/*

 * File: PMSM_Controller.c

 *

 * Code generated for Simulink model 'PMSM_Controller'.

 *

 * Model version                  : 1.1228

 * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020

 * C/C++ source code generated on : Tue Apr  5 20:46:52 2022

 *

 * Target selection: ert.tlc

 * Embedded hardware selection: ARM Compatible->ARM Cortex-M

 * Code generation objectives:

 *    1. Execution efficiency

 *    2. RAM efficiency

 * Validation result: Not run

 */



#include "PMSM_Controller.h"

#include "PMSM_Controller_private.h"



/* Named constants for Chart: '<S3>/Control_Mode_Manager' */

#define IN_ACTIVE                      ((uint8_T)1U)

#define IN_NO_ACTIVE_CHILD             ((uint8_T)0U)

#define IN_OPEN                        ((uint8_T)2U)

#define IN_SPEED_MODE                  ((uint8_T)1U)

#define IN_TORQUE_MODE                 ((uint8_T)2U)

#define OPEN_MODE                      ((uint8_T)0U)

#define SPD_MODE                       ((uint8_T)1U)

#define TRQ_MODE                       ((uint8_T)2U)



uint16_T plook_u16s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T

  maxIndex)

{

  uint16_T bpIndex;



  /* Prelookup - Index only

     Index Search method: 'even'

     Extrapolation method: 'Clip'

     Use previous index: 'off'

     Use last breakpoint for index at or above upper limit: 'on'

     Remove protection against out-of-range input in generated code: 'off'

   */

  if (u <= bp0) {

    bpIndex = 0U;

  } else {

    bpIndex = (uint16_T)((uint32_T)(uint16_T)(u - bp0) / bpSpace);

    if (bpIndex < maxIndex) {

    } else {

      bpIndex = (uint16_T)maxIndex;

    }

  }



  return bpIndex;

}



uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T

  maxIndex)

{

  uint16_T fbpIndex;

  uint8_T bpIndex;



  /* Prelookup - Index only

     Index Search method: 'even'

     Extrapolation method: 'Clip'

     Use previous index: 'off'

     Use last breakpoint for index at or above upper limit: 'on'

     Remove protection against out-of-range input in generated code: 'off'

   */

  if (u <= bp0) {

    bpIndex = 0U;

  } else {

    fbpIndex = (uint16_T)((uint32_T)(uint16_T)((uint32_T)u - bp0) / bpSpace);

    if (fbpIndex < maxIndex) {

      bpIndex = (uint8_T)fbpIndex;

    } else {

      bpIndex = (uint8_T)maxIndex;

    }

  }



  return bpIndex;

}



/*

 * System initialize for atomic system:

 *    '<S39>/Counter'

 *    '<S38>/Counter'

 */

void Counter_Init(DW_Counter *localDW, uint16_T rtp_z_cntInit)

{

  /* InitializeConditions for UnitDelay: '<S44>/UnitDelay' */

  localDW->UnitDelay_DSTATE = rtp_z_cntInit;

}



/*

 * Output and update for atomic system:

 *    '<S39>/Counter'

 *    '<S38>/Counter'

 */

uint16_T Counter(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,

                 DW_Counter *localDW)

{

  uint16_T rty_cnt_0;

  uint16_T rtu_rst_0;



  /* Switch: '<S44>/Switch1' incorporates:

   *  Constant: '<S44>/Constant23'

   *  UnitDelay: '<S44>/UnitDelay'

   */

  if (rtu_rst) {

    rtu_rst_0 = 0U;

  } else {

    rtu_rst_0 = localDW->UnitDelay_DSTATE;

  }



  /* End of Switch: '<S44>/Switch1' */



  /* Sum: '<S43>/Sum1' */

  rty_cnt_0 = (uint16_T)((uint32_T)rtu_inc + rtu_rst_0);



  /* MinMax: '<S43>/MinMax' */

  if (rty_cnt_0 < rtu_max) {

    /* Update for UnitDelay: '<S44>/UnitDelay' */

    localDW->UnitDelay_DSTATE = rty_cnt_0;

  } else {

    /* Update for UnitDelay: '<S44>/UnitDelay' */

    localDW->UnitDelay_DSTATE = rtu_max;

  }



  /* End of MinMax: '<S43>/MinMax' */

  return rty_cnt_0;

}



/*

 * Output and update for atomic system:

 *    '<S35>/either_edge'

 *    '<S34>/either_edge'

 */

boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW)

{

  boolean_T rty_y_0;



  /* RelationalOperator: '<S40>/Relational Operator' incorporates:

   *  UnitDelay: '<S40>/UnitDelay'

   */

  rty_y_0 = (rtu_u != localDW->UnitDelay_DSTATE);



  /* Update for UnitDelay: '<S40>/UnitDelay' */

  localDW->UnitDelay_DSTATE = rtu_u;

  return rty_y_0;

}



/* System initialize for atomic system: '<S34>/Debounce_Filter' */

void Debounce_Filter_Init(DW_Debounce_Filter *localDW)

{

  /* SystemInitialize for IfAction SubSystem: '<S35>/Qualification' */

  /* SystemInitialize for Atomic SubSystem: '<S39>/Counter' */

  Counter_Init(&localDW->Counter_f, 0);



  /* End of SystemInitialize for SubSystem: '<S39>/Counter' */

  /* End of SystemInitialize for SubSystem: '<S35>/Qualification' */



  /* SystemInitialize for IfAction SubSystem: '<S35>/Dequalification' */

  /* SystemInitialize for Atomic SubSystem: '<S38>/Counter' */

  Counter_Init(&localDW->Counter_d, 0);



  /* End of SystemInitialize for SubSystem: '<S38>/Counter' */

  /* End of SystemInitialize for SubSystem: '<S35>/Dequalification' */

}



/* Output and update for atomic system: '<S34>/Debounce_Filter' */

void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T rtu_tDeacv,

                     boolean_T *rty_y, DW_Debounce_Filter *localDW)

{

  uint16_T rtb_Sum1_n;

  boolean_T rtb_RelationalOperator_e;



  /* Outputs for Atomic SubSystem: '<S35>/either_edge' */

  rtb_RelationalOperator_e = either_edge(rtu_u, &localDW->either_edge_j);



  /* End of Outputs for SubSystem: '<S35>/either_edge' */



  /* If: '<S35>/If2' incorporates:

   *  Constant: '<S38>/Constant6'

   *  Constant: '<S39>/Constant6'

   *  Inport: '<S37>/yPrev'

   *  Logic: '<S35>/Logical Operator1'

   *  Logic: '<S35>/Logical Operator2'

   *  Logic: '<S35>/Logical Operator3'

   *  Logic: '<S35>/Logical Operator4'

   *  UnitDelay: '<S35>/UnitDelay'

   */

  if (rtu_u && (!localDW->UnitDelay_DSTATE)) {

    /* Outputs for IfAction SubSystem: '<S35>/Qualification' incorporates:

     *  ActionPort: '<S39>/Action Port'

     */

    /* Outputs for Atomic SubSystem: '<S39>/Counter' */

    rtb_Sum1_n = Counter(1, rtu_tAcv, rtb_RelationalOperator_e,

                         &localDW->Counter_f);



    /* End of Outputs for SubSystem: '<S39>/Counter' */



    /* Switch: '<S39>/Switch2' incorporates:

     *  Constant: '<S39>/Constant6'

     *  RelationalOperator: '<S39>/Relational Operator2'

     */

    *rty_y = ((rtb_Sum1_n > rtu_tAcv) || localDW->UnitDelay_DSTATE);



    /* End of Outputs for SubSystem: '<S35>/Qualification' */

  } else if ((!rtu_u) && localDW->UnitDelay_DSTATE) {

    /* Outputs for IfAction SubSystem: '<S35>/Dequalification' incorporates:

     *  ActionPort: '<S38>/Action Port'

     */

    /* Outputs for Atomic SubSystem: '<S38>/Counter' */

    rtb_Sum1_n = Counter(1, rtu_tDeacv, rtb_RelationalOperator_e,

                         &localDW->Counter_d);



    /* End of Outputs for SubSystem: '<S38>/Counter' */



    /* Switch: '<S38>/Switch2' incorporates:

     *  Constant: '<S38>/Constant6'

     *  RelationalOperator: '<S38>/Relational Operator2'

     */

    *rty_y = ((rtb_Sum1_n <= rtu_tDeacv) && localDW->UnitDelay_DSTATE);



    /* End of Outputs for SubSystem: '<S35>/Dequalification' */

  } else {

    /* Outputs for IfAction SubSystem: '<S35>/Default' incorporates:

     *  ActionPort: '<S37>/Action Port'

     */

    *rty_y = localDW->UnitDelay_DSTATE;



