</a> = (<a id="2404c21" class="tk">int16_T</a>)((<a id="2404c31" class="tk">rtU</a>-&gt;<a id="2404c36" class="tk">vDC</a> <a id="2404c40" class="tk">*</a> 15) <a id="2404c46" class="tk">&gt;&gt;</a> 4);</td></tr>
 <tr name="2405" id="2405">
-<td><a id="l2405" class='ln'>2405</a></td><td>  <a id="2405c3" class="tk">rtY</a>-&gt;<a id="2405c8" class="tk">n_MotError</a> = <a id="2405c21" class="tk">rtb_UnitDelay_bc</a>;</td></tr>
+<td><a id="l2405" class='ln'>2405</a></td><td></td></tr>
 <tr name="2406" id="2406">
-<td><a id="l2406" class='ln'>2406</a></td><td></td></tr>
+<td><a id="l2406" class='ln'>2406</a></td><td>    <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S95&gt;/PI_backCalc_fixdt' */</span></td></tr>
 <tr name="2407" id="2407">
-<td><a id="l2407" class='ln'>2407</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/id' */</span></td></tr>
+<td><a id="l2407" class='ln'>2407</a></td><td>    <a id="2407c5" class="tk">rtb_Switch</a> = <a id="2407c18" class="tk">PI_backCalc_fixdt_o</a>((<a id="2407c39" class="tk">int16_T</a>)(<a id="2407c48" class="tk">rtb_Divide1_m</a> <a id="2407c62" class="tk">-</a> <a id="2407c64" class="tk">rtY</a>-&gt;<a id="2407c69" class="tk">f_Idq</a>[0]),</td></tr>
 <tr name="2408" id="2408">
-<td><a id="l2408" class='ln'>2408</a></td><td>  <a id="2408c3" class="tk">rtY</a>-&gt;<a id="2408c8" class="tk">id</a> = <a id="2408c13" class="tk">rtb_DataTypeConversion</a>[0];</td></tr>
+<td><a id="l2408" class='ln'>2408</a></td><td>      <a id="2408c7" class="tk">rtP</a>.<a id="2408c11" class="tk">cf_idKp</a>, <a id="2408c20" class="tk">rtP</a>.<a id="2408c24" class="tk">cf_idKi</a>, <a id="2408c33" class="tk">rtP</a>.<a id="2408c37" class="tk">cf_idKb</a>, <a id="2408c46" class="tk">rtb_r_cos_M1</a>, (<a id="2408c61" class="tk">int16_T</a>)</td></tr>
 <tr name="2409" id="2409">
-<td><a id="l2409" class='ln'>2409</a></td><td></td></tr>
+<td><a id="l2409" class='ln'>2409</a></td><td>      <a id="2409c7" class="tk">-</a><a id="2409c8" class="tk">rtb_r_cos_M1</a>, <a id="2409c22" class="tk">rtDW</a>-&gt;<a id="2409c28" class="tk">UnitDelay1_DSTATE_f</a>[0], <a id="2409c52" class="tk">rtb_DataTypeConversion_np</a>,</td></tr>
 <tr name="2410" id="2410">
-<td><a id="l2410" class='ln'>2410</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/iq' */</span></td></tr>
+<td><a id="l2410" class='ln'>2410</a></td><td>      <a id="2410c7" class="tk">&amp;</a><a id="2410c8" class="tk">rtDW</a>-&gt;<a id="2410c14" class="tk">PI_backCalc_fixdt_o3</a>, <a id="2410c36" class="tk">&amp;</a><a id="2410c37" class="tk">rtPrevZCX</a>-&gt;<a id="2410c48" class="tk">PI_backCalc_fixdt_o3</a>);</td></tr>
 <tr name="2411" id="2411">
-<td><a id="l2411" class='ln'>2411</a></td><td>  <a id="2411c3" class="tk">rtY</a>-&gt;<a id="2411c8" class="tk">iq</a> = <a id="2411c13" class="tk">rtb_DataTypeConversion</a>[1];</td></tr>
+<td><a id="l2411" class='ln'>2411</a></td><td></td></tr>
 <tr name="2412" id="2412">
-<td><a id="l2412" class='ln'>2412</a></td><td></td></tr>
+<td><a id="l2412" class='ln'>2412</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S95&gt;/PI_backCalc_fixdt' */</span></td></tr>
 <tr name="2413" id="2413">
-<td><a id="l2413" class='ln'>2413</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/angle' incorporates:</span></td></tr>
+<td><a id="l2413" class='ln'>2413</a></td><td></td></tr>
 <tr name="2414" id="2414">
-<td><a id="l2414" class='ln'>2414</a></td><td><span class="ct">   *  Merge: '&lt;S3&gt;/Merge'</span></td></tr>
+<td><a id="l2414" class='ln'>2414</a></td><td>    <span class="ct">/* Outputs for Atomic SubSystem: '&lt;S95&gt;/PI_backCalc_fixdt1' */</span></td></tr>
 <tr name="2415" id="2415">
-<td><a id="l2415" class='ln'>2415</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2415" class='ln'>2415</a></td><td>    <a id="2415c5" class="tk">rtb_Sum1</a> = <a id="2415c16" class="tk">PI_backCalc_fixdt_o</a>((<a id="2415c37" class="tk">int16_T</a>)(<a id="2415c46" class="tk">rtb_Sum6_p</a> <a id="2415c57" class="tk">-</a> <a id="2415c59" class="tk">rtY</a>-&gt;<a id="2415c64" class="tk">f_Idq</a>[1]),</td></tr>
 <tr name="2416" id="2416">
-<td><a id="l2416" class='ln'>2416</a></td><td>  <a id="2416c3" class="tk">rtY</a>-&gt;<a id="2416c8" class="tk">angle</a> = <a id="2416c16" class="tk">rtDW</a>-&gt;<a id="2416c22" class="tk">Merge_i</a>;</td></tr>
+<td><a id="l2416" class='ln'>2416</a></td><td>      <a id="2416c7" class="tk">rtP</a>.<a id="2416c11" class="tk">cf_iqKp</a>, <a id="2416c20" class="tk">rtP</a>.<a id="2416c24" class="tk">cf_iqKi</a>, <a id="2416c33" class="tk">rtP</a>.<a id="2416c37" class="tk">cf_iqKb</a>, <a id="2416c46" class="tk">rtb_r_cos_M1</a>, (<a id="2416c61" class="tk">int16_T</a>)</td></tr>
 <tr name="2417" id="2417">
-<td><a id="l2417" class='ln'>2417</a></td><td></td></tr>
+<td><a id="l2417" class='ln'>2417</a></td><td>      <a id="2417c7" class="tk">-</a><a id="2417c8" class="tk">rtb_r_cos_M1</a>, <a id="2417c22" class="tk">rtDW</a>-&gt;<a id="2417c28" class="tk">UnitDelay1_DSTATE_f</a>[1], <a id="2417c52" class="tk">rtb_DataTypeConversion_np</a>,</td></tr>
 <tr name="2418" id="2418">
-<td><a id="l2418" class='ln'>2418</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/rpm' incorporates:</span></td></tr>
+<td><a id="l2418" class='ln'>2418</a></td><td>      <a id="2418c7" class="tk">&amp;</a><a id="2418c8" class="tk">rtDW</a>-&gt;<a id="2418c14" class="tk">PI_backCalc_fixdt1</a>, <a id="2418c34" class="tk">&amp;</a><a id="2418c35" class="tk">rtPrevZCX</a>-&gt;<a id="2418c46" class="tk">PI_backCalc_fixdt1</a>);</td></tr>
 <tr name="2419" id="2419">
-<td><a id="l2419" class='ln'>2419</a></td><td><span class="ct">   *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
+<td><a id="l2419" class='ln'>2419</a></td><td></td></tr>
 <tr name="2420" id="2420">
-<td><a id="l2420" class='ln'>2420</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2420" class='ln'>2420</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S95&gt;/PI_backCalc_fixdt1' */</span></td></tr>
 <tr name="2421" id="2421">
-<td><a id="l2421" class='ln'>2421</a></td><td>  <a id="2421c3" class="tk">rtY</a>-&gt;<a id="2421c8" class="tk">rpm</a> = <a id="2421c14" class="tk">rtb_Switch2_l</a>;</td></tr>
+<td><a id="l2421" class='ln'>2421</a></td><td></td></tr>
 <tr name="2422" id="2422">
-<td><a id="l2422" class='ln'>2422</a></td><td></td></tr>
+<td><a id="l2422" class='ln'>2422</a></td><td>    <span class="ct">/* Sum: '&lt;S95&gt;/Sum2' incorporates:</span></td></tr>
 <tr name="2423" id="2423">
-<td><a id="l2423" class='ln'>2423</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/hall_angle' incorporates:</span></td></tr>
+<td><a id="l2423" class='ln'>2423</a></td><td><span class="ct">     *  Constant: '&lt;S95&gt;/Constant1'</span></td></tr>
 <tr name="2424" id="2424">
-<td><a id="l2424" class='ln'>2424</a></td><td><span class="ct">   *  Merge: '&lt;S15&gt;/Merge'</span></td></tr>
+<td><a id="l2424" class='ln'>2424</a></td><td><span class="ct">     *  Constant: '&lt;S95&gt;/Constant3'</span></td></tr>
 <tr name="2425" id="2425">
-<td><a id="l2425" class='ln'>2425</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2425" class='ln'>2425</a></td><td><span class="ct">     *  Constant: '&lt;S95&gt;/Constant4'</span></td></tr>
 <tr name="2426" id="2426">
-<td><a id="l2426" class='ln'>2426</a></td><td>  <a id="2426c3" class="tk">rtY</a>-&gt;<a id="2426c8" class="tk">hall_angle</a> = <a id="2426c21" class="tk">rtb_Switch3_c</a>;</td></tr>
+<td><a id="l2426" class='ln'>2426</a></td><td><span class="ct">     *  Constant: '&lt;S95&gt;/Constant6'</span></td></tr>
 <tr name="2427" id="2427">
-<td><a id="l2427" class='ln'>2427</a></td><td></td></tr>
+<td><a id="l2427" class='ln'>2427</a></td><td><span class="ct">     *  Constant: '&lt;S95&gt;/Constant7'</span></td></tr>
 <tr name="2428" id="2428">
-<td><a id="l2428" class='ln'>2428</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/hall_state' */</span></td></tr>
+<td><a id="l2428" class='ln'>2428</a></td><td><span class="ct">     *  Constant: '&lt;S95&gt;/Constant8'</span></td></tr>
 <tr name="2429" id="2429">
-<td><a id="l2429" class='ln'>2429</a></td><td>  <a id="2429c3" class="tk">rtY</a>-&gt;<a id="2429c8" class="tk">hall_state</a> = <a id="2429c21" class="tk">rtb_Add_cr</a>;</td></tr>
+<td><a id="l2429" class='ln'>2429</a></td><td><span class="ct">     *  DataTypeConversion: '&lt;S95&gt;/Data Type Conversion'</span></td></tr>
 <tr name="2430" id="2430">
-<td><a id="l2430" class='ln'>2430</a></td><td></td></tr>
+<td><a id="l2430" class='ln'>2430</a></td><td><span class="ct">     *  DataTypeConversion: '&lt;S95&gt;/Data Type Conversion1'</span></td></tr>
 <tr name="2431" id="2431">
-<td><a id="l2431" class='ln'>2431</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/running_mode' */</span></td></tr>
+<td><a id="l2431" class='ln'>2431</a></td><td><span class="ct">     *  Gain: '&lt;S95&gt;/Gain1'</span></td></tr>
 <tr name="2432" id="2432">
-<td><a id="l2432" class='ln'>2432</a></td><td>  <a id="2432c3" class="tk">rtY</a>-&gt;<a id="2432c8" class="tk">running_mode</a> = <a id="2432c23" class="tk">rtb_z_ctrlMod</a>;</td></tr>
+<td><a id="l2432" class='ln'>2432</a></td><td><span class="ct">     *  Gain: '&lt;S95&gt;/Gain2'</span></td></tr>
 <tr name="2433" id="2433">
-<td><a id="l2433" class='ln'>2433</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l2433" class='ln'>2433</a></td><td><span class="ct">     *  Merge: '&lt;S55&gt;/Merge'</span></td></tr>
 <tr name="2434" id="2434">
-<td><a id="l2434" class='ln'>2434</a></td><td></td></tr>
+<td><a id="l2434" class='ln'>2434</a></td><td><span class="ct">     *  Outport: '&lt;Root&gt;/f_Idq'</span></td></tr>
 <tr name="2435" id="2435">
-<td><a id="l2435" class='ln'>2435</a></td><td><span class="ct">/* Model initialize function */</span></td></tr>
+<td><a id="l2435" class='ln'>2435</a></td><td><span class="ct">     *  Product: '&lt;S95&gt;/Divide'</span></td></tr>
 <tr name="2436" id="2436">
-<td><a id="l2436" class='ln'>2436</a></td><td><span class="kw">void</span> <a id="2436c6" class="tk">PMSM_Controller_initialize</a>(<a id="2436c33" class="tk">RT_MODEL</a> <a id="2436c42" class="tk">*</a><span class="kw">const</span> <a id="2436c49" class="tk">rtM</a>)</td></tr>
+<td><a id="l2436" class='ln'>2436</a></td><td><span class="ct">     *  Sum: '&lt;S95&gt;/Sum'</span></td></tr>
 <tr name="2437" id="2437">
-<td><a id="l2437" class='ln'>2437</a></td><td><span class="br">{</span></td></tr>
+<td><a id="l2437" class='ln'>2437</a></td><td><span class="ct">     *  Sum: '&lt;S95&gt;/Sum1'</span></td></tr>
 <tr name="2438" id="2438">
-<td><a id="l2438" class='ln'>2438</a></td><td>  <a id="2438c3" class="tk">DW</a> <a id="2438c6" class="tk">*</a><a id="2438c7" class="tk">rtDW</a> = <a id="2438c14" class="tk">rtM</a>-&gt;<a id="2438c19" class="tk">dwork</a>;</td></tr>
+<td><a id="l2438" class='ln'>2438</a></td><td><span class="ct">     *  Switch: '&lt;S103&gt;/Switch2'</span></td></tr>
 <tr name="2439" id="2439">
-<td><a id="l2439" class='ln'>2439</a></td><td>  <a id="2439c3" class="tk">PrevZCX</a> <a id="2439c11" class="tk">*</a><a id="2439c12" class="tk">rtPrevZCX</a> = <a id="2439c24" class="tk">rtM</a>-&gt;<a id="2439c29" class="tk">prevZCSigState</a>;</td></tr>
+<td><a id="l2439" class='ln'>2439</a></td><td><span class="ct">     *  Switch: '&lt;S105&gt;/Switch2'</span></td></tr>
 <tr name="2440" id="2440">
-<td><a id="l2440" class='ln'>2440</a></td><td>  <a id="2440c3" class="tk">ExtY</a> <a id="2440c8" class="tk">*</a><a id="2440c9" class="tk">rtY</a> = (<a id="2440c16" class="tk">ExtY</a> <a id="2440c21" class="tk">*</a>) <a id="2440c24" class="tk">rtM</a>-&gt;<a id="2440c29" class="tk">outputs</a>;</td></tr>
+<td><a id="l2440" class='ln'>2440</a></td><td><span class="ct">     *  Switch: '&lt;S110&gt;/Switch2'</span></td></tr>
 <tr name="2441" id="2441">
-<td><a id="l2441" class='ln'>2441</a></td><td>  <a id="2441c3" class="tk">rtPrevZCX</a>-&gt;<a id="2441c14" class="tk">pi_speed_d</a>.<a id="2441c25" class="tk">ResettableDelay_Reset_ZCE</a> = <a id="2441c53" class="tk">POS_ZCSIG</a>;</td></tr>
+<td><a id="l2441" class='ln'>2441</a></td><td><span class="ct">     *  Switch: '&lt;S117&gt;/Switch2'</span></td></tr>
 <tr name="2442" id="2442">
-<td><a id="l2442" class='ln'>2442</a></td><td>  <a id="2442c3" class="tk">rtPrevZCX</a>-&gt;<a id="2442c14" class="tk">PI_id</a>.<a id="2442c20" class="tk">ResettableDelay_Reset_ZCE_p</a> = <a id="2442c50" class="tk">POS_ZCSIG</a>;</td></tr>
+<td><a id="l2442" class='ln'>2442</a></td><td><span class="ct">     *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
 <tr name="2443" id="2443">
-<td><a id="l2443" class='ln'>2443</a></td><td>  <a id="2443c3" class="tk">rtPrevZCX</a>-&gt;<a id="2443c14" class="tk">PI_iq</a>.<a id="2443c20" class="tk">ResettableDelay_Reset_ZCE_p</a> = <a id="2443c50" class="tk">POS_ZCSIG</a>;</td></tr>
+<td><a id="l2443" class='ln'>2443</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2444" id="2444">
-<td><a id="l2444" class='ln'>2444</a></td><td></td></tr>
+<td><a id="l2444" class='ln'>2444</a></td><td>    <a id="2444c5" class="tk">rtb_DataTypeConversion_b</a>[0] = (<a id="2444c36" class="tk">int16_T</a>)(<a id="2444c45" class="tk">rtb_Switch</a> <a id="2444c56" class="tk">&gt;&gt;</a> 9);</td></tr>
 <tr name="2445" id="2445">
-<td><a id="l2445" class='ln'>2445</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
+<td><a id="l2445" class='ln'>2445</a></td><td>    <a id="2445c5" class="tk">rtb_DataTypeConversion_b</a>[1] = (<a id="2445c36" class="tk">int16_T</a>)(<a id="2445c45" class="tk">rtb_Sum1</a> <a id="2445c54" class="tk">&gt;&gt;</a> 9);</td></tr>
 <tr name="2446" id="2446">
-<td><a id="l2446" class='ln'>2446</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S14&gt;/Raw_Motor_Speed_Estimation' */</span></td></tr>
+<td><a id="l2446" class='ln'>2446</a></td><td></td></tr>
 <tr name="2447" id="2447">
-<td><a id="l2447" class='ln'>2447</a></td><td>  <span class="ct">/* InitializeConditions for UnitDelay: '&lt;S19&gt;/UnitDelay2' */</span></td></tr>
+<td><a id="l2447" class='ln'>2447</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S55&gt;/CurrentLoop' */</span></td></tr>
 <tr name="2448" id="2448">
-<td><a id="l2448" class='ln'>2448</a></td><td>  <a id="2448c3" class="tk">rtDW</a>-&gt;<a id="2448c9" class="tk">UnitDelay2_DSTATE</a> = 200000U;</td></tr>
+<td><a id="l2448" class='ln'>2448</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2449" id="2449">
-<td><a id="l2449" class='ln'>2449</a></td><td></td></tr>
+<td><a id="l2449" class='ln'>2449</a></td><td>    <span class="ct">/* Outputs for IfAction SubSystem: '&lt;S55&gt;/OpenLoop' incorporates:</span></td></tr>
 <tr name="2450" id="2450">
-<td><a id="l2450" class='ln'>2450</a></td><td>  <span class="ct">/* SystemInitialize for Outport: '&lt;S19&gt;/z_counter' incorporates:</span></td></tr>
+<td><a id="l2450" class='ln'>2450</a></td><td><span class="ct">     *  ActionPort: '&lt;S96&gt;/Action Port'</span></td></tr>
 <tr name="2451" id="2451">
-<td><a id="l2451" class='ln'>2451</a></td><td><span class="ct">   *  Inport: '&lt;S19&gt;/z_counterRawPrev'</span></td></tr>
+<td><a id="l2451" class='ln'>2451</a></td><td><span class="ct">     */</span></td></tr>
 <tr name="2452" id="2452">
-<td><a id="l2452" class='ln'>2452</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2452" class='ln'>2452</a></td><td>    <a id="2452c5" class="tk">rtb_DataTypeConversion_b</a>[0] = <a id="2452c35" class="tk">rtDW</a>-&gt;<a id="2452c41" class="tk">Merge</a>[0];</td></tr>
 <tr name="2453" id="2453">
-<td><a id="l2453" class='ln'>2453</a></td><td>  <a id="2453c3" class="tk">rtDW</a>-&gt;<a id="2453c9" class="tk">z_counterRawPrev</a> = 200000U;</td></tr>
+<td><a id="l2453" class='ln'>2453</a></td><td>    <a id="2453c5" class="tk">rtb_DataTypeConversion_b</a>[1] = <a id="2453c35" class="tk">rtDW</a>-&gt;<a id="2453c41" class="tk">Merge</a>[1];</td></tr>
 <tr name="2454" id="2454">
 <td><a id="l2454" class='ln'>2454</a></td><td></td></tr>
 <tr name="2455" id="2455">
-<td><a id="l2455" class='ln'>2455</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S14&gt;/Raw_Motor_Speed_Estimation' */</span></td></tr>
+<td><a id="l2455" class='ln'>2455</a></td><td>    <span class="ct">/* End of Outputs for SubSystem: '&lt;S55&gt;/OpenLoop' */</span></td></tr>
 <tr name="2456" id="2456">
-<td><a id="l2456" class='ln'>2456</a></td><td></td></tr>
+<td><a id="l2456" class='ln'>2456</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2457" id="2457">
-<td><a id="l2457" class='ln'>2457</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S35&gt;/Debounce_Filter' */</span></td></tr>
+<td><a id="l2457" class='ln'>2457</a></td><td></td></tr>
 <tr name="2458" id="2458">
-<td><a id="l2458" class='ln'>2458</a></td><td>  <a id="2458c3" class="tk">Debounce_Filter_Init</a>(<a id="2458c24" class="tk">&amp;</a><a id="2458c25" class="tk">rtDW</a>-&gt;<a id="2458c31" class="tk">Debounce_Filter_i</a>);</td></tr>
+<td><a id="l2458" class='ln'>2458</a></td><td>  <span class="ct">/* End of If: '&lt;S55&gt;/If1' */</span></td></tr>
 <tr name="2459" id="2459">
 <td><a id="l2459" class='ln'>2459</a></td><td></td></tr>
 <tr name="2460" id="2460">
-<td><a id="l2460" class='ln'>2460</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S35&gt;/Debounce_Filter' */</span></td></tr>
+<td><a id="l2460" class='ln'>2460</a></td><td>  <span class="ct">/* Gain: '&lt;S52&gt;/Gain' incorporates:</span></td></tr>
 <tr name="2461" id="2461">
-<td><a id="l2461" class='ln'>2461</a></td><td></td></tr>
+<td><a id="l2461" class='ln'>2461</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/vDC'</span></td></tr>
 <tr name="2462" id="2462">
-<td><a id="l2462" class='ln'>2462</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S53&gt;/Subsystem' */</span></td></tr>
+<td><a id="l2462" class='ln'>2462</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2463" id="2463">
-<td><a id="l2463" class='ln'>2463</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S84&gt;/speed_mode' */</span></td></tr>
+<td><a id="l2463" class='ln'>2463</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2464" id="2464">
-<td><a id="l2464" class='ln'>2464</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l2464" class='ln'>2464</a></td><td>  <a id="2464c3" class="tk">rtb_r_cos_M1</a> = (<a id="2464c19" class="tk">int16_T</a>)((15565 <a id="2464c35" class="tk">*</a> <a id="2464c37" class="tk">rtU</a>-&gt;<a id="2464c42" class="tk">vDC</a>) <a id="2464c47" class="tk">&gt;&gt;</a> 13);</td></tr>
 <tr name="2465" id="2465">
-<td><a id="l2465" class='ln'>2465</a></td><td>  <a id="2465c3" class="tk">pi_speed_Init</a>(<a id="2465c17" class="tk">&amp;</a><a id="2465c18" class="tk">rtDW</a>-&gt;<a id="2465c24" class="tk">pi_speed_d</a>);</td></tr>
+<td><a id="l2465" class='ln'>2465</a></td><td></td></tr>
 <tr name="2466" id="2466">
-<td><a id="l2466" class='ln'>2466</a></td><td></td></tr>
+<td><a id="l2466" class='ln'>2466</a></td><td>  <span class="ct">/* Math: '&lt;S52&gt;/Math Function1' incorporates:</span></td></tr>
 <tr name="2467" id="2467">
-<td><a id="l2467" class='ln'>2467</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l2467" class='ln'>2467</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
 <tr name="2468" id="2468">
-<td><a id="l2468" class='ln'>2468</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S84&gt;/speed_mode' */</span></td></tr>
+<td><a id="l2468" class='ln'>2468</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2469" id="2469">
-<td><a id="l2469" class='ln'>2469</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S53&gt;/Subsystem' */</span></td></tr>
+<td><a id="l2469" class='ln'>2469</a></td><td>  <a id="2469c3" class="tk">rtb_Switch</a> = (<a id="2469c17" class="tk">rtb_r_cos_M1</a> <a id="2469c30" class="tk">*</a> <a id="2469c32" class="tk">rtb_r_cos_M1</a>) <a id="2469c46" class="tk">&gt;&gt;</a> 6;</td></tr>
 <tr name="2470" id="2470">
 <td><a id="l2470" class='ln'>2470</a></td><td></td></tr>
 <tr name="2471" id="2471">
-<td><a id="l2471" class='ln'>2471</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S48&gt;/iq_ctrl' */</span></td></tr>
+<td><a id="l2471" class='ln'>2471</a></td><td>  <span class="ct">/* Sum: '&lt;S52&gt;/Sum of Elements' incorporates:</span></td></tr>
 <tr name="2472" id="2472">
-<td><a id="l2472" class='ln'>2472</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l2472" class='ln'>2472</a></td><td><span class="ct">   *  Math: '&lt;S52&gt;/Math Function'</span></td></tr>
 <tr name="2473" id="2473">
-<td><a id="l2473" class='ln'>2473</a></td><td>  <a id="2473c3" class="tk">PI_backCalc_fixdt_Init</a>(<a id="2473c26" class="tk">&amp;</a><a id="2473c27" class="tk">rtDW</a>-&gt;<a id="2473c33" class="tk">PI_iq</a>);</td></tr>
+<td><a id="l2473" class='ln'>2473</a></td><td><span class="ct">   *  Merge: '&lt;S55&gt;/Merge'</span></td></tr>
 <tr name="2474" id="2474">
-<td><a id="l2474" class='ln'>2474</a></td><td></td></tr>
+<td><a id="l2474" class='ln'>2474</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2475" id="2475">
-<td><a id="l2475" class='ln'>2475</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l2475" class='ln'>2475</a></td><td>  <a id="2475c3" class="tk">tmp</a> = (<a id="2475c10" class="tk">int64_T</a>)((<a id="2475c20" class="tk">rtb_DataTypeConversion_b</a>[0] <a id="2475c48" class="tk">*</a> <a id="2475c50" class="tk">rtb_DataTypeConversion_b</a>[0]) <a id="2475c79" class="tk">&gt;&gt;</a></td></tr>
 <tr name="2476" id="2476">
-<td><a id="l2476" class='ln'>2476</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S48&gt;/iq_ctrl' */</span></td></tr>
+<td><a id="l2476" class='ln'>2476</a></td><td>                  4) <a id="2476c22" class="tk">+</a> ((<a id="2476c26" class="tk">rtb_DataTypeConversion_b</a>[1] <a id="2476c54" class="tk">*</a> <a id="2476c56" class="tk">rtb_DataTypeConversion_b</a></td></tr>
 <tr name="2477" id="2477">
-<td><a id="l2477" class='ln'>2477</a></td><td></td></tr>
+<td><a id="l2477" class='ln'>2477</a></td><td>    [1]) <a id="2477c10" class="tk">&gt;&gt;</a> 4);</td></tr>
 <tr name="2478" id="2478">
-<td><a id="l2478" class='ln'>2478</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S48&gt;/id_ctrl' */</span></td></tr>
+<td><a id="l2478" class='ln'>2478</a></td><td>  <span class="kw">if</span> (<a id="2478c7" class="tk">tmp</a> <a id="2478c11" class="tk">&gt;</a> 2147483647LL) <span class="br">{</span></td></tr>
 <tr name="2479" id="2479">
-<td><a id="l2479" class='ln'>2479</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S60&gt;/PI_id' */</span></td></tr>
+<td><a id="l2479" class='ln'>2479</a></td><td>    <a id="2479c5" class="tk">tmp</a> = 2147483647LL;</td></tr>
 <tr name="2480" id="2480">
-<td><a id="l2480" class='ln'>2480</a></td><td>  <a id="2480c3" class="tk">PI_backCalc_fixdt_Init</a>(<a id="2480c26" class="tk">&amp;</a><a id="2480c27" class="tk">rtDW</a>-&gt;<a id="2480c33" class="tk">PI_id</a>);</td></tr>
+<td><a id="l2480" class='ln'>2480</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2481" id="2481">
-<td><a id="l2481" class='ln'>2481</a></td><td></td></tr>
+<td><a id="l2481" class='ln'>2481</a></td><td>    <span class="kw">if</span> (<a id="2481c9" class="tk">tmp</a> <a id="2481c13" class="tk">&lt;</a> <a id="2481c15" class="tk">-</a>2147483648LL) <span class="br">{</span></td></tr>
 <tr name="2482" id="2482">
-<td><a id="l2482" class='ln'>2482</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S60&gt;/PI_id' */</span></td></tr>
+<td><a id="l2482" class='ln'>2482</a></td><td>      <a id="2482c7" class="tk">tmp</a> = <a id="2482c13" class="tk">-</a>2147483648LL;</td></tr>
 <tr name="2483" id="2483">
-<td><a id="l2483" class='ln'>2483</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S48&gt;/id_ctrl' */</span></td></tr>
+<td><a id="l2483" class='ln'>2483</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2484" id="2484">
-<td><a id="l2484" class='ln'>2484</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
+<td><a id="l2484" class='ln'>2484</a></td><td>  <span class="br">}</span></td></tr>
 <tr name="2485" id="2485">
 <td><a id="l2485" class='ln'>2485</a></td><td></td></tr>
 <tr name="2486" id="2486">
-<td><a id="l2486" class='ln'>2486</a></td><td>  <span class="ct">/* SystemInitialize for Outport: '&lt;Root&gt;/angle' incorporates:</span></td></tr>
+<td><a id="l2486" class='ln'>2486</a></td><td>  <span class="ct">/* Product: '&lt;S52&gt;/Divide' incorporates:</span></td></tr>
 <tr name="2487" id="2487">
-<td><a id="l2487" class='ln'>2487</a></td><td><span class="ct">   *  Merge: '&lt;S3&gt;/Merge'</span></td></tr>
+<td><a id="l2487" class='ln'>2487</a></td><td><span class="ct">   *  Math: '&lt;S52&gt;/Math Function1'</span></td></tr>
 <tr name="2488" id="2488">
-<td><a id="l2488" class='ln'>2488</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l2488" class='ln'>2488</a></td><td><span class="ct">   *  Sum: '&lt;S52&gt;/Sum of Elements'</span></td></tr>
 <tr name="2489" id="2489">
-<td><a id="l2489" class='ln'>2489</a></td><td>  <a id="2489c3" class="tk">rtY</a>-&gt;<a id="2489c8" class="tk">angle</a> = <a id="2489c16" class="tk">rtDW</a>-&gt;<a id="2489c22" class="tk">Merge_i</a>;</td></tr>
+<td><a id="l2489" class='ln'>2489</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="2490" id="2490">
-<td><a id="l2490" class='ln'>2490</a></td><td><span class="br">}</span></td></tr>
+<td><a id="l2490" class='ln'>2490</a></td><td>  <a id="2490c3" class="tk">tmp</a> = ((<a id="2490c11" class="tk">int64_T</a>)(<a id="2490c20" class="tk">int32_T</a>)<a id="2490c28" class="tk">tmp</a> <a id="2490c32" class="tk">&lt;&lt;</a> 14) <a id="2490c39" class="tk">/</a> <a id="2490c41" class="tk">rtb_Switch</a>;</td></tr>
 <tr name="2491" id="2491">
-<td><a id="l2491" class='ln'>2491</a></td><td></td></tr>
+<td><a id="l2491" class='ln'>2491</a></td><td>  <span class="kw">if</span> (<a id="2491c7" class="tk">tmp</a> <a id="2491c11" class="tk">&lt;</a> 0LL) <span class="br">{</span></td></tr>
 <tr name="2492" id="2492">
-<td><a id="l2492" class='ln'>2492</a></td><td><span class="ct">/*</span></td></tr>
+<td><a id="l2492" class='ln'>2492</a></td><td>    <a id="2492c5" class="tk">tmp</a> = 0LL;</td></tr>
 <tr name="2493" id="2493">
-<td><a id="l2493" class='ln'>2493</a></td><td><span class="ct"> * File trailer for generated code.</span></td></tr>
+<td><a id="l2493" class='ln'>2493</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
 <tr name="2494" id="2494">
-<td><a id="l2494" class='ln'>2494</a></td><td><span class="ct"> *</span></td></tr>
+<td><a id="l2494" class='ln'>2494</a></td><td>    <span class="kw">if</span> (<a id="2494c9" class="tk">tmp</a> <a id="2494c13" class="tk">&gt;</a> 65535LL) <span class="br">{</span></td></tr>
 <tr name="2495" id="2495">
-<td><a id="l2495" class='ln'>2495</a></td><td><span class="ct"> * [EOF]</span></td></tr>
+<td><a id="l2495" class='ln'>2495</a></td><td>      <a id="2495c7" class="tk">tmp</a> = 65535LL;</td></tr>
 <tr name="2496" id="2496">
-<td><a id="l2496" class='ln'>2496</a></td><td><span class="ct"> */</span></td></tr>
+<td><a id="l2496" class='ln'>2496</a></td><td>    <span class="br">}</span></td></tr>
 <tr name="2497" id="2497">
-<td><a id="l2497" class='ln'>2497</a></td><td></td></tr>
+<td><a id="l2497" class='ln'>2497</a></td><td>  <span class="br">}</span></td></tr>
+<tr name="2498" id="2498">
+<td><a id="l2498" class='ln'>2498</a></td><td></td></tr>
+<tr name="2499" id="2499">
+<td><a id="l2499" class='ln'>2499</a></td><td>  <span class="ct">/* Sqrt: '&lt;S52&gt;/Sqrt' incorporates:</span></td></tr>
+<tr name="2500" id="2500">
+<td><a id="l2500" class='ln'>2500</a></td><td><span class="ct">   *  Product: '&lt;S52&gt;/Divide'</span></td></tr>
+<tr name="2501" id="2501">
+<td><a id="l2501" class='ln'>2501</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2502" id="2502">
+<td><a id="l2502" class='ln'>2502</a></td><td>  <a id="2502c3" class="tk">rtb_BitwiseOperator2</a> = <a id="2502c26" class="tk">rt_sqrt_Uu16En14_Yu16E_WMwW1mku</a>((<a id="2502c59" class="tk">uint16_T</a>)<a id="2502c68" class="tk">tmp</a>);</td></tr>
+<tr name="2503" id="2503">
+<td><a id="l2503" class='ln'>2503</a></td><td></td></tr>
+<tr name="2504" id="2504">
+<td><a id="l2504" class='ln'>2504</a></td><td>  <span class="ct">/* Switch: '&lt;S52&gt;/Switch' incorporates:</span></td></tr>
+<tr name="2505" id="2505">
+<td><a id="l2505" class='ln'>2505</a></td><td><span class="ct">   *  Merge: '&lt;S55&gt;/Merge'</span></td></tr>
+<tr name="2506" id="2506">
+<td><a id="l2506" class='ln'>2506</a></td><td><span class="ct">   *  Sqrt: '&lt;S52&gt;/Sqrt'</span></td></tr>
+<tr name="2507" id="2507">
+<td><a id="l2507" class='ln'>2507</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2508" id="2508">
+<td><a id="l2508" class='ln'>2508</a></td><td>  <span class="kw">if</span> (<a id="2508c7" class="tk">rtb_BitwiseOperator2</a> <a id="2508c28" class="tk">&gt;</a> 16384) <span class="br">{</span></td></tr>
+<tr name="2509" id="2509">
+<td><a id="l2509" class='ln'>2509</a></td><td>    <span class="ct">/* Switch: '&lt;S52&gt;/Switch' incorporates:</span></td></tr>
+<tr name="2510" id="2510">
+<td><a id="l2510" class='ln'>2510</a></td><td><span class="ct">     *  Merge: '&lt;S55&gt;/Merge'</span></td></tr>
+<tr name="2511" id="2511">
+<td><a id="l2511" class='ln'>2511</a></td><td><span class="ct">     *  MultiPortSwitch: '&lt;S52&gt;/Multiport Switch'</span></td></tr>
+<tr name="2512" id="2512">
+<td><a id="l2512" class='ln'>2512</a></td><td><span class="ct">     *  Product: '&lt;S52&gt;/Divide1'</span></td></tr>
+<tr name="2513" id="2513">
+<td><a id="l2513" class='ln'>2513</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2514" id="2514">
+<td><a id="l2514" class='ln'>2514</a></td><td>    <a id="2514c5" class="tk">rtb_Switch_f_idx_0</a> = (<a id="2514c27" class="tk">int16_T</a>)((<a id="2514c37" class="tk">rtb_DataTypeConversion_b</a>[0] <a id="2514c65" class="tk">&lt;&lt;</a> 14) <a id="2514c72" class="tk">/</a></td></tr>
+<tr name="2515" id="2515">
+<td><a id="l2515" class='ln'>2515</a></td><td>      <a id="2515c7" class="tk">rtb_BitwiseOperator2</a>);</td></tr>
+<tr name="2516" id="2516">
+<td><a id="l2516" class='ln'>2516</a></td><td>    <a id="2516c5" class="tk">rtb_Switch_f_idx_1</a> = (<a id="2516c27" class="tk">int16_T</a>)((<a id="2516c37" class="tk">rtb_DataTypeConversion_b</a>[1] <a id="2516c65" class="tk">&lt;&lt;</a> 14) <a id="2516c72" class="tk">/</a></td></tr>
+<tr name="2517" id="2517">
+<td><a id="l2517" class='ln'>2517</a></td><td>      <a id="2517c7" class="tk">rtb_BitwiseOperator2</a>);</td></tr>
+<tr name="2518" id="2518">
+<td><a id="l2518" class='ln'>2518</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2519" id="2519">
+<td><a id="l2519" class='ln'>2519</a></td><td>    <a id="2519c5" class="tk">rtb_Switch_f_idx_0</a> = <a id="2519c26" class="tk">rtb_DataTypeConversion_b</a>[0];</td></tr>
+<tr name="2520" id="2520">
+<td><a id="l2520" class='ln'>2520</a></td><td>    <a id="2520c5" class="tk">rtb_Switch_f_idx_1</a> = <a id="2520c26" class="tk">rtb_DataTypeConversion_b</a>[1];</td></tr>
+<tr name="2521" id="2521">
+<td><a id="l2521" class='ln'>2521</a></td><td>  <span class="br">}</span></td></tr>
+<tr name="2522" id="2522">
+<td><a id="l2522" class='ln'>2522</a></td><td></td></tr>
+<tr name="2523" id="2523">
+<td><a id="l2523" class='ln'>2523</a></td><td>  <span class="ct">/* End of Switch: '&lt;S52&gt;/Switch' */</span></td></tr>
+<tr name="2524" id="2524">
+<td><a id="l2524" class='ln'>2524</a></td><td></td></tr>
+<tr name="2525" id="2525">
+<td><a id="l2525" class='ln'>2525</a></td><td>  <span class="ct">/* Sum: '&lt;S61&gt;/Sum1' incorporates:</span></td></tr>
+<tr name="2526" id="2526">
+<td><a id="l2526" class='ln'>2526</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S59&gt;/r_cos_M1'</span></td></tr>
+<tr name="2527" id="2527">
+<td><a id="l2527" class='ln'>2527</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S59&gt;/r_sin_M1'</span></td></tr>
+<tr name="2528" id="2528">
+<td><a id="l2528" class='ln'>2528</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide2'</span></td></tr>
+<tr name="2529" id="2529">
+<td><a id="l2529" class='ln'>2529</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide3'</span></td></tr>
+<tr name="2530" id="2530">
+<td><a id="l2530" class='ln'>2530</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2531" id="2531">
+<td><a id="l2531" class='ln'>2531</a></td><td>  <a id="2531c3" class="tk">tmp_0</a> = (<a id="2531c12" class="tk">int16_T</a>)((<a id="2531c22" class="tk">rtb_Switch_f_idx_0</a> <a id="2531c41" class="tk">*</a> <a id="2531c43" class="tk">rtConstP</a>.<a id="2531c52" class="tk">pooled7</a>[<a id="2531c60" class="tk">rtb_LogicalOperator3</a>])</td></tr>
+<tr name="2532" id="2532">
+<td><a id="l2532" class='ln'>2532</a></td><td>                    <a id="2532c21" class="tk">&gt;&gt;</a> 14) <a id="2532c28" class="tk">+</a> (<a id="2532c31" class="tk">int16_T</a>)((<a id="2532c41" class="tk">rtb_Switch_f_idx_1</a> <a id="2532c60" class="tk">*</a></td></tr>
+<tr name="2533" id="2533">
+<td><a id="l2533" class='ln'>2533</a></td><td>    <a id="2533c5" class="tk">rtConstP</a>.<a id="2533c14" class="tk">pooled8</a>[<a id="2533c22" class="tk">rtb_LogicalOperator3</a>]) <a id="2533c45" class="tk">&gt;&gt;</a> 14);</td></tr>
+<tr name="2534" id="2534">
+<td><a id="l2534" class='ln'>2534</a></td><td>  <span class="kw">if</span> (<a id="2534c7" class="tk">tmp_0</a> <a id="2534c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<tr name="2535" id="2535">
+<td><a id="l2535" class='ln'>2535</a></td><td>    <a id="2535c5" class="tk">tmp_0</a> = 32767;</td></tr>
+<tr name="2536" id="2536">
+<td><a id="l2536" class='ln'>2536</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2537" id="2537">
+<td><a id="l2537" class='ln'>2537</a></td><td>    <span class="kw">if</span> (<a id="2537c9" class="tk">tmp_0</a> <a id="2537c15" class="tk">&lt;</a> <a id="2537c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<tr name="2538" id="2538">
+<td><a id="l2538" class='ln'>2538</a></td><td>      <a id="2538c7" class="tk">tmp_0</a> = <a id="2538c15" class="tk">-</a>32768;</td></tr>
+<tr name="2539" id="2539">
+<td><a id="l2539" class='ln'>2539</a></td><td>    <span class="br">}</span></td></tr>
+<tr name="2540" id="2540">
+<td><a id="l2540" class='ln'>2540</a></td><td>  <span class="br">}</span></td></tr>
+<tr name="2541" id="2541">
+<td><a id="l2541" class='ln'>2541</a></td><td></td></tr>
+<tr name="2542" id="2542">
+<td><a id="l2542" class='ln'>2542</a></td><td>  <span class="ct">/* Sum: '&lt;S61&gt;/Sum6' incorporates:</span></td></tr>
+<tr name="2543" id="2543">
+<td><a id="l2543" class='ln'>2543</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S59&gt;/r_cos_M1'</span></td></tr>
+<tr name="2544" id="2544">
+<td><a id="l2544" class='ln'>2544</a></td><td><span class="ct">   *  Interpolation_n-D: '&lt;S59&gt;/r_sin_M1'</span></td></tr>
+<tr name="2545" id="2545">
+<td><a id="l2545" class='ln'>2545</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide1'</span></td></tr>
+<tr name="2546" id="2546">
+<td><a id="l2546" class='ln'>2546</a></td><td><span class="ct">   *  Product: '&lt;S61&gt;/Divide4'</span></td></tr>
+<tr name="2547" id="2547">
+<td><a id="l2547" class='ln'>2547</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2548" id="2548">
+<td><a id="l2548" class='ln'>2548</a></td><td>  <a id="2548c3" class="tk">tmp_1</a> = (<a id="2548c12" class="tk">int16_T</a>)((<a id="2548c22" class="tk">rtb_Switch_f_idx_0</a> <a id="2548c41" class="tk">*</a> <a id="2548c43" class="tk">rtConstP</a>.<a id="2548c52" class="tk">pooled8</a>[<a id="2548c60" class="tk">rtb_LogicalOperator3</a>])</td></tr>
+<tr name="2549" id="2549">
+<td><a id="l2549" class='ln'>2549</a></td><td>                    <a id="2549c21" class="tk">&gt;&gt;</a> 14) <a id="2549c28" class="tk">-</a> (<a id="2549c31" class="tk">int16_T</a>)((<a id="2549c41" class="tk">rtb_Switch_f_idx_1</a> <a id="2549c60" class="tk">*</a></td></tr>
+<tr name="2550" id="2550">
+<td><a id="l2550" class='ln'>2550</a></td><td>    <a id="2550c5" class="tk">rtConstP</a>.<a id="2550c14" class="tk">pooled7</a>[<a id="2550c22" class="tk">rtb_LogicalOperator3</a>]) <a id="2550c45" class="tk">&gt;&gt;</a> 14);</td></tr>
+<tr name="2551" id="2551">
+<td><a id="l2551" class='ln'>2551</a></td><td>  <span class="kw">if</span> (<a id="2551c7" class="tk">tmp_1</a> <a id="2551c13" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<tr name="2552" id="2552">
+<td><a id="l2552" class='ln'>2552</a></td><td>    <a id="2552c5" class="tk">tmp_1</a> = 32767;</td></tr>
+<tr name="2553" id="2553">
+<td><a id="l2553" class='ln'>2553</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2554" id="2554">
+<td><a id="l2554" class='ln'>2554</a></td><td>    <span class="kw">if</span> (<a id="2554c9" class="tk">tmp_1</a> <a id="2554c15" class="tk">&lt;</a> <a id="2554c17" class="tk">-</a>32768) <span class="br">{</span></td></tr>
+<tr name="2555" id="2555">
+<td><a id="l2555" class='ln'>2555</a></td><td>      <a id="2555c7" class="tk">tmp_1</a> = <a id="2555c15" class="tk">-</a>32768;</td></tr>
+<tr name="2556" id="2556">
+<td><a id="l2556" class='ln'>2556</a></td><td>    <span class="br">}</span></td></tr>
+<tr name="2557" id="2557">
+<td><a id="l2557" class='ln'>2557</a></td><td>  <span class="br">}</span></td></tr>
+<tr name="2558" id="2558">
+<td><a id="l2558" class='ln'>2558</a></td><td></td></tr>
+<tr name="2559" id="2559">
+<td><a id="l2559" class='ln'>2559</a></td><td>  <span class="ct">/* Product: '&lt;S62&gt;/Divide7' incorporates:</span></td></tr>
+<tr name="2560" id="2560">
+<td><a id="l2560" class='ln'>2560</a></td><td><span class="ct">   *  Constant: '&lt;S62&gt;/Constant3'</span></td></tr>
+<tr name="2561" id="2561">
+<td><a id="l2561" class='ln'>2561</a></td><td><span class="ct">   *  Sum: '&lt;S61&gt;/Sum1'</span></td></tr>
+<tr name="2562" id="2562">
+<td><a id="l2562" class='ln'>2562</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2563" id="2563">
+<td><a id="l2563" class='ln'>2563</a></td><td>  <a id="2563c3" class="tk">rtb_r_cos_M1</a> = (<a id="2563c19" class="tk">int16_T</a>)((2365 <a id="2563c34" class="tk">*</a> (<a id="2563c37" class="tk">int16_T</a>)<a id="2563c45" class="tk">tmp_0</a>) <a id="2563c52" class="tk">&gt;&gt;</a> 11);</td></tr>
+<tr name="2564" id="2564">
+<td><a id="l2564" class='ln'>2564</a></td><td></td></tr>
+<tr name="2565" id="2565">
+<td><a id="l2565" class='ln'>2565</a></td><td>  <span class="ct">/* MATLAB Function: '&lt;S62&gt;/sector_select' incorporates:</span></td></tr>
+<tr name="2566" id="2566">
+<td><a id="l2566" class='ln'>2566</a></td><td><span class="ct">   *  Product: '&lt;S62&gt;/Divide7'</span></td></tr>
+<tr name="2567" id="2567">
+<td><a id="l2567" class='ln'>2567</a></td><td><span class="ct">   *  Sum: '&lt;S61&gt;/Sum1'</span></td></tr>
+<tr name="2568" id="2568">
+<td><a id="l2568" class='ln'>2568</a></td><td><span class="ct">   *  Sum: '&lt;S61&gt;/Sum6'</span></td></tr>
+<tr name="2569" id="2569">
+<td><a id="l2569" class='ln'>2569</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2570" id="2570">
+<td><a id="l2570" class='ln'>2570</a></td><td>  <span class="kw">if</span> ((<a id="2570c8" class="tk">int16_T</a>)<a id="2570c16" class="tk">tmp_0</a> <a id="2570c22" class="tk">&gt;=</a> 0) <span class="br">{</span></td></tr>
+<tr name="2571" id="2571">
+<td><a id="l2571" class='ln'>2571</a></td><td>    <span class="kw">if</span> ((<a id="2571c10" class="tk">int16_T</a>)<a id="2571c18" class="tk">tmp_1</a> <a id="2571c24" class="tk">&gt;=</a> 0) <span class="br">{</span></td></tr>
+<tr name="2572" id="2572">
+<td><a id="l2572" class='ln'>2572</a></td><td>      <span class="kw">if</span> (<a id="2572c11" class="tk">rtb_r_cos_M1</a> <a id="2572c24" class="tk">&gt;</a> ((<a id="2572c28" class="tk">int16_T</a>)<a id="2572c36" class="tk">tmp_1</a> <a id="2572c42" class="tk">&lt;&lt;</a> 1)) <span class="br">{</span></td></tr>
+<tr name="2573" id="2573">
+<td><a id="l2573" class='ln'>2573</a></td><td>        <span class="ct">/* DataTypeConversion: '&lt;S62&gt;/Data Type Conversion' */</span></td></tr>
+<tr name="2574" id="2574">
+<td><a id="l2574" class='ln'>2574</a></td><td>        <a id="2574c9" class="tk">rtb_DataTypeConversion_np</a> = 2U;</td></tr>
+<tr name="2575" id="2575">
+<td><a id="l2575" class='ln'>2575</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2576" id="2576">
+<td><a id="l2576" class='ln'>2576</a></td><td>        <span class="ct">/* DataTypeConversion: '&lt;S62&gt;/Data Type Conversion' */</span></td></tr>
+<tr name="2577" id="2577">
+<td><a id="l2577" class='ln'>2577</a></td><td>        <a id="2577c9" class="tk">rtb_DataTypeConversion_np</a> = 1U;</td></tr>
+<tr name="2578" id="2578">
+<td><a id="l2578" class='ln'>2578</a></td><td>      <span class="br">}</span></td></tr>
+<tr name="2579" id="2579">
+<td><a id="l2579" class='ln'>2579</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2580" id="2580">
+<td><a id="l2580" class='ln'>2580</a></td><td>      <a id="2580c7" class="tk">rtb_Gain_p2</a> = <a id="2580c21" class="tk">-</a><a id="2580c22" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2581" id="2581">
+<td><a id="l2581" class='ln'>2581</a></td><td>      <span class="kw">if</span> (<a id="2581c11" class="tk">-</a><a id="2581c12" class="tk">rtb_r_cos_M1</a> <a id="2581c25" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<tr name="2582" id="2582">
+<td><a id="l2582" class='ln'>2582</a></td><td>        <a id="2582c9" class="tk">rtb_Gain_p2</a> = 32767;</td></tr>
+<tr name="2583" id="2583">
+<td><a id="l2583" class='ln'>2583</a></td><td>      <span class="br">}</span></td></tr>
+<tr name="2584" id="2584">
+<td><a id="l2584" class='ln'>2584</a></td><td></td></tr>
+<tr name="2585" id="2585">
+<td><a id="l2585" class='ln'>2585</a></td><td>      <span class="kw">if</span> (<a id="2585c11" class="tk">rtb_Gain_p2</a> <a id="2585c23" class="tk">&gt;</a> ((<a id="2585c27" class="tk">int16_T</a>)<a id="2585c35" class="tk">tmp_1</a> <a id="2585c41" class="tk">&lt;&lt;</a> 1)) <span class="br">{</span></td></tr>
+<tr name="2586" id="2586">
+<td><a id="l2586" class='ln'>2586</a></td><td>        <span class="ct">/* DataTypeConversion: '&lt;S62&gt;/Data Type Conversion' */</span></td></tr>
+<tr name="2587" id="2587">
+<td><a id="l2587" class='ln'>2587</a></td><td>        <a id="2587c9" class="tk">rtb_DataTypeConversion_np</a> = 3U;</td></tr>
+<tr name="2588" id="2588">
+<td><a id="l2588" class='ln'>2588</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2589" id="2589">
+<td><a id="l2589" class='ln'>2589</a></td><td>        <span class="ct">/* DataTypeConversion: '&lt;S62&gt;/Data Type Conversion' */</span></td></tr>
+<tr name="2590" id="2590">
+<td><a id="l2590" class='ln'>2590</a></td><td>        <a id="2590c9" class="tk">rtb_DataTypeConversion_np</a> = 2U;</td></tr>
+<tr name="2591" id="2591">
+<td><a id="l2591" class='ln'>2591</a></td><td>      <span class="br">}</span></td></tr>
+<tr name="2592" id="2592">
+<td><a id="l2592" class='ln'>2592</a></td><td>    <span class="br">}</span></td></tr>
+<tr name="2593" id="2593">
+<td><a id="l2593" class='ln'>2593</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="2593c15" class="tk">int16_T</a>)<a id="2593c23" class="tk">tmp_1</a> <a id="2593c29" class="tk">&gt;=</a> 0) <span class="br">{</span></td></tr>
+<tr name="2594" id="2594">
+<td><a id="l2594" class='ln'>2594</a></td><td>    <a id="2594c5" class="tk">rtb_Gain_p2</a> = <a id="2594c19" class="tk">-</a><a id="2594c20" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2595" id="2595">
+<td><a id="l2595" class='ln'>2595</a></td><td>    <span class="kw">if</span> (<a id="2595c9" class="tk">-</a><a id="2595c10" class="tk">rtb_r_cos_M1</a> <a id="2595c23" class="tk">&gt;</a> 32767) <span class="br">{</span></td></tr>
+<tr name="2596" id="2596">
+<td><a id="l2596" class='ln'>2596</a></td><td>      <a id="2596c7" class="tk">rtb_Gain_p2</a> = 32767;</td></tr>
+<tr name="2597" id="2597">
+<td><a id="l2597" class='ln'>2597</a></td><td>    <span class="br">}</span></td></tr>
+<tr name="2598" id="2598">
+<td><a id="l2598" class='ln'>2598</a></td><td></td></tr>
+<tr name="2599" id="2599">
+<td><a id="l2599" class='ln'>2599</a></td><td>    <span class="kw">if</span> (<a id="2599c9" class="tk">rtb_Gain_p2</a> <a id="2599c21" class="tk">&gt;</a> ((<a id="2599c25" class="tk">int16_T</a>)<a id="2599c33" class="tk">tmp_1</a> <a id="2599c39" class="tk">&lt;&lt;</a> 1)) <span class="br">{</span></td></tr>
+<tr name="2600" id="2600">
+<td><a id="l2600" class='ln'>2600</a></td><td>      <span class="ct">/* DataTypeConversion: '&lt;S62&gt;/Data Type Conversion' */</span></td></tr>
+<tr name="2601" id="2601">
+<td><a id="l2601" class='ln'>2601</a></td><td>      <a id="2601c7" class="tk">rtb_DataTypeConversion_np</a> = 5U;</td></tr>
+<tr name="2602" id="2602">
+<td><a id="l2602" class='ln'>2602</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2603" id="2603">
+<td><a id="l2603" class='ln'>2603</a></td><td>      <span class="ct">/* DataTypeConversion: '&lt;S62&gt;/Data Type Conversion' */</span></td></tr>
+<tr name="2604" id="2604">
+<td><a id="l2604" class='ln'>2604</a></td><td>      <a id="2604c7" class="tk">rtb_DataTypeConversion_np</a> = 6U;</td></tr>
+<tr name="2605" id="2605">
+<td><a id="l2605" class='ln'>2605</a></td><td>    <span class="br">}</span></td></tr>
+<tr name="2606" id="2606">
+<td><a id="l2606" class='ln'>2606</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="2606c14" class="tk">rtb_r_cos_M1</a> <a id="2606c27" class="tk">&gt;</a> ((<a id="2606c31" class="tk">int16_T</a>)<a id="2606c39" class="tk">tmp_1</a> <a id="2606c45" class="tk">&lt;&lt;</a> 1)) <span class="br">{</span></td></tr>
+<tr name="2607" id="2607">
+<td><a id="l2607" class='ln'>2607</a></td><td>    <span class="ct">/* DataTypeConversion: '&lt;S62&gt;/Data Type Conversion' */</span></td></tr>
+<tr name="2608" id="2608">
+<td><a id="l2608" class='ln'>2608</a></td><td>    <a id="2608c5" class="tk">rtb_DataTypeConversion_np</a> = 4U;</td></tr>
+<tr name="2609" id="2609">
+<td><a id="l2609" class='ln'>2609</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2610" id="2610">
+<td><a id="l2610" class='ln'>2610</a></td><td>    <span class="ct">/* DataTypeConversion: '&lt;S62&gt;/Data Type Conversion' */</span></td></tr>
+<tr name="2611" id="2611">
+<td><a id="l2611" class='ln'>2611</a></td><td>    <a id="2611c5" class="tk">rtb_DataTypeConversion_np</a> = 5U;</td></tr>
+<tr name="2612" id="2612">
+<td><a id="l2612" class='ln'>2612</a></td><td>  <span class="br">}</span></td></tr>
+<tr name="2613" id="2613">
+<td><a id="l2613" class='ln'>2613</a></td><td></td></tr>
+<tr name="2614" id="2614">
+<td><a id="l2614" class='ln'>2614</a></td><td>  <span class="ct">/* End of MATLAB Function: '&lt;S62&gt;/sector_select' */</span></td></tr>
+<tr name="2615" id="2615">
+<td><a id="l2615" class='ln'>2615</a></td><td></td></tr>
+<tr name="2616" id="2616">
+<td><a id="l2616" class='ln'>2616</a></td><td>  <span class="ct">/* Gain: '&lt;S62&gt;/Gain' incorporates:</span></td></tr>
+<tr name="2617" id="2617">
+<td><a id="l2617" class='ln'>2617</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/vDC'</span></td></tr>
+<tr name="2618" id="2618">
+<td><a id="l2618" class='ln'>2618</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2619" id="2619">
+<td><a id="l2619" class='ln'>2619</a></td><td>  <a id="2619c3" class="tk">rtb_Gain_p2</a> = 18919 <a id="2619c23" class="tk">*</a> <a id="2619c25" class="tk">rtU</a>-&gt;<a id="2619c30" class="tk">vDC</a>;</td></tr>
+<tr name="2620" id="2620">
+<td><a id="l2620" class='ln'>2620</a></td><td></td></tr>
+<tr name="2621" id="2621">
+<td><a id="l2621" class='ln'>2621</a></td><td>  <span class="ct">/* Product: '&lt;S62&gt;/Divide' incorporates:</span></td></tr>
+<tr name="2622" id="2622">
+<td><a id="l2622" class='ln'>2622</a></td><td><span class="ct">   *  Gain: '&lt;S62&gt;/Gain'</span></td></tr>
+<tr name="2623" id="2623">
+<td><a id="l2623" class='ln'>2623</a></td><td><span class="ct">   *  Sum: '&lt;S61&gt;/Sum6'</span></td></tr>
+<tr name="2624" id="2624">
+<td><a id="l2624" class='ln'>2624</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2625" id="2625">
+<td><a id="l2625" class='ln'>2625</a></td><td>  <a id="2625c3" class="tk">rtb_Sum6_k</a> = (<a id="2625c17" class="tk">int16_T</a>)(((<a id="2625c28" class="tk">int64_T</a>)(<a id="2625c37" class="tk">int16_T</a>)<a id="2625c45" class="tk">tmp_1</a> <a id="2625c51" class="tk">&lt;&lt;</a> 26) <a id="2625c58" class="tk">/</a> <a id="2625c60" class="tk">rtb_Gain_p2</a>);</td></tr>
+<tr name="2626" id="2626">
+<td><a id="l2626" class='ln'>2626</a></td><td></td></tr>
+<tr name="2627" id="2627">
+<td><a id="l2627" class='ln'>2627</a></td><td>  <span class="ct">/* Product: '&lt;S62&gt;/Divide1' incorporates:</span></td></tr>
+<tr name="2628" id="2628">
+<td><a id="l2628" class='ln'>2628</a></td><td><span class="ct">   *  Gain: '&lt;S62&gt;/Gain'</span></td></tr>
+<tr name="2629" id="2629">
+<td><a id="l2629" class='ln'>2629</a></td><td><span class="ct">   *  Sum: '&lt;S61&gt;/Sum1'</span></td></tr>
+<tr name="2630" id="2630">
+<td><a id="l2630" class='ln'>2630</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2631" id="2631">
+<td><a id="l2631" class='ln'>2631</a></td><td>  <a id="2631c3" class="tk">rtb_Sum1_a</a> = (<a id="2631c17" class="tk">int16_T</a>)(((<a id="2631c28" class="tk">int64_T</a>)(<a id="2631c37" class="tk">int16_T</a>)<a id="2631c45" class="tk">tmp_0</a> <a id="2631c51" class="tk">&lt;&lt;</a> 26) <a id="2631c58" class="tk">/</a> <a id="2631c60" class="tk">rtb_Gain_p2</a>);</td></tr>
+<tr name="2632" id="2632">
+<td><a id="l2632" class='ln'>2632</a></td><td></td></tr>
+<tr name="2633" id="2633">
+<td><a id="l2633" class='ln'>2633</a></td><td>  <span class="ct">/* MultiPortSwitch: '&lt;S63&gt;/Multiport Switch' incorporates:</span></td></tr>
+<tr name="2634" id="2634">
+<td><a id="l2634" class='ln'>2634</a></td><td><span class="ct">   *  DataTypeConversion: '&lt;S62&gt;/Data Type Conversion1'</span></td></tr>
+<tr name="2635" id="2635">
+<td><a id="l2635" class='ln'>2635</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2636" id="2636">
+<td><a id="l2636" class='ln'>2636</a></td><td>  <span class="kw">switch</span> (<a id="2636c11" class="tk">rtb_DataTypeConversion_np</a>) <span class="br">{</span></td></tr>
+<tr name="2637" id="2637">
+<td><a id="l2637" class='ln'>2637</a></td><td>   <span class="kw">case</span> 1<a id="2637c10" class="tk">:</a></td></tr>
+<tr name="2638" id="2638">
+<td><a id="l2638" class='ln'>2638</a></td><td>    <span class="ct">/* Product: '&lt;S65&gt;/Divide3' incorporates:</span></td></tr>
+<tr name="2639" id="2639">
+<td><a id="l2639" class='ln'>2639</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2640" id="2640">
+<td><a id="l2640" class='ln'>2640</a></td><td><span class="ct">     *  Product: '&lt;S65&gt;/Divide2'</span></td></tr>
+<tr name="2641" id="2641">
+<td><a id="l2641" class='ln'>2641</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2642" id="2642">
+<td><a id="l2642" class='ln'>2642</a></td><td>    <a id="2642c5" class="tk">rtb_Divide3_k</a> = (<a id="2642c22" class="tk">int16_T</a>)(((<a id="2642c33" class="tk">int16_T</a>)((<a id="2642c43" class="tk">rtb_Sum1_a</a> <a id="2642c54" class="tk">*</a> 9459) <a id="2642c62" class="tk">&gt;&gt;</a> 13) <a id="2642c69" class="tk">*</a> 375) <a id="2642c76" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2643" id="2643">
+<td><a id="l2643" class='ln'>2643</a></td><td></td></tr>
+<tr name="2644" id="2644">
+<td><a id="l2644" class='ln'>2644</a></td><td>    <span class="ct">/* Product: '&lt;S65&gt;/Divide1' incorporates:</span></td></tr>
+<tr name="2645" id="2645">
+<td><a id="l2645" class='ln'>2645</a></td><td><span class="ct">     *  Constant: '&lt;S65&gt;/Constant'</span></td></tr>
+<tr name="2646" id="2646">
+<td><a id="l2646" class='ln'>2646</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide'</span></td></tr>
+<tr name="2647" id="2647">
+<td><a id="l2647" class='ln'>2647</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2648" id="2648">
+<td><a id="l2648" class='ln'>2648</a></td><td><span class="ct">     *  Product: '&lt;S65&gt;/Divide'</span></td></tr>
+<tr name="2649" id="2649">
+<td><a id="l2649" class='ln'>2649</a></td><td><span class="ct">     *  Sum: '&lt;S65&gt;/Add'</span></td></tr>
+<tr name="2650" id="2650">
+<td><a id="l2650" class='ln'>2650</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2651" id="2651">
+<td><a id="l2651" class='ln'>2651</a></td><td>    <a id="2651c5" class="tk">rtb_Sum1_a</a> = (<a id="2651c19" class="tk">int16_T</a>)(((<a id="2651c30" class="tk">int16_T</a>)(<a id="2651c39" class="tk">rtb_Sum6_k</a> <a id="2651c50" class="tk">-</a> ((<a id="2651c54" class="tk">rtb_Sum1_a</a> <a id="2651c65" class="tk">*</a> 9459) <a id="2651c73" class="tk">&gt;&gt;</a> 14)) <a id="2651c81" class="tk">*</a></td></tr>
+<tr name="2652" id="2652">
+<td><a id="l2652" class='ln'>2652</a></td><td>      375) <a id="2652c12" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2653" id="2653">
+<td><a id="l2653" class='ln'>2653</a></td><td></td></tr>
+<tr name="2654" id="2654">
+<td><a id="l2654" class='ln'>2654</a></td><td>    <span class="ct">/* Product: '&lt;S65&gt;/Divide4' incorporates:</span></td></tr>
+<tr name="2655" id="2655">
+<td><a id="l2655" class='ln'>2655</a></td><td><span class="ct">     *  Sum: '&lt;S65&gt;/Add1'</span></td></tr>
+<tr name="2656" id="2656">
+<td><a id="l2656" class='ln'>2656</a></td><td><span class="ct">     *  Sum: '&lt;S65&gt;/Add2'</span></td></tr>
+<tr name="2657" id="2657">
+<td><a id="l2657" class='ln'>2657</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2658" id="2658">
+<td><a id="l2658" class='ln'>2658</a></td><td>    <a id="2658c5" class="tk">rtb_r_cos_M1</a> = (<a id="2658c21" class="tk">int16_T</a>)((<a id="2658c31" class="tk">int16_T</a>)(3000 <a id="2658c45" class="tk">-</a> (<a id="2658c48" class="tk">int16_T</a>)(<a id="2658c57" class="tk">rtb_Sum1_a</a> <a id="2658c68" class="tk">+</a></td></tr>
+<tr name="2659" id="2659">
+<td><a id="l2659" class='ln'>2659</a></td><td>      <a id="2659c7" class="tk">rtb_Divide3_k</a>)) <a id="2659c23" class="tk">&gt;&gt;</a> 1);</td></tr>
+<tr name="2660" id="2660">
+<td><a id="l2660" class='ln'>2660</a></td><td></td></tr>
+<tr name="2661" id="2661">
+<td><a id="l2661" class='ln'>2661</a></td><td>    <span class="ct">/* Sum: '&lt;S65&gt;/Add3' */</span></td></tr>
+<tr name="2662" id="2662">
+<td><a id="l2662" class='ln'>2662</a></td><td>    <a id="2662c5" class="tk">rtb_Sum6_k</a> = (<a id="2662c19" class="tk">int16_T</a>)(<a id="2662c28" class="tk">rtb_r_cos_M1</a> <a id="2662c41" class="tk">+</a> <a id="2662c43" class="tk">rtb_Divide3_k</a>);</td></tr>
+<tr name="2663" id="2663">
+<td><a id="l2663" class='ln'>2663</a></td><td></td></tr>
+<tr name="2664" id="2664">
+<td><a id="l2664" class='ln'>2664</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/pwm_Duty' incorporates:</span></td></tr>
+<tr name="2665" id="2665">
+<td><a id="l2665" class='ln'>2665</a></td><td><span class="ct">     *  Sum: '&lt;S65&gt;/Add4'</span></td></tr>
+<tr name="2666" id="2666">
+<td><a id="l2666" class='ln'>2666</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2667" id="2667">
+<td><a id="l2667" class='ln'>2667</a></td><td>    <a id="2667c5" class="tk">rtY</a>-&gt;<a id="2667c10" class="tk">pwm_Duty</a>[0] = (<a id="2667c25" class="tk">int16_T</a>)(<a id="2667c34" class="tk">rtb_Sum6_k</a> <a id="2667c45" class="tk">+</a> <a id="2667c47" class="tk">rtb_Sum1_a</a>);</td></tr>
+<tr name="2668" id="2668">
+<td><a id="l2668" class='ln'>2668</a></td><td>    <a id="2668c5" class="tk">rtY</a>-&gt;<a id="2668c10" class="tk">pwm_Duty</a>[1] = <a id="2668c24" class="tk">rtb_Sum6_k</a>;</td></tr>
+<tr name="2669" id="2669">
+<td><a id="l2669" class='ln'>2669</a></td><td>    <a id="2669c5" class="tk">rtY</a>-&gt;<a id="2669c10" class="tk">pwm_Duty</a>[2] = <a id="2669c24" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2670" id="2670">
+<td><a id="l2670" class='ln'>2670</a></td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="2671" id="2671">
+<td><a id="l2671" class='ln'>2671</a></td><td></td></tr>
+<tr name="2672" id="2672">
+<td><a id="l2672" class='ln'>2672</a></td><td>   <span class="kw">case</span> 2<a id="2672c10" class="tk">:</a></td></tr>
+<tr name="2673" id="2673">
+<td><a id="l2673" class='ln'>2673</a></td><td>    <span class="ct">/* Product: '&lt;S66&gt;/Divide1' incorporates:</span></td></tr>
+<tr name="2674" id="2674">
+<td><a id="l2674" class='ln'>2674</a></td><td><span class="ct">     *  Constant: '&lt;S66&gt;/Constant'</span></td></tr>
+<tr name="2675" id="2675">
+<td><a id="l2675" class='ln'>2675</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide'</span></td></tr>
+<tr name="2676" id="2676">
+<td><a id="l2676" class='ln'>2676</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2677" id="2677">
+<td><a id="l2677" class='ln'>2677</a></td><td><span class="ct">     *  Product: '&lt;S66&gt;/Divide'</span></td></tr>
+<tr name="2678" id="2678">
+<td><a id="l2678" class='ln'>2678</a></td><td><span class="ct">     *  Sum: '&lt;S66&gt;/Add'</span></td></tr>
+<tr name="2679" id="2679">
+<td><a id="l2679" class='ln'>2679</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2680" id="2680">
+<td><a id="l2680" class='ln'>2680</a></td><td>    <a id="2680c5" class="tk">rtb_Divide3_k</a> = (<a id="2680c22" class="tk">int16_T</a>)(((<a id="2680c33" class="tk">int16_T</a>)(((<a id="2680c44" class="tk">rtb_Sum1_a</a> <a id="2680c55" class="tk">*</a> 9459) <a id="2680c63" class="tk">&gt;&gt;</a> 14) <a id="2680c70" class="tk">+</a></td></tr>
+<tr name="2681" id="2681">
+<td><a id="l2681" class='ln'>2681</a></td><td>      <a id="2681c7" class="tk">rtb_Sum6_k</a>) <a id="2681c19" class="tk">*</a> 375) <a id="2681c26" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2682" id="2682">
+<td><a id="l2682" class='ln'>2682</a></td><td></td></tr>
+<tr name="2683" id="2683">
+<td><a id="l2683" class='ln'>2683</a></td><td>    <span class="ct">/* Product: '&lt;S66&gt;/Divide3' incorporates:</span></td></tr>
+<tr name="2684" id="2684">
+<td><a id="l2684" class='ln'>2684</a></td><td><span class="ct">     *  Constant: '&lt;S66&gt;/Constant'</span></td></tr>
+<tr name="2685" id="2685">
+<td><a id="l2685" class='ln'>2685</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide'</span></td></tr>
+<tr name="2686" id="2686">
+<td><a id="l2686" class='ln'>2686</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2687" id="2687">
+<td><a id="l2687" class='ln'>2687</a></td><td><span class="ct">     *  Product: '&lt;S66&gt;/Divide2'</span></td></tr>
+<tr name="2688" id="2688">
+<td><a id="l2688" class='ln'>2688</a></td><td><span class="ct">     *  Sum: '&lt;S66&gt;/Add5'</span></td></tr>
+<tr name="2689" id="2689">
+<td><a id="l2689" class='ln'>2689</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2690" id="2690">
+<td><a id="l2690" class='ln'>2690</a></td><td>    <a id="2690c5" class="tk">rtb_Sum1_a</a> = (<a id="2690c19" class="tk">int16_T</a>)(((<a id="2690c30" class="tk">int16_T</a>)(((<a id="2690c41" class="tk">rtb_Sum1_a</a> <a id="2690c52" class="tk">*</a> 9459) <a id="2690c60" class="tk">&gt;&gt;</a> 14) <a id="2690c67" class="tk">-</a> <a id="2690c69" class="tk">rtb_Sum6_k</a>) <a id="2690c81" class="tk">*</a></td></tr>
+<tr name="2691" id="2691">
+<td><a id="l2691" class='ln'>2691</a></td><td>      375) <a id="2691c12" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2692" id="2692">
+<td><a id="l2692" class='ln'>2692</a></td><td></td></tr>
+<tr name="2693" id="2693">
+<td><a id="l2693" class='ln'>2693</a></td><td>    <span class="ct">/* Product: '&lt;S66&gt;/Divide4' incorporates:</span></td></tr>
+<tr name="2694" id="2694">
+<td><a id="l2694" class='ln'>2694</a></td><td><span class="ct">     *  Sum: '&lt;S66&gt;/Add1'</span></td></tr>
+<tr name="2695" id="2695">
+<td><a id="l2695" class='ln'>2695</a></td><td><span class="ct">     *  Sum: '&lt;S66&gt;/Add2'</span></td></tr>
+<tr name="2696" id="2696">
+<td><a id="l2696" class='ln'>2696</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2697" id="2697">
+<td><a id="l2697" class='ln'>2697</a></td><td>    <a id="2697c5" class="tk">rtb_r_cos_M1</a> = (<a id="2697c21" class="tk">int16_T</a>)((<a id="2697c31" class="tk">int16_T</a>)(3000 <a id="2697c45" class="tk">-</a> (<a id="2697c48" class="tk">int16_T</a>)(<a id="2697c57" class="tk">rtb_Sum1_a</a> <a id="2697c68" class="tk">+</a></td></tr>
+<tr name="2698" id="2698">
+<td><a id="l2698" class='ln'>2698</a></td><td>      <a id="2698c7" class="tk">rtb_Divide3_k</a>)) <a id="2698c23" class="tk">&gt;&gt;</a> 1);</td></tr>
+<tr name="2699" id="2699">
+<td><a id="l2699" class='ln'>2699</a></td><td></td></tr>
+<tr name="2700" id="2700">
+<td><a id="l2700" class='ln'>2700</a></td><td>    <span class="ct">/* Sum: '&lt;S66&gt;/Add3' */</span></td></tr>
+<tr name="2701" id="2701">
+<td><a id="l2701" class='ln'>2701</a></td><td>    <a id="2701c5" class="tk">rtb_Sum6_k</a> = (<a id="2701c19" class="tk">int16_T</a>)(<a id="2701c28" class="tk">rtb_r_cos_M1</a> <a id="2701c41" class="tk">+</a> <a id="2701c43" class="tk">rtb_Divide3_k</a>);</td></tr>
+<tr name="2702" id="2702">
+<td><a id="l2702" class='ln'>2702</a></td><td></td></tr>
+<tr name="2703" id="2703">
+<td><a id="l2703" class='ln'>2703</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/pwm_Duty' incorporates:</span></td></tr>
+<tr name="2704" id="2704">
+<td><a id="l2704" class='ln'>2704</a></td><td><span class="ct">     *  Sum: '&lt;S66&gt;/Add4'</span></td></tr>
+<tr name="2705" id="2705">
+<td><a id="l2705" class='ln'>2705</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2706" id="2706">