    /* End of Outputs for SubSystem: '<S35>/Default' */

  }



  /* End of If: '<S35>/If2' */



  /* Update for UnitDelay: '<S35>/UnitDelay' */

  localDW->UnitDelay_DSTATE = *rty_y;

}



/* Output and update for atomic system: '<S45>/Low_Pass_Filter' */

void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T rty_y[2],

                     DW_Low_Pass_Filter *localDW)

{

  int32_T tmp;



  /* Sum: '<S54>/Sum2' incorporates:

   *  UnitDelay: '<S54>/UnitDelay1'

   */

  tmp = rtu_u[0] - localDW->UnitDelay1_DSTATE[0];

  if (tmp > 32767) {

    tmp = 32767;

  } else {

    if (tmp < -32768) {

      tmp = -32768;

    }

  }



  /* Product: '<S54>/Divide3' incorporates:

   *  Sum: '<S54>/Sum2'

   */

  rty_y[0] = (int16_T)((rtu_coef * tmp) >> 16);



  /* Sum: '<S54>/Sum3' incorporates:

   *  UnitDelay: '<S54>/UnitDelay1'

   */

  rty_y[0] += localDW->UnitDelay1_DSTATE[0];



  /* Update for UnitDelay: '<S54>/UnitDelay1' incorporates:

   *  Sum: '<S54>/Sum3'

   */

  localDW->UnitDelay1_DSTATE[0] = rty_y[0];



  /* Sum: '<S54>/Sum2' incorporates:

   *  UnitDelay: '<S54>/UnitDelay1'

   */

  tmp = rtu_u[1] - localDW->UnitDelay1_DSTATE[1];

  if (tmp > 32767) {

    tmp = 32767;

  } else {

    if (tmp < -32768) {

      tmp = -32768;

    }

  }



  /* Product: '<S54>/Divide3' incorporates:

   *  Sum: '<S54>/Sum2'

   */

  rty_y[1] = (int16_T)((rtu_coef * tmp) >> 16);



  /* Sum: '<S54>/Sum3' incorporates:

   *  UnitDelay: '<S54>/UnitDelay1'

   */

  rty_y[1] += localDW->UnitDelay1_DSTATE[1];



  /* Update for UnitDelay: '<S54>/UnitDelay1' incorporates:

   *  Sum: '<S54>/Sum3'

   */

  localDW->UnitDelay1_DSTATE[1] = rty_y[1];

}



/* Output and update for atomic system: '<S58>/PI_iq' */

void PI_iq(int16_T rtu_err, int16_T rtu_P, int16_T rtu_I, int16_T rtu_Kb,

           int16_T rtu_satMax, int16_T rtu_satMin, int16_T rtu_ext_limProt,

           int16_T *rty_pi_out, DW_PI_iq *localDW)

{

  int64_T tmp;

  int32_T rtb_Divide4_k;

  int32_T rtb_Sum1_hy;



  /* Product: '<S63>/Divide4' */

  rtb_Divide4_k = (rtu_err * rtu_P) >> 6;



  /* Product: '<S63>/Divide1' incorporates:

   *  Product: '<S63>/Divide4'

   */

  tmp = ((int64_T)rtb_Divide4_k * rtu_I) >> 10;

  if (tmp > 2147483647LL) {

    tmp = 2147483647LL;

  } else {

    if (tmp < -2147483648LL) {

      tmp = -2147483648LL;

    }

  }



  /* Sum: '<S63>/Sum2' incorporates:

   *  Product: '<S63>/Divide1'

   *  UnitDelay: '<S63>/UnitDelay'

   */

  tmp = (((int64_T)rtu_ext_limProt << 4) + (int32_T)tmp) +

    localDW->UnitDelay_DSTATE;

  if (tmp > 2147483647LL) {

    tmp = 2147483647LL;

  } else {

    if (tmp < -2147483648LL) {

      tmp = -2147483648LL;

    }

  }



  /* Sum: '<S65>/Sum1' incorporates:

   *  Sum: '<S63>/Sum2'

   *  UnitDelay: '<S65>/UnitDelay'

   */

  rtb_Sum1_hy = (int32_T)tmp + localDW->UnitDelay_DSTATE_i;



  /* Sum: '<S63>/Sum6' incorporates:

   *  Product: '<S63>/Divide4'

   *  Sum: '<S65>/Sum1'

   */

  tmp = (int64_T)rtb_Divide4_k + rtb_Sum1_hy;

  if (tmp > 2147483647LL) {

    tmp = 2147483647LL;

  } else {

    if (tmp < -2147483648LL) {

      tmp = -2147483648LL;

    }

  }



  /* Switch: '<S66>/Switch2' incorporates:

   *  RelationalOperator: '<S66>/LowerRelop1'

   *  RelationalOperator: '<S66>/UpperRelop'

   *  Sum: '<S63>/Sum6'

   *  Switch: '<S66>/Switch'

   */

  if ((int32_T)tmp > (rtu_satMax << 4)) {

    *rty_pi_out = rtu_satMax;

  } else if ((int32_T)tmp < (rtu_satMin << 4)) {

    /* Switch: '<S66>/Switch' */

    *rty_pi_out = rtu_satMin;

  } else {

    *rty_pi_out = (int16_T)((int32_T)tmp >> 4);

  }



  /* End of Switch: '<S66>/Switch2' */



  /* Update for UnitDelay: '<S63>/UnitDelay' incorporates:

   *  Product: '<S63>/Divide2'

   *  Sum: '<S63>/Sum3'

   *  Sum: '<S63>/Sum6'

   */

  localDW->UnitDelay_DSTATE = (int32_T)(((int64_T)((*rty_pi_out << 4) - (int32_T)

    tmp) * rtu_Kb) >> 10);



  /* Update for UnitDelay: '<S65>/UnitDelay' incorporates:

   *  Sum: '<S65>/Sum1'

   */

  localDW->UnitDelay_DSTATE_i = rtb_Sum1_hy;

}



/* Output and update for atomic system: '<S57>/PI_id' */

void PI_id(int16_T rtu_err, int16_T rtu_P, int16_T rtu_I, int16_T rtu_Kb,

           int16_T rtu_satMax, int16_T rtu_satMin, int16_T rtu_ext_limProt,

           int16_T *rty_pi_out, DW_PI_id *localDW)

{

  int64_T tmp;

  int32_T rtb_Divide4_e;

  int32_T rtb_Sum1_l;



  /* Product: '<S59>/Divide4' */

  rtb_Divide4_e = (rtu_err * rtu_P) >> 6;



  /* Product: '<S59>/Divide1' incorporates:

   *  Product: '<S59>/Divide4'

   */

  tmp = ((int64_T)rtb_Divide4_e * rtu_I) >> 10;

  if (tmp > 2147483647LL) {

    tmp = 2147483647LL;

  } else {

    if (tmp < -2147483648LL) {

      tmp = -2147483648LL;

    }

  }



  /* Sum: '<S59>/Sum2' incorporates:

   *  Product: '<S59>/Divide1'

   *  UnitDelay: '<S59>/UnitDelay'

   */

  tmp = (((int64_T)rtu_ext_limProt << 3) + (int32_T)tmp) +

    localDW->UnitDelay_DSTATE;

  if (tmp > 2147483647LL) {

    tmp = 2147483647LL;

  } else {

    if (tmp < -2147483648LL) {

      tmp = -2147483648LL;

    }

  }



  /* Sum: '<S61>/Sum1' incorporates:

   *  Sum: '<S59>/Sum2'

   *  UnitDelay: '<S61>/UnitDelay'

   */

  rtb_Sum1_l = (int32_T)tmp + localDW->UnitDelay_DSTATE_p;



  /* Sum: '<S59>/Sum6' incorporates:

   *  Product: '<S59>/Divide4'

   *  Sum: '<S61>/Sum1'

   */

  tmp = (int64_T)rtb_Divide4_e + rtb_Sum1_l;

  if (tmp > 2147483647LL) {

    tmp = 2147483647LL;

  } else {

    if (tmp < -2147483648LL) {

      tmp = -2147483648LL;

    }

  }



  /* Switch: '<S62>/Switch2' incorporates:

   *  RelationalOperator: '<S62>/LowerRelop1'

   *  RelationalOperator: '<S62>/UpperRelop'

   *  Sum: '<S59>/Sum6'

   *  Switch: '<S62>/Switch'

   */

  if ((int32_T)tmp > (rtu_satMax << 4)) {

    *rty_pi_out = rtu_satMax;

  } else if ((int32_T)tmp < (rtu_satMin << 4)) {

    /* Switch: '<S62>/Switch' */

    *rty_pi_out = rtu_satMin;

  } else {

    *rty_pi_out = (int16_T)((int32_T)tmp >> 4);

  }



  /* End of Switch: '<S62>/Switch2' */



  /* Update for UnitDelay: '<S59>/UnitDelay' incorporates:

   *  Product: '<S59>/Divide2'

   *  Sum: '<S59>/Sum3'

   *  Sum: '<S59>/Sum6'

   */

  localDW->UnitDelay_DSTATE = (int32_T)(((int64_T)((*rty_pi_out << 4) - (int32_T)

    tmp) * rtu_Kb) >> 10);



  /* Update for UnitDelay: '<S61>/UnitDelay' incorporates:

   *  Sum: '<S61>/Sum1'

   */

  localDW->UnitDelay_DSTATE_p = rtb_Sum1_l;

}



/* System initialize for atomic system: '<S79>/pi_speed' */

void pi_speed_Init(DW_pi_speed *localDW)

{

  /* InitializeConditions for Delay: '<S83>/Resettable Delay' */

  localDW->icLoad = 1U;

}



/* Output and update for atomic system: '<S79>/pi_speed' */

int16_T pi_speed(int16_T rtu_err, int16_T rtu_P, int16_T rtu_I, int16_T rtu_Kb,

                 int16_T rtu_satMax, int16_T rtu_satMin, int16_T rtu_ext_limProt,

                 uint8_T rtu_reset, const ConstB_pi_speed *localC, DW_pi_speed

                 *localDW, ZCE_pi_speed *localZCE)

{

  int16_T rty_pi_out_0;

  int64_T tmp;

  int32_T rtb_Divide4_hl;

  int32_T rtb_Sum1_b1;



  /* Product: '<S82>/Divide4' */

  rtb_Divide4_hl = (rtu_err * rtu_P) >> 2;



  /* Delay: '<S83>/Resettable Delay' incorporates:

   *  DataTypeConversion: '<S83>/Data Type Conversion2'

   */

  if ((rtu_reset > 0) && (localZCE->ResettableDelay_Reset_ZCE != POS_ZCSIG)) {

    localDW->icLoad = 1U;

  }



  localZCE->ResettableDelay_Reset_ZCE = (ZCSigState)(rtu_reset > 0);

  if (localDW->icLoad != 0) {

    localDW->ResettableDelay_DSTATE = localC->DataTypeConversion2;

  }



  /* Product: '<S82>/Divide1' incorporates:

   *  Product: '<S82>/Divide4'

   */

  tmp = ((int64_T)rtb_Divide4_hl * rtu_I) >> 10;

  if (tmp > 2147483647LL) {

    tmp = 2147483647LL;

  } else {

    if (tmp < -2147483648LL) {

      tmp = -2147483648LL;

    }

  }



  /* Sum: '<S82>/Sum2' incorporates:

   *  Product: '<S82>/Divide1'

   *  UnitDelay: '<S82>/UnitDelay'

   */

  tmp = (((int64_T)(int32_T)tmp + rtu_ext_limProt) + ((int64_T)

          localDW->UnitDelay_DSTATE << 2)) >> 2;

  if (tmp > 2147483647LL) {

    tmp = 2147483647LL;

  } else {

    if (tmp < -2147483648LL) {

      tmp = -2147483648LL;

    }

  }



  /* Sum: '<S83>/Sum1' incorporates:

   *  Delay: '<S83>/Resettable Delay'

   *  Sum: '<S82>/Sum2'

   */

  rtb_Sum1_b1 = (int32_T)tmp + localDW->ResettableDelay_DSTATE;



  /* Sum: '<S82>/Sum6' incorporates:

   *  DataTypeConversion: '<S83>/Data Type Conversion1'

   *  Product: '<S82>/Divide4'

   *  Sum: '<S83>/Sum1'

   */

  tmp = ((int64_T)(rtb_Sum1_b1 >> 2) << 4) + rtb_Divide4_hl;

  if (tmp > 2147483647LL) {

    tmp = 2147483647LL;

  } else {

    if (tmp < -2147483648LL) {

      tmp = -2147483648LL;

    }

  }



  /* Switch: '<S84>/Switch2' incorporates:

   *  RelationalOperator: '<S84>/LowerRelop1'

   *  RelationalOperator: '<S84>/UpperRelop'

   *  Sum: '<S82>/Sum6'

   *  Switch: '<S84>/Switch'

   */

  if ((int32_T)tmp > (rtu_satMax << 4)) {

    rty_pi_out_0 = rtu_satMax;

  } else if ((int32_T)tmp < (rtu_satMin << 4)) {

    /* Switch: '<S84>/Switch' */

    rty_pi_out_0 = rtu_satMin;

  } else {

    rty_pi_out_0 = (int16_T)((int32_T)tmp >> 4);

  }



  /* End of Switch: '<S84>/Switch2' */



  /* Update for UnitDelay: '<S82>/UnitDelay' incorporates:

   *  Product: '<S82>/Divide2'

   *  Sum: '<S82>/Sum3'

   *  Sum: '<S82>/Sum6'

   */

  localDW->UnitDelay_DSTATE = (int32_T)(((int64_T)((rty_pi_out_0 << 4) -

    (int32_T)tmp) * rtu_Kb) >> 12);



  /* Update for Delay: '<S83>/Resettable Delay' incorporates:

   *  Sum: '<S83>/Sum1'

   */

  localDW->icLoad = 0U;

  localDW->ResettableDelay_DSTATE = rtb_Sum1_b1;

  return rty_pi_out_0;

}



/* Model step function */

void PMSM_Controller_step(RT_MODEL *const rtM)

{

  DW *rtDW = rtM->dwork;

  PrevZCX *rtPrevZCX = rtM->prevZCSigState;

  ExtU *rtU = (ExtU *) rtM->inputs;

  ExtY *rtY = (ExtY *) rtM->outputs;

  int32_T rtb_Add2_l;

  int32_T rtb_Divide;

  int32_T rtb_Gain1;

  int32_T rtb_MultiportSwitch_idx_0;

  uint32_T tmp;

  int16_T rtb_DataTypeConversion[2];

  int16_T rtb_TmpSignalConversionAtLow_Pa[2];

  int16_T rtb_Abs5;

  int16_T rtb_Abs5_h;

  int16_T rtb_Divide1_fi;

  int16_T rtb_Divide4_c;

  int16_T rtb_Max;

  int16_T rtb_Sign;

  int16_T rtb_Switch2_ip;

  int16_T rtb_Switch3_c;

  int16_T rtb_Switch_b;

  int16_T rtb_Switch_oi;

  uint16_T rtb_LogicalOperator3;

  uint16_T rtb_MultiportSwitch_g_idx_0;

  uint16_T rtb_MultiportSwitch_g_idx_1;

  uint16_T rtb_Switch2_idx_1;

  uint16_T rtb_Switch2_idx_2;

  int8_T UnitDelay3;

  int8_T rtb_Sum2;

  int8_T rtb_Sum2_tmp;

  uint8_T rtb_Add_cr;

  uint8_T rtb_DataTypeConversion1_c;

  uint8_T rtb_Switch2_fu;

  uint8_T rtb_UnitDelay;

  uint8_T rtb_z_ctrlMod;

  boolean_T rtb_LogicalOperator2;

  boolean_T rtb_LogicalOperator4;

  boolean_T rtb_LogicalOperator_p;

  boolean_T rtb_RelationalOperator4_f;

  boolean_T rtb_n_commDeacv;



  /* Outputs for Atomic SubSystem: '<Root>/PMSM_Controller' */

  /* Logic: '<S7>/Edge_Detect' incorporates:

   *  Delay: '<S7>/Delay'

   *  Delay: '<S7>/Delay1'

   *  Delay: '<S7>/Delay2'

   *  Inport: '<Root>/hall_a'

   *  Inport: '<Root>/hall_b'

   *  Inport: '<Root>/hall_c'

   */

  rtb_LogicalOperator_p = (boolean_T)((rtU->hall_a != 0) ^ (rtDW->Delay_DSTATE

    != 0) ^ (rtU->hall_b != 0) ^ (rtDW->Delay1_DSTATE != 0) ^ (rtU->hall_c != 0))

    ^ (rtDW->Delay2_DSTATE != 0);



  /* Sum: '<S9>/Add' incorporates:

   *  Gain: '<S9>/Gain'

   *  Gain: '<S9>/Gain1'

   *  Inport: '<Root>/hall_a'

   *  Inport: '<Root>/hall_b'

   *  Inport: '<Root>/hall_c'

   */

  rtb_Add_cr = (uint8_T)((uint32_T)(uint8_T)((uint32_T)(uint8_T)(rtU->hall_c <<

    2) + (uint8_T)(rtU->hall_b << 1)) + rtU->hall_a);