+<td><a id="l2706" class='ln'>2706</a></td><td>    <a id="2706c5" class="tk">rtY</a>-&gt;<a id="2706c10" class="tk">pwm_Duty</a>[0] = <a id="2706c24" class="tk">rtb_Sum6_k</a>;</td></tr>
+<tr name="2707" id="2707">
+<td><a id="l2707" class='ln'>2707</a></td><td>    <a id="2707c5" class="tk">rtY</a>-&gt;<a id="2707c10" class="tk">pwm_Duty</a>[1] = (<a id="2707c25" class="tk">int16_T</a>)(<a id="2707c34" class="tk">rtb_Sum6_k</a> <a id="2707c45" class="tk">+</a> <a id="2707c47" class="tk">rtb_Sum1_a</a>);</td></tr>
+<tr name="2708" id="2708">
+<td><a id="l2708" class='ln'>2708</a></td><td>    <a id="2708c5" class="tk">rtY</a>-&gt;<a id="2708c10" class="tk">pwm_Duty</a>[2] = <a id="2708c24" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2709" id="2709">
+<td><a id="l2709" class='ln'>2709</a></td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="2710" id="2710">
+<td><a id="l2710" class='ln'>2710</a></td><td></td></tr>
+<tr name="2711" id="2711">
+<td><a id="l2711" class='ln'>2711</a></td><td>   <span class="kw">case</span> 3<a id="2711c10" class="tk">:</a></td></tr>
+<tr name="2712" id="2712">
+<td><a id="l2712" class='ln'>2712</a></td><td>    <span class="ct">/* Product: '&lt;S67&gt;/Divide1' incorporates:</span></td></tr>
+<tr name="2713" id="2713">
+<td><a id="l2713" class='ln'>2713</a></td><td><span class="ct">     *  Constant: '&lt;S67&gt;/Constant'</span></td></tr>
+<tr name="2714" id="2714">
+<td><a id="l2714" class='ln'>2714</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide'</span></td></tr>
+<tr name="2715" id="2715">
+<td><a id="l2715" class='ln'>2715</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2716" id="2716">
+<td><a id="l2716" class='ln'>2716</a></td><td><span class="ct">     *  Product: '&lt;S67&gt;/Divide'</span></td></tr>
+<tr name="2717" id="2717">
+<td><a id="l2717" class='ln'>2717</a></td><td><span class="ct">     *  Sum: '&lt;S67&gt;/Add'</span></td></tr>
+<tr name="2718" id="2718">
+<td><a id="l2718" class='ln'>2718</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2719" id="2719">
+<td><a id="l2719" class='ln'>2719</a></td><td>    <a id="2719c5" class="tk">rtb_Sum6_k</a> = (<a id="2719c19" class="tk">int16_T</a>)(((<a id="2719c30" class="tk">int16_T</a>)(<a id="2719c39" class="tk">-</a><a id="2719c40" class="tk">rtb_Sum6_k</a> <a id="2719c51" class="tk">-</a> ((<a id="2719c55" class="tk">rtb_Sum1_a</a> <a id="2719c66" class="tk">*</a> 9459) <a id="2719c74" class="tk">&gt;&gt;</a> 14))</td></tr>
+<tr name="2720" id="2720">
+<td><a id="l2720" class='ln'>2720</a></td><td>      <a id="2720c7" class="tk">*</a> 375) <a id="2720c14" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2721" id="2721">
+<td><a id="l2721" class='ln'>2721</a></td><td></td></tr>
+<tr name="2722" id="2722">
+<td><a id="l2722" class='ln'>2722</a></td><td>    <span class="ct">/* Product: '&lt;S67&gt;/Divide3' incorporates:</span></td></tr>
+<tr name="2723" id="2723">
+<td><a id="l2723" class='ln'>2723</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2724" id="2724">
+<td><a id="l2724" class='ln'>2724</a></td><td><span class="ct">     *  Product: '&lt;S67&gt;/Divide2'</span></td></tr>
+<tr name="2725" id="2725">
+<td><a id="l2725" class='ln'>2725</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2726" id="2726">
+<td><a id="l2726" class='ln'>2726</a></td><td>    <a id="2726c5" class="tk">rtb_Sum1_a</a> = (<a id="2726c19" class="tk">int16_T</a>)(((<a id="2726c30" class="tk">int16_T</a>)((<a id="2726c40" class="tk">rtb_Sum1_a</a> <a id="2726c51" class="tk">*</a> 9459) <a id="2726c59" class="tk">&gt;&gt;</a> 13) <a id="2726c66" class="tk">*</a> 375) <a id="2726c73" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2727" id="2727">
+<td><a id="l2727" class='ln'>2727</a></td><td></td></tr>
+<tr name="2728" id="2728">
+<td><a id="l2728" class='ln'>2728</a></td><td>    <span class="ct">/* Product: '&lt;S67&gt;/Divide4' incorporates:</span></td></tr>
+<tr name="2729" id="2729">
+<td><a id="l2729" class='ln'>2729</a></td><td><span class="ct">     *  Sum: '&lt;S67&gt;/Add1'</span></td></tr>
+<tr name="2730" id="2730">
+<td><a id="l2730" class='ln'>2730</a></td><td><span class="ct">     *  Sum: '&lt;S67&gt;/Add2'</span></td></tr>
+<tr name="2731" id="2731">
+<td><a id="l2731" class='ln'>2731</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2732" id="2732">
+<td><a id="l2732" class='ln'>2732</a></td><td>    <a id="2732c5" class="tk">rtb_r_cos_M1</a> = (<a id="2732c21" class="tk">int16_T</a>)((<a id="2732c31" class="tk">int16_T</a>)(3000 <a id="2732c45" class="tk">-</a> (<a id="2732c48" class="tk">int16_T</a>)(<a id="2732c57" class="tk">rtb_Sum1_a</a> <a id="2732c68" class="tk">+</a> <a id="2732c70" class="tk">rtb_Sum6_k</a>))</td></tr>
+<tr name="2733" id="2733">
+<td><a id="l2733" class='ln'>2733</a></td><td>      <a id="2733c7" class="tk">&gt;&gt;</a> 1);</td></tr>
+<tr name="2734" id="2734">
+<td><a id="l2734" class='ln'>2734</a></td><td></td></tr>
+<tr name="2735" id="2735">
+<td><a id="l2735" class='ln'>2735</a></td><td>    <span class="ct">/* Sum: '&lt;S67&gt;/Add3' */</span></td></tr>
+<tr name="2736" id="2736">
+<td><a id="l2736" class='ln'>2736</a></td><td>    <a id="2736c5" class="tk">rtb_Sum6_k</a> <a id="2736c16" class="tk">+=</a> <a id="2736c19" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2737" id="2737">
+<td><a id="l2737" class='ln'>2737</a></td><td></td></tr>
+<tr name="2738" id="2738">
+<td><a id="l2738" class='ln'>2738</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/pwm_Duty' incorporates:</span></td></tr>
+<tr name="2739" id="2739">
+<td><a id="l2739" class='ln'>2739</a></td><td><span class="ct">     *  Sum: '&lt;S67&gt;/Add4'</span></td></tr>
+<tr name="2740" id="2740">
+<td><a id="l2740" class='ln'>2740</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2741" id="2741">
+<td><a id="l2741" class='ln'>2741</a></td><td>    <a id="2741c5" class="tk">rtY</a>-&gt;<a id="2741c10" class="tk">pwm_Duty</a>[0] = <a id="2741c24" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2742" id="2742">
+<td><a id="l2742" class='ln'>2742</a></td><td>    <a id="2742c5" class="tk">rtY</a>-&gt;<a id="2742c10" class="tk">pwm_Duty</a>[1] = (<a id="2742c25" class="tk">int16_T</a>)(<a id="2742c34" class="tk">rtb_Sum6_k</a> <a id="2742c45" class="tk">+</a> <a id="2742c47" class="tk">rtb_Sum1_a</a>);</td></tr>
+<tr name="2743" id="2743">
+<td><a id="l2743" class='ln'>2743</a></td><td>    <a id="2743c5" class="tk">rtY</a>-&gt;<a id="2743c10" class="tk">pwm_Duty</a>[2] = <a id="2743c24" class="tk">rtb_Sum6_k</a>;</td></tr>
+<tr name="2744" id="2744">
+<td><a id="l2744" class='ln'>2744</a></td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="2745" id="2745">
+<td><a id="l2745" class='ln'>2745</a></td><td></td></tr>
+<tr name="2746" id="2746">
+<td><a id="l2746" class='ln'>2746</a></td><td>   <span class="kw">case</span> 4<a id="2746c10" class="tk">:</a></td></tr>
+<tr name="2747" id="2747">
+<td><a id="l2747" class='ln'>2747</a></td><td>    <span class="ct">/* Product: '&lt;S68&gt;/Divide1' incorporates:</span></td></tr>
+<tr name="2748" id="2748">
+<td><a id="l2748" class='ln'>2748</a></td><td><span class="ct">     *  Constant: '&lt;S68&gt;/Constant'</span></td></tr>
+<tr name="2749" id="2749">
+<td><a id="l2749" class='ln'>2749</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide'</span></td></tr>
+<tr name="2750" id="2750">
+<td><a id="l2750" class='ln'>2750</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2751" id="2751">
+<td><a id="l2751" class='ln'>2751</a></td><td><span class="ct">     *  Product: '&lt;S68&gt;/Divide'</span></td></tr>
+<tr name="2752" id="2752">
+<td><a id="l2752" class='ln'>2752</a></td><td><span class="ct">     *  Sum: '&lt;S68&gt;/Add'</span></td></tr>
+<tr name="2753" id="2753">
+<td><a id="l2753" class='ln'>2753</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2754" id="2754">
+<td><a id="l2754" class='ln'>2754</a></td><td>    <a id="2754c5" class="tk">rtb_Sum6_k</a> = (<a id="2754c19" class="tk">int16_T</a>)(((<a id="2754c30" class="tk">int16_T</a>)(((<a id="2754c41" class="tk">rtb_Sum1_a</a> <a id="2754c52" class="tk">*</a> 9459) <a id="2754c60" class="tk">&gt;&gt;</a> 14) <a id="2754c67" class="tk">-</a> <a id="2754c69" class="tk">rtb_Sum6_k</a>) <a id="2754c81" class="tk">*</a></td></tr>
+<tr name="2755" id="2755">
+<td><a id="l2755" class='ln'>2755</a></td><td>      375) <a id="2755c12" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2756" id="2756">
+<td><a id="l2756" class='ln'>2756</a></td><td></td></tr>
+<tr name="2757" id="2757">
+<td><a id="l2757" class='ln'>2757</a></td><td>    <span class="ct">/* Product: '&lt;S68&gt;/Divide3' incorporates:</span></td></tr>
+<tr name="2758" id="2758">
+<td><a id="l2758" class='ln'>2758</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2759" id="2759">
+<td><a id="l2759" class='ln'>2759</a></td><td><span class="ct">     *  Product: '&lt;S68&gt;/Divide2'</span></td></tr>
+<tr name="2760" id="2760">
+<td><a id="l2760" class='ln'>2760</a></td><td><span class="ct">     *  Sum: '&lt;S68&gt;/Add5'</span></td></tr>
+<tr name="2761" id="2761">
+<td><a id="l2761" class='ln'>2761</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2762" id="2762">
+<td><a id="l2762" class='ln'>2762</a></td><td>    <a id="2762c5" class="tk">rtb_Sum1_a</a> = (<a id="2762c19" class="tk">int16_T</a>)(((<a id="2762c30" class="tk">int16_T</a>)(<a id="2762c39" class="tk">-</a>((<a id="2762c42" class="tk">int16_T</a>)((<a id="2762c52" class="tk">rtb_Sum1_a</a> <a id="2762c63" class="tk">*</a> 9459) <a id="2762c71" class="tk">&gt;&gt;</a> 13) <a id="2762c78" class="tk">&lt;&lt;</a></td></tr>
+<tr name="2763" id="2763">
+<td><a id="l2763" class='ln'>2763</a></td><td>      2) <a id="2763c10" class="tk">&gt;&gt;</a> 2) <a id="2763c16" class="tk">*</a> 375) <a id="2763c23" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2764" id="2764">
+<td><a id="l2764" class='ln'>2764</a></td><td></td></tr>
+<tr name="2765" id="2765">
+<td><a id="l2765" class='ln'>2765</a></td><td>    <span class="ct">/* Product: '&lt;S68&gt;/Divide4' incorporates:</span></td></tr>
+<tr name="2766" id="2766">
+<td><a id="l2766" class='ln'>2766</a></td><td><span class="ct">     *  Sum: '&lt;S68&gt;/Add1'</span></td></tr>
+<tr name="2767" id="2767">
+<td><a id="l2767" class='ln'>2767</a></td><td><span class="ct">     *  Sum: '&lt;S68&gt;/Add2'</span></td></tr>
+<tr name="2768" id="2768">
+<td><a id="l2768" class='ln'>2768</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2769" id="2769">
+<td><a id="l2769" class='ln'>2769</a></td><td>    <a id="2769c5" class="tk">rtb_r_cos_M1</a> = (<a id="2769c21" class="tk">int16_T</a>)((<a id="2769c31" class="tk">int16_T</a>)(3000 <a id="2769c45" class="tk">-</a> (<a id="2769c48" class="tk">int16_T</a>)(<a id="2769c57" class="tk">rtb_Sum1_a</a> <a id="2769c68" class="tk">+</a> <a id="2769c70" class="tk">rtb_Sum6_k</a>))</td></tr>
+<tr name="2770" id="2770">
+<td><a id="l2770" class='ln'>2770</a></td><td>      <a id="2770c7" class="tk">&gt;&gt;</a> 1);</td></tr>
+<tr name="2771" id="2771">
+<td><a id="l2771" class='ln'>2771</a></td><td></td></tr>
+<tr name="2772" id="2772">
+<td><a id="l2772" class='ln'>2772</a></td><td>    <span class="ct">/* Sum: '&lt;S68&gt;/Add3' */</span></td></tr>
+<tr name="2773" id="2773">
+<td><a id="l2773" class='ln'>2773</a></td><td>    <a id="2773c5" class="tk">rtb_Sum6_k</a> <a id="2773c16" class="tk">+=</a> <a id="2773c19" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2774" id="2774">
+<td><a id="l2774" class='ln'>2774</a></td><td></td></tr>
+<tr name="2775" id="2775">
+<td><a id="l2775" class='ln'>2775</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/pwm_Duty' incorporates:</span></td></tr>
+<tr name="2776" id="2776">
+<td><a id="l2776" class='ln'>2776</a></td><td><span class="ct">     *  Sum: '&lt;S68&gt;/Add4'</span></td></tr>
+<tr name="2777" id="2777">
+<td><a id="l2777" class='ln'>2777</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2778" id="2778">
+<td><a id="l2778" class='ln'>2778</a></td><td>    <a id="2778c5" class="tk">rtY</a>-&gt;<a id="2778c10" class="tk">pwm_Duty</a>[0] = <a id="2778c24" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2779" id="2779">
+<td><a id="l2779" class='ln'>2779</a></td><td>    <a id="2779c5" class="tk">rtY</a>-&gt;<a id="2779c10" class="tk">pwm_Duty</a>[1] = <a id="2779c24" class="tk">rtb_Sum6_k</a>;</td></tr>
+<tr name="2780" id="2780">
+<td><a id="l2780" class='ln'>2780</a></td><td>    <a id="2780c5" class="tk">rtY</a>-&gt;<a id="2780c10" class="tk">pwm_Duty</a>[2] = (<a id="2780c25" class="tk">int16_T</a>)(<a id="2780c34" class="tk">rtb_Sum6_k</a> <a id="2780c45" class="tk">+</a> <a id="2780c47" class="tk">rtb_Sum1_a</a>);</td></tr>
+<tr name="2781" id="2781">
+<td><a id="l2781" class='ln'>2781</a></td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="2782" id="2782">
+<td><a id="l2782" class='ln'>2782</a></td><td></td></tr>
+<tr name="2783" id="2783">
+<td><a id="l2783" class='ln'>2783</a></td><td>   <span class="kw">case</span> 5<a id="2783c10" class="tk">:</a></td></tr>
+<tr name="2784" id="2784">
+<td><a id="l2784" class='ln'>2784</a></td><td>    <span class="ct">/* Product: '&lt;S69&gt;/Divide3' incorporates:</span></td></tr>
+<tr name="2785" id="2785">
+<td><a id="l2785" class='ln'>2785</a></td><td><span class="ct">     *  Constant: '&lt;S69&gt;/Constant'</span></td></tr>
+<tr name="2786" id="2786">
+<td><a id="l2786" class='ln'>2786</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide'</span></td></tr>
+<tr name="2787" id="2787">
+<td><a id="l2787" class='ln'>2787</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2788" id="2788">
+<td><a id="l2788" class='ln'>2788</a></td><td><span class="ct">     *  Product: '&lt;S69&gt;/Divide2'</span></td></tr>
+<tr name="2789" id="2789">
+<td><a id="l2789" class='ln'>2789</a></td><td><span class="ct">     *  Sum: '&lt;S69&gt;/Add5'</span></td></tr>
+<tr name="2790" id="2790">
+<td><a id="l2790" class='ln'>2790</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2791" id="2791">
+<td><a id="l2791" class='ln'>2791</a></td><td>    <a id="2791c5" class="tk">rtb_Divide3_k</a> = (<a id="2791c22" class="tk">int16_T</a>)(((<a id="2791c33" class="tk">int16_T</a>)(<a id="2791c42" class="tk">rtb_Sum6_k</a> <a id="2791c53" class="tk">-</a> ((<a id="2791c57" class="tk">rtb_Sum1_a</a> <a id="2791c68" class="tk">*</a> 9459) <a id="2791c76" class="tk">&gt;&gt;</a> 14))</td></tr>
+<tr name="2792" id="2792">
+<td><a id="l2792" class='ln'>2792</a></td><td>      <a id="2792c7" class="tk">*</a> 375) <a id="2792c14" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2793" id="2793">
+<td><a id="l2793" class='ln'>2793</a></td><td></td></tr>
+<tr name="2794" id="2794">
+<td><a id="l2794" class='ln'>2794</a></td><td>    <span class="ct">/* Product: '&lt;S69&gt;/Divide1' incorporates:</span></td></tr>
+<tr name="2795" id="2795">
+<td><a id="l2795" class='ln'>2795</a></td><td><span class="ct">     *  Constant: '&lt;S69&gt;/Constant'</span></td></tr>
+<tr name="2796" id="2796">
+<td><a id="l2796" class='ln'>2796</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide'</span></td></tr>
+<tr name="2797" id="2797">
+<td><a id="l2797" class='ln'>2797</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2798" id="2798">
+<td><a id="l2798" class='ln'>2798</a></td><td><span class="ct">     *  Product: '&lt;S69&gt;/Divide'</span></td></tr>
+<tr name="2799" id="2799">
+<td><a id="l2799" class='ln'>2799</a></td><td><span class="ct">     *  Sum: '&lt;S69&gt;/Add'</span></td></tr>
+<tr name="2800" id="2800">
+<td><a id="l2800" class='ln'>2800</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2801" id="2801">
+<td><a id="l2801" class='ln'>2801</a></td><td>    <a id="2801c5" class="tk">rtb_Sum1_a</a> = (<a id="2801c19" class="tk">int16_T</a>)(((<a id="2801c30" class="tk">int16_T</a>)(<a id="2801c39" class="tk">-</a><a id="2801c40" class="tk">rtb_Sum6_k</a> <a id="2801c51" class="tk">-</a> ((<a id="2801c55" class="tk">rtb_Sum1_a</a> <a id="2801c66" class="tk">*</a> 9459) <a id="2801c74" class="tk">&gt;&gt;</a> 14))</td></tr>
+<tr name="2802" id="2802">
+<td><a id="l2802" class='ln'>2802</a></td><td>      <a id="2802c7" class="tk">*</a> 375) <a id="2802c14" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2803" id="2803">
+<td><a id="l2803" class='ln'>2803</a></td><td></td></tr>
+<tr name="2804" id="2804">
+<td><a id="l2804" class='ln'>2804</a></td><td>    <span class="ct">/* Product: '&lt;S69&gt;/Divide4' incorporates:</span></td></tr>
+<tr name="2805" id="2805">
+<td><a id="l2805" class='ln'>2805</a></td><td><span class="ct">     *  Sum: '&lt;S69&gt;/Add1'</span></td></tr>
+<tr name="2806" id="2806">
+<td><a id="l2806" class='ln'>2806</a></td><td><span class="ct">     *  Sum: '&lt;S69&gt;/Add2'</span></td></tr>
+<tr name="2807" id="2807">
+<td><a id="l2807" class='ln'>2807</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2808" id="2808">
+<td><a id="l2808" class='ln'>2808</a></td><td>    <a id="2808c5" class="tk">rtb_r_cos_M1</a> = (<a id="2808c21" class="tk">int16_T</a>)((<a id="2808c31" class="tk">int16_T</a>)(3000 <a id="2808c45" class="tk">-</a> (<a id="2808c48" class="tk">int16_T</a>)(<a id="2808c57" class="tk">rtb_Sum1_a</a> <a id="2808c68" class="tk">+</a></td></tr>
+<tr name="2809" id="2809">
+<td><a id="l2809" class='ln'>2809</a></td><td>      <a id="2809c7" class="tk">rtb_Divide3_k</a>)) <a id="2809c23" class="tk">&gt;&gt;</a> 1);</td></tr>
+<tr name="2810" id="2810">
+<td><a id="l2810" class='ln'>2810</a></td><td></td></tr>
+<tr name="2811" id="2811">
+<td><a id="l2811" class='ln'>2811</a></td><td>    <span class="ct">/* Sum: '&lt;S69&gt;/Add3' */</span></td></tr>
+<tr name="2812" id="2812">
+<td><a id="l2812" class='ln'>2812</a></td><td>    <a id="2812c5" class="tk">rtb_Sum6_k</a> = (<a id="2812c19" class="tk">int16_T</a>)(<a id="2812c28" class="tk">rtb_r_cos_M1</a> <a id="2812c41" class="tk">+</a> <a id="2812c43" class="tk">rtb_Divide3_k</a>);</td></tr>
+<tr name="2813" id="2813">
+<td><a id="l2813" class='ln'>2813</a></td><td></td></tr>
+<tr name="2814" id="2814">
+<td><a id="l2814" class='ln'>2814</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/pwm_Duty' incorporates:</span></td></tr>
+<tr name="2815" id="2815">
+<td><a id="l2815" class='ln'>2815</a></td><td><span class="ct">     *  Sum: '&lt;S69&gt;/Add4'</span></td></tr>
+<tr name="2816" id="2816">
+<td><a id="l2816" class='ln'>2816</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2817" id="2817">
+<td><a id="l2817" class='ln'>2817</a></td><td>    <a id="2817c5" class="tk">rtY</a>-&gt;<a id="2817c10" class="tk">pwm_Duty</a>[0] = <a id="2817c24" class="tk">rtb_Sum6_k</a>;</td></tr>
+<tr name="2818" id="2818">
+<td><a id="l2818" class='ln'>2818</a></td><td>    <a id="2818c5" class="tk">rtY</a>-&gt;<a id="2818c10" class="tk">pwm_Duty</a>[1] = <a id="2818c24" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2819" id="2819">
+<td><a id="l2819" class='ln'>2819</a></td><td>    <a id="2819c5" class="tk">rtY</a>-&gt;<a id="2819c10" class="tk">pwm_Duty</a>[2] = (<a id="2819c25" class="tk">int16_T</a>)(<a id="2819c34" class="tk">rtb_Sum6_k</a> <a id="2819c45" class="tk">+</a> <a id="2819c47" class="tk">rtb_Sum1_a</a>);</td></tr>
+<tr name="2820" id="2820">
+<td><a id="l2820" class='ln'>2820</a></td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="2821" id="2821">
+<td><a id="l2821" class='ln'>2821</a></td><td></td></tr>
+<tr name="2822" id="2822">
+<td><a id="l2822" class='ln'>2822</a></td><td>   <span class="kw">default</span><a id="2822c11" class="tk">:</a></td></tr>
+<tr name="2823" id="2823">
+<td><a id="l2823" class='ln'>2823</a></td><td>    <span class="ct">/* Product: '&lt;S70&gt;/Divide3' incorporates:</span></td></tr>
+<tr name="2824" id="2824">
+<td><a id="l2824" class='ln'>2824</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2825" id="2825">
+<td><a id="l2825" class='ln'>2825</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide2'</span></td></tr>
+<tr name="2826" id="2826">
+<td><a id="l2826" class='ln'>2826</a></td><td><span class="ct">     *  Sum: '&lt;S70&gt;/Add5'</span></td></tr>
+<tr name="2827" id="2827">
+<td><a id="l2827" class='ln'>2827</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2828" id="2828">
+<td><a id="l2828" class='ln'>2828</a></td><td>    <a id="2828c5" class="tk">rtb_Divide3_k</a> = (<a id="2828c22" class="tk">int16_T</a>)(((<a id="2828c33" class="tk">int16_T</a>)(<a id="2828c42" class="tk">-</a>((<a id="2828c45" class="tk">int16_T</a>)((<a id="2828c55" class="tk">rtb_Sum1_a</a> <a id="2828c66" class="tk">*</a> 9459) <a id="2828c74" class="tk">&gt;&gt;</a> 13) <a id="2828c81" class="tk">&lt;&lt;</a></td></tr>
+<tr name="2829" id="2829">
+<td><a id="l2829" class='ln'>2829</a></td><td>      2) <a id="2829c10" class="tk">&gt;&gt;</a> 2) <a id="2829c16" class="tk">*</a> 375) <a id="2829c23" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2830" id="2830">
+<td><a id="l2830" class='ln'>2830</a></td><td></td></tr>
+<tr name="2831" id="2831">
+<td><a id="l2831" class='ln'>2831</a></td><td>    <span class="ct">/* Product: '&lt;S70&gt;/Divide1' incorporates:</span></td></tr>
+<tr name="2832" id="2832">
+<td><a id="l2832" class='ln'>2832</a></td><td><span class="ct">     *  Constant: '&lt;S70&gt;/Constant'</span></td></tr>
+<tr name="2833" id="2833">
+<td><a id="l2833" class='ln'>2833</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide'</span></td></tr>
+<tr name="2834" id="2834">
+<td><a id="l2834" class='ln'>2834</a></td><td><span class="ct">     *  Product: '&lt;S62&gt;/Divide1'</span></td></tr>
+<tr name="2835" id="2835">
+<td><a id="l2835" class='ln'>2835</a></td><td><span class="ct">     *  Product: '&lt;S70&gt;/Divide'</span></td></tr>
+<tr name="2836" id="2836">
+<td><a id="l2836" class='ln'>2836</a></td><td><span class="ct">     *  Sum: '&lt;S70&gt;/Add'</span></td></tr>
+<tr name="2837" id="2837">
+<td><a id="l2837" class='ln'>2837</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2838" id="2838">
+<td><a id="l2838" class='ln'>2838</a></td><td>    <a id="2838c5" class="tk">rtb_Sum1_a</a> = (<a id="2838c19" class="tk">int16_T</a>)(((<a id="2838c30" class="tk">int16_T</a>)(((<a id="2838c41" class="tk">rtb_Sum1_a</a> <a id="2838c52" class="tk">*</a> 9459) <a id="2838c60" class="tk">&gt;&gt;</a> 14) <a id="2838c67" class="tk">+</a> <a id="2838c69" class="tk">rtb_Sum6_k</a>) <a id="2838c81" class="tk">*</a></td></tr>
+<tr name="2839" id="2839">
+<td><a id="l2839" class='ln'>2839</a></td><td>      375) <a id="2839c12" class="tk">&gt;&gt;</a> 9);</td></tr>
+<tr name="2840" id="2840">
+<td><a id="l2840" class='ln'>2840</a></td><td></td></tr>
+<tr name="2841" id="2841">
+<td><a id="l2841" class='ln'>2841</a></td><td>    <span class="ct">/* Product: '&lt;S70&gt;/Divide4' incorporates:</span></td></tr>
+<tr name="2842" id="2842">
+<td><a id="l2842" class='ln'>2842</a></td><td><span class="ct">     *  Sum: '&lt;S70&gt;/Add1'</span></td></tr>
+<tr name="2843" id="2843">
+<td><a id="l2843" class='ln'>2843</a></td><td><span class="ct">     *  Sum: '&lt;S70&gt;/Add2'</span></td></tr>
+<tr name="2844" id="2844">
+<td><a id="l2844" class='ln'>2844</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2845" id="2845">
+<td><a id="l2845" class='ln'>2845</a></td><td>    <a id="2845c5" class="tk">rtb_r_cos_M1</a> = (<a id="2845c21" class="tk">int16_T</a>)((<a id="2845c31" class="tk">int16_T</a>)(3000 <a id="2845c45" class="tk">-</a> (<a id="2845c48" class="tk">int16_T</a>)(<a id="2845c57" class="tk">rtb_Sum1_a</a> <a id="2845c68" class="tk">+</a></td></tr>
+<tr name="2846" id="2846">
+<td><a id="l2846" class='ln'>2846</a></td><td>      <a id="2846c7" class="tk">rtb_Divide3_k</a>)) <a id="2846c23" class="tk">&gt;&gt;</a> 1);</td></tr>
+<tr name="2847" id="2847">
+<td><a id="l2847" class='ln'>2847</a></td><td></td></tr>
+<tr name="2848" id="2848">
+<td><a id="l2848" class='ln'>2848</a></td><td>    <span class="ct">/* Sum: '&lt;S70&gt;/Add3' */</span></td></tr>
+<tr name="2849" id="2849">
+<td><a id="l2849" class='ln'>2849</a></td><td>    <a id="2849c5" class="tk">rtb_Sum6_k</a> = (<a id="2849c19" class="tk">int16_T</a>)(<a id="2849c28" class="tk">rtb_r_cos_M1</a> <a id="2849c41" class="tk">+</a> <a id="2849c43" class="tk">rtb_Divide3_k</a>);</td></tr>
+<tr name="2850" id="2850">
+<td><a id="l2850" class='ln'>2850</a></td><td></td></tr>
+<tr name="2851" id="2851">
+<td><a id="l2851" class='ln'>2851</a></td><td>    <span class="ct">/* Outport: '&lt;Root&gt;/pwm_Duty' incorporates:</span></td></tr>
+<tr name="2852" id="2852">
+<td><a id="l2852" class='ln'>2852</a></td><td><span class="ct">     *  Sum: '&lt;S70&gt;/Add4'</span></td></tr>
+<tr name="2853" id="2853">
+<td><a id="l2853" class='ln'>2853</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2854" id="2854">
+<td><a id="l2854" class='ln'>2854</a></td><td>    <a id="2854c5" class="tk">rtY</a>-&gt;<a id="2854c10" class="tk">pwm_Duty</a>[0] = (<a id="2854c25" class="tk">int16_T</a>)(<a id="2854c34" class="tk">rtb_Sum6_k</a> <a id="2854c45" class="tk">+</a> <a id="2854c47" class="tk">rtb_Sum1_a</a>);</td></tr>
+<tr name="2855" id="2855">
+<td><a id="l2855" class='ln'>2855</a></td><td>    <a id="2855c5" class="tk">rtY</a>-&gt;<a id="2855c10" class="tk">pwm_Duty</a>[1] = <a id="2855c24" class="tk">rtb_r_cos_M1</a>;</td></tr>
+<tr name="2856" id="2856">
+<td><a id="l2856" class='ln'>2856</a></td><td>    <a id="2856c5" class="tk">rtY</a>-&gt;<a id="2856c10" class="tk">pwm_Duty</a>[2] = <a id="2856c24" class="tk">rtb_Sum6_k</a>;</td></tr>
+<tr name="2857" id="2857">
+<td><a id="l2857" class='ln'>2857</a></td><td>    <span class="kw">break</span>;</td></tr>
+<tr name="2858" id="2858">
+<td><a id="l2858" class='ln'>2858</a></td><td>  <span class="br">}</span></td></tr>
+<tr name="2859" id="2859">
+<td><a id="l2859" class='ln'>2859</a></td><td></td></tr>
+<tr name="2860" id="2860">
+<td><a id="l2860" class='ln'>2860</a></td><td>  <span class="ct">/* End of MultiPortSwitch: '&lt;S63&gt;/Multiport Switch' */</span></td></tr>
+<tr name="2861" id="2861">
+<td><a id="l2861" class='ln'>2861</a></td><td></td></tr>
+<tr name="2862" id="2862">
+<td><a id="l2862" class='ln'>2862</a></td><td>  <span class="ct">/* Switch: '&lt;S119&gt;/Switch2' */</span></td></tr>
+<tr name="2863" id="2863">
+<td><a id="l2863" class='ln'>2863</a></td><td>  <span class="kw">if</span> (<a id="2863c7" class="tk">rtb_LogicalOperator12</a>) <span class="br">{</span></td></tr>
+<tr name="2864" id="2864">
+<td><a id="l2864" class='ln'>2864</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S119&gt;/UnitDelay' incorporates:</span></td></tr>
+<tr name="2865" id="2865">
+<td><a id="l2865" class='ln'>2865</a></td><td><span class="ct">     *  UnitDelay: '&lt;S98&gt;/Unit Delay1'</span></td></tr>
+<tr name="2866" id="2866">
+<td><a id="l2866" class='ln'>2866</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2867" id="2867">
+<td><a id="l2867" class='ln'>2867</a></td><td>    <a id="2867c5" class="tk">rtDW</a>-&gt;<a id="2867c11" class="tk">UnitDelay_DSTATE_d</a> = <a id="2867c32" class="tk">rtDW</a>-&gt;<a id="2867c38" class="tk">UnitDelay1_DSTATE_b</a>;</td></tr>
+<tr name="2868" id="2868">
+<td><a id="l2868" class='ln'>2868</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2869" id="2869">
+<td><a id="l2869" class='ln'>2869</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S119&gt;/UnitDelay' incorporates:</span></td></tr>
+<tr name="2870" id="2870">
+<td><a id="l2870" class='ln'>2870</a></td><td><span class="ct">     *  Sum: '&lt;S118&gt;/Add2'</span></td></tr>
+<tr name="2871" id="2871">
+<td><a id="l2871" class='ln'>2871</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2872" id="2872">
+<td><a id="l2872" class='ln'>2872</a></td><td>    <a id="2872c5" class="tk">rtDW</a>-&gt;<a id="2872c11" class="tk">UnitDelay_DSTATE_d</a> = (<a id="2872c33" class="tk">int16_T</a>)<a id="2872c41" class="tk">tmp_2</a>;</td></tr>
+<tr name="2873" id="2873">
+<td><a id="l2873" class='ln'>2873</a></td><td>  <span class="br">}</span></td></tr>
+<tr name="2874" id="2874">
+<td><a id="l2874" class='ln'>2874</a></td><td></td></tr>
+<tr name="2875" id="2875">
+<td><a id="l2875" class='ln'>2875</a></td><td>  <span class="ct">/* End of Switch: '&lt;S119&gt;/Switch2' */</span></td></tr>
+<tr name="2876" id="2876">
+<td><a id="l2876" class='ln'>2876</a></td><td></td></tr>
+<tr name="2877" id="2877">
+<td><a id="l2877" class='ln'>2877</a></td><td>  <span class="ct">/* Switch: '&lt;S112&gt;/Switch2' */</span></td></tr>
+<tr name="2878" id="2878">
+<td><a id="l2878" class='ln'>2878</a></td><td>  <span class="kw">if</span> (<a id="2878c7" class="tk">rtb_Equal_k</a>) <span class="br">{</span></td></tr>
+<tr name="2879" id="2879">
+<td><a id="l2879" class='ln'>2879</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S112&gt;/UnitDelay' incorporates:</span></td></tr>
+<tr name="2880" id="2880">
+<td><a id="l2880" class='ln'>2880</a></td><td><span class="ct">     *  UnitDelay: '&lt;S97&gt;/Unit Delay1'</span></td></tr>
+<tr name="2881" id="2881">
+<td><a id="l2881" class='ln'>2881</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2882" id="2882">
+<td><a id="l2882" class='ln'>2882</a></td><td>    <a id="2882c5" class="tk">rtDW</a>-&gt;<a id="2882c11" class="tk">UnitDelay_DSTATE_b</a> = <a id="2882c32" class="tk">rtDW</a>-&gt;<a id="2882c38" class="tk">UnitDelay1_DSTATE_i</a>;</td></tr>
+<tr name="2883" id="2883">
+<td><a id="l2883" class='ln'>2883</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
+<tr name="2884" id="2884">
+<td><a id="l2884" class='ln'>2884</a></td><td>    <span class="ct">/* Update for UnitDelay: '&lt;S112&gt;/UnitDelay' incorporates:</span></td></tr>
+<tr name="2885" id="2885">
+<td><a id="l2885" class='ln'>2885</a></td><td><span class="ct">     *  Sum: '&lt;S111&gt;/Add2'</span></td></tr>
+<tr name="2886" id="2886">
+<td><a id="l2886" class='ln'>2886</a></td><td><span class="ct">     */</span></td></tr>
+<tr name="2887" id="2887">
+<td><a id="l2887" class='ln'>2887</a></td><td>    <a id="2887c5" class="tk">rtDW</a>-&gt;<a id="2887c11" class="tk">UnitDelay_DSTATE_b</a> = (<a id="2887c33" class="tk">int16_T</a>)<a id="2887c41" class="tk">rtb_Gain_b0</a>;</td></tr>
+<tr name="2888" id="2888">
+<td><a id="l2888" class='ln'>2888</a></td><td>  <span class="br">}</span></td></tr>
+<tr name="2889" id="2889">
+<td><a id="l2889" class='ln'>2889</a></td><td></td></tr>
+<tr name="2890" id="2890">
+<td><a id="l2890" class='ln'>2890</a></td><td>  <span class="ct">/* End of Switch: '&lt;S112&gt;/Switch2' */</span></td></tr>
+<tr name="2891" id="2891">
+<td><a id="l2891" class='ln'>2891</a></td><td></td></tr>
+<tr name="2892" id="2892">
+<td><a id="l2892" class='ln'>2892</a></td><td>  <span class="ct">/* Switch: '&lt;S37&gt;/Switch1' incorporates:</span></td></tr>
+<tr name="2893" id="2893">
+<td><a id="l2893" class='ln'>2893</a></td><td><span class="ct">   *  RelationalOperator: '&lt;S39&gt;/Relational Operator'</span></td></tr>
+<tr name="2894" id="2894">
+<td><a id="l2894" class='ln'>2894</a></td><td><span class="ct">   *  UnitDelay: '&lt;S39&gt;/UnitDelay'</span></td></tr>
+<tr name="2895" id="2895">
+<td><a id="l2895" class='ln'>2895</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2896" id="2896">
+<td><a id="l2896" class='ln'>2896</a></td><td>  <span class="kw">if</span> (<a id="2896c7" class="tk">rtb_n_commDeacv</a> <a id="2896c23" class="tk">!=</a> <a id="2896c26" class="tk">rtDW</a>-&gt;<a id="2896c32" class="tk">UnitDelay_DSTATE_bv</a>) <span class="br">{</span></td></tr>
+<tr name="2897" id="2897">
+<td><a id="l2897" class='ln'>2897</a></td><td>    <a id="2897c5" class="tk">rtb_UnitDelay_bc</a> = <a id="2897c24" class="tk">rtb_Sum_i</a>;</td></tr>
+<tr name="2898" id="2898">
+<td><a id="l2898" class='ln'>2898</a></td><td>  <span class="br">}</span></td></tr>
+<tr name="2899" id="2899">
+<td><a id="l2899" class='ln'>2899</a></td><td></td></tr>
+<tr name="2900" id="2900">
+<td><a id="l2900" class='ln'>2900</a></td><td>  <span class="ct">/* End of Switch: '&lt;S37&gt;/Switch1' */</span></td></tr>
+<tr name="2901" id="2901">
+<td><a id="l2901" class='ln'>2901</a></td><td></td></tr>
+<tr name="2902" id="2902">
+<td><a id="l2902" class='ln'>2902</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S37&gt;/UnitDelay' */</span></td></tr>
+<tr name="2903" id="2903">
+<td><a id="l2903" class='ln'>2903</a></td><td>  <a id="2903c3" class="tk">rtDW</a>-&gt;<a id="2903c9" class="tk">UnitDelay_DSTATE_j</a> = <a id="2903c30" class="tk">rtb_UnitDelay_bc</a>;</td></tr>
+<tr name="2904" id="2904">
+<td><a id="l2904" class='ln'>2904</a></td><td></td></tr>
+<tr name="2905" id="2905">
+<td><a id="l2905" class='ln'>2905</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S9&gt;/Delay' incorporates:</span></td></tr>
+<tr name="2906" id="2906">
+<td><a id="l2906" class='ln'>2906</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_A'</span></td></tr>
+<tr name="2907" id="2907">
+<td><a id="l2907" class='ln'>2907</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2908" id="2908">
+<td><a id="l2908" class='ln'>2908</a></td><td>  <a id="2908c3" class="tk">rtDW</a>-&gt;<a id="2908c9" class="tk">Delay_DSTATE_d</a> = <a id="2908c26" class="tk">rtU</a>-&gt;<a id="2908c31" class="tk">hall_A</a>;</td></tr>
+<tr name="2909" id="2909">
+<td><a id="l2909" class='ln'>2909</a></td><td></td></tr>
+<tr name="2910" id="2910">
+<td><a id="l2910" class='ln'>2910</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S9&gt;/Delay1' incorporates:</span></td></tr>
+<tr name="2911" id="2911">
+<td><a id="l2911" class='ln'>2911</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_B'</span></td></tr>
+<tr name="2912" id="2912">
+<td><a id="l2912" class='ln'>2912</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2913" id="2913">
+<td><a id="l2913" class='ln'>2913</a></td><td>  <a id="2913c3" class="tk">rtDW</a>-&gt;<a id="2913c9" class="tk">Delay1_DSTATE</a> = <a id="2913c25" class="tk">rtU</a>-&gt;<a id="2913c30" class="tk">hall_B</a>;</td></tr>
+<tr name="2914" id="2914">
+<td><a id="l2914" class='ln'>2914</a></td><td></td></tr>
+<tr name="2915" id="2915">
+<td><a id="l2915" class='ln'>2915</a></td><td>  <span class="ct">/* Update for Delay: '&lt;S9&gt;/Delay2' incorporates:</span></td></tr>
+<tr name="2916" id="2916">
+<td><a id="l2916" class='ln'>2916</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/hall_C'</span></td></tr>
+<tr name="2917" id="2917">
+<td><a id="l2917" class='ln'>2917</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2918" id="2918">
+<td><a id="l2918" class='ln'>2918</a></td><td>  <a id="2918c3" class="tk">rtDW</a>-&gt;<a id="2918c9" class="tk">Delay2_DSTATE</a> = <a id="2918c25" class="tk">rtU</a>-&gt;<a id="2918c30" class="tk">hall_C</a>;</td></tr>
+<tr name="2919" id="2919">
+<td><a id="l2919" class='ln'>2919</a></td><td></td></tr>
+<tr name="2920" id="2920">
+<td><a id="l2920" class='ln'>2920</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S14&gt;/UnitDelay3' incorporates:</span></td></tr>
+<tr name="2921" id="2921">
+<td><a id="l2921" class='ln'>2921</a></td><td><span class="ct">   *  Inport: '&lt;Root&gt;/us_Count'</span></td></tr>
+<tr name="2922" id="2922">
+<td><a id="l2922" class='ln'>2922</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2923" id="2923">
+<td><a id="l2923" class='ln'>2923</a></td><td>  <a id="2923c3" class="tk">rtDW</a>-&gt;<a id="2923c9" class="tk">UnitDelay3_DSTATE</a> = <a id="2923c29" class="tk">rtU</a>-&gt;<a id="2923c34" class="tk">us_Count</a>;</td></tr>
+<tr name="2924" id="2924">
+<td><a id="l2924" class='ln'>2924</a></td><td></td></tr>
+<tr name="2925" id="2925">
+<td><a id="l2925" class='ln'>2925</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S14&gt;/UnitDelay4' incorporates:</span></td></tr>
+<tr name="2926" id="2926">
+<td><a id="l2926" class='ln'>2926</a></td><td><span class="ct">   *  Abs: '&lt;S14&gt;/Abs5'</span></td></tr>
+<tr name="2927" id="2927">
+<td><a id="l2927" class='ln'>2927</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2928" id="2928">
+<td><a id="l2928" class='ln'>2928</a></td><td>  <a id="2928c3" class="tk">rtDW</a>-&gt;<a id="2928c9" class="tk">UnitDelay4_DSTATE</a> = <a id="2928c29" class="tk">rtb_Switch2</a>;</td></tr>
+<tr name="2929" id="2929">
+<td><a id="l2929" class='ln'>2929</a></td><td></td></tr>
+<tr name="2930" id="2930">
+<td><a id="l2930" class='ln'>2930</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S38&gt;/UnitDelay' */</span></td></tr>
+<tr name="2931" id="2931">
+<td><a id="l2931" class='ln'>2931</a></td><td>  <a id="2931c3" class="tk">rtDW</a>-&gt;<a id="2931c9" class="tk">UnitDelay_DSTATE_k</a> = <a id="2931c30" class="tk">rtb_n_commDeacv</a>;</td></tr>
+<tr name="2932" id="2932">
+<td><a id="l2932" class='ln'>2932</a></td><td></td></tr>
+<tr name="2933" id="2933">
+<td><a id="l2933" class='ln'>2933</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S42&gt;/UnitDelay' */</span></td></tr>
+<tr name="2934" id="2934">
+<td><a id="l2934" class='ln'>2934</a></td><td>  <a id="2934c3" class="tk">rtDW</a>-&gt;<a id="2934c9" class="tk">UnitDelay_DSTATE_n</a> = <a id="2934c30" class="tk">rtb_RelationalOperator4_f</a>;</td></tr>
+<tr name="2935" id="2935">
+<td><a id="l2935" class='ln'>2935</a></td><td></td></tr>
+<tr name="2936" id="2936">
+<td><a id="l2936" class='ln'>2936</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S7&gt;/UnitDelay1' incorporates:</span></td></tr>
+<tr name="2937" id="2937">
+<td><a id="l2937" class='ln'>2937</a></td><td><span class="ct">   *  Sum: '&lt;S7&gt;/Sum3'</span></td></tr>
+<tr name="2938" id="2938">
+<td><a id="l2938" class='ln'>2938</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2939" id="2939">
+<td><a id="l2939" class='ln'>2939</a></td><td>  <a id="2939c3" class="tk">rtDW</a>-&gt;<a id="2939c9" class="tk">UnitDelay1_DSTATE</a> = <a id="2939c29" class="tk">qY</a>;</td></tr>
+<tr name="2940" id="2940">
+<td><a id="l2940" class='ln'>2940</a></td><td></td></tr>
+<tr name="2941" id="2941">
+<td><a id="l2941" class='ln'>2941</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S106&gt;/UnitDelay' incorporates:</span></td></tr>
+<tr name="2942" id="2942">
+<td><a id="l2942" class='ln'>2942</a></td><td><span class="ct">   *  Switch: '&lt;S84&gt;/Switch2'</span></td></tr>
+<tr name="2943" id="2943">
+<td><a id="l2943" class='ln'>2943</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2944" id="2944">
+<td><a id="l2944" class='ln'>2944</a></td><td>  <a id="2944c3" class="tk">rtDW</a>-&gt;<a id="2944c9" class="tk">UnitDelay_DSTATE_h</a> = <a id="2944c30" class="tk">rtDW</a>-&gt;<a id="2944c36" class="tk">Switch2</a>;</td></tr>
+<tr name="2945" id="2945">
+<td><a id="l2945" class='ln'>2945</a></td><td></td></tr>
+<tr name="2946" id="2946">
+<td><a id="l2946" class='ln'>2946</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S97&gt;/Unit Delay1' incorporates:</span></td></tr>
+<tr name="2947" id="2947">
+<td><a id="l2947" class='ln'>2947</a></td><td><span class="ct">   *  Switch: '&lt;S110&gt;/Switch2'</span></td></tr>
+<tr name="2948" id="2948">
+<td><a id="l2948" class='ln'>2948</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2949" id="2949">
+<td><a id="l2949" class='ln'>2949</a></td><td>  <a id="2949c3" class="tk">rtDW</a>-&gt;<a id="2949c9" class="tk">UnitDelay1_DSTATE_i</a> = <a id="2949c31" class="tk">rtb_Divide1_m</a>;</td></tr>
+<tr name="2950" id="2950">
+<td><a id="l2950" class='ln'>2950</a></td><td></td></tr>
+<tr name="2951" id="2951">
+<td><a id="l2951" class='ln'>2951</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S108&gt;/Unit Delay' incorporates:</span></td></tr>
+<tr name="2952" id="2952">
+<td><a id="l2952" class='ln'>2952</a></td><td><span class="ct">   *  Switch: '&lt;S110&gt;/Switch2'</span></td></tr>
+<tr name="2953" id="2953">
+<td><a id="l2953" class='ln'>2953</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2954" id="2954">
+<td><a id="l2954" class='ln'>2954</a></td><td>  <a id="2954c3" class="tk">rtDW</a>-&gt;<a id="2954c9" class="tk">UnitDelay_DSTATE_g</a> = <a id="2954c30" class="tk">rtb_Divide1_m</a>;</td></tr>
+<tr name="2955" id="2955">
+<td><a id="l2955" class='ln'>2955</a></td><td></td></tr>
+<tr name="2956" id="2956">
+<td><a id="l2956" class='ln'>2956</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S113&gt;/UnitDelay' incorporates:</span></td></tr>
+<tr name="2957" id="2957">
+<td><a id="l2957" class='ln'>2957</a></td><td><span class="ct">   *  Switch: '&lt;S77&gt;/Switch'</span></td></tr>
+<tr name="2958" id="2958">
+<td><a id="l2958" class='ln'>2958</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2959" id="2959">
+<td><a id="l2959" class='ln'>2959</a></td><td>  <a id="2959c3" class="tk">rtDW</a>-&gt;<a id="2959c9" class="tk">UnitDelay_DSTATE_o</a> = <a id="2959c30" class="tk">rtDW</a>-&gt;<a id="2959c36" class="tk">Switch</a>;</td></tr>
+<tr name="2960" id="2960">
+<td><a id="l2960" class='ln'>2960</a></td><td></td></tr>
+<tr name="2961" id="2961">
+<td><a id="l2961" class='ln'>2961</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S98&gt;/Unit Delay1' incorporates:</span></td></tr>
+<tr name="2962" id="2962">
+<td><a id="l2962" class='ln'>2962</a></td><td><span class="ct">   *  Switch: '&lt;S117&gt;/Switch2'</span></td></tr>
+<tr name="2963" id="2963">
+<td><a id="l2963" class='ln'>2963</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2964" id="2964">
+<td><a id="l2964" class='ln'>2964</a></td><td>  <a id="2964c3" class="tk">rtDW</a>-&gt;<a id="2964c9" class="tk">UnitDelay1_DSTATE_b</a> = <a id="2964c31" class="tk">rtb_Sum6_p</a>;</td></tr>
+<tr name="2965" id="2965">
+<td><a id="l2965" class='ln'>2965</a></td><td></td></tr>
+<tr name="2966" id="2966">
+<td><a id="l2966" class='ln'>2966</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S115&gt;/Unit Delay' incorporates:</span></td></tr>
+<tr name="2967" id="2967">
+<td><a id="l2967" class='ln'>2967</a></td><td><span class="ct">   *  Switch: '&lt;S117&gt;/Switch2'</span></td></tr>
+<tr name="2968" id="2968">
+<td><a id="l2968" class='ln'>2968</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2969" id="2969">
+<td><a id="l2969" class='ln'>2969</a></td><td>  <a id="2969c3" class="tk">rtDW</a>-&gt;<a id="2969c9" class="tk">UnitDelay_DSTATE_a</a> = <a id="2969c30" class="tk">rtb_Sum6_p</a>;</td></tr>
+<tr name="2970" id="2970">
+<td><a id="l2970" class='ln'>2970</a></td><td></td></tr>
+<tr name="2971" id="2971">
+<td><a id="l2971" class='ln'>2971</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S55&gt;/Unit Delay' */</span></td></tr>
+<tr name="2972" id="2972">
+<td><a id="l2972" class='ln'>2972</a></td><td>  <a id="2972c3" class="tk">rtDW</a>-&gt;<a id="2972c9" class="tk">UnitDelay_DSTATE_bm</a> = <a id="2972c31" class="tk">rtb_z_ctrlMod</a>;</td></tr>
+<tr name="2973" id="2973">
+<td><a id="l2973" class='ln'>2973</a></td><td></td></tr>
+<tr name="2974" id="2974">
+<td><a id="l2974" class='ln'>2974</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S39&gt;/UnitDelay' */</span></td></tr>
+<tr name="2975" id="2975">
+<td><a id="l2975" class='ln'>2975</a></td><td>  <a id="2975c3" class="tk">rtDW</a>-&gt;<a id="2975c9" class="tk">UnitDelay_DSTATE_bv</a> = <a id="2975c31" class="tk">rtb_n_commDeacv</a>;</td></tr>
+<tr name="2976" id="2976">
+<td><a id="l2976" class='ln'>2976</a></td><td></td></tr>
+<tr name="2977" id="2977">
+<td><a id="l2977" class='ln'>2977</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S6&gt;/UnitDelay1' incorporates:</span></td></tr>
+<tr name="2978" id="2978">
+<td><a id="l2978" class='ln'>2978</a></td><td><span class="ct">   *  Switch: '&lt;S52&gt;/Switch'</span></td></tr>
+<tr name="2979" id="2979">
+<td><a id="l2979" class='ln'>2979</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2980" id="2980">
+<td><a id="l2980" class='ln'>2980</a></td><td>  <a id="2980c3" class="tk">rtDW</a>-&gt;<a id="2980c9" class="tk">UnitDelay1_DSTATE_f</a>[0] = <a id="2980c34" class="tk">rtb_Switch_f_idx_0</a>;</td></tr>
+<tr name="2981" id="2981">
+<td><a id="l2981" class='ln'>2981</a></td><td></td></tr>
+<tr name="2982" id="2982">
+<td><a id="l2982" class='ln'>2982</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
+<tr name="2983" id="2983">
+<td><a id="l2983" class='ln'>2983</a></td><td></td></tr>
+<tr name="2984" id="2984">
+<td><a id="l2984" class='ln'>2984</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/f_Vdq' incorporates:</span></td></tr>
+<tr name="2985" id="2985">
+<td><a id="l2985" class='ln'>2985</a></td><td><span class="ct">   *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
+<tr name="2986" id="2986">
+<td><a id="l2986" class='ln'>2986</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2987" id="2987">
+<td><a id="l2987" class='ln'>2987</a></td><td>  <a id="2987c3" class="tk">rtY</a>-&gt;<a id="2987c8" class="tk">f_Vdq</a>[0] = <a id="2987c19" class="tk">rtb_UnitDelay1</a>[0];</td></tr>
+<tr name="2988" id="2988">
+<td><a id="l2988" class='ln'>2988</a></td><td></td></tr>
+<tr name="2989" id="2989">
+<td><a id="l2989" class='ln'>2989</a></td><td>  <span class="ct">/* Outputs for Atomic SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
+<tr name="2990" id="2990">
+<td><a id="l2990" class='ln'>2990</a></td><td>  <span class="ct">/* Update for UnitDelay: '&lt;S6&gt;/UnitDelay1' incorporates:</span></td></tr>
+<tr name="2991" id="2991">
+<td><a id="l2991" class='ln'>2991</a></td><td><span class="ct">   *  Switch: '&lt;S52&gt;/Switch'</span></td></tr>
+<tr name="2992" id="2992">
+<td><a id="l2992" class='ln'>2992</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="2993" id="2993">
+<td><a id="l2993" class='ln'>2993</a></td><td>  <a id="2993c3" class="tk">rtDW</a>-&gt;<a id="2993c9" class="tk">UnitDelay1_DSTATE_f</a>[1] = <a id="2993c34" class="tk">rtb_Switch_f_idx_1</a>;</td></tr>
+<tr name="2994" id="2994">
+<td><a id="l2994" class='ln'>2994</a></td><td></td></tr>
+<tr name="2995" id="2995">
+<td><a id="l2995" class='ln'>2995</a></td><td>  <span class="ct">/* End of Outputs for SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
+<tr name="2996" id="2996">
+<td><a id="l2996" class='ln'>2996</a></td><td></td></tr>
+<tr name="2997" id="2997">
+<td><a id="l2997" class='ln'>2997</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/f_Vdq' incorporates:</span></td></tr>
+<tr name="2998" id="2998">
+<td><a id="l2998" class='ln'>2998</a></td><td><span class="ct">   *  UnitDelay: '&lt;S6&gt;/UnitDelay1'</span></td></tr>
+<tr name="2999" id="2999">
+<td><a id="l2999" class='ln'>2999</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="3000" id="3000">
+<td><a id="l3000" class='ln'>3000</a></td><td>  <a id="3000c3" class="tk">rtY</a>-&gt;<a id="3000c8" class="tk">f_Vdq</a>[1] = <a id="3000c19" class="tk">rtb_UnitDelay1</a>[1];</td></tr>
+<tr name="3001" id="3001">
+<td><a id="l3001" class='ln'>3001</a></td><td></td></tr>
+<tr name="3002" id="3002">
+<td><a id="l3002" class='ln'>3002</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/n_Sector' */</span></td></tr>
+<tr name="3003" id="3003">
+<td><a id="l3003" class='ln'>3003</a></td><td>  <a id="3003c3" class="tk">rtY</a>-&gt;<a id="3003c8" class="tk">n_Sector</a> = <a id="3003c19" class="tk">rtb_DataTypeConversion_np</a>;</td></tr>
+<tr name="3004" id="3004">
+<td><a id="l3004" class='ln'>3004</a></td><td></td></tr>
+<tr name="3005" id="3005">
+<td><a id="l3005" class='ln'>3005</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/n_MotError' */</span></td></tr>
+<tr name="3006" id="3006">
+<td><a id="l3006" class='ln'>3006</a></td><td>  <a id="3006c3" class="tk">rtY</a>-&gt;<a id="3006c8" class="tk">n_MotError</a> = <a id="3006c21" class="tk">rtb_UnitDelay_bc</a>;</td></tr>
+<tr name="3007" id="3007">
+<td><a id="l3007" class='ln'>3007</a></td><td></td></tr>
+<tr name="3008" id="3008">
+<td><a id="l3008" class='ln'>3008</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/f_MotAngle' incorporates:</span></td></tr>
+<tr name="3009" id="3009">
+<td><a id="l3009" class='ln'>3009</a></td><td><span class="ct">   *  Merge: '&lt;S3&gt;/Merge'</span></td></tr>
+<tr name="3010" id="3010">
+<td><a id="l3010" class='ln'>3010</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="3011" id="3011">
+<td><a id="l3011" class='ln'>3011</a></td><td>  <a id="3011c3" class="tk">rtY</a>-&gt;<a id="3011c8" class="tk">f_MotAngle</a> = <a id="3011c21" class="tk">rtDW</a>-&gt;<a id="3011c27" class="tk">Merge_i</a>;</td></tr>
+<tr name="3012" id="3012">
+<td><a id="l3012" class='ln'>3012</a></td><td></td></tr>
+<tr name="3013" id="3013">
+<td><a id="l3013" class='ln'>3013</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/f_MotRPM' incorporates:</span></td></tr>
+<tr name="3014" id="3014">
+<td><a id="l3014" class='ln'>3014</a></td><td><span class="ct">   *  Switch: '&lt;S14&gt;/Switch2'</span></td></tr>
+<tr name="3015" id="3015">
+<td><a id="l3015" class='ln'>3015</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="3016" id="3016">
+<td><a id="l3016" class='ln'>3016</a></td><td>  <a id="3016c3" class="tk">rtY</a>-&gt;<a id="3016c8" class="tk">f_MotRPM</a> = <a id="3016c19" class="tk">rtb_Switch3</a>;</td></tr>
+<tr name="3017" id="3017">
+<td><a id="l3017" class='ln'>3017</a></td><td></td></tr>
+<tr name="3018" id="3018">
+<td><a id="l3018" class='ln'>3018</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/f_hallAngle' incorporates:</span></td></tr>
+<tr name="3019" id="3019">
+<td><a id="l3019" class='ln'>3019</a></td><td><span class="ct">   *  Merge: '&lt;S15&gt;/Merge'</span></td></tr>
+<tr name="3020" id="3020">
+<td><a id="l3020" class='ln'>3020</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="3021" id="3021">
+<td><a id="l3021" class='ln'>3021</a></td><td>  <a id="3021c3" class="tk">rtY</a>-&gt;<a id="3021c8" class="tk">f_hallAngle</a> = <a id="3021c22" class="tk">rtb_Sum3_jm</a>;</td></tr>
+<tr name="3022" id="3022">
+<td><a id="l3022" class='ln'>3022</a></td><td></td></tr>
+<tr name="3023" id="3023">
+<td><a id="l3023" class='ln'>3023</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/n_hallStat' */</span></td></tr>
+<tr name="3024" id="3024">
+<td><a id="l3024" class='ln'>3024</a></td><td>  <a id="3024c3" class="tk">rtY</a>-&gt;<a id="3024c8" class="tk">n_hallStat</a> = <a id="3024c21" class="tk">rtb_Add_gf</a>;</td></tr>
+<tr name="3025" id="3025">
+<td><a id="l3025" class='ln'>3025</a></td><td></td></tr>
+<tr name="3026" id="3026">
+<td><a id="l3026" class='ln'>3026</a></td><td>  <span class="ct">/* Outport: '&lt;Root&gt;/n_runingMode' */</span></td></tr>
+<tr name="3027" id="3027">
+<td><a id="l3027" class='ln'>3027</a></td><td>  <a id="3027c3" class="tk">rtY</a>-&gt;<a id="3027c8" class="tk">n_runingMode</a> = <a id="3027c23" class="tk">rtb_z_ctrlMod</a>;</td></tr>
+<tr name="3028" id="3028">
+<td><a id="l3028" class='ln'>3028</a></td><td><span class="br">}</span></td></tr>
+<tr name="3029" id="3029">
+<td><a id="l3029" class='ln'>3029</a></td><td></td></tr>
+<tr name="3030" id="3030">
+<td><a id="l3030" class='ln'>3030</a></td><td><span class="ct">/* Model initialize function */</span></td></tr>
+<tr name="3031" id="3031">
+<td><a id="l3031" class='ln'>3031</a></td><td><span class="kw">void</span> <a id="3031c6" class="tk">PMSM_Controller_initialize</a>(<a id="3031c33" class="tk">RT_MODEL</a> <a id="3031c42" class="tk">*</a><span class="kw">const</span> <a id="3031c49" class="tk">rtM</a>)</td></tr>
+<tr name="3032" id="3032">
+<td><a id="l3032" class='ln'>3032</a></td><td><span class="br">{</span></td></tr>
+<tr name="3033" id="3033">
+<td><a id="l3033" class='ln'>3033</a></td><td>  <a id="3033c3" class="tk">DW</a> <a id="3033c6" class="tk">*</a><a id="3033c7" class="tk">rtDW</a> = <a id="3033c14" class="tk">rtM</a>-&gt;<a id="3033c19" class="tk">dwork</a>;</td></tr>
+<tr name="3034" id="3034">
+<td><a id="l3034" class='ln'>3034</a></td><td>  <a id="3034c3" class="tk">PrevZCX</a> <a id="3034c11" class="tk">*</a><a id="3034c12" class="tk">rtPrevZCX</a> = <a id="3034c24" class="tk">rtM</a>-&gt;<a id="3034c29" class="tk">prevZCSigState</a>;</td></tr>
+<tr name="3035" id="3035">
+<td><a id="l3035" class='ln'>3035</a></td><td>  <a id="3035c3" class="tk">ExtY</a> <a id="3035c8" class="tk">*</a><a id="3035c9" class="tk">rtY</a> = (<a id="3035c16" class="tk">ExtY</a> <a id="3035c21" class="tk">*</a>) <a id="3035c24" class="tk">rtM</a>-&gt;<a id="3035c29" class="tk">outputs</a>;</td></tr>
+<tr name="3036" id="3036">
+<td><a id="l3036" class='ln'>3036</a></td><td>  <a id="3036c3" class="tk">rtPrevZCX</a>-&gt;<a id="3036c14" class="tk">ResettableDelay_Reset_ZCE_a</a> = <a id="3036c44" class="tk">POS_ZCSIG</a>;</td></tr>
+<tr name="3037" id="3037">
+<td><a id="l3037" class='ln'>3037</a></td><td>  <a id="3037c3" class="tk">rtPrevZCX</a>-&gt;<a id="3037c14" class="tk">PI_backCalc_fixdt1</a>.<a id="3037c33" class="tk">ResettableDelay_Reset_ZCE</a> = <a id="3037c61" class="tk">POS_ZCSIG</a>;</td></tr>
+<tr name="3038" id="3038">
+<td><a id="l3038" class='ln'>3038</a></td><td>  <a id="3038c3" class="tk">rtPrevZCX</a>-&gt;<a id="3038c14" class="tk">PI_backCalc_fixdt_o3</a>.<a id="3038c35" class="tk">ResettableDelay_Reset_ZCE</a> = <a id="3038c63" class="tk">POS_ZCSIG</a>;</td></tr>
+<tr name="3039" id="3039">
+<td><a id="l3039" class='ln'>3039</a></td><td>  <a id="3039c3" class="tk">rtPrevZCX</a>-&gt;<a id="3039c14" class="tk">PI_Speed</a>.<a id="3039c23" class="tk">ResettableDelay_Reset_ZCE_f</a> = <a id="3039c53" class="tk">POS_ZCSIG</a>;</td></tr>
+<tr name="3040" id="3040">
+<td><a id="l3040" class='ln'>3040</a></td><td></td></tr>
+<tr name="3041" id="3041">
+<td><a id="l3041" class='ln'>3041</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
+<tr name="3042" id="3042">
+<td><a id="l3042" class='ln'>3042</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S14&gt;/Raw_Motor_Speed_Estimation' */</span></td></tr>
+<tr name="3043" id="3043">
+<td><a id="l3043" class='ln'>3043</a></td><td>  <span class="ct">/* InitializeConditions for UnitDelay: '&lt;S20&gt;/UnitDelay2' */</span></td></tr>
+<tr name="3044" id="3044">
+<td><a id="l3044" class='ln'>3044</a></td><td>  <a id="3044c3" class="tk">rtDW</a>-&gt;<a id="3044c9" class="tk">UnitDelay2_DSTATE</a> = <a id="3044c29" class="tk">rtP</a>.<a id="3044c33" class="tk">n_hall_count_ps</a>;</td></tr>
+<tr name="3045" id="3045">
+<td><a id="l3045" class='ln'>3045</a></td><td></td></tr>
+<tr name="3046" id="3046">
+<td><a id="l3046" class='ln'>3046</a></td><td>  <span class="ct">/* SystemInitialize for Outport: '&lt;S20&gt;/z_counter' incorporates:</span></td></tr>
+<tr name="3047" id="3047">
+<td><a id="l3047" class='ln'>3047</a></td><td><span class="ct">   *  Inport: '&lt;S20&gt;/z_counterRawPrev'</span></td></tr>
+<tr name="3048" id="3048">
+<td><a id="l3048" class='ln'>3048</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="3049" id="3049">
+<td><a id="l3049" class='ln'>3049</a></td><td>  <a id="3049c3" class="tk">rtDW</a>-&gt;<a id="3049c9" class="tk">z_counterRawPrev</a> = <a id="3049c28" class="tk">rtP</a>.<a id="3049c32" class="tk">n_hall_count_ps</a>;</td></tr>
+<tr name="3050" id="3050">
+<td><a id="l3050" class='ln'>3050</a></td><td></td></tr>
+<tr name="3051" id="3051">
+<td><a id="l3051" class='ln'>3051</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S14&gt;/Raw_Motor_Speed_Estimation' */</span></td></tr>
+<tr name="3052" id="3052">
+<td><a id="l3052" class='ln'>3052</a></td><td></td></tr>
+<tr name="3053" id="3053">
+<td><a id="l3053" class='ln'>3053</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S54&gt;/Do_Calc' */</span></td></tr>
+<tr name="3054" id="3054">
+<td><a id="l3054" class='ln'>3054</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S74&gt;/speed_mode' */</span></td></tr>
+<tr name="3055" id="3055">
+<td><a id="l3055" class='ln'>3055</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S87&gt;/PI_Speed' */</span></td></tr>
+<tr name="3056" id="3056">
+<td><a id="l3056" class='ln'>3056</a></td><td>  <a id="3056c3" class="tk">PI_backCalc_fixdt_Init</a>(<a id="3056c26" class="tk">&amp;</a><a id="3056c27" class="tk">rtDW</a>-&gt;<a id="3056c33" class="tk">PI_Speed</a>);</td></tr>
+<tr name="3057" id="3057">
+<td><a id="l3057" class='ln'>3057</a></td><td></td></tr>
+<tr name="3058" id="3058">
+<td><a id="l3058" class='ln'>3058</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S87&gt;/PI_Speed' */</span></td></tr>
+<tr name="3059" id="3059">
+<td><a id="l3059" class='ln'>3059</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S74&gt;/speed_mode' */</span></td></tr>
+<tr name="3060" id="3060">
+<td><a id="l3060" class='ln'>3060</a></td><td></td></tr>
+<tr name="3061" id="3061">
+<td><a id="l3061" class='ln'>3061</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S74&gt;/torque_mode' */</span></td></tr>
+<tr name="3062" id="3062">
+<td><a id="l3062" class='ln'>3062</a></td><td>  <span class="ct">/* InitializeConditions for Delay: '&lt;S88&gt;/Delay' */</span></td></tr>
+<tr name="3063" id="3063">
+<td><a id="l3063" class='ln'>3063</a></td><td>  <a id="3063c3" class="tk">rtDW</a>-&gt;<a id="3063c9" class="tk">icLoad</a> = 1U;</td></tr>
+<tr name="3064" id="3064">
+<td><a id="l3064" class='ln'>3064</a></td><td></td></tr>
+<tr name="3065" id="3065">
+<td><a id="l3065" class='ln'>3065</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S88&gt;/PI_TrqSpdLim' */</span></td></tr>
+<tr name="3066" id="3066">
+<td><a id="l3066" class='ln'>3066</a></td><td>  <span class="ct">/* InitializeConditions for Delay: '&lt;S93&gt;/Resettable Delay' */</span></td></tr>
+<tr name="3067" id="3067">
+<td><a id="l3067" class='ln'>3067</a></td><td>  <a id="3067c3" class="tk">rtDW</a>-&gt;<a id="3067c9" class="tk">icLoad_k</a> = 1U;</td></tr>
+<tr name="3068" id="3068">
+<td><a id="l3068" class='ln'>3068</a></td><td></td></tr>
+<tr name="3069" id="3069">
+<td><a id="l3069" class='ln'>3069</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S88&gt;/PI_TrqSpdLim' */</span></td></tr>
+<tr name="3070" id="3070">
+<td><a id="l3070" class='ln'>3070</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S74&gt;/torque_mode' */</span></td></tr>
+<tr name="3071" id="3071">
+<td><a id="l3071" class='ln'>3071</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S54&gt;/Do_Calc' */</span></td></tr>
+<tr name="3072" id="3072">
+<td><a id="l3072" class='ln'>3072</a></td><td></td></tr>
+<tr name="3073" id="3073">
+<td><a id="l3073" class='ln'>3073</a></td><td>  <span class="ct">/* SystemInitialize for IfAction SubSystem: '&lt;S55&gt;/CurrentLoop' */</span></td></tr>
+<tr name="3074" id="3074">
+<td><a id="l3074" class='ln'>3074</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S95&gt;/PI_backCalc_fixdt' */</span></td></tr>
+<tr name="3075" id="3075">
+<td><a id="l3075" class='ln'>3075</a></td><td>  <a id="3075c3" class="tk">PI_backCalc_fixdt_p_Init</a>(<a id="3075c28" class="tk">&amp;</a><a id="3075c29" class="tk">rtDW</a>-&gt;<a id="3075c35" class="tk">PI_backCalc_fixdt_o3</a>);</td></tr>
+<tr name="3076" id="3076">
+<td><a id="l3076" class='ln'>3076</a></td><td></td></tr>
+<tr name="3077" id="3077">
+<td><a id="l3077" class='ln'>3077</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S95&gt;/PI_backCalc_fixdt' */</span></td></tr>
+<tr name="3078" id="3078">
+<td><a id="l3078" class='ln'>3078</a></td><td></td></tr>
+<tr name="3079" id="3079">
+<td><a id="l3079" class='ln'>3079</a></td><td>  <span class="ct">/* SystemInitialize for Atomic SubSystem: '&lt;S95&gt;/PI_backCalc_fixdt1' */</span></td></tr>
+<tr name="3080" id="3080">
+<td><a id="l3080" class='ln'>3080</a></td><td>  <a id="3080c3" class="tk">PI_backCalc_fixdt_p_Init</a>(<a id="3080c28" class="tk">&amp;</a><a id="3080c29" class="tk">rtDW</a>-&gt;<a id="3080c35" class="tk">PI_backCalc_fixdt1</a>);</td></tr>
+<tr name="3081" id="3081">
+<td><a id="l3081" class='ln'>3081</a></td><td></td></tr>
+<tr name="3082" id="3082">
+<td><a id="l3082" class='ln'>3082</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S95&gt;/PI_backCalc_fixdt1' */</span></td></tr>
+<tr name="3083" id="3083">
+<td><a id="l3083" class='ln'>3083</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;S55&gt;/CurrentLoop' */</span></td></tr>
+<tr name="3084" id="3084">
+<td><a id="l3084" class='ln'>3084</a></td><td>  <span class="ct">/* End of SystemInitialize for SubSystem: '&lt;Root&gt;/PMSM_Controller' */</span></td></tr>
+<tr name="3085" id="3085">
+<td><a id="l3085" class='ln'>3085</a></td><td></td></tr>
+<tr name="3086" id="3086">
+<td><a id="l3086" class='ln'>3086</a></td><td>  <span class="ct">/* SystemInitialize for Outport: '&lt;Root&gt;/f_MotAngle' incorporates:</span></td></tr>
+<tr name="3087" id="3087">
+<td><a id="l3087" class='ln'>3087</a></td><td><span class="ct">   *  Merge: '&lt;S3&gt;/Merge'</span></td></tr>
+<tr name="3088" id="3088">
+<td><a id="l3088" class='ln'>3088</a></td><td><span class="ct">   */</span></td></tr>
+<tr name="3089" id="3089">
+<td><a id="l3089" class='ln'>3089</a></td><td>  <a id="3089c3" class="tk">rtY</a>-&gt;<a id="3089c8" class="tk">f_MotAngle</a> = <a id="3089c21" class="tk">rtDW</a>-&gt;<a id="3089c27" class="tk">Merge_i</a>;</td></tr>
+<tr name="3090" id="3090">
+<td><a id="l3090" class='ln'>3090</a></td><td><span class="br">}</span></td></tr>
+<tr name="3091" id="3091">
+<td><a id="l3091" class='ln'>3091</a></td><td></td></tr>
+<tr name="3092" id="3092">
+<td><a id="l3092" class='ln'>3092</a></td><td><span class="ct">/*</span></td></tr>
+<tr name="3093" id="3093">
+<td><a id="l3093" class='ln'>3093</a></td><td><span class="ct"> * File trailer for generated code.</span></td></tr>
+<tr name="3094" id="3094">
+<td><a id="l3094" class='ln'>3094</a></td><td><span class="ct"> *</span></td></tr>
+<tr name="3095" id="3095">
+<td><a id="l3095" class='ln'>3095</a></td><td><span class="ct"> * [EOF]</span></td></tr>
+<tr name="3096" id="3096">
+<td><a id="l3096" class='ln'>3096</a></td><td><span class="ct"> */</span></td></tr>
+<tr name="3097" id="3097">
+<td><a id="l3097" class='ln'>3097</a></td><td></td></tr>
 </table>
 </pre>
 </body>