  /* If: '<S2>/If2' incorporates:

   *  If: '<S10>/If2'

   *  Inport: '<S15>/z_counterRawPrev'

   *  UnitDelay: '<S10>/UnitDelay3'

   */

  if (rtb_LogicalOperator_p) {

    /* Outputs for IfAction SubSystem: '<S2>/Direction_Detection' incorporates:

     *  ActionPort: '<S6>/Action Port'

     */

    /* UnitDelay: '<S6>/UnitDelay3' */

    UnitDelay3 = rtDW->Switch2_i;



    /* End of Outputs for SubSystem: '<S2>/Direction_Detection' */



    /* Selector: '<S9>/Selector' incorporates:

     *  Constant: '<S9>/vec_hallToPos'

     */

    rtb_Sum2_tmp = rtConstP.vec_hallToPos_Value[rtb_Add_cr];



    /* Outputs for IfAction SubSystem: '<S2>/Direction_Detection' incorporates:

     *  ActionPort: '<S6>/Action Port'

     */

    /* Sum: '<S6>/Sum2' incorporates:

     *  Constant: '<S9>/vec_hallToPos'

     *  Selector: '<S9>/Selector'

     *  UnitDelay: '<S6>/UnitDelay2'

     */

    rtb_Sum2 = (int8_T)(rtb_Sum2_tmp - rtDW->UnitDelay2_DSTATE_j);



    /* Switch: '<S6>/Switch2' incorporates:

     *  Constant: '<S6>/Constant20'

     *  Constant: '<S6>/Constant8'

     *  Logic: '<S6>/Logical Operator3'

     *  RelationalOperator: '<S6>/Relational Operator1'

     *  RelationalOperator: '<S6>/Relational Operator6'

     */

    if ((rtb_Sum2 == 1) || (rtb_Sum2 == -5)) {

      /* Switch: '<S6>/Switch2' incorporates:

       *  Constant: '<S6>/Constant24'

       */

      rtDW->Switch2_i = 1;

    } else {

      /* Switch: '<S6>/Switch2' incorporates:

       *  Constant: '<S6>/Constant23'

       */

      rtDW->Switch2_i = -1;

    }



    /* End of Switch: '<S6>/Switch2' */



    /* Update for UnitDelay: '<S6>/UnitDelay2' */

    rtDW->UnitDelay2_DSTATE_j = rtb_Sum2_tmp;



    /* End of Outputs for SubSystem: '<S2>/Direction_Detection' */



    /* Outputs for IfAction SubSystem: '<S10>/Raw_Motor_Speed_Estimation' incorporates:

     *  ActionPort: '<S15>/Action Port'

     */

    /* RelationalOperator: '<S15>/Relational Operator4' */

    rtb_RelationalOperator4_f = (rtDW->Switch2_i != UnitDelay3);

    rtDW->z_counterRawPrev = rtDW->UnitDelay3_DSTATE;



    /* Switch: '<S15>/Switch3' incorporates:

     *  Constant: '<S15>/Constant4'

     *  Inport: '<S15>/z_counterRawPrev'

     *  Logic: '<S15>/Logical Operator1'

     *  Switch: '<S15>/Switch2'

     *  UnitDelay: '<S10>/UnitDelay3'

     *  UnitDelay: '<S15>/UnitDelay1'

     */

    if (rtb_RelationalOperator4_f && rtDW->UnitDelay1_DSTATE_i) {

      rtb_Switch3_c = 0;

    } else if (rtb_RelationalOperator4_f) {

      /* Switch: '<S15>/Switch3' incorporates:

       *  Switch: '<S15>/Switch2'

       *  UnitDelay: '<S10>/UnitDelay4'

       */

      rtb_Switch3_c = rtDW->UnitDelay4_DSTATE;

    } else {

      /* Product: '<S15>/Divide13' incorporates:

       *  Sum: '<S15>/Sum13'

       *  Switch: '<S15>/Switch2'

       *  UnitDelay: '<S15>/UnitDelay2'

       *  UnitDelay: '<S15>/UnitDelay3'

       *  UnitDelay: '<S15>/UnitDelay5'

       */

      tmp = 8000000U / (((rtDW->UnitDelay2_DSTATE + rtDW->UnitDelay3_DSTATE_l) +

                         rtDW->UnitDelay5_DSTATE) + rtDW->z_counterRawPrev);

      if (tmp > 32767U) {

        tmp = 32767U;

      }



      /* Switch: '<S15>/Switch3' incorporates:

       *  Product: '<S15>/Divide13'

       *  Switch: '<S15>/Switch2'

       */

      rtb_Switch3_c = (int16_T)tmp;

    }



    /* End of Switch: '<S15>/Switch3' */



    /* Product: '<S15>/Divide11' incorporates:

     *  Switch: '<S15>/Switch3'

     */

    rtDW->Divide11 = (int16_T)(rtb_Switch3_c * rtDW->Switch2_i);



    /* Update for UnitDelay: '<S15>/UnitDelay1' */

    rtDW->UnitDelay1_DSTATE_i = rtb_RelationalOperator4_f;



    /* Update for UnitDelay: '<S15>/UnitDelay2' incorporates:

     *  UnitDelay: '<S15>/UnitDelay3'

     */

    rtDW->UnitDelay2_DSTATE = rtDW->UnitDelay3_DSTATE_l;



    /* Update for UnitDelay: '<S15>/UnitDelay3' incorporates:

     *  UnitDelay: '<S15>/UnitDelay5'

     */

    rtDW->UnitDelay3_DSTATE_l = rtDW->UnitDelay5_DSTATE;



    /* Update for UnitDelay: '<S15>/UnitDelay5' */

    rtDW->UnitDelay5_DSTATE = rtDW->z_counterRawPrev;



    /* End of Outputs for SubSystem: '<S10>/Raw_Motor_Speed_Estimation' */

  }



  /* End of If: '<S2>/If2' */



  /* Switch: '<S8>/Switch3' incorporates:

   *  Constant: '<S8>/Constant16'

   *  Constant: '<S8>/Constant2'

   *  Constant: '<S9>/vec_hallToPos'

   *  RelationalOperator: '<S8>/Relational Operator7'

   *  Selector: '<S9>/Selector'

   *  Sum: '<S8>/Sum1'

   */

  if (rtDW->Switch2_i == 1) {

    rtb_Sum2 = rtConstP.vec_hallToPos_Value[rtb_Add_cr];

  } else {

    rtb_Sum2 = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Add_cr] + 1);

  }



  /* End of Switch: '<S8>/Switch3' */



  /* MinMax: '<S8>/MinMax' incorporates:

   *  Inport: '<Root>/hw_count'

   */

  if (rtU->hw_count < rtDW->z_counterRawPrev) {

    tmp = rtU->hw_count;

  } else {

    tmp = rtDW->z_counterRawPrev;

  }



  /* End of MinMax: '<S8>/MinMax' */



  /* Sum: '<S8>/Sum3' incorporates:

   *  Product: '<S8>/Divide1'

   *  Product: '<S8>/Divide3'

   */

  rtb_Switch3_c = (int16_T)(((int16_T)((int16_T)(((uint64_T)tmp << 14) /

    rtDW->z_counterRawPrev) * rtDW->Switch2_i) + (rtb_Sum2 << 14)) >> 2);



  /* MinMax: '<S8>/MinMax1' incorporates:

   *  Constant: '<S8>/Constant1'

   *  Sum: '<S8>/Sum3'

   *  Switch: '<S8>/Switch2'

   */

  if (rtb_Switch3_c <= 0) {

    rtb_Switch3_c = 0;

  }



  /* End of MinMax: '<S8>/MinMax1' */



  /* Sum: '<S11>/Add2' incorporates:

   *  Constant: '<S11>/Constant2'

   *  Product: '<S8>/Divide2'

   */

  rtb_Switch3_c = (int16_T)((((15 * rtb_Switch3_c) >> 4) + 3840) >> 2);



  /* If: '<S11>/If' incorporates:

   *  Constant: '<S11>/Constant3'

   *  DataTypeConversion: '<S11>/Data Type Conversion'

   *  Inport: '<S12>/In1'

   *  Merge: '<S11>/Merge'

   *  Sum: '<S11>/Add'

   *  Sum: '<S11>/Add2'

   */

  if ((int16_T)(rtb_Switch3_c >> 4) >= 360) {

    /* Outputs for IfAction SubSystem: '<S11>/If Action Subsystem' incorporates:

     *  ActionPort: '<S12>/Action Port'

     */

    rtb_Switch3_c = (int16_T)(rtb_Switch3_c - 5760);



    /* End of Outputs for SubSystem: '<S11>/If Action Subsystem' */

  }



  /* End of If: '<S11>/If' */



  /* Switch: '<S10>/Switch2' incorporates:

   *  Constant: '<S10>/Constant4'

   *  Inport: '<Root>/hw_count'

   *  Product: '<S15>/Divide11'

   *  RelationalOperator: '<S10>/Relational Operator2'

   */

  if (rtU->hw_count >= 400000U) {

    rtb_Switch2_ip = 0;

  } else {

    rtb_Switch2_ip = rtDW->Divide11;

  }



  /* End of Switch: '<S10>/Switch2' */



  /* Abs: '<S10>/Abs5' incorporates:

   *  Switch: '<S10>/Switch2'

   */

  if (rtb_Switch2_ip < 0) {

    rtb_Abs5 = (int16_T)-rtb_Switch2_ip;

  } else {

    rtb_Abs5 = rtb_Switch2_ip;

  }



  /* End of Abs: '<S10>/Abs5' */



  /* If: '<S10>/If1' */

  if (rtb_LogicalOperator_p) {

    /* Outputs for IfAction SubSystem: '<S10>/Subsystem' incorporates:

     *  ActionPort: '<S16>/Action Port'

     */

    /* Relay: '<S16>/n_commDeacv' incorporates:

     *  Abs: '<S10>/Abs5'

     */

    rtDW->n_commDeacv_Mode = ((rtb_Abs5 >= 120) || ((rtb_Abs5 > 60) &&

      rtDW->n_commDeacv_Mode));



    /* RelationalOperator: '<S18>/Compare' incorporates:

     *  Constant: '<S18>/Constant'

     *  Relay: '<S16>/n_commDeacv'

     *  Sum: '<S16>/Sum13'

     *  UnitDelay: '<S16>/UnitDelay2'

     *  UnitDelay: '<S16>/UnitDelay3'

     *  UnitDelay: '<S16>/UnitDelay5'

     */

    rtDW->Compare = ((uint16_T)((uint32_T)(uint16_T)((uint32_T)(uint16_T)

      ((uint32_T)rtDW->UnitDelay2_DSTATE_f + rtDW->UnitDelay3_DSTATE_lh) +

      rtDW->UnitDelay5_DSTATE_f) + rtDW->n_commDeacv_Mode) >= 4);



    /* Update for UnitDelay: '<S16>/UnitDelay2' incorporates:

     *  UnitDelay: '<S16>/UnitDelay3'

     */

    rtDW->UnitDelay2_DSTATE_f = rtDW->UnitDelay3_DSTATE_lh;



    /* Update for UnitDelay: '<S16>/UnitDelay3' incorporates:

     *  UnitDelay: '<S16>/UnitDelay5'

     */

    rtDW->UnitDelay3_DSTATE_lh = rtDW->UnitDelay5_DSTATE_f;



    /* Update for UnitDelay: '<S16>/UnitDelay5' incorporates:

     *  Logic: '<S16>/Logical Operator3'

     *  Relay: '<S16>/n_commDeacv'

     */

    rtDW->UnitDelay5_DSTATE_f = rtDW->n_commDeacv_Mode;



    /* End of Outputs for SubSystem: '<S10>/Subsystem' */

  }



  /* End of If: '<S10>/If1' */



  /* Switch: '<S2>/Switch' incorporates:

   *  Inport: '<Root>/b_hall_calibrate'

   *  Inport: '<Root>/open_theta'

   *  Merge: '<S11>/Merge'

   */

  if (rtU->b_hall_calibrate) {

    rtb_Switch_b = (int16_T)(rtU->open_theta << 4);

  } else {

    rtb_Switch_b = rtb_Switch3_c;

  }



  /* End of Switch: '<S2>/Switch' */



  /* Abs: '<S3>/Abs2' incorporates:

   *  Switch: '<S10>/Switch2'

   */

  if (rtb_Switch2_ip < 0) {

    rtb_LogicalOperator3 = (uint16_T)((uint32_T)-rtb_Switch2_ip >> 2);

  } else {

    rtb_LogicalOperator3 = (uint16_T)((uint32_T)rtb_Switch2_ip >> 2);

  }



  /* End of Abs: '<S3>/Abs2' */



  /* UnitDelay: '<S34>/UnitDelay' */

  rtb_UnitDelay = rtDW->UnitDelay_DSTATE_j;



  /* Outport: '<Root>/VqPrev' incorporates:

   *  UnitDelay: '<S5>/UnitDelay2'

   */

  rtY->VqPrev = rtDW->UnitDelay2_DSTATE_p;



  /* Switch: '<S34>/Switch3' incorporates:

   *  Abs: '<S10>/Abs5'

   *  Abs: '<S34>/Abs4'

   *  Constant: '<S34>/CTRL_COMM4'

   *  Inport: '<Root>/b_motEna'

   *  Logic: '<S34>/Logical Operator1'

   *  RelationalOperator: '<S10>/Relational Operator9'

   *  RelationalOperator: '<S34>/Relational Operator7'

   *  S-Function (sfix_bitop): '<S34>/Bitwise Operator1'

   *  UnitDelay: '<S5>/UnitDelay2'

   */

  if ((rtb_UnitDelay & 4U) != 0U) {

    rtb_LogicalOperator_p = true;

  } else {

    if (rtDW->UnitDelay2_DSTATE_p < 0) {

      /* Abs: '<S34>/Abs4' incorporates:

       *  UnitDelay: '<S5>/UnitDelay2'

       */

      rtb_Divide1_fi = (int16_T)-rtDW->UnitDelay2_DSTATE_p;

    } else {

      /* Abs: '<S34>/Abs4' incorporates:

       *  UnitDelay: '<S5>/UnitDelay2'

       */

      rtb_Divide1_fi = rtDW->UnitDelay2_DSTATE_p;

    }



    rtb_LogicalOperator_p = (rtU->b_motEna && (rtb_Abs5 < 12) && (rtb_Divide1_fi

      > 960));

  }



  /* End of Switch: '<S34>/Switch3' */



  /* Sum: '<S34>/Sum' incorporates:

   *  Constant: '<S34>/CTRL_COMM'

   *  Constant: '<S34>/CTRL_COMM1'

   *  DataTypeConversion: '<S34>/Data Type Conversion3'

   *  Gain: '<S34>/g_Hb'

   *  Gain: '<S34>/g_Hb1'

   *  RelationalOperator: '<S34>/Relational Operator1'

   *  RelationalOperator: '<S34>/Relational Operator3'

   */

  rtb_DataTypeConversion1_c = (uint8_T)(((uint32_T)((rtb_Add_cr == 7) << 1) +

    (rtb_Add_cr == 0)) + (rtb_LogicalOperator_p << 2));



  /* Outputs for Atomic SubSystem: '<S34>/Debounce_Filter' */

  /* RelationalOperator: '<S34>/Relational Operator2' incorporates:

   *  Constant: '<S34>/CTRL_COMM2'

   *  Constant: '<S34>/t_errDequal'

   *  Constant: '<S34>/t_errQual'

   */

  Debounce_Filter(rtb_DataTypeConversion1_c != 0, 1600, 12000,

                  &rtb_RelationalOperator4_f, &rtDW->Debounce_Filter_i);



  /* End of Outputs for SubSystem: '<S34>/Debounce_Filter' */



  /* Logic: '<S21>/Logical Operator12' incorporates:

   *  Inport: '<Root>/b_motEna'

   *  Logic: '<S21>/Logical Operator7'

   */

  rtb_n_commDeacv = ((!rtb_RelationalOperator4_f) && rtU->b_motEna);



  /* Logic: '<S21>/Logical Operator4' incorporates:

   *  Constant: '<S21>/constant8'

   *  Inport: '<Root>/b_hall_calibrate'

   *  Inport: '<Root>/n_ctrlModReq'

   *  Logic: '<S21>/Logical Operator11'

   *  Logic: '<S21>/Logical Operator8'

   *  RelationalOperator: '<S21>/Relational Operator10'

   */

  rtb_LogicalOperator4 = (rtU->b_hall_calibrate || (!rtDW->Compare) ||

    (!rtb_n_commDeacv) || (rtU->n_ctrlModReq == 0));



  /* Relay: '<S21>/n_SpeedCtrl' */

  rtDW->n_SpeedCtrl_Mode = ((rtb_LogicalOperator3 >= 300) ||

    ((rtb_LogicalOperator3 > 200) && rtDW->n_SpeedCtrl_Mode));

  rtb_LogicalOperator_p = rtDW->n_SpeedCtrl_Mode;



  /* Logic: '<S21>/Logical Operator10' incorporates:

   *  Inport: '<Root>/b_cruiseEna'

   */

  rtb_LogicalOperator_p = (rtb_LogicalOperator_p && rtU->b_cruiseEna);



  /* Logic: '<S21>/Logical Operator2' incorporates:

   *  Constant: '<S21>/constant'

   *  Inport: '<Root>/n_ctrlModReq'

   *  Logic: '<S21>/Logical Operator5'

   *  RelationalOperator: '<S21>/Relational Operator4'

   */

  rtb_LogicalOperator2 = ((rtU->n_ctrlModReq == 2) && (!rtb_LogicalOperator_p));



  /* Logic: '<S21>/Logical Operator1' incorporates:

   *  Constant: '<S21>/constant1'

   *  Inport: '<Root>/n_ctrlModReq'

   *  RelationalOperator: '<S21>/Relational Operator1'

   */

  rtb_LogicalOperator_p = ((rtU->n_ctrlModReq == 1) || rtb_LogicalOperator_p);



  /* Chart: '<S3>/Control_Mode_Manager' incorporates:

   *  Logic: '<S21>/Logical Operator3'

   *  Logic: '<S21>/Logical Operator6'

   *  Logic: '<S21>/Logical Operator9'

   */

  if (rtDW->is_active_c5_PMSM_Controller == 0U) {

    rtDW->is_active_c5_PMSM_Controller = 1U;

    rtDW->is_c5_PMSM_Controller = IN_OPEN;

    rtb_z_ctrlMod = OPEN_MODE;

  } else if (rtDW->is_c5_PMSM_Controller == 1) {

    if (rtb_LogicalOperator4) {

      rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD;

      rtDW->is_c5_PMSM_Controller = IN_OPEN;

      rtb_z_ctrlMod = OPEN_MODE;

    } else if (rtDW->is_ACTIVE == 1) {

      rtb_z_ctrlMod = SPD_MODE;

      if (!rtb_LogicalOperator_p) {

        if (rtb_LogicalOperator2) {

          rtDW->is_ACTIVE = IN_TORQUE_MODE;

          rtb_z_ctrlMod = TRQ_MODE;

        } else {

          rtDW->is_ACTIVE = IN_SPEED_MODE;

        }

      }

    } else {

      /* case IN_TORQUE_MODE: */

      rtb_z_ctrlMod = TRQ_MODE;

      if (!rtb_LogicalOperator2) {

        rtDW->is_ACTIVE = IN_SPEED_MODE;

        rtb_z_ctrlMod = SPD_MODE;

      }

    }

  } else {

    /* case IN_OPEN: */

    rtb_z_ctrlMod = OPEN_MODE;

    if ((!rtb_LogicalOperator4) && (rtb_LogicalOperator2 ||

         rtb_LogicalOperator_p)) {

      rtDW->is_c5_PMSM_Controller = IN_ACTIVE;

      if (rtb_LogicalOperator2) {

        rtDW->is_ACTIVE = IN_TORQUE_MODE;

        rtb_z_ctrlMod = TRQ_MODE;

      } else {

        rtDW->is_ACTIVE = IN_SPEED_MODE;

        rtb_z_ctrlMod = SPD_MODE;

      }

    }

  }



  /* End of Chart: '<S3>/Control_Mode_Manager' */



  /* Switch: '<S22>/Switch' incorporates:

   *  Constant: '<S22>/Constant3'

   *  Inport: '<Root>/input_target'

   */

  if (rtU->input_target > 60) {

    /* Switch: '<S22>/Switch1' incorporates:

     *  Constant: '<S22>/Constant1'

     *  DataTypeConversion: '<S22>/Data Type Conversion'

     *  Switch: '<S22>/Switch'

     */

    if (rtb_n_commDeacv) {

      rtb_Switch_oi = rtU->input_target;

    } else {

      rtb_Switch_oi = 0;

    }



    /* End of Switch: '<S22>/Switch1' */

  } else {

    rtb_Switch_oi = 0;

  }



  /* End of Switch: '<S22>/Switch' */



  /* Switch: '<S22>/Switch3' incorporates:

   *  Constant: '<S22>/Constant4'

   *  DataTypeConversion: '<S22>/Data Type Conversion2'

   *  Inport: '<Root>/vq_open_target'

   */

  if (rtb_n_commDeacv) {

    rtb_Abs5_h = rtU->vq_open_target;

  } else {

    rtb_Abs5_h = 0;

  }



  /* End of Switch: '<S22>/Switch3' */



  /* If: '<S23>/If' incorporates:

   *  Inport: '<Root>/b_hall_calibrate'

   *  Inport: '<S27>/vq_in'

   *  Switch: '<S22>/Switch3'

   */

  if (rtU->b_hall_calibrate) {

    /* Switch: '<S22>/Switch2' incorporates:

     *  Constant: '<S22>/Constant2'

     *  DataTypeConversion: '<S22>/Data Type Conversion1'

     *  Inport: '<Root>/vd_open_target'

     *  Inport: '<S27>/vd_in'

     */

    if (rtb_n_commDeacv) {

      /* Outputs for IfAction SubSystem: '<S23>/If Action Subsystem' incorporates:

       *  ActionPort: '<S27>/Action Port'

       */

      rtDW->Merge[0] = rtU->vd_open_target;



      /* End of Outputs for SubSystem: '<S23>/If Action Subsystem' */

    } else {

      /* Outputs for IfAction SubSystem: '<S23>/If Action Subsystem' incorporates:

       *  ActionPort: '<S27>/Action Port'

       */

      rtDW->Merge[0] = 0;



      /* End of Outputs for SubSystem: '<S23>/If Action Subsystem' */

    }



    /* End of Switch: '<S22>/Switch2' */



    /* Outputs for IfAction SubSystem: '<S23>/If Action Subsystem' incorporates:

     *  ActionPort: '<S27>/Action Port'

     */

    rtDW->Merge[1] = rtb_Abs5_h;



    /* End of Outputs for SubSystem: '<S23>/If Action Subsystem' */

  } else if (rtb_z_ctrlMod == 0) {

    /* Outputs for IfAction SubSystem: '<S23>/open_mode' incorporates:

     *  ActionPort: '<S28>/Action Port'

     */

    /* RelationalOperator: '<S28>/Equal1' incorporates:

     *  Switch: '<S22>/Switch3'

     *  UnitDelay: '<S28>/Unit Delay'

     */

    rtb_LogicalOperator_p = (rtDW->UnitDelay_DSTATE != rtb_Abs5_h);



    /* If: '<S30>/If' */

    if (rtb_LogicalOperator_p) {

      /* Outputs for IfAction SubSystem: '<S30>/Subsystem' incorporates:

       *  ActionPort: '<S32>/Action Port'

       */

      /* Sum: '<S32>/Add' incorporates:

       *  Signum: '<S32>/Sign'

       *  Switch: '<S22>/Switch3'

       *  UnitDelay: '<S5>/UnitDelay2'

       */

      rtb_Sign = (int16_T)((rtb_Abs5_h - rtDW->UnitDelay2_DSTATE_p) >> 2);



      /* Signum: '<S32>/Sign' */

      if (rtb_Sign < 0) {

        rtb_Sign = -1;

      } else {

        rtb_Sign = (int16_T)(rtb_Sign > 0);

      }



      /* End of Signum: '<S32>/Sign' */



      /* Product: '<S32>/Divide' incorporates:

       *  Constant: '<S28>/Constant5'

       */

      rtDW->Divide = (int16_T)(rtb_Sign * 6);



      /* Switch: '<S32>/Switch' incorporates:

       *  Switch: '<S32>/Switch1'

       */

      if (rtb_Sign > 0) {

        /* Switch: '<S32>/Switch' incorporates:

         *  Switch: '<S22>/Switch3'

         */

        rtDW->Switch = rtb_Abs5_h;



        /* Switch: '<S32>/Switch1' incorporates:

         *  UnitDelay: '<S5>/UnitDelay2'

         */

        rtDW->Switch1 = rtDW->UnitDelay2_DSTATE_p;

      } else {

        /* Switch: '<S32>/Switch' incorporates:

         *  UnitDelay: '<S5>/UnitDelay2'

         */

        rtDW->Switch = rtDW->UnitDelay2_DSTATE_p;



        /* Switch: '<S32>/Switch1' incorporates:

         *  Switch: '<S22>/Switch3'

         */

        rtDW->Switch1 = rtb_Abs5_h;

      }



      /* End of Switch: '<S32>/Switch' */

      /* End of Outputs for SubSystem: '<S30>/Subsystem' */



      /* Switch: '<S33>/Switch1' incorporates:

       *  UnitDelay: '<S5>/UnitDelay2'

       */

      rtb_Sign = rtDW->UnitDelay2_DSTATE_p;

    } else {

      /* Switch: '<S33>/Switch1' incorporates:

       *  UnitDelay: '<S33>/UnitDelay'