Simulink/PMSM_Controller_ert_rtw/html/PMSM_Controller_data_c.html

@@ -21,11 +21,11 @@
 <tr name="5" id="5">
 <td><a id="l5" class='ln'>5</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="6" id="6">
-<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1301</span></td></tr>
+<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1445</span></td></tr>
 <tr name="7" id="7">
 <td><a id="l7" class='ln'>7</a></td><td><span class="ct"> * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020</span></td></tr>
 <tr name="8" id="8">
-<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Mon Apr 18 19:32:18 2022</span></td></tr>
+<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Sat May 21 17:50:12 2022</span></td></tr>
 <tr name="9" id="9">
 <td><a id="l9" class='ln'>9</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="10" id="10">
@@ -49,631 +49,365 @@
 <tr name="19" id="19">
 <td><a id="l19" class='ln'>19</a></td><td></td></tr>
 <tr name="20" id="20">
-<td><a id="l20" class='ln'>20</a></td><td><span class="ct">/* Invariant block signals (default storage) */</span></td></tr>
+<td><a id="l20" class='ln'>20</a></td><td><span class="ct">/* Block parameters (default storage) */</span></td></tr>
 <tr name="21" id="21">
-<td><a id="l21" class='ln'>21</a></td><td><span class="kw">const</span> <a id="21c7" class="tk">ConstB</a> <a id="21c14" class="tk">rtConstB</a> = <span class="br">{</span></td></tr>
+<td><a id="l21" class='ln'>21</a></td><td><a id="21c1" class="tk">P</a> <a id="21c3" class="tk">rtP</a> = <span class="br">{</span></td></tr>
 <tr name="22" id="22">
-<td><a id="l22" class='ln'>22</a></td><td>  <span class="ct">/* Start of '&lt;S60&gt;/PI_id' */</span></td></tr>
+<td><a id="l22" class='ln'>22</a></td><td>  <span class="ct">/* Variable: n_hall_count_ps</span></td></tr>
 <tr name="23" id="23">
-<td><a id="l23" class='ln'>23</a></td><td>  <span class="br">{</span></td></tr>
+<td><a id="l23" class='ln'>23</a></td><td><span class="ct">   * Referenced by:</span></td></tr>
 <tr name="24" id="24">
-<td><a id="l24" class='ln'>24</a></td><td>    0                                  <span class="ct">/* '&lt;S64&gt;/Data Type Conversion2' */</span></td></tr>
+<td><a id="l24" class='ln'>24</a></td><td><span class="ct">   *   '&lt;S14&gt;/z_maxCntRst'</span></td></tr>
 <tr name="25" id="25">
-<td><a id="l25" class='ln'>25</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l25" class='ln'>25</a></td><td><span class="ct">   *   '&lt;S20&gt;/z_counter'</span></td></tr>
 <tr name="26" id="26">
-<td><a id="l26" class='ln'>26</a></td><td>  ,</td></tr>
+<td><a id="l26" class='ln'>26</a></td><td><span class="ct">   *   '&lt;S20&gt;/UnitDelay2'</span></td></tr>
 <tr name="27" id="27">
-<td><a id="l27" class='ln'>27</a></td><td></td></tr>
+<td><a id="l27" class='ln'>27</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="28" id="28">
-<td><a id="l28" class='ln'>28</a></td><td>  <span class="ct">/* End of '&lt;S60&gt;/PI_id' */</span></td></tr>
+<td><a id="l28" class='ln'>28</a></td><td>  1000000U,</td></tr>
 <tr name="29" id="29">
 <td><a id="l29" class='ln'>29</a></td><td></td></tr>
 <tr name="30" id="30">
-<td><a id="l30" class='ln'>30</a></td><td>  <span class="ct">/* Start of '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l30" class='ln'>30</a></td><td>  <span class="ct">/* Variable: cf_TrqLimKb</span></td></tr>
 <tr name="31" id="31">
-<td><a id="l31" class='ln'>31</a></td><td>  <span class="br">{</span></td></tr>
+<td><a id="l31" class='ln'>31</a></td><td><span class="ct">   * Referenced by: '&lt;S88&gt;/Constant2'</span></td></tr>
 <tr name="32" id="32">
-<td><a id="l32" class='ln'>32</a></td><td>    0                                  <span class="ct">/* '&lt;S68&gt;/Data Type Conversion2' */</span></td></tr>
+<td><a id="l32" class='ln'>32</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="33" id="33">
-<td><a id="l33" class='ln'>33</a></td><td>  <span class="br">}</span></td></tr>
+<td><a id="l33" class='ln'>33</a></td><td>  1024,</td></tr>
 <tr name="34" id="34">
-<td><a id="l34" class='ln'>34</a></td><td>  <span class="ct">/* End of '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l34" class='ln'>34</a></td><td></td></tr>
 <tr name="35" id="35">
-<td><a id="l35" class='ln'>35</a></td><td><span class="br">}</span>;</td></tr>
+<td><a id="l35" class='ln'>35</a></td><td>  <span class="ct">/* Variable: cf_TrqLimKi</span></td></tr>
 <tr name="36" id="36">
-<td><a id="l36" class='ln'>36</a></td><td></td></tr>
+<td><a id="l36" class='ln'>36</a></td><td><span class="ct">   * Referenced by: '&lt;S88&gt;/Constant1'</span></td></tr>
 <tr name="37" id="37">
-<td><a id="l37" class='ln'>37</a></td><td><span class="ct">/* Constant parameters (default storage) */</span></td></tr>
+<td><a id="l37" class='ln'>37</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="38" id="38">
-<td><a id="l38" class='ln'>38</a></td><td><span class="kw">const</span> <a id="38c7" class="tk">ConstP</a> <a id="38c14" class="tk">rtConstP</a> = <span class="br">{</span></td></tr>
+<td><a id="l38" class='ln'>38</a></td><td>  9,</td></tr>
 <tr name="39" id="39">
-<td><a id="l39" class='ln'>39</a></td><td>  <span class="ct">/* Pooled Parameter (Expression: r_sin_M1)</span></td></tr>
+<td><a id="l39" class='ln'>39</a></td><td></td></tr>
 <tr name="40" id="40">
-<td><a id="l40" class='ln'>40</a></td><td><span class="ct">   * Referenced by:</span></td></tr>
+<td><a id="l40" class='ln'>40</a></td><td>  <span class="ct">/* Variable: cf_TrqLimKp</span></td></tr>
 <tr name="41" id="41">
-<td><a id="l41" class='ln'>41</a></td><td><span class="ct">   *   '&lt;S58&gt;/r_sin_M1'</span></td></tr>
+<td><a id="l41" class='ln'>41</a></td><td><span class="ct">   * Referenced by: '&lt;S88&gt;/Constant4'</span></td></tr>
 <tr name="42" id="42">
-<td><a id="l42" class='ln'>42</a></td><td><span class="ct">   *   '&lt;S89&gt;/r_sin_M1'</span></td></tr>
+<td><a id="l42" class='ln'>42</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="43" id="43">
-<td><a id="l43" class='ln'>43</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l43" class='ln'>43</a></td><td>  154,</td></tr>
 <tr name="44" id="44">
-<td><a id="l44" class='ln'>44</a></td><td>  <span class="br">{</span> 0, 71, 143, 214, 286, 357, 429, 500, 572, 643, 715, 786, 857, 929, 1000,</td></tr>
+<td><a id="l44" class='ln'>44</a></td><td></td></tr>
 <tr name="45" id="45">
-<td><a id="l45" class='ln'>45</a></td><td>    1072, 1143, 1214, 1285, 1357, 1428, 1499, 1570, 1641, 1713, 1784, 1855, 1926,</td></tr>
+<td><a id="l45" class='ln'>45</a></td><td>  <span class="ct">/* Variable: cf_idKp</span></td></tr>
 <tr name="46" id="46">
-<td><a id="l46" class='ln'>46</a></td><td>    1997, 2068, 2139, 2209, 2280, 2351, 2422, 2492, 2563, 2634, 2704, 2775, 2845,</td></tr>
+<td><a id="l46" class='ln'>46</a></td><td><span class="ct">   * Referenced by: '&lt;S95&gt;/Constant3'</span></td></tr>
 <tr name="47" id="47">
-<td><a id="l47" class='ln'>47</a></td><td>    2915, 2986, 3056, 3126, 3196, 3266, 3336, 3406, 3476, 3546, 3616, 3686, 3755,</td></tr>
+<td><a id="l47" class='ln'>47</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="48" id="48">
-<td><a id="l48" class='ln'>48</a></td><td>    3825, 3894, 3964, 4033, 4102, 4171, 4240, 4310, 4378, 4447, 4516, 4585, 4653,</td></tr>
+<td><a id="l48" class='ln'>48</a></td><td>  17877,</td></tr>
 <tr name="49" id="49">
-<td><a id="l49" class='ln'>49</a></td><td>    4722, 4790, 4859, 4927, 4995, 5063, 5131, 5199, 5266, 5334, 5402, 5469, 5536,</td></tr>
+<td><a id="l49" class='ln'>49</a></td><td></td></tr>
 <tr name="50" id="50">
-<td><a id="l50" class='ln'>50</a></td><td>    5604, 5671, 5738, 5805, 5872, 5938, 6005, 6071, 6138, 6204, 6270, 6336, 6402,</td></tr>
+<td><a id="l50" class='ln'>50</a></td><td>  <span class="ct">/* Variable: cf_iqKp</span></td></tr>
 <tr name="51" id="51">
-<td><a id="l51" class='ln'>51</a></td><td>    6467, 6533, 6599, 6664, 6729, 6794, 6859, 6924, 6989, 7053, 7118, 7182, 7246,</td></tr>
+<td><a id="l51" class='ln'>51</a></td><td><span class="ct">   * Referenced by: '&lt;S95&gt;/Constant7'</span></td></tr>
 <tr name="52" id="52">
-<td><a id="l52" class='ln'>52</a></td><td>    7311, 7374, 7438, 7502, 7565, 7629, 7692, 7755, 7818, 7881, 7943, 8006, 8068,</td></tr>
+<td><a id="l52" class='ln'>52</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="53" id="53">
-<td><a id="l53" class='ln'>53</a></td><td>    8130, 8192, 8254, 8316, 8377, 8438, 8500, 8561, 8621, 8682, 8743, 8803, 8863,</td></tr>
+<td><a id="l53" class='ln'>53</a></td><td>  19765,</td></tr>
 <tr name="54" id="54">
-<td><a id="l54" class='ln'>54</a></td><td>    8923, 8983, 9043, 9102, 9162, 9221, 9280, 9339, 9397, 9456, 9514, 9572, 9630,</td></tr>
+<td><a id="l54" class='ln'>54</a></td><td></td></tr>
 <tr name="55" id="55">
-<td><a id="l55" class='ln'>55</a></td><td>    9688, 9746, 9803, 9860, 9917, 9974, 10031, 10087, 10143, 10199, 10255, 10311,</td></tr>
+<td><a id="l55" class='ln'>55</a></td><td>  <span class="ct">/* Variable: cf_nKp</span></td></tr>
 <tr name="56" id="56">
-<td><a id="l56" class='ln'>56</a></td><td>    10366, 10422, 10477, 10531, 10586, 10641, 10695, 10749, 10803, 10856, 10910,</td></tr>
+<td><a id="l56" class='ln'>56</a></td><td><span class="ct">   * Referenced by: '&lt;S87&gt;/Constant4'</span></td></tr>
 <tr name="57" id="57">
-<td><a id="l57" class='ln'>57</a></td><td>    10963, 11016, 11069, 11121, 11174, 11226, 11278, 11330, 11381, 11433, 11484,</td></tr>
+<td><a id="l57" class='ln'>57</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="58" id="58">
-<td><a id="l58" class='ln'>58</a></td><td>    11535, 11585, 11636, 11686, 11736, 11786, 11835, 11885, 11934, 11982, 12031,</td></tr>
+<td><a id="l58" class='ln'>58</a></td><td>  154,</td></tr>
 <tr name="59" id="59">
-<td><a id="l59" class='ln'>59</a></td><td>    12080, 12128, 12176, 12223, 12271, 12318, 12365, 12412, 12458, 12505, 12551,</td></tr>
+<td><a id="l59" class='ln'>59</a></td><td></td></tr>
 <tr name="60" id="60">
-<td><a id="l60" class='ln'>60</a></td><td>    12597, 12642, 12688, 12733, 12778, 12822, 12867, 12911, 12955, 12998, 13042,</td></tr>
+<td><a id="l60" class='ln'>60</a></td><td>  <span class="ct">/* Variable: cf_idKb</span></td></tr>
 <tr name="61" id="61">
-<td><a id="l61" class='ln'>61</a></td><td>    13085, 13128, 13170, 13213, 13255, 13297, 13338, 13380, 13421, 13462, 13502,</td></tr>
+<td><a id="l61" class='ln'>61</a></td><td><span class="ct">   * Referenced by: '&lt;S95&gt;/Constant6'</span></td></tr>
 <tr name="62" id="62">
-<td><a id="l62" class='ln'>62</a></td><td>    13543, 13583, 13623, 13662, 13702, 13741, 13780, 13818, 13856, 13894, 13932,</td></tr>
+<td><a id="l62" class='ln'>62</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="63" id="63">
-<td><a id="l63" class='ln'>63</a></td><td>    13970, 14007, 14044, 14081, 14117, 14153, 14189, 14225, 14260, 14295, 14330,</td></tr>
+<td><a id="l63" class='ln'>63</a></td><td>  81,</td></tr>
 <tr name="64" id="64">
-<td><a id="l64" class='ln'>64</a></td><td>    14364, 14399, 14433, 14466, 14500, 14533, 14566, 14598, 14631, 14663, 14694,</td></tr>
+<td><a id="l64" class='ln'>64</a></td><td></td></tr>
 <tr name="65" id="65">
-<td><a id="l65" class='ln'>65</a></td><td>    14726, 14757, 14788, 14819, 14849, 14879, 14909, 14938, 14968, 14996, 15025,</td></tr>
+<td><a id="l65" class='ln'>65</a></td><td>  <span class="ct">/* Variable: cf_idKi</span></td></tr>
 <tr name="66" id="66">
-<td><a id="l66" class='ln'>66</a></td><td>    15053, 15082, 15109, 15137, 15164, 15191, 15218, 15244, 15270, 15296, 15321,</td></tr>
+<td><a id="l66" class='ln'>66</a></td><td><span class="ct">   * Referenced by: '&lt;S95&gt;/Constant4'</span></td></tr>
 <tr name="67" id="67">
-<td><a id="l67" class='ln'>67</a></td><td>    15346, 15371, 15396, 15420, 15444, 15468, 15491, 15515, 15537, 15560, 15582,</td></tr>
+<td><a id="l67" class='ln'>67</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="68" id="68">
-<td><a id="l68" class='ln'>68</a></td><td>    15604, 15626, 15647, 15668, 15689, 15709, 15729, 15749, 15769, 15788, 15807,</td></tr>
+<td><a id="l68" class='ln'>68</a></td><td>  81,</td></tr>
 <tr name="69" id="69">
-<td><a id="l69" class='ln'>69</a></td><td>    15826, 15844, 15862, 15880, 15897, 15914, 15931, 15948, 15964, 15980, 15996,</td></tr>
+<td><a id="l69" class='ln'>69</a></td><td></td></tr>
 <tr name="70" id="70">
-<td><a id="l70" class='ln'>70</a></td><td>    16011, 16026, 16041, 16055, 16069, 16083, 16096, 16110, 16123, 16135, 16147,</td></tr>
+<td><a id="l70" class='ln'>70</a></td><td>  <span class="ct">/* Variable: cf_iqKb</span></td></tr>
 <tr name="71" id="71">
-<td><a id="l71" class='ln'>71</a></td><td>    16159, 16171, 16182, 16193, 16204, 16214, 16225, 16234, 16244, 16253, 16262,</td></tr>
+<td><a id="l71" class='ln'>71</a></td><td><span class="ct">   * Referenced by: '&lt;S95&gt;/Constant1'</span></td></tr>
 <tr name="72" id="72">
-<td><a id="l72" class='ln'>72</a></td><td>    16270, 16279, 16287, 16294, 16302, 16309, 16315, 16322, 16328, 16333, 16339,</td></tr>
+<td><a id="l72" class='ln'>72</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="73" id="73">
-<td><a id="l73" class='ln'>73</a></td><td>    16344, 16349, 16353, 16358, 16362, 16365, 16368, 16371, 16374, 16376, 16378,</td></tr>
+<td><a id="l73" class='ln'>73</a></td><td>  73,</td></tr>
 <tr name="74" id="74">
-<td><a id="l74" class='ln'>74</a></td><td>    16380, 16382, 16383, 16383, 16384, 16384, 16384, 16383, 16383, 16382, 16380,</td></tr>
+<td><a id="l74" class='ln'>74</a></td><td></td></tr>
 <tr name="75" id="75">
-<td><a id="l75" class='ln'>75</a></td><td>    16378, 16376, 16374, 16371, 16368, 16365, 16362, 16358, 16353, 16349, 16344,</td></tr>
+<td><a id="l75" class='ln'>75</a></td><td>  <span class="ct">/* Variable: cf_iqKi</span></td></tr>
 <tr name="76" id="76">
-<td><a id="l76" class='ln'>76</a></td><td>    16339, 16333, 16328, 16322, 16315, 16309, 16302, 16294, 16287, 16279, 16270,</td></tr>
+<td><a id="l76" class='ln'>76</a></td><td><span class="ct">   * Referenced by: '&lt;S95&gt;/Constant8'</span></td></tr>
 <tr name="77" id="77">
-<td><a id="l77" class='ln'>77</a></td><td>    16262, 16253, 16244, 16234, 16225, 16214, 16204, 16193, 16182, 16171, 16159,</td></tr>
+<td><a id="l77" class='ln'>77</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="78" id="78">
-<td><a id="l78" class='ln'>78</a></td><td>    16147, 16135, 16123, 16110, 16096, 16083, 16069, 16055, 16041, 16026, 16011,</td></tr>
+<td><a id="l78" class='ln'>78</a></td><td>  73,</td></tr>
 <tr name="79" id="79">
-<td><a id="l79" class='ln'>79</a></td><td>    15996, 15980, 15964, 15948, 15931, 15914, 15897, 15880, 15862, 15844, 15826,</td></tr>
+<td><a id="l79" class='ln'>79</a></td><td></td></tr>
 <tr name="80" id="80">
-<td><a id="l80" class='ln'>80</a></td><td>    15807, 15788, 15769, 15749, 15729, 15709, 15689, 15668, 15647, 15626, 15604,</td></tr>
+<td><a id="l80" class='ln'>80</a></td><td>  <span class="ct">/* Variable: cf_nKb</span></td></tr>
 <tr name="81" id="81">
-<td><a id="l81" class='ln'>81</a></td><td>    15582, 15560, 15537, 15515, 15491, 15468, 15444, 15420, 15396, 15371, 15346,</td></tr>
+<td><a id="l81" class='ln'>81</a></td><td><span class="ct">   * Referenced by: '&lt;S87&gt;/Constant11'</span></td></tr>
 <tr name="82" id="82">
-<td><a id="l82" class='ln'>82</a></td><td>    15321, 15296, 15270, 15244, 15218, 15191, 15164, 15137, 15109, 15082, 15053,</td></tr>
+<td><a id="l82" class='ln'>82</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="83" id="83">
-<td><a id="l83" class='ln'>83</a></td><td>    15025, 14996, 14968, 14938, 14909, 14879, 14849, 14819, 14788, 14757, 14726,</td></tr>
+<td><a id="l83" class='ln'>83</a></td><td>  147,</td></tr>
 <tr name="84" id="84">
-<td><a id="l84" class='ln'>84</a></td><td>    14694, 14663, 14631, 14598, 14566, 14533, 14500, 14466, 14433, 14399, 14364,</td></tr>
+<td><a id="l84" class='ln'>84</a></td><td></td></tr>
 <tr name="85" id="85">
-<td><a id="l85" class='ln'>85</a></td><td>    14330, 14295, 14260, 14225, 14189, 14153, 14117, 14081, 14044, 14007, 13970,</td></tr>
+<td><a id="l85" class='ln'>85</a></td><td>  <span class="ct">/* Variable: cf_nKi</span></td></tr>
 <tr name="86" id="86">
-<td><a id="l86" class='ln'>86</a></td><td>    13932, 13894, 13856, 13818, 13780, 13741, 13702, 13662, 13623, 13583, 13543,</td></tr>
+<td><a id="l86" class='ln'>86</a></td><td><span class="ct">   * Referenced by: '&lt;S87&gt;/Constant1'</span></td></tr>
 <tr name="87" id="87">
-<td><a id="l87" class='ln'>87</a></td><td>    13502, 13462, 13421, 13380, 13338, 13297, 13255, 13213, 13170, 13128, 13085,</td></tr>
+<td><a id="l87" class='ln'>87</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="88" id="88">
-<td><a id="l88" class='ln'>88</a></td><td>    13042, 12998, 12955, 12911, 12867, 12822, 12778, 12733, 12688, 12642, 12597,</td></tr>
+<td><a id="l88" class='ln'>88</a></td><td>  147,</td></tr>
 <tr name="89" id="89">
-<td><a id="l89" class='ln'>89</a></td><td>    12551, 12505, 12458, 12412, 12365, 12318, 12271, 12223, 12176, 12128, 12080,</td></tr>
+<td><a id="l89" class='ln'>89</a></td><td></td></tr>
 <tr name="90" id="90">
-<td><a id="l90" class='ln'>90</a></td><td>    12031, 11982, 11934, 11885, 11835, 11786, 11736, 11686, 11636, 11585, 11535,</td></tr>
+<td><a id="l90" class='ln'>90</a></td><td>  <span class="ct">/* Variable: i_hall_offset</span></td></tr>
 <tr name="91" id="91">
-<td><a id="l91" class='ln'>91</a></td><td>    11484, 11433, 11381, 11330, 11278, 11226, 11174, 11121, 11069, 11016, 10963,</td></tr>
+<td><a id="l91" class='ln'>91</a></td><td><span class="ct">   * Referenced by: '&lt;S15&gt;/Constant2'</span></td></tr>
 <tr name="92" id="92">
-<td><a id="l92" class='ln'>92</a></td><td>    10910, 10856, 10803, 10749, 10695, 10641, 10586, 10531, 10477, 10422, 10366,</td></tr>
+<td><a id="l92" class='ln'>92</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="93" id="93">
-<td><a id="l93" class='ln'>93</a></td><td>    10311, 10255, 10199, 10143, 10087, 10031, 9974, 9917, 9860, 9803, 9746, 9688,</td></tr>
+<td><a id="l93" class='ln'>93</a></td><td>  <a id="93c3" class="tk">-</a>480,</td></tr>
 <tr name="94" id="94">
-<td><a id="l94" class='ln'>94</a></td><td>    9630, 9572, 9514, 9456, 9397, 9339, 9280, 9221, 9162, 9102, 9043, 8983, 8923,</td></tr>
+<td><a id="l94" class='ln'>94</a></td><td></td></tr>
 <tr name="95" id="95">
-<td><a id="l95" class='ln'>95</a></td><td>    8863, 8803, 8743, 8682, 8621, 8561, 8500, 8438, 8377, 8316, 8254, 8192, 8130,</td></tr>
+<td><a id="l95" class='ln'>95</a></td><td>  <span class="ct">/* Variable: dz_OpenStepVol</span></td></tr>
 <tr name="96" id="96">
-<td><a id="l96" class='ln'>96</a></td><td>    8068, 8006, 7943, 7881, 7818, 7755, 7692, 7629, 7565, 7502, 7438, 7374, 7311,</td></tr>
+<td><a id="l96" class='ln'>96</a></td><td><span class="ct">   * Referenced by: '&lt;S29&gt;/Constant5'</span></td></tr>
 <tr name="97" id="97">
-<td><a id="l97" class='ln'>97</a></td><td>    7246, 7182, 7118, 7053, 6989, 6924, 6859, 6794, 6729, 6664, 6599, 6533, 6467,</td></tr>
+<td><a id="l97" class='ln'>97</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="98" id="98">
-<td><a id="l98" class='ln'>98</a></td><td>    6402, 6336, 6270, 6204, 6138, 6071, 6005, 5938, 5872, 5805, 5738, 5671, 5604,</td></tr>
+<td><a id="l98" class='ln'>98</a></td><td>  1280,</td></tr>
 <tr name="99" id="99">
-<td><a id="l99" class='ln'>99</a></td><td>    5536, 5469, 5402, 5334, 5266, 5199, 5131, 5063, 4995, 4927, 4859, 4790, 4722,</td></tr>
+<td><a id="l99" class='ln'>99</a></td><td></td></tr>
 <tr name="100" id="100">
-<td><a id="l100" class='ln'>100</a></td><td>    4653, 4585, 4516, 4447, 4378, 4310, 4240, 4171, 4102, 4033, 3964, 3894, 3825,</td></tr>
+<td><a id="l100" class='ln'>100</a></td><td>  <span class="ct">/* Variable: f_lpf_coeff</span></td></tr>
 <tr name="101" id="101">
-<td><a id="l101" class='ln'>101</a></td><td>    3755, 3686, 3616, 3546, 3476, 3406, 3336, 3266, 3196, 3126, 3056, 2986, 2915,</td></tr>
+<td><a id="l101" class='ln'>101</a></td><td><span class="ct">   * Referenced by: '&lt;S48&gt;/Constant'</span></td></tr>
 <tr name="102" id="102">
-<td><a id="l102" class='ln'>102</a></td><td>    2845, 2775, 2704, 2634, 2563, 2492, 2422, 2351, 2280, 2209, 2139, 2068, 1997,</td></tr>
+<td><a id="l102" class='ln'>102</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="103" id="103">
-<td><a id="l103" class='ln'>103</a></td><td>    1926, 1855, 1784, 1713, 1641, 1570, 1499, 1428, 1357, 1285, 1214, 1143, 1072,</td></tr>
+<td><a id="l103" class='ln'>103</a></td><td>  26214U</td></tr>
 <tr name="104" id="104">
-<td><a id="l104" class='ln'>104</a></td><td>    1000, 929, 857, 786, 715, 643, 572, 500, 429, 357, 286, 214, 143, 71, 0, <a id="104c78" class="tk">-</a>71,</td></tr>
+<td><a id="l104" class='ln'>104</a></td><td><span class="br">}</span>;</td></tr>
 <tr name="105" id="105">
-<td><a id="l105" class='ln'>105</a></td><td>    <a id="105c5" class="tk">-</a>143, <a id="105c11" class="tk">-</a>214, <a id="105c17" class="tk">-</a>286, <a id="105c23" class="tk">-</a>357, <a id="105c29" class="tk">-</a>429, <a id="105c35" class="tk">-</a>500, <a id="105c41" class="tk">-</a>572, <a id="105c47" class="tk">-</a>643, <a id="105c53" class="tk">-</a>715, <a id="105c59" class="tk">-</a>786, <a id="105c65" class="tk">-</a>857, <a id="105c71" class="tk">-</a>929,</td></tr>
+<td><a id="l105" class='ln'>105</a></td><td></td></tr>
 <tr name="106" id="106">
-<td><a id="l106" class='ln'>106</a></td><td>    <a id="106c5" class="tk">-</a>1000, <a id="106c12" class="tk">-</a>1072, <a id="106c19" class="tk">-</a>1143, <a id="106c26" class="tk">-</a>1214, <a id="106c33" class="tk">-</a>1285, <a id="106c40" class="tk">-</a>1357, <a id="106c47" class="tk">-</a>1428, <a id="106c54" class="tk">-</a>1499, <a id="106c61" class="tk">-</a>1570, <a id="106c68" class="tk">-</a>1641, <a id="106c75" class="tk">-</a>1713,</td></tr>
+<td><a id="l106" class='ln'>106</a></td><td><span class="ct">/* Constant parameters (default storage) */</span></td></tr>
 <tr name="107" id="107">
-<td><a id="l107" class='ln'>107</a></td><td>    <a id="107c5" class="tk">-</a>1784, <a id="107c12" class="tk">-</a>1855, <a id="107c19" class="tk">-</a>1926, <a id="107c26" class="tk">-</a>1997, <a id="107c33" class="tk">-</a>2068, <a id="107c40" class="tk">-</a>2139, <a id="107c47" class="tk">-</a>2209, <a id="107c54" class="tk">-</a>2280, <a id="107c61" class="tk">-</a>2351, <a id="107c68" class="tk">-</a>2422, <a id="107c75" class="tk">-</a>2492,</td></tr>
+<td><a id="l107" class='ln'>107</a></td><td><span class="kw">const</span> <a id="107c7" class="tk">ConstP</a> <a id="107c14" class="tk">rtConstP</a> = <span class="br">{</span></td></tr>
 <tr name="108" id="108">
-<td><a id="l108" class='ln'>108</a></td><td>    <a id="108c5" class="tk">-</a>2563, <a id="108c12" class="tk">-</a>2634, <a id="108c19" class="tk">-</a>2704, <a id="108c26" class="tk">-</a>2775, <a id="108c33" class="tk">-</a>2845, <a id="108c40" class="tk">-</a>2915, <a id="108c47" class="tk">-</a>2986, <a id="108c54" class="tk">-</a>3056, <a id="108c61" class="tk">-</a>3126, <a id="108c68" class="tk">-</a>3196, <a id="108c75" class="tk">-</a>3266,</td></tr>
+<td><a id="l108" class='ln'>108</a></td><td>  <span class="ct">/* Pooled Parameter (Expression: r_sin_M1)</span></td></tr>
 <tr name="109" id="109">
-<td><a id="l109" class='ln'>109</a></td><td>    <a id="109c5" class="tk">-</a>3336, <a id="109c12" class="tk">-</a>3406, <a id="109c19" class="tk">-</a>3476, <a id="109c26" class="tk">-</a>3546, <a id="109c33" class="tk">-</a>3616, <a id="109c40" class="tk">-</a>3686, <a id="109c47" class="tk">-</a>3755, <a id="109c54" class="tk">-</a>3825, <a id="109c61" class="tk">-</a>3894, <a id="109c68" class="tk">-</a>3964, <a id="109c75" class="tk">-</a>4033,</td></tr>
+<td><a id="l109" class='ln'>109</a></td><td><span class="ct">   * Referenced by:</span></td></tr>
 <tr name="110" id="110">
-<td><a id="l110" class='ln'>110</a></td><td>    <a id="110c5" class="tk">-</a>4102, <a id="110c12" class="tk">-</a>4171, <a id="110c19" class="tk">-</a>4240, <a id="110c26" class="tk">-</a>4310, <a id="110c33" class="tk">-</a>4378, <a id="110c40" class="tk">-</a>4447, <a id="110c47" class="tk">-</a>4516, <a id="110c54" class="tk">-</a>4585, <a id="110c61" class="tk">-</a>4653, <a id="110c68" class="tk">-</a>4722, <a id="110c75" class="tk">-</a>4790,</td></tr>
+<td><a id="l110" class='ln'>110</a></td><td><span class="ct">   *   '&lt;S59&gt;/r_sin_M1'</span></td></tr>
 <tr name="111" id="111">
-<td><a id="l111" class='ln'>111</a></td><td>    <a id="111c5" class="tk">-</a>4859, <a id="111c12" class="tk">-</a>4927, <a id="111c19" class="tk">-</a>4995, <a id="111c26" class="tk">-</a>5063, <a id="111c33" class="tk">-</a>5131, <a id="111c40" class="tk">-</a>5199, <a id="111c47" class="tk">-</a>5266, <a id="111c54" class="tk">-</a>5334, <a id="111c61" class="tk">-</a>5402, <a id="111c68" class="tk">-</a>5469, <a id="111c75" class="tk">-</a>5536,</td></tr>
+<td><a id="l111" class='ln'>111</a></td><td><span class="ct">   *   '&lt;S83&gt;/r_sin_M1'</span></td></tr>
 <tr name="112" id="112">
-<td><a id="l112" class='ln'>112</a></td><td>    <a id="112c5" class="tk">-</a>5604, <a id="112c12" class="tk">-</a>5671, <a id="112c19" class="tk">-</a>5738, <a id="112c26" class="tk">-</a>5805, <a id="112c33" class="tk">-</a>5872, <a id="112c40" class="tk">-</a>5938, <a id="112c47" class="tk">-</a>6005, <a id="112c54" class="tk">-</a>6071, <a id="112c61" class="tk">-</a>6138, <a id="112c68" class="tk">-</a>6204, <a id="112c75" class="tk">-</a>6270,</td></tr>
+<td><a id="l112" class='ln'>112</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="113" id="113">
-<td><a id="l113" class='ln'>113</a></td><td>    <a id="113c5" class="tk">-</a>6336, <a id="113c12" class="tk">-</a>6402, <a id="113c19" class="tk">-</a>6467, <a id="113c26" class="tk">-</a>6533, <a id="113c33" class="tk">-</a>6599, <a id="113c40" class="tk">-</a>6664, <a id="113c47" class="tk">-</a>6729, <a id="113c54" class="tk">-</a>6794, <a id="113c61" class="tk">-</a>6859, <a id="113c68" class="tk">-</a>6924, <a id="113c75" class="tk">-</a>6989,</td></tr>
+<td><a id="l113" class='ln'>113</a></td><td>  <span class="br">{</span> 0, 286, 572, 857, 1143, 1428, 1713, 1997, 2280, 2563, 2845, 3126, 3406, 3686,</td></tr>
 <tr name="114" id="114">
-<td><a id="l114" class='ln'>114</a></td><td>    <a id="114c5" class="tk">-</a>7053, <a id="114c12" class="tk">-</a>7118, <a id="114c19" class="tk">-</a>7182, <a id="114c26" class="tk">-</a>7246, <a id="114c33" class="tk">-</a>7311, <a id="114c40" class="tk">-</a>7374, <a id="114c47" class="tk">-</a>7438, <a id="114c54" class="tk">-</a>7502, <a id="114c61" class="tk">-</a>7565, <a id="114c68" class="tk">-</a>7629, <a id="114c75" class="tk">-</a>7692,</td></tr>
+<td><a id="l114" class='ln'>114</a></td><td>    3964, 4240, 4516, 4790, 5063, 5334, 5604, 5872, 6138, 6402, 6664, 6924, 7182,</td></tr>
 <tr name="115" id="115">
-<td><a id="l115" class='ln'>115</a></td><td>    <a id="115c5" class="tk">-</a>7755, <a id="115c12" class="tk">-</a>7818, <a id="115c19" class="tk">-</a>7881, <a id="115c26" class="tk">-</a>7943, <a id="115c33" class="tk">-</a>8006, <a id="115c40" class="tk">-</a>8068, <a id="115c47" class="tk">-</a>8130, <a id="115c54" class="tk">-</a>8192, <a id="115c61" class="tk">-</a>8254, <a id="115c68" class="tk">-</a>8316, <a id="115c75" class="tk">-</a>8377,</td></tr>
+<td><a id="l115" class='ln'>115</a></td><td>    7438, 7692, 7943, 8192, 8438, 8682, 8923, 9162, 9397, 9630, 9860, 10087,</td></tr>
 <tr name="116" id="116">
-<td><a id="l116" class='ln'>116</a></td><td>    <a id="116c5" class="tk">-</a>8438, <a id="116c12" class="tk">-</a>8500, <a id="116c19" class="tk">-</a>8561, <a id="116c26" class="tk">-</a>8621, <a id="116c33" class="tk">-</a>8682, <a id="116c40" class="tk">-</a>8743, <a id="116c47" class="tk">-</a>8803, <a id="116c54" class="tk">-</a>8863, <a id="116c61" class="tk">-</a>8923, <a id="116c68" class="tk">-</a>8983, <a id="116c75" class="tk">-</a>9043,</td></tr>
+<td><a id="l116" class='ln'>116</a></td><td>    10311, 10531, 10749, 10963, 11174, 11381, 11585, 11786, 11982, 12176, 12365,</td></tr>
 <tr name="117" id="117">
-<td><a id="l117" class='ln'>117</a></td><td>    <a id="117c5" class="tk">-</a>9102, <a id="117c12" class="tk">-</a>9162, <a id="117c19" class="tk">-</a>9221, <a id="117c26" class="tk">-</a>9280, <a id="117c33" class="tk">-</a>9339, <a id="117c40" class="tk">-</a>9397, <a id="117c47" class="tk">-</a>9456, <a id="117c54" class="tk">-</a>9514, <a id="117c61" class="tk">-</a>9572, <a id="117c68" class="tk">-</a>9630, <a id="117c75" class="tk">-</a>9688,</td></tr>
+<td><a id="l117" class='ln'>117</a></td><td>    12551, 12733, 12911, 13085, 13255, 13421, 13583, 13741, 13894, 14044, 14189,</td></tr>
 <tr name="118" id="118">
-<td><a id="l118" class='ln'>118</a></td><td>    <a id="118c5" class="tk">-</a>9746, <a id="118c12" class="tk">-</a>9803, <a id="118c19" class="tk">-</a>9860, <a id="118c26" class="tk">-</a>9917, <a id="118c33" class="tk">-</a>9974, <a id="118c40" class="tk">-</a>10031, <a id="118c48" class="tk">-</a>10087, <a id="118c56" class="tk">-</a>10143, <a id="118c64" class="tk">-</a>10199, <a id="118c72" class="tk">-</a>10255,</td></tr>
+<td><a id="l118" class='ln'>118</a></td><td>    14330, 14466, 14598, 14726, 14849, 14968, 15082, 15191, 15296, 15396, 15491,</td></tr>
 <tr name="119" id="119">
-<td><a id="l119" class='ln'>119</a></td><td>    <a id="119c5" class="tk">-</a>10311, <a id="119c13" class="tk">-</a>10366, <a id="119c21" class="tk">-</a>10422, <a id="119c29" class="tk">-</a>10477, <a id="119c37" class="tk">-</a>10531, <a id="119c45" class="tk">-</a>10586, <a id="119c53" class="tk">-</a>10641, <a id="119c61" class="tk">-</a>10695, <a id="119c69" class="tk">-</a>10749,</td></tr>
+<td><a id="l119" class='ln'>119</a></td><td>    15582, 15668, 15749, 15826, 15897, 15964, 16026, 16083, 16135, 16182, 16225,</td></tr>
 <tr name="120" id="120">
-<td><a id="l120" class='ln'>120</a></td><td>    <a id="120c5" class="tk">-</a>10803, <a id="120c13" class="tk">-</a>10856, <a id="120c21" class="tk">-</a>10910, <a id="120c29" class="tk">-</a>10963, <a id="120c37" class="tk">-</a>11016, <a id="120c45" class="tk">-</a>11069, <a id="120c53" class="tk">-</a>11121, <a id="120c61" class="tk">-</a>11174, <a id="120c69" class="tk">-</a>11226,</td></tr>
+<td><a id="l120" class='ln'>120</a></td><td>    16262, 16294, 16322, 16344, 16362, 16374, 16382, 16384, 16382, 16374, 16362,</td></tr>
 <tr name="121" id="121">
-<td><a id="l121" class='ln'>121</a></td><td>    <a id="121c5" class="tk">-</a>11278, <a id="121c13" class="tk">-</a>11330, <a id="121c21" class="tk">-</a>11381, <a id="121c29" class="tk">-</a>11433, <a id="121c37" class="tk">-</a>11484, <a id="121c45" class="tk">-</a>11535, <a id="121c53" class="tk">-</a>11585, <a id="121c61" class="tk">-</a>11636, <a id="121c69" class="tk">-</a>11686,</td></tr>
+<td><a id="l121" class='ln'>121</a></td><td>    16344, 16322, 16294, 16262, 16225, 16182, 16135, 16083, 16026, 15964, 15897,</td></tr>
 <tr name="122" id="122">
-<td><a id="l122" class='ln'>122</a></td><td>    <a id="122c5" class="tk">-</a>11736, <a id="122c13" class="tk">-</a>11786, <a id="122c21" class="tk">-</a>11835, <a id="122c29" class="tk">-</a>11885, <a id="122c37" class="tk">-</a>11934, <a id="122c45" class="tk">-</a>11982, <a id="122c53" class="tk">-</a>12031, <a id="122c61" class="tk">-</a>12080, <a id="122c69" class="tk">-</a>12128,</td></tr>
+<td><a id="l122" class='ln'>122</a></td><td>    15826, 15749, 15668, 15582, 15491, 15396, 15296, 15191, 15082, 14968, 14849,</td></tr>
 <tr name="123" id="123">
-<td><a id="l123" class='ln'>123</a></td><td>    <a id="123c5" class="tk">-</a>12176, <a id="123c13" class="tk">-</a>12223, <a id="123c21" class="tk">-</a>12271, <a id="123c29" class="tk">-</a>12318, <a id="123c37" class="tk">-</a>12365, <a id="123c45" class="tk">-</a>12412, <a id="123c53" class="tk">-</a>12458, <a id="123c61" class="tk">-</a>12505, <a id="123c69" class="tk">-</a>12551,</td></tr>
+<td><a id="l123" class='ln'>123</a></td><td>    14726, 14598, 14466, 14330, 14189, 14044, 13894, 13741, 13583, 13421, 13255,</td></tr>
 <tr name="124" id="124">
-<td><a id="l124" class='ln'>124</a></td><td>    <a id="124c5" class="tk">-</a>12597, <a id="124c13" class="tk">-</a>12642, <a id="124c21" class="tk">-</a>12688, <a id="124c29" class="tk">-</a>12733, <a id="124c37" class="tk">-</a>12778, <a id="124c45" class="tk">-</a>12822, <a id="124c53" class="tk">-</a>12867, <a id="124c61" class="tk">-</a>12911, <a id="124c69" class="tk">-</a>12955,</td></tr>
+<td><a id="l124" class='ln'>124</a></td><td>    13085, 12911, 12733, 12551, 12365, 12176, 11982, 11786, 11585, 11381, 11174,</td></tr>
 <tr name="125" id="125">
-<td><a id="l125" class='ln'>125</a></td><td>    <a id="125c5" class="tk">-</a>12998, <a id="125c13" class="tk">-</a>13042, <a id="125c21" class="tk">-</a>13085, <a id="125c29" class="tk">-</a>13128, <a id="125c37" class="tk">-</a>13170, <a id="125c45" class="tk">-</a>13213, <a id="125c53" class="tk">-</a>13255, <a id="125c61" class="tk">-</a>13297, <a id="125c69" class="tk">-</a>13338,</td></tr>
+<td><a id="l125" class='ln'>125</a></td><td>    10963, 10749, 10531, 10311, 10087, 9860, 9630, 9397, 9162, 8923, 8682, 8438,</td></tr>
 <tr name="126" id="126">
-<td><a id="l126" class='ln'>126</a></td><td>    <a id="126c5" class="tk">-</a>13380, <a id="126c13" class="tk">-</a>13421, <a id="126c21" class="tk">-</a>13462, <a id="126c29" class="tk">-</a>13502, <a id="126c37" class="tk">-</a>13543, <a id="126c45" class="tk">-</a>13583, <a id="126c53" class="tk">-</a>13623, <a id="126c61" class="tk">-</a>13662, <a id="126c69" class="tk">-</a>13702,</td></tr>
+<td><a id="l126" class='ln'>126</a></td><td>    8192, 7943, 7692, 7438, 7182, 6924, 6664, 6402, 6138, 5872, 5604, 5334, 5063,</td></tr>
 <tr name="127" id="127">
-<td><a id="l127" class='ln'>127</a></td><td>    <a id="127c5" class="tk">-</a>13741, <a id="127c13" class="tk">-</a>13780, <a id="127c21" class="tk">-</a>13818, <a id="127c29" class="tk">-</a>13856, <a id="127c37" class="tk">-</a>13894, <a id="127c45" class="tk">-</a>13932, <a id="127c53" class="tk">-</a>13970, <a id="127c61" class="tk">-</a>14007, <a id="127c69" class="tk">-</a>14044,</td></tr>
+<td><a id="l127" class='ln'>127</a></td><td>    4790, 4516, 4240, 3964, 3686, 3406, 3126, 2845, 2563, 2280, 1997, 1713, 1428,</td></tr>
 <tr name="128" id="128">
-<td><a id="l128" class='ln'>128</a></td><td>    <a id="128c5" class="tk">-</a>14081, <a id="128c13" class="tk">-</a>14117, <a id="128c21" class="tk">-</a>14153, <a id="128c29" class="tk">-</a>14189, <a id="128c37" class="tk">-</a>14225, <a id="128c45" class="tk">-</a>14260, <a id="128c53" class="tk">-</a>14295, <a id="128c61" class="tk">-</a>14330, <a id="128c69" class="tk">-</a>14364,</td></tr>
+<td><a id="l128" class='ln'>128</a></td><td>    1143, 857, 572, 286, 0, <a id="128c29" class="tk">-</a>286, <a id="128c35" class="tk">-</a>572, <a id="128c41" class="tk">-</a>857, <a id="128c47" class="tk">-</a>1143, <a id="128c54" class="tk">-</a>1428, <a id="128c61" class="tk">-</a>1713, <a id="128c68" class="tk">-</a>1997, <a id="128c75" class="tk">-</a>2280,</td></tr>
 <tr name="129" id="129">
-<td><a id="l129" class='ln'>129</a></td><td>    <a id="129c5" class="tk">-</a>14399, <a id="129c13" class="tk">-</a>14433, <a id="129c21" class="tk">-</a>14466, <a id="129c29" class="tk">-</a>14500, <a id="129c37" class="tk">-</a>14533, <a id="129c45" class="tk">-</a>14566, <a id="129c53" class="tk">-</a>14598, <a id="129c61" class="tk">-</a>14631, <a id="129c69" class="tk">-</a>14663,</td></tr>
+<td><a id="l129" class='ln'>129</a></td><td>    <a id="129c5" class="tk">-</a>2563, <a id="129c12" class="tk">-</a>2845, <a id="129c19" class="tk">-</a>3126, <a id="129c26" class="tk">-</a>3406, <a id="129c33" class="tk">-</a>3686, <a id="129c40" class="tk">-</a>3964, <a id="129c47" class="tk">-</a>4240, <a id="129c54" class="tk">-</a>4516, <a id="129c61" class="tk">-</a>4790, <a id="129c68" class="tk">-</a>5063, <a id="129c75" class="tk">-</a>5334,</td></tr>
 <tr name="130" id="130">
-<td><a id="l130" class='ln'>130</a></td><td>    <a id="130c5" class="tk">-</a>14694, <a id="130c13" class="tk">-</a>14726, <a id="130c21" class="tk">-</a>14757, <a id="130c29" class="tk">-</a>14788, <a id="130c37" class="tk">-</a>14819, <a id="130c45" class="tk">-</a>14849, <a id="130c53" class="tk">-</a>14879, <a id="130c61" class="tk">-</a>14909, <a id="130c69" class="tk">-</a>14938,</td></tr>
+<td><a id="l130" class='ln'>130</a></td><td>    <a id="130c5" class="tk">-</a>5604, <a id="130c12" class="tk">-</a>5872, <a id="130c19" class="tk">-</a>6138, <a id="130c26" class="tk">-</a>6402, <a id="130c33" class="tk">-</a>6664, <a id="130c40" class="tk">-</a>6924, <a id="130c47" class="tk">-</a>7182, <a id="130c54" class="tk">-</a>7438, <a id="130c61" class="tk">-</a>7692, <a id="130c68" class="tk">-</a>7943, <a id="130c75" class="tk">-</a>8192,</td></tr>
 <tr name="131" id="131">
-<td><a id="l131" class='ln'>131</a></td><td>    <a id="131c5" class="tk">-</a>14968, <a id="131c13" class="tk">-</a>14996, <a id="131c21" class="tk">-</a>15025, <a id="131c29" class="tk">-</a>15053, <a id="131c37" class="tk">-</a>15082, <a id="131c45" class="tk">-</a>15109, <a id="131c53" class="tk">-</a>15137, <a id="131c61" class="tk">-</a>15164, <a id="131c69" class="tk">-</a>15191,</td></tr>
+<td><a id="l131" class='ln'>131</a></td><td>    <a id="131c5" class="tk">-</a>8438, <a id="131c12" class="tk">-</a>8682, <a id="131c19" class="tk">-</a>8923, <a id="131c26" class="tk">-</a>9162, <a id="131c33" class="tk">-</a>9397, <a id="131c40" class="tk">-</a>9630, <a id="131c47" class="tk">-</a>9860, <a id="131c54" class="tk">-</a>10087, <a id="131c62" class="tk">-</a>10311, <a id="131c70" class="tk">-</a>10531,</td></tr>
 <tr name="132" id="132">
-<td><a id="l132" class='ln'>132</a></td><td>    <a id="132c5" class="tk">-</a>15218, <a id="132c13" class="tk">-</a>15244, <a id="132c21" class="tk">-</a>15270, <a id="132c29" class="tk">-</a>15296, <a id="132c37" class="tk">-</a>15321, <a id="132c45" class="tk">-</a>15346, <a id="132c53" class="tk">-</a>15371, <a id="132c61" class="tk">-</a>15396, <a id="132c69" class="tk">-</a>15420,</td></tr>
+<td><a id="l132" class='ln'>132</a></td><td>    <a id="132c5" class="tk">-</a>10749, <a id="132c13" class="tk">-</a>10963, <a id="132c21" class="tk">-</a>11174, <a id="132c29" class="tk">-</a>11381, <a id="132c37" class="tk">-</a>11585, <a id="132c45" class="tk">-</a>11786, <a id="132c53" class="tk">-</a>11982, <a id="132c61" class="tk">-</a>12176, <a id="132c69" class="tk">-</a>12365,</td></tr>
 <tr name="133" id="133">
-<td><a id="l133" class='ln'>133</a></td><td>    <a id="133c5" class="tk">-</a>15444, <a id="133c13" class="tk">-</a>15468, <a id="133c21" class="tk">-</a>15491, <a id="133c29" class="tk">-</a>15515, <a id="133c37" class="tk">-</a>15537, <a id="133c45" class="tk">-</a>15560, <a id="133c53" class="tk">-</a>15582, <a id="133c61" class="tk">-</a>15604, <a id="133c69" class="tk">-</a>15626,</td></tr>
+<td><a id="l133" class='ln'>133</a></td><td>    <a id="133c5" class="tk">-</a>12551, <a id="133c13" class="tk">-</a>12733, <a id="133c21" class="tk">-</a>12911, <a id="133c29" class="tk">-</a>13085, <a id="133c37" class="tk">-</a>13255, <a id="133c45" class="tk">-</a>13421, <a id="133c53" class="tk">-</a>13583, <a id="133c61" class="tk">-</a>13741, <a id="133c69" class="tk">-</a>13894,</td></tr>
 <tr name="134" id="134">
-<td><a id="l134" class='ln'>134</a></td><td>    <a id="134c5" class="tk">-</a>15647, <a id="134c13" class="tk">-</a>15668, <a id="134c21" class="tk">-</a>15689, <a id="134c29" class="tk">-</a>15709, <a id="134c37" class="tk">-</a>15729, <a id="134c45" class="tk">-</a>15749, <a id="134c53" class="tk">-</a>15769, <a id="134c61" class="tk">-</a>15788, <a id="134c69" class="tk">-</a>15807,</td></tr>
+<td><a id="l134" class='ln'>134</a></td><td>    <a id="134c5" class="tk">-</a>14044, <a id="134c13" class="tk">-</a>14189, <a id="134c21" class="tk">-</a>14330, <a id="134c29" class="tk">-</a>14466, <a id="134c37" class="tk">-</a>14598, <a id="134c45" class="tk">-</a>14726, <a id="134c53" class="tk">-</a>14849, <a id="134c61" class="tk">-</a>14968, <a id="134c69" class="tk">-</a>15082,</td></tr>
 <tr name="135" id="135">
-<td><a id="l135" class='ln'>135</a></td><td>    <a id="135c5" class="tk">-</a>15826, <a id="135c13" class="tk">-</a>15844, <a id="135c21" class="tk">-</a>15862, <a id="135c29" class="tk">-</a>15880, <a id="135c37" class="tk">-</a>15897, <a id="135c45" class="tk">-</a>15914, <a id="135c53" class="tk">-</a>15931, <a id="135c61" class="tk">-</a>15948, <a id="135c69" class="tk">-</a>15964,</td></tr>
+<td><a id="l135" class='ln'>135</a></td><td>    <a id="135c5" class="tk">-</a>15191, <a id="135c13" class="tk">-</a>15296, <a id="135c21" class="tk">-</a>15396, <a id="135c29" class="tk">-</a>15491, <a id="135c37" class="tk">-</a>15582, <a id="135c45" class="tk">-</a>15668, <a id="135c53" class="tk">-</a>15749, <a id="135c61" class="tk">-</a>15826, <a id="135c69" class="tk">-</a>15897,</td></tr>
 <tr name="136" id="136">
-<td><a id="l136" class='ln'>136</a></td><td>    <a id="136c5" class="tk">-</a>15980, <a id="136c13" class="tk">-</a>15996, <a id="136c21" class="tk">-</a>16011, <a id="136c29" class="tk">-</a>16026, <a id="136c37" class="tk">-</a>16041, <a id="136c45" class="tk">-</a>16055, <a id="136c53" class="tk">-</a>16069, <a id="136c61" class="tk">-</a>16083, <a id="136c69" class="tk">-</a>16096,</td></tr>
+<td><a id="l136" class='ln'>136</a></td><td>    <a id="136c5" class="tk">-</a>15964, <a id="136c13" class="tk">-</a>16026, <a id="136c21" class="tk">-</a>16083, <a id="136c29" class="tk">-</a>16135, <a id="136c37" class="tk">-</a>16182, <a id="136c45" class="tk">-</a>16225, <a id="136c53" class="tk">-</a>16262, <a id="136c61" class="tk">-</a>16294, <a id="136c69" class="tk">-</a>16322,</td></tr>
 <tr name="137" id="137">
-<td><a id="l137" class='ln'>137</a></td><td>    <a id="137c5" class="tk">-</a>16110, <a id="137c13" class="tk">-</a>16123, <a id="137c21" class="tk">-</a>16135, <a id="137c29" class="tk">-</a>16147, <a id="137c37" class="tk">-</a>16159, <a id="137c45" class="tk">-</a>16171, <a id="137c53" class="tk">-</a>16182, <a id="137c61" class="tk">-</a>16193, <a id="137c69" class="tk">-</a>16204,</td></tr>
+<td><a id="l137" class='ln'>137</a></td><td>    <a id="137c5" class="tk">-</a>16344, <a id="137c13" class="tk">-</a>16362, <a id="137c21" class="tk">-</a>16374, <a id="137c29" class="tk">-</a>16382, <a id="137c37" class="tk">-</a>16384, <a id="137c45" class="tk">-</a>16382, <a id="137c53" class="tk">-</a>16374, <a id="137c61" class="tk">-</a>16362, <a id="137c69" class="tk">-</a>16344,</td></tr>
 <tr name="138" id="138">
-<td><a id="l138" class='ln'>138</a></td><td>    <a id="138c5" class="tk">-</a>16214, <a id="138c13" class="tk">-</a>16225, <a id="138c21" class="tk">-</a>16234, <a id="138c29" class="tk">-</a>16244, <a id="138c37" class="tk">-</a>16253, <a id="138c45" class="tk">-</a>16262, <a id="138c53" class="tk">-</a>16270, <a id="138c61" class="tk">-</a>16279, <a id="138c69" class="tk">-</a>16287,</td></tr>
+<td><a id="l138" class='ln'>138</a></td><td>    <a id="138c5" class="tk">-</a>16322, <a id="138c13" class="tk">-</a>16294, <a id="138c21" class="tk">-</a>16262, <a id="138c29" class="tk">-</a>16225, <a id="138c37" class="tk">-</a>16182, <a id="138c45" class="tk">-</a>16135, <a id="138c53" class="tk">-</a>16083, <a id="138c61" class="tk">-</a>16026, <a id="138c69" class="tk">-</a>15964,</td></tr>
 <tr name="139" id="139">
-<td><a id="l139" class='ln'>139</a></td><td>    <a id="139c5" class="tk">-</a>16294, <a id="139c13" class="tk">-</a>16302, <a id="139c21" class="tk">-</a>16309, <a id="139c29" class="tk">-</a>16315, <a id="139c37" class="tk">-</a>16322, <a id="139c45" class="tk">-</a>16328, <a id="139c53" class="tk">-</a>16333, <a id="139c61" class="tk">-</a>16339, <a id="139c69" class="tk">-</a>16344,</td></tr>
+<td><a id="l139" class='ln'>139</a></td><td>    <a id="139c5" class="tk">-</a>15897, <a id="139c13" class="tk">-</a>15826, <a id="139c21" class="tk">-</a>15749, <a id="139c29" class="tk">-</a>15668, <a id="139c37" class="tk">-</a>15582, <a id="139c45" class="tk">-</a>15491, <a id="139c53" class="tk">-</a>15396, <a id="139c61" class="tk">-</a>15296, <a id="139c69" class="tk">-</a>15191,</td></tr>
 <tr name="140" id="140">
-<td><a id="l140" class='ln'>140</a></td><td>    <a id="140c5" class="tk">-</a>16349, <a id="140c13" class="tk">-</a>16353, <a id="140c21" class="tk">-</a>16358, <a id="140c29" class="tk">-</a>16362, <a id="140c37" class="tk">-</a>16365, <a id="140c45" class="tk">-</a>16368, <a id="140c53" class="tk">-</a>16371, <a id="140c61" class="tk">-</a>16374, <a id="140c69" class="tk">-</a>16376,</td></tr>
+<td><a id="l140" class='ln'>140</a></td><td>    <a id="140c5" class="tk">-</a>15082, <a id="140c13" class="tk">-</a>14968, <a id="140c21" class="tk">-</a>14849, <a id="140c29" class="tk">-</a>14726, <a id="140c37" class="tk">-</a>14598, <a id="140c45" class="tk">-</a>14466, <a id="140c53" class="tk">-</a>14330, <a id="140c61" class="tk">-</a>14189, <a id="140c69" class="tk">-</a>14044,</td></tr>
 <tr name="141" id="141">
-<td><a id="l141" class='ln'>141</a></td><td>    <a id="141c5" class="tk">-</a>16378, <a id="141c13" class="tk">-</a>16380, <a id="141c21" class="tk">-</a>16382, <a id="141c29" class="tk">-</a>16383, <a id="141c37" class="tk">-</a>16383, <a id="141c45" class="tk">-</a>16384, <a id="141c53" class="tk">-</a>16384, <a id="141c61" class="tk">-</a>16384, <a id="141c69" class="tk">-</a>16383,</td></tr>
+<td><a id="l141" class='ln'>141</a></td><td>    <a id="141c5" class="tk">-</a>13894, <a id="141c13" class="tk">-</a>13741, <a id="141c21" class="tk">-</a>13583, <a id="141c29" class="tk">-</a>13421, <a id="141c37" class="tk">-</a>13255, <a id="141c45" class="tk">-</a>13085, <a id="141c53" class="tk">-</a>12911, <a id="141c61" class="tk">-</a>12733, <a id="141c69" class="tk">-</a>12551,</td></tr>
 <tr name="142" id="142">
-<td><a id="l142" class='ln'>142</a></td><td>    <a id="142c5" class="tk">-</a>16383, <a id="142c13" class="tk">-</a>16382, <a id="142c21" class="tk">-</a>16380, <a id="142c29" class="tk">-</a>16378, <a id="142c37" class="tk">-</a>16376, <a id="142c45" class="tk">-</a>16374, <a id="142c53" class="tk">-</a>16371, <a id="142c61" class="tk">-</a>16368, <a id="142c69" class="tk">-</a>16365,</td></tr>
+<td><a id="l142" class='ln'>142</a></td><td>    <a id="142c5" class="tk">-</a>12365, <a id="142c13" class="tk">-</a>12176, <a id="142c21" class="tk">-</a>11982, <a id="142c29" class="tk">-</a>11786, <a id="142c37" class="tk">-</a>11585, <a id="142c45" class="tk">-</a>11381, <a id="142c53" class="tk">-</a>11174, <a id="142c61" class="tk">-</a>10963, <a id="142c69" class="tk">-</a>10749,</td></tr>
 <tr name="143" id="143">
-<td><a id="l143" class='ln'>143</a></td><td>    <a id="143c5" class="tk">-</a>16362, <a id="143c13" class="tk">-</a>16358, <a id="143c21" class="tk">-</a>16353, <a id="143c29" class="tk">-</a>16349, <a id="143c37" class="tk">-</a>16344, <a id="143c45" class="tk">-</a>16339, <a id="143c53" class="tk">-</a>16333, <a id="143c61" class="tk">-</a>16328, <a id="143c69" class="tk">-</a>16322,</td></tr>
+<td><a id="l143" class='ln'>143</a></td><td>    <a id="143c5" class="tk">-</a>10531, <a id="143c13" class="tk">-</a>10311, <a id="143c21" class="tk">-</a>10087, <a id="143c29" class="tk">-</a>9860, <a id="143c36" class="tk">-</a>9630, <a id="143c43" class="tk">-</a>9397, <a id="143c50" class="tk">-</a>9162, <a id="143c57" class="tk">-</a>8923, <a id="143c64" class="tk">-</a>8682, <a id="143c71" class="tk">-</a>8438,</td></tr>
 <tr name="144" id="144">
-<td><a id="l144" class='ln'>144</a></td><td>    <a id="144c5" class="tk">-</a>16315, <a id="144c13" class="tk">-</a>16309, <a id="144c21" class="tk">-</a>16302, <a id="144c29" class="tk">-</a>16294, <a id="144c37" class="tk">-</a>16287, <a id="144c45" class="tk">-</a>16279, <a id="144c53" class="tk">-</a>16270, <a id="144c61" class="tk">-</a>16262, <a id="144c69" class="tk">-</a>16253,</td></tr>
+<td><a id="l144" class='ln'>144</a></td><td>    <a id="144c5" class="tk">-</a>8192, <a id="144c12" class="tk">-</a>7943, <a id="144c19" class="tk">-</a>7692, <a id="144c26" class="tk">-</a>7438, <a id="144c33" class="tk">-</a>7182, <a id="144c40" class="tk">-</a>6924, <a id="144c47" class="tk">-</a>6664, <a id="144c54" class="tk">-</a>6402, <a id="144c61" class="tk">-</a>6138, <a id="144c68" class="tk">-</a>5872, <a id="144c75" class="tk">-</a>5604,</td></tr>
 <tr name="145" id="145">
-<td><a id="l145" class='ln'>145</a></td><td>    <a id="145c5" class="tk">-</a>16244, <a id="145c13" class="tk">-</a>16234, <a id="145c21" class="tk">-</a>16225, <a id="145c29" class="tk">-</a>16214, <a id="145c37" class="tk">-</a>16204, <a id="145c45" class="tk">-</a>16193, <a id="145c53" class="tk">-</a>16182, <a id="145c61" class="tk">-</a>16171, <a id="145c69" class="tk">-</a>16159,</td></tr>
+<td><a id="l145" class='ln'>145</a></td><td>    <a id="145c5" class="tk">-</a>5334, <a id="145c12" class="tk">-</a>5063, <a id="145c19" class="tk">-</a>4790, <a id="145c26" class="tk">-</a>4516, <a id="145c33" class="tk">-</a>4240, <a id="145c40" class="tk">-</a>3964, <a id="145c47" class="tk">-</a>3686, <a id="145c54" class="tk">-</a>3406, <a id="145c61" class="tk">-</a>3126, <a id="145c68" class="tk">-</a>2845, <a id="145c75" class="tk">-</a>2563,</td></tr>
 <tr name="146" id="146">
-<td><a id="l146" class='ln'>146</a></td><td>    <a id="146c5" class="tk">-</a>16147, <a id="146c13" class="tk">-</a>16135, <a id="146c21" class="tk">-</a>16123, <a id="146c29" class="tk">-</a>16110, <a id="146c37" class="tk">-</a>16096, <a id="146c45" class="tk">-</a>16083, <a id="146c53" class="tk">-</a>16069, <a id="146c61" class="tk">-</a>16055, <a id="146c69" class="tk">-</a>16041,</td></tr>
+<td><a id="l146" class='ln'>146</a></td><td>    <a id="146c5" class="tk">-</a>2280, <a id="146c12" class="tk">-</a>1997, <a id="146c19" class="tk">-</a>1713, <a id="146c26" class="tk">-</a>1428, <a id="146c33" class="tk">-</a>1143, <a id="146c40" class="tk">-</a>857, <a id="146c46" class="tk">-</a>572, <a id="146c52" class="tk">-</a>286, 0 <span class="br">}</span>,</td></tr>
 <tr name="147" id="147">
-<td><a id="l147" class='ln'>147</a></td><td>    <a id="147c5" class="tk">-</a>16026, <a id="147c13" class="tk">-</a>16011, <a id="147c21" class="tk">-</a>15996, <a id="147c29" class="tk">-</a>15980, <a id="147c37" class="tk">-</a>15964, <a id="147c45" class="tk">-</a>15948, <a id="147c53" class="tk">-</a>15931, <a id="147c61" class="tk">-</a>15914, <a id="147c69" class="tk">-</a>15897,</td></tr>
+<td><a id="l147" class='ln'>147</a></td><td></td></tr>
 <tr name="148" id="148">
-<td><a id="l148" class='ln'>148</a></td><td>    <a id="148c5" class="tk">-</a>15880, <a id="148c13" class="tk">-</a>15862, <a id="148c21" class="tk">-</a>15844, <a id="148c29" class="tk">-</a>15826, <a id="148c37" class="tk">-</a>15807, <a id="148c45" class="tk">-</a>15788, <a id="148c53" class="tk">-</a>15769, <a id="148c61" class="tk">-</a>15749, <a id="148c69" class="tk">-</a>15729,</td></tr>
+<td><a id="l148" class='ln'>148</a></td><td>  <span class="ct">/* Pooled Parameter (Expression: r_cos_M1)</span></td></tr>
 <tr name="149" id="149">
-<td><a id="l149" class='ln'>149</a></td><td>    <a id="149c5" class="tk">-</a>15709, <a id="149c13" class="tk">-</a>15689, <a id="149c21" class="tk">-</a>15668, <a id="149c29" class="tk">-</a>15647, <a id="149c37" class="tk">-</a>15626, <a id="149c45" class="tk">-</a>15604, <a id="149c53" class="tk">-</a>15582, <a id="149c61" class="tk">-</a>15560, <a id="149c69" class="tk">-</a>15537,</td></tr>
+<td><a id="l149" class='ln'>149</a></td><td><span class="ct">   * Referenced by:</span></td></tr>
 <tr name="150" id="150">
-<td><a id="l150" class='ln'>150</a></td><td>    <a id="150c5" class="tk">-</a>15515, <a id="150c13" class="tk">-</a>15491, <a id="150c21" class="tk">-</a>15468, <a id="150c29" class="tk">-</a>15444, <a id="150c37" class="tk">-</a>15420, <a id="150c45" class="tk">-</a>15396, <a id="150c53" class="tk">-</a>15371, <a id="150c61" class="tk">-</a>15346, <a id="150c69" class="tk">-</a>15321,</td></tr>
+<td><a id="l150" class='ln'>150</a></td><td><span class="ct">   *   '&lt;S59&gt;/r_cos_M1'</span></td></tr>
 <tr name="151" id="151">
-<td><a id="l151" class='ln'>151</a></td><td>    <a id="151c5" class="tk">-</a>15296, <a id="151c13" class="tk">-</a>15270, <a id="151c21" class="tk">-</a>15244, <a id="151c29" class="tk">-</a>15218, <a id="151c37" class="tk">-</a>15191, <a id="151c45" class="tk">-</a>15164, <a id="151c53" class="tk">-</a>15137, <a id="151c61" class="tk">-</a>15109, <a id="151c69" class="tk">-</a>15082,</td></tr>
+<td><a id="l151" class='ln'>151</a></td><td><span class="ct">   *   '&lt;S83&gt;/r_cos_M1'</span></td></tr>
 <tr name="152" id="152">
-<td><a id="l152" class='ln'>152</a></td><td>    <a id="152c5" class="tk">-</a>15053, <a id="152c13" class="tk">-</a>15025, <a id="152c21" class="tk">-</a>14996, <a id="152c29" class="tk">-</a>14968, <a id="152c37" class="tk">-</a>14938, <a id="152c45" class="tk">-</a>14909, <a id="152c53" class="tk">-</a>14879, <a id="152c61" class="tk">-</a>14849, <a id="152c69" class="tk">-</a>14819,</td></tr>
+<td><a id="l152" class='ln'>152</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="153" id="153">
-<td><a id="l153" class='ln'>153</a></td><td>    <a id="153c5" class="tk">-</a>14788, <a id="153c13" class="tk">-</a>14757, <a id="153c21" class="tk">-</a>14726, <a id="153c29" class="tk">-</a>14694, <a id="153c37" class="tk">-</a>14663, <a id="153c45" class="tk">-</a>14631, <a id="153c53" class="tk">-</a>14598, <a id="153c61" class="tk">-</a>14566, <a id="153c69" class="tk">-</a>14533,</td></tr>
+<td><a id="l153" class='ln'>153</a></td><td>  <span class="br">{</span> 16384, 16382, 16374, 16362, 16344, 16322, 16294, 16262, 16225, 16182, 16135,</td></tr>
 <tr name="154" id="154">
-<td><a id="l154" class='ln'>154</a></td><td>    <a id="154c5" class="tk">-</a>14500, <a id="154c13" class="tk">-</a>14466, <a id="154c21" class="tk">-</a>14433, <a id="154c29" class="tk">-</a>14399, <a id="154c37" class="tk">-</a>14364, <a id="154c45" class="tk">-</a>14330, <a id="154c53" class="tk">-</a>14295, <a id="154c61" class="tk">-</a>14260, <a id="154c69" class="tk">-</a>14225,</td></tr>
+<td><a id="l154" class='ln'>154</a></td><td>    16083, 16026, 15964, 15897, 15826, 15749, 15668, 15582, 15491, 15396, 15296,</td></tr>
 <tr name="155" id="155">
-<td><a id="l155" class='ln'>155</a></td><td>    <a id="155c5" class="tk">-</a>14189, <a id="155c13" class="tk">-</a>14153, <a id="155c21" class="tk">-</a>14117, <a id="155c29" class="tk">-</a>14081, <a id="155c37" class="tk">-</a>14044, <a id="155c45" class="tk">-</a>14007, <a id="155c53" class="tk">-</a>13970, <a id="155c61" class="tk">-</a>13932, <a id="155c69" class="tk">-</a>13894,</td></tr>
+<td><a id="l155" class='ln'>155</a></td><td>    15191, 15082, 14968, 14849, 14726, 14598, 14466, 14330, 14189, 14044, 13894,</td></tr>
 <tr name="156" id="156">
-<td><a id="l156" class='ln'>156</a></td><td>    <a id="156c5" class="tk">-</a>13856, <a id="156c13" class="tk">-</a>13818, <a id="156c21" class="tk">-</a>13780, <a id="156c29" class="tk">-</a>13741, <a id="156c37" class="tk">-</a>13702, <a id="156c45" class="tk">-</a>13662, <a id="156c53" class="tk">-</a>13623, <a id="156c61" class="tk">-</a>13583, <a id="156c69" class="tk">-</a>13543,</td></tr>
+<td><a id="l156" class='ln'>156</a></td><td>    13741, 13583, 13421, 13255, 13085, 12911, 12733, 12551, 12365, 12176, 11982,</td></tr>
 <tr name="157" id="157">
-<td><a id="l157" class='ln'>157</a></td><td>    <a id="157c5" class="tk">-</a>13502, <a id="157c13" class="tk">-</a>13462, <a id="157c21" class="tk">-</a>13421, <a id="157c29" class="tk">-</a>13380, <a id="157c37" class="tk">-</a>13338, <a id="157c45" class="tk">-</a>13297, <a id="157c53" class="tk">-</a>13255, <a id="157c61" class="tk">-</a>13213, <a id="157c69" class="tk">-</a>13170,</td></tr>
+<td><a id="l157" class='ln'>157</a></td><td>    11786, 11585, 11381, 11174, 10963, 10749, 10531, 10311, 10087, 9860, 9630,</td></tr>
 <tr name="158" id="158">
-<td><a id="l158" class='ln'>158</a></td><td>    <a id="158c5" class="tk">-</a>13128, <a id="158c13" class="tk">-</a>13085, <a id="158c21" class="tk">-</a>13042, <a id="158c29" class="tk">-</a>12998, <a id="158c37" class="tk">-</a>12955, <a id="158c45" class="tk">-</a>12911, <a id="158c53" class="tk">-</a>12867, <a id="158c61" class="tk">-</a>12822, <a id="158c69" class="tk">-</a>12778,</td></tr>
+<td><a id="l158" class='ln'>158</a></td><td>    9397, 9162, 8923, 8682, 8438, 8192, 7943, 7692, 7438, 7182, 6924, 6664, 6402,</td></tr>
 <tr name="159" id="159">
-<td><a id="l159" class='ln'>159</a></td><td>    <a id="159c5" class="tk">-</a>12733, <a id="159c13" class="tk">-</a>12688, <a id="159c21" class="tk">-</a>12642, <a id="159c29" class="tk">-</a>12597, <a id="159c37" class="tk">-</a>12551, <a id="159c45" class="tk">-</a>12505, <a id="159c53" class="tk">-</a>12458, <a id="159c61" class="tk">-</a>12412, <a id="159c69" class="tk">-</a>12365,</td></tr>
+<td><a id="l159" class='ln'>159</a></td><td>    6138, 5872, 5604, 5334, 5063, 4790, 4516, 4240, 3964, 3686, 3406, 3126, 2845,</td></tr>
 <tr name="160" id="160">
-<td><a id="l160" class='ln'>160</a></td><td>    <a id="160c5" class="tk">-</a>12318, <a id="160c13" class="tk">-</a>12271, <a id="160c21" class="tk">-</a>12223, <a id="160c29" class="tk">-</a>12176, <a id="160c37" class="tk">-</a>12128, <a id="160c45" class="tk">-</a>12080, <a id="160c53" class="tk">-</a>12031, <a id="160c61" class="tk">-</a>11982, <a id="160c69" class="tk">-</a>11934,</td></tr>
+<td><a id="l160" class='ln'>160</a></td><td>    2563, 2280, 1997, 1713, 1428, 1143, 857, 572, 286, 0, <a id="160c59" class="tk">-</a>286, <a id="160c65" class="tk">-</a>572, <a id="160c71" class="tk">-</a>857,</td></tr>
 <tr name="161" id="161">
-<td><a id="l161" class='ln'>161</a></td><td>    <a id="161c5" class="tk">-</a>11885, <a id="161c13" class="tk">-</a>11835, <a id="161c21" class="tk">-</a>11786, <a id="161c29" class="tk">-</a>11736, <a id="161c37" class="tk">-</a>11686, <a id="161c45" class="tk">-</a>11636, <a id="161c53" class="tk">-</a>11585, <a id="161c61" class="tk">-</a>11535, <a id="161c69" class="tk">-</a>11484,</td></tr>
+<td><a id="l161" class='ln'>161</a></td><td>    <a id="161c5" class="tk">-</a>1143, <a id="161c12" class="tk">-</a>1428, <a id="161c19" class="tk">-</a>1713, <a id="161c26" class="tk">-</a>1997, <a id="161c33" class="tk">-</a>2280, <a id="161c40" class="tk">-</a>2563, <a id="161c47" class="tk">-</a>2845, <a id="161c54" class="tk">-</a>3126, <a id="161c61" class="tk">-</a>3406, <a id="161c68" class="tk">-</a>3686, <a id="161c75" class="tk">-</a>3964,</td></tr>
 <tr name="162" id="162">
-<td><a id="l162" class='ln'>162</a></td><td>    <a id="162c5" class="tk">-</a>11433, <a id="162c13" class="tk">-</a>11381, <a id="162c21" class="tk">-</a>11330, <a id="162c29" class="tk">-</a>11278, <a id="162c37" class="tk">-</a>11226, <a id="162c45" class="tk">-</a>11174, <a id="162c53" class="tk">-</a>11121, <a id="162c61" class="tk">-</a>11069, <a id="162c69" class="tk">-</a>11016,</td></tr>
+<td><a id="l162" class='ln'>162</a></td><td>    <a id="162c5" class="tk">-</a>4240, <a id="162c12" class="tk">-</a>4516, <a id="162c19" class="tk">-</a>4790, <a id="162c26" class="tk">-</a>5063, <a id="162c33" class="tk">-</a>5334, <a id="162c40" class="tk">-</a>5604, <a id="162c47" class="tk">-</a>5872, <a id="162c54" class="tk">-</a>6138, <a id="162c61" class="tk">-</a>6402, <a id="162c68" class="tk">-</a>6664, <a id="162c75" class="tk">-</a>6924,</td></tr>
 <tr name="163" id="163">
-<td><a id="l163" class='ln'>163</a></td><td>    <a id="163c5" class="tk">-</a>10963, <a id="163c13" class="tk">-</a>10910, <a id="163c21" class="tk">-</a>10856, <a id="163c29" class="tk">-</a>10803, <a id="163c37" class="tk">-</a>10749, <a id="163c45" class="tk">-</a>10695, <a id="163c53" class="tk">-</a>10641, <a id="163c61" class="tk">-</a>10586, <a id="163c69" class="tk">-</a>10531,</td></tr>
+<td><a id="l163" class='ln'>163</a></td><td>    <a id="163c5" class="tk">-</a>7182, <a id="163c12" class="tk">-</a>7438, <a id="163c19" class="tk">-</a>7692, <a id="163c26" class="tk">-</a>7943, <a id="163c33" class="tk">-</a>8192, <a id="163c40" class="tk">-</a>8438, <a id="163c47" class="tk">-</a>8682, <a id="163c54" class="tk">-</a>8923, <a id="163c61" class="tk">-</a>9162, <a id="163c68" class="tk">-</a>9397, <a id="163c75" class="tk">-</a>9630,</td></tr>
 <tr name="164" id="164">
-<td><a id="l164" class='ln'>164</a></td><td>    <a id="164c5" class="tk">-</a>10477, <a id="164c13" class="tk">-</a>10422, <a id="164c21" class="tk">-</a>10366, <a id="164c29" class="tk">-</a>10311, <a id="164c37" class="tk">-</a>10255, <a id="164c45" class="tk">-</a>10199, <a id="164c53" class="tk">-</a>10143, <a id="164c61" class="tk">-</a>10087, <a id="164c69" class="tk">-</a>10031,</td></tr>
+<td><a id="l164" class='ln'>164</a></td><td>    <a id="164c5" class="tk">-</a>9860, <a id="164c12" class="tk">-</a>10087, <a id="164c20" class="tk">-</a>10311, <a id="164c28" class="tk">-</a>10531, <a id="164c36" class="tk">-</a>10749, <a id="164c44" class="tk">-</a>10963, <a id="164c52" class="tk">-</a>11174, <a id="164c60" class="tk">-</a>11381, <a id="164c68" class="tk">-</a>11585,</td></tr>
 <tr name="165" id="165">
-<td><a id="l165" class='ln'>165</a></td><td>    <a id="165c5" class="tk">-</a>9974, <a id="165c12" class="tk">-</a>9917, <a id="165c19" class="tk">-</a>9860, <a id="165c26" class="tk">-</a>9803, <a id="165c33" class="tk">-</a>9746, <a id="165c40" class="tk">-</a>9688, <a id="165c47" class="tk">-</a>9630, <a id="165c54" class="tk">-</a>9572, <a id="165c61" class="tk">-</a>9514, <a id="165c68" class="tk">-</a>9456, <a id="165c75" class="tk">-</a>9397,</td></tr>
+<td><a id="l165" class='ln'>165</a></td><td>    <a id="165c5" class="tk">-</a>11786, <a id="165c13" class="tk">-</a>11982, <a id="165c21" class="tk">-</a>12176, <a id="165c29" class="tk">-</a>12365, <a id="165c37" class="tk">-</a>12551, <a id="165c45" class="tk">-</a>12733, <a id="165c53" class="tk">-</a>12911, <a id="165c61" class="tk">-</a>13085, <a id="165c69" class="tk">-</a>13255,</td></tr>
 <tr name="166" id="166">
-<td><a id="l166" class='ln'>166</a></td><td>    <a id="166c5" class="tk">-</a>9339, <a id="166c12" class="tk">-</a>9280, <a id="166c19" class="tk">-</a>9221, <a id="166c26" class="tk">-</a>9162, <a id="166c33" class="tk">-</a>9102, <a id="166c40" class="tk">-</a>9043, <a id="166c47" class="tk">-</a>8983, <a id="166c54" class="tk">-</a>8923, <a id="166c61" class="tk">-</a>8863, <a id="166c68" class="tk">-</a>8803, <a id="166c75" class="tk">-</a>8743,</td></tr>
+<td><a id="l166" class='ln'>166</a></td><td>    <a id="166c5" class="tk">-</a>13421, <a id="166c13" class="tk">-</a>13583, <a id="166c21" class="tk">-</a>13741, <a id="166c29" class="tk">-</a>13894, <a id="166c37" class="tk">-</a>14044, <a id="166c45" class="tk">-</a>14189, <a id="166c53" class="tk">-</a>14330, <a id="166c61" class="tk">-</a>14466, <a id="166c69" class="tk">-</a>14598,</td></tr>
 <tr name="167" id="167">
-<td><a id="l167" class='ln'>167</a></td><td>    <a id="167c5" class="tk">-</a>8682, <a id="167c12" class="tk">-</a>8621, <a id="167c19" class="tk">-</a>8561, <a id="167c26" class="tk">-</a>8500, <a id="167c33" class="tk">-</a>8438, <a id="167c40" class="tk">-</a>8377, <a id="167c47" class="tk">-</a>8316, <a id="167c54" class="tk">-</a>8254, <a id="167c61" class="tk">-</a>8192, <a id="167c68" class="tk">-</a>8130, <a id="167c75" class="tk">-</a>8068,</td></tr>
+<td><a id="l167" class='ln'>167</a></td><td>    <a id="167c5" class="tk">-</a>14726, <a id="167c13" class="tk">-</a>14849, <a id="167c21" class="tk">-</a>14968, <a id="167c29" class="tk">-</a>15082, <a id="167c37" class="tk">-</a>15191, <a id="167c45" class="tk">-</a>15296, <a id="167c53" class="tk">-</a>15396, <a id="167c61" class="tk">-</a>15491, <a id="167c69" class="tk">-</a>15582,</td></tr>
 <tr name="168" id="168">
-<td><a id="l168" class='ln'>168</a></td><td>    <a id="168c5" class="tk">-</a>8006, <a id="168c12" class="tk">-</a>7943, <a id="168c19" class="tk">-</a>7881, <a id="168c26" class="tk">-</a>7818, <a id="168c33" class="tk">-</a>7755, <a id="168c40" class="tk">-</a>7692, <a id="168c47" class="tk">-</a>7629, <a id="168c54" class="tk">-</a>7565, <a id="168c61" class="tk">-</a>7502, <a id="168c68" class="tk">-</a>7438, <a id="168c75" class="tk">-</a>7374,</td></tr>
+<td><a id="l168" class='ln'>168</a></td><td>    <a id="168c5" class="tk">-</a>15668, <a id="168c13" class="tk">-</a>15749, <a id="168c21" class="tk">-</a>15826, <a id="168c29" class="tk">-</a>15897, <a id="168c37" class="tk">-</a>15964, <a id="168c45" class="tk">-</a>16026, <a id="168c53" class="tk">-</a>16083, <a id="168c61" class="tk">-</a>16135, <a id="168c69" class="tk">-</a>16182,</td></tr>
 <tr name="169" id="169">
-<td><a id="l169" class='ln'>169</a></td><td>    <a id="169c5" class="tk">-</a>7311, <a id="169c12" class="tk">-</a>7246, <a id="169c19" class="tk">-</a>7182, <a id="169c26" class="tk">-</a>7118, <a id="169c33" class="tk">-</a>7053, <a id="169c40" class="tk">-</a>6989, <a id="169c47" class="tk">-</a>6924, <a id="169c54" class="tk">-</a>6859, <a id="169c61" class="tk">-</a>6794, <a id="169c68" class="tk">-</a>6729, <a id="169c75" class="tk">-</a>6664,</td></tr>
+<td><a id="l169" class='ln'>169</a></td><td>    <a id="169c5" class="tk">-</a>16225, <a id="169c13" class="tk">-</a>16262, <a id="169c21" class="tk">-</a>16294, <a id="169c29" class="tk">-</a>16322, <a id="169c37" class="tk">-</a>16344, <a id="169c45" class="tk">-</a>16362, <a id="169c53" class="tk">-</a>16374, <a id="169c61" class="tk">-</a>16382, <a id="169c69" class="tk">-</a>16384,</td></tr>
 <tr name="170" id="170">
-<td><a id="l170" class='ln'>170</a></td><td>    <a id="170c5" class="tk">-</a>6599, <a id="170c12" class="tk">-</a>6533, <a id="170c19" class="tk">-</a>6467, <a id="170c26" class="tk">-</a>6402, <a id="170c33" class="tk">-</a>6336, <a id="170c40" class="tk">-</a>6270, <a id="170c47" class="tk">-</a>6204, <a id="170c54" class="tk">-</a>6138, <a id="170c61" class="tk">-</a>6071, <a id="170c68" class="tk">-</a>6005, <a id="170c75" class="tk">-</a>5938,</td></tr>
+<td><a id="l170" class='ln'>170</a></td><td>    <a id="170c5" class="tk">-</a>16382, <a id="170c13" class="tk">-</a>16374, <a id="170c21" class="tk">-</a>16362, <a id="170c29" class="tk">-</a>16344, <a id="170c37" class="tk">-</a>16322, <a id="170c45" class="tk">-</a>16294, <a id="170c53" class="tk">-</a>16262, <a id="170c61" class="tk">-</a>16225, <a id="170c69" class="tk">-</a>16182,</td></tr>
 <tr name="171" id="171">
-<td><a id="l171" class='ln'>171</a></td><td>    <a id="171c5" class="tk">-</a>5872, <a id="171c12" class="tk">-</a>5805, <a id="171c19" class="tk">-</a>5738, <a id="171c26" class="tk">-</a>5671, <a id="171c33" class="tk">-</a>5604, <a id="171c40" class="tk">-</a>5536, <a id="171c47" class="tk">-</a>5469, <a id="171c54" class="tk">-</a>5402, <a id="171c61" class="tk">-</a>5334, <a id="171c68" class="tk">-</a>5266, <a id="171c75" class="tk">-</a>5199,</td></tr>
+<td><a id="l171" class='ln'>171</a></td><td>    <a id="171c5" class="tk">-</a>16135, <a id="171c13" class="tk">-</a>16083, <a id="171c21" class="tk">-</a>16026, <a id="171c29" class="tk">-</a>15964, <a id="171c37" class="tk">-</a>15897, <a id="171c45" class="tk">-</a>15826, <a id="171c53" class="tk">-</a>15749, <a id="171c61" class="tk">-</a>15668, <a id="171c69" class="tk">-</a>15582,</td></tr>
 <tr name="172" id="172">
-<td><a id="l172" class='ln'>172</a></td><td>    <a id="172c5" class="tk">-</a>5131, <a id="172c12" class="tk">-</a>5063, <a id="172c19" class="tk">-</a>4995, <a id="172c26" class="tk">-</a>4927, <a id="172c33" class="tk">-</a>4859, <a id="172c40" class="tk">-</a>4790, <a id="172c47" class="tk">-</a>4722, <a id="172c54" class="tk">-</a>4653, <a id="172c61" class="tk">-</a>4585, <a id="172c68" class="tk">-</a>4516, <a id="172c75" class="tk">-</a>4447,</td></tr>
+<td><a id="l172" class='ln'>172</a></td><td>    <a id="172c5" class="tk">-</a>15491, <a id="172c13" class="tk">-</a>15396, <a id="172c21" class="tk">-</a>15296, <a id="172c29" class="tk">-</a>15191, <a id="172c37" class="tk">-</a>15082, <a id="172c45" class="tk">-</a>14968, <a id="172c53" class="tk">-</a>14849, <a id="172c61" class="tk">-</a>14726, <a id="172c69" class="tk">-</a>14598,</td></tr>
 <tr name="173" id="173">
-<td><a id="l173" class='ln'>173</a></td><td>    <a id="173c5" class="tk">-</a>4378, <a id="173c12" class="tk">-</a>4310, <a id="173c19" class="tk">-</a>4240, <a id="173c26" class="tk">-</a>4171, <a id="173c33" class="tk">-</a>4102, <a id="173c40" class="tk">-</a>4033, <a id="173c47" class="tk">-</a>3964, <a id="173c54" class="tk">-</a>3894, <a id="173c61" class="tk">-</a>3825, <a id="173c68" class="tk">-</a>3755, <a id="173c75" class="tk">-</a>3686,</td></tr>
+<td><a id="l173" class='ln'>173</a></td><td>    <a id="173c5" class="tk">-</a>14466, <a id="173c13" class="tk">-</a>14330, <a id="173c21" class="tk">-</a>14189, <a id="173c29" class="tk">-</a>14044, <a id="173c37" class="tk">-</a>13894, <a id="173c45" class="tk">-</a>13741, <a id="173c53" class="tk">-</a>13583, <a id="173c61" class="tk">-</a>13421, <a id="173c69" class="tk">-</a>13255,</td></tr>
 <tr name="174" id="174">
-<td><a id="l174" class='ln'>174</a></td><td>    <a id="174c5" class="tk">-</a>3616, <a id="174c12" class="tk">-</a>3546, <a id="174c19" class="tk">-</a>3476, <a id="174c26" class="tk">-</a>3406, <a id="174c33" class="tk">-</a>3336, <a id="174c40" class="tk">-</a>3266, <a id="174c47" class="tk">-</a>3196, <a id="174c54" class="tk">-</a>3126, <a id="174c61" class="tk">-</a>3056, <a id="174c68" class="tk">-</a>2986, <a id="174c75" class="tk">-</a>2915,</td></tr>
+<td><a id="l174" class='ln'>174</a></td><td>    <a id="174c5" class="tk">-</a>13085, <a id="174c13" class="tk">-</a>12911, <a id="174c21" class="tk">-</a>12733, <a id="174c29" class="tk">-</a>12551, <a id="174c37" class="tk">-</a>12365, <a id="174c45" class="tk">-</a>12176, <a id="174c53" class="tk">-</a>11982, <a id="174c61" class="tk">-</a>11786, <a id="174c69" class="tk">-</a>11585,</td></tr>
 <tr name="175" id="175">
-<td><a id="l175" class='ln'>175</a></td><td>    <a id="175c5" class="tk">-</a>2845, <a id="175c12" class="tk">-</a>2775, <a id="175c19" class="tk">-</a>2704, <a id="175c26" class="tk">-</a>2634, <a id="175c33" class="tk">-</a>2563, <a id="175c40" class="tk">-</a>2492, <a id="175c47" class="tk">-</a>2422, <a id="175c54" class="tk">-</a>2351, <a id="175c61" class="tk">-</a>2280, <a id="175c68" class="tk">-</a>2209, <a id="175c75" class="tk">-</a>2139,</td></tr>
+<td><a id="l175" class='ln'>175</a></td><td>    <a id="175c5" class="tk">-</a>11381, <a id="175c13" class="tk">-</a>11174, <a id="175c21" class="tk">-</a>10963, <a id="175c29" class="tk">-</a>10749, <a id="175c37" class="tk">-</a>10531, <a id="175c45" class="tk">-</a>10311, <a id="175c53" class="tk">-</a>10087, <a id="175c61" class="tk">-</a>9860, <a id="175c68" class="tk">-</a>9630, <a id="175c75" class="tk">-</a>9397,</td></tr>
 <tr name="176" id="176">
-<td><a id="l176" class='ln'>176</a></td><td>    <a id="176c5" class="tk">-</a>2068, <a id="176c12" class="tk">-</a>1997, <a id="176c19" class="tk">-</a>1926, <a id="176c26" class="tk">-</a>1855, <a id="176c33" class="tk">-</a>1784, <a id="176c40" class="tk">-</a>1713, <a id="176c47" class="tk">-</a>1641, <a id="176c54" class="tk">-</a>1570, <a id="176c61" class="tk">-</a>1499, <a id="176c68" class="tk">-</a>1428, <a id="176c75" class="tk">-</a>1357,</td></tr>
+<td><a id="l176" class='ln'>176</a></td><td>    <a id="176c5" class="tk">-</a>9162, <a id="176c12" class="tk">-</a>8923, <a id="176c19" class="tk">-</a>8682, <a id="176c26" class="tk">-</a>8438, <a id="176c33" class="tk">-</a>8192, <a id="176c40" class="tk">-</a>7943, <a id="176c47" class="tk">-</a>7692, <a id="176c54" class="tk">-</a>7438, <a id="176c61" class="tk">-</a>7182, <a id="176c68" class="tk">-</a>6924, <a id="176c75" class="tk">-</a>6664,</td></tr>
 <tr name="177" id="177">
-<td><a id="l177" class='ln'>177</a></td><td>    <a id="177c5" class="tk">-</a>1285, <a id="177c12" class="tk">-</a>1214, <a id="177c19" class="tk">-</a>1143, <a id="177c26" class="tk">-</a>1072, <a id="177c33" class="tk">-</a>1000, <a id="177c40" class="tk">-</a>929, <a id="177c46" class="tk">-</a>857, <a id="177c52" class="tk">-</a>786, <a id="177c58" class="tk">-</a>715, <a id="177c64" class="tk">-</a>643, <a id="177c70" class="tk">-</a>572, <a id="177c76" class="tk">-</a>500,</td></tr>
+<td><a id="l177" class='ln'>177</a></td><td>    <a id="177c5" class="tk">-</a>6402, <a id="177c12" class="tk">-</a>6138, <a id="177c19" class="tk">-</a>5872, <a id="177c26" class="tk">-</a>5604, <a id="177c33" class="tk">-</a>5334, <a id="177c40" class="tk">-</a>5063, <a id="177c47" class="tk">-</a>4790, <a id="177c54" class="tk">-</a>4516, <a id="177c61" class="tk">-</a>4240, <a id="177c68" class="tk">-</a>3964, <a id="177c75" class="tk">-</a>3686,</td></tr>
 <tr name="178" id="178">
-<td><a id="l178" class='ln'>178</a></td><td>    <a id="178c5" class="tk">-</a>429, <a id="178c11" class="tk">-</a>357, <a id="178c17" class="tk">-</a>286, <a id="178c23" class="tk">-</a>214, <a id="178c29" class="tk">-</a>143, <a id="178c35" class="tk">-</a>71, 0 <span class="br">}</span>,</td></tr>
+<td><a id="l178" class='ln'>178</a></td><td>    <a id="178c5" class="tk">-</a>3406, <a id="178c12" class="tk">-</a>3126, <a id="178c19" class="tk">-</a>2845, <a id="178c26" class="tk">-</a>2563, <a id="178c33" class="tk">-</a>2280, <a id="178c40" class="tk">-</a>1997, <a id="178c47" class="tk">-</a>1713, <a id="178c54" class="tk">-</a>1428, <a id="178c61" class="tk">-</a>1143, <a id="178c68" class="tk">-</a>857, <a id="178c74" class="tk">-</a>572,</td></tr>
 <tr name="179" id="179">
-<td><a id="l179" class='ln'>179</a></td><td></td></tr>
+<td><a id="l179" class='ln'>179</a></td><td>    <a id="179c5" class="tk">-</a>286, 0, 286, 572, 857, 1143, 1428, 1713, 1997, 2280, 2563, 2845, 3126, 3406,</td></tr>
 <tr name="180" id="180">
-<td><a id="l180" class='ln'>180</a></td><td>  <span class="ct">/* Pooled Parameter (Expression: r_cos_M1)</span></td></tr>
+<td><a id="l180" class='ln'>180</a></td><td>    3686, 3964, 4240, 4516, 4790, 5063, 5334, 5604, 5872, 6138, 6402, 6664, 6924,</td></tr>
 <tr name="181" id="181">
-<td><a id="l181" class='ln'>181</a></td><td><span class="ct">   * Referenced by:</span></td></tr>
+<td><a id="l181" class='ln'>181</a></td><td>    7182, 7438, 7692, 7943, 8192, 8438, 8682, 8923, 9162, 9397, 9630, 9860,</td></tr>
 <tr name="182" id="182">
-<td><a id="l182" class='ln'>182</a></td><td><span class="ct">   *   '&lt;S58&gt;/r_cos_M1'</span></td></tr>
+<td><a id="l182" class='ln'>182</a></td><td>    10087, 10311, 10531, 10749, 10963, 11174, 11381, 11585, 11786, 11982, 12176,</td></tr>
 <tr name="183" id="183">
-<td><a id="l183" class='ln'>183</a></td><td><span class="ct">   *   '&lt;S89&gt;/r_cos_M1'</span></td></tr>
+<td><a id="l183" class='ln'>183</a></td><td>    12365, 12551, 12733, 12911, 13085, 13255, 13421, 13583, 13741, 13894, 14044,</td></tr>
 <tr name="184" id="184">
-<td><a id="l184" class='ln'>184</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l184" class='ln'>184</a></td><td>    14189, 14330, 14466, 14598, 14726, 14849, 14968, 15082, 15191, 15296, 15396,</td></tr>
 <tr name="185" id="185">
-<td><a id="l185" class='ln'>185</a></td><td>  <span class="br">{</span> 16384, 16384, 16383, 16383, 16382, 16380, 16378, 16376, 16374, 16371, 16368,</td></tr>
+<td><a id="l185" class='ln'>185</a></td><td>    15491, 15582, 15668, 15749, 15826, 15897, 15964, 16026, 16083, 16135, 16182,</td></tr>
 <tr name="186" id="186">
-<td><a id="l186" class='ln'>186</a></td><td>    16365, 16362, 16358, 16353, 16349, 16344, 16339, 16333, 16328, 16322, 16315,</td></tr>
+<td><a id="l186" class='ln'>186</a></td><td>    16225, 16262, 16294, 16322, 16344, 16362, 16374, 16382, 16384 <span class="br">}</span>,</td></tr>
 <tr name="187" id="187">
-<td><a id="l187" class='ln'>187</a></td><td>    16309, 16302, 16294, 16287, 16279, 16270, 16262, 16253, 16244, 16234, 16225,</td></tr>
+<td><a id="l187" class='ln'>187</a></td><td></td></tr>
 <tr name="188" id="188">
-<td><a id="l188" class='ln'>188</a></td><td>    16214, 16204, 16193, 16182, 16171, 16159, 16147, 16135, 16123, 16110, 16096,</td></tr>
+<td><a id="l188" class='ln'>188</a></td><td>  <span class="ct">/* Computed Parameter: vec_hallToPos_Value</span></td></tr>
 <tr name="189" id="189">
-<td><a id="l189" class='ln'>189</a></td><td>    16083, 16069, 16055, 16041, 16026, 16011, 15996, 15980, 15964, 15948, 15931,</td></tr>
+<td><a id="l189" class='ln'>189</a></td><td><span class="ct">   * Referenced by: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
 <tr name="190" id="190">
-<td><a id="l190" class='ln'>190</a></td><td>    15914, 15897, 15880, 15862, 15844, 15826, 15807, 15788, 15769, 15749, 15729,</td></tr>
+<td><a id="l190" class='ln'>190</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="191" id="191">
-<td><a id="l191" class='ln'>191</a></td><td>    15709, 15689, 15668, 15647, 15626, 15604, 15582, 15560, 15537, 15515, 15491,</td></tr>
+<td><a id="l191" class='ln'>191</a></td><td>  <span class="br">{</span> 7, 5, 1, 0, 3, 4, 2, 7 <span class="br">}</span></td></tr>
 <tr name="192" id="192">
-<td><a id="l192" class='ln'>192</a></td><td>    15468, 15444, 15420, 15396, 15371, 15346, 15321, 15296, 15270, 15244, 15218,</td></tr>
+<td><a id="l192" class='ln'>192</a></td><td><span class="br">}</span>;</td></tr>
 <tr name="193" id="193">
-<td><a id="l193" class='ln'>193</a></td><td>    15191, 15164, 15137, 15109, 15082, 15053, 15025, 14996, 14968, 14938, 14909,</td></tr>
+<td><a id="l193" class='ln'>193</a></td><td></td></tr>
 <tr name="194" id="194">
-<td><a id="l194" class='ln'>194</a></td><td>    14879, 14849, 14819, 14788, 14757, 14726, 14694, 14663, 14631, 14598, 14566,</td></tr>
+<td><a id="l194" class='ln'>194</a></td><td><span class="ct">/*</span></td></tr>
 <tr name="195" id="195">
-<td><a id="l195" class='ln'>195</a></td><td>    14533, 14500, 14466, 14433, 14399, 14364, 14330, 14295, 14260, 14225, 14189,</td></tr>
+<td><a id="l195" class='ln'>195</a></td><td><span class="ct"> * File trailer for generated code.</span></td></tr>
 <tr name="196" id="196">
-<td><a id="l196" class='ln'>196</a></td><td>    14153, 14117, 14081, 14044, 14007, 13970, 13932, 13894, 13856, 13818, 13780,</td></tr>
+<td><a id="l196" class='ln'>196</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="197" id="197">
-<td><a id="l197" class='ln'>197</a></td><td>    13741, 13702, 13662, 13623, 13583, 13543, 13502, 13462, 13421, 13380, 13338,</td></tr>
+<td><a id="l197" class='ln'>197</a></td><td><span class="ct"> * [EOF]</span></td></tr>
 <tr name="198" id="198">
-<td><a id="l198" class='ln'>198</a></td><td>    13297, 13255, 13213, 13170, 13128, 13085, 13042, 12998, 12955, 12911, 12867,</td></tr>
+<td><a id="l198" class='ln'>198</a></td><td><span class="ct"> */</span></td></tr>
 <tr name="199" id="199">
-<td><a id="l199" class='ln'>199</a></td><td>    12822, 12778, 12733, 12688, 12642, 12597, 12551, 12505, 12458, 12412, 12365,</td></tr>
-<tr name="200" id="200">
-<td><a id="l200" class='ln'>200</a></td><td>    12318, 12271, 12223, 12176, 12128, 12080, 12031, 11982, 11934, 11885, 11835,</td></tr>
-<tr name="201" id="201">
-<td><a id="l201" class='ln'>201</a></td><td>    11786, 11736, 11686, 11636, 11585, 11535, 11484, 11433, 11381, 11330, 11278,</td></tr>
-<tr name="202" id="202">
-<td><a id="l202" class='ln'>202</a></td><td>    11226, 11174, 11121, 11069, 11016, 10963, 10910, 10856, 10803, 10749, 10695,</td></tr>
-<tr name="203" id="203">
-<td><a id="l203" class='ln'>203</a></td><td>    10641, 10586, 10531, 10477, 10422, 10366, 10311, 10255, 10199, 10143, 10087,</td></tr>
-<tr name="204" id="204">
-<td><a id="l204" class='ln'>204</a></td><td>    10031, 9974, 9917, 9860, 9803, 9746, 9688, 9630, 9572, 9514, 9456, 9397,</td></tr>
-<tr name="205" id="205">
-<td><a id="l205" class='ln'>205</a></td><td>    9339, 9280, 9221, 9162, 9102, 9043, 8983, 8923, 8863, 8803, 8743, 8682, 8621,</td></tr>
-<tr name="206" id="206">
-<td><a id="l206" class='ln'>206</a></td><td>    8561, 8500, 8438, 8377, 8316, 8254, 8192, 8130, 8068, 8006, 7943, 7881, 7818,</td></tr>
-<tr name="207" id="207">
-<td><a id="l207" class='ln'>207</a></td><td>    7755, 7692, 7629, 7565, 7502, 7438, 7374, 7311, 7246, 7182, 7118, 7053, 6989,</td></tr>
-<tr name="208" id="208">
-<td><a id="l208" class='ln'>208</a></td><td>    6924, 6859, 6794, 6729, 6664, 6599, 6533, 6467, 6402, 6336, 6270, 6204, 6138,</td></tr>
-<tr name="209" id="209">
-<td><a id="l209" class='ln'>209</a></td><td>    6071, 6005, 5938, 5872, 5805, 5738, 5671, 5604, 5536, 5469, 5402, 5334, 5266,</td></tr>
-<tr name="210" id="210">
-<td><a id="l210" class='ln'>210</a></td><td>    5199, 5131, 5063, 4995, 4927, 4859, 4790, 4722, 4653, 4585, 4516, 4447, 4378,</td></tr>
-<tr name="211" id="211">
-<td><a id="l211" class='ln'>211</a></td><td>    4310, 4240, 4171, 4102, 4033, 3964, 3894, 3825, 3755, 3686, 3616, 3546, 3476,</td></tr>
-<tr name="212" id="212">
-<td><a id="l212" class='ln'>212</a></td><td>    3406, 3336, 3266, 3196, 3126, 3056, 2986, 2915, 2845, 2775, 2704, 2634, 2563,</td></tr>
-<tr name="213" id="213">
-<td><a id="l213" class='ln'>213</a></td><td>    2492, 2422, 2351, 2280, 2209, 2139, 2068, 1997, 1926, 1855, 1784, 1713, 1641,</td></tr>
-<tr name="214" id="214">
-<td><a id="l214" class='ln'>214</a></td><td>    1570, 1499, 1428, 1357, 1285, 1214, 1143, 1072, 1000, 929, 857, 786, 715,</td></tr>
-<tr name="215" id="215">
-<td><a id="l215" class='ln'>215</a></td><td>    643, 572, 500, 429, 357, 286, 214, 143, 71, 0, <a id="215c52" class="tk">-</a>71, <a id="215c57" class="tk">-</a>143, <a id="215c63" class="tk">-</a>214, <a id="215c69" class="tk">-</a>286, <a id="215c75" class="tk">-</a>357,</td></tr>
-<tr name="216" id="216">
-<td><a id="l216" class='ln'>216</a></td><td>    <a id="216c5" class="tk">-</a>429, <a id="216c11" class="tk">-</a>500, <a id="216c17" class="tk">-</a>572, <a id="216c23" class="tk">-</a>643, <a id="216c29" class="tk">-</a>715, <a id="216c35" class="tk">-</a>786, <a id="216c41" class="tk">-</a>857, <a id="216c47" class="tk">-</a>929, <a id="216c53" class="tk">-</a>1000, <a id="216c60" class="tk">-</a>1072, <a id="216c67" class="tk">-</a>1143, <a id="216c74" class="tk">-</a>1214,</td></tr>
-<tr name="217" id="217">
-<td><a id="l217" class='ln'>217</a></td><td>    <a id="217c5" class="tk">-</a>1285, <a id="217c12" class="tk">-</a>1357, <a id="217c19" class="tk">-</a>1428, <a id="217c26" class="tk">-</a>1499, <a id="217c33" class="tk">-</a>1570, <a id="217c40" class="tk">-</a>1641, <a id="217c47" class="tk">-</a>1713, <a id="217c54" class="tk">-</a>1784, <a id="217c61" class="tk">-</a>1855, <a id="217c68" class="tk">-</a>1926, <a id="217c75" class="tk">-</a>1997,</td></tr>
-<tr name="218" id="218">
-<td><a id="l218" class='ln'>218</a></td><td>    <a id="218c5" class="tk">-</a>2068, <a id="218c12" class="tk">-</a>2139, <a id="218c19" class="tk">-</a>2209, <a id="218c26" class="tk">-</a>2280, <a id="218c33" class="tk">-</a>2351, <a id="218c40" class="tk">-</a>2422, <a id="218c47" class="tk">-</a>2492, <a id="218c54" class="tk">-</a>2563, <a id="218c61" class="tk">-</a>2634, <a id="218c68" class="tk">-</a>2704, <a id="218c75" class="tk">-</a>2775,</td></tr>
-<tr name="219" id="219">
-<td><a id="l219" class='ln'>219</a></td><td>    <a id="219c5" class="tk">-</a>2845, <a id="219c12" class="tk">-</a>2915, <a id="219c19" class="tk">-</a>2986, <a id="219c26" class="tk">-</a>3056, <a id="219c33" class="tk">-</a>3126, <a id="219c40" class="tk">-</a>3196, <a id="219c47" class="tk">-</a>3266, <a id="219c54" class="tk">-</a>3336, <a id="219c61" class="tk">-</a>3406, <a id="219c68" class="tk">-</a>3476, <a id="219c75" class="tk">-</a>3546,</td></tr>
-<tr name="220" id="220">
-<td><a id="l220" class='ln'>220</a></td><td>    <a id="220c5" class="tk">-</a>3616, <a id="220c12" class="tk">-</a>3686, <a id="220c19" class="tk">-</a>3755, <a id="220c26" class="tk">-</a>3825, <a id="220c33" class="tk">-</a>3894, <a id="220c40" class="tk">-</a>3964, <a id="220c47" class="tk">-</a>4033, <a id="220c54" class="tk">-</a>4102, <a id="220c61" class="tk">-</a>4171, <a id="220c68" class="tk">-</a>4240, <a id="220c75" class="tk">-</a>4310,</td></tr>
-<tr name="221" id="221">
-<td><a id="l221" class='ln'>221</a></td><td>    <a id="221c5" class="tk">-</a>4378, <a id="221c12" class="tk">-</a>4447, <a id="221c19" class="tk">-</a>4516, <a id="221c26" class="tk">-</a>4585, <a id="221c33" class="tk">-</a>4653, <a id="221c40" class="tk">-</a>4722, <a id="221c47" class="tk">-</a>4790, <a id="221c54" class="tk">-</a>4859, <a id="221c61" class="tk">-</a>4927, <a id="221c68" class="tk">-</a>4995, <a id="221c75" class="tk">-</a>5063,</td></tr>
-<tr name="222" id="222">
-<td><a id="l222" class='ln'>222</a></td><td>    <a id="222c5" class="tk">-</a>5131, <a id="222c12" class="tk">-</a>5199, <a id="222c19" class="tk">-</a>5266, <a id="222c26" class="tk">-</a>5334, <a id="222c33" class="tk">-</a>5402, <a id="222c40" class="tk">-</a>5469, <a id="222c47" class="tk">-</a>5536, <a id="222c54" class="tk">-</a>5604, <a id="222c61" class="tk">-</a>5671, <a id="222c68" class="tk">-</a>5738, <a id="222c75" class="tk">-</a>5805,</td></tr>
-<tr name="223" id="223">
-<td><a id="l223" class='ln'>223</a></td><td>    <a id="223c5" class="tk">-</a>5872, <a id="223c12" class="tk">-</a>5938, <a id="223c19" class="tk">-</a>6005, <a id="223c26" class="tk">-</a>6071, <a id="223c33" class="tk">-</a>6138, <a id="223c40" class="tk">-</a>6204, <a id="223c47" class="tk">-</a>6270, <a id="223c54" class="tk">-</a>6336, <a id="223c61" class="tk">-</a>6402, <a id="223c68" class="tk">-</a>6467, <a id="223c75" class="tk">-</a>6533,</td></tr>
-<tr name="224" id="224">
-<td><a id="l224" class='ln'>224</a></td><td>    <a id="224c5" class="tk">-</a>6599, <a id="224c12" class="tk">-</a>6664, <a id="224c19" class="tk">-</a>6729, <a id="224c26" class="tk">-</a>6794, <a id="224c33" class="tk">-</a>6859, <a id="224c40" class="tk">-</a>6924, <a id="224c47" class="tk">-</a>6989, <a id="224c54" class="tk">-</a>7053, <a id="224c61" class="tk">-</a>7118, <a id="224c68" class="tk">-</a>7182, <a id="224c75" class="tk">-</a>7246,</td></tr>
-<tr name="225" id="225">
-<td><a id="l225" class='ln'>225</a></td><td>    <a id="225c5" class="tk">-</a>7311, <a id="225c12" class="tk">-</a>7374, <a id="225c19" class="tk">-</a>7438, <a id="225c26" class="tk">-</a>7502, <a id="225c33" class="tk">-</a>7565, <a id="225c40" class="tk">-</a>7629, <a id="225c47" class="tk">-</a>7692, <a id="225c54" class="tk">-</a>7755, <a id="225c61" class="tk">-</a>7818, <a id="225c68" class="tk">-</a>7881, <a id="225c75" class="tk">-</a>7943,</td></tr>
-<tr name="226" id="226">
-<td><a id="l226" class='ln'>226</a></td><td>    <a id="226c5" class="tk">-</a>8006, <a id="226c12" class="tk">-</a>8068, <a id="226c19" class="tk">-</a>8130, <a id="226c26" class="tk">-</a>8192, <a id="226c33" class="tk">-</a>8254, <a id="226c40" class="tk">-</a>8316, <a id="226c47" class="tk">-</a>8377, <a id="226c54" class="tk">-</a>8438, <a id="226c61" class="tk">-</a>8500, <a id="226c68" class="tk">-</a>8561, <a id="226c75" class="tk">-</a>8621,</td></tr>
-<tr name="227" id="227">
-<td><a id="l227" class='ln'>227</a></td><td>    <a id="227c5" class="tk">-</a>8682, <a id="227c12" class="tk">-</a>8743, <a id="227c19" class="tk">-</a>8803, <a id="227c26" class="tk">-</a>8863, <a id="227c33" class="tk">-</a>8923, <a id="227c40" class="tk">-</a>8983, <a id="227c47" class="tk">-</a>9043, <a id="227c54" class="tk">-</a>9102, <a id="227c61" class="tk">-</a>9162, <a id="227c68" class="tk">-</a>9221, <a id="227c75" class="tk">-</a>9280,</td></tr>
-<tr name="228" id="228">
-<td><a id="l228" class='ln'>228</a></td><td>    <a id="228c5" class="tk">-</a>9339, <a id="228c12" class="tk">-</a>9397, <a id="228c19" class="tk">-</a>9456, <a id="228c26" class="tk">-</a>9514, <a id="228c33" class="tk">-</a>9572, <a id="228c40" class="tk">-</a>9630, <a id="228c47" class="tk">-</a>9688, <a id="228c54" class="tk">-</a>9746, <a id="228c61" class="tk">-</a>9803, <a id="228c68" class="tk">-</a>9860, <a id="228c75" class="tk">-</a>9917,</td></tr>
-<tr name="229" id="229">
-<td><a id="l229" class='ln'>229</a></td><td>    <a id="229c5" class="tk">-</a>9974, <a id="229c12" class="tk">-</a>10031, <a id="229c20" class="tk">-</a>10087, <a id="229c28" class="tk">-</a>10143, <a id="229c36" class="tk">-</a>10199, <a id="229c44" class="tk">-</a>10255, <a id="229c52" class="tk">-</a>10311, <a id="229c60" class="tk">-</a>10366, <a id="229c68" class="tk">-</a>10422,</td></tr>
-<tr name="230" id="230">
-<td><a id="l230" class='ln'>230</a></td><td>    <a id="230c5" class="tk">-</a>10477, <a id="230c13" class="tk">-</a>10531, <a id="230c21" class="tk">-</a>10586, <a id="230c29" class="tk">-</a>10641, <a id="230c37" class="tk">-</a>10695, <a id="230c45" class="tk">-</a>10749, <a id="230c53" class="tk">-</a>10803, <a id="230c61" class="tk">-</a>10856, <a id="230c69" class="tk">-</a>10910,</td></tr>
-<tr name="231" id="231">
-<td><a id="l231" class='ln'>231</a></td><td>    <a id="231c5" class="tk">-</a>10963, <a id="231c13" class="tk">-</a>11016, <a id="231c21" class="tk">-</a>11069, <a id="231c29" class="tk">-</a>11121, <a id="231c37" class="tk">-</a>11174, <a id="231c45" class="tk">-</a>11226, <a id="231c53" class="tk">-</a>11278, <a id="231c61" class="tk">-</a>11330, <a id="231c69" class="tk">-</a>11381,</td></tr>
-<tr name="232" id="232">
-<td><a id="l232" class='ln'>232</a></td><td>    <a id="232c5" class="tk">-</a>11433, <a id="232c13" class="tk">-</a>11484, <a id="232c21" class="tk">-</a>11535, <a id="232c29" class="tk">-</a>11585, <a id="232c37" class="tk">-</a>11636, <a id="232c45" class="tk">-</a>11686, <a id="232c53" class="tk">-</a>11736, <a id="232c61" class="tk">-</a>11786, <a id="232c69" class="tk">-</a>11835,</td></tr>
-<tr name="233" id="233">
-<td><a id="l233" class='ln'>233</a></td><td>    <a id="233c5" class="tk">-</a>11885, <a id="233c13" class="tk">-</a>11934, <a id="233c21" class="tk">-</a>11982, <a id="233c29" class="tk">-</a>12031, <a id="233c37" class="tk">-</a>12080, <a id="233c45" class="tk">-</a>12128, <a id="233c53" class="tk">-</a>12176, <a id="233c61" class="tk">-</a>12223, <a id="233c69" class="tk">-</a>12271,</td></tr>
-<tr name="234" id="234">
-<td><a id="l234" class='ln'>234</a></td><td>    <a id="234c5" class="tk">-</a>12318, <a id="234c13" class="tk">-</a>12365, <a id="234c21" class="tk">-</a>12412, <a id="234c29" class="tk">-</a>12458, <a id="234c37" class="tk">-</a>12505, <a id="234c45" class="tk">-</a>12551, <a id="234c53" class="tk">-</a>12597, <a id="234c61" class="tk">-</a>12642, <a id="234c69" class="tk">-</a>12688,</td></tr>
-<tr name="235" id="235">
-<td><a id="l235" class='ln'>235</a></td><td>    <a id="235c5" class="tk">-</a>12733, <a id="235c13" class="tk">-</a>12778, <a id="235c21" class="tk">-</a>12822, <a id="235c29" class="tk">-</a>12867, <a id="235c37" class="tk">-</a>12911, <a id="235c45" class="tk">-</a>12955, <a id="235c53" class="tk">-</a>12998, <a id="235c61" class="tk">-</a>13042, <a id="235c69" class="tk">-</a>13085,</td></tr>
-<tr name="236" id="236">
-<td><a id="l236" class='ln'>236</a></td><td>    <a id="236c5" class="tk">-</a>13128, <a id="236c13" class="tk">-</a>13170, <a id="236c21" class="tk">-</a>13213, <a id="236c29" class="tk">-</a>13255, <a id="236c37" class="tk">-</a>13297, <a id="236c45" class="tk">-</a>13338, <a id="236c53" class="tk">-</a>13380, <a id="236c61" class="tk">-</a>13421, <a id="236c69" class="tk">-</a>13462,</td></tr>
-<tr name="237" id="237">
-<td><a id="l237" class='ln'>237</a></td><td>    <a id="237c5" class="tk">-</a>13502, <a id="237c13" class="tk">-</a>13543, <a id="237c21" class="tk">-</a>13583, <a id="237c29" class="tk">-</a>13623, <a id="237c37" class="tk">-</a>13662, <a id="237c45" class="tk">-</a>13702, <a id="237c53" class="tk">-</a>13741, <a id="237c61" class="tk">-</a>13780, <a id="237c69" class="tk">-</a>13818,</td></tr>
-<tr name="238" id="238">
-<td><a id="l238" class='ln'>238</a></td><td>    <a id="238c5" class="tk">-</a>13856, <a id="238c13" class="tk">-</a>13894, <a id="238c21" class="tk">-</a>13932, <a id="238c29" class="tk">-</a>13970, <a id="238c37" class="tk">-</a>14007, <a id="238c45" class="tk">-</a>14044, <a id="238c53" class="tk">-</a>14081, <a id="238c61" class="tk">-</a>14117, <a id="238c69" class="tk">-</a>14153,</td></tr>
-<tr name="239" id="239">
-<td><a id="l239" class='ln'>239</a></td><td>    <a id="239c5" class="tk">-</a>14189, <a id="239c13" class="tk">-</a>14225, <a id="239c21" class="tk">-</a>14260, <a id="239c29" class="tk">-</a>14295, <a id="239c37" class="tk">-</a>14330, <a id="239c45" class="tk">-</a>14364, <a id="239c53" class="tk">-</a>14399, <a id="239c61" class="tk">-</a>14433, <a id="239c69" class="tk">-</a>14466,</td></tr>
-<tr name="240" id="240">
-<td><a id="l240" class='ln'>240</a></td><td>    <a id="240c5" class="tk">-</a>14500, <a id="240c13" class="tk">-</a>14533, <a id="240c21" class="tk">-</a>14566, <a id="240c29" class="tk">-</a>14598, <a id="240c37" class="tk">-</a>14631, <a id="240c45" class="tk">-</a>14663, <a id="240c53" class="tk">-</a>14694, <a id="240c61" class="tk">-</a>14726, <a id="240c69" class="tk">-</a>14757,</td></tr>
-<tr name="241" id="241">
-<td><a id="l241" class='ln'>241</a></td><td>    <a id="241c5" class="tk">-</a>14788, <a id="241c13" class="tk">-</a>14819, <a id="241c21" class="tk">-</a>14849, <a id="241c29" class="tk">-</a>14879, <a id="241c37" class="tk">-</a>14909, <a id="241c45" class="tk">-</a>14938, <a id="241c53" class="tk">-</a>14968, <a id="241c61" class="tk">-</a>14996, <a id="241c69" class="tk">-</a>15025,</td></tr>
-<tr name="242" id="242">
-<td><a id="l242" class='ln'>242</a></td><td>    <a id="242c5" class="tk">-</a>15053, <a id="242c13" class="tk">-</a>15082, <a id="242c21" class="tk">-</a>15109, <a id="242c29" class="tk">-</a>15137, <a id="242c37" class="tk">-</a>15164, <a id="242c45" class="tk">-</a>15191, <a id="242c53" class="tk">-</a>15218, <a id="242c61" class="tk">-</a>15244, <a id="242c69" class="tk">-</a>15270,</td></tr>
-<tr name="243" id="243">
-<td><a id="l243" class='ln'>243</a></td><td>    <a id="243c5" class="tk">-</a>15296, <a id="243c13" class="tk">-</a>15321, <a id="243c21" class="tk">-</a>15346, <a id="243c29" class="tk">-</a>15371, <a id="243c37" class="tk">-</a>15396, <a id="243c45" class="tk">-</a>15420, <a id="243c53" class="tk">-</a>15444, <a id="243c61" class="tk">-</a>15468, <a id="243c69" class="tk">-</a>15491,</td></tr>
-<tr name="244" id="244">
-<td><a id="l244" class='ln'>244</a></td><td>    <a id="244c5" class="tk">-</a>15515, <a id="244c13" class="tk">-</a>15537, <a id="244c21" class="tk">-</a>15560, <a id="244c29" class="tk">-</a>15582, <a id="244c37" class="tk">-</a>15604, <a id="244c45" class="tk">-</a>15626, <a id="244c53" class="tk">-</a>15647, <a id="244c61" class="tk">-</a>15668, <a id="244c69" class="tk">-</a>15689,</td></tr>
-<tr name="245" id="245">
-<td><a id="l245" class='ln'>245</a></td><td>    <a id="245c5" class="tk">-</a>15709, <a id="245c13" class="tk">-</a>15729, <a id="245c21" class="tk">-</a>15749, <a id="245c29" class="tk">-</a>15769, <a id="245c37" class="tk">-</a>15788, <a id="245c45" class="tk">-</a>15807, <a id="245c53" class="tk">-</a>15826, <a id="245c61" class="tk">-</a>15844, <a id="245c69" class="tk">-</a>15862,</td></tr>
-<tr name="246" id="246">
-<td><a id="l246" class='ln'>246</a></td><td>    <a id="246c5" class="tk">-</a>15880, <a id="246c13" class="tk">-</a>15897, <a id="246c21" class="tk">-</a>15914, <a id="246c29" class="tk">-</a>15931, <a id="246c37" class="tk">-</a>15948, <a id="246c45" class="tk">-</a>15964, <a id="246c53" class="tk">-</a>15980, <a id="246c61" class="tk">-</a>15996, <a id="246c69" class="tk">-</a>16011,</td></tr>
-<tr name="247" id="247">
-<td><a id="l247" class='ln'>247</a></td><td>    <a id="247c5" class="tk">-</a>16026, <a id="247c13" class="tk">-</a>16041, <a id="247c21" class="tk">-</a>16055, <a id="247c29" class="tk">-</a>16069, <a id="247c37" class="tk">-</a>16083, <a id="247c45" class="tk">-</a>16096, <a id="247c53" class="tk">-</a>16110, <a id="247c61" class="tk">-</a>16123, <a id="247c69" class="tk">-</a>16135,</td></tr>
-<tr name="248" id="248">
-<td><a id="l248" class='ln'>248</a></td><td>    <a id="248c5" class="tk">-</a>16147, <a id="248c13" class="tk">-</a>16159, <a id="248c21" class="tk">-</a>16171, <a id="248c29" class="tk">-</a>16182, <a id="248c37" class="tk">-</a>16193, <a id="248c45" class="tk">-</a>16204, <a id="248c53" class="tk">-</a>16214, <a id="248c61" class="tk">-</a>16225, <a id="248c69" class="tk">-</a>16234,</td></tr>
-<tr name="249" id="249">
-<td><a id="l249" class='ln'>249</a></td><td>    <a id="249c5" class="tk">-</a>16244, <a id="249c13" class="tk">-</a>16253, <a id="249c21" class="tk">-</a>16262, <a id="249c29" class="tk">-</a>16270, <a id="249c37" class="tk">-</a>16279, <a id="249c45" class="tk">-</a>16287, <a id="249c53" class="tk">-</a>16294, <a id="249c61" class="tk">-</a>16302, <a id="249c69" class="tk">-</a>16309,</td></tr>
-<tr name="250" id="250">
-<td><a id="l250" class='ln'>250</a></td><td>    <a id="250c5" class="tk">-</a>16315, <a id="250c13" class="tk">-</a>16322, <a id="250c21" class="tk">-</a>16328, <a id="250c29" class="tk">-</a>16333, <a id="250c37" class="tk">-</a>16339, <a id="250c45" class="tk">-</a>16344, <a id="250c53" class="tk">-</a>16349, <a id="250c61" class="tk">-</a>16353, <a id="250c69" class="tk">-</a>16358,</td></tr>
-<tr name="251" id="251">
-<td><a id="l251" class='ln'>251</a></td><td>    <a id="251c5" class="tk">-</a>16362, <a id="251c13" class="tk">-</a>16365, <a id="251c21" class="tk">-</a>16368, <a id="251c29" class="tk">-</a>16371, <a id="251c37" class="tk">-</a>16374, <a id="251c45" class="tk">-</a>16376, <a id="251c53" class="tk">-</a>16378, <a id="251c61" class="tk">-</a>16380, <a id="251c69" class="tk">-</a>16382,</td></tr>
-<tr name="252" id="252">
-<td><a id="l252" class='ln'>252</a></td><td>    <a id="252c5" class="tk">-</a>16383, <a id="252c13" class="tk">-</a>16383, <a id="252c21" class="tk">-</a>16384, <a id="252c29" class="tk">-</a>16384, <a id="252c37" class="tk">-</a>16384, <a id="252c45" class="tk">-</a>16383, <a id="252c53" class="tk">-</a>16383, <a id="252c61" class="tk">-</a>16382, <a id="252c69" class="tk">-</a>16380,</td></tr>
-<tr name="253" id="253">
-<td><a id="l253" class='ln'>253</a></td><td>    <a id="253c5" class="tk">-</a>16378, <a id="253c13" class="tk">-</a>16376, <a id="253c21" class="tk">-</a>16374, <a id="253c29" class="tk">-</a>16371, <a id="253c37" class="tk">-</a>16368, <a id="253c45" class="tk">-</a>16365, <a id="253c53" class="tk">-</a>16362, <a id="253c61" class="tk">-</a>16358, <a id="253c69" class="tk">-</a>16353,</td></tr>
-<tr name="254" id="254">
-<td><a id="l254" class='ln'>254</a></td><td>    <a id="254c5" class="tk">-</a>16349, <a id="254c13" class="tk">-</a>16344, <a id="254c21" class="tk">-</a>16339, <a id="254c29" class="tk">-</a>16333, <a id="254c37" class="tk">-</a>16328, <a id="254c45" class="tk">-</a>16322, <a id="254c53" class="tk">-</a>16315, <a id="254c61" class="tk">-</a>16309, <a id="254c69" class="tk">-</a>16302,</td></tr>
-<tr name="255" id="255">
-<td><a id="l255" class='ln'>255</a></td><td>    <a id="255c5" class="tk">-</a>16294, <a id="255c13" class="tk">-</a>16287, <a id="255c21" class="tk">-</a>16279, <a id="255c29" class="tk">-</a>16270, <a id="255c37" class="tk">-</a>16262, <a id="255c45" class="tk">-</a>16253, <a id="255c53" class="tk">-</a>16244, <a id="255c61" class="tk">-</a>16234, <a id="255c69" class="tk">-</a>16225,</td></tr>
-<tr name="256" id="256">
-<td><a id="l256" class='ln'>256</a></td><td>    <a id="256c5" class="tk">-</a>16214, <a id="256c13" class="tk">-</a>16204, <a id="256c21" class="tk">-</a>16193, <a id="256c29" class="tk">-</a>16182, <a id="256c37" class="tk">-</a>16171, <a id="256c45" class="tk">-</a>16159, <a id="256c53" class="tk">-</a>16147, <a id="256c61" class="tk">-</a>16135, <a id="256c69" class="tk">-</a>16123,</td></tr>
-<tr name="257" id="257">
-<td><a id="l257" class='ln'>257</a></td><td>    <a id="257c5" class="tk">-</a>16110, <a id="257c13" class="tk">-</a>16096, <a id="257c21" class="tk">-</a>16083, <a id="257c29" class="tk">-</a>16069, <a id="257c37" class="tk">-</a>16055, <a id="257c45" class="tk">-</a>16041, <a id="257c53" class="tk">-</a>16026, <a id="257c61" class="tk">-</a>16011, <a id="257c69" class="tk">-</a>15996,</td></tr>
-<tr name="258" id="258">
-<td><a id="l258" class='ln'>258</a></td><td>    <a id="258c5" class="tk">-</a>15980, <a id="258c13" class="tk">-</a>15964, <a id="258c21" class="tk">-</a>15948, <a id="258c29" class="tk">-</a>15931, <a id="258c37" class="tk">-</a>15914, <a id="258c45" class="tk">-</a>15897, <a id="258c53" class="tk">-</a>15880, <a id="258c61" class="tk">-</a>15862, <a id="258c69" class="tk">-</a>15844,</td></tr>
-<tr name="259" id="259">
-<td><a id="l259" class='ln'>259</a></td><td>    <a id="259c5" class="tk">-</a>15826, <a id="259c13" class="tk">-</a>15807, <a id="259c21" class="tk">-</a>15788, <a id="259c29" class="tk">-</a>15769, <a id="259c37" class="tk">-</a>15749, <a id="259c45" class="tk">-</a>15729, <a id="259c53" class="tk">-</a>15709, <a id="259c61" class="tk">-</a>15689, <a id="259c69" class="tk">-</a>15668,</td></tr>
-<tr name="260" id="260">
-<td><a id="l260" class='ln'>260</a></td><td>    <a id="260c5" class="tk">-</a>15647, <a id="260c13" class="tk">-</a>15626, <a id="260c21" class="tk">-</a>15604, <a id="260c29" class="tk">-</a>15582, <a id="260c37" class="tk">-</a>15560, <a id="260c45" class="tk">-</a>15537, <a id="260c53" class="tk">-</a>15515, <a id="260c61" class="tk">-</a>15491, <a id="260c69" class="tk">-</a>15468,</td></tr>
-<tr name="261" id="261">
-<td><a id="l261" class='ln'>261</a></td><td>    <a id="261c5" class="tk">-</a>15444, <a id="261c13" class="tk">-</a>15420, <a id="261c21" class="tk">-</a>15396, <a id="261c29" class="tk">-</a>15371, <a id="261c37" class="tk">-</a>15346, <a id="261c45" class="tk">-</a>15321, <a id="261c53" class="tk">-</a>15296, <a id="261c61" class="tk">-</a>15270, <a id="261c69" class="tk">-</a>15244,</td></tr>
-<tr name="262" id="262">
-<td><a id="l262" class='ln'>262</a></td><td>    <a id="262c5" class="tk">-</a>15218, <a id="262c13" class="tk">-</a>15191, <a id="262c21" class="tk">-</a>15164, <a id="262c29" class="tk">-</a>15137, <a id="262c37" class="tk">-</a>15109, <a id="262c45" class="tk">-</a>15082, <a id="262c53" class="tk">-</a>15053, <a id="262c61" class="tk">-</a>15025, <a id="262c69" class="tk">-</a>14996,</td></tr>
-<tr name="263" id="263">
-<td><a id="l263" class='ln'>263</a></td><td>    <a id="263c5" class="tk">-</a>14968, <a id="263c13" class="tk">-</a>14938, <a id="263c21" class="tk">-</a>14909, <a id="263c29" class="tk">-</a>14879, <a id="263c37" class="tk">-</a>14849, <a id="263c45" class="tk">-</a>14819, <a id="263c53" class="tk">-</a>14788, <a id="263c61" class="tk">-</a>14757, <a id="263c69" class="tk">-</a>14726,</td></tr>
-<tr name="264" id="264">
-<td><a id="l264" class='ln'>264</a></td><td>    <a id="264c5" class="tk">-</a>14694, <a id="264c13" class="tk">-</a>14663, <a id="264c21" class="tk">-</a>14631, <a id="264c29" class="tk">-</a>14598, <a id="264c37" class="tk">-</a>14566, <a id="264c45" class="tk">-</a>14533, <a id="264c53" class="tk">-</a>14500, <a id="264c61" class="tk">-</a>14466, <a id="264c69" class="tk">-</a>14433,</td></tr>
-<tr name="265" id="265">
-<td><a id="l265" class='ln'>265</a></td><td>    <a id="265c5" class="tk">-</a>14399, <a id="265c13" class="tk">-</a>14364, <a id="265c21" class="tk">-</a>14330, <a id="265c29" class="tk">-</a>14295, <a id="265c37" class="tk">-</a>14260, <a id="265c45" class="tk">-</a>14225, <a id="265c53" class="tk">-</a>14189, <a id="265c61" class="tk">-</a>14153, <a id="265c69" class="tk">-</a>14117,</td></tr>
-<tr name="266" id="266">
-<td><a id="l266" class='ln'>266</a></td><td>    <a id="266c5" class="tk">-</a>14081, <a id="266c13" class="tk">-</a>14044, <a id="266c21" class="tk">-</a>14007, <a id="266c29" class="tk">-</a>13970, <a id="266c37" class="tk">-</a>13932, <a id="266c45" class="tk">-</a>13894, <a id="266c53" class="tk">-</a>13856, <a id="266c61" class="tk">-</a>13818, <a id="266c69" class="tk">-</a>13780,</td></tr>
-<tr name="267" id="267">
-<td><a id="l267" class='ln'>267</a></td><td>    <a id="267c5" class="tk">-</a>13741, <a id="267c13" class="tk">-</a>13702, <a id="267c21" class="tk">-</a>13662, <a id="267c29" class="tk">-</a>13623, <a id="267c37" class="tk">-</a>13583, <a id="267c45" class="tk">-</a>13543, <a id="267c53" class="tk">-</a>13502, <a id="267c61" class="tk">-</a>13462, <a id="267c69" class="tk">-</a>13421,</td></tr>
-<tr name="268" id="268">
-<td><a id="l268" class='ln'>268</a></td><td>    <a id="268c5" class="tk">-</a>13380, <a id="268c13" class="tk">-</a>13338, <a id="268c21" class="tk">-</a>13297, <a id="268c29" class="tk">-</a>13255, <a id="268c37" class="tk">-</a>13213, <a id="268c45" class="tk">-</a>13170, <a id="268c53" class="tk">-</a>13128, <a id="268c61" class="tk">-</a>13085, <a id="268c69" class="tk">-</a>13042,</td></tr>
-<tr name="269" id="269">
-<td><a id="l269" class='ln'>269</a></td><td>    <a id="269c5" class="tk">-</a>12998, <a id="269c13" class="tk">-</a>12955, <a id="269c21" class="tk">-</a>12911, <a id="269c29" class="tk">-</a>12867, <a id="269c37" class="tk">-</a>12822, <a id="269c45" class="tk">-</a>12778, <a id="269c53" class="tk">-</a>12733, <a id="269c61" class="tk">-</a>12688, <a id="269c69" class="tk">-</a>12642,</td></tr>
-<tr name="270" id="270">
-<td><a id="l270" class='ln'>270</a></td><td>    <a id="270c5" class="tk">-</a>12597, <a id="270c13" class="tk">-</a>12551, <a id="270c21" class="tk">-</a>12505, <a id="270c29" class="tk">-</a>12458, <a id="270c37" class="tk">-</a>12412, <a id="270c45" class="tk">-</a>12365, <a id="270c53" class="tk">-</a>12318, <a id="270c61" class="tk">-</a>12271, <a id="270c69" class="tk">-</a>12223,</td></tr>
-<tr name="271" id="271">
-<td><a id="l271" class='ln'>271</a></td><td>    <a id="271c5" class="tk">-</a>12176, <a id="271c13" class="tk">-</a>12128, <a id="271c21" class="tk">-</a>12080, <a id="271c29" class="tk">-</a>12031, <a id="271c37" class="tk">-</a>11982, <a id="271c45" class="tk">-</a>11934, <a id="271c53" class="tk">-</a>11885, <a id="271c61" class="tk">-</a>11835, <a id="271c69" class="tk">-</a>11786,</td></tr>
-<tr name="272" id="272">
-<td><a id="l272" class='ln'>272</a></td><td>    <a id="272c5" class="tk">-</a>11736, <a id="272c13" class="tk">-</a>11686, <a id="272c21" class="tk">-</a>11636, <a id="272c29" class="tk">-</a>11585, <a id="272c37" class="tk">-</a>11535, <a id="272c45" class="tk">-</a>11484, <a id="272c53" class="tk">-</a>11433, <a id="272c61" class="tk">-</a>11381, <a id="272c69" class="tk">-</a>11330,</td></tr>
-<tr name="273" id="273">
-<td><a id="l273" class='ln'>273</a></td><td>    <a id="273c5" class="tk">-</a>11278, <a id="273c13" class="tk">-</a>11226, <a id="273c21" class="tk">-</a>11174, <a id="273c29" class="tk">-</a>11121, <a id="273c37" class="tk">-</a>11069, <a id="273c45" class="tk">-</a>11016, <a id="273c53" class="tk">-</a>10963, <a id="273c61" class="tk">-</a>10910, <a id="273c69" class="tk">-</a>10856,</td></tr>
-<tr name="274" id="274">
-<td><a id="l274" class='ln'>274</a></td><td>    <a id="274c5" class="tk">-</a>10803, <a id="274c13" class="tk">-</a>10749, <a id="274c21" class="tk">-</a>10695, <a id="274c29" class="tk">-</a>10641, <a id="274c37" class="tk">-</a>10586, <a id="274c45" class="tk">-</a>10531, <a id="274c53" class="tk">-</a>10477, <a id="274c61" class="tk">-</a>10422, <a id="274c69" class="tk">-</a>10366,</td></tr>
-<tr name="275" id="275">
-<td><a id="l275" class='ln'>275</a></td><td>    <a id="275c5" class="tk">-</a>10311, <a id="275c13" class="tk">-</a>10255, <a id="275c21" class="tk">-</a>10199, <a id="275c29" class="tk">-</a>10143, <a id="275c37" class="tk">-</a>10087, <a id="275c45" class="tk">-</a>10031, <a id="275c53" class="tk">-</a>9974, <a id="275c60" class="tk">-</a>9917, <a id="275c67" class="tk">-</a>9860, <a id="275c74" class="tk">-</a>9803,</td></tr>
-<tr name="276" id="276">
-<td><a id="l276" class='ln'>276</a></td><td>    <a id="276c5" class="tk">-</a>9746, <a id="276c12" class="tk">-</a>9688, <a id="276c19" class="tk">-</a>9630, <a id="276c26" class="tk">-</a>9572, <a id="276c33" class="tk">-</a>9514, <a id="276c40" class="tk">-</a>9456, <a id="276c47" class="tk">-</a>9397, <a id="276c54" class="tk">-</a>9339, <a id="276c61" class="tk">-</a>9280, <a id="276c68" class="tk">-</a>9221, <a id="276c75" class="tk">-</a>9162,</td></tr>
-<tr name="277" id="277">
-<td><a id="l277" class='ln'>277</a></td><td>    <a id="277c5" class="tk">-</a>9102, <a id="277c12" class="tk">-</a>9043, <a id="277c19" class="tk">-</a>8983, <a id="277c26" class="tk">-</a>8923, <a id="277c33" class="tk">-</a>8863, <a id="277c40" class="tk">-</a>8803, <a id="277c47" class="tk">-</a>8743, <a id="277c54" class="tk">-</a>8682, <a id="277c61" class="tk">-</a>8621, <a id="277c68" class="tk">-</a>8561, <a id="277c75" class="tk">-</a>8500,</td></tr>
-<tr name="278" id="278">
-<td><a id="l278" class='ln'>278</a></td><td>    <a id="278c5" class="tk">-</a>8438, <a id="278c12" class="tk">-</a>8377, <a id="278c19" class="tk">-</a>8316, <a id="278c26" class="tk">-</a>8254, <a id="278c33" class="tk">-</a>8192, <a id="278c40" class="tk">-</a>8130, <a id="278c47" class="tk">-</a>8068, <a id="278c54" class="tk">-</a>8006, <a id="278c61" class="tk">-</a>7943, <a id="278c68" class="tk">-</a>7881, <a id="278c75" class="tk">-</a>7818,</td></tr>
-<tr name="279" id="279">
-<td><a id="l279" class='ln'>279</a></td><td>    <a id="279c5" class="tk">-</a>7755, <a id="279c12" class="tk">-</a>7692, <a id="279c19" class="tk">-</a>7629, <a id="279c26" class="tk">-</a>7565, <a id="279c33" class="tk">-</a>7502, <a id="279c40" class="tk">-</a>7438, <a id="279c47" class="tk">-</a>7374, <a id="279c54" class="tk">-</a>7311, <a id="279c61" class="tk">-</a>7246, <a id="279c68" class="tk">-</a>7182, <a id="279c75" class="tk">-</a>7118,</td></tr>
-<tr name="280" id="280">
-<td><a id="l280" class='ln'>280</a></td><td>    <a id="280c5" class="tk">-</a>7053, <a id="280c12" class="tk">-</a>6989, <a id="280c19" class="tk">-</a>6924, <a id="280c26" class="tk">-</a>6859, <a id="280c33" class="tk">-</a>6794, <a id="280c40" class="tk">-</a>6729, <a id="280c47" class="tk">-</a>6664, <a id="280c54" class="tk">-</a>6599, <a id="280c61" class="tk">-</a>6533, <a id="280c68" class="tk">-</a>6467, <a id="280c75" class="tk">-</a>6402,</td></tr>
-<tr name="281" id="281">
-<td><a id="l281" class='ln'>281</a></td><td>    <a id="281c5" class="tk">-</a>6336, <a id="281c12" class="tk">-</a>6270, <a id="281c19" class="tk">-</a>6204, <a id="281c26" class="tk">-</a>6138, <a id="281c33" class="tk">-</a>6071, <a id="281c40" class="tk">-</a>6005, <a id="281c47" class="tk">-</a>5938, <a id="281c54" class="tk">-</a>5872, <a id="281c61" class="tk">-</a>5805, <a id="281c68" class="tk">-</a>5738, <a id="281c75" class="tk">-</a>5671,</td></tr>
-<tr name="282" id="282">
-<td><a id="l282" class='ln'>282</a></td><td>    <a id="282c5" class="tk">-</a>5604, <a id="282c12" class="tk">-</a>5536, <a id="282c19" class="tk">-</a>5469, <a id="282c26" class="tk">-</a>5402, <a id="282c33" class="tk">-</a>5334, <a id="282c40" class="tk">-</a>5266, <a id="282c47" class="tk">-</a>5199, <a id="282c54" class="tk">-</a>5131, <a id="282c61" class="tk">-</a>5063, <a id="282c68" class="tk">-</a>4995, <a id="282c75" class="tk">-</a>4927,</td></tr>
-<tr name="283" id="283">
-<td><a id="l283" class='ln'>283</a></td><td>    <a id="283c5" class="tk">-</a>4859, <a id="283c12" class="tk">-</a>4790, <a id="283c19" class="tk">-</a>4722, <a id="283c26" class="tk">-</a>4653, <a id="283c33" class="tk">-</a>4585, <a id="283c40" class="tk">-</a>4516, <a id="283c47" class="tk">-</a>4447, <a id="283c54" class="tk">-</a>4378, <a id="283c61" class="tk">-</a>4310, <a id="283c68" class="tk">-</a>4240, <a id="283c75" class="tk">-</a>4171,</td></tr>
-<tr name="284" id="284">
-<td><a id="l284" class='ln'>284</a></td><td>    <a id="284c5" class="tk">-</a>4102, <a id="284c12" class="tk">-</a>4033, <a id="284c19" class="tk">-</a>3964, <a id="284c26" class="tk">-</a>3894, <a id="284c33" class="tk">-</a>3825, <a id="284c40" class="tk">-</a>3755, <a id="284c47" class="tk">-</a>3686, <a id="284c54" class="tk">-</a>3616, <a id="284c61" class="tk">-</a>3546, <a id="284c68" class="tk">-</a>3476, <a id="284c75" class="tk">-</a>3406,</td></tr>
-<tr name="285" id="285">
-<td><a id="l285" class='ln'>285</a></td><td>    <a id="285c5" class="tk">-</a>3336, <a id="285c12" class="tk">-</a>3266, <a id="285c19" class="tk">-</a>3196, <a id="285c26" class="tk">-</a>3126, <a id="285c33" class="tk">-</a>3056, <a id="285c40" class="tk">-</a>2986, <a id="285c47" class="tk">-</a>2915, <a id="285c54" class="tk">-</a>2845, <a id="285c61" class="tk">-</a>2775, <a id="285c68" class="tk">-</a>2704, <a id="285c75" class="tk">-</a>2634,</td></tr>
-<tr name="286" id="286">
-<td><a id="l286" class='ln'>286</a></td><td>    <a id="286c5" class="tk">-</a>2563, <a id="286c12" class="tk">-</a>2492, <a id="286c19" class="tk">-</a>2422, <a id="286c26" class="tk">-</a>2351, <a id="286c33" class="tk">-</a>2280, <a id="286c40" class="tk">-</a>2209, <a id="286c47" class="tk">-</a>2139, <a id="286c54" class="tk">-</a>2068, <a id="286c61" class="tk">-</a>1997, <a id="286c68" class="tk">-</a>1926, <a id="286c75" class="tk">-</a>1855,</td></tr>
-<tr name="287" id="287">
-<td><a id="l287" class='ln'>287</a></td><td>    <a id="287c5" class="tk">-</a>1784, <a id="287c12" class="tk">-</a>1713, <a id="287c19" class="tk">-</a>1641, <a id="287c26" class="tk">-</a>1570, <a id="287c33" class="tk">-</a>1499, <a id="287c40" class="tk">-</a>1428, <a id="287c47" class="tk">-</a>1357, <a id="287c54" class="tk">-</a>1285, <a id="287c61" class="tk">-</a>1214, <a id="287c68" class="tk">-</a>1143, <a id="287c75" class="tk">-</a>1072,</td></tr>
-<tr name="288" id="288">
-<td><a id="l288" class='ln'>288</a></td><td>    <a id="288c5" class="tk">-</a>1000, <a id="288c12" class="tk">-</a>929, <a id="288c18" class="tk">-</a>857, <a id="288c24" class="tk">-</a>786, <a id="288c30" class="tk">-</a>715, <a id="288c36" class="tk">-</a>643, <a id="288c42" class="tk">-</a>572, <a id="288c48" class="tk">-</a>500, <a id="288c54" class="tk">-</a>429, <a id="288c60" class="tk">-</a>357, <a id="288c66" class="tk">-</a>286, <a id="288c72" class="tk">-</a>214,</td></tr>
-<tr name="289" id="289">
-<td><a id="l289" class='ln'>289</a></td><td>    <a id="289c5" class="tk">-</a>143, <a id="289c11" class="tk">-</a>71, 0, 71, 143, 214, 286, 357, 429, 500, 572, 643, 715, 786, 857, 929,</td></tr>
-<tr name="290" id="290">
-<td><a id="l290" class='ln'>290</a></td><td>    1000, 1072, 1143, 1214, 1285, 1357, 1428, 1499, 1570, 1641, 1713, 1784, 1855,</td></tr>
-<tr name="291" id="291">
-<td><a id="l291" class='ln'>291</a></td><td>    1926, 1997, 2068, 2139, 2209, 2280, 2351, 2422, 2492, 2563, 2634, 2704, 2775,</td></tr>
-<tr name="292" id="292">
-<td><a id="l292" class='ln'>292</a></td><td>    2845, 2915, 2986, 3056, 3126, 3196, 3266, 3336, 3406, 3476, 3546, 3616, 3686,</td></tr>
-<tr name="293" id="293">
-<td><a id="l293" class='ln'>293</a></td><td>    3755, 3825, 3894, 3964, 4033, 4102, 4171, 4240, 4310, 4378, 4447, 4516, 4585,</td></tr>
-<tr name="294" id="294">
-<td><a id="l294" class='ln'>294</a></td><td>    4653, 4722, 4790, 4859, 4927, 4995, 5063, 5131, 5199, 5266, 5334, 5402, 5469,</td></tr>
-<tr name="295" id="295">
-<td><a id="l295" class='ln'>295</a></td><td>    5536, 5604, 5671, 5738, 5805, 5872, 5938, 6005, 6071, 6138, 6204, 6270, 6336,</td></tr>
-<tr name="296" id="296">
-<td><a id="l296" class='ln'>296</a></td><td>    6402, 6467, 6533, 6599, 6664, 6729, 6794, 6859, 6924, 6989, 7053, 7118, 7182,</td></tr>
-<tr name="297" id="297">
-<td><a id="l297" class='ln'>297</a></td><td>    7246, 7311, 7374, 7438, 7502, 7565, 7629, 7692, 7755, 7818, 7881, 7943, 8006,</td></tr>
-<tr name="298" id="298">
-<td><a id="l298" class='ln'>298</a></td><td>    8068, 8130, 8192, 8254, 8316, 8377, 8438, 8500, 8561, 8621, 8682, 8743, 8803,</td></tr>
-<tr name="299" id="299">
-<td><a id="l299" class='ln'>299</a></td><td>    8863, 8923, 8983, 9043, 9102, 9162, 9221, 9280, 9339, 9397, 9456, 9514, 9572,</td></tr>
-<tr name="300" id="300">
-<td><a id="l300" class='ln'>300</a></td><td>    9630, 9688, 9746, 9803, 9860, 9917, 9974, 10031, 10087, 10143, 10199, 10255,</td></tr>
-<tr name="301" id="301">
-<td><a id="l301" class='ln'>301</a></td><td>    10311, 10366, 10422, 10477, 10531, 10586, 10641, 10695, 10749, 10803, 10856,</td></tr>
-<tr name="302" id="302">
-<td><a id="l302" class='ln'>302</a></td><td>    10910, 10963, 11016, 11069, 11121, 11174, 11226, 11278, 11330, 11381, 11433,</td></tr>
-<tr name="303" id="303">
-<td><a id="l303" class='ln'>303</a></td><td>    11484, 11535, 11585, 11636, 11686, 11736, 11786, 11835, 11885, 11934, 11982,</td></tr>
-<tr name="304" id="304">
-<td><a id="l304" class='ln'>304</a></td><td>    12031, 12080, 12128, 12176, 12223, 12271, 12318, 12365, 12412, 12458, 12505,</td></tr>
-<tr name="305" id="305">
-<td><a id="l305" class='ln'>305</a></td><td>    12551, 12597, 12642, 12688, 12733, 12778, 12822, 12867, 12911, 12955, 12998,</td></tr>
-<tr name="306" id="306">
-<td><a id="l306" class='ln'>306</a></td><td>    13042, 13085, 13128, 13170, 13213, 13255, 13297, 13338, 13380, 13421, 13462,</td></tr>
-<tr name="307" id="307">
-<td><a id="l307" class='ln'>307</a></td><td>    13502, 13543, 13583, 13623, 13662, 13702, 13741, 13780, 13818, 13856, 13894,</td></tr>
-<tr name="308" id="308">
-<td><a id="l308" class='ln'>308</a></td><td>    13932, 13970, 14007, 14044, 14081, 14117, 14153, 14189, 14225, 14260, 14295,</td></tr>
-<tr name="309" id="309">
-<td><a id="l309" class='ln'>309</a></td><td>    14330, 14364, 14399, 14433, 14466, 14500, 14533, 14566, 14598, 14631, 14663,</td></tr>
-<tr name="310" id="310">
-<td><a id="l310" class='ln'>310</a></td><td>    14694, 14726, 14757, 14788, 14819, 14849, 14879, 14909, 14938, 14968, 14996,</td></tr>
-<tr name="311" id="311">
-<td><a id="l311" class='ln'>311</a></td><td>    15025, 15053, 15082, 15109, 15137, 15164, 15191, 15218, 15244, 15270, 15296,</td></tr>
-<tr name="312" id="312">
-<td><a id="l312" class='ln'>312</a></td><td>    15321, 15346, 15371, 15396, 15420, 15444, 15468, 15491, 15515, 15537, 15560,</td></tr>
-<tr name="313" id="313">
-<td><a id="l313" class='ln'>313</a></td><td>    15582, 15604, 15626, 15647, 15668, 15689, 15709, 15729, 15749, 15769, 15788,</td></tr>
-<tr name="314" id="314">
-<td><a id="l314" class='ln'>314</a></td><td>    15807, 15826, 15844, 15862, 15880, 15897, 15914, 15931, 15948, 15964, 15980,</td></tr>
-<tr name="315" id="315">
-<td><a id="l315" class='ln'>315</a></td><td>    15996, 16011, 16026, 16041, 16055, 16069, 16083, 16096, 16110, 16123, 16135,</td></tr>
-<tr name="316" id="316">
-<td><a id="l316" class='ln'>316</a></td><td>    16147, 16159, 16171, 16182, 16193, 16204, 16214, 16225, 16234, 16244, 16253,</td></tr>
-<tr name="317" id="317">
-<td><a id="l317" class='ln'>317</a></td><td>    16262, 16270, 16279, 16287, 16294, 16302, 16309, 16315, 16322, 16328, 16333,</td></tr>
-<tr name="318" id="318">
-<td><a id="l318" class='ln'>318</a></td><td>    16339, 16344, 16349, 16353, 16358, 16362, 16365, 16368, 16371, 16374, 16376,</td></tr>
-<tr name="319" id="319">
-<td><a id="l319" class='ln'>319</a></td><td>    16378, 16380, 16382, 16383, 16383, 16384, 16384 <span class="br">}</span>,</td></tr>
-<tr name="320" id="320">
-<td><a id="l320" class='ln'>320</a></td><td></td></tr>
-<tr name="321" id="321">
-<td><a id="l321" class='ln'>321</a></td><td>  <span class="ct">/* Computed Parameter: vec_hallToPos_Value</span></td></tr>
-<tr name="322" id="322">
-<td><a id="l322" class='ln'>322</a></td><td><span class="ct">   * Referenced by: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
-<tr name="323" id="323">
-<td><a id="l323" class='ln'>323</a></td><td><span class="ct">   */</span></td></tr>
-<tr name="324" id="324">
-<td><a id="l324" class='ln'>324</a></td><td>  <span class="br">{</span> 7, 5, 1, 0, 3, 4, 2, 7 <span class="br">}</span></td></tr>
-<tr name="325" id="325">
-<td><a id="l325" class='ln'>325</a></td><td><span class="br">}</span>;</td></tr>
-<tr name="326" id="326">
-<td><a id="l326" class='ln'>326</a></td><td></td></tr>
-<tr name="327" id="327">
-<td><a id="l327" class='ln'>327</a></td><td><span class="ct">/*</span></td></tr>
-<tr name="328" id="328">
-<td><a id="l328" class='ln'>328</a></td><td><span class="ct"> * File trailer for generated code.</span></td></tr>
-<tr name="329" id="329">
-<td><a id="l329" class='ln'>329</a></td><td><span class="ct"> *</span></td></tr>
-<tr name="330" id="330">
-<td><a id="l330" class='ln'>330</a></td><td><span class="ct"> * [EOF]</span></td></tr>
-<tr name="331" id="331">
-<td><a id="l331" class='ln'>331</a></td><td><span class="ct"> */</span></td></tr>
-<tr name="332" id="332">
-<td><a id="l332" class='ln'>332</a></td><td></td></tr>
+<td><a id="l199" class='ln'>199</a></td><td></td></tr>
 </table>
 </pre>
 </body>