       */

      rtb_Sign = rtDW->UnitDelay_DSTATE_d;

    }



    /* End of If: '<S30>/If' */



    /* Sum: '<S30>/Add2' incorporates:

     *  Product: '<S32>/Divide'

     */

    rtb_Divide = ((rtb_Sign << 1) + rtDW->Divide) >> 1;

    if (rtb_Divide > 32767) {

      rtb_Divide = 32767;

    } else {

      if (rtb_Divide < -32768) {

        rtb_Divide = -32768;

      }

    }



    /* Switch: '<S28>/Switch' incorporates:

     *  Switch: '<S22>/Switch'

     */

    if (rtb_Switch_oi > 0) {

      /* Switch: '<S31>/Switch2' incorporates:

       *  RelationalOperator: '<S31>/LowerRelop1'

       *  RelationalOperator: '<S31>/UpperRelop'

       *  Sum: '<S30>/Add2'

       *  Switch: '<S31>/Switch'

       *  Switch: '<S32>/Switch'

       *  Switch: '<S32>/Switch1'

       */

      if ((int16_T)rtb_Divide > rtDW->Switch) {

        /* Merge: '<S23>/Merge' incorporates:

         *  Switch: '<S28>/Switch'

         */

        rtDW->Merge[1] = rtDW->Switch;

      } else if ((int16_T)rtb_Divide < rtDW->Switch1) {

        /* Merge: '<S23>/Merge' incorporates:

         *  Switch: '<S28>/Switch'

         *  Switch: '<S31>/Switch'

         *  Switch: '<S32>/Switch1'

         */

        rtDW->Merge[1] = rtDW->Switch1;

      } else {

        /* Merge: '<S23>/Merge' incorporates:

         *  Switch: '<S28>/Switch'

         */

        rtDW->Merge[1] = (int16_T)rtb_Divide;

      }



      /* End of Switch: '<S31>/Switch2' */

    } else {

      /* Merge: '<S23>/Merge' incorporates:

       *  Constant: '<S28>/Constant1'

       */

      rtDW->Merge[1] = 0;

    }



    /* End of Switch: '<S28>/Switch' */



    /* Merge: '<S23>/Merge' incorporates:

     *  Constant: '<S28>/Constant3'

     *  SignalConversion generated from: '<S28>/open_voltage'

     */

    rtDW->Merge[0] = 0;



    /* Update for UnitDelay: '<S28>/Unit Delay' incorporates:

     *  Switch: '<S22>/Switch3'

     */

    rtDW->UnitDelay_DSTATE = rtb_Abs5_h;



    /* Switch: '<S33>/Switch2' */

    if (rtb_LogicalOperator_p) {

      /* Update for UnitDelay: '<S33>/UnitDelay' incorporates:

       *  UnitDelay: '<S5>/UnitDelay2'

       */

      rtDW->UnitDelay_DSTATE_d = rtDW->UnitDelay2_DSTATE_p;

    } else {

      /* Update for UnitDelay: '<S33>/UnitDelay' incorporates:

       *  Sum: '<S30>/Add2'

       */

      rtDW->UnitDelay_DSTATE_d = (int16_T)rtb_Divide;

    }



    /* End of Switch: '<S33>/Switch2' */

    /* End of Outputs for SubSystem: '<S23>/open_mode' */

  } else {

    /* Outputs for IfAction SubSystem: '<S23>/torque_mode' incorporates:

     *  ActionPort: '<S29>/Action Port'

     */

    /* Product: '<S29>/Divide1' incorporates:

     *  Inport: '<Root>/i_dc_limit'

     *  Inport: '<Root>/speed_limit'

     *  Product: '<S29>/Divide4'

     *  Switch: '<S22>/Switch'

     */

    rtb_Divide = ((uint16_T)((rtU->i_dc_limit << 8) / rtU->speed_limit) *

                  rtb_Switch_oi) >> 8;

    if (rtb_Divide > 32767) {

      rtb_Divide = 32767;

    } else {

      if (rtb_Divide < -32768) {

        rtb_Divide = -32768;

      }

    }



    /* Product: '<S29>/Divide1' */

    rtDW->Divide1 = (int16_T)rtb_Divide;



    /* End of Outputs for SubSystem: '<S23>/torque_mode' */

  }



  /* End of If: '<S23>/If' */



  /* Outputs for Atomic SubSystem: '<S34>/either_edge' */

  rtb_LogicalOperator_p = either_edge(rtb_RelationalOperator4_f,

    &rtDW->either_edge_f);



  /* End of Outputs for SubSystem: '<S34>/either_edge' */



  /* Switch: '<S34>/Switch1' */

  if (rtb_LogicalOperator_p) {

    rtb_UnitDelay = rtb_DataTypeConversion1_c;

  }



  /* End of Switch: '<S34>/Switch1' */



  /* Gain: '<S51>/Multiply' incorporates:

   *  DataTypeConversion: '<S54>/Data Type Conversion'

   *  Inport: '<Root>/adc_a'

   *  Inport: '<Root>/adc_b'

   */

  rtb_Divide = (12351 * rtU->adc_a) >> 11;

  if (rtb_Divide > 32767) {

    rtb_Divide = 32767;

  } else {

    if (rtb_Divide < -32768) {

      rtb_Divide = -32768;

    }

  }



  rtb_DataTypeConversion[0] = (int16_T)rtb_Divide;

  rtb_Gain1 = (12351 * rtU->adc_b) >> 11;

  if (rtb_Gain1 > 32767) {

    rtb_Gain1 = 32767;

  } else {

    if (rtb_Gain1 < -32768) {

      rtb_Gain1 = -32768;

    }

  }



  rtb_DataTypeConversion[1] = (int16_T)rtb_Gain1;



  /* Sum: '<S45>/Add' incorporates:

   *  Gain: '<S51>/Multiply'

   */

  rtb_MultiportSwitch_idx_0 = (int16_T)rtb_Divide + (int16_T)rtb_Gain1;

  if (rtb_MultiportSwitch_idx_0 > 32767) {

    rtb_MultiportSwitch_idx_0 = 32767;

  } else {

    if (rtb_MultiportSwitch_idx_0 < -32768) {

      rtb_MultiportSwitch_idx_0 = -32768;

    }

  }



  /* Sum: '<S45>/Add1' incorporates:

   *  Sum: '<S45>/Add'

   */

  rtb_Add2_l = -rtb_MultiportSwitch_idx_0;

  if (-rtb_MultiportSwitch_idx_0 > 32767) {

    rtb_Add2_l = 32767;

  }



  /* Sum: '<S53>/Add3' incorporates:

   *  Gain: '<S51>/Multiply'

   *  Sum: '<S45>/Add1'

   */

  rtb_MultiportSwitch_idx_0 = (int16_T)rtb_Gain1 + (int16_T)rtb_Add2_l;

  if (rtb_MultiportSwitch_idx_0 > 32767) {

    rtb_MultiportSwitch_idx_0 = 32767;

  } else {

    if (rtb_MultiportSwitch_idx_0 < -32768) {

      rtb_MultiportSwitch_idx_0 = -32768;

    }

  }



  /* Sum: '<S53>/Add' incorporates:

   *  Gain: '<S51>/Multiply'

   *  Sum: '<S53>/Add3'

   */

  rtb_Divide = (((int16_T)rtb_Divide << 1) - rtb_MultiportSwitch_idx_0) >> 1;

  if (rtb_Divide > 32767) {

    rtb_Divide = 32767;

  } else {

    if (rtb_Divide < -32768) {

      rtb_Divide = -32768;

    }

  }



  /* Gain: '<S53>/Gain1' incorporates:

   *  Product: '<S55>/Divide1'

   *  Sum: '<S53>/Add'

   */

  rtb_Divide1_fi = (int16_T)((21845 * rtb_Divide) >> 15);



  /* Gain: '<S53>/Gain2' incorporates:

   *  Gain: '<S51>/Multiply'

   *  Sum: '<S45>/Add1'

   *  Sum: '<S53>/Add2'

   */

  rtb_Divide = ((((int16_T)rtb_Gain1 - (int16_T)rtb_Add2_l) >> 1) * 18919) >> 14;

  if (rtb_Divide > 32767) {

    rtb_Divide = 32767;

  } else {

    if (rtb_Divide < -32768) {

      rtb_Divide = -32768;

    }

  }



  /* PreLookup: '<S56>/a_elecAngle_XA' incorporates:

   *  Switch: '<S2>/Switch'

   */

  rtb_LogicalOperator3 = plook_u16s16_evencka(rtb_Switch_b, 0, 4U, 1440U);



  /* Interpolation_n-D: '<S56>/r_cos_M1' */

  rtb_Sign = rtConstP.r_cos_M1_Table[rtb_LogicalOperator3];