Simulink/PMSM_Controller_ert_rtw/html/PMSM_Controller_h.html

@@ -21,11 +21,11 @@
 <tr name="5" id="5">
 <td><a id="l5" class='ln'>5</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="6" id="6">
-<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1301</span></td></tr>
+<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1445</span></td></tr>
 <tr name="7" id="7">
 <td><a id="l7" class='ln'>7</a></td><td><span class="ct"> * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020</span></td></tr>
 <tr name="8" id="8">
-<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Mon Apr 18 19:32:18 2022</span></td></tr>
+<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Sat May 21 17:50:12 2022</span></td></tr>
 <tr name="9" id="9">
 <td><a id="l9" class='ln'>9</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="10" id="10">
@@ -49,909 +49,1051 @@
 <tr name="19" id="19">
 <td><a id="l19" class='ln'>19</a></td><td><span class="pp">#define</span> <a id="19c9" class="tk">RTW_HEADER_PMSM_Controller_h_</a></td></tr>
 <tr name="20" id="20">
-<td><a id="l20" class='ln'>20</a></td><td><span class="pp">#ifndef</span> <a id="20c9" class="tk">PMSM_Controller_COMMON_INCLUDES_</a></td></tr>
+<td><a id="l20" class='ln'>20</a></td><td><span class="pp">#include "rtwtypes.h"</span></td></tr>
 <tr name="21" id="21">
-<td><a id="l21" class='ln'>21</a></td><td><span class="pp">#define</span> <a id="21c9" class="tk">PMSM_Controller_COMMON_INCLUDES_</a></td></tr>
+<td><a id="l21" class='ln'>21</a></td><td><span class="pp">#include "zero_crossing_types.h"</span></td></tr>
 <tr name="22" id="22">
-<td><a id="l22" class='ln'>22</a></td><td><span class="pp">#include "rtwtypes.h"</span></td></tr>
+<td><a id="l22" class='ln'>22</a></td><td><span class="pp">#ifndef</span> <a id="22c9" class="tk">PMSM_Controller_COMMON_INCLUDES_</a></td></tr>
 <tr name="23" id="23">
-<td><a id="l23" class='ln'>23</a></td><td><span class="pp">#include "zero_crossing_types.h"</span></td></tr>
+<td><a id="l23" class='ln'>23</a></td><td><span class="pp">#define</span> <a id="23c9" class="tk">PMSM_Controller_COMMON_INCLUDES_</a></td></tr>
 <tr name="24" id="24">
-<td><a id="l24" class='ln'>24</a></td><td><span class="pp">#endif</span>                                 <span class="ct">/* PMSM_Controller_COMMON_INCLUDES_ */</span></td></tr>
+<td><a id="l24" class='ln'>24</a></td><td><span class="pp">#include "rtwtypes.h"</span></td></tr>
 <tr name="25" id="25">
-<td><a id="l25" class='ln'>25</a></td><td></td></tr>
+<td><a id="l25" class='ln'>25</a></td><td><span class="pp">#include "zero_crossing_types.h"</span></td></tr>
 <tr name="26" id="26">
-<td><a id="l26" class='ln'>26</a></td><td><span class="ct">/* Model Code Variants */</span></td></tr>
+<td><a id="l26" class='ln'>26</a></td><td><span class="pp">#endif</span>                                 <span class="ct">/* PMSM_Controller_COMMON_INCLUDES_ */</span></td></tr>
 <tr name="27" id="27">
 <td><a id="l27" class='ln'>27</a></td><td></td></tr>
 <tr name="28" id="28">
-<td><a id="l28" class='ln'>28</a></td><td><span class="ct">/* Macros for accessing real-time model data structure */</span></td></tr>
+<td><a id="l28" class='ln'>28</a></td><td><span class="ct">/* Model Code Variants */</span></td></tr>
 <tr name="29" id="29">
-<td><a id="l29" class='ln'>29</a></td><td><span class="pp">#ifndef</span> <a id="29c9" class="tk">rtmGetErrorStatus</a></td></tr>
+<td><a id="l29" class='ln'>29</a></td><td></td></tr>
 <tr name="30" id="30">
-<td><a id="l30" class='ln'>30</a></td><td><span class="pp">#define</span> <a id="30c9" class="tk">rtmGetErrorStatus</a>(<a id="30c27" class="tk">rtm</a>)         ((<a id="30c42" class="tk">rtm</a>)-&gt;<a id="30c48" class="tk">errorStatus</a>)</td></tr>
+<td><a id="l30" class='ln'>30</a></td><td><span class="ct">/* Macros for accessing real-time model data structure */</span></td></tr>
 <tr name="31" id="31">
-<td><a id="l31" class='ln'>31</a></td><td><span class="pp">#endif</span></td></tr>
+<td><a id="l31" class='ln'>31</a></td><td><span class="pp">#ifndef</span> <a id="31c9" class="tk">rtmGetErrorStatus</a></td></tr>
 <tr name="32" id="32">
-<td><a id="l32" class='ln'>32</a></td><td></td></tr>
+<td><a id="l32" class='ln'>32</a></td><td><span class="pp">#define</span> <a id="32c9" class="tk">rtmGetErrorStatus</a>(<a id="32c27" class="tk">rtm</a>)         ((<a id="32c42" class="tk">rtm</a>)-&gt;<a id="32c48" class="tk">errorStatus</a>)</td></tr>
 <tr name="33" id="33">
-<td><a id="l33" class='ln'>33</a></td><td><span class="pp">#ifndef</span> <a id="33c9" class="tk">rtmSetErrorStatus</a></td></tr>
+<td><a id="l33" class='ln'>33</a></td><td><span class="pp">#endif</span></td></tr>
 <tr name="34" id="34">
-<td><a id="l34" class='ln'>34</a></td><td><span class="pp">#define</span> <a id="34c9" class="tk">rtmSetErrorStatus</a>(<a id="34c27" class="tk">rtm</a>, <a id="34c32" class="tk">val</a>)    ((<a id="34c42" class="tk">rtm</a>)-&gt;<a id="34c48" class="tk">errorStatus</a> = (<a id="34c63" class="tk">val</a>))</td></tr>
+<td><a id="l34" class='ln'>34</a></td><td></td></tr>
 <tr name="35" id="35">
-<td><a id="l35" class='ln'>35</a></td><td><span class="pp">#endif</span></td></tr>
+<td><a id="l35" class='ln'>35</a></td><td><span class="pp">#ifndef</span> <a id="35c9" class="tk">rtmSetErrorStatus</a></td></tr>
 <tr name="36" id="36">
-<td><a id="l36" class='ln'>36</a></td><td></td></tr>
+<td><a id="l36" class='ln'>36</a></td><td><span class="pp">#define</span> <a id="36c9" class="tk">rtmSetErrorStatus</a>(<a id="36c27" class="tk">rtm</a>, <a id="36c32" class="tk">val</a>)    ((<a id="36c42" class="tk">rtm</a>)-&gt;<a id="36c48" class="tk">errorStatus</a> = (<a id="36c63" class="tk">val</a>))</td></tr>
 <tr name="37" id="37">
-<td><a id="l37" class='ln'>37</a></td><td><span class="ct">/* Forward declaration for rtModel */</span></td></tr>
+<td><a id="l37" class='ln'>37</a></td><td><span class="pp">#endif</span></td></tr>
 <tr name="38" id="38">
-<td><a id="l38" class='ln'>38</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <a id="38c16" class="tk">tag_RTM</a> <a id="38c24" class="tk">RT_MODEL</a>;</td></tr>
+<td><a id="l38" class='ln'>38</a></td><td></td></tr>
 <tr name="39" id="39">
-<td><a id="l39" class='ln'>39</a></td><td></td></tr>
+<td><a id="l39" class='ln'>39</a></td><td><span class="ct">/* Forward declaration for rtModel */</span></td></tr>
 <tr name="40" id="40">
-<td><a id="l40" class='ln'>40</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;S40&gt;/Counter' */</span></td></tr>
+<td><a id="l40" class='ln'>40</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <a id="40c16" class="tk">tag_RTM</a> <a id="40c24" class="tk">RT_MODEL</a>;</td></tr>
 <tr name="41" id="41">
-<td><a id="l41" class='ln'>41</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l41" class='ln'>41</a></td><td></td></tr>
 <tr name="42" id="42">
-<td><a id="l42" class='ln'>42</a></td><td>  <a id="42c3" class="tk">uint16_T</a> <a id="42c12" class="tk">UnitDelay_DSTATE</a>;           <span class="ct">/* '&lt;S45&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l42" class='ln'>42</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;S48&gt;/Low_Pass_Filter' */</span></td></tr>
 <tr name="43" id="43">
-<td><a id="l43" class='ln'>43</a></td><td><span class="br">}</span> <a id="43c3" class="tk">DW_Counter</a>;</td></tr>
+<td><a id="l43" class='ln'>43</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="44" id="44">
-<td><a id="l44" class='ln'>44</a></td><td></td></tr>
+<td><a id="l44" class='ln'>44</a></td><td>  <a id="44c3" class="tk">int32_T</a> <a id="44c11" class="tk">UnitDelay1_DSTATE</a>[2];        <span class="ct">/* '&lt;S57&gt;/UnitDelay1' */</span></td></tr>
 <tr name="45" id="45">
-<td><a id="l45" class='ln'>45</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;S36&gt;/either_edge' */</span></td></tr>
+<td><a id="l45" class='ln'>45</a></td><td><span class="br">}</span> <a id="45c3" class="tk">DW_Low_Pass_Filter</a>;</td></tr>
 <tr name="46" id="46">
-<td><a id="l46" class='ln'>46</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l46" class='ln'>46</a></td><td></td></tr>
 <tr name="47" id="47">
-<td><a id="l47" class='ln'>47</a></td><td>  <a id="47c3" class="tk">boolean_T</a> <a id="47c13" class="tk">UnitDelay_DSTATE</a>;          <span class="ct">/* '&lt;S41&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l47" class='ln'>47</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;S87&gt;/PI_Speed' */</span></td></tr>
 <tr name="48" id="48">
-<td><a id="l48" class='ln'>48</a></td><td><span class="br">}</span> <a id="48c3" class="tk">DW_either_edge</a>;</td></tr>
+<td><a id="l48" class='ln'>48</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="49" id="49">
-<td><a id="l49" class='ln'>49</a></td><td></td></tr>
+<td><a id="l49" class='ln'>49</a></td><td>  <a id="49c3" class="tk">int32_T</a> <a id="49c11" class="tk">UnitDelay_DSTATE</a>;            <span class="ct">/* '&lt;S89&gt;/UnitDelay' */</span></td></tr>
 <tr name="50" id="50">
-<td><a id="l50" class='ln'>50</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;S35&gt;/Debounce_Filter' */</span></td></tr>
+<td><a id="l50" class='ln'>50</a></td><td>  <a id="50c3" class="tk">int32_T</a> <a id="50c11" class="tk">ResettableDelay_DSTATE</a>;      <span class="ct">/* '&lt;S90&gt;/Resettable Delay' */</span></td></tr>
 <tr name="51" id="51">
-<td><a id="l51" class='ln'>51</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l51" class='ln'>51</a></td><td>  <a id="51c3" class="tk">uint8_T</a> <a id="51c11" class="tk">icLoad</a>;                      <span class="ct">/* '&lt;S90&gt;/Resettable Delay' */</span></td></tr>
 <tr name="52" id="52">
-<td><a id="l52" class='ln'>52</a></td><td>  <a id="52c3" class="tk">DW_either_edge</a> <a id="52c18" class="tk">either_edge_j</a>;        <span class="ct">/* '&lt;S36&gt;/either_edge' */</span></td></tr>
+<td><a id="l52" class='ln'>52</a></td><td><span class="br">}</span> <a id="52c3" class="tk">DW_PI_backCalc_fixdt</a>;</td></tr>
 <tr name="53" id="53">
-<td><a id="l53" class='ln'>53</a></td><td>  <a id="53c3" class="tk">DW_Counter</a> <a id="53c14" class="tk">Counter_d</a>;                <span class="ct">/* '&lt;S39&gt;/Counter' */</span></td></tr>
+<td><a id="l53" class='ln'>53</a></td><td></td></tr>
 <tr name="54" id="54">
-<td><a id="l54" class='ln'>54</a></td><td>  <a id="54c3" class="tk">DW_Counter</a> <a id="54c14" class="tk">Counter_f</a>;                <span class="ct">/* '&lt;S40&gt;/Counter' */</span></td></tr>
+<td><a id="l54" class='ln'>54</a></td><td><span class="ct">/* Zero-crossing (trigger) state for system '&lt;S87&gt;/PI_Speed' */</span></td></tr>
 <tr name="55" id="55">
-<td><a id="l55" class='ln'>55</a></td><td>  <a id="55c3" class="tk">boolean_T</a> <a id="55c13" class="tk">UnitDelay_DSTATE</a>;          <span class="ct">/* '&lt;S36&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l55" class='ln'>55</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="56" id="56">
-<td><a id="l56" class='ln'>56</a></td><td><span class="br">}</span> <a id="56c3" class="tk">DW_Debounce_Filter</a>;</td></tr>
+<td><a id="l56" class='ln'>56</a></td><td>  <a id="56c3" class="tk">ZCSigState</a> <a id="56c14" class="tk">ResettableDelay_Reset_ZCE_f</a>;<span class="ct">/* '&lt;S90&gt;/Resettable Delay' */</span></td></tr>
 <tr name="57" id="57">
-<td><a id="l57" class='ln'>57</a></td><td></td></tr>
+<td><a id="l57" class='ln'>57</a></td><td><span class="br">}</span> <a id="57c3" class="tk">ZCE_PI_backCalc_fixdt</a>;</td></tr>
 <tr name="58" id="58">
-<td><a id="l58" class='ln'>58</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;S46&gt;/Low_Pass_Filter' */</span></td></tr>
+<td><a id="l58" class='ln'>58</a></td><td></td></tr>
 <tr name="59" id="59">
-<td><a id="l59" class='ln'>59</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l59" class='ln'>59</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;S95&gt;/PI_backCalc_fixdt' */</span></td></tr>
 <tr name="60" id="60">
-<td><a id="l60" class='ln'>60</a></td><td>  <a id="60c3" class="tk">int16_T</a> <a id="60c11" class="tk">UnitDelay1_DSTATE</a>[2];        <span class="ct">/* '&lt;S56&gt;/UnitDelay1' */</span></td></tr>
+<td><a id="l60" class='ln'>60</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="61" id="61">
-<td><a id="l61" class='ln'>61</a></td><td><span class="br">}</span> <a id="61c3" class="tk">DW_Low_Pass_Filter</a>;</td></tr>
+<td><a id="l61" class='ln'>61</a></td><td>  <a id="61c3" class="tk">int32_T</a> <a id="61c11" class="tk">UnitDelay_DSTATE</a>;            <span class="ct">/* '&lt;S100&gt;/UnitDelay' */</span></td></tr>
 <tr name="62" id="62">
-<td><a id="l62" class='ln'>62</a></td><td></td></tr>
+<td><a id="l62" class='ln'>62</a></td><td>  <a id="62c3" class="tk">int32_T</a> <a id="62c11" class="tk">ResettableDelay_DSTATE</a>;      <span class="ct">/* '&lt;S102&gt;/Resettable Delay' */</span></td></tr>
 <tr name="63" id="63">
-<td><a id="l63" class='ln'>63</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l63" class='ln'>63</a></td><td>  <a id="63c3" class="tk">uint8_T</a> <a id="63c11" class="tk">icLoad</a>;                      <span class="ct">/* '&lt;S102&gt;/Resettable Delay' */</span></td></tr>
 <tr name="64" id="64">
-<td><a id="l64" class='ln'>64</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l64" class='ln'>64</a></td><td><span class="br">}</span> <a id="64c3" class="tk">DW_PI_backCalc_fixdt_i</a>;</td></tr>
 <tr name="65" id="65">
-<td><a id="l65" class='ln'>65</a></td><td>  <a id="65c3" class="tk">int32_T</a> <a id="65c11" class="tk">UnitDelay_DSTATE</a>;            <span class="ct">/* '&lt;S66&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l65" class='ln'>65</a></td><td></td></tr>
 <tr name="66" id="66">
-<td><a id="l66" class='ln'>66</a></td><td>  <a id="66c3" class="tk">int32_T</a> <a id="66c11" class="tk">ResettableDelay_DSTATE</a>;      <span class="ct">/* '&lt;S68&gt;/Resettable Delay' */</span></td></tr>
+<td><a id="l66" class='ln'>66</a></td><td><span class="ct">/* Zero-crossing (trigger) state for system '&lt;S95&gt;/PI_backCalc_fixdt' */</span></td></tr>
 <tr name="67" id="67">
-<td><a id="l67" class='ln'>67</a></td><td>  <a id="67c3" class="tk">uint8_T</a> <a id="67c11" class="tk">icLoad</a>;                      <span class="ct">/* '&lt;S68&gt;/Resettable Delay' */</span></td></tr>
+<td><a id="l67" class='ln'>67</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="68" id="68">
-<td><a id="l68" class='ln'>68</a></td><td><span class="br">}</span> <a id="68c3" class="tk">DW_PI_backCalc_fixdt</a>;</td></tr>
+<td><a id="l68" class='ln'>68</a></td><td>  <a id="68c3" class="tk">ZCSigState</a> <a id="68c14" class="tk">ResettableDelay_Reset_ZCE</a>;<span class="ct">/* '&lt;S102&gt;/Resettable Delay' */</span></td></tr>
 <tr name="69" id="69">
-<td><a id="l69" class='ln'>69</a></td><td></td></tr>
+<td><a id="l69" class='ln'>69</a></td><td><span class="br">}</span> <a id="69c3" class="tk">ZCE_PI_backCalc_fixdt_e</a>;</td></tr>
 <tr name="70" id="70">
-<td><a id="l70" class='ln'>70</a></td><td><span class="ct">/* Zero-crossing (trigger) state for system '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l70" class='ln'>70</a></td><td></td></tr>
 <tr name="71" id="71">
-<td><a id="l71" class='ln'>71</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l71" class='ln'>71</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;Root&gt;' */</span></td></tr>
 <tr name="72" id="72">
-<td><a id="l72" class='ln'>72</a></td><td>  <a id="72c3" class="tk">ZCSigState</a> <a id="72c14" class="tk">ResettableDelay_Reset_ZCE_p</a>;<span class="ct">/* '&lt;S68&gt;/Resettable Delay' */</span></td></tr>
+<td><a id="l72" class='ln'>72</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="73" id="73">
-<td><a id="l73" class='ln'>73</a></td><td><span class="br">}</span> <a id="73c3" class="tk">ZCE_PI_backCalc_fixdt</a>;</td></tr>
+<td><a id="l73" class='ln'>73</a></td><td>  <a id="73c3" class="tk">DW_PI_backCalc_fixdt_i</a> <a id="73c26" class="tk">PI_backCalc_fixdt1</a>;<span class="ct">/* '&lt;S95&gt;/PI_backCalc_fixdt1' */</span></td></tr>
 <tr name="74" id="74">
-<td><a id="l74" class='ln'>74</a></td><td></td></tr>
+<td><a id="l74" class='ln'>74</a></td><td>  <a id="74c3" class="tk">DW_PI_backCalc_fixdt_i</a> <a id="74c26" class="tk">PI_backCalc_fixdt_o3</a>;<span class="ct">/* '&lt;S95&gt;/PI_backCalc_fixdt' */</span></td></tr>
 <tr name="75" id="75">
-<td><a id="l75" class='ln'>75</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l75" class='ln'>75</a></td><td>  <a id="75c3" class="tk">DW_PI_backCalc_fixdt</a> <a id="75c24" class="tk">PI_Speed</a>;       <span class="ct">/* '&lt;S87&gt;/PI_Speed' */</span></td></tr>
 <tr name="76" id="76">
-<td><a id="l76" class='ln'>76</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l76" class='ln'>76</a></td><td>  <a id="76c3" class="tk">DW_Low_Pass_Filter</a> <a id="76c22" class="tk">Low_Pass_Filter_h</a>;<span class="ct">/* '&lt;S6&gt;/Low_Pass_Filter' */</span></td></tr>
 <tr name="77" id="77">
-<td><a id="l77" class='ln'>77</a></td><td>  <a id="77c3" class="tk">int32_T</a> <a id="77c11" class="tk">UnitDelay_DSTATE</a>;            <span class="ct">/* '&lt;S93&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l77" class='ln'>77</a></td><td>  <a id="77c3" class="tk">DW_Low_Pass_Filter</a> <a id="77c22" class="tk">Low_Pass_Filter_d</a>;<span class="ct">/* '&lt;S48&gt;/Low_Pass_Filter' */</span></td></tr>
 <tr name="78" id="78">
-<td><a id="l78" class='ln'>78</a></td><td>  <a id="78c3" class="tk">int32_T</a> <a id="78c11" class="tk">ResettableDelay_DSTATE</a>;      <span class="ct">/* '&lt;S94&gt;/Resettable Delay' */</span></td></tr>
+<td><a id="l78" class='ln'>78</a></td><td>  <a id="78c3" class="tk">int32_T</a> <a id="78c11" class="tk">Merge1</a>;                      <span class="ct">/* '&lt;S26&gt;/Merge1' */</span></td></tr>
 <tr name="79" id="79">
-<td><a id="l79" class='ln'>79</a></td><td>  <a id="79c3" class="tk">uint8_T</a> <a id="79c11" class="tk">icLoad</a>;                      <span class="ct">/* '&lt;S94&gt;/Resettable Delay' */</span></td></tr>
+<td><a id="l79" class='ln'>79</a></td><td>  <a id="79c3" class="tk">int32_T</a> <a id="79c11" class="tk">Divide11</a>;                    <span class="ct">/* '&lt;S20&gt;/Divide11' */</span></td></tr>
 <tr name="80" id="80">
-<td><a id="l80" class='ln'>80</a></td><td><span class="br">}</span> <a id="80c3" class="tk">DW_pi_speed</a>;</td></tr>
+<td><a id="l80" class='ln'>80</a></td><td>  <a id="80c3" class="tk">int32_T</a> <a id="80c11" class="tk">UnitDelay_DSTATE</a>;            <span class="ct">/* '&lt;S92&gt;/Unit Delay' */</span></td></tr>
 <tr name="81" id="81">
-<td><a id="l81" class='ln'>81</a></td><td></td></tr>
+<td><a id="l81" class='ln'>81</a></td><td>  <a id="81c3" class="tk">int32_T</a> <a id="81c11" class="tk">ResettableDelay_DSTATE</a>;      <span class="ct">/* '&lt;S93&gt;/Resettable Delay' */</span></td></tr>
 <tr name="82" id="82">
-<td><a id="l82" class='ln'>82</a></td><td><span class="ct">/* Zero-crossing (trigger) state for system '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l82" class='ln'>82</a></td><td>  <a id="82c3" class="tk">uint32_T</a> <a id="82c12" class="tk">z_counterRawPrev</a>;           <span class="ct">/* '&lt;S20&gt;/z_counterRawPrev' */</span></td></tr>
 <tr name="83" id="83">
-<td><a id="l83" class='ln'>83</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l83" class='ln'>83</a></td><td>  <a id="83c3" class="tk">uint32_T</a> <a id="83c12" class="tk">UnitDelay3_DSTATE</a>;          <span class="ct">/* '&lt;S14&gt;/UnitDelay3' */</span></td></tr>
 <tr name="84" id="84">
-<td><a id="l84" class='ln'>84</a></td><td>  <a id="84c3" class="tk">ZCSigState</a> <a id="84c14" class="tk">ResettableDelay_Reset_ZCE</a>;<span class="ct">/* '&lt;S94&gt;/Resettable Delay' */</span></td></tr>
+<td><a id="l84" class='ln'>84</a></td><td>  <a id="84c3" class="tk">uint32_T</a> <a id="84c12" class="tk">UnitDelay1_DSTATE</a>;          <span class="ct">/* '&lt;S7&gt;/UnitDelay1' */</span></td></tr>
 <tr name="85" id="85">
-<td><a id="l85" class='ln'>85</a></td><td><span class="br">}</span> <a id="85c3" class="tk">ZCE_pi_speed</a>;</td></tr>
+<td><a id="l85" class='ln'>85</a></td><td>  <a id="85c3" class="tk">uint32_T</a> <a id="85c12" class="tk">UnitDelay2_DSTATE</a>;          <span class="ct">/* '&lt;S20&gt;/UnitDelay2' */</span></td></tr>
 <tr name="86" id="86">
-<td><a id="l86" class='ln'>86</a></td><td></td></tr>
+<td><a id="l86" class='ln'>86</a></td><td>  <a id="86c3" class="tk">uint32_T</a> <a id="86c12" class="tk">UnitDelay3_DSTATE_l</a>;        <span class="ct">/* '&lt;S20&gt;/UnitDelay3' */</span></td></tr>
 <tr name="87" id="87">
-<td><a id="l87" class='ln'>87</a></td><td><span class="ct">/* Block signals and states (default storage) for system '&lt;Root&gt;' */</span></td></tr>
+<td><a id="l87" class='ln'>87</a></td><td>  <a id="87c3" class="tk">uint32_T</a> <a id="87c12" class="tk">UnitDelay5_DSTATE</a>;          <span class="ct">/* '&lt;S20&gt;/UnitDelay5' */</span></td></tr>
 <tr name="88" id="88">
-<td><a id="l88" class='ln'>88</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l88" class='ln'>88</a></td><td>  <a id="88c3" class="tk">uint32_T</a> <a id="88c12" class="tk">UnitDelay4_DSTATE</a>;          <span class="ct">/* '&lt;S14&gt;/UnitDelay4' */</span></td></tr>
 <tr name="89" id="89">
-<td><a id="l89" class='ln'>89</a></td><td>  <a id="89c3" class="tk">DW_pi_speed</a> <a id="89c15" class="tk">pi_speed_d</a>;              <span class="ct">/* '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l89" class='ln'>89</a></td><td>  <a id="89c3" class="tk">int16_T</a> <a id="89c11" class="tk">Merge</a>[2];                    <span class="ct">/* '&lt;S26&gt;/Merge' */</span></td></tr>
 <tr name="90" id="90">
-<td><a id="l90" class='ln'>90</a></td><td>  <a id="90c3" class="tk">DW_PI_backCalc_fixdt</a> <a id="90c24" class="tk">PI_id</a>;          <span class="ct">/* '&lt;S60&gt;/PI_id' */</span></td></tr>
+<td><a id="l90" class='ln'>90</a></td><td>  <a id="90c3" class="tk">int16_T</a> <a id="90c11" class="tk">Merge_c</a>[2];                  <span class="ct">/* '&lt;S76&gt;/Merge' */</span></td></tr>
 <tr name="91" id="91">
-<td><a id="l91" class='ln'>91</a></td><td>  <a id="91c3" class="tk">DW_PI_backCalc_fixdt</a> <a id="91c24" class="tk">PI_iq</a>;          <span class="ct">/* '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l91" class='ln'>91</a></td><td>  <a id="91c3" class="tk">int16_T</a> <a id="91c11" class="tk">UnitDelay1_DSTATE_f</a>[2];      <span class="ct">/* '&lt;S6&gt;/UnitDelay1' */</span></td></tr>
 <tr name="92" id="92">
-<td><a id="l92" class='ln'>92</a></td><td>  <a id="92c3" class="tk">DW_Low_Pass_Filter</a> <a id="92c22" class="tk">Low_Pass_Filter_d</a>;<span class="ct">/* '&lt;S46&gt;/Low_Pass_Filter' */</span></td></tr>
+<td><a id="l92" class='ln'>92</a></td><td>  <a id="92c3" class="tk">int16_T</a> <a id="92c11" class="tk">Divide</a>;                      <span class="ct">/* '&lt;S33&gt;/Divide' */</span></td></tr>
 <tr name="93" id="93">
-<td><a id="l93" class='ln'>93</a></td><td>  <a id="93c3" class="tk">DW_either_edge</a> <a id="93c18" class="tk">either_edge_f</a>;        <span class="ct">/* '&lt;S35&gt;/either_edge' */</span></td></tr>
+<td><a id="l93" class='ln'>93</a></td><td>  <a id="93c3" class="tk">int16_T</a> <a id="93c11" class="tk">Max</a>;                         <span class="ct">/* '&lt;S116&gt;/Max' */</span></td></tr>
 <tr name="94" id="94">
-<td><a id="l94" class='ln'>94</a></td><td>  <a id="94c3" class="tk">DW_Debounce_Filter</a> <a id="94c22" class="tk">Debounce_Filter_i</a>;<span class="ct">/* '&lt;S35&gt;/Debounce_Filter' */</span></td></tr>
+<td><a id="l94" class='ln'>94</a></td><td>  <a id="94c3" class="tk">int16_T</a> <a id="94c11" class="tk">Max1</a>;                        <span class="ct">/* '&lt;S116&gt;/Max1' */</span></td></tr>
 <tr name="95" id="95">
-<td><a id="l95" class='ln'>95</a></td><td>  <a id="95c3" class="tk">uint32_T</a> <a id="95c12" class="tk">z_counterRawPrev</a>;           <span class="ct">/* '&lt;S19&gt;/z_counterRawPrev' */</span></td></tr>
+<td><a id="l95" class='ln'>95</a></td><td>  <a id="95c3" class="tk">int16_T</a> <a id="95c11" class="tk">Max_g</a>;                       <span class="ct">/* '&lt;S109&gt;/Max' */</span></td></tr>
 <tr name="96" id="96">
-<td><a id="l96" class='ln'>96</a></td><td>  <a id="96c3" class="tk">uint32_T</a> <a id="96c12" class="tk">UnitDelay1_DSTATE</a>;          <span class="ct">/* '&lt;S7&gt;/UnitDelay1' */</span></td></tr>
+<td><a id="l96" class='ln'>96</a></td><td>  <a id="96c3" class="tk">int16_T</a> <a id="96c11" class="tk">Max1_j</a>;                      <span class="ct">/* '&lt;S109&gt;/Max1' */</span></td></tr>
 <tr name="97" id="97">
-<td><a id="l97" class='ln'>97</a></td><td>  <a id="97c3" class="tk">uint32_T</a> <a id="97c12" class="tk">UnitDelay3_DSTATE</a>;          <span class="ct">/* '&lt;S14&gt;/UnitDelay3' */</span></td></tr>
+<td><a id="l97" class='ln'>97</a></td><td>  <a id="97c3" class="tk">int16_T</a> <a id="97c11" class="tk">Merge_f</a>;                     <span class="ct">/* '&lt;S74&gt;/Merge' */</span></td></tr>
 <tr name="98" id="98">
-<td><a id="l98" class='ln'>98</a></td><td>  <a id="98c3" class="tk">uint32_T</a> <a id="98c12" class="tk">UnitDelay2_DSTATE</a>;          <span class="ct">/* '&lt;S19&gt;/UnitDelay2' */</span></td></tr>
+<td><a id="l98" class='ln'>98</a></td><td>  <a id="98c3" class="tk">int16_T</a> <a id="98c11" class="tk">Switch</a>;                      <span class="ct">/* '&lt;S77&gt;/Switch' */</span></td></tr>
 <tr name="99" id="99">
-<td><a id="l99" class='ln'>99</a></td><td>  <a id="99c3" class="tk">uint32_T</a> <a id="99c12" class="tk">UnitDelay3_DSTATE_l</a>;        <span class="ct">/* '&lt;S19&gt;/UnitDelay3' */</span></td></tr>
+<td><a id="l99" class='ln'>99</a></td><td>  <a id="99c3" class="tk">int16_T</a> <a id="99c11" class="tk">Switch2</a>;                     <span class="ct">/* '&lt;S84&gt;/Switch2' */</span></td></tr>
 <tr name="100" id="100">
-<td><a id="l100" class='ln'>100</a></td><td>  <a id="100c3" class="tk">uint32_T</a> <a id="100c12" class="tk">UnitDelay5_DSTATE</a>;          <span class="ct">/* '&lt;S19&gt;/UnitDelay5' */</span></td></tr>
+<td><a id="l100" class='ln'>100</a></td><td>  <a id="100c3" class="tk">int16_T</a> <a id="100c11" class="tk">r_currTgt</a>;                   <span class="ct">/* '&lt;S30&gt;/r_currTgt' */</span></td></tr>
 <tr name="101" id="101">
-<td><a id="l101" class='ln'>101</a></td><td>  <a id="101c3" class="tk">int16_T</a> <a id="101c11" class="tk">Merge</a>[2];                    <span class="ct">/* '&lt;S26&gt;/Merge' */</span></td></tr>
+<td><a id="l101" class='ln'>101</a></td><td>  <a id="101c3" class="tk">int16_T</a> <a id="101c11" class="tk">Max_p</a>;                       <span class="ct">/* '&lt;S33&gt;/Max' */</span></td></tr>
 <tr name="102" id="102">
-<td><a id="l102" class='ln'>102</a></td><td>  <a id="102c3" class="tk">int16_T</a> <a id="102c11" class="tk">Merge_c</a>[2];                  <span class="ct">/* '&lt;S83&gt;/Merge' */</span></td></tr>
+<td><a id="l102" class='ln'>102</a></td><td>  <a id="102c3" class="tk">int16_T</a> <a id="102c11" class="tk">Max1_g</a>;                      <span class="ct">/* '&lt;S33&gt;/Max1' */</span></td></tr>
 <tr name="103" id="103">
-<td><a id="l103" class='ln'>103</a></td><td>  <a id="103c3" class="tk">int16_T</a> <a id="103c11" class="tk">Switch</a>[2];                   <span class="ct">/* '&lt;S82&gt;/Switch' */</span></td></tr>
+<td><a id="l103" class='ln'>103</a></td><td>  <a id="103c3" class="tk">int16_T</a> <a id="103c11" class="tk">Merge_i</a>;                     <span class="ct">/* '&lt;S3&gt;/Merge' */</span></td></tr>
 <tr name="104" id="104">
-<td><a id="l104" class='ln'>104</a></td><td>  <a id="104c3" class="tk">int16_T</a> <a id="104c11" class="tk">Divide</a>;                      <span class="ct">/* '&lt;S33&gt;/Divide' */</span></td></tr>
+<td><a id="l104" class='ln'>104</a></td><td>  <a id="104c3" class="tk">int16_T</a> <a id="104c11" class="tk">Divide_l</a>;                    <span class="ct">/* '&lt;S116&gt;/Divide' */</span></td></tr>
 <tr name="105" id="105">
-<td><a id="l105" class='ln'>105</a></td><td>  <a id="105c3" class="tk">int16_T</a> <a id="105c11" class="tk">Merge_f</a>;                     <span class="ct">/* '&lt;S84&gt;/Merge' */</span></td></tr>
+<td><a id="l105" class='ln'>105</a></td><td>  <a id="105c3" class="tk">int16_T</a> <a id="105c11" class="tk">Divide_n</a>;                    <span class="ct">/* '&lt;S109&gt;/Divide' */</span></td></tr>
 <tr name="106" id="106">
-<td><a id="l106" class='ln'>106</a></td><td>  <a id="106c3" class="tk">int16_T</a> <a id="106c11" class="tk">Switch2</a>;                     <span class="ct">/* '&lt;S65&gt;/Switch2' */</span></td></tr>
+<td><a id="l106" class='ln'>106</a></td><td>  <a id="106c3" class="tk">int16_T</a> <a id="106c11" class="tk">UnitDelay_DSTATE_h</a>;          <span class="ct">/* '&lt;S106&gt;/UnitDelay' */</span></td></tr>
 <tr name="107" id="107">
-<td><a id="l107" class='ln'>107</a></td><td>  <a id="107c3" class="tk">int16_T</a> <a id="107c11" class="tk">Switch2_d</a>;                   <span class="ct">/* '&lt;S69&gt;/Switch2' */</span></td></tr>
+<td><a id="l107" class='ln'>107</a></td><td>  <a id="107c3" class="tk">int16_T</a> <a id="107c11" class="tk">UnitDelay1_DSTATE_i</a>;         <span class="ct">/* '&lt;S97&gt;/Unit Delay1' */</span></td></tr>
 <tr name="108" id="108">
-<td><a id="l108" class='ln'>108</a></td><td>  <a id="108c3" class="tk">int16_T</a> <a id="108c11" class="tk">r_currTgt</a>;                   <span class="ct">/* '&lt;S30&gt;/r_currTgt' */</span></td></tr>
+<td><a id="l108" class='ln'>108</a></td><td>  <a id="108c3" class="tk">int16_T</a> <a id="108c11" class="tk">UnitDelay_DSTATE_b</a>;          <span class="ct">/* '&lt;S112&gt;/UnitDelay' */</span></td></tr>
 <tr name="109" id="109">
-<td><a id="l109" class='ln'>109</a></td><td>  <a id="109c3" class="tk">int16_T</a> <a id="109c11" class="tk">Switch_i</a>;                    <span class="ct">/* '&lt;S33&gt;/Switch' */</span></td></tr>
+<td><a id="l109" class='ln'>109</a></td><td>  <a id="109c3" class="tk">int16_T</a> <a id="109c11" class="tk">UnitDelay_DSTATE_g</a>;          <span class="ct">/* '&lt;S108&gt;/Unit Delay' */</span></td></tr>
 <tr name="110" id="110">
-<td><a id="l110" class='ln'>110</a></td><td>  <a id="110c3" class="tk">int16_T</a> <a id="110c11" class="tk">Switch1</a>;                     <span class="ct">/* '&lt;S33&gt;/Switch1' */</span></td></tr>
+<td><a id="l110" class='ln'>110</a></td><td>  <a id="110c3" class="tk">int16_T</a> <a id="110c11" class="tk">UnitDelay_DSTATE_o</a>;          <span class="ct">/* '&lt;S113&gt;/UnitDelay' */</span></td></tr>
 <tr name="111" id="111">
-<td><a id="l111" class='ln'>111</a></td><td>  <a id="111c3" class="tk">int16_T</a> <a id="111c11" class="tk">Merge_i</a>;                     <span class="ct">/* '&lt;S3&gt;/Merge' */</span></td></tr>
+<td><a id="l111" class='ln'>111</a></td><td>  <a id="111c3" class="tk">int16_T</a> <a id="111c11" class="tk">UnitDelay1_DSTATE_b</a>;         <span class="ct">/* '&lt;S98&gt;/Unit Delay1' */</span></td></tr>
 <tr name="112" id="112">
-<td><a id="l112" class='ln'>112</a></td><td>  <a id="112c3" class="tk">int16_T</a> <a id="112c11" class="tk">Merge1</a>;                      <span class="ct">/* '&lt;S26&gt;/Merge1' */</span></td></tr>
+<td><a id="l112" class='ln'>112</a></td><td>  <a id="112c3" class="tk">int16_T</a> <a id="112c11" class="tk">UnitDelay_DSTATE_d</a>;          <span class="ct">/* '&lt;S119&gt;/UnitDelay' */</span></td></tr>
 <tr name="113" id="113">
-<td><a id="l113" class='ln'>113</a></td><td>  <a id="113c3" class="tk">int16_T</a> <a id="113c11" class="tk">Divide11</a>;                    <span class="ct">/* '&lt;S19&gt;/Divide11' */</span></td></tr>
+<td><a id="l113" class='ln'>113</a></td><td>  <a id="113c3" class="tk">int16_T</a> <a id="113c11" class="tk">UnitDelay_DSTATE_a</a>;          <span class="ct">/* '&lt;S115&gt;/Unit Delay' */</span></td></tr>
 <tr name="114" id="114">
-<td><a id="l114" class='ln'>114</a></td><td>  <a id="114c3" class="tk">int16_T</a> <a id="114c11" class="tk">UnitDelay2_DSTATE_p</a>;         <span class="ct">/* '&lt;S6&gt;/UnitDelay2' */</span></td></tr>
+<td><a id="l114" class='ln'>114</a></td><td>  <a id="114c3" class="tk">int16_T</a> <a id="114c11" class="tk">UnitDelay1_DSTATE_g</a>;         <span class="ct">/* '&lt;S71&gt;/Unit Delay1' */</span></td></tr>
 <tr name="115" id="115">
-<td><a id="l115" class='ln'>115</a></td><td>  <a id="115c3" class="tk">int16_T</a> <a id="115c11" class="tk">UnitDelay1_DSTATE_f</a>;         <span class="ct">/* '&lt;S6&gt;/UnitDelay1' */</span></td></tr>
+<td><a id="l115" class='ln'>115</a></td><td>  <a id="115c3" class="tk">int16_T</a> <a id="115c11" class="tk">Delay_DSTATE</a>;                <span class="ct">/* '&lt;S88&gt;/Delay' */</span></td></tr>
 <tr name="116" id="116">
-<td><a id="l116" class='ln'>116</a></td><td>  <a id="116c3" class="tk">int16_T</a> <a id="116c11" class="tk">UnitDelay1_DSTATE_g</a>;         <span class="ct">/* '&lt;S81&gt;/Unit Delay1' */</span></td></tr>
+<td><a id="l116" class='ln'>116</a></td><td>  <a id="116c3" class="tk">int16_T</a> <a id="116c11" class="tk">UnitDelay_DSTATE_l</a>;          <span class="ct">/* '&lt;S87&gt;/Unit Delay' */</span></td></tr>
 <tr name="117" id="117">
-<td><a id="l117" class='ln'>117</a></td><td>  <a id="117c3" class="tk">int16_T</a> <a id="117c11" class="tk">UnitDelay_DSTATE</a>;            <span class="ct">/* '&lt;S29&gt;/Unit Delay' */</span></td></tr>
+<td><a id="l117" class='ln'>117</a></td><td>  <a id="117c3" class="tk">int16_T</a> <a id="117c11" class="tk">UnitDelay_DSTATE_e</a>;          <span class="ct">/* '&lt;S31&gt;/UnitDelay' */</span></td></tr>
 <tr name="118" id="118">
-<td><a id="l118" class='ln'>118</a></td><td>  <a id="118c3" class="tk">int16_T</a> <a id="118c11" class="tk">UnitDelay_DSTATE_f</a>;          <span class="ct">/* '&lt;S34&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l118" class='ln'>118</a></td><td>  <a id="118c3" class="tk">int16_T</a> <a id="118c11" class="tk">UnitDelay_DSTATE_fv</a>;         <span class="ct">/* '&lt;S36&gt;/UnitDelay' */</span></td></tr>
 <tr name="119" id="119">
-<td><a id="l119" class='ln'>119</a></td><td>  <a id="119c3" class="tk">uint16_T</a> <a id="119c12" class="tk">UnitDelay2_DSTATE_f</a>;        <span class="ct">/* '&lt;S20&gt;/UnitDelay2' */</span></td></tr>
+<td><a id="l119" class='ln'>119</a></td><td>  <a id="119c3" class="tk">int16_T</a> <a id="119c11" class="tk">UnitDelay_DSTATE_i</a>;          <span class="ct">/* '&lt;S32&gt;/Unit Delay' */</span></td></tr>
 <tr name="120" id="120">
-<td><a id="l120" class='ln'>120</a></td><td>  <a id="120c3" class="tk">uint16_T</a> <a id="120c12" class="tk">UnitDelay3_DSTATE_lh</a>;       <span class="ct">/* '&lt;S20&gt;/UnitDelay3' */</span></td></tr>
+<td><a id="l120" class='ln'>120</a></td><td>  <a id="120c3" class="tk">uint16_T</a> <a id="120c12" class="tk">UnitDelay_DSTATE_f</a>;         <span class="ct">/* '&lt;S45&gt;/UnitDelay' */</span></td></tr>
 <tr name="121" id="121">
-<td><a id="l121" class='ln'>121</a></td><td>  <a id="121c3" class="tk">uint16_T</a> <a id="121c12" class="tk">UnitDelay5_DSTATE_f</a>;        <span class="ct">/* '&lt;S20&gt;/UnitDelay5' */</span></td></tr>
+<td><a id="l121" class='ln'>121</a></td><td>  <a id="121c3" class="tk">uint16_T</a> <a id="121c12" class="tk">UnitDelay_DSTATE_p</a>;         <span class="ct">/* '&lt;S47&gt;/UnitDelay' */</span></td></tr>
 <tr name="122" id="122">
-<td><a id="l122" class='ln'>122</a></td><td>  <a id="122c3" class="tk">uint16_T</a> <a id="122c12" class="tk">UnitDelay4_DSTATE</a>;          <span class="ct">/* '&lt;S14&gt;/UnitDelay4' */</span></td></tr>
+<td><a id="l122" class='ln'>122</a></td><td>  <a id="122c3" class="tk">uint16_T</a> <a id="122c12" class="tk">UnitDelay2_DSTATE_f</a>;        <span class="ct">/* '&lt;S19&gt;/UnitDelay2' */</span></td></tr>
 <tr name="123" id="123">
-<td><a id="l123" class='ln'>123</a></td><td>  <a id="123c3" class="tk">int8_T</a> <a id="123c10" class="tk">Switch2_i</a>;                    <span class="ct">/* '&lt;S8&gt;/Switch2' */</span></td></tr>
+<td><a id="l123" class='ln'>123</a></td><td>  <a id="123c3" class="tk">uint16_T</a> <a id="123c12" class="tk">UnitDelay3_DSTATE_lh</a>;       <span class="ct">/* '&lt;S19&gt;/UnitDelay3' */</span></td></tr>
 <tr name="124" id="124">
-<td><a id="l124" class='ln'>124</a></td><td>  <a id="124c3" class="tk">int8_T</a> <a id="124c10" class="tk">UnitDelay2_DSTATE_j</a>;          <span class="ct">/* '&lt;S8&gt;/UnitDelay2' */</span></td></tr>
+<td><a id="l124" class='ln'>124</a></td><td>  <a id="124c3" class="tk">uint16_T</a> <a id="124c12" class="tk">UnitDelay5_DSTATE_f</a>;        <span class="ct">/* '&lt;S19&gt;/UnitDelay5' */</span></td></tr>
 <tr name="125" id="125">
-<td><a id="l125" class='ln'>125</a></td><td>  <a id="125c3" class="tk">uint8_T</a> <a id="125c11" class="tk">Delay_DSTATE</a>;                <span class="ct">/* '&lt;S9&gt;/Delay' */</span></td></tr>
+<td><a id="l125" class='ln'>125</a></td><td>  <a id="125c3" class="tk">int8_T</a> <a id="125c10" class="tk">Switch2_i</a>;                    <span class="ct">/* '&lt;S8&gt;/Switch2' */</span></td></tr>
 <tr name="126" id="126">
-<td><a id="l126" class='ln'>126</a></td><td>  <a id="126c3" class="tk">uint8_T</a> <a id="126c11" class="tk">Delay1_DSTATE</a>;               <span class="ct">/* '&lt;S9&gt;/Delay1' */</span></td></tr>
+<td><a id="l126" class='ln'>126</a></td><td>  <a id="126c3" class="tk">int8_T</a> <a id="126c10" class="tk">UnitDelay2_DSTATE_j</a>;          <span class="ct">/* '&lt;S8&gt;/UnitDelay2' */</span></td></tr>
 <tr name="127" id="127">
-<td><a id="l127" class='ln'>127</a></td><td>  <a id="127c3" class="tk">uint8_T</a> <a id="127c11" class="tk">Delay2_DSTATE</a>;               <span class="ct">/* '&lt;S9&gt;/Delay2' */</span></td></tr>
+<td><a id="l127" class='ln'>127</a></td><td>  <a id="127c3" class="tk">uint8_T</a> <a id="127c11" class="tk">UnitDelay_DSTATE_j</a>;          <span class="ct">/* '&lt;S37&gt;/UnitDelay' */</span></td></tr>
 <tr name="128" id="128">
-<td><a id="l128" class='ln'>128</a></td><td>  <a id="128c3" class="tk">uint8_T</a> <a id="128c11" class="tk">UnitDelay_DSTATE_j</a>;          <span class="ct">/* '&lt;S35&gt;/UnitDelay' */</span></td></tr>
+<td><a id="l128" class='ln'>128</a></td><td>  <a id="128c3" class="tk">uint8_T</a> <a id="128c11" class="tk">Delay_DSTATE_d</a>;              <span class="ct">/* '&lt;S9&gt;/Delay' */</span></td></tr>
 <tr name="129" id="129">
-<td><a id="l129" class='ln'>129</a></td><td>  <a id="129c3" class="tk">uint8_T</a> <a id="129c11" class="tk">UnitDelay_DSTATE_b</a>;          <span class="ct">/* '&lt;S48&gt;/Unit Delay' */</span></td></tr>
+<td><a id="l129" class='ln'>129</a></td><td>  <a id="129c3" class="tk">uint8_T</a> <a id="129c11" class="tk">Delay1_DSTATE</a>;               <span class="ct">/* '&lt;S9&gt;/Delay1' */</span></td></tr>
 <tr name="130" id="130">
-<td><a id="l130" class='ln'>130</a></td><td>  <a id="130c3" class="tk">uint8_T</a> <a id="130c11" class="tk">UnitDelay_DSTATE_p</a>;          <span class="ct">/* '&lt;S81&gt;/Unit Delay' */</span></td></tr>
+<td><a id="l130" class='ln'>130</a></td><td>  <a id="130c3" class="tk">uint8_T</a> <a id="130c11" class="tk">Delay2_DSTATE</a>;               <span class="ct">/* '&lt;S9&gt;/Delay2' */</span></td></tr>
 <tr name="131" id="131">
-<td><a id="l131" class='ln'>131</a></td><td>  <a id="131c3" class="tk">uint8_T</a> <a id="131c11" class="tk">is_active_c5_PMSM_Controller</a>;<span class="ct">/* '&lt;S4&gt;/Control_Mode_Manager' */</span></td></tr>
+<td><a id="l131" class='ln'>131</a></td><td>  <a id="131c3" class="tk">uint8_T</a> <a id="131c11" class="tk">UnitDelay_DSTATE_bm</a>;         <span class="ct">/* '&lt;S55&gt;/Unit Delay' */</span></td></tr>
 <tr name="132" id="132">
-<td><a id="l132" class='ln'>132</a></td><td>  <a id="132c3" class="tk">uint8_T</a> <a id="132c11" class="tk">is_c5_PMSM_Controller</a>;       <span class="ct">/* '&lt;S4&gt;/Control_Mode_Manager' */</span></td></tr>
+<td><a id="l132" class='ln'>132</a></td><td>  <a id="132c3" class="tk">uint8_T</a> <a id="132c11" class="tk">UnitDelay_DSTATE_p2</a>;         <span class="ct">/* '&lt;S71&gt;/Unit Delay' */</span></td></tr>
 <tr name="133" id="133">
-<td><a id="l133" class='ln'>133</a></td><td>  <a id="133c3" class="tk">uint8_T</a> <a id="133c11" class="tk">is_ACTIVE</a>;                   <span class="ct">/* '&lt;S4&gt;/Control_Mode_Manager' */</span></td></tr>
+<td><a id="l133" class='ln'>133</a></td><td>  <a id="133c3" class="tk">uint8_T</a> <a id="133c11" class="tk">icLoad</a>;                      <span class="ct">/* '&lt;S88&gt;/Delay' */</span></td></tr>
 <tr name="134" id="134">
-<td><a id="l134" class='ln'>134</a></td><td>  <a id="134c3" class="tk">boolean_T</a> <a id="134c13" class="tk">Compare</a>;                   <span class="ct">/* '&lt;S22&gt;/Compare' */</span></td></tr>
+<td><a id="l134" class='ln'>134</a></td><td>  <a id="134c3" class="tk">uint8_T</a> <a id="134c11" class="tk">icLoad_k</a>;                    <span class="ct">/* '&lt;S93&gt;/Resettable Delay' */</span></td></tr>
 <tr name="135" id="135">
-<td><a id="l135" class='ln'>135</a></td><td>  <a id="135c3" class="tk">boolean_T</a> <a id="135c13" class="tk">UnitDelay1_DSTATE_i</a>;       <span class="ct">/* '&lt;S19&gt;/UnitDelay1' */</span></td></tr>
+<td><a id="l135" class='ln'>135</a></td><td>  <a id="135c3" class="tk">uint8_T</a> <a id="135c11" class="tk">is_active_c5_PMSM_Controller</a>;<span class="ct">/* '&lt;S4&gt;/Control_Mode_Manager' */</span></td></tr>
 <tr name="136" id="136">
-<td><a id="l136" class='ln'>136</a></td><td>  <a id="136c3" class="tk">boolean_T</a> <a id="136c13" class="tk">n_SpeedCtrl_Mode</a>;          <span class="ct">/* '&lt;S24&gt;/n_SpeedCtrl' */</span></td></tr>
+<td><a id="l136" class='ln'>136</a></td><td>  <a id="136c3" class="tk">uint8_T</a> <a id="136c11" class="tk">is_c5_PMSM_Controller</a>;       <span class="ct">/* '&lt;S4&gt;/Control_Mode_Manager' */</span></td></tr>
 <tr name="137" id="137">
-<td><a id="l137" class='ln'>137</a></td><td>  <a id="137c3" class="tk">boolean_T</a> <a id="137c13" class="tk">n_commDeacv_Mode</a>;          <span class="ct">/* '&lt;S20&gt;/n_commDeacv' */</span></td></tr>
+<td><a id="l137" class='ln'>137</a></td><td>  <a id="137c3" class="tk">uint8_T</a> <a id="137c11" class="tk">is_ACTIVE</a>;                   <span class="ct">/* '&lt;S4&gt;/Control_Mode_Manager' */</span></td></tr>
 <tr name="138" id="138">
-<td><a id="l138" class='ln'>138</a></td><td><span class="br">}</span> <a id="138c3" class="tk">DW</a>;</td></tr>
+<td><a id="l138" class='ln'>138</a></td><td>  <a id="138c3" class="tk">boolean_T</a> <a id="138c13" class="tk">Compare</a>;                   <span class="ct">/* '&lt;S21&gt;/Compare' */</span></td></tr>
 <tr name="139" id="139">
-<td><a id="l139" class='ln'>139</a></td><td></td></tr>
+<td><a id="l139" class='ln'>139</a></td><td>  <a id="139c3" class="tk">boolean_T</a> <a id="139c13" class="tk">UnitDelay_DSTATE_k</a>;        <span class="ct">/* '&lt;S38&gt;/UnitDelay' */</span></td></tr>
 <tr name="140" id="140">
-<td><a id="l140" class='ln'>140</a></td><td><span class="ct">/* Zero-crossing (trigger) state */</span></td></tr>
+<td><a id="l140" class='ln'>140</a></td><td>  <a id="140c3" class="tk">boolean_T</a> <a id="140c13" class="tk">UnitDelay_DSTATE_n</a>;        <span class="ct">/* '&lt;S42&gt;/UnitDelay' */</span></td></tr>
 <tr name="141" id="141">
-<td><a id="l141" class='ln'>141</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l141" class='ln'>141</a></td><td>  <a id="141c3" class="tk">boolean_T</a> <a id="141c13" class="tk">UnitDelay_DSTATE_bv</a>;       <span class="ct">/* '&lt;S39&gt;/UnitDelay' */</span></td></tr>
 <tr name="142" id="142">
-<td><a id="l142" class='ln'>142</a></td><td>  <a id="142c3" class="tk">ZCE_pi_speed</a> <a id="142c16" class="tk">pi_speed_d</a>;             <span class="ct">/* '&lt;S90&gt;/pi_speed' */</span></td></tr>
+<td><a id="l142" class='ln'>142</a></td><td>  <a id="142c3" class="tk">boolean_T</a> <a id="142c13" class="tk">UnitDelay1_DSTATE_iv</a>;      <span class="ct">/* '&lt;S20&gt;/UnitDelay1' */</span></td></tr>
 <tr name="143" id="143">
-<td><a id="l143" class='ln'>143</a></td><td>  <a id="143c3" class="tk">ZCE_PI_backCalc_fixdt</a> <a id="143c25" class="tk">PI_id</a>;         <span class="ct">/* '&lt;S60&gt;/PI_id' */</span></td></tr>
+<td><a id="l143" class='ln'>143</a></td><td>  <a id="143c3" class="tk">boolean_T</a> <a id="143c13" class="tk">n_SpeedCtrl_Mode</a>;          <span class="ct">/* '&lt;S25&gt;/n_SpeedCtrl' */</span></td></tr>
 <tr name="144" id="144">
-<td><a id="l144" class='ln'>144</a></td><td>  <a id="144c3" class="tk">ZCE_PI_backCalc_fixdt</a> <a id="144c25" class="tk">PI_iq</a>;         <span class="ct">/* '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l144" class='ln'>144</a></td><td>  <a id="144c3" class="tk">boolean_T</a> <a id="144c13" class="tk">n_commDeacv_Mode</a>;          <span class="ct">/* '&lt;S19&gt;/n_commDeacv' */</span></td></tr>
 <tr name="145" id="145">
-<td><a id="l145" class='ln'>145</a></td><td><span class="br">}</span> <a id="145c3" class="tk">PrevZCX</a>;</td></tr>
+<td><a id="l145" class='ln'>145</a></td><td><span class="br">}</span> <a id="145c3" class="tk">DW</a>;</td></tr>
 <tr name="146" id="146">
 <td><a id="l146" class='ln'>146</a></td><td></td></tr>
 <tr name="147" id="147">
-<td><a id="l147" class='ln'>147</a></td><td><span class="ct">/* Invariant block signals for system '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l147" class='ln'>147</a></td><td><span class="ct">/* Zero-crossing (trigger) state */</span></td></tr>
 <tr name="148" id="148">
 <td><a id="l148" class='ln'>148</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="149" id="149">
-<td><a id="l149" class='ln'>149</a></td><td>  <span class="kw">const</span> <a id="149c9" class="tk">int32_T</a> <a id="149c17" class="tk">DataTypeConversion2</a>;   <span class="ct">/* '&lt;S68&gt;/Data Type Conversion2' */</span></td></tr>
+<td><a id="l149" class='ln'>149</a></td><td>  <a id="149c3" class="tk">ZCE_PI_backCalc_fixdt_e</a> <a id="149c27" class="tk">PI_backCalc_fixdt1</a>;<span class="ct">/* '&lt;S95&gt;/PI_backCalc_fixdt1' */</span></td></tr>
 <tr name="150" id="150">
-<td><a id="l150" class='ln'>150</a></td><td><span class="br">}</span> <a id="150c3" class="tk">ConstB_PI_backCalc_fixdt</a>;</td></tr>
+<td><a id="l150" class='ln'>150</a></td><td>  <a id="150c3" class="tk">ZCE_PI_backCalc_fixdt_e</a> <a id="150c27" class="tk">PI_backCalc_fixdt_o3</a>;<span class="ct">/* '&lt;S95&gt;/PI_backCalc_fixdt' */</span></td></tr>
 <tr name="151" id="151">
-<td><a id="l151" class='ln'>151</a></td><td></td></tr>
+<td><a id="l151" class='ln'>151</a></td><td>  <a id="151c3" class="tk">ZCSigState</a> <a id="151c14" class="tk">ResettableDelay_Reset_ZCE_a</a>;<span class="ct">/* '&lt;S93&gt;/Resettable Delay' */</span></td></tr>
 <tr name="152" id="152">
-<td><a id="l152" class='ln'>152</a></td><td><span class="ct">/* Invariant block signals (default storage) */</span></td></tr>
+<td><a id="l152" class='ln'>152</a></td><td>  <a id="152c3" class="tk">ZCE_PI_backCalc_fixdt</a> <a id="152c25" class="tk">PI_Speed</a>;      <span class="ct">/* '&lt;S87&gt;/PI_Speed' */</span></td></tr>
 <tr name="153" id="153">
-<td><a id="l153" class='ln'>153</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l153" class='ln'>153</a></td><td><span class="br">}</span> <a id="153c3" class="tk">PrevZCX</a>;</td></tr>
 <tr name="154" id="154">
-<td><a id="l154" class='ln'>154</a></td><td>  <a id="154c3" class="tk">ConstB_PI_backCalc_fixdt</a> <a id="154c28" class="tk">PI_id</a>;      <span class="ct">/* '&lt;S60&gt;/PI_id' */</span></td></tr>
+<td><a id="l154" class='ln'>154</a></td><td></td></tr>
 <tr name="155" id="155">
-<td><a id="l155" class='ln'>155</a></td><td>  <a id="155c3" class="tk">ConstB_PI_backCalc_fixdt</a> <a id="155c28" class="tk">PI_iq</a>;      <span class="ct">/* '&lt;S61&gt;/PI_iq' */</span></td></tr>
+<td><a id="l155" class='ln'>155</a></td><td><span class="ct">/* Constant parameters (default storage) */</span></td></tr>
 <tr name="156" id="156">
-<td><a id="l156" class='ln'>156</a></td><td><span class="br">}</span> <a id="156c3" class="tk">ConstB</a>;</td></tr>
+<td><a id="l156" class='ln'>156</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="157" id="157">
-<td><a id="l157" class='ln'>157</a></td><td></td></tr>
+<td><a id="l157" class='ln'>157</a></td><td>  <span class="ct">/* Pooled Parameter (Expression: r_sin_M1)</span></td></tr>
 <tr name="158" id="158">
-<td><a id="l158" class='ln'>158</a></td><td><span class="ct">/* Constant parameters (default storage) */</span></td></tr>
+<td><a id="l158" class='ln'>158</a></td><td><span class="ct">   * Referenced by:</span></td></tr>
 <tr name="159" id="159">
-<td><a id="l159" class='ln'>159</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l159" class='ln'>159</a></td><td><span class="ct">   *   '&lt;S59&gt;/r_sin_M1'</span></td></tr>
 <tr name="160" id="160">
-<td><a id="l160" class='ln'>160</a></td><td>  <span class="ct">/* Pooled Parameter (Expression: r_sin_M1)</span></td></tr>
+<td><a id="l160" class='ln'>160</a></td><td><span class="ct">   *   '&lt;S83&gt;/r_sin_M1'</span></td></tr>
 <tr name="161" id="161">
-<td><a id="l161" class='ln'>161</a></td><td><span class="ct">   * Referenced by:</span></td></tr>
+<td><a id="l161" class='ln'>161</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="162" id="162">
-<td><a id="l162" class='ln'>162</a></td><td><span class="ct">   *   '&lt;S58&gt;/r_sin_M1'</span></td></tr>
+<td><a id="l162" class='ln'>162</a></td><td>  <a id="162c3" class="tk">int16_T</a> <a id="162c11" class="tk">pooled7</a>[361];</td></tr>
 <tr name="163" id="163">
-<td><a id="l163" class='ln'>163</a></td><td><span class="ct">   *   '&lt;S89&gt;/r_sin_M1'</span></td></tr>
+<td><a id="l163" class='ln'>163</a></td><td></td></tr>
 <tr name="164" id="164">
-<td><a id="l164" class='ln'>164</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l164" class='ln'>164</a></td><td>  <span class="ct">/* Pooled Parameter (Expression: r_cos_M1)</span></td></tr>
 <tr name="165" id="165">
-<td><a id="l165" class='ln'>165</a></td><td>  <a id="165c3" class="tk">int16_T</a> <a id="165c11" class="tk">pooled11</a>[1441];</td></tr>
+<td><a id="l165" class='ln'>165</a></td><td><span class="ct">   * Referenced by:</span></td></tr>
 <tr name="166" id="166">
-<td><a id="l166" class='ln'>166</a></td><td></td></tr>
+<td><a id="l166" class='ln'>166</a></td><td><span class="ct">   *   '&lt;S59&gt;/r_cos_M1'</span></td></tr>
 <tr name="167" id="167">
-<td><a id="l167" class='ln'>167</a></td><td>  <span class="ct">/* Pooled Parameter (Expression: r_cos_M1)</span></td></tr>
+<td><a id="l167" class='ln'>167</a></td><td><span class="ct">   *   '&lt;S83&gt;/r_cos_M1'</span></td></tr>
 <tr name="168" id="168">
-<td><a id="l168" class='ln'>168</a></td><td><span class="ct">   * Referenced by:</span></td></tr>
+<td><a id="l168" class='ln'>168</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="169" id="169">
-<td><a id="l169" class='ln'>169</a></td><td><span class="ct">   *   '&lt;S58&gt;/r_cos_M1'</span></td></tr>
+<td><a id="l169" class='ln'>169</a></td><td>  <a id="169c3" class="tk">int16_T</a> <a id="169c11" class="tk">pooled8</a>[361];</td></tr>
 <tr name="170" id="170">
-<td><a id="l170" class='ln'>170</a></td><td><span class="ct">   *   '&lt;S89&gt;/r_cos_M1'</span></td></tr>
+<td><a id="l170" class='ln'>170</a></td><td></td></tr>
 <tr name="171" id="171">
-<td><a id="l171" class='ln'>171</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l171" class='ln'>171</a></td><td>  <span class="ct">/* Computed Parameter: vec_hallToPos_Value</span></td></tr>
 <tr name="172" id="172">
-<td><a id="l172" class='ln'>172</a></td><td>  <a id="172c3" class="tk">int16_T</a> <a id="172c11" class="tk">pooled12</a>[1441];</td></tr>
+<td><a id="l172" class='ln'>172</a></td><td><span class="ct">   * Referenced by: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
 <tr name="173" id="173">
-<td><a id="l173" class='ln'>173</a></td><td></td></tr>
+<td><a id="l173" class='ln'>173</a></td><td><span class="ct">   */</span></td></tr>
 <tr name="174" id="174">
-<td><a id="l174" class='ln'>174</a></td><td>  <span class="ct">/* Computed Parameter: vec_hallToPos_Value</span></td></tr>
+<td><a id="l174" class='ln'>174</a></td><td>  <a id="174c3" class="tk">int8_T</a> <a id="174c10" class="tk">vec_hallToPos_Value</a>[8];</td></tr>
 <tr name="175" id="175">
-<td><a id="l175" class='ln'>175</a></td><td><span class="ct">   * Referenced by: '&lt;S11&gt;/vec_hallToPos'</span></td></tr>
+<td><a id="l175" class='ln'>175</a></td><td><span class="br">}</span> <a id="175c3" class="tk">ConstP</a>;</td></tr>
 <tr name="176" id="176">
-<td><a id="l176" class='ln'>176</a></td><td><span class="ct">   */</span></td></tr>
+<td><a id="l176" class='ln'>176</a></td><td></td></tr>
 <tr name="177" id="177">
-<td><a id="l177" class='ln'>177</a></td><td>  <a id="177c3" class="tk">int8_T</a> <a id="177c10" class="tk">vec_hallToPos_Value</a>[8];</td></tr>
+<td><a id="l177" class='ln'>177</a></td><td><span class="ct">/* External inputs (root inport signals with default storage) */</span></td></tr>
 <tr name="178" id="178">
-<td><a id="l178" class='ln'>178</a></td><td><span class="br">}</span> <a id="178c3" class="tk">ConstP</a>;</td></tr>
+<td><a id="l178" class='ln'>178</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="179" id="179">
-<td><a id="l179" class='ln'>179</a></td><td></td></tr>
+<td><a id="l179" class='ln'>179</a></td><td>  <a id="179c3" class="tk">int16_T</a> <a id="179c11" class="tk">adc_Pha</a>;                     <span class="ct">/* '&lt;Root&gt;/adc_Pha' */</span></td></tr>
 <tr name="180" id="180">
-<td><a id="l180" class='ln'>180</a></td><td><span class="ct">/* External inputs (root inport signals with default storage) */</span></td></tr>
+<td><a id="l180" class='ln'>180</a></td><td>  <a id="180c3" class="tk">int16_T</a> <a id="180c11" class="tk">adc_Phb</a>;                     <span class="ct">/* '&lt;Root&gt;/adc_Phb' */</span></td></tr>
 <tr name="181" id="181">
-<td><a id="l181" class='ln'>181</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l181" class='ln'>181</a></td><td>  <a id="181c3" class="tk">int32_T</a> <a id="181c11" class="tk">spd_Target</a>;                  <span class="ct">/* '&lt;Root&gt;/spd_Target' */</span></td></tr>
 <tr name="182" id="182">
-<td><a id="l182" class='ln'>182</a></td><td>  <a id="182c3" class="tk">int16_T</a> <a id="182c11" class="tk">adc_a</a>;                       <span class="ct">/* '&lt;Root&gt;/adc_a' */</span></td></tr>
+<td><a id="l182" class='ln'>182</a></td><td>  <a id="182c3" class="tk">int16_T</a> <a id="182c11" class="tk">idq_Target</a>;                  <span class="ct">/* '&lt;Root&gt;/idq_Target' */</span></td></tr>
 <tr name="183" id="183">
-<td><a id="l183" class='ln'>183</a></td><td>  <a id="183c3" class="tk">int16_T</a> <a id="183c11" class="tk">adc_b</a>;                       <span class="ct">/* '&lt;Root&gt;/adc_b' */</span></td></tr>
+<td><a id="l183" class='ln'>183</a></td><td>  <a id="183c3" class="tk">uint8_T</a> <a id="183c11" class="tk">hall_A</a>;                      <span class="ct">/* '&lt;Root&gt;/hall_A' */</span></td></tr>
 <tr name="184" id="184">
-<td><a id="l184" class='ln'>184</a></td><td>  <a id="184c3" class="tk">int16_T</a> <a id="184c11" class="tk">speed_target</a>;                <span class="ct">/* '&lt;Root&gt;/speed_target' */</span></td></tr>
+<td><a id="l184" class='ln'>184</a></td><td>  <a id="184c3" class="tk">uint8_T</a> <a id="184c11" class="tk">hall_B</a>;                      <span class="ct">/* '&lt;Root&gt;/hall_B' */</span></td></tr>
 <tr name="185" id="185">
-<td><a id="l185" class='ln'>185</a></td><td>  <a id="185c3" class="tk">int16_T</a> <a id="185c11" class="tk">current_target</a>;              <span class="ct">/* '&lt;Root&gt;/current_target' */</span></td></tr>
+<td><a id="l185" class='ln'>185</a></td><td>  <a id="185c3" class="tk">uint8_T</a> <a id="185c11" class="tk">hall_C</a>;                      <span class="ct">/* '&lt;Root&gt;/hall_C' */</span></td></tr>
 <tr name="186" id="186">
-<td><a id="l186" class='ln'>186</a></td><td>  <a id="186c3" class="tk">uint8_T</a> <a id="186c11" class="tk">hall_a</a>;                      <span class="ct">/* '&lt;Root&gt;/hall_a' */</span></td></tr>
+<td><a id="l186" class='ln'>186</a></td><td>  <a id="186c3" class="tk">uint32_T</a> <a id="186c12" class="tk">us_Count</a>;                   <span class="ct">/* '&lt;Root&gt;/us_Count' */</span></td></tr>
 <tr name="187" id="187">
-<td><a id="l187" class='ln'>187</a></td><td>  <a id="187c3" class="tk">uint8_T</a> <a id="187c11" class="tk">hall_b</a>;                      <span class="ct">/* '&lt;Root&gt;/hall_b' */</span></td></tr>
+<td><a id="l187" class='ln'>187</a></td><td>  <a id="187c3" class="tk">boolean_T</a> <a id="187c13" class="tk">b_motEna</a>;                  <span class="ct">/* '&lt;Root&gt;/b_motEna' */</span></td></tr>
 <tr name="188" id="188">
-<td><a id="l188" class='ln'>188</a></td><td>  <a id="188c3" class="tk">uint8_T</a> <a id="188c11" class="tk">hall_c</a>;                      <span class="ct">/* '&lt;Root&gt;/hall_c' */</span></td></tr>
+<td><a id="l188" class='ln'>188</a></td><td>  <a id="188c3" class="tk">boolean_T</a> <a id="188c13" class="tk">b_cruiseEna</a>;               <span class="ct">/* '&lt;Root&gt;/b_cruiseEna' */</span></td></tr>
 <tr name="189" id="189">
-<td><a id="l189" class='ln'>189</a></td><td>  <a id="189c3" class="tk">uint32_T</a> <a id="189c12" class="tk">hw_count</a>;                   <span class="ct">/* '&lt;Root&gt;/hw_count' */</span></td></tr>
+<td><a id="l189" class='ln'>189</a></td><td>  <a id="189c3" class="tk">uint8_T</a> <a id="189c11" class="tk">n_ctrlModReq</a>;                <span class="ct">/* '&lt;Root&gt;/n_ctrlModReq' */</span></td></tr>
 <tr name="190" id="190">
-<td><a id="l190" class='ln'>190</a></td><td>  <a id="190c3" class="tk">boolean_T</a> <a id="190c13" class="tk">b_motEna</a>;                  <span class="ct">/* '&lt;Root&gt;/b_motEna' */</span></td></tr>
+<td><a id="l190" class='ln'>190</a></td><td>  <a id="190c3" class="tk">int16_T</a> <a id="190c11" class="tk">iDC_Limit</a>;                   <span class="ct">/* '&lt;Root&gt;/iDC_Limit' */</span></td></tr>
 <tr name="191" id="191">
-<td><a id="l191" class='ln'>191</a></td><td>  <a id="191c3" class="tk">boolean_T</a> <a id="191c13" class="tk">b_cruiseEna</a>;               <span class="ct">/* '&lt;Root&gt;/b_cruiseEna' */</span></td></tr>
+<td><a id="l191" class='ln'>191</a></td><td>  <a id="191c3" class="tk">int32_T</a> <a id="191c11" class="tk">spd_Limit</a>;                   <span class="ct">/* '&lt;Root&gt;/spd_Limit' */</span></td></tr>
 <tr name="192" id="192">
-<td><a id="l192" class='ln'>192</a></td><td>  <a id="192c3" class="tk">uint8_T</a> <a id="192c11" class="tk">n_ctrlModReq</a>;                <span class="ct">/* '&lt;Root&gt;/n_ctrlModReq' */</span></td></tr>
+<td><a id="l192" class='ln'>192</a></td><td>  <a id="192c3" class="tk">int16_T</a> <a id="192c11" class="tk">vDC</a>;                         <span class="ct">/* '&lt;Root&gt;/vDC' */</span></td></tr>
 <tr name="193" id="193">
-<td><a id="l193" class='ln'>193</a></td><td>  <a id="193c3" class="tk">int16_T</a> <a id="193c11" class="tk">DC_iLimit</a>;                   <span class="ct">/* '&lt;Root&gt;/DC_iLimit' */</span></td></tr>
+<td><a id="l193" class='ln'>193</a></td><td>  <a id="193c3" class="tk">uint16_T</a> <a id="193c12" class="tk">FOC_Flags</a>;                  <span class="ct">/* '&lt;Root&gt;/FOC_Flags' */</span></td></tr>
 <tr name="194" id="194">
-<td><a id="l194" class='ln'>194</a></td><td>  <a id="194c3" class="tk">int16_T</a> <a id="194c11" class="tk">speed_limit</a>;                 <span class="ct">/* '&lt;Root&gt;/speed_limit' */</span></td></tr>
+<td><a id="l194" class='ln'>194</a></td><td>  <a id="194c3" class="tk">int16_T</a> <a id="194c11" class="tk">vdq_Open</a>[2];                 <span class="ct">/* '&lt;Root&gt;/vdq_Open' */</span></td></tr>
 <tr name="195" id="195">
-<td><a id="l195" class='ln'>195</a></td><td>  <a id="195c3" class="tk">int16_T</a> <a id="195c11" class="tk">vbus_voltage</a>;                <span class="ct">/* '&lt;Root&gt;/vbus_voltage' */</span></td></tr>
+<td><a id="l195" class='ln'>195</a></td><td>  <a id="195c3" class="tk">int16_T</a> <a id="195c11" class="tk">theta_Open</a>;                  <span class="ct">/* '&lt;Root&gt;/theta_Open' */</span></td></tr>
 <tr name="196" id="196">
-<td><a id="l196" class='ln'>196</a></td><td>  <a id="196c3" class="tk">uint16_T</a> <a id="196c12" class="tk">foc_calibrate</a>;              <span class="ct">/* '&lt;Root&gt;/foc_calibrate' */</span></td></tr>
+<td><a id="l196" class='ln'>196</a></td><td><span class="br">}</span> <a id="196c3" class="tk">ExtU</a>;</td></tr>
 <tr name="197" id="197">
-<td><a id="l197" class='ln'>197</a></td><td>  <a id="197c3" class="tk">int16_T</a> <a id="197c11" class="tk">vdq_open_target</a>[2];          <span class="ct">/* '&lt;Root&gt;/vdq_open_target' */</span></td></tr>
+<td><a id="l197" class='ln'>197</a></td><td></td></tr>
 <tr name="198" id="198">
-<td><a id="l198" class='ln'>198</a></td><td>  <a id="198c3" class="tk">int16_T</a> <a id="198c11" class="tk">open_theta</a>;                  <span class="ct">/* '&lt;Root&gt;/open_theta' */</span></td></tr>
+<td><a id="l198" class='ln'>198</a></td><td><span class="ct">/* External outputs (root outports fed by signals with default storage) */</span></td></tr>
 <tr name="199" id="199">
-<td><a id="l199" class='ln'>199</a></td><td><span class="br">}</span> <a id="199c3" class="tk">ExtU</a>;</td></tr>
+<td><a id="l199" class='ln'>199</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
 <tr name="200" id="200">
-<td><a id="l200" class='ln'>200</a></td><td></td></tr>
+<td><a id="l200" class='ln'>200</a></td><td>  <a id="200c3" class="tk">int16_T</a> <a id="200c11" class="tk">pwm_Duty</a>[3];                 <span class="ct">/* '&lt;Root&gt;/pwm_Duty' */</span></td></tr>
 <tr name="201" id="201">
-<td><a id="l201" class='ln'>201</a></td><td><span class="ct">/* External outputs (root outports fed by signals with default storage) */</span></td></tr>
+<td><a id="l201" class='ln'>201</a></td><td>  <a id="201c3" class="tk">uint8_T</a> <a id="201c11" class="tk">n_Sector</a>;                    <span class="ct">/* '&lt;Root&gt;/n_Sector' */</span></td></tr>
 <tr name="202" id="202">
-<td><a id="l202" class='ln'>202</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
+<td><a id="l202" class='ln'>202</a></td><td>  <a id="202c3" class="tk">uint8_T</a> <a id="202c11" class="tk">n_MotError</a>;                  <span class="ct">/* '&lt;Root&gt;/n_MotError' */</span></td></tr>
 <tr name="203" id="203">
-<td><a id="l203" class='ln'>203</a></td><td>  <a id="203c3" class="tk">int16_T</a> <a id="203c11" class="tk">PWM</a>[3];                      <span class="ct">/* '&lt;Root&gt;/PWM' */</span></td></tr>
+<td><a id="l203" class='ln'>203</a></td><td>  <a id="203c3" class="tk">int16_T</a> <a id="203c11" class="tk">f_Vdq</a>[2];                    <span class="ct">/* '&lt;Root&gt;/f_Vdq' */</span></td></tr>
 <tr name="204" id="204">
-<td><a id="l204" class='ln'>204</a></td><td>  <a id="204c3" class="tk">uint8_T</a> <a id="204c11" class="tk">sector</a>;                      <span class="ct">/* '&lt;Root&gt;/sector' */</span></td></tr>
+<td><a id="l204" class='ln'>204</a></td><td>  <a id="204c3" class="tk">int16_T</a> <a id="204c11" class="tk">f_Idq</a>[2];                    <span class="ct">/* '&lt;Root&gt;/f_Idq' */</span></td></tr>
 <tr name="205" id="205">
-<td><a id="l205" class='ln'>205</a></td><td>  <a id="205c3" class="tk">uint8_T</a> <a id="205c11" class="tk">n_MotError</a>;                  <span class="ct">/* '&lt;Root&gt;/n_MotError' */</span></td></tr>
+<td><a id="l205" class='ln'>205</a></td><td>  <a id="205c3" class="tk">int16_T</a> <a id="205c11" class="tk">f_MotAngle</a>;                  <span class="ct">/* '&lt;Root&gt;/f_MotAngle' */</span></td></tr>
 <tr name="206" id="206">
-<td><a id="l206" class='ln'>206</a></td><td>  <a id="206c3" class="tk">int16_T</a> <a id="206c11" class="tk">VdPrev</a>;                      <span class="ct">/* '&lt;Root&gt;/VdPrev' */</span></td></tr>
+<td><a id="l206" class='ln'>206</a></td><td>  <a id="206c3" class="tk">int32_T</a> <a id="206c11" class="tk">f_MotRPM</a>;                    <span class="ct">/* '&lt;Root&gt;/f_MotRPM' */</span></td></tr>
 <tr name="207" id="207">
-<td><a id="l207" class='ln'>207</a></td><td>  <a id="207c3" class="tk">int16_T</a> <a id="207c11" class="tk">VqPrev</a>;                      <span class="ct">/* '&lt;Root&gt;/VqPrev' */</span></td></tr>
+<td><a id="l207" class='ln'>207</a></td><td>  <a id="207c3" class="tk">int16_T</a> <a id="207c11" class="tk">f_hallAngle</a>;                 <span class="ct">/* '&lt;Root&gt;/f_hallAngle' */</span></td></tr>
 <tr name="208" id="208">
-<td><a id="l208" class='ln'>208</a></td><td>  <a id="208c3" class="tk">int16_T</a> <a id="208c11" class="tk">id</a>;                          <span class="ct">/* '&lt;Root&gt;/id' */</span></td></tr>
+<td><a id="l208" class='ln'>208</a></td><td>  <a id="208c3" class="tk">uint8_T</a> <a id="208c11" class="tk">n_hallStat</a>;                  <span class="ct">/* '&lt;Root&gt;/n_hallStat' */</span></td></tr>
 <tr name="209" id="209">
-<td><a id="l209" class='ln'>209</a></td><td>  <a id="209c3" class="tk">int16_T</a> <a id="209c11" class="tk">iq</a>;                          <span class="ct">/* '&lt;Root&gt;/iq' */</span></td></tr>
+<td><a id="l209" class='ln'>209</a></td><td>  <a id="209c3" class="tk">uint8_T</a> <a id="209c11" class="tk">n_runingMode</a>;                <span class="ct">/* '&lt;Root&gt;/n_runingMode' */</span></td></tr>
 <tr name="210" id="210">
-<td><a id="l210" class='ln'>210</a></td><td>  <a id="210c3" class="tk">int16_T</a> <a id="210c11" class="tk">angle</a>;                       <span class="ct">/* '&lt;Root&gt;/angle' */</span></td></tr>
+<td><a id="l210" class='ln'>210</a></td><td><span class="br">}</span> <a id="210c3" class="tk">ExtY</a>;</td></tr>
 <tr name="211" id="211">
-<td><a id="l211" class='ln'>211</a></td><td>  <a id="211c3" class="tk">int16_T</a> <a id="211c11" class="tk">rpm</a>;                         <span class="ct">/* '&lt;Root&gt;/rpm' */</span></td></tr>
+<td><a id="l211" class='ln'>211</a></td><td></td></tr>
 <tr name="212" id="212">
-<td><a id="l212" class='ln'>212</a></td><td>  <a id="212c3" class="tk">int16_T</a> <a id="212c11" class="tk">hall_angle</a>;                  <span class="ct">/* '&lt;Root&gt;/hall_angle' */</span></td></tr>
+<td><a id="l212" class='ln'>212</a></td><td><span class="ct">/* Parameters (default storage) */</span></td></tr>
 <tr name="213" id="213">
-<td><a id="l213" class='ln'>213</a></td><td>  <a id="213c3" class="tk">uint8_T</a> <a id="213c11" class="tk">hall_state</a>;                  <span class="ct">/* '&lt;Root&gt;/hall_state' */</span></td></tr>
+<td><a id="l213" class='ln'>213</a></td><td><span class="kw">struct</span> <a id="213c8" class="tk">P_</a> <span class="br">{</span></td></tr>
 <tr name="214" id="214">
-<td><a id="l214" class='ln'>214</a></td><td>  <a id="214c3" class="tk">uint8_T</a> <a id="214c11" class="tk">running_mode</a>;                <span class="ct">/* '&lt;Root&gt;/running_mode' */</span></td></tr>
+<td><a id="l214" class='ln'>214</a></td><td>  <a id="214c3" class="tk">uint32_T</a> <a id="214c12" class="tk">n_hall_count_ps</a>;            <span class="ct">/* Variable: n_hall_count_ps</span></td></tr>
 <tr name="215" id="215">
-<td><a id="l215" class='ln'>215</a></td><td><span class="br">}</span> <a id="215c3" class="tk">ExtY</a>;</td></tr>
+<td><a id="l215" class='ln'>215</a></td><td><span class="ct">                                        * Referenced by:</span></td></tr>
 <tr name="216" id="216">
-<td><a id="l216" class='ln'>216</a></td><td></td></tr>
+<td><a id="l216" class='ln'>216</a></td><td><span class="ct">                                        *   '&lt;S14&gt;/z_maxCntRst'</span></td></tr>
 <tr name="217" id="217">
-<td><a id="l217" class='ln'>217</a></td><td><span class="ct">/* Real-time Model Data Structure */</span></td></tr>
+<td><a id="l217" class='ln'>217</a></td><td><span class="ct">                                        *   '&lt;S20&gt;/z_counter'</span></td></tr>
 <tr name="218" id="218">
-<td><a id="l218" class='ln'>218</a></td><td><span class="kw">struct</span> <a id="218c8" class="tk">tag_RTM</a> <span class="br">{</span></td></tr>
+<td><a id="l218" class='ln'>218</a></td><td><span class="ct">                                        *   '&lt;S20&gt;/UnitDelay2'</span></td></tr>
 <tr name="219" id="219">
-<td><a id="l219" class='ln'>219</a></td><td>  <span class="kw">const</span> <a id="219c9" class="tk">char_T</a> <a id="219c16" class="tk">*</a> <span class="kw">volatile</span> <a id="219c27" class="tk">errorStatus</a>;</td></tr>
+<td><a id="l219" class='ln'>219</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="220" id="220">
-<td><a id="l220" class='ln'>220</a></td><td>  <a id="220c3" class="tk">PrevZCX</a> <a id="220c11" class="tk">*</a><a id="220c12" class="tk">prevZCSigState</a>;</td></tr>
+<td><a id="l220" class='ln'>220</a></td><td>  <a id="220c3" class="tk">int16_T</a> <a id="220c11" class="tk">cf_TrqLimKb</a>;                 <span class="ct">/* Variable: cf_TrqLimKb</span></td></tr>
 <tr name="221" id="221">
-<td><a id="l221" class='ln'>221</a></td><td>  <a id="221c3" class="tk">ExtU</a> <a id="221c8" class="tk">*</a><a id="221c9" class="tk">inputs</a>;</td></tr>
+<td><a id="l221" class='ln'>221</a></td><td><span class="ct">                                        * Referenced by: '&lt;S88&gt;/Constant2'</span></td></tr>
 <tr name="222" id="222">
-<td><a id="l222" class='ln'>222</a></td><td>  <a id="222c3" class="tk">ExtY</a> <a id="222c8" class="tk">*</a><a id="222c9" class="tk">outputs</a>;</td></tr>
+<td><a id="l222" class='ln'>222</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="223" id="223">
-<td><a id="l223" class='ln'>223</a></td><td>  <a id="223c3" class="tk">DW</a> <a id="223c6" class="tk">*</a><a id="223c7" class="tk">dwork</a>;</td></tr>
+<td><a id="l223" class='ln'>223</a></td><td>  <a id="223c3" class="tk">int16_T</a> <a id="223c11" class="tk">cf_TrqLimKi</a>;                 <span class="ct">/* Variable: cf_TrqLimKi</span></td></tr>
 <tr name="224" id="224">
-<td><a id="l224" class='ln'>224</a></td><td><span class="br">}</span>;</td></tr>
+<td><a id="l224" class='ln'>224</a></td><td><span class="ct">                                        * Referenced by: '&lt;S88&gt;/Constant1'</span></td></tr>
 <tr name="225" id="225">
-<td><a id="l225" class='ln'>225</a></td><td></td></tr>
+<td><a id="l225" class='ln'>225</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="226" id="226">
-<td><a id="l226" class='ln'>226</a></td><td><span class="kw">extern</span> <span class="kw">const</span> <a id="226c14" class="tk">ConstB</a> <a id="226c21" class="tk">rtConstB</a>;          <span class="ct">/* constant block i/o */</span></td></tr>
+<td><a id="l226" class='ln'>226</a></td><td>  <a id="226c3" class="tk">int16_T</a> <a id="226c11" class="tk">cf_TrqLimKp</a>;                 <span class="ct">/* Variable: cf_TrqLimKp</span></td></tr>
 <tr name="227" id="227">
-<td><a id="l227" class='ln'>227</a></td><td></td></tr>
+<td><a id="l227" class='ln'>227</a></td><td><span class="ct">                                        * Referenced by: '&lt;S88&gt;/Constant4'</span></td></tr>
 <tr name="228" id="228">
-<td><a id="l228" class='ln'>228</a></td><td><span class="ct">/* Constant parameters (default storage) */</span></td></tr>
+<td><a id="l228" class='ln'>228</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="229" id="229">
-<td><a id="l229" class='ln'>229</a></td><td><span class="kw">extern</span> <span class="kw">const</span> <a id="229c14" class="tk">ConstP</a> <a id="229c21" class="tk">rtConstP</a>;</td></tr>
+<td><a id="l229" class='ln'>229</a></td><td>  <a id="229c3" class="tk">int16_T</a> <a id="229c11" class="tk">cf_idKp</a>;                     <span class="ct">/* Variable: cf_idKp</span></td></tr>
 <tr name="230" id="230">
-<td><a id="l230" class='ln'>230</a></td><td></td></tr>
+<td><a id="l230" class='ln'>230</a></td><td><span class="ct">                                        * Referenced by: '&lt;S95&gt;/Constant3'</span></td></tr>
 <tr name="231" id="231">
-<td><a id="l231" class='ln'>231</a></td><td><span class="ct">/* Model entry point functions */</span></td></tr>
+<td><a id="l231" class='ln'>231</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="232" id="232">
-<td><a id="l232" class='ln'>232</a></td><td><span class="kw">extern</span> <span class="kw">void</span> <a id="232c13" class="tk">PMSM_Controller_initialize</a>(<a id="232c40" class="tk">RT_MODEL</a> <a id="232c49" class="tk">*</a><span class="kw">const</span> <a id="232c56" class="tk">rtM</a>);</td></tr>
+<td><a id="l232" class='ln'>232</a></td><td>  <a id="232c3" class="tk">int16_T</a> <a id="232c11" class="tk">cf_iqKp</a>;                     <span class="ct">/* Variable: cf_iqKp</span></td></tr>
 <tr name="233" id="233">
-<td><a id="l233" class='ln'>233</a></td><td><span class="kw">extern</span> <span class="kw">void</span> <a id="233c13" class="tk">PMSM_Controller_step</a>(<a id="233c34" class="tk">RT_MODEL</a> <a id="233c43" class="tk">*</a><span class="kw">const</span> <a id="233c50" class="tk">rtM</a>);</td></tr>
+<td><a id="l233" class='ln'>233</a></td><td><span class="ct">                                        * Referenced by: '&lt;S95&gt;/Constant7'</span></td></tr>
 <tr name="234" id="234">
-<td><a id="l234" class='ln'>234</a></td><td></td></tr>
+<td><a id="l234" class='ln'>234</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="235" id="235">
-<td><a id="l235" class='ln'>235</a></td><td><span class="ct">/*-</span></td></tr>
+<td><a id="l235" class='ln'>235</a></td><td>  <a id="235c3" class="tk">int16_T</a> <a id="235c11" class="tk">cf_nKp</a>;                      <span class="ct">/* Variable: cf_nKp</span></td></tr>
 <tr name="236" id="236">
-<td><a id="l236" class='ln'>236</a></td><td><span class="ct"> * These blocks were eliminated from the model due to optimizations:</span></td></tr>
+<td><a id="l236" class='ln'>236</a></td><td><span class="ct">                                        * Referenced by: '&lt;S87&gt;/Constant4'</span></td></tr>
 <tr name="237" id="237">
-<td><a id="l237" class='ln'>237</a></td><td><span class="ct"> *</span></td></tr>
+<td><a id="l237" class='ln'>237</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="238" id="238">
-<td><a id="l238" class='ln'>238</a></td><td><span class="ct"> * Block '&lt;S2&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l238" class='ln'>238</a></td><td>  <a id="238c3" class="tk">int16_T</a> <a id="238c11" class="tk">cf_idKb</a>;                     <span class="ct">/* Variable: cf_idKb</span></td></tr>
 <tr name="239" id="239">
-<td><a id="l239" class='ln'>239</a></td><td><span class="ct"> * Block '&lt;S8&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l239" class='ln'>239</a></td><td><span class="ct">                                        * Referenced by: '&lt;S95&gt;/Constant6'</span></td></tr>
 <tr name="240" id="240">
-<td><a id="l240" class='ln'>240</a></td><td><span class="ct"> * Block '&lt;S10&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l240" class='ln'>240</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="241" id="241">
-<td><a id="l241" class='ln'>241</a></td><td><span class="ct"> * Block '&lt;S11&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l241" class='ln'>241</a></td><td>  <a id="241c3" class="tk">int16_T</a> <a id="241c11" class="tk">cf_idKi</a>;                     <span class="ct">/* Variable: cf_idKi</span></td></tr>
 <tr name="242" id="242">
-<td><a id="l242" class='ln'>242</a></td><td><span class="ct"> * Block '&lt;S3&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l242" class='ln'>242</a></td><td><span class="ct">                                        * Referenced by: '&lt;S95&gt;/Constant4'</span></td></tr>
 <tr name="243" id="243">
-<td><a id="l243" class='ln'>243</a></td><td><span class="ct"> * Block '&lt;S14&gt;/Logical Operator4' : Unused code path elimination</span></td></tr>
+<td><a id="l243" class='ln'>243</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="244" id="244">
-<td><a id="l244" class='ln'>244</a></td><td><span class="ct"> * Block '&lt;S19&gt;/Abs2' : Unused code path elimination</span></td></tr>
+<td><a id="l244" class='ln'>244</a></td><td>  <a id="244c3" class="tk">int16_T</a> <a id="244c11" class="tk">cf_iqKb</a>;                     <span class="ct">/* Variable: cf_iqKb</span></td></tr>
 <tr name="245" id="245">
-<td><a id="l245" class='ln'>245</a></td><td><span class="ct"> * Block '&lt;S19&gt;/Add' : Unused code path elimination</span></td></tr>
+<td><a id="l245" class='ln'>245</a></td><td><span class="ct">                                        * Referenced by: '&lt;S95&gt;/Constant1'</span></td></tr>
 <tr name="246" id="246">
-<td><a id="l246" class='ln'>246</a></td><td><span class="ct"> * Block '&lt;S21&gt;/Compare' : Unused code path elimination</span></td></tr>
+<td><a id="l246" class='ln'>246</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="247" id="247">
-<td><a id="l247" class='ln'>247</a></td><td><span class="ct"> * Block '&lt;S21&gt;/Constant' : Unused code path elimination</span></td></tr>
+<td><a id="l247" class='ln'>247</a></td><td>  <a id="247c3" class="tk">int16_T</a> <a id="247c11" class="tk">cf_iqKi</a>;                     <span class="ct">/* Variable: cf_iqKi</span></td></tr>
 <tr name="248" id="248">
-<td><a id="l248" class='ln'>248</a></td><td><span class="ct"> * Block '&lt;S19&gt;/Scope1' : Unused code path elimination</span></td></tr>
+<td><a id="l248" class='ln'>248</a></td><td><span class="ct">                                        * Referenced by: '&lt;S95&gt;/Constant8'</span></td></tr>
 <tr name="249" id="249">
-<td><a id="l249" class='ln'>249</a></td><td><span class="ct"> * Block '&lt;S19&gt;/Sum7' : Unused code path elimination</span></td></tr>
+<td><a id="l249" class='ln'>249</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="250" id="250">
-<td><a id="l250" class='ln'>250</a></td><td><span class="ct"> * Block '&lt;S19&gt;/UnitDelay4' : Unused code path elimination</span></td></tr>
+<td><a id="l250" class='ln'>250</a></td><td>  <a id="250c3" class="tk">int16_T</a> <a id="250c11" class="tk">cf_nKb</a>;                      <span class="ct">/* Variable: cf_nKb</span></td></tr>
 <tr name="251" id="251">
-<td><a id="l251" class='ln'>251</a></td><td><span class="ct"> * Block '&lt;S19&gt;/UnitDelay6' : Unused code path elimination</span></td></tr>
+<td><a id="l251" class='ln'>251</a></td><td><span class="ct">                                        * Referenced by: '&lt;S87&gt;/Constant11'</span></td></tr>
 <tr name="252" id="252">
-<td><a id="l252" class='ln'>252</a></td><td><span class="ct"> * Block '&lt;S19&gt;/UnitDelay7' : Unused code path elimination</span></td></tr>
+<td><a id="l252" class='ln'>252</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="253" id="253">
-<td><a id="l253" class='ln'>253</a></td><td><span class="ct"> * Block '&lt;S19&gt;/UnitDelay8' : Unused code path elimination</span></td></tr>
+<td><a id="l253" class='ln'>253</a></td><td>  <a id="253c3" class="tk">int16_T</a> <a id="253c11" class="tk">cf_nKi</a>;                      <span class="ct">/* Variable: cf_nKi</span></td></tr>
 <tr name="254" id="254">
-<td><a id="l254" class='ln'>254</a></td><td><span class="ct"> * Block '&lt;S19&gt;/dz_cntTrnsDet' : Unused code path elimination</span></td></tr>
+<td><a id="l254" class='ln'>254</a></td><td><span class="ct">                                        * Referenced by: '&lt;S87&gt;/Constant1'</span></td></tr>
 <tr name="255" id="255">
-<td><a id="l255" class='ln'>255</a></td><td><span class="ct"> * Block '&lt;S14&gt;/Scope1' : Unused code path elimination</span></td></tr>
+<td><a id="l255" class='ln'>255</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="256" id="256">
-<td><a id="l256" class='ln'>256</a></td><td><span class="ct"> * Block '&lt;S14&gt;/Scope2' : Unused code path elimination</span></td></tr>
+<td><a id="l256" class='ln'>256</a></td><td>  <a id="256c3" class="tk">int16_T</a> <a id="256c11" class="tk">i_hall_offset</a>;               <span class="ct">/* Variable: i_hall_offset</span></td></tr>
 <tr name="257" id="257">
-<td><a id="l257" class='ln'>257</a></td><td><span class="ct"> * Block '&lt;S4&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l257" class='ln'>257</a></td><td><span class="ct">                                        * Referenced by: '&lt;S15&gt;/Constant2'</span></td></tr>
 <tr name="258" id="258">
-<td><a id="l258" class='ln'>258</a></td><td><span class="ct"> * Block '&lt;S26&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l258" class='ln'>258</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="259" id="259">
-<td><a id="l259" class='ln'>259</a></td><td><span class="ct"> * Block '&lt;S32&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l259" class='ln'>259</a></td><td>  <a id="259c3" class="tk">int16_T</a> <a id="259c11" class="tk">dz_OpenStepVol</a>;              <span class="ct">/* Variable: dz_OpenStepVol</span></td></tr>
 <tr name="260" id="260">
-<td><a id="l260" class='ln'>260</a></td><td><span class="ct"> * Block '&lt;S32&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
+<td><a id="l260" class='ln'>260</a></td><td><span class="ct">                                        * Referenced by: '&lt;S29&gt;/Constant5'</span></td></tr>
 <tr name="261" id="261">
-<td><a id="l261" class='ln'>261</a></td><td><span class="ct"> * Block '&lt;S31&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l261" class='ln'>261</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="262" id="262">
-<td><a id="l262" class='ln'>262</a></td><td><span class="ct"> * Block '&lt;S31&gt;/Scope1' : Unused code path elimination</span></td></tr>
+<td><a id="l262" class='ln'>262</a></td><td>  <a id="262c3" class="tk">uint16_T</a> <a id="262c12" class="tk">f_lpf_coeff</a>;                <span class="ct">/* Variable: f_lpf_coeff</span></td></tr>
 <tr name="263" id="263">
-<td><a id="l263" class='ln'>263</a></td><td><span class="ct"> * Block '&lt;S1&gt;/Scope2' : Unused code path elimination</span></td></tr>
+<td><a id="l263" class='ln'>263</a></td><td><span class="ct">                                        * Referenced by: '&lt;S48&gt;/Constant'</span></td></tr>
 <tr name="264" id="264">
-<td><a id="l264" class='ln'>264</a></td><td><span class="ct"> * Block '&lt;S55&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l264" class='ln'>264</a></td><td><span class="ct">                                        */</span></td></tr>
 <tr name="265" id="265">
-<td><a id="l265" class='ln'>265</a></td><td><span class="ct"> * Block '&lt;S46&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l265" class='ln'>265</a></td><td><span class="br">}</span>;</td></tr>
 <tr name="266" id="266">
-<td><a id="l266" class='ln'>266</a></td><td><span class="ct"> * Block '&lt;S46&gt;/Scope1' : Unused code path elimination</span></td></tr>
+<td><a id="l266" class='ln'>266</a></td><td></td></tr>
 <tr name="267" id="267">
-<td><a id="l267" class='ln'>267</a></td><td><span class="ct"> * Block '&lt;S58&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l267" class='ln'>267</a></td><td><span class="ct">/* Parameters (default storage) */</span></td></tr>
 <tr name="268" id="268">
-<td><a id="l268" class='ln'>268</a></td><td><span class="ct"> * Block '&lt;S47&gt;/Divide' : Unused code path elimination</span></td></tr>
+<td><a id="l268" class='ln'>268</a></td><td><span class="kw">typedef</span> <span class="kw">struct</span> <a id="268c16" class="tk">P_</a> <a id="268c19" class="tk">P</a>;</td></tr>
 <tr name="269" id="269">
-<td><a id="l269" class='ln'>269</a></td><td><span class="ct"> * Block '&lt;S47&gt;/Divide1' : Unused code path elimination</span></td></tr>
+<td><a id="l269" class='ln'>269</a></td><td></td></tr>
 <tr name="270" id="270">
-<td><a id="l270" class='ln'>270</a></td><td><span class="ct"> * Block '&lt;S59&gt;/Add1' : Unused code path elimination</span></td></tr>
+<td><a id="l270" class='ln'>270</a></td><td><span class="ct">/* Real-time Model Data Structure */</span></td></tr>
 <tr name="271" id="271">
-<td><a id="l271" class='ln'>271</a></td><td><span class="ct"> * Block '&lt;S59&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l271" class='ln'>271</a></td><td><span class="kw">struct</span> <a id="271c8" class="tk">tag_RTM</a> <span class="br">{</span></td></tr>
 <tr name="272" id="272">
-<td><a id="l272" class='ln'>272</a></td><td><span class="ct"> * Block '&lt;S59&gt;/Filter_Constant' : Unused code path elimination</span></td></tr>
+<td><a id="l272" class='ln'>272</a></td><td>  <span class="kw">const</span> <a id="272c9" class="tk">char_T</a> <a id="272c16" class="tk">*</a> <span class="kw">volatile</span> <a id="272c27" class="tk">errorStatus</a>;</td></tr>
 <tr name="273" id="273">
-<td><a id="l273" class='ln'>273</a></td><td><span class="ct"> * Block '&lt;S59&gt;/One' : Unused code path elimination</span></td></tr>
+<td><a id="l273" class='ln'>273</a></td><td>  <a id="273c3" class="tk">PrevZCX</a> <a id="273c11" class="tk">*</a><a id="273c12" class="tk">prevZCSigState</a>;</td></tr>
 <tr name="274" id="274">
-<td><a id="l274" class='ln'>274</a></td><td><span class="ct"> * Block '&lt;S59&gt;/Product' : Unused code path elimination</span></td></tr>
+<td><a id="l274" class='ln'>274</a></td><td>  <a id="274c3" class="tk">ExtU</a> <a id="274c8" class="tk">*</a><a id="274c9" class="tk">inputs</a>;</td></tr>
 <tr name="275" id="275">
-<td><a id="l275" class='ln'>275</a></td><td><span class="ct"> * Block '&lt;S59&gt;/Product1' : Unused code path elimination</span></td></tr>
+<td><a id="l275" class='ln'>275</a></td><td>  <a id="275c3" class="tk">ExtY</a> <a id="275c8" class="tk">*</a><a id="275c9" class="tk">outputs</a>;</td></tr>
 <tr name="276" id="276">
-<td><a id="l276" class='ln'>276</a></td><td><span class="ct"> * Block '&lt;S59&gt;/Unit Delay' : Unused code path elimination</span></td></tr>
+<td><a id="l276" class='ln'>276</a></td><td>  <a id="276c3" class="tk">DW</a> <a id="276c6" class="tk">*</a><a id="276c7" class="tk">dwork</a>;</td></tr>
 <tr name="277" id="277">
-<td><a id="l277" class='ln'>277</a></td><td><span class="ct"> * Block '&lt;S47&gt;/Math Function1' : Unused code path elimination</span></td></tr>
+<td><a id="l277" class='ln'>277</a></td><td><span class="br">}</span>;</td></tr>
 <tr name="278" id="278">
-<td><a id="l278" class='ln'>278</a></td><td><span class="ct"> * Block '&lt;S47&gt;/Saturation' : Unused code path elimination</span></td></tr>
+<td><a id="l278" class='ln'>278</a></td><td></td></tr>
 <tr name="279" id="279">
-<td><a id="l279" class='ln'>279</a></td><td><span class="ct"> * Block '&lt;S47&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l279" class='ln'>279</a></td><td><span class="ct">/* Block parameters (default storage) */</span></td></tr>
 <tr name="280" id="280">
-<td><a id="l280" class='ln'>280</a></td><td><span class="ct"> * Block '&lt;S47&gt;/Sqrt1' : Unused code path elimination</span></td></tr>
+<td><a id="l280" class='ln'>280</a></td><td><span class="kw">extern</span> <a id="280c8" class="tk">P</a> <a id="280c10" class="tk">rtP</a>;</td></tr>
 <tr name="281" id="281">
-<td><a id="l281" class='ln'>281</a></td><td><span class="ct"> * Block '&lt;S47&gt;/Sum of Elements1' : Unused code path elimination</span></td></tr>
+<td><a id="l281" class='ln'>281</a></td><td></td></tr>
 <tr name="282" id="282">
-<td><a id="l282" class='ln'>282</a></td><td><span class="ct"> * Block '&lt;S48&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l282" class='ln'>282</a></td><td><span class="ct">/* Constant parameters (default storage) */</span></td></tr>
 <tr name="283" id="283">
-<td><a id="l283" class='ln'>283</a></td><td><span class="ct"> * Block '&lt;S65&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l283" class='ln'>283</a></td><td><span class="kw">extern</span> <span class="kw">const</span> <a id="283c14" class="tk">ConstP</a> <a id="283c21" class="tk">rtConstP</a>;</td></tr>
 <tr name="284" id="284">
-<td><a id="l284" class='ln'>284</a></td><td><span class="ct"> * Block '&lt;S65&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
+<td><a id="l284" class='ln'>284</a></td><td></td></tr>
 <tr name="285" id="285">
-<td><a id="l285" class='ln'>285</a></td><td><span class="ct"> * Block '&lt;S63&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l285" class='ln'>285</a></td><td><span class="ct">/* Model entry point functions */</span></td></tr>
 <tr name="286" id="286">
-<td><a id="l286" class='ln'>286</a></td><td><span class="ct"> * Block '&lt;S63&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
+<td><a id="l286" class='ln'>286</a></td><td><span class="kw">extern</span> <span class="kw">void</span> <a id="286c13" class="tk">PMSM_Controller_initialize</a>(<a id="286c40" class="tk">RT_MODEL</a> <a id="286c49" class="tk">*</a><span class="kw">const</span> <a id="286c56" class="tk">rtM</a>);</td></tr>
 <tr name="287" id="287">
-<td><a id="l287" class='ln'>287</a></td><td><span class="ct"> * Block '&lt;S60&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l287" class='ln'>287</a></td><td><span class="kw">extern</span> <span class="kw">void</span> <a id="287c13" class="tk">PMSM_Controller_step</a>(<a id="287c34" class="tk">RT_MODEL</a> <a id="287c43" class="tk">*</a><span class="kw">const</span> <a id="287c50" class="tk">rtM</a>);</td></tr>
 <tr name="288" id="288">
-<td><a id="l288" class='ln'>288</a></td><td><span class="ct"> * Block '&lt;S69&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l288" class='ln'>288</a></td><td></td></tr>
 <tr name="289" id="289">
-<td><a id="l289" class='ln'>289</a></td><td><span class="ct"> * Block '&lt;S69&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
+<td><a id="l289" class='ln'>289</a></td><td><span class="ct">/*-</span></td></tr>
 <tr name="290" id="290">
-<td><a id="l290" class='ln'>290</a></td><td><span class="ct"> * Block '&lt;S67&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l290" class='ln'>290</a></td><td><span class="ct"> * These blocks were eliminated from the model due to optimizations:</span></td></tr>
 <tr name="291" id="291">
-<td><a id="l291" class='ln'>291</a></td><td><span class="ct"> * Block '&lt;S67&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
+<td><a id="l291" class='ln'>291</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="292" id="292">
-<td><a id="l292" class='ln'>292</a></td><td><span class="ct"> * Block '&lt;S61&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l292" class='ln'>292</a></td><td><span class="ct"> * Block '&lt;S2&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="293" id="293">
-<td><a id="l293" class='ln'>293</a></td><td><span class="ct"> * Block '&lt;S49&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l293" class='ln'>293</a></td><td><span class="ct"> * Block '&lt;S8&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="294" id="294">
-<td><a id="l294" class='ln'>294</a></td><td><span class="ct"> * Block '&lt;S78&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l294" class='ln'>294</a></td><td><span class="ct"> * Block '&lt;S10&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="295" id="295">
-<td><a id="l295" class='ln'>295</a></td><td><span class="ct"> * Block '&lt;S6&gt;/Scope12' : Unused code path elimination</span></td></tr>
+<td><a id="l295" class='ln'>295</a></td><td><span class="ct"> * Block '&lt;S11&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="296" id="296">
-<td><a id="l296" class='ln'>296</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l296" class='ln'>296</a></td><td><span class="ct"> * Block '&lt;S3&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="297" id="297">
-<td><a id="l297" class='ln'>297</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Scope1' : Unused code path elimination</span></td></tr>
+<td><a id="l297" class='ln'>297</a></td><td><span class="ct"> * Block '&lt;S14&gt;/Logical Operator4' : Unused code path elimination</span></td></tr>
 <tr name="298" id="298">
-<td><a id="l298" class='ln'>298</a></td><td><span class="ct"> * Block '&lt;S89&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l298" class='ln'>298</a></td><td><span class="ct"> * Block '&lt;S20&gt;/Abs2' : Unused code path elimination</span></td></tr>
 <tr name="299" id="299">
-<td><a id="l299" class='ln'>299</a></td><td><span class="ct"> * Block '&lt;S84&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l299" class='ln'>299</a></td><td><span class="ct"> * Block '&lt;S20&gt;/Add' : Unused code path elimination</span></td></tr>
 <tr name="300" id="300">
-<td><a id="l300" class='ln'>300</a></td><td><span class="ct"> * Block '&lt;S92&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l300" class='ln'>300</a></td><td><span class="ct"> * Block '&lt;S22&gt;/Compare' : Unused code path elimination</span></td></tr>
 <tr name="301" id="301">
-<td><a id="l301" class='ln'>301</a></td><td><span class="ct"> * Block '&lt;S92&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
+<td><a id="l301" class='ln'>301</a></td><td><span class="ct"> * Block '&lt;S22&gt;/Constant' : Unused code path elimination</span></td></tr>
 <tr name="302" id="302">
-<td><a id="l302" class='ln'>302</a></td><td><span class="ct"> * Block '&lt;S90&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l302" class='ln'>302</a></td><td><span class="ct"> * Block '&lt;S20&gt;/Scope1' : Unused code path elimination</span></td></tr>
 <tr name="303" id="303">
-<td><a id="l303" class='ln'>303</a></td><td><span class="ct"> * Block '&lt;S90&gt;/Scope2' : Unused code path elimination</span></td></tr>
+<td><a id="l303" class='ln'>303</a></td><td><span class="ct"> * Block '&lt;S20&gt;/Sum7' : Unused code path elimination</span></td></tr>
 <tr name="304" id="304">
-<td><a id="l304" class='ln'>304</a></td><td><span class="ct"> * Block '&lt;S95&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l304" class='ln'>304</a></td><td><span class="ct"> * Block '&lt;S20&gt;/UnitDelay4' : Unused code path elimination</span></td></tr>
 <tr name="305" id="305">
-<td><a id="l305" class='ln'>305</a></td><td><span class="ct"> * Block '&lt;S95&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
+<td><a id="l305" class='ln'>305</a></td><td><span class="ct"> * Block '&lt;S20&gt;/UnitDelay6' : Unused code path elimination</span></td></tr>
 <tr name="306" id="306">
-<td><a id="l306" class='ln'>306</a></td><td><span class="ct"> * Block '&lt;S96&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
+<td><a id="l306" class='ln'>306</a></td><td><span class="ct"> * Block '&lt;S20&gt;/UnitDelay7' : Unused code path elimination</span></td></tr>
 <tr name="307" id="307">
-<td><a id="l307" class='ln'>307</a></td><td><span class="ct"> * Block '&lt;S96&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
+<td><a id="l307" class='ln'>307</a></td><td><span class="ct"> * Block '&lt;S20&gt;/UnitDelay8' : Unused code path elimination</span></td></tr>
 <tr name="308" id="308">
-<td><a id="l308" class='ln'>308</a></td><td><span class="ct"> * Block '&lt;S91&gt;/Scope' : Unused code path elimination</span></td></tr>
+<td><a id="l308" class='ln'>308</a></td><td><span class="ct"> * Block '&lt;S20&gt;/dz_cntTrnsDet' : Unused code path elimination</span></td></tr>
 <tr name="309" id="309">
-<td><a id="l309" class='ln'>309</a></td><td><span class="ct"> * Block '&lt;S85&gt;/Scope1' : Unused code path elimination</span></td></tr>
+<td><a id="l309" class='ln'>309</a></td><td><span class="ct"> * Block '&lt;S14&gt;/Scope1' : Unused code path elimination</span></td></tr>
 <tr name="310" id="310">
-<td><a id="l310" class='ln'>310</a></td><td><span class="ct"> * Block '&lt;S10&gt;/Manual Switch' : Eliminated due to constant selection input</span></td></tr>
+<td><a id="l310" class='ln'>310</a></td><td><span class="ct"> * Block '&lt;S14&gt;/Scope2' : Unused code path elimination</span></td></tr>
 <tr name="311" id="311">
-<td><a id="l311" class='ln'>311</a></td><td><span class="ct"> * Block '&lt;S26&gt;/Data Type Conversion' : Eliminate redundant data type conversion</span></td></tr>
+<td><a id="l311" class='ln'>311</a></td><td><span class="ct"> * Block '&lt;S4&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="312" id="312">
-<td><a id="l312" class='ln'>312</a></td><td><span class="ct"> * Block '&lt;S6&gt;/Data Type Conversion' : Eliminate redundant data type conversion</span></td></tr>
+<td><a id="l312" class='ln'>312</a></td><td><span class="ct"> * Block '&lt;S26&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="313" id="313">
-<td><a id="l313" class='ln'>313</a></td><td><span class="ct"> * Block '&lt;S86&gt;/Data Type Conversion1' : Eliminate redundant data type conversion</span></td></tr>
+<td><a id="l313" class='ln'>313</a></td><td><span class="ct"> * Block '&lt;S34&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="314" id="314">
-<td><a id="l314" class='ln'>314</a></td><td><span class="ct"> * Block '&lt;S87&gt;/Data Type Conversion' : Eliminate redundant data type conversion</span></td></tr>
+<td><a id="l314" class='ln'>314</a></td><td><span class="ct"> * Block '&lt;S34&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="315" id="315">
-<td><a id="l315" class='ln'>315</a></td><td><span class="ct"> * Block '&lt;S90&gt;/Manual Switch' : Eliminated due to constant selection input</span></td></tr>
+<td><a id="l315" class='ln'>315</a></td><td><span class="ct"> * Block '&lt;S1&gt;/Scope2' : Unused code path elimination</span></td></tr>
 <tr name="316" id="316">
-<td><a id="l316" class='ln'>316</a></td><td><span class="ct"> * Block '&lt;S10&gt;/Constant' : Unused code path elimination</span></td></tr>
+<td><a id="l316" class='ln'>316</a></td><td><span class="ct"> * Block '&lt;S56&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="317" id="317">
-<td><a id="l317" class='ln'>317</a></td><td><span class="ct"> * Block '&lt;S19&gt;/Divide14' : Unused code path elimination</span></td></tr>
+<td><a id="l317" class='ln'>317</a></td><td><span class="ct"> * Block '&lt;S48&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="318" id="318">
-<td><a id="l318" class='ln'>318</a></td><td><span class="ct"> * Block '&lt;S19&gt;/smooth' : Unused code path elimination</span></td></tr>
+<td><a id="l318" class='ln'>318</a></td><td><span class="ct"> * Block '&lt;S59&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="319" id="319">
-<td><a id="l319" class='ln'>319</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Add1' : Unused code path elimination</span></td></tr>
+<td><a id="l319" class='ln'>319</a></td><td><span class="ct"> * Block '&lt;S60&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="320" id="320">
-<td><a id="l320" class='ln'>320</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Filter_Constant' : Unused code path elimination</span></td></tr>
+<td><a id="l320" class='ln'>320</a></td><td><span class="ct"> * Block '&lt;S60&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="321" id="321">
-<td><a id="l321" class='ln'>321</a></td><td><span class="ct"> * Block '&lt;S80&gt;/One' : Unused code path elimination</span></td></tr>
+<td><a id="l321" class='ln'>321</a></td><td><span class="ct"> * Block '&lt;S61&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="322" id="322">
-<td><a id="l322" class='ln'>322</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Product' : Unused code path elimination</span></td></tr>
+<td><a id="l322" class='ln'>322</a></td><td><span class="ct"> * Block '&lt;S70&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="323" id="323">
-<td><a id="l323" class='ln'>323</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Product1' : Unused code path elimination</span></td></tr>
+<td><a id="l323" class='ln'>323</a></td><td><span class="ct"> * Block '&lt;S6&gt;/Scope12' : Unused code path elimination</span></td></tr>
 <tr name="324" id="324">
-<td><a id="l324" class='ln'>324</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Unit Delay' : Unused code path elimination</span></td></tr>
+<td><a id="l324" class='ln'>324</a></td><td><span class="ct"> * Block '&lt;S52&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="325" id="325">
-<td><a id="l325" class='ln'>325</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Constant1' : Unused code path elimination</span></td></tr>
+<td><a id="l325" class='ln'>325</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="326" id="326">
-<td><a id="l326" class='ln'>326</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Constant3' : Unused code path elimination</span></td></tr>
+<td><a id="l326" class='ln'>326</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="327" id="327">
-<td><a id="l327" class='ln'>327</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Constant4' : Unused code path elimination</span></td></tr>
+<td><a id="l327" class='ln'>327</a></td><td><span class="ct"> * Block '&lt;S83&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="328" id="328">
-<td><a id="l328" class='ln'>328</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Data Type Conversion' : Unused code path elimination</span></td></tr>
+<td><a id="l328" class='ln'>328</a></td><td><span class="ct"> * Block '&lt;S84&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="329" id="329">
-<td><a id="l329" class='ln'>329</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Gain' : Unused code path elimination</span></td></tr>
+<td><a id="l329" class='ln'>329</a></td><td><span class="ct"> * Block '&lt;S84&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="330" id="330">
-<td><a id="l330" class='ln'>330</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Gain1' : Unused code path elimination</span></td></tr>
+<td><a id="l330" class='ln'>330</a></td><td><span class="ct"> * Block '&lt;S85&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="331" id="331">
-<td><a id="l331" class='ln'>331</a></td><td><span class="ct"> * Block '&lt;S86&gt;/Data Type Conversion2' : Unused code path elimination</span></td></tr>
+<td><a id="l331" class='ln'>331</a></td><td><span class="ct"> * Block '&lt;S85&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="332" id="332">
-<td><a id="l332" class='ln'>332</a></td><td><span class="ct"> * Block '&lt;S86&gt;/Resettable Delay' : Unused code path elimination</span></td></tr>
+<td><a id="l332" class='ln'>332</a></td><td><span class="ct"> * Block '&lt;S91&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="333" id="333">
-<td><a id="l333" class='ln'>333</a></td><td><span class="ct"> * Block '&lt;S86&gt;/Sum1' : Unused code path elimination</span></td></tr>
+<td><a id="l333" class='ln'>333</a></td><td><span class="ct"> * Block '&lt;S91&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="334" id="334">
-<td><a id="l334" class='ln'>334</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Math Function1' : Unused code path elimination</span></td></tr>
+<td><a id="l334" class='ln'>334</a></td><td><span class="ct"> * Block '&lt;S94&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="335" id="335">
-<td><a id="l335" class='ln'>335</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Math Function2' : Unused code path elimination</span></td></tr>
+<td><a id="l335" class='ln'>335</a></td><td><span class="ct"> * Block '&lt;S94&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="336" id="336">
-<td><a id="l336" class='ln'>336</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Saturation' : Unused code path elimination</span></td></tr>
+<td><a id="l336" class='ln'>336</a></td><td><span class="ct"> * Block '&lt;S103&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="337" id="337">
-<td><a id="l337" class='ln'>337</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Sqrt' : Unused code path elimination</span></td></tr>
+<td><a id="l337" class='ln'>337</a></td><td><span class="ct"> * Block '&lt;S103&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="338" id="338">
-<td><a id="l338" class='ln'>338</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Sum' : Unused code path elimination</span></td></tr>
+<td><a id="l338" class='ln'>338</a></td><td><span class="ct"> * Block '&lt;S105&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="339" id="339">
-<td><a id="l339" class='ln'>339</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Sum of Elements' : Unused code path elimination</span></td></tr>
+<td><a id="l339" class='ln'>339</a></td><td><span class="ct"> * Block '&lt;S105&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="340" id="340">
-<td><a id="l340" class='ln'>340</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Sum1' : Unused code path elimination</span></td></tr>
+<td><a id="l340" class='ln'>340</a></td><td><span class="ct"> * Block '&lt;S55&gt;/Scope' : Unused code path elimination</span></td></tr>
 <tr name="341" id="341">
-<td><a id="l341" class='ln'>341</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Sum2' : Unused code path elimination</span></td></tr>
+<td><a id="l341" class='ln'>341</a></td><td><span class="ct"> * Block '&lt;S110&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="342" id="342">
-<td><a id="l342" class='ln'>342</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Sum3' : Unused code path elimination</span></td></tr>
+<td><a id="l342" class='ln'>342</a></td><td><span class="ct"> * Block '&lt;S110&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="343" id="343">
-<td><a id="l343" class='ln'>343</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Sum4' : Unused code path elimination</span></td></tr>
+<td><a id="l343" class='ln'>343</a></td><td><span class="ct"> * Block '&lt;S117&gt;/Data Type Duplicate' : Unused code path elimination</span></td></tr>
 <tr name="344" id="344">
-<td><a id="l344" class='ln'>344</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Unit Delay' : Unused code path elimination</span></td></tr>
+<td><a id="l344" class='ln'>344</a></td><td><span class="ct"> * Block '&lt;S117&gt;/Data Type Propagation' : Unused code path elimination</span></td></tr>
 <tr name="345" id="345">
-<td><a id="l345" class='ln'>345</a></td><td><span class="ct"> * Block '&lt;S82&gt;/Unit Delay1' : Unused code path elimination</span></td></tr>
+<td><a id="l345" class='ln'>345</a></td><td><span class="ct"> * Block '&lt;S10&gt;/Manual Switch' : Eliminated due to constant selection input</span></td></tr>
 <tr name="346" id="346">
-<td><a id="l346" class='ln'>346</a></td><td><span class="ct"> * Block '&lt;S90&gt;/Constant' : Unused code path elimination</span></td></tr>
+<td><a id="l346" class='ln'>346</a></td><td><span class="ct"> * Block '&lt;S26&gt;/Data Type Conversion' : Eliminate redundant data type conversion</span></td></tr>
 <tr name="347" id="347">
-<td><a id="l347" class='ln'>347</a></td><td><span class="ct"> */</span></td></tr>
+<td><a id="l347" class='ln'>347</a></td><td><span class="ct"> * Block '&lt;S6&gt;/Data Type Conversion' : Eliminate redundant data type conversion</span></td></tr>
 <tr name="348" id="348">
-<td><a id="l348" class='ln'>348</a></td><td></td></tr>
+<td><a id="l348" class='ln'>348</a></td><td><span class="ct"> * Block '&lt;S79&gt;/Data Type Conversion1' : Eliminate redundant data type conversion</span></td></tr>
 <tr name="349" id="349">
-<td><a id="l349" class='ln'>349</a></td><td><span class="ct">/*-</span></td></tr>
+<td><a id="l349" class='ln'>349</a></td><td><span class="ct"> * Block '&lt;S81&gt;/Data Type Conversion' : Eliminate redundant data type conversion</span></td></tr>
 <tr name="350" id="350">
-<td><a id="l350" class='ln'>350</a></td><td><span class="ct"> * The generated code includes comments that allow you to trace directly</span></td></tr>
+<td><a id="l350" class='ln'>350</a></td><td><span class="ct"> * Block '&lt;S10&gt;/Constant' : Unused code path elimination</span></td></tr>
 <tr name="351" id="351">
-<td><a id="l351" class='ln'>351</a></td><td><span class="ct"> * back to the appropriate location in the model.  The basic format</span></td></tr>
+<td><a id="l351" class='ln'>351</a></td><td><span class="ct"> * Block '&lt;S20&gt;/Divide14' : Unused code path elimination</span></td></tr>
 <tr name="352" id="352">
-<td><a id="l352" class='ln'>352</a></td><td><span class="ct"> * is &lt;system&gt;/block_name, where system is the system number (uniquely</span></td></tr>
+<td><a id="l352" class='ln'>352</a></td><td><span class="ct"> * Block '&lt;S20&gt;/smooth' : Unused code path elimination</span></td></tr>
 <tr name="353" id="353">
-<td><a id="l353" class='ln'>353</a></td><td><span class="ct"> * assigned by Simulink) and block_name is the name of the block.</span></td></tr>
+<td><a id="l353" class='ln'>353</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Constant1' : Unused code path elimination</span></td></tr>
 <tr name="354" id="354">
-<td><a id="l354" class='ln'>354</a></td><td><span class="ct"> *</span></td></tr>
+<td><a id="l354" class='ln'>354</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Constant2' : Unused code path elimination</span></td></tr>
 <tr name="355" id="355">
-<td><a id="l355" class='ln'>355</a></td><td><span class="ct"> * Note that this particular code originates from a subsystem build,</span></td></tr>
+<td><a id="l355" class='ln'>355</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Constant3' : Unused code path elimination</span></td></tr>
 <tr name="356" id="356">
-<td><a id="l356" class='ln'>356</a></td><td><span class="ct"> * and has its own system numbers different from the parent model.</span></td></tr>
+<td><a id="l356" class='ln'>356</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Constant4' : Unused code path elimination</span></td></tr>
 <tr name="357" id="357">
-<td><a id="l357" class='ln'>357</a></td><td><span class="ct"> * Refer to the system hierarchy for this subsystem below, and use the</span></td></tr>
+<td><a id="l357" class='ln'>357</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Constant5' : Unused code path elimination</span></td></tr>
 <tr name="358" id="358">
-<td><a id="l358" class='ln'>358</a></td><td><span class="ct"> * MATLAB hilite_system command to trace the generated code back</span></td></tr>
+<td><a id="l358" class='ln'>358</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Constant6' : Unused code path elimination</span></td></tr>
 <tr name="359" id="359">
-<td><a id="l359" class='ln'>359</a></td><td><span class="ct"> * to the parent model.  For example,</span></td></tr>
+<td><a id="l359" class='ln'>359</a></td><td><span class="ct"> * Block '&lt;S78&gt;/Add' : Unused code path elimination</span></td></tr>
 <tr name="360" id="360">
-<td><a id="l360" class='ln'>360</a></td><td><span class="ct"> *</span></td></tr>
+<td><a id="l360" class='ln'>360</a></td><td><span class="ct"> * Block '&lt;S78&gt;/Constant6' : Unused code path elimination</span></td></tr>
 <tr name="361" id="361">
-<td><a id="l361" class='ln'>361</a></td><td><span class="ct"> * hilite_system('MotorController_FOC/PMSM_Controller')    - opens subsystem MotorController_FOC/PMSM_Controller</span></td></tr>
+<td><a id="l361" class='ln'>361</a></td><td><span class="ct"> * Block '&lt;S78&gt;/Divide' : Unused code path elimination</span></td></tr>
 <tr name="362" id="362">
-<td><a id="l362" class='ln'>362</a></td><td><span class="ct"> * hilite_system('MotorController_FOC/PMSM_Controller/Kp') - opens and selects block Kp</span></td></tr>
+<td><a id="l362" class='ln'>362</a></td><td><span class="ct"> * Block '&lt;S78&gt;/Divide1' : Unused code path elimination</span></td></tr>
 <tr name="363" id="363">
-<td><a id="l363" class='ln'>363</a></td><td><span class="ct"> *</span></td></tr>
+<td><a id="l363" class='ln'>363</a></td><td><span class="ct"> * Block '&lt;S79&gt;/Data Type Conversion2' : Unused code path elimination</span></td></tr>
 <tr name="364" id="364">
-<td><a id="l364" class='ln'>364</a></td><td><span class="ct"> * Here is the system hierarchy for this model</span></td></tr>
+<td><a id="l364" class='ln'>364</a></td><td><span class="ct"> * Block '&lt;S79&gt;/Resettable Delay' : Unused code path elimination</span></td></tr>
 <tr name="365" id="365">
-<td><a id="l365" class='ln'>365</a></td><td><span class="ct"> *</span></td></tr>
+<td><a id="l365" class='ln'>365</a></td><td><span class="ct"> * Block '&lt;S79&gt;/Sum1' : Unused code path elimination</span></td></tr>
 <tr name="366" id="366">
-<td><a id="l366" class='ln'>366</a></td><td><span class="ct"> * '&lt;Root&gt;' : 'MotorController_FOC'</span></td></tr>
+<td><a id="l366" class='ln'>366</a></td><td><span class="ct"> * Block '&lt;S80&gt;/LowerRelop1' : Unused code path elimination</span></td></tr>
 <tr name="367" id="367">
-<td><a id="l367" class='ln'>367</a></td><td><span class="ct"> * '&lt;S1&gt;'   : 'MotorController_FOC/PMSM_Controller'</span></td></tr>
+<td><a id="l367" class='ln'>367</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Switch' : Unused code path elimination</span></td></tr>
 <tr name="368" id="368">
-<td><a id="l368" class='ln'>368</a></td><td><span class="ct"> * '&lt;S2&gt;'   : 'MotorController_FOC/PMSM_Controller/1ms_Scheduler'</span></td></tr>
+<td><a id="l368" class='ln'>368</a></td><td><span class="ct"> * Block '&lt;S80&gt;/Switch2' : Unused code path elimination</span></td></tr>
 <tr name="369" id="369">
-<td><a id="l369" class='ln'>369</a></td><td><span class="ct"> * '&lt;S3&gt;'   : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation'</span></td></tr>
+<td><a id="l369" class='ln'>369</a></td><td><span class="ct"> * Block '&lt;S80&gt;/UpperRelop' : Unused code path elimination</span></td></tr>
 <tr name="370" id="370">
-<td><a id="l370" class='ln'>370</a></td><td><span class="ct"> * '&lt;S4&gt;'   : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager'</span></td></tr>
+<td><a id="l370" class='ln'>370</a></td><td><span class="ct"> * Block '&lt;S78&gt;/Sum' : Unused code path elimination</span></td></tr>
 <tr name="371" id="371">
-<td><a id="l371" class='ln'>371</a></td><td><span class="ct"> * '&lt;S5&gt;'   : 'MotorController_FOC/PMSM_Controller/Diagnostics'</span></td></tr>
+<td><a id="l371" class='ln'>371</a></td><td><span class="ct"> * Block '&lt;S78&gt;/Unit Delay' : Unused code path elimination</span></td></tr>
 <tr name="372" id="372">
-<td><a id="l372" class='ln'>372</a></td><td><span class="ct"> * '&lt;S6&gt;'   : 'MotorController_FOC/PMSM_Controller/controller'</span></td></tr>
+<td><a id="l372" class='ln'>372</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Gain1' : Unused code path elimination</span></td></tr>
 <tr name="373" id="373">
-<td><a id="l373" class='ln'>373</a></td><td><span class="ct"> * '&lt;S7&gt;'   : 'MotorController_FOC/PMSM_Controller/1ms_Scheduler/counter'</span></td></tr>
+<td><a id="l373" class='ln'>373</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Math Function1' : Unused code path elimination</span></td></tr>
 <tr name="374" id="374">
-<td><a id="l374" class='ln'>374</a></td><td><span class="ct"> * '&lt;S8&gt;'   : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Direction_Detection'</span></td></tr>
+<td><a id="l374" class='ln'>374</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Math Function2' : Unused code path elimination</span></td></tr>
 <tr name="375" id="375">
-<td><a id="l375" class='ln'>375</a></td><td><span class="ct"> * '&lt;S9&gt;'   : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Edge_Detect'</span></td></tr>
+<td><a id="l375" class='ln'>375</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Max' : Unused code path elimination</span></td></tr>
 <tr name="376" id="376">
-<td><a id="l376" class='ln'>376</a></td><td><span class="ct"> * '&lt;S10&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation'</span></td></tr>
+<td><a id="l376" class='ln'>376</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Sign' : Unused code path elimination</span></td></tr>
 <tr name="377" id="377">
-<td><a id="l377" class='ln'>377</a></td><td><span class="ct"> * '&lt;S11&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Hall_Angle_Raw'</span></td></tr>
+<td><a id="l377" class='ln'>377</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Sqrt' : Unused code path elimination</span></td></tr>
 <tr name="378" id="378">
-<td><a id="l378" class='ln'>378</a></td><td><span class="ct"> * '&lt;S12&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/If Action Subsystem'</span></td></tr>
+<td><a id="l378" class='ln'>378</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Sum' : Unused code path elimination</span></td></tr>
 <tr name="379" id="379">
-<td><a id="l379" class='ln'>379</a></td><td><span class="ct"> * '&lt;S13&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/If Action Subsystem1'</span></td></tr>
+<td><a id="l379" class='ln'>379</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Sum of Elements' : Unused code path elimination</span></td></tr>
 <tr name="380" id="380">
-<td><a id="l380" class='ln'>380</a></td><td><span class="ct"> * '&lt;S14&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation'</span></td></tr>
+<td><a id="l380" class='ln'>380</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Sum1' : Unused code path elimination</span></td></tr>
 <tr name="381" id="381">
-<td><a id="l381" class='ln'>381</a></td><td><span class="ct"> * '&lt;S15&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad'</span></td></tr>
+<td><a id="l381" class='ln'>381</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Sum2' : Unused code path elimination</span></td></tr>
 <tr name="382" id="382">
-<td><a id="l382" class='ln'>382</a></td><td><span class="ct"> * '&lt;S16&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad/If Action Subsystem'</span></td></tr>
+<td><a id="l382" class='ln'>382</a></td><td><span class="ct"> * Block '&lt;S75&gt;/Unit Delay1' : Unused code path elimination</span></td></tr>
 <tr name="383" id="383">
-<td><a id="l383" class='ln'>383</a></td><td><span class="ct"> * '&lt;S17&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad/If Action Subsystem1'</span></td></tr>
+<td><a id="l383" class='ln'>383</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Add' : Unused code path elimination</span></td></tr>
 <tr name="384" id="384">
-<td><a id="l384" class='ln'>384</a></td><td><span class="ct"> * '&lt;S18&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad/If Action Subsystem2'</span></td></tr>
+<td><a id="l384" class='ln'>384</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Constant1' : Unused code path elimination</span></td></tr>
 <tr name="385" id="385">
-<td><a id="l385" class='ln'>385</a></td><td><span class="ct"> * '&lt;S19&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Raw_Motor_Speed_Estimation'</span></td></tr>
+<td><a id="l385" class='ln'>385</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Constant3' : Unused code path elimination</span></td></tr>
 <tr name="386" id="386">
-<td><a id="l386" class='ln'>386</a></td><td><span class="ct"> * '&lt;S20&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Subsystem'</span></td></tr>
+<td><a id="l386" class='ln'>386</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Constant4' : Unused code path elimination</span></td></tr>
 <tr name="387" id="387">
-<td><a id="l387" class='ln'>387</a></td><td><span class="ct"> * '&lt;S21&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Raw_Motor_Speed_Estimation/Compare To Constant'</span></td></tr>
+<td><a id="l387" class='ln'>387</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Constant5' : Unused code path elimination</span></td></tr>
 <tr name="388" id="388">
-<td><a id="l388" class='ln'>388</a></td><td><span class="ct"> * '&lt;S22&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Subsystem/Compare To Constant'</span></td></tr>
+<td><a id="l388" class='ln'>388</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Constant6' : Unused code path elimination</span></td></tr>
 <tr name="389" id="389">
-<td><a id="l389" class='ln'>389</a></td><td><span class="ct"> * '&lt;S23&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Control_Mode_Manager'</span></td></tr>
+<td><a id="l389" class='ln'>389</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Divide' : Unused code path elimination</span></td></tr>
 <tr name="390" id="390">
-<td><a id="l390" class='ln'>390</a></td><td><span class="ct"> * '&lt;S24&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Mode_Transition_Calculation'</span></td></tr>
+<td><a id="l390" class='ln'>390</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Divide1' : Unused code path elimination</span></td></tr>
 <tr name="391" id="391">
-<td><a id="l391" class='ln'>391</a></td><td><span class="ct"> * '&lt;S25&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Subsystem'</span></td></tr>
+<td><a id="l391" class='ln'>391</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Divide2' : Unused code path elimination</span></td></tr>
 <tr name="392" id="392">
-<td><a id="l392" class='ln'>392</a></td><td><span class="ct"> * '&lt;S26&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale'</span></td></tr>
+<td><a id="l392" class='ln'>392</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Divide4' : Unused code path elimination</span></td></tr>
 <tr name="393" id="393">
-<td><a id="l393" class='ln'>393</a></td><td><span class="ct"> * '&lt;S27&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/If Action Subsystem'</span></td></tr>
+<td><a id="l393" class='ln'>393</a></td><td><span class="ct"> * Block '&lt;S99&gt;/Gain' : Unused code path elimination</span></td></tr>
 <tr name="394" id="394">
-<td><a id="l394" class='ln'>394</a></td><td><span class="ct"> * '&lt;S28&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/If Action Subsystem1'</span></td></tr>
+<td><a id="l394" class='ln'>394</a></td><td><span class="ct"> * Block '&lt;S95&gt;/Gain' : Unused code path elimination</span></td></tr>
 <tr name="395" id="395">
-<td><a id="l395" class='ln'>395</a></td><td><span class="ct"> * '&lt;S29&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode'</span></td></tr>
+<td><a id="l395" class='ln'>395</a></td><td><span class="ct"> */</span></td></tr>
 <tr name="396" id="396">
-<td><a id="l396" class='ln'>396</a></td><td><span class="ct"> * '&lt;S30&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/torque_mode'</span></td></tr>
+<td><a id="l396" class='ln'>396</a></td><td></td></tr>
 <tr name="397" id="397">
-<td><a id="l397" class='ln'>397</a></td><td><span class="ct"> * '&lt;S31&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control'</span></td></tr>
+<td><a id="l397" class='ln'>397</a></td><td><span class="ct">/*-</span></td></tr>
 <tr name="398" id="398">
-<td><a id="l398" class='ln'>398</a></td><td><span class="ct"> * '&lt;S32&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/Saturation Dynamic'</span></td></tr>
+<td><a id="l398" class='ln'>398</a></td><td><span class="ct"> * The generated code includes comments that allow you to trace directly</span></td></tr>
 <tr name="399" id="399">
-<td><a id="l399" class='ln'>399</a></td><td><span class="ct"> * '&lt;S33&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/Subsystem'</span></td></tr>
+<td><a id="l399" class='ln'>399</a></td><td><span class="ct"> * back to the appropriate location in the model.  The basic format</span></td></tr>
 <tr name="400" id="400">
-<td><a id="l400" class='ln'>400</a></td><td><span class="ct"> * '&lt;S34&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/delayUnit'</span></td></tr>
+<td><a id="l400" class='ln'>400</a></td><td><span class="ct"> * is &lt;system&gt;/block_name, where system is the system number (uniquely</span></td></tr>
 <tr name="401" id="401">
-<td><a id="l401" class='ln'>401</a></td><td><span class="ct"> * '&lt;S35&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled'</span></td></tr>
+<td><a id="l401" class='ln'>401</a></td><td><span class="ct"> * assigned by Simulink) and block_name is the name of the block.</span></td></tr>
 <tr name="402" id="402">
-<td><a id="l402" class='ln'>402</a></td><td><span class="ct"> * '&lt;S36&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter'</span></td></tr>
+<td><a id="l402" class='ln'>402</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="403" id="403">
-<td><a id="l403" class='ln'>403</a></td><td><span class="ct"> * '&lt;S37&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/either_edge'</span></td></tr>
+<td><a id="l403" class='ln'>403</a></td><td><span class="ct"> * Note that this particular code originates from a subsystem build,</span></td></tr>
 <tr name="404" id="404">
-<td><a id="l404" class='ln'>404</a></td><td><span class="ct"> * '&lt;S38&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Default'</span></td></tr>
+<td><a id="l404" class='ln'>404</a></td><td><span class="ct"> * and has its own system numbers different from the parent model.</span></td></tr>
 <tr name="405" id="405">
-<td><a id="l405" class='ln'>405</a></td><td><span class="ct"> * '&lt;S39&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification'</span></td></tr>
+<td><a id="l405" class='ln'>405</a></td><td><span class="ct"> * Refer to the system hierarchy for this subsystem below, and use the</span></td></tr>
 <tr name="406" id="406">
-<td><a id="l406" class='ln'>406</a></td><td><span class="ct"> * '&lt;S40&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification'</span></td></tr>
+<td><a id="l406" class='ln'>406</a></td><td><span class="ct"> * MATLAB hilite_system command to trace the generated code back</span></td></tr>
 <tr name="407" id="407">
-<td><a id="l407" class='ln'>407</a></td><td><span class="ct"> * '&lt;S41&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/either_edge'</span></td></tr>
+<td><a id="l407" class='ln'>407</a></td><td><span class="ct"> * to the parent model.  For example,</span></td></tr>
 <tr name="408" id="408">
-<td><a id="l408" class='ln'>408</a></td><td><span class="ct"> * '&lt;S42&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter'</span></td></tr>
+<td><a id="l408" class='ln'>408</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="409" id="409">
-<td><a id="l409" class='ln'>409</a></td><td><span class="ct"> * '&lt;S43&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter/rst_Delay'</span></td></tr>
+<td><a id="l409" class='ln'>409</a></td><td><span class="ct"> * hilite_system('MotorController_FOC/PMSM_Controller')    - opens subsystem MotorController_FOC/PMSM_Controller</span></td></tr>
 <tr name="410" id="410">
-<td><a id="l410" class='ln'>410</a></td><td><span class="ct"> * '&lt;S44&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter'</span></td></tr>
+<td><a id="l410" class='ln'>410</a></td><td><span class="ct"> * hilite_system('MotorController_FOC/PMSM_Controller/Kp') - opens and selects block Kp</span></td></tr>
 <tr name="411" id="411">
-<td><a id="l411" class='ln'>411</a></td><td><span class="ct"> * '&lt;S45&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter/rst_Delay'</span></td></tr>
+<td><a id="l411" class='ln'>411</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="412" id="412">
-<td><a id="l412" class='ln'>412</a></td><td><span class="ct"> * '&lt;S46&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward'</span></td></tr>
+<td><a id="l412" class='ln'>412</a></td><td><span class="ct"> * Here is the system hierarchy for this model</span></td></tr>
 <tr name="413" id="413">
-<td><a id="l413" class='ln'>413</a></td><td><span class="ct"> * '&lt;S47&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Motor_Limitations_Enabled'</span></td></tr>
+<td><a id="l413" class='ln'>413</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="414" id="414">
-<td><a id="l414" class='ln'>414</a></td><td><span class="ct"> * '&lt;S48&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ'</span></td></tr>
+<td><a id="l414" class='ln'>414</a></td><td><span class="ct"> * '&lt;Root&gt;' : 'MotorController_FOC'</span></td></tr>
 <tr name="415" id="415">
-<td><a id="l415" class='ln'>415</a></td><td><span class="ct"> * '&lt;S49&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Park_Transform_Inverse'</span></td></tr>
+<td><a id="l415" class='ln'>415</a></td><td><span class="ct"> * '&lt;S1&gt;'   : 'MotorController_FOC/PMSM_Controller'</span></td></tr>
 <tr name="416" id="416">
-<td><a id="l416" class='ln'>416</a></td><td><span class="ct"> * '&lt;S50&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM'</span></td></tr>
+<td><a id="l416" class='ln'>416</a></td><td><span class="ct"> * '&lt;S2&gt;'   : 'MotorController_FOC/PMSM_Controller/1ms_Scheduler'</span></td></tr>
 <tr name="417" id="417">
-<td><a id="l417" class='ln'>417</a></td><td><span class="ct"> * '&lt;S51&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/circle_limition'</span></td></tr>
+<td><a id="l417" class='ln'>417</a></td><td><span class="ct"> * '&lt;S3&gt;'   : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation'</span></td></tr>
 <tr name="418" id="418">
-<td><a id="l418" class='ln'>418</a></td><td><span class="ct"> * '&lt;S52&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/current_sample'</span></td></tr>
+<td><a id="l418" class='ln'>418</a></td><td><span class="ct"> * '&lt;S4&gt;'   : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager'</span></td></tr>
 <tr name="419" id="419">
-<td><a id="l419" class='ln'>419</a></td><td><span class="ct"> * '&lt;S53&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc'</span></td></tr>
+<td><a id="l419" class='ln'>419</a></td><td><span class="ct"> * '&lt;S5&gt;'   : 'MotorController_FOC/PMSM_Controller/Diagnostics'</span></td></tr>
 <tr name="420" id="420">
-<td><a id="l420" class='ln'>420</a></td><td><span class="ct"> * '&lt;S54&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/pid_schdule'</span></td></tr>
+<td><a id="l420" class='ln'>420</a></td><td><span class="ct"> * '&lt;S6&gt;'   : 'MotorController_FOC/PMSM_Controller/controller'</span></td></tr>
 <tr name="421" id="421">
-<td><a id="l421" class='ln'>421</a></td><td><span class="ct"> * '&lt;S55&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Clarke'</span></td></tr>
+<td><a id="l421" class='ln'>421</a></td><td><span class="ct"> * '&lt;S7&gt;'   : 'MotorController_FOC/PMSM_Controller/1ms_Scheduler/counter'</span></td></tr>
 <tr name="422" id="422">
-<td><a id="l422" class='ln'>422</a></td><td><span class="ct"> * '&lt;S56&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Low_Pass_Filter'</span></td></tr>
+<td><a id="l422" class='ln'>422</a></td><td><span class="ct"> * '&lt;S8&gt;'   : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Direction_Detection'</span></td></tr>
 <tr name="423" id="423">
-<td><a id="l423" class='ln'>423</a></td><td><span class="ct"> * '&lt;S57&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Park'</span></td></tr>
+<td><a id="l423" class='ln'>423</a></td><td><span class="ct"> * '&lt;S9&gt;'   : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Edge_Detect'</span></td></tr>
 <tr name="424" id="424">
-<td><a id="l424" class='ln'>424</a></td><td><span class="ct"> * '&lt;S58&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Sine_Cosine_Approximation'</span></td></tr>
+<td><a id="l424" class='ln'>424</a></td><td><span class="ct"> * '&lt;S10&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation'</span></td></tr>
 <tr name="425" id="425">
-<td><a id="l425" class='ln'>425</a></td><td><span class="ct"> * '&lt;S59&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Motor_Limitations_Enabled/IIR Filter'</span></td></tr>
+<td><a id="l425" class='ln'>425</a></td><td><span class="ct"> * '&lt;S11&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Hall_Angle_Raw'</span></td></tr>
 <tr name="426" id="426">
-<td><a id="l426" class='ln'>426</a></td><td><span class="ct"> * '&lt;S60&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl'</span></td></tr>
+<td><a id="l426" class='ln'>426</a></td><td><span class="ct"> * '&lt;S12&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/If Action Subsystem'</span></td></tr>
 <tr name="427" id="427">
-<td><a id="l427" class='ln'>427</a></td><td><span class="ct"> * '&lt;S61&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl'</span></td></tr>
+<td><a id="l427" class='ln'>427</a></td><td><span class="ct"> * '&lt;S13&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/If Action Subsystem1'</span></td></tr>
 <tr name="428" id="428">
-<td><a id="l428" class='ln'>428</a></td><td><span class="ct"> * '&lt;S62&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl/PI_id'</span></td></tr>
+<td><a id="l428" class='ln'>428</a></td><td><span class="ct"> * '&lt;S14&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation'</span></td></tr>
 <tr name="429" id="429">
-<td><a id="l429" class='ln'>429</a></td><td><span class="ct"> * '&lt;S63&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl/Saturation Dynamic1'</span></td></tr>
+<td><a id="l429" class='ln'>429</a></td><td><span class="ct"> * '&lt;S15&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad'</span></td></tr>
 <tr name="430" id="430">
-<td><a id="l430" class='ln'>430</a></td><td><span class="ct"> * '&lt;S64&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl/PI_id/Integrator1'</span></td></tr>
+<td><a id="l430" class='ln'>430</a></td><td><span class="ct"> * '&lt;S16&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad/If Action Subsystem'</span></td></tr>
 <tr name="431" id="431">
-<td><a id="l431" class='ln'>431</a></td><td><span class="ct"> * '&lt;S65&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/id_ctrl/PI_id/Saturation Dynamic1'</span></td></tr>
+<td><a id="l431" class='ln'>431</a></td><td><span class="ct"> * '&lt;S17&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad/If Action Subsystem1'</span></td></tr>
 <tr name="432" id="432">
-<td><a id="l432" class='ln'>432</a></td><td><span class="ct"> * '&lt;S66&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl/PI_iq'</span></td></tr>
+<td><a id="l432" class='ln'>432</a></td><td><span class="ct"> * '&lt;S18&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Electrical_Angle_Estimation/degree_rad/If Action Subsystem2'</span></td></tr>
 <tr name="433" id="433">
-<td><a id="l433" class='ln'>433</a></td><td><span class="ct"> * '&lt;S67&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl/Saturation Dynamic2'</span></td></tr>
+<td><a id="l433" class='ln'>433</a></td><td><span class="ct"> * '&lt;S19&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/AdvCtrlDetect'</span></td></tr>
 <tr name="434" id="434">
-<td><a id="l434" class='ln'>434</a></td><td><span class="ct"> * '&lt;S68&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl/PI_iq/Integrator1'</span></td></tr>
+<td><a id="l434" class='ln'>434</a></td><td><span class="ct"> * '&lt;S20&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Raw_Motor_Speed_Estimation'</span></td></tr>
 <tr name="435" id="435">
-<td><a id="l435" class='ln'>435</a></td><td><span class="ct"> * '&lt;S69&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/PID_IDQ/iq_ctrl/PI_iq/Saturation Dynamic1'</span></td></tr>
+<td><a id="l435" class='ln'>435</a></td><td><span class="ct"> * '&lt;S21&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/AdvCtrlDetect/Compare To Constant'</span></td></tr>
 <tr name="436" id="436">
-<td><a id="l436" class='ln'>436</a></td><td><span class="ct"> * '&lt;S70&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM'</span></td></tr>
+<td><a id="l436" class='ln'>436</a></td><td><span class="ct"> * '&lt;S22&gt;'  : 'MotorController_FOC/PMSM_Controller/Angle_Speed_Estimation/Speed_Estimation/Raw_Motor_Speed_Estimation/Compare To Constant'</span></td></tr>
 <tr name="437" id="437">
-<td><a id="l437" class='ln'>437</a></td><td><span class="ct"> * '&lt;S71&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen'</span></td></tr>
+<td><a id="l437" class='ln'>437</a></td><td><span class="ct"> * '&lt;S23&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Control_Mode_Manager'</span></td></tr>
 <tr name="438" id="438">
-<td><a id="l438" class='ln'>438</a></td><td><span class="ct"> * '&lt;S72&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/sector_select'</span></td></tr>
+<td><a id="l438" class='ln'>438</a></td><td><span class="ct"> * '&lt;S24&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Limitition'</span></td></tr>
 <tr name="439" id="439">
-<td><a id="l439" class='ln'>439</a></td><td><span class="ct"> * '&lt;S73&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector1'</span></td></tr>
+<td><a id="l439" class='ln'>439</a></td><td><span class="ct"> * '&lt;S25&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/Mode_Transition_Calculation'</span></td></tr>
 <tr name="440" id="440">
-<td><a id="l440" class='ln'>440</a></td><td><span class="ct"> * '&lt;S74&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector2'</span></td></tr>
+<td><a id="l440" class='ln'>440</a></td><td><span class="ct"> * '&lt;S26&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale'</span></td></tr>
 <tr name="441" id="441">
-<td><a id="l441" class='ln'>441</a></td><td><span class="ct"> * '&lt;S75&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector3'</span></td></tr>
+<td><a id="l441" class='ln'>441</a></td><td><span class="ct"> * '&lt;S27&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/If Action Subsystem'</span></td></tr>
 <tr name="442" id="442">
-<td><a id="l442" class='ln'>442</a></td><td><span class="ct"> * '&lt;S76&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector4'</span></td></tr>
+<td><a id="l442" class='ln'>442</a></td><td><span class="ct"> * '&lt;S28&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/If Action Subsystem1'</span></td></tr>
 <tr name="443" id="443">
-<td><a id="l443" class='ln'>443</a></td><td><span class="ct"> * '&lt;S77&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector5'</span></td></tr>
+<td><a id="l443" class='ln'>443</a></td><td><span class="ct"> * '&lt;S29&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode'</span></td></tr>
 <tr name="444" id="444">
-<td><a id="l444" class='ln'>444</a></td><td><span class="ct"> * '&lt;S78&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector6'</span></td></tr>
+<td><a id="l444" class='ln'>444</a></td><td><span class="ct"> * '&lt;S30&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/torque_mode'</span></td></tr>
 <tr name="445" id="445">
-<td><a id="l445" class='ln'>445</a></td><td><span class="ct"> * '&lt;S79&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/circle_limition/Compare To Constant'</span></td></tr>
+<td><a id="l445" class='ln'>445</a></td><td><span class="ct"> * '&lt;S31&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Edge'</span></td></tr>
 <tr name="446" id="446">
-<td><a id="l446" class='ln'>446</a></td><td><span class="ct"> * '&lt;S80&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/circle_limition/IIR Filter'</span></td></tr>
+<td><a id="l446" class='ln'>446</a></td><td><span class="ct"> * '&lt;S32&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control'</span></td></tr>
 <tr name="447" id="447">
-<td><a id="l447" class='ln'>447</a></td><td><span class="ct"> * '&lt;S81&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem'</span></td></tr>
+<td><a id="l447" class='ln'>447</a></td><td><span class="ct"> * '&lt;S33&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/RateInit'</span></td></tr>
 <tr name="448" id="448">
-<td><a id="l448" class='ln'>448</a></td><td><span class="ct"> * '&lt;S82&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/FW_Calc'</span></td></tr>
+<td><a id="l448" class='ln'>448</a></td><td><span class="ct"> * '&lt;S34&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/Saturation Dynamic'</span></td></tr>
 <tr name="449" id="449">
-<td><a id="l449" class='ln'>449</a></td><td><span class="ct"> * '&lt;S83&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/MPTA_Calc'</span></td></tr>
+<td><a id="l449" class='ln'>449</a></td><td><span class="ct"> * '&lt;S35&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/StepAdd'</span></td></tr>
 <tr name="450" id="450">
-<td><a id="l450" class='ln'>450</a></td><td><span class="ct"> * '&lt;S84&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get'</span></td></tr>
+<td><a id="l450" class='ln'>450</a></td><td><span class="ct"> * '&lt;S36&gt;'  : 'MotorController_FOC/PMSM_Controller/Control_Mode_Manager/target_scale/open_mode/Rate_Control/StepAdd/delayUnit'</span></td></tr>
 <tr name="451" id="451">
-<td><a id="l451" class='ln'>451</a></td><td><span class="ct"> * '&lt;S85&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/ivbus_limition'</span></td></tr>
+<td><a id="l451" class='ln'>451</a></td><td><span class="ct"> * '&lt;S37&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled'</span></td></tr>
 <tr name="452" id="452">
-<td><a id="l452" class='ln'>452</a></td><td><span class="ct"> * '&lt;S86&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/FW_Calc/Intergrator_z'</span></td></tr>
+<td><a id="l452" class='ln'>452</a></td><td><span class="ct"> * '&lt;S38&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter'</span></td></tr>
 <tr name="453" id="453">
-<td><a id="l453" class='ln'>453</a></td><td><span class="ct"> * '&lt;S87&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/MPTA_Calc/MTPA_Calc'</span></td></tr>
+<td><a id="l453" class='ln'>453</a></td><td><span class="ct"> * '&lt;S39&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Edge'</span></td></tr>
 <tr name="454" id="454">
-<td><a id="l454" class='ln'>454</a></td><td><span class="ct"> * '&lt;S88&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/MPTA_Calc/MTPA_Cali'</span></td></tr>
+<td><a id="l454" class='ln'>454</a></td><td><span class="ct"> * '&lt;S40&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Default'</span></td></tr>
 <tr name="455" id="455">
-<td><a id="l455" class='ln'>455</a></td><td><span class="ct"> * '&lt;S89&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/MPTA_Calc/MTPA_Cali/Sine_Cosine_Approximation'</span></td></tr>
+<td><a id="l455" class='ln'>455</a></td><td><span class="ct"> * '&lt;S41&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification'</span></td></tr>
 <tr name="456" id="456">
-<td><a id="l456" class='ln'>456</a></td><td><span class="ct"> * '&lt;S90&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode'</span></td></tr>
+<td><a id="l456" class='ln'>456</a></td><td><span class="ct"> * '&lt;S42&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Edge'</span></td></tr>
 <tr name="457" id="457">
-<td><a id="l457" class='ln'>457</a></td><td><span class="ct"> * '&lt;S91&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/torque_mode'</span></td></tr>
+<td><a id="l457" class='ln'>457</a></td><td><span class="ct"> * '&lt;S43&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification'</span></td></tr>
 <tr name="458" id="458">
-<td><a id="l458" class='ln'>458</a></td><td><span class="ct"> * '&lt;S92&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode/Saturation Dynamic3'</span></td></tr>
+<td><a id="l458" class='ln'>458</a></td><td><span class="ct"> * '&lt;S44&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Rst_Counter'</span></td></tr>
 <tr name="459" id="459">
-<td><a id="l459" class='ln'>459</a></td><td><span class="ct"> * '&lt;S93&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode/pi_speed'</span></td></tr>
+<td><a id="l459" class='ln'>459</a></td><td><span class="ct"> * '&lt;S45&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Rst_Counter/rst_Delay1'</span></td></tr>
 <tr name="460" id="460">
-<td><a id="l460" class='ln'>460</a></td><td><span class="ct"> * '&lt;S94&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode/pi_speed/Integrator'</span></td></tr>
+<td><a id="l460" class='ln'>460</a></td><td><span class="ct"> * '&lt;S46&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Rst_Counter'</span></td></tr>
 <tr name="461" id="461">
-<td><a id="l461" class='ln'>461</a></td><td><span class="ct"> * '&lt;S95&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/speed_mode/pi_speed/Saturation Dynamic1'</span></td></tr>
+<td><a id="l461" class='ln'>461</a></td><td><span class="ct"> * '&lt;S47&gt;'  : 'MotorController_FOC/PMSM_Controller/Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Rst_Counter/rst_Delay1'</span></td></tr>
 <tr name="462" id="462">
-<td><a id="l462" class='ln'>462</a></td><td><span class="ct"> * '&lt;S96&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Subsystem/idq_Get/torque_mode/Saturation Dynamic'</span></td></tr>
+<td><a id="l462" class='ln'>462</a></td><td><span class="ct"> * '&lt;S48&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward'</span></td></tr>
 <tr name="463" id="463">
-<td><a id="l463" class='ln'>463</a></td><td><span class="ct"> */</span></td></tr>
+<td><a id="l463" class='ln'>463</a></td><td><span class="ct"> * '&lt;S49&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Low_Pass_Filter'</span></td></tr>
 <tr name="464" id="464">
-<td><a id="l464" class='ln'>464</a></td><td><span class="pp">#endif</span>                                 <span class="ct">/* RTW_HEADER_PMSM_Controller_h_ */</span></td></tr>
+<td><a id="l464" class='ln'>464</a></td><td><span class="ct"> * '&lt;S50&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Motor_Limitations_Enabled'</span></td></tr>
 <tr name="465" id="465">
-<td><a id="l465" class='ln'>465</a></td><td></td></tr>
+<td><a id="l465" class='ln'>465</a></td><td><span class="ct"> * '&lt;S51&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM'</span></td></tr>
 <tr name="466" id="466">
-<td><a id="l466" class='ln'>466</a></td><td><span class="ct">/*</span></td></tr>
+<td><a id="l466" class='ln'>466</a></td><td><span class="ct"> * '&lt;S52&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/circle_limiter'</span></td></tr>
 <tr name="467" id="467">
-<td><a id="l467" class='ln'>467</a></td><td><span class="ct"> * File trailer for generated code.</span></td></tr>
+<td><a id="l467" class='ln'>467</a></td><td><span class="ct"> * '&lt;S53&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/current_sample'</span></td></tr>
 <tr name="468" id="468">
-<td><a id="l468" class='ln'>468</a></td><td><span class="ct"> *</span></td></tr>
+<td><a id="l468" class='ln'>468</a></td><td><span class="ct"> * '&lt;S54&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc'</span></td></tr>
 <tr name="469" id="469">
-<td><a id="l469" class='ln'>469</a></td><td><span class="ct"> * [EOF]</span></td></tr>
+<td><a id="l469" class='ln'>469</a></td><td><span class="ct"> * '&lt;S55&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc'</span></td></tr>
 <tr name="470" id="470">
-<td><a id="l470" class='ln'>470</a></td><td><span class="ct"> */</span></td></tr>
+<td><a id="l470" class='ln'>470</a></td><td><span class="ct"> * '&lt;S56&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Clarke'</span></td></tr>
 <tr name="471" id="471">
-<td><a id="l471" class='ln'>471</a></td><td></td></tr>
+<td><a id="l471" class='ln'>471</a></td><td><span class="ct"> * '&lt;S57&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Low_Pass_Filter'</span></td></tr>
+<tr name="472" id="472">
+<td><a id="l472" class='ln'>472</a></td><td><span class="ct"> * '&lt;S58&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Park'</span></td></tr>
+<tr name="473" id="473">
+<td><a id="l473" class='ln'>473</a></td><td><span class="ct"> * '&lt;S59&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Clarke_Park_Transform_Forward/Sine_Cosine_Approximation'</span></td></tr>
+<tr name="474" id="474">
+<td><a id="l474" class='ln'>474</a></td><td><span class="ct"> * '&lt;S60&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/Motor_Limitations_Enabled/Saturation Dynamic'</span></td></tr>
+<tr name="475" id="475">
+<td><a id="l475" class='ln'>475</a></td><td><span class="ct"> * '&lt;S61&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/Park_Transform_Inverse'</span></td></tr>
+<tr name="476" id="476">
+<td><a id="l476" class='ln'>476</a></td><td><span class="ct"> * '&lt;S62&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM'</span></td></tr>
+<tr name="477" id="477">
+<td><a id="l477" class='ln'>477</a></td><td><span class="ct"> * '&lt;S63&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen'</span></td></tr>
+<tr name="478" id="478">
+<td><a id="l478" class='ln'>478</a></td><td><span class="ct"> * '&lt;S64&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/sector_select'</span></td></tr>
+<tr name="479" id="479">
+<td><a id="l479" class='ln'>479</a></td><td><span class="ct"> * '&lt;S65&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector1'</span></td></tr>
+<tr name="480" id="480">
+<td><a id="l480" class='ln'>480</a></td><td><span class="ct"> * '&lt;S66&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector2'</span></td></tr>
+<tr name="481" id="481">
+<td><a id="l481" class='ln'>481</a></td><td><span class="ct"> * '&lt;S67&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector3'</span></td></tr>
+<tr name="482" id="482">
+<td><a id="l482" class='ln'>482</a></td><td><span class="ct"> * '&lt;S68&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector4'</span></td></tr>
+<tr name="483" id="483">
+<td><a id="l483" class='ln'>483</a></td><td><span class="ct"> * '&lt;S69&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector5'</span></td></tr>
+<tr name="484" id="484">
+<td><a id="l484" class='ln'>484</a></td><td><span class="ct"> * '&lt;S70&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/SVM/SVPWM/duty_gen/sector6'</span></td></tr>
+<tr name="485" id="485">
+<td><a id="l485" class='ln'>485</a></td><td><span class="ct"> * '&lt;S71&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc'</span></td></tr>
+<tr name="486" id="486">
+<td><a id="l486" class='ln'>486</a></td><td><span class="ct"> * '&lt;S72&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/pid_schdule'</span></td></tr>
+<tr name="487" id="487">
+<td><a id="l487" class='ln'>487</a></td><td><span class="ct"> * '&lt;S73&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign'</span></td></tr>
+<tr name="488" id="488">
+<td><a id="l488" class='ln'>488</a></td><td><span class="ct"> * '&lt;S74&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get'</span></td></tr>
+<tr name="489" id="489">
+<td><a id="l489" class='ln'>489</a></td><td><span class="ct"> * '&lt;S75&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/FW_Calc'</span></td></tr>
+<tr name="490" id="490">
+<td><a id="l490" class='ln'>490</a></td><td><span class="ct"> * '&lt;S76&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/MPTA_Calc'</span></td></tr>
+<tr name="491" id="491">
+<td><a id="l491" class='ln'>491</a></td><td><span class="ct"> * '&lt;S77&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/iDC_Limiter'</span></td></tr>
+<tr name="492" id="492">
+<td><a id="l492" class='ln'>492</a></td><td><span class="ct"> * '&lt;S78&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/FW_Calc/FW_I_Ctrl'</span></td></tr>
+<tr name="493" id="493">
+<td><a id="l493" class='ln'>493</a></td><td><span class="ct"> * '&lt;S79&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/FW_Calc/FW_I_Ctrl/Intergrator_z'</span></td></tr>
+<tr name="494" id="494">
+<td><a id="l494" class='ln'>494</a></td><td><span class="ct"> * '&lt;S80&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/FW_Calc/FW_I_Ctrl/Saturation Dynamic'</span></td></tr>
+<tr name="495" id="495">
+<td><a id="l495" class='ln'>495</a></td><td><span class="ct"> * '&lt;S81&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/MPTA_Calc/MTPA_Calc'</span></td></tr>
+<tr name="496" id="496">
+<td><a id="l496" class='ln'>496</a></td><td><span class="ct"> * '&lt;S82&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/MPTA_Calc/MTPA_Cali'</span></td></tr>
+<tr name="497" id="497">
+<td><a id="l497" class='ln'>497</a></td><td><span class="ct"> * '&lt;S83&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/MPTA_Calc/MTPA_Cali/Sine_Cosine_Approximation'</span></td></tr>
+<tr name="498" id="498">
+<td><a id="l498" class='ln'>498</a></td><td><span class="ct"> * '&lt;S84&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/iDC_Limiter/Saturation Dynamic1'</span></td></tr>
+<tr name="499" id="499">
+<td><a id="l499" class='ln'>499</a></td><td><span class="ct"> * '&lt;S85&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/iDC_Limiter/Saturation Dynamic3'</span></td></tr>
+<tr name="500" id="500">
+<td><a id="l500" class='ln'>500</a></td><td><span class="ct"> * '&lt;S86&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Assign/iDC_Limiter/sqrtSum'</span></td></tr>
+<tr name="501" id="501">
+<td><a id="l501" class='ln'>501</a></td><td><span class="ct"> * '&lt;S87&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/speed_mode'</span></td></tr>
+<tr name="502" id="502">
+<td><a id="l502" class='ln'>502</a></td><td><span class="ct"> * '&lt;S88&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/torque_mode'</span></td></tr>
+<tr name="503" id="503">
+<td><a id="l503" class='ln'>503</a></td><td><span class="ct"> * '&lt;S89&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/speed_mode/PI_Speed'</span></td></tr>
+<tr name="504" id="504">
+<td><a id="l504" class='ln'>504</a></td><td><span class="ct"> * '&lt;S90&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/speed_mode/PI_Speed/Rst_Integrator'</span></td></tr>
+<tr name="505" id="505">
+<td><a id="l505" class='ln'>505</a></td><td><span class="ct"> * '&lt;S91&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/speed_mode/PI_Speed/Saturation Dynamic1'</span></td></tr>
+<tr name="506" id="506">
+<td><a id="l506" class='ln'>506</a></td><td><span class="ct"> * '&lt;S92&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/torque_mode/PI_TrqSpdLim'</span></td></tr>
+<tr name="507" id="507">
+<td><a id="l507" class='ln'>507</a></td><td><span class="ct"> * '&lt;S93&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/torque_mode/PI_TrqSpdLim/Rst_Integrator'</span></td></tr>
+<tr name="508" id="508">
+<td><a id="l508" class='ln'>508</a></td><td><span class="ct"> * '&lt;S94&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/idq_Calc/Do_Calc/idq_Get/torque_mode/PI_TrqSpdLim/Saturation Dynamic'</span></td></tr>
+<tr name="509" id="509">
+<td><a id="l509" class='ln'>509</a></td><td><span class="ct"> * '&lt;S95&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop'</span></td></tr>
+<tr name="510" id="510">
+<td><a id="l510" class='ln'>510</a></td><td><span class="ct"> * '&lt;S96&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/OpenLoop'</span></td></tr>
+<tr name="511" id="511">
+<td><a id="l511" class='ln'>511</a></td><td><span class="ct"> * '&lt;S97&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep'</span></td></tr>
+<tr name="512" id="512">
+<td><a id="l512" class='ln'>512</a></td><td><span class="ct"> * '&lt;S98&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep'</span></td></tr>
+<tr name="513" id="513">
+<td><a id="l513" class='ln'>513</a></td><td><span class="ct"> * '&lt;S99&gt;'  : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/FeedForward'</span></td></tr>
+<tr name="514" id="514">
+<td><a id="l514" class='ln'>514</a></td><td><span class="ct"> * '&lt;S100&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt'</span></td></tr>
+<tr name="515" id="515">
+<td><a id="l515" class='ln'>515</a></td><td><span class="ct"> * '&lt;S101&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt1'</span></td></tr>
+<tr name="516" id="516">
+<td><a id="l516" class='ln'>516</a></td><td><span class="ct"> * '&lt;S102&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt/Rst_Integrator'</span></td></tr>
+<tr name="517" id="517">
+<td><a id="l517" class='ln'>517</a></td><td><span class="ct"> * '&lt;S103&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt/Saturation Dynamic1'</span></td></tr>
+<tr name="518" id="518">
+<td><a id="l518" class='ln'>518</a></td><td><span class="ct"> * '&lt;S104&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt1/Rst_Integrator'</span></td></tr>
+<tr name="519" id="519">
+<td><a id="l519" class='ln'>519</a></td><td><span class="ct"> * '&lt;S105&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/CurrentLoop/PI_backCalc_fixdt1/Saturation Dynamic1'</span></td></tr>
+<tr name="520" id="520">
+<td><a id="l520" class='ln'>520</a></td><td><span class="ct"> * '&lt;S106&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Edge'</span></td></tr>
+<tr name="521" id="521">
+<td><a id="l521" class='ln'>521</a></td><td><span class="ct"> * '&lt;S107&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Enabled Subsystem'</span></td></tr>
+<tr name="522" id="522">
+<td><a id="l522" class='ln'>522</a></td><td><span class="ct"> * '&lt;S108&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control'</span></td></tr>
+<tr name="523" id="523">
+<td><a id="l523" class='ln'>523</a></td><td><span class="ct"> * '&lt;S109&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control/RateInit'</span></td></tr>
+<tr name="524" id="524">
+<td><a id="l524" class='ln'>524</a></td><td><span class="ct"> * '&lt;S110&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control/Saturation Dynamic'</span></td></tr>
+<tr name="525" id="525">
+<td><a id="l525" class='ln'>525</a></td><td><span class="ct"> * '&lt;S111&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control/StepAdd'</span></td></tr>
+<tr name="526" id="526">
+<td><a id="l526" class='ln'>526</a></td><td><span class="ct"> * '&lt;S112&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/idStep/Rate_Control/StepAdd/delayUnit'</span></td></tr>
+<tr name="527" id="527">
+<td><a id="l527" class='ln'>527</a></td><td><span class="ct"> * '&lt;S113&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Edge'</span></td></tr>
+<tr name="528" id="528">
+<td><a id="l528" class='ln'>528</a></td><td><span class="ct"> * '&lt;S114&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Enabled Subsystem'</span></td></tr>
+<tr name="529" id="529">
+<td><a id="l529" class='ln'>529</a></td><td><span class="ct"> * '&lt;S115&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control'</span></td></tr>
+<tr name="530" id="530">
+<td><a id="l530" class='ln'>530</a></td><td><span class="ct"> * '&lt;S116&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control/RateInit'</span></td></tr>
+<tr name="531" id="531">
+<td><a id="l531" class='ln'>531</a></td><td><span class="ct"> * '&lt;S117&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control/Saturation Dynamic'</span></td></tr>
+<tr name="532" id="532">
+<td><a id="l532" class='ln'>532</a></td><td><span class="ct"> * '&lt;S118&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control/StepAdd'</span></td></tr>
+<tr name="533" id="533">
+<td><a id="l533" class='ln'>533</a></td><td><span class="ct"> * '&lt;S119&gt;' : 'MotorController_FOC/PMSM_Controller/controller/vdq_Calc/iqStep/Rate_Control/StepAdd/delayUnit'</span></td></tr>
+<tr name="534" id="534">
+<td><a id="l534" class='ln'>534</a></td><td><span class="ct"> */</span></td></tr>
+<tr name="535" id="535">
+<td><a id="l535" class='ln'>535</a></td><td><span class="pp">#endif</span>                                 <span class="ct">/* RTW_HEADER_PMSM_Controller_h_ */</span></td></tr>
+<tr name="536" id="536">
+<td><a id="l536" class='ln'>536</a></td><td></td></tr>
+<tr name="537" id="537">
+<td><a id="l537" class='ln'>537</a></td><td><span class="ct">/*</span></td></tr>
+<tr name="538" id="538">
+<td><a id="l538" class='ln'>538</a></td><td><span class="ct"> * File trailer for generated code.</span></td></tr>
+<tr name="539" id="539">
+<td><a id="l539" class='ln'>539</a></td><td><span class="ct"> *</span></td></tr>
+<tr name="540" id="540">
+<td><a id="l540" class='ln'>540</a></td><td><span class="ct"> * [EOF]</span></td></tr>
+<tr name="541" id="541">
+<td><a id="l541" class='ln'>541</a></td><td><span class="ct"> */</span></td></tr>
+<tr name="542" id="542">
+<td><a id="l542" class='ln'>542</a></td><td></td></tr>
 </table>
 </pre>
 </body>

Simulink/PMSM_Controller_ert_rtw/html/PMSM_Controller_interface.html

@@ -309,7 +309,7 @@ Dimension
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/adc_a
+&lt;S4&gt;/adc_Pha
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -330,7 +330,7 @@ int16_T
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/adc_b
+&lt;S4&gt;/adc_Phb
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -351,7 +351,7 @@ int16_T
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/speed_target
+&lt;S4&gt;/spd_Target
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -360,14 +360,14 @@ Defined externally
 
 </td>
 <td width="19%" align="left" valign="top">
-int16_T
+int32_T
 </td>
 <td width="9%" align="left" valign="top">
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
-    WordLength: 16
-FractionLength: 1
-">sfix16_En1</span>
+    WordLength: 32
+FractionLength: 4
+">sfix32_En4</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -376,7 +376,7 @@ FractionLength: 1
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/current_target
+&lt;S4&gt;/idq_Target
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -391,8 +391,8 @@ int16_T
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
     WordLength: 16
-FractionLength: 6
-">sfix16_En6</span>
+FractionLength: 5
+">sfix16_En5</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -401,7 +401,7 @@ FractionLength: 6
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/hall_a
+&lt;S4&gt;/hall_A
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -422,7 +422,7 @@ uint8_T
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/hall_b
+&lt;S4&gt;/hall_B
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -443,7 +443,7 @@ uint8_T
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/hall_c
+&lt;S4&gt;/hall_C
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -464,7 +464,7 @@ uint8_T
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/hw_count
+&lt;S4&gt;/us_Count
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -548,7 +548,7 @@ uint8_T
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/DC_iLimit
+&lt;S4&gt;/iDC_Limit
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -563,8 +563,8 @@ int16_T
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
     WordLength: 16
-FractionLength: 6
-">sfix16_En6</span>
+FractionLength: 5
+">sfix16_En5</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -573,7 +573,7 @@ FractionLength: 6
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/speed_limit
+&lt;S4&gt;/spd_Limit
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -582,14 +582,14 @@ Defined externally
 
 </td>
 <td width="19%" align="left" valign="top">
-int16_T
+int32_T
 </td>
 <td width="9%" align="left" valign="top">
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
-    WordLength: 16
-FractionLength: 1
-">sfix16_En1</span>
+    WordLength: 32
+FractionLength: 4
+">sfix32_En4</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -598,7 +598,7 @@ FractionLength: 1
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/vbus_voltage
+&lt;S4&gt;/vDC
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -613,8 +613,8 @@ int16_T
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
     WordLength: 16
-FractionLength: 6
-">sfix16_En6</span>
+FractionLength: 5
+">sfix16_En5</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -623,7 +623,7 @@ FractionLength: 6
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/foc_calibrate
+&lt;S4&gt;/FOC_Flags
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -644,7 +644,7 @@ uint16_T
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/vdq_open_target
+&lt;S4&gt;/vdq_Open
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -659,8 +659,8 @@ int16_T
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
     WordLength: 16
-FractionLength: 6
-">sfix16_En6</span>
+FractionLength: 5
+">sfix16_En5</span>
 </td>
 <td width="9%" align="right" valign="top">
 [2]
@@ -669,7 +669,7 @@ FractionLength: 6
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/open_theta
+&lt;S4&gt;/theta_Open
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -736,7 +736,7 @@ Dimension
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/PWM
+&lt;S4&gt;/pwm_Duty
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -757,7 +757,7 @@ int16_T
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/sector
+&lt;S4&gt;/n_Sector
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -799,7 +799,7 @@ uint8_T
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/VdPrev
+&lt;S4&gt;/f_Vdq
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -814,17 +814,17 @@ int16_T
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
     WordLength: 16
-FractionLength: 6
-">sfix16_En6</span>
+FractionLength: 5
+">sfix16_En5</span>
 </td>
 <td width="9%" align="right" valign="top">
-1
+[2]
 </td>
 
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/VqPrev
+&lt;S4&gt;/f_Idq
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -839,17 +839,17 @@ int16_T
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
     WordLength: 16
-FractionLength: 6
-">sfix16_En6</span>
+FractionLength: 5
+">sfix16_En5</span>
 </td>
 <td width="9%" align="right" valign="top">
-1
+[2]
 </td>
 
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/id
+&lt;S4&gt;/f_MotAngle
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -864,8 +864,8 @@ int16_T
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
     WordLength: 16
-FractionLength: 6
-">sfix16_En6</span>
+FractionLength: 4
+">sfix16_En4</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -874,7 +874,7 @@ FractionLength: 6
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/iq
+&lt;S4&gt;/f_MotRPM
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -883,14 +883,14 @@ Defined externally
 
 </td>
 <td width="19%" align="left" valign="top">
-int16_T
+int32_T
 </td>
 <td width="9%" align="left" valign="top">
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
-    WordLength: 16
-FractionLength: 6
-">sfix16_En6</span>
+    WordLength: 32
+FractionLength: 4
+">sfix32_En4</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -899,7 +899,7 @@ FractionLength: 6
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/angle
+&lt;S4&gt;/f_hallAngle
 </td>
 <td width="23%" align="left" valign="top">
 <i>
@@ -924,13 +924,134 @@ FractionLength: 4
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/rpm
+&lt;S4&gt;/n_hallStat
+</td>
+<td width="23%" align="left" valign="top">
+<i>
+Defined externally
+</i>
+
+</td>
+<td width="19%" align="left" valign="top">
+uint8_T
+</td>
+<td width="9%" align="left" valign="top">
+&#160;
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
+
+</tr>
+<tr class="odd">
+<td width="38%" align="left" valign="top">
+&lt;S4&gt;/n_runingMode
 </td>
 <td width="23%" align="left" valign="top">
 <i>
 Defined externally
 </i>
 
+</td>
+<td width="19%" align="left" valign="top">
+uint8_T
+</td>
+<td width="9%" align="left" valign="top">
+&#160;
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
+
+</tr>
+
+</table>
+<h3>
+<a name="sec_Interface_Parameters">
+Interface Parameters
+</a>
+
+</h3>
+<span title="Click to shrink or expand table" onclick="rtwTableShrink(this)">[-]</span><table width="100%" class="AltRow FirstColumn" cellspacing="0">
+<tr class="heading">
+<th width="38%" align="left" valign="top">
+<b>
+Parameter Source
+</b>
+
+</th>
+<th width="23%" align="left" valign="top">
+<b>
+Code Identifier
+</b>
+
+</th>
+<th width="19%" align="left" valign="top">
+<b>
+Data Type
+</b>
+
+</th>
+<th width="9%" align="left" valign="top">
+<b>
+Scaling
+</b>
+
+</th>
+<th width="9%" align="right" valign="top">
+<b>
+Dimension
+</b>
+
+</th>
+
+</tr>
+<tr class="even">
+<td width="38%" align="left" valign="top">
+n_hall_count_ps
+</td>
+<td width="23%" align="left" valign="top">
+rtP.n_hall_count_ps
+</td>
+<td width="19%" align="left" valign="top">
+uint32_T
+</td>
+<td width="9%" align="left" valign="top">
+&#160;
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
+
+</tr>
+<tr class="odd">
+<td width="38%" align="left" valign="top">
+cf_TrqLimKb
+</td>
+<td width="23%" align="left" valign="top">
+rtP.cf_TrqLimKb
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 10
+">sfix16_En10</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
+
+</tr>
+<tr class="even">
+<td width="38%" align="left" valign="top">
+cf_TrqLimKi
+</td>
+<td width="23%" align="left" valign="top">
+rtP.cf_TrqLimKi
 </td>
 <td width="19%" align="left" valign="top">
 int16_T
@@ -939,8 +1060,8 @@ int16_T
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
     WordLength: 16
-FractionLength: 1
-">sfix16_En1</span>
+FractionLength: 10
+">sfix16_En10</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -949,13 +1070,32 @@ FractionLength: 1
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/hall_angle
+cf_TrqLimKp
 </td>
 <td width="23%" align="left" valign="top">
-<i>
-Defined externally
-</i>
+rtP.cf_TrqLimKp
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 10
+">sfix16_En10</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
 
+</tr>
+<tr class="even">
+<td width="38%" align="left" valign="top">
+cf_idKp
+</td>
+<td width="23%" align="left" valign="top">
+rtP.cf_idKp
 </td>
 <td width="19%" align="left" valign="top">
 int16_T
@@ -964,8 +1104,30 @@ int16_T
 <span title="  DataTypeMode: Fixed-point: binary point scaling
     Signedness: Signed
     WordLength: 16
-FractionLength: 4
-">sfix16_En4</span>
+FractionLength: 10
+">sfix16_En10</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
+
+</tr>
+<tr class="odd">
+<td width="38%" align="left" valign="top">
+cf_iqKp
+</td>
+<td width="23%" align="left" valign="top">
+rtP.cf_iqKp
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 10
+">sfix16_En10</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -974,19 +1136,64 @@ FractionLength: 4
 </tr>
 <tr class="even">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/hall_state
+cf_nKp
 </td>
 <td width="23%" align="left" valign="top">
-<i>
-Defined externally
-</i>
+rtP.cf_nKp
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 10
+">sfix16_En10</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
 
+</tr>
+<tr class="odd">
+<td width="38%" align="left" valign="top">
+cf_idKb
+</td>
+<td width="23%" align="left" valign="top">
+rtP.cf_idKb
 </td>
 <td width="19%" align="left" valign="top">
-uint8_T
+int16_T
 </td>
 <td width="9%" align="left" valign="top">
-&#160;
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 14
+">sfix16_En14</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
+
+</tr>
+<tr class="even">
+<td width="38%" align="left" valign="top">
+cf_idKi
+</td>
+<td width="23%" align="left" valign="top">
+rtP.cf_idKi
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 14
+">sfix16_En14</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
@@ -995,36 +1202,160 @@ uint8_T
 </tr>
 <tr class="odd">
 <td width="38%" align="left" valign="top">
-&lt;S4&gt;/running_mode
+cf_iqKb
 </td>
 <td width="23%" align="left" valign="top">
-<i>
-Defined externally
-</i>
+rtP.cf_iqKb
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 14
+">sfix16_En14</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
 
+</tr>
+<tr class="even">
+<td width="38%" align="left" valign="top">
+cf_iqKi
+</td>
+<td width="23%" align="left" valign="top">
+rtP.cf_iqKi
 </td>
 <td width="19%" align="left" valign="top">
-uint8_T
+int16_T
 </td>
 <td width="9%" align="left" valign="top">
-&#160;
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 14
+">sfix16_En14</span>
 </td>
 <td width="9%" align="right" valign="top">
 1
 </td>
 
 </tr>
+<tr class="odd">
+<td width="38%" align="left" valign="top">
+cf_nKb
+</td>
+<td width="23%" align="left" valign="top">
+rtP.cf_nKb
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 14
+">sfix16_En14</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
 
-</table>
-<h3>
-<a name="sec_Interface_Parameters">
-Interface Parameters
-</a>
+</tr>
+<tr class="even">
+<td width="38%" align="left" valign="top">
+cf_nKi
+</td>
+<td width="23%" align="left" valign="top">
+rtP.cf_nKi
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 14
+">sfix16_En14</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
 
-</h3>
-<p>
-No interface/tunable parameters in model.
-</p>
+</tr>
+<tr class="odd">
+<td width="38%" align="left" valign="top">
+i_hall_offset
+</td>
+<td width="23%" align="left" valign="top">
+rtP.i_hall_offset
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 4
+">sfix16_En4</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
+
+</tr>
+<tr class="even">
+<td width="38%" align="left" valign="top">
+dz_OpenStepVol
+</td>
+<td width="23%" align="left" valign="top">
+rtP.dz_OpenStepVol
+</td>
+<td width="19%" align="left" valign="top">
+int16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Signed
+    WordLength: 16
+FractionLength: 7
+">sfix16_En7</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
+
+</tr>
+<tr class="odd">
+<td width="38%" align="left" valign="top">
+f_lpf_coeff
+</td>
+<td width="23%" align="left" valign="top">
+rtP.f_lpf_coeff
+</td>
+<td width="19%" align="left" valign="top">
+uint16_T
+</td>
+<td width="9%" align="left" valign="top">
+<span title="  DataTypeMode: Fixed-point: binary point scaling
+    Signedness: Unsigned
+    WordLength: 16
+FractionLength: 16
+">ufix16_En16</span>
+</td>
+<td width="9%" align="right" valign="top">
+1
+</td>
+
+</tr>
+
+</table>
 <h3>
 <a name="sec_Data_Stores">
 Data Stores

Simulink/PMSM_Controller_ert_rtw/html/PMSM_Controller_metrics.html

@@ -1,6 +1,6 @@
 <html>
 <head>
-<meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /><link rel="stylesheet" type="text/css" href="rtwreport.css" /><title>
+<meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /><link rel="stylesheet" type="text/css" href="rtwreport.css" /><meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /><script language="JavaScript" type="text/javascript" src="rtwshrink.js"></script><title>
 Static Code Metrics Report
 </title>
 
@@ -10,9 +10,1601 @@ Static Code Metrics Report
 Static Code Metrics Report
 </h1>
 <div>
+<p>
+The static code metrics report provides statistics of the generated code. Metrics are estimated from static analysis of the generated code using the C data types specified in the 'Device details' section of the <b>Configuration Parameter > Hardware Implementation</b> pane: <b>char</b> 8, <b>short</b> 16, <b>int</b> 32, <b>long</b> 32, <b>float</b> 32, <b>double</b> 64, <b>pointer</b> 32 bits. If your model contains a Variant block, the Static Code Metrics Report does not contain data for the inactive variant. Actual object code metrics might differ due to target specific compiler and platform settings. Consult the <b>Code Generation Advisor</b><a name="MATLAB_link" style="text-decoration: none" href="matlab:helpview([docroot '/toolbox/ecoder/helptargets.map'], 'code_gen_advisor')">
+<img src="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABAAAAAQCAYAAAAf8/9hAAADhElEQVQ4T2WTe0yTBxTFz/fRIn2AqS1LC4gplIcFYYkTxjTpiMQRJo50KhYmexkkIWwsTMtIFCWMAZuFoc7nXNiWbLhibdMtA4oL7hFskI7KoxOGLbRCulEeK5Ty9WsXMRDn7p8355zc3PwOgaenuI8pkW7MO7RtY9GuaJbEF4DfMO62tA+4WieVSbqn5cSTi6jGUdnp3YK6otSwDEYQSbioAB4JeEwCbq8vcM00a6i/7aqaUib2rfnWA5LPjR/WFkRejOEFsz8d9UE37oGXpkHSfoTSfsjj2XhbyoZpyuPKuzzy+sSp7fpHIasBz9SNZPSWxHSFhQZzXjYsYnZuGY3Pc5AVtQEEAvjJ6oGy8y9s3hSCm/lCmBxLrqzSK5mLunIzgVMBsiV71lCWzsuUdbhx1+rG4CE+ojlBqNRPgiQInM6JhGOeQkLjKOTPhaPtoBAV6kG96npNHiFssGSOlscZ9HaKVKj/xr4YEtr9IpzpcuB9zTSw4kfbUTEO7hBgZ/09/Gal0XMsHtGbyBXpca2MeK3dfukreWSxXDcDjdmNcCYFRSwTavM8Hs74IYsNwY2jEix5KGw/2Q/nAgOlOSKcK4hGuqqvgWi+47pVtoOXmXbJjrt2D+CngYVlgKKRFcdCe2k8Vrw0Xm0w4baNApgbkJMchu+PJaLgG4uGqP3F2VG1M3zPC83j6P1zEQjCqpnj88JckwIBJwh7ThpxZ8IH8EMBD41XUrm4WSHFgdYhNfFSq/XDH4u2VB1pteFzgxPgkAAVQDjLj5GPnsXX3ZMov/YAEPEAkgRcS6iWR6A6X4yEyh9OENwTvyfdq9hqnHZ62Rm1w0Aw4/EVHi8U29iw2BdhmiEAbsjqQ9nLbgydSYdjhZ7bVViXvcpBic5x5UJuxBHltzY0ahwAi4FYAQMDtakwjs1jd/0wAkwmMLOAprckKM8TI/fjzi/1LVdLHpN4vD/iuzfjevYnciXV1634RGeHj6Jw/g0xzA8WcFYzAb6AhWpFDMr2idHSM2F5t7KpEL3N/esoc9/pSP6sUNp2OC1KOjblQdvPDzF43wWCCCBtKx/5skiI+CFQ3bIOKeu+eM/XXdO1jvJaMdjF7aLsFOEHZXtTFC9u4QrW9jSArvvz003qX7Wd2u4LMKoG/lem/9Q0V5WUtJknSxCyRQE/yOGpf5x/jNmMsM31Y+ys90ntv6Qkblq/pPiXAAAAAElFTkSuQmCC" title="Open Code Generation Advisor help" style="border:none;cursor:pointer;max-width:100%;" alt="help.png">
+
+</img>
+
+</a>
+ for options to improve code efficiency.
+</p>
+
+</div>
+<div>
+<h3>
+Table of Contents
+</h3>
+<ol>
+<li>
+<a href="#sec_file_info" onclick="rtwTableExpand(window.document, window.document.getElementById('rtwIdCodeMetrics_table_001_control'), 'rtwIdCodeMetrics_table_001')">
+File Information
+</a>
+
+</li>
+<li>
+<a href="#sec_globalvar_info" onclick="rtwTableExpand(window.document, window.document.getElementById('rtwIdCodeMetrics_table_002_control'), 'rtwIdCodeMetrics_table_002')">
+Global Variables
+</a>
+
+</li>
+<li>
+<a href="#sec_fcn_info" onclick="rtwTableExpand(window.document, window.document.getElementById('rtwIdCodeMetrics_table_014_control'), 'rtwIdCodeMetrics_table_014')">
+Function Information
+</a>
+
+</li>
+
+</ol>
 
 </div>
-<img src="hilite_warning.png" />Static Code Metrics report is not generated. On the <b>Configuration Parameters &gt; Code Generation &gt; Report</b> pane, select <b>Generate static code metrics</b>.  On the model diagram window, select <b>Code &gt; C/C++ Code &gt; Code Generation Report &gt; Open Model Report</b> or rebuild the model.
+<h3 name="sec_File_Information" id="sec_file_info">
+1. File Information <span title="Click to shrink or expand section" style="cursor:pointer;font-weight:normal;" id="rtwIdCodeMetrics_table_001_control" onclick ="if (rtwTableShrink) rtwTableShrink(window.document, this, 'rtwIdCodeMetrics_table_001', false)"><span class="shrink-button">[<u>hide</u>]</span></span>
+</h3>
+<table width="100%" name="rtwIdCodeMetrics_table_001" id="rtwIdCodeMetrics_table_001" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" border="0">
+<tr>
+<td align="left" valign="top">
+<p>
+<span name="button_fileInfo_summary_table" id="button_fileInfo_summary_table" title="Click to shrink or expand tree" style="cursor:pointer;font-family:monospace;font-weight:normal;" onclick ="if (rtwTableShrink) rtwTableShrink(window.document, this, 'fileInfo_summary_table', true)"><span class="shrink-button">[-]</span></span> Summary (excludes ert_main.c)
+</p>
+<table width="50%" cellpadding="0" name="fileInfo_summary_table" id="fileInfo_summary_table" border="0">
+<tr>
+<td width="4%" align="left" valign="top">
+<span style="white-space:nowrap" title="Number of source files excluding ert_main.c.">Number of .c files</span>
+</td>
+<td width="4%" align="left" valign="top">
+:
+</td>
+<td width="4%" align="right" valign="top">
+2
+</td>
+<td width="86%" align="right" valign="top">
+&#160;
+</td>
+
+</tr>
+<tr>
+<td width="4%" align="left" valign="top">
+<span style="white-space:nowrap" title="Number of header files.">Number of .h files</span>
+</td>
+<td width="4%" align="left" valign="top">
+:
+</td>
+<td width="4%" align="right" valign="top">
+3
+</td>
+<td width="86%" align="right" valign="top">
+&#160;
+</td>
+
+</tr>
+<tr>
+<td width="4%" align="left" valign="top">
+<span title="Lines of code excluding comments and blank lines">Lines of code</span>
+</td>
+<td width="4%" align="left" valign="top">
+:
+</td>
+<td width="4%" align="right" valign="top">
+1,512
+</td>
+<td width="86%" align="right" valign="top">
+&#160;
+</td>
+
+</tr>
+<tr>
+<td width="4%" align="left" valign="top">
+<span style="white-space:nowrap" title="Lines including source code, comments, and blank lines.">Lines</span>
+</td>
+<td width="4%" align="left" valign="top">
+:
+</td>
+<td width="4%" align="right" valign="top">
+3,993
+</td>
+<td width="86%" align="right" valign="top">
+&#160;
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<p>
+<span name="button_fileInfo_detail_table" id="button_fileInfo_detail_table" title="Click to shrink or expand tree" style="cursor:pointer;font-family:monospace;font-weight:normal;" onclick ="if (rtwTableShrink) rtwTableShrink(window.document, this, 'fileInfo_detail_table', true)"><span class="shrink-button">[-]</span></span> File details
+</p>
+<table width="100%" cellpadding="2" name="fileInfo_detail_table" id="fileInfo_detail_table" border="1">
+<tr style="background-color: #eeeeff">
+<td width="33%" align="left" valign="top" style="border-style: none">
+<b>
+<span style="white-space:nowrap" title="Files sorted in descending order by number of lines of code.">File Name</span>
+</b>
+
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Lines of code excluding comments and blank lines.">Lines of Code</span>
+</b>
+
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+<b>
+<span style="white-space:nowrap" title="Lines including source code, comments, and blank lines.">Lines</span>
+</b>
+
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+<b>
+<span style="white-space:nowrap" title="Timestamp of the file">Generated On</span>
+</b>
+
+</td>
+
+</tr>
+<tr style="background-color: #ffffff">
+<td width="33%" align="left" valign="top" style="border-style: none">
+PMSM_Controller.c
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+1,177
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+3,097
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+05/21/2022  5:50 PM
+</td>
+
+</tr>
+<tr style="background-color: #eeeeff">
+<td width="33%" align="left" valign="top" style="border-style: none">
+PMSM_Controller.h
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+182
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+542
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+05/21/2022  5:50 PM
+</td>
+
+</tr>
+<tr style="background-color: #ffffff">
+<td width="33%" align="left" valign="top" style="border-style: none">
+PMSM_Controller_data.c
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+90
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+199
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+05/21/2022  5:50 PM
+</td>
+
+</tr>
+<tr style="background-color: #eeeeff">
+<td width="33%" align="left" valign="top" style="border-style: none">
+rtwtypes.h
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+44
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+103
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+05/21/2022  5:50 PM
+</td>
+
+</tr>
+<tr style="background-color: #ffffff">
+<td width="33%" align="left" valign="top" style="border-style: none">
+zero_crossing_types.h
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+19
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+52
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+05/21/2022  5:50 PM
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+<h3 name="sec_Global_Variables" id="sec_globalvar_info">
+2. Global Variables <span title="Click to shrink or expand section" style="cursor:pointer;font-weight:normal;" id="rtwIdCodeMetrics_table_002_control" onclick ="if (rtwTableShrink) rtwTableShrink(window.document, this, 'rtwIdCodeMetrics_table_002', false)"><span class="shrink-button">[<u>hide</u>]</span></span>
+</h3>
+<table width="100%" name="rtwIdCodeMetrics_table_002" id="rtwIdCodeMetrics_table_002" border="0">
+<tr>
+<td align="left" valign="top">
+Global variables defined in the generated code.
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="0" cellspacing="0" name="globalvarInfo_table" id="globalvarInfo_table" border="1">
+<tr style="background-color: #ffffff">
+<td width="100%" align="left" valign="top" style="border-style: none">
+<table class="treeTable" width="100%" cellpadding="0" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #eeeeff">
+<td width="33%" align="left" valign="top" style="border-style: none">
+<b>
+<span title="Global variables sorted by the maximum size in bytes.">Global Variable</span>
+</b>
+
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Global variable size in bytes.">Size (bytes)</span>
+</b>
+
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Total number of potential reads and writes for this global variable">Reads / Writes</span>
+</b>
+
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Maximum number of potential reads and writes in a function">Reads / Writes in a Function</span>
+</b>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="0" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #ffffff">
+<td width="33%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap"><span name="button_globalvarInfo_table_sub3" id="button_globalvarInfo_table_sub3" title="Click to shrink or expand tree" style="cursor:pointer;font-family:monospace;font-weight:normal;" onclick ="if (rtwTableShrink) rtwTableShrink(window.document, this, 'globalvarInfo_table_sub3', true)"><span class="shrink-button">[+]</span></span> <span>
+rtP
+</span>
+</span>
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+36
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+18<span style="font-family:Courier">&#160;</span>
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+16<span style="font-family:Courier">&#160;</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="globalvarInfo_table_sub3" id="globalvarInfo_table_sub3" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #eeeeff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; n_hall_count_ps</span></td>
+<td align="right" width="22.22%">4</td>
+<td align="right" width="22.22%">3<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">2<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #ffffff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_TrqLimKb</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #eeeeff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_TrqLimKi</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #ffffff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_TrqLimKp</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #eeeeff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_idKp</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #ffffff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_iqKp</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #eeeeff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_nKp</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #ffffff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_idKb</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #eeeeff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_idKi</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #ffffff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_iqKb</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #eeeeff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_iqKi</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #ffffff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_nKb</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #eeeeff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; cf_nKi</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #ffffff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; i_hall_offset</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #eeeeff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; dz_OpenStepVol</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2"  style="background-color: #ffffff" >
+<tr><td align="left" width="33.33%"><span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160; f_lpf_coeff</span></td>
+<td align="right" width="22.22%">2</td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+<td align="right" width="22.22%">1<span style="font-family:Courier">&#160;</span></td>
+</tr></table>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #eeeeff">
+<td width="33%" align="left" valign="top" style="border-style: none">
+<b>Total</b>
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+<b>36</b>
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+<b>18<span style="font-family:Courier">&#160;</span></b>
+</td>
+<td width="22%" align="right" valign="top" style="border-style: none">
+ 
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+<h3 name="sec_Function_Information" id="sec_fcn_info">
+3. Function Information <span title="Click to shrink or expand section" style="cursor:pointer;font-weight:normal;" id="rtwIdCodeMetrics_table_014_control" onclick ="if (rtwTableShrink) rtwTableShrink(window.document, this, 'rtwIdCodeMetrics_table_014', false)"><span class="shrink-button">[<u>hide</u>]</span></span>
+</h3>
+<table width="100%" name="rtwIdCodeMetrics_table_014" id="rtwIdCodeMetrics_table_014" border="0">
+<tr>
+<td align="left" valign="top">
+View function metrics in a call tree format or table format. Accumulated stack numbers include the estimated stack size of the function plus the maximum of the accumulated stack size of the subroutines that the function calls.
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="0" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="0" cellspacing="0" name="fcnInfo_calltree" id="fcnInfo_calltree" border="0">
+<tr>
+<td align="left" valign="top">
+View:Call Tree | <a href="javascript:if (rtwSwitchView) rtwSwitchView(window.document,'fcnInfo_calltree', 'fcnInfo_table')" title="List of functions in alphabetical order. The second column includes the callers of the functions.">
+Table
+</a>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="0" cellspacing="0" border="1">
+<tr style="background-color: #ffffff">
+<td width="100%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="0" cellspacing="0" class="treeTable" id="fcnTreeView" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #eeeeff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<b>
+<span title="Function name sorted by the maximum accumulated stack size.">Function Name</span>
+</b>
+
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Estimated stack size of the function plus the maximum of the accumulated stack size of its subroutines.">Accumulated Stack Size (bytes)</span>
+</b>
+
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Size of local variables in the function.">Self Stack Size (bytes)</span>
+</b>
+
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Lines of code excluding comments and blank lines.">Lines of Code</span>
+</b>
+
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+<b>
+<span style="white-space:nowrap" title="Lines including source code, comments, and blank lines.">Lines</span>
+</b>
+
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+<b>
+<span style="white-space:nowrap" title="Cyclomatic complexity">Complexity</span>
+</b>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="border-style: none" width="100%" cellpadding="0" cellspacing="0" name="" id="" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #ffffff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap"><span name="button_3" id="button_3" title="Click to shrink or expand tree" style="cursor:pointer;font-family:monospace;font-weight:normal;" onclick ="if (rtwTableShrink) rtwTableShrink(window.document, this, '3', true)"><span class="shrink-button">[+]</span></span>&#160;<b><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_step" title="PMSM_Controller_step" class="code2code">
+PMSM_Controller_step
+</a>
+</b></span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+140
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+116
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+866
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+2,482
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+149
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="3" id="3" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #eeeeff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160;&#160;<a href="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt_o" title="PI_backCalc_fixdt_o" class="code2code">
+PI_backCalc_fixdt_o
+</a>
+</span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+24
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+24
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+57
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+116
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+13
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="3" id="3" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #ffffff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160;&#160;<a href="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt" title="PI_backCalc_fixdt" class="code2code">
+PI_backCalc_fixdt
+</a>
+</span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+20
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+20
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+62
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+120
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+15
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="3" id="3" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #eeeeff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160;&#160;<a href="PMSM_Controller_c.html#fcn_rt_sqrt_Uu16En14_Yu16E_WMwW1mku" title="rt_sqrt_Uu16En14_Yu16E_WMwW1mku" class="code2code">
+rt_sqrt_Uu16En14_Yu16E_WMwW1mku
+</a>
+</span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+14
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+14
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+20
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+27
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+4
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="3" id="3" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #ffffff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160;&#160;<a href="PMSM_Controller_c.html#fcn_rt_sqrt_Us32En10_Ys16E_7VJYwqF9" title="rt_sqrt_Us32En10_Ys16E_7VJYwqF9" class="code2code">
+rt_sqrt_Us32En10_Ys16E_7VJYwqF9
+</a>
+</span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+10
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+10
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+18
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+25
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+4
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="3" id="3" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #eeeeff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160;&#160;<a href="PMSM_Controller_c.html#fcn_Low_Pass_Filter" title="Low_Pass_Filter" class="code2code">
+Low_Pass_Filter
+</a>
+</span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+4
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+4
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+25
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+57
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+5
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="3" id="3" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #ffffff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160;&#160;<a href="PMSM_Controller_c.html#fcn_plook_u16s16_evencka" title="plook_u16s16_evencka" class="code2code">
+plook_u16s16_evencka
+</a>
+</span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+2
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+2
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+11
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+24
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+3
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="3" id="3" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #eeeeff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160;&#160;<a href="PMSM_Controller_c.html#fcn_RateInit" title="RateInit" class="code2code">
+RateInit
+</a>
+</span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+2
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+2
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+18
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+40
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+4
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="border-style: none" width="100%" cellpadding="0" cellspacing="0" name="" id="" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #ffffff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap"><span name="button_11" id="button_11" title="Click to shrink or expand tree" style="cursor:pointer;font-family:monospace;font-weight:normal;" onclick ="if (rtwTableShrink) rtwTableShrink(window.document, this, '11', true)"><span class="shrink-button">[+]</span></span>&#160;<b><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_initialize" title="PMSM_Controller_initialize" class="code2code">
+PMSM_Controller_initialize
+</a>
+</b></span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+12
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+12
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+15
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+60
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+1
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="11" id="11" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #eeeeff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160;&#160;<a href="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt_Init" title="PI_backCalc_fixdt_Init" class="code2code">
+PI_backCalc_fixdt_Init
+</a>
+</span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+0
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+0
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+1
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+5
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+1
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table style="display: none; border-style: none" width="100%" cellpadding="0" cellspacing="0" name="11" id="11" border="0">
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" border="0">
+<tr style="background-color: #ffffff">
+<td width="37%" align="left" valign="top" style="border-style: none">
+<span style="white-space:nowrap">&#160;&#160;&#160;&#160;&#160;&#160;&#160;<span style="font-family:monospace">&#160;&#160;</span>&#160;&#160;<a href="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt_p_Init" title="PI_backCalc_fixdt_p_Init" class="code2code">
+PI_backCalc_fixdt_p_Init
+</a>
+</span>
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+0
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+0
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+1
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+5
+</td>
+<td width="12%" align="right" valign="top" style="border-style: none">
+1
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="0" cellspacing="0" name="fcnInfo_table" id="fcnInfo_table" style="display: none" border="0">
+<tr>
+<td align="left" valign="top">
+View: <a href="javascript:if (rtwSwitchView) rtwSwitchView(window.document,'fcnInfo_table', 'fcnInfo_calltree')" title="Browse call graph in a call tree format.">
+Call Tree
+</a>
+ | Table
+</td>
+
+</tr>
+<tr>
+<td align="left" valign="top">
+<table width="100%" cellpadding="2" class="treeTable" id="fcnTableView" border="1">
+<tr style="background-color: #eeeeff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<b>
+<span title="Function name sorted alphabetically">Function Name</span>
+</b>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<b>
+<span title="List of functions calling the function in the corresponding first column. The number of call sites is included in parentheses.">Called By (number of call sites)</span>
+</b>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Estimated stack size of the function plus the maximum of the accumulated stack size of its subroutines.">Accumulated Stack Size (bytes)</span>
+</b>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Size of local variables in the function.">Self Stack Size (bytes)</span>
+</b>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+<b>
+<span title="Lines of code excluding comments and blank lines.">Lines of Code</span>
+</b>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+<b>
+<span style="white-space:nowrap" title="Lines including source code, comments, and blank lines.">Lines</span>
+</b>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+<b>
+<span style="white-space:nowrap" title="Cyclomatic complexity">Complexity</span>
+</b>
+
+</td>
+
+</tr>
+<tr style="background-color: #ffffff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_Low_Pass_Filter" title="Low_Pass_Filter" class="code2code">
+Low_Pass_Filter
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="1" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<span style="white-space:nowrap" title="PMSM_Controller_step has 2 call sites of Low_Pass_Filter."><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_step" title="PMSM_Controller_step" class="code2code">
+PMSM_Controller_step
+</a>
+ (2)</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+4
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+4
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+25
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+57
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+5
+</td>
+
+</tr>
+<tr style="background-color: #eeeeff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt" title="PI_backCalc_fixdt" class="code2code">
+PI_backCalc_fixdt
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="1" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<span style="white-space:nowrap" title="PMSM_Controller_step has one call site of PI_backCalc_fixdt."><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_step" title="PMSM_Controller_step" class="code2code">
+PMSM_Controller_step
+</a>
+</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+20
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+20
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+62
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+120
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+15
+</td>
+
+</tr>
+<tr style="background-color: #ffffff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt_Init" title="PI_backCalc_fixdt_Init" class="code2code">
+PI_backCalc_fixdt_Init
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="1" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<span style="white-space:nowrap" title="PMSM_Controller_initialize has one call site of PI_backCalc_fixdt_Init."><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_initialize" title="PMSM_Controller_initialize" class="code2code">
+PMSM_Controller_initialize
+</a>
+</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+0
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+0
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+1
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+5
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+1
+</td>
+
+</tr>
+<tr style="background-color: #eeeeff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt_o" title="PI_backCalc_fixdt_o" class="code2code">
+PI_backCalc_fixdt_o
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="1" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<span style="white-space:nowrap" title="PMSM_Controller_step has 2 call sites of PI_backCalc_fixdt_o."><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_step" title="PMSM_Controller_step" class="code2code">
+PMSM_Controller_step
+</a>
+ (2)</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+24
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+24
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+57
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+116
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+13
+</td>
+
+</tr>
+<tr style="background-color: #ffffff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt_p_Init" title="PI_backCalc_fixdt_p_Init" class="code2code">
+PI_backCalc_fixdt_p_Init
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="1" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<span style="white-space:nowrap" title="PMSM_Controller_initialize has 2 call sites of PI_backCalc_fixdt_p_Init."><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_initialize" title="PMSM_Controller_initialize" class="code2code">
+PMSM_Controller_initialize
+</a>
+ (2)</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+0
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+0
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+1
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+5
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+1
+</td>
+
+</tr>
+<tr style="background-color: #eeeeff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_PMSM_Controller_initialize" title="PMSM_Controller_initialize" class="code2code">
+PMSM_Controller_initialize
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+&#160;
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+12
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+12
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+15
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+60
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+1
+</td>
+
+</tr>
+<tr style="background-color: #ffffff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_PMSM_Controller_step" title="PMSM_Controller_step" class="code2code">
+PMSM_Controller_step
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+&#160;
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+140
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+116
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+866
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+2482
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+149
+</td>
+
+</tr>
+<tr style="background-color: #eeeeff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_RateInit" title="RateInit" class="code2code">
+RateInit
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="1" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<span style="white-space:nowrap" title="PMSM_Controller_step has 2 call sites of RateInit."><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_step" title="PMSM_Controller_step" class="code2code">
+PMSM_Controller_step
+</a>
+ (2)</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+2
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+2
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+18
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+40
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+4
+</td>
+
+</tr>
+<tr style="background-color: #ffffff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_plook_u16s16_evencka" title="plook_u16s16_evencka" class="code2code">
+plook_u16s16_evencka
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="1" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<span style="white-space:nowrap" title="PMSM_Controller_step has one call site of plook_u16s16_evencka."><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_step" title="PMSM_Controller_step" class="code2code">
+PMSM_Controller_step
+</a>
+</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+2
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+2
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+11
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+24
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+3
+</td>
+
+</tr>
+<tr style="background-color: #eeeeff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_rt_sqrt_Us32En10_Ys16E_7VJYwqF9" title="rt_sqrt_Us32En10_Ys16E_7VJYwqF9" class="code2code">
+rt_sqrt_Us32En10_Ys16E_7VJYwqF9
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="1" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<span style="white-space:nowrap" title="PMSM_Controller_step has 2 call sites of rt_sqrt_Us32En10_Ys16E_7VJYwqF9."><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_step" title="PMSM_Controller_step" class="code2code">
+PMSM_Controller_step
+</a>
+ (2)</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+10
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+10
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+18
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+25
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+4
+</td>
+
+</tr>
+<tr style="background-color: #ffffff">
+<td width="22%" align="left" valign="top" style="border-style: none">
+<a href="PMSM_Controller_c.html#fcn_rt_sqrt_Uu16En14_Yu16E_WMwW1mku" title="rt_sqrt_Uu16En14_Yu16E_WMwW1mku" class="code2code">
+rt_sqrt_Uu16En14_Yu16E_WMwW1mku
+</a>
+
+</td>
+<td width="22%" align="left" valign="top" style="border-style: none">
+<table width="100%" cellpadding="1" cellspacing="0" border="0">
+<tr>
+<td align="left" valign="top">
+<span style="white-space:nowrap" title="PMSM_Controller_step has one call site of rt_sqrt_Uu16En14_Yu16E_WMwW1mku."><a href="PMSM_Controller_c.html#fcn_PMSM_Controller_step" title="PMSM_Controller_step" class="code2code">
+PMSM_Controller_step
+</a>
+</span>
+</td>
+
+</tr>
+
+</table>
+
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+14
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+14
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+20
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+27
+</td>
+<td width="11%" align="right" valign="top" style="border-style: none">
+4
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
+</td>
+
+</tr>
+
+</table>
+
 </body>
 
 </html>

Simulink/PMSM_Controller_ert_rtw/html/PMSM_Controller_reducedblocks.html

@@ -87,7 +87,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S19&gt;/Abs2
+&lt;S20&gt;/Abs2
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -96,7 +96,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S19&gt;/Add
+&lt;S20&gt;/Add
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -105,7 +105,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S21&gt;/Compare
+&lt;S22&gt;/Compare
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -114,7 +114,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S21&gt;/Constant
+&lt;S22&gt;/Constant
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -123,7 +123,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S19&gt;/Scope1
+&lt;S20&gt;/Scope1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -132,7 +132,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S19&gt;/Sum7
+&lt;S20&gt;/Sum7
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -141,7 +141,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S19&gt;/UnitDelay4
+&lt;S20&gt;/UnitDelay4
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -150,7 +150,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S19&gt;/UnitDelay6
+&lt;S20&gt;/UnitDelay6
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -159,7 +159,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S19&gt;/UnitDelay7
+&lt;S20&gt;/UnitDelay7
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -168,7 +168,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S19&gt;/UnitDelay8
+&lt;S20&gt;/UnitDelay8
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -177,7 +177,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S19&gt;/dz_cntTrnsDet
+&lt;S20&gt;/dz_cntTrnsDet
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -222,7 +222,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S32&gt;/Data Type Duplicate
+&lt;S34&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -231,7 +231,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S32&gt;/Data Type Propagation
+&lt;S34&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -240,7 +240,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S31&gt;/Scope
+&lt;S1&gt;/Scope2
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -249,7 +249,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S31&gt;/Scope1
+&lt;S56&gt;/Scope
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -258,7 +258,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S1&gt;/Scope2
+&lt;S48&gt;/Scope
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -267,7 +267,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S55&gt;/Scope
+&lt;S59&gt;/Scope
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -276,7 +276,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S46&gt;/Scope
+&lt;S60&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -285,7 +285,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S46&gt;/Scope1
+&lt;S60&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -294,7 +294,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S58&gt;/Scope
+&lt;S61&gt;/Scope
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -303,7 +303,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S47&gt;/Divide
+&lt;S70&gt;/Scope
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -312,7 +312,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S47&gt;/Divide1
+&lt;S6&gt;/Scope12
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -321,7 +321,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S59&gt;/Add1
+&lt;S52&gt;/Scope
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -330,7 +330,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S59&gt;/Data Type Duplicate
+&lt;S80&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -339,7 +339,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S59&gt;/Filter_Constant
+&lt;S80&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -348,7 +348,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S59&gt;/One
+&lt;S83&gt;/Scope
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -357,7 +357,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S59&gt;/Product
+&lt;S84&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -366,7 +366,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S59&gt;/Product1
+&lt;S84&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -375,7 +375,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S59&gt;/Unit Delay
+&lt;S85&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -384,7 +384,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S47&gt;/Math Function1
+&lt;S85&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -393,7 +393,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S47&gt;/Saturation
+&lt;S91&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -402,7 +402,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S47&gt;/Scope
+&lt;S91&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -411,7 +411,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S47&gt;/Sqrt1
+&lt;S94&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -420,7 +420,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S47&gt;/Sum of Elements1
+&lt;S94&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -429,7 +429,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S48&gt;/Scope
+&lt;S103&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -438,7 +438,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S65&gt;/Data Type Duplicate
+&lt;S103&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -447,7 +447,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S65&gt;/Data Type Propagation
+&lt;S105&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -456,7 +456,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S63&gt;/Data Type Duplicate
+&lt;S105&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -465,7 +465,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S63&gt;/Data Type Propagation
+&lt;S55&gt;/Scope
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -474,7 +474,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S60&gt;/Scope
+&lt;S110&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -483,7 +483,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S69&gt;/Data Type Duplicate
+&lt;S110&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -492,7 +492,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S69&gt;/Data Type Propagation
+&lt;S117&gt;/Data Type Duplicate
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -501,7 +501,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S67&gt;/Data Type Duplicate
+&lt;S117&gt;/Data Type Propagation
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -510,52 +510,52 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S67&gt;/Data Type Propagation
+&lt;S10&gt;/Manual Switch
 </td>
 <td align="left" valign="top">
-Unused code path elimination
+Eliminated due to constant selection input
 </td>
 
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S61&gt;/Scope
+&lt;S26&gt;/Data Type Conversion
 </td>
 <td align="left" valign="top">
-Unused code path elimination
+Eliminate redundant data type conversion
 </td>
 
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S49&gt;/Scope
+&lt;S6&gt;/Data Type Conversion
 </td>
 <td align="left" valign="top">
-Unused code path elimination
+Eliminate redundant data type conversion
 </td>
 
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S78&gt;/Scope
+&lt;S79&gt;/Data Type Conversion1
 </td>
 <td align="left" valign="top">
-Unused code path elimination
+Eliminate redundant data type conversion
 </td>
 
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S6&gt;/Scope12
+&lt;S81&gt;/Data Type Conversion
 </td>
 <td align="left" valign="top">
-Unused code path elimination
+Eliminate redundant data type conversion
 </td>
 
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S80&gt;/Data Type Duplicate
+&lt;S10&gt;/Constant
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -564,7 +564,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Scope1
+&lt;S20&gt;/Divide14
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -573,7 +573,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S89&gt;/Scope
+&lt;S20&gt;/smooth
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -582,7 +582,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S84&gt;/Scope
+&lt;S75&gt;/Constant1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -591,7 +591,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S92&gt;/Data Type Duplicate
+&lt;S75&gt;/Constant2
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -600,7 +600,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S92&gt;/Data Type Propagation
+&lt;S75&gt;/Constant3
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -609,7 +609,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S90&gt;/Scope
+&lt;S75&gt;/Constant4
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -618,7 +618,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S90&gt;/Scope2
+&lt;S75&gt;/Constant5
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -627,7 +627,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S95&gt;/Data Type Duplicate
+&lt;S75&gt;/Constant6
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -636,7 +636,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S95&gt;/Data Type Propagation
+&lt;S78&gt;/Add
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -645,7 +645,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S96&gt;/Data Type Duplicate
+&lt;S78&gt;/Constant6
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -654,7 +654,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S96&gt;/Data Type Propagation
+&lt;S78&gt;/Divide
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -663,7 +663,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S91&gt;/Scope
+&lt;S78&gt;/Divide1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -672,7 +672,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S85&gt;/Scope1
+&lt;S79&gt;/Data Type Conversion2
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -681,61 +681,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S10&gt;/Manual Switch
-</td>
-<td align="left" valign="top">
-Eliminated due to constant selection input
-</td>
-
-</tr>
-<tr class="odd">
-<td align="left" valign="top">
-&lt;S26&gt;/Data Type Conversion
-</td>
-<td align="left" valign="top">
-Eliminate redundant data type conversion
-</td>
-
-</tr>
-<tr class="even">
-<td align="left" valign="top">
-&lt;S6&gt;/Data Type Conversion
-</td>
-<td align="left" valign="top">
-Eliminate redundant data type conversion
-</td>
-
-</tr>
-<tr class="odd">
-<td align="left" valign="top">
-&lt;S86&gt;/Data Type Conversion1
-</td>
-<td align="left" valign="top">
-Eliminate redundant data type conversion
-</td>
-
-</tr>
-<tr class="even">
-<td align="left" valign="top">
-&lt;S87&gt;/Data Type Conversion
-</td>
-<td align="left" valign="top">
-Eliminate redundant data type conversion
-</td>
-
-</tr>
-<tr class="odd">
-<td align="left" valign="top">
-&lt;S90&gt;/Manual Switch
-</td>
-<td align="left" valign="top">
-Eliminated due to constant selection input
-</td>
-
-</tr>
-<tr class="even">
-<td align="left" valign="top">
-&lt;S10&gt;/Constant
+&lt;S79&gt;/Resettable Delay
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -744,7 +690,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S19&gt;/Divide14
+&lt;S79&gt;/Sum1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -753,7 +699,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S19&gt;/smooth
+&lt;S80&gt;/LowerRelop1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -762,7 +708,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S80&gt;/Add1
+&lt;S80&gt;/Switch
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -771,7 +717,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S80&gt;/Filter_Constant
+&lt;S80&gt;/Switch2
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -780,7 +726,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S80&gt;/One
+&lt;S80&gt;/UpperRelop
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -789,7 +735,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S80&gt;/Product
+&lt;S78&gt;/Sum
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -798,7 +744,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S80&gt;/Product1
+&lt;S78&gt;/Unit Delay
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -807,7 +753,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S80&gt;/Unit Delay
+&lt;S75&gt;/Gain1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -816,7 +762,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Constant1
+&lt;S75&gt;/Math Function1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -825,7 +771,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S82&gt;/Constant3
+&lt;S75&gt;/Math Function2
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -834,7 +780,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Constant4
+&lt;S75&gt;/Max
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -843,7 +789,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S82&gt;/Data Type Conversion
+&lt;S75&gt;/Sign
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -852,7 +798,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Gain
+&lt;S75&gt;/Sqrt
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -861,7 +807,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S82&gt;/Gain1
+&lt;S75&gt;/Sum
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -870,7 +816,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S86&gt;/Data Type Conversion2
+&lt;S75&gt;/Sum of Elements
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -879,7 +825,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S86&gt;/Resettable Delay
+&lt;S75&gt;/Sum1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -888,7 +834,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S86&gt;/Sum1
+&lt;S75&gt;/Sum2
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -897,7 +843,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S82&gt;/Math Function1
+&lt;S75&gt;/Unit Delay1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -906,7 +852,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Math Function2
+&lt;S99&gt;/Add
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -915,7 +861,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S82&gt;/Saturation
+&lt;S99&gt;/Constant1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -924,7 +870,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Sqrt
+&lt;S99&gt;/Constant3
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -933,7 +879,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S82&gt;/Sum
+&lt;S99&gt;/Constant4
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -942,7 +888,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Sum of Elements
+&lt;S99&gt;/Constant5
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -951,7 +897,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S82&gt;/Sum1
+&lt;S99&gt;/Constant6
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -960,7 +906,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Sum2
+&lt;S99&gt;/Divide
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -969,7 +915,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S82&gt;/Sum3
+&lt;S99&gt;/Divide1
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -978,7 +924,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Sum4
+&lt;S99&gt;/Divide2
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -987,7 +933,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S82&gt;/Unit Delay
+&lt;S99&gt;/Divide4
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -996,7 +942,7 @@ Unused code path elimination
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S82&gt;/Unit Delay1
+&lt;S99&gt;/Gain
 </td>
 <td align="left" valign="top">
 Unused code path elimination
@@ -1005,7 +951,7 @@ Unused code path elimination
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S90&gt;/Constant
+&lt;S95&gt;/Gain
 </td>
 <td align="left" valign="top">
 Unused code path elimination

Simulink/PMSM_Controller_ert_rtw/html/PMSM_Controller_subsystems.html

@@ -69,13 +69,13 @@ Outcome Diagnostic
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S44&gt;
+&lt;S57&gt;
 </td>
 <td align="left" valign="top">
 Reusable Function
 </td>
 <td align="left" valign="top">
-<A HREF="PMSM_Controller_c.html#fcn_Counter" TARGET="rtwreport_document_frame">Reusable Function(S44)</A>
+<A HREF="PMSM_Controller_c.html#fcn_Low_Pass_Filter" TARGET="rtwreport_document_frame">Reusable Function(S57)</A>
 </td>
 <td align="left" valign="top">
 <FONT COLOR="green">normal</FONT>
@@ -84,13 +84,13 @@ Reusable Function
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S42&gt;
+&lt;S49&gt;
 </td>
 <td align="left" valign="top">
 Reusable Function
 </td>
 <td align="left" valign="top">
-<A HREF="PMSM_Controller_c.html#fcn_Counter" TARGET="rtwreport_document_frame">Reusable Function(S44)</A>
+<A HREF="PMSM_Controller_c.html#fcn_Low_Pass_Filter" TARGET="rtwreport_document_frame">Reusable Function(S57)</A>
 </td>
 <td align="left" valign="top">
 <FONT COLOR="green">normal</FONT>
@@ -99,13 +99,13 @@ Reusable Function
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S41&gt;
+&lt;S89&gt;
 </td>
 <td align="left" valign="top">
-Auto
+Reusable Function
 </td>
 <td align="left" valign="top">
-<A HREF="PMSM_Controller_c.html#fcn_either_edge" TARGET="rtwreport_document_frame">Reusable Function(S41)</A>
+<A HREF="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt" TARGET="rtwreport_document_frame">Reusable Function(S89)</A>
 </td>
 <td align="left" valign="top">
 <FONT COLOR="green">normal</FONT>
@@ -114,13 +114,13 @@ Auto
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S37&gt;
+&lt;S100&gt;
 </td>
 <td align="left" valign="top">
-Auto
+Reusable Function
 </td>
 <td align="left" valign="top">
-<A HREF="PMSM_Controller_c.html#fcn_either_edge" TARGET="rtwreport_document_frame">Reusable Function(S41)</A>
+<A HREF="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt_o" TARGET="rtwreport_document_frame">Reusable Function(S100)</A>
 </td>
 <td align="left" valign="top">
 <FONT COLOR="green">normal</FONT>
@@ -129,13 +129,13 @@ Auto
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S36&gt;
+&lt;S101&gt;
 </td>
 <td align="left" valign="top">
 Reusable Function
 </td>
 <td align="left" valign="top">
-<A HREF="PMSM_Controller_c.html#fcn_Debounce_Filter" TARGET="rtwreport_document_frame">Reusable Function(S36)</A>
+<A HREF="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt_o" TARGET="rtwreport_document_frame">Reusable Function(S100)</A>
 </td>
 <td align="left" valign="top">
 <FONT COLOR="green">normal</FONT>
@@ -144,13 +144,13 @@ Reusable Function
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S56&gt;
+&lt;S109&gt;
 </td>
 <td align="left" valign="top">
-Reusable Function
+Auto
 </td>
 <td align="left" valign="top">
-<A HREF="PMSM_Controller_c.html#fcn_Low_Pass_Filter" TARGET="rtwreport_document_frame">Reusable Function(S56)</A>
+<A HREF="PMSM_Controller_c.html#fcn_RateInit" TARGET="rtwreport_document_frame">Reusable Function(S109)</A>
 </td>
 <td align="left" valign="top">
 <FONT COLOR="green">normal</FONT>
@@ -159,13 +159,13 @@ Reusable Function
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S66&gt;
+&lt;S116&gt;
 </td>
 <td align="left" valign="top">
-Reusable Function
+Auto
 </td>
 <td align="left" valign="top">
-<A HREF="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt" TARGET="rtwreport_document_frame">Reusable Function(S66)</A>
+<A HREF="PMSM_Controller_c.html#fcn_RateInit" TARGET="rtwreport_document_frame">Reusable Function(S109)</A>
 </td>
 <td align="left" valign="top">
 <FONT COLOR="green">normal</FONT>
@@ -174,13 +174,13 @@ Reusable Function
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S62&gt;
+&lt;S16&gt;
 </td>
 <td align="left" valign="top">
-Reusable Function
+Auto
 </td>
 <td align="left" valign="top">
-<A HREF="PMSM_Controller_c.html#fcn_PI_backCalc_fixdt" TARGET="rtwreport_document_frame">Reusable Function(S66)</A>
+Inline
 </td>
 <td align="left" valign="top">
 <FONT COLOR="green">normal</FONT>
@@ -189,13 +189,13 @@ Reusable Function
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S93&gt;
+&lt;S18&gt;
 </td>
 <td align="left" valign="top">
-Reusable Function
+Auto
 </td>
 <td align="left" valign="top">
-<A HREF="PMSM_Controller_c.html#fcn_pi_speed" TARGET="rtwreport_document_frame">Reusable Function(S93)</A>
+Inline
 </td>
 <td align="left" valign="top">
 <FONT COLOR="green">normal</FONT>
@@ -204,7 +204,7 @@ Reusable Function
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S16&gt;
+&lt;S17&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -219,7 +219,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S18&gt;
+&lt;S12&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -234,7 +234,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S17&gt;
+&lt;S13&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -249,7 +249,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S12&gt;
+&lt;S8&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -264,7 +264,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S13&gt;
+&lt;S19&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -279,7 +279,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S8&gt;
+&lt;S20&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -294,7 +294,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S20&gt;
+&lt;S23&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -309,7 +309,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S19&gt;
+&lt;S27&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -324,7 +324,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S23&gt;
+&lt;S33&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -339,7 +339,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S27&gt;
+&lt;S29&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -354,7 +354,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S33&gt;
+&lt;S30&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -369,7 +369,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S29&gt;
+&lt;S28&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -384,7 +384,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S30&gt;
+&lt;S43&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -399,7 +399,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S28&gt;
+&lt;S41&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -429,7 +429,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S39&gt;
+&lt;S64&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -444,7 +444,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S38&gt;
+&lt;S81&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -459,7 +459,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S61&gt;
+&lt;S82&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -474,7 +474,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S60&gt;
+&lt;S87&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -489,7 +489,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S72&gt;
+&lt;S92&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -504,7 +504,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S87&gt;
+&lt;S88&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -519,7 +519,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S88&gt;
+&lt;S71&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -534,7 +534,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S90&gt;
+&lt;S95&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -549,7 +549,7 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
-&lt;S91&gt;
+&lt;S96&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -564,7 +564,7 @@ Inline
 </tr>
 <tr class="odd">
 <td align="left" valign="top">
-&lt;S81&gt;
+&lt;S107&gt;
 </td>
 <td align="left" valign="top">
 Auto
@@ -579,6 +579,21 @@ Inline
 </tr>
 <tr class="even">
 <td align="left" valign="top">
+&lt;S114&gt;
+</td>
+<td align="left" valign="top">
+Auto
+</td>
+<td align="left" valign="top">
+Inline
+</td>
+<td align="left" valign="top">
+<FONT COLOR="green">normal</FONT>
+</td>
+
+</tr>
+<tr class="odd">
+<td align="left" valign="top">
 &lt;S1&gt;
 </td>
 <td align="left" valign="top">

Simulink/PMSM_Controller_ert_rtw/html/PMSM_Controller_survey.html

@@ -1,6 +1,8 @@
 <html>
 <head>
-<meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /><link rel="stylesheet" type="text/css" href="rtwreport.css" /><title>
+<meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /><link rel="stylesheet" type="text/css" href="rtwreport.css" /><script language="JavaScript" type="text/javascript" src="rtwcodemetricsreport_utils.js"></script>
+<script language="JavaScript" id="metrics.js" type="text/javascript" src="metrics.js"></script>
+<title>
 Code Generation Report for 'PMSM_Controller'
 </title>
 
@@ -37,7 +39,7 @@ kevin
 Model Version
 </td>
 <td align="left" valign="top">
-1.1301
+1.1445
 </td>
 
 </tr>
@@ -106,7 +108,7 @@ Simulink Coder Version
 Timestamp of Generated Source Code
 </td>
 <td align="left" valign="top">
-Mon Apr 18 19:32:18 2022
+Sat May 21 17:50:12 2022
 </td>
 
 </tr>
@@ -130,6 +132,15 @@ Subsystem
 </tr>
 <tr class="even">
 <td align="left" valign="top">
+<span id="metricsLocationTitle"> Memory Information </span>
+</td>
+<td align="left" valign="top">
+<span id="metricsLocation"><script>document.write("Code Metrics not yet available"); getCodeMetricsByPolling();</script></span>
+</td>
+
+</tr>
+<tr class="odd">
+<td align="left" valign="top">
 Objectives Specified
 </td>
 <td align="left" valign="top">

Simulink/PMSM_Controller_ert_rtw/html/define.js

@@ -8,38 +8,31 @@ this.def["ert_main.c:rtU"] = {file: "ert_main_c.html",line:28,type:"var"};
 this.def["ert_main.c:rtY"] = {file: "ert_main_c.html",line:29,type:"var"};
 this.def["rt_OneStep"] = {file: "ert_main_c.html",line:43,type:"fcn"};
 this.def["main"] = {file: "ert_main_c.html",line:80,type:"fcn"};
-this.def["PMSM_Controller.c:plook_u16s16_evencka"] = {file: "PMSM_Controller_c.html",line:101,type:"fcn"};
-this.def["PMSM_Controller.c:Counter_Init"] = {file: "PMSM_Controller_c.html",line:131,type:"fcn"};
-this.def["PMSM_Controller.c:Counter"] = {file: "PMSM_Controller_c.html",line:142,type:"fcn"};
-this.def["PMSM_Controller.c:either_edge"] = {file: "PMSM_Controller_c.html",line:181,type:"fcn"};
-this.def["PMSM_Controller.c:Debounce_Filter_Init"] = {file: "PMSM_Controller_c.html",line:196,type:"fcn"};
-this.def["PMSM_Controller.c:Debounce_Filter"] = {file: "PMSM_Controller_c.html",line:214,type:"fcn"};
-this.def["PMSM_Controller.c:Low_Pass_Filter"] = {file: "PMSM_Controller_c.html",line:285,type:"fcn"};
-this.def["PMSM_Controller.c:PI_backCalc_fixdt_Init"] = {file: "PMSM_Controller_c.html",line:350,type:"fcn"};
-this.def["PMSM_Controller.c:PI_backCalc_fixdt"] = {file: "PMSM_Controller_c.html",line:361,type:"fcn"};
-this.def["PMSM_Controller.c:pi_speed_Init"] = {file: "PMSM_Controller_c.html",line:465,type:"fcn"};
-this.def["PMSM_Controller.c:pi_speed"] = {file: "PMSM_Controller_c.html",line:472,type:"fcn"};
-this.def["rt_sqrt_Us16En12_Ys16E_cQn1iwAF"] = {file: "PMSM_Controller_c.html",line:576,type:"fcn"};
-this.def["PMSM_Controller_step"] = {file: "PMSM_Controller_c.html",line:605,type:"fcn"};
-this.def["PMSM_Controller_initialize"] = {file: "PMSM_Controller_c.html",line:2436,type:"fcn"};
-this.def["RT_MODEL"] = {file: "PMSM_Controller_h.html",line:38,type:"type"};
-this.def["DW_Counter"] = {file: "PMSM_Controller_h.html",line:43,type:"type"};
-this.def["DW_either_edge"] = {file: "PMSM_Controller_h.html",line:48,type:"type"};
-this.def["DW_Debounce_Filter"] = {file: "PMSM_Controller_h.html",line:56,type:"type"};
-this.def["DW_Low_Pass_Filter"] = {file: "PMSM_Controller_h.html",line:61,type:"type"};
-this.def["DW_PI_backCalc_fixdt"] = {file: "PMSM_Controller_h.html",line:68,type:"type"};
-this.def["ZCE_PI_backCalc_fixdt"] = {file: "PMSM_Controller_h.html",line:73,type:"type"};
-this.def["DW_pi_speed"] = {file: "PMSM_Controller_h.html",line:80,type:"type"};
-this.def["ZCE_pi_speed"] = {file: "PMSM_Controller_h.html",line:85,type:"type"};
-this.def["DW"] = {file: "PMSM_Controller_h.html",line:138,type:"type"};
-this.def["PrevZCX"] = {file: "PMSM_Controller_h.html",line:145,type:"type"};
-this.def["ConstB_PI_backCalc_fixdt"] = {file: "PMSM_Controller_h.html",line:150,type:"type"};
-this.def["ConstB"] = {file: "PMSM_Controller_h.html",line:156,type:"type"};
-this.def["ConstP"] = {file: "PMSM_Controller_h.html",line:178,type:"type"};
-this.def["ExtU"] = {file: "PMSM_Controller_h.html",line:199,type:"type"};
-this.def["ExtY"] = {file: "PMSM_Controller_h.html",line:215,type:"type"};
-this.def["rtConstB"] = {file: "PMSM_Controller_data_c.html",line:21,type:"var"};
-this.def["rtConstP"] = {file: "PMSM_Controller_data_c.html",line:38,type:"var"};
+this.def["plook_u16s16_evencka"] = {file: "PMSM_Controller_c.html",line:96,type:"fcn"};
+this.def["Low_Pass_Filter"] = {file: "PMSM_Controller_c.html",line:126,type:"fcn"};
+this.def["PI_backCalc_fixdt_Init"] = {file: "PMSM_Controller_c.html",line:185,type:"fcn"};
+this.def["PI_backCalc_fixdt"] = {file: "PMSM_Controller_c.html",line:192,type:"fcn"};
+this.def["PI_backCalc_fixdt_p_Init"] = {file: "PMSM_Controller_c.html",line:318,type:"fcn"};
+this.def["PI_backCalc_fixdt_o"] = {file: "PMSM_Controller_c.html",line:329,type:"fcn"};
+this.def["RateInit"] = {file: "PMSM_Controller_c.html",line:451,type:"fcn"};
+this.def["rt_sqrt_Us32En10_Ys16E_7VJYwqF9"] = {file: "PMSM_Controller_c.html",line:492,type:"fcn"};
+this.def["rt_sqrt_Uu16En14_Yu16E_WMwW1mku"] = {file: "PMSM_Controller_c.html",line:518,type:"fcn"};
+this.def["PMSM_Controller_step"] = {file: "PMSM_Controller_c.html",line:547,type:"fcn"};
+this.def["PMSM_Controller_initialize"] = {file: "PMSM_Controller_c.html",line:3031,type:"fcn"};
+this.def["RT_MODEL"] = {file: "PMSM_Controller_h.html",line:40,type:"type"};
+this.def["DW_Low_Pass_Filter"] = {file: "PMSM_Controller_h.html",line:45,type:"type"};
+this.def["DW_PI_backCalc_fixdt"] = {file: "PMSM_Controller_h.html",line:52,type:"type"};
+this.def["ZCE_PI_backCalc_fixdt"] = {file: "PMSM_Controller_h.html",line:57,type:"type"};
+this.def["DW_PI_backCalc_fixdt_i"] = {file: "PMSM_Controller_h.html",line:64,type:"type"};
+this.def["ZCE_PI_backCalc_fixdt_e"] = {file: "PMSM_Controller_h.html",line:69,type:"type"};
+this.def["DW"] = {file: "PMSM_Controller_h.html",line:145,type:"type"};
+this.def["PrevZCX"] = {file: "PMSM_Controller_h.html",line:153,type:"type"};
+this.def["ConstP"] = {file: "PMSM_Controller_h.html",line:175,type:"type"};
+this.def["ExtU"] = {file: "PMSM_Controller_h.html",line:196,type:"type"};
+this.def["ExtY"] = {file: "PMSM_Controller_h.html",line:210,type:"type"};
+this.def["P"] = {file: "PMSM_Controller_h.html",line:268,type:"type"};
+this.def["rtP"] = {file: "PMSM_Controller_data_c.html",line:21,type:"var"};
+this.def["rtConstP"] = {file: "PMSM_Controller_data_c.html",line:107,type:"var"};
 this.def["int8_T"] = {file: "rtwtypes_h.html",line:49,type:"type"};
 this.def["uint8_T"] = {file: "rtwtypes_h.html",line:50,type:"type"};
 this.def["int16_T"] = {file: "rtwtypes_h.html",line:51,type:"type"};

Simulink/PMSM_Controller_ert_rtw/html/ert_main_c.html

@@ -21,11 +21,11 @@
 <tr name="5" id="5">
 <td><a id="l5" class='ln'>5</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="6" id="6">
-<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1301</span></td></tr>
+<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1445</span></td></tr>
 <tr name="7" id="7">
 <td><a id="l7" class='ln'>7</a></td><td><span class="ct"> * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020</span></td></tr>
 <tr name="8" id="8">
-<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Mon Apr 18 19:32:18 2022</span></td></tr>
+<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Sat May 21 17:50:12 2022</span></td></tr>
 <tr name="9" id="9">
 <td><a id="l9" class='ln'>9</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="10" id="10">

Simulink/PMSM_Controller_ert_rtw/html/metrics.js

@@ -0,0 +1,52 @@
+function CodeMetrics() {
+	 this.metricsArray = {};
+	 this.metricsArray.var = new Array();
+	 this.metricsArray.fcn = new Array();
+	 this.metricsArray.var["rtP"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller_data.c",
+	size: 36};
+	 this.metricsArray.fcn["Low_Pass_Filter"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 4,
+	stackTotal: 4};
+	 this.metricsArray.fcn["PI_backCalc_fixdt"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 20,
+	stackTotal: 20};
+	 this.metricsArray.fcn["PI_backCalc_fixdt_Init"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 0,
+	stackTotal: 0};
+	 this.metricsArray.fcn["PI_backCalc_fixdt_o"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 24,
+	stackTotal: 24};
+	 this.metricsArray.fcn["PI_backCalc_fixdt_p_Init"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 0,
+	stackTotal: 0};
+	 this.metricsArray.fcn["PMSM_Controller_initialize"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 12,
+	stackTotal: 12};
+	 this.metricsArray.fcn["PMSM_Controller_step"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 116,
+	stackTotal: 140};
+	 this.metricsArray.fcn["RateInit"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 2,
+	stackTotal: 2};
+	 this.metricsArray.fcn["plook_u16s16_evencka"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 2,
+	stackTotal: 2};
+	 this.metricsArray.fcn["rt_sqrt_Us32En10_Ys16E_7VJYwqF9"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 10,
+	stackTotal: 10};
+	 this.metricsArray.fcn["rt_sqrt_Uu16En14_Yu16E_WMwW1mku"] = {file: "E:\\works\\mcu\\MC100\\Simulink\\PMSM_Controller_ert_rtw\\PMSM_Controller.c",
+	stack: 14,
+	stackTotal: 14};
+	 this.getMetrics = function(token) { 
+		 var data;
+		 data = this.metricsArray.var[token];
+		 if (!data) {
+			 data = this.metricsArray.fcn[token];
+			 if (data) data.type = "fcn";
+		 } else { 
+			 data.type = "var";
+		 }
+	 return data; }; 
+	 this.codeMetricsSummary = '<a href="PMSM_Controller_metrics.html">Global Memory: 36(bytes) Maximum Stack: 116(bytes)</a>';
+	}
+CodeMetrics.instance = new CodeMetrics();

Simulink/PMSM_Controller_ert_rtw/html/rtwcodemetricsreport_utils.js

@@ -0,0 +1,49 @@
+// Copyright 2016 The MathWorks, Inc.
+
+//Poll for metrics.js on 5 second intervals
+function getCodeMetricsByPolling(ctThreshold, intervalPeriod){
+    if(ctThreshold === undefined){
+        ctThreshold = 1000;
+    }
+    if(intervalPeriod === undefined){
+        intervalPeriod = 5000;
+    }
+    var intervalId;
+    var ct=0;
+    //function to get code metrics
+    function getCodeMetrics(){
+        cm = CodeMetrics.instance;
+        var alink = document.getElementById("metricsLocation");
+        alink.innerHTML = cm.codeMetricsSummary;
+    }
+    if (typeof CodeMetrics !== "undefined"){
+        getCodeMetrics();
+    }
+    else{
+        intervalId = window.setInterval(function(){
+            //Try reinclude metrics to check if CodeMetrics are available
+            ct = ct + 1;
+            if (ct > ctThreshold){
+                // Clear if elapsed time is 1000x5 seconds
+                clearInterval(intervalId);
+                var alink = document.getElementById("metricsLocation");
+                alink.innerHTML = 'Error generating code metrics';
+            }
+            else{
+                var metricsScript = document.getElementById('metrics');
+                if(metricsScript !== null){
+                    metricsScript.parentNode.removeChild(metricsScript);
+                }
+                var jsElm = document.createElement("script");
+                jsElm.type = "application/javascript";
+                jsElm.src = "metrics.js";
+                jsElm.id = "metrics";
+                document.getElementsByTagName('head')[0].appendChild(jsElm);
+                if (typeof CodeMetrics !== "undefined"){
+                    clearInterval(intervalId);
+                    getCodeMetrics();
+                }
+            }
+        }, intervalPeriod);
+	}
+ }

Simulink/PMSM_Controller_ert_rtw/html/rtwtypes_h.html

@@ -21,11 +21,11 @@
 <tr name="5" id="5">
 <td><a id="l5" class='ln'>5</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="6" id="6">
-<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1301</span></td></tr>
+<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1445</span></td></tr>
 <tr name="7" id="7">
 <td><a id="l7" class='ln'>7</a></td><td><span class="ct"> * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020</span></td></tr>
 <tr name="8" id="8">
-<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Mon Apr 18 19:32:18 2022</span></td></tr>
+<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Sat May 21 17:50:12 2022</span></td></tr>
 <tr name="9" id="9">
 <td><a id="l9" class='ln'>9</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="10" id="10">

Simulink/PMSM_Controller_ert_rtw/html/zero_crossing_types_h.html

@@ -21,11 +21,11 @@
 <tr name="5" id="5">
 <td><a id="l5" class='ln'>5</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="6" id="6">
-<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1301</span></td></tr>
+<td><a id="l6" class='ln'>6</a></td><td><span class="ct"> * Model version                  : 1.1445</span></td></tr>
 <tr name="7" id="7">
 <td><a id="l7" class='ln'>7</a></td><td><span class="ct"> * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020</span></td></tr>
 <tr name="8" id="8">
-<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Mon Apr 18 19:32:18 2022</span></td></tr>
+<td><a id="l8" class='ln'>8</a></td><td><span class="ct"> * C/C++ source code generated on : Sat May 21 17:50:12 2022</span></td></tr>
 <tr name="9" id="9">
 <td><a id="l9" class='ln'>9</a></td><td><span class="ct"> *</span></td></tr>
 <tr name="10" id="10">

Simulink/PMSM_Controller_ert_rtw/rtwtypes.h

@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'PMSM_Controller'.
  *
- * Model version                  : 1.1301
+ * Model version                  : 1.1445
  * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020
- * C/C++ source code generated on : Mon Apr 18 19:32:18 2022
+ * C/C++ source code generated on : Sat May 21 17:50:12 2022
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex-M

Simulink/PMSM_Controller_ert_rtw/zero_crossing_types.h

@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'PMSM_Controller'.
  *
- * Model version                  : 1.1301
+ * Model version                  : 1.1445
  * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020
- * C/C++ source code generated on : Mon Apr 18 19:32:18 2022
+ * C/C++ source code generated on : Sat May 21 17:50:12 2022
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex-M

Simulink/init_model.m

@@ -7,12 +7,11 @@ clc
 Ts                  = 1e-6;                         % [s] Model sampling time (200 KHz)
 f_ctrl              = 20e3;                         % [Hz] Controller frequency = 1/Ts_ctrl (20 kHz)
 Ts_ctrl             = 1/f_ctrl;                     % [s] Controller sampling time (50us)5e-5
-f_speed_ctrl        = 5e2;                          % [Hz] Speed/torque Controller frequency = (1 kHz)
-speed_ctrl          =  f_ctrl/f_speed_ctrl;         % [count] Delay for f_speed_ctrl of the FOC controller
+f_speed_ctrl        = 500;                          % [Hz] Speed/torque Controller frequency = (500 Hz)
+speed_ctrl          = f_ctrl/f_speed_ctrl;         % [count] Delay for f_speed_ctrl of the FOC controller
 i_pwm_count         = 3000;
-i_Udc               = 300;
 i_half_pwm_count    = i_pwm_count;
-n_hall_count_ps    = 1/Ts;    % counts of per second
+n_hall_count_ps     = 1/Ts;    % counts of per second
 
 %Current sample hw parameters
 n_adc_max = 4096;
@@ -21,20 +20,32 @@ n_ref_vol = 3.3;
 n_gain    = 17.1;
 f_lpf_coeff  = 0.4; %Phase Current LowPass filter
 
-% Motor parameters
-n_polePairs  = 4;    % [-] Number of motor pole pairs
-PM           = 0.1688; %0.03; % Permanent magnet flux linkage, 
-Ld           = 0.9262e-3;%2e-4;  % d-axis inductance, 
-Lq           = 1.024e-3; %2e-4;  % q-axis inductance,
-Rs           = 0.0918; %0.013; % Stator resistance,
-J            = 0.03945; %0.2; % Moment of inertia,
-
+%Simulink provider Motor parameters
+n_polePairs  = 4;        % [-] Number of motor pole pairs
+PM           = 0.1688;   % Permanent magnet flux linkage, 
+Ld           = 0.9262e-3;% d-axis inductance, 
+Lq           = 1.024e-3; % q-axis inductance,
+Rs           = 0.0918;   % Stator resistance,
+J            = 0.03945; % Moment of inertia,
+i_Udc        = 300;      % DCbus max voltage
+i_dqMax      = 150;      % [A] Maximum allowed motor current (continuous)
+n_max        = 2500;             % [rpm] Maximum motor speed: [-5000, 5000]
+%BlueShark Motor parameters
+%n_polePairs  = 5;           % [-] Number of motor pole pairs
+%PM           = 0.0191471;   % Permanent magnet flux linkage, 
+%Ld           = 0.08971e-3;  % d-axis inductance, 
+%Lq           = 0.1128e-3;   % q-axis inductance,
+%Rs           = 0.01587;     % Stator resistance,
+%J            = 0.0014837*2;      % Moment of inertia,
+%i_Udc        = 100;         % DCbus max voltage
+%i_dqMax      = 270;         % [A] Maximum allowed motor current (continuous)
+%n_max        = 5000;             % [rpm] Maximum motor speed: [-5000, 5000]
 %Hall parameters
-n_max        = 8000;             % [rpm] Maximum motor speed: [-5000, 5000]
 a_elecPeriod        = 360;                          % [deg] Electrical angle period
 a_elecDeltaAngle    = 60;                           % [deg] Electrical angle between two Hall sensor changing events
 a_mechAngle         = a_elecDeltaAngle / n_polePairs;    % [deg] Mechanical angle between two Hall sensor changing events
 
+% 3 2 6 4 5 1 -> [7 5 1 0 3 4 2 7]
 vec_hallToPos       = [7 5 1 0 3 4 2 7];  % [-] Mapping Hall signal to position
 i_hall_offset       = -30; %60;%-30;
 b_angleMeasEna      = 0;
@@ -66,7 +77,9 @@ n_SpeedModeHi       = 300; % when speed is Hi can into speed ctrl mode
 OPEN_MODE           = 0;                % [-] Open mode
 SPD_MODE            = 1;                % [-] Speed mode
 TRQ_MODE            = 2;                % [-] Torque mode
-z_ctrlModReq        = TRQ_MODE;         % [-] Control Mode Request (default)
+
+% open start vq ramp
+dz_OpenStepVol     = 10;
 
 % MTPA process
 b_MTPA_Enable       = 0;                % MTPA enable flag: 0 = disable, 1 = enable
@@ -74,7 +87,7 @@ cf_MTPA_ldqdiff     = PM/(Lq - Ld);
 
 % Field_Weakening
 b_fieldWeakEna      = 0;                % [-] Field weakening enable flag: 0 = disable (default), 1 = enable
-cf_Fw_Ki            = 2;
+cf_Fw_Ki            = 0.5;
 cf_Fw_Kb           = 0.1;
 id_fieldWeakMax     = -50;        % [A] Field weakening maximum current
 
@@ -82,36 +95,33 @@ id_fieldWeakMax     = -50;        % [A] Field weakening maximum current
 V_modulation        = 0.95;              % [-] Voltage margin to make sure that there is a sufficiently wide pulse for a good phase current measurement
 Vq_max              = i_Udc * V_modulation;
 Vd_max              = Vq_max;
-Vq_max_XA           = 0:1:Vd_max;
-%Vq_max_XA = fixpt_evenspace_cleanup(Vq_max_XA, ufix(16), 2^-5);
-Vq_max_M1           = sqrt(Vd_max^2 - Vq_max_XA.^2);  % Circle limitations look-up table
-% Current Limitations
-i_dqMax               = 200;               % [A] Maximum allowed motor current (continuous)
-
+Qxis_D              = 1; %D轴优先
+Qxis_Q              = 2; %Q轴优先
+Qxis_F              = 3; %平均分配
 % Current loop FeedForward 
 b_FF_Enable = 0;
 % D axis control gains
 %https://www.it610.com/article/1282852898983657472.htm
 %https://e2echina.ti.com/support/microcontrollers/c2000/f/c2000-microcontrollers-forum/109265/lab05a-fast-pid
-cf_iGain            = 1;
-cf_iBand            = 2 * pi * f_ctrl / 20 * 1.7;
+cf_iGain            = 1.0;
+cf_iBand            = 2 * pi * f_ctrl / 20 * 3;
 
-cf_idKp             = Ld * cf_iBand; %/ (1 * Ts_ctrl);              % [-] P gain
-cf_idKi             = Rs/(Ld * f_ctrl) * cf_iGain;%%%0.05;  % [-] I gain
-cf_idKb             = 0.1;
+cf_idKp             = Ld * cf_iBand;                % [-] P gain
+cf_idKi             = Rs/(Ld * f_ctrl) * cf_iGain;  % [-] I gain
+cf_idKb             = cf_idKi;
 
 % Q axis control gains
-cf_iqKp             = Lq * cf_iBand; %/ (1.5 * Ts_ctrl);              % [-] P gain
-cf_iqKi             = Rs/(Lq * f_ctrl) * cf_iGain; % [-] I gain
-cf_iqKb             = 0.1;
+cf_iqKp             = Lq * cf_iBand;                % [-] P gain
+cf_iqKi             = Rs/(Lq * f_ctrl) * cf_iGain;  % [-] I gain
+cf_iqKb             = cf_iqKi;
 
 % Speed control gains
-cf_nKp              = 0.2;             % [-] P gain
-cf_nKi              = 200 * Ts_ctrl;    % [-] I gain
+cf_nKp              = 0.15;             % [-] P gain
+cf_nKi              = 4.5 / f_speed_ctrl;    % [-] I gain
 cf_nKb              = cf_nKi;
 cf_lastIqGain       = 0.5; % when swtich toqure to speed mode, use the last iq as the speed PI init value
 
 % Torque iq limit
-cf_TrqLimKp              = 0.3;             % [-] P gain
-cf_TrqLimKi              = 0.02;    % [-] I gain
-cf_TrqLimKb              = 0.1;
+cf_TrqLimKp              = 0.15;             % [-] P gain
+cf_TrqLimKi              = 4.5 / f_speed_ctrl;    % [-] I gain
+cf_TrqLimKb              = 1.0; %cf_TrqLimKi;