  /* Interpolation_n-D: '<S56>/r_sin_M1' incorporates:

   *  Product: '<S67>/Divide4'

   */

  rtb_Abs5_h = rtConstP.r_sin_M1_Table[rtb_LogicalOperator3];



  /* Sum: '<S55>/Sum1' incorporates:

   *  Gain: '<S53>/Gain2'

   *  Interpolation_n-D: '<S56>/r_cos_M1'

   *  Interpolation_n-D: '<S56>/r_sin_M1'

   *  Product: '<S55>/Divide1'

   *  Product: '<S55>/Divide2'

   *  Product: '<S55>/Divide3'

   */

  rtb_Gain1 = (int16_T)((rtb_Divide1_fi *

    rtConstP.r_cos_M1_Table[rtb_LogicalOperator3]) >> 14) + (int16_T)(((int16_T)

    rtb_Divide * rtConstP.r_sin_M1_Table[rtb_LogicalOperator3]) >> 14);

  if (rtb_Gain1 > 32767) {

    rtb_Gain1 = 32767;

  } else {

    if (rtb_Gain1 < -32768) {

      rtb_Gain1 = -32768;

    }

  }



  /* SignalConversion generated from: '<S45>/Low_Pass_Filter' incorporates:

   *  Sum: '<S55>/Sum1'

   */

  rtb_TmpSignalConversionAtLow_Pa[0] = (int16_T)rtb_Gain1;



  /* Sum: '<S55>/Sum6' incorporates:

   *  Gain: '<S53>/Gain2'

   *  Interpolation_n-D: '<S56>/r_cos_M1'

   *  Interpolation_n-D: '<S56>/r_sin_M1'

   *  Product: '<S55>/Divide1'

   *  Product: '<S55>/Divide4'

   */

  rtb_Divide = (int16_T)(((int16_T)rtb_Divide *

    rtConstP.r_cos_M1_Table[rtb_LogicalOperator3]) >> 14) - (int16_T)

    ((rtb_Divide1_fi * rtConstP.r_sin_M1_Table[rtb_LogicalOperator3]) >> 14);

  if (rtb_Divide > 32767) {

    rtb_Divide = 32767;

  } else {

    if (rtb_Divide < -32768) {

      rtb_Divide = -32768;

    }

  }



  /* SignalConversion generated from: '<S45>/Low_Pass_Filter' incorporates:

   *  Sum: '<S55>/Sum6'

   */

  rtb_TmpSignalConversionAtLow_Pa[1] = (int16_T)rtb_Divide;



  /* Outputs for Atomic SubSystem: '<S45>/Low_Pass_Filter' */

  /* Constant: '<S45>/Constant' */

  Low_Pass_Filter(rtb_TmpSignalConversionAtLow_Pa, 26214, rtb_DataTypeConversion,

                  &rtDW->Low_Pass_Filter_d);



  /* End of Outputs for SubSystem: '<S45>/Low_Pass_Filter' */



  /* Outport: '<Root>/VdPrev' incorporates:

   *  UnitDelay: '<S5>/UnitDelay1'

   */

  rtY->VdPrev = rtDW->UnitDelay1_DSTATE;



  /* Interpolation_n-D: '<S46>/Vq_max_M1' incorporates:

   *  Abs: '<S46>/Abs5'

   *  PreLookup: '<S46>/Vq_max_XA'

   *  UnitDelay: '<S5>/UnitDelay1'

   */

  if (rtDW->UnitDelay1_DSTATE < 0) {

    rtb_Divide1_fi = (int16_T)-rtDW->UnitDelay1_DSTATE;

  } else {

    rtb_Divide1_fi = rtDW->UnitDelay1_DSTATE;

  }



  rtb_Divide1_fi = rtConstP.Vq_max_M1_Table[plook_u16s16_evencka(rtb_Divide1_fi,

    0, 64U, 45U)];



  /* End of Interpolation_n-D: '<S46>/Vq_max_M1' */



  /* Product: '<S46>/Divide4' incorporates:

   *  Inport: '<Root>/i_dc_limit'

   *  Product: '<S24>/Divide3'

   */

  rtb_Divide = rtDW->Divide3 << 16;

  rtb_Divide = (rtb_Divide == MIN_int32_T) && (rtU->i_dc_limit == -1) ?

    MAX_int32_T : rtb_Divide / rtU->i_dc_limit;

  if (rtb_Divide < 0) {

    rtb_Divide = 0;

  } else {

    if (rtb_Divide > 65535) {

      rtb_Divide = 65535;

    }

  }



  /* PreLookup: '<S46>/iq_maxSca_XA' incorporates:

   *  Product: '<S46>/Divide4'

   */

  rtb_DataTypeConversion1_c = plook_u8u16_evencka((uint16_T)rtb_Divide, 0U,

    1311U, 49U);



  /* Outport: '<Root>/PWM' incorporates:

   *  Interpolation_n-D: '<S46>/iq_maxSca_M1'

   */

  rtY->PWM[6] = rtConstP.iq_maxSca_M1_Table[rtb_DataTypeConversion1_c];



  /* Product: '<S46>/Divide1' incorporates:

   *  Inport: '<Root>/i_dc_limit'

   *  Interpolation_n-D: '<S46>/iq_maxSca_M1'

   */

  rtb_Divide4_c = (int16_T)

    ((rtConstP.iq_maxSca_M1_Table[rtb_DataTypeConversion1_c] * rtU->i_dc_limit) >>

     16);



  /* Switch: '<S52>/Switch2' */

  rtb_Switch2_fu = (uint8_T)(rtb_z_ctrlMod != 0);



  /* Delay: '<S86>/Delay' */

  rtb_RelationalOperator4_f = rtDW->Delay_DSTATE_n[0];



  /* DataTypeConversion: '<S52>/Data Type Conversion1' incorporates:

   *  Delay: '<S86>/Delay'

   *  Logic: '<S52>/Logical Operator'

   *  Logic: '<S86>/Logical Operator'

   *  UnitDelay: '<S86>/Unit Delay'

   */

  rtb_DataTypeConversion1_c = (uint8_T)((rtb_Switch2_fu != 0) && ((boolean_T)

    (rtDW->UnitDelay_DSTATE_f ^ rtDW->Delay_DSTATE_n[0])));



  /* If: '<S50>/If' incorporates:

   *  Constant: '<S79>/Constant1'

   *  Constant: '<S79>/Constant11'

   *  Constant: '<S79>/Constant2'

   *  Constant: '<S79>/Constant4'

   *  Gain: '<S46>/Gain1'

   *  Product: '<S46>/Divide1'

   *  Sum: '<S79>/Add2'

   *  Switch: '<S10>/Switch2'

   *  Switch: '<S84>/Switch2'

   */

  if ((rtb_DataTypeConversion1_c > 0) && (rtb_z_ctrlMod == 1)) {

    /* Outputs for IfAction SubSystem: '<S50>/speed_mode' incorporates:

     *  ActionPort: '<S79>/Action Port'

     */

    /* Switch: '<S81>/Switch2' incorporates:

     *  Inport: '<Root>/speed_limit'

     *  RelationalOperator: '<S81>/LowerRelop1'

     *  RelationalOperator: '<S81>/UpperRelop'

     *  Switch: '<S22>/Switch'

     *  Switch: '<S81>/Switch'

     *  Switch: '<S84>/Switch2'

     */

    if (rtb_Switch_oi > rtU->speed_limit) {

      rtb_Switch_oi = rtU->speed_limit;

    } else {

      if (rtb_Switch_oi < 0) {

        /* Switch: '<S81>/Switch' incorporates:

         *  Constant: '<S79>/Constant5'

         *  Switch: '<S84>/Switch2'

         */

        rtb_Switch_oi = 0;

      }

    }



    /* End of Switch: '<S81>/Switch2' */



    /* Outputs for Atomic SubSystem: '<S79>/pi_speed' */

    rtb_Switch_oi = pi_speed((int16_T)(rtb_Switch_oi - rtb_Switch2_ip), 3174, 10,

      20, rtb_Divide4_c, (int16_T)-rtb_Divide4_c, 0, rtb_Switch2_fu,

      &rtConstB.pi_speed_g, &rtDW->pi_speed_g, &rtPrevZCX->pi_speed_g);



    /* End of Outputs for SubSystem: '<S79>/pi_speed' */



    /* Merge: '<S50>/Merge' incorporates:

     *  Constant: '<S79>/Constant1'

     *  Constant: '<S79>/Constant11'

     *  Constant: '<S79>/Constant2'

     *  Constant: '<S79>/Constant4'

     *  Gain: '<S46>/Gain1'

     *  Product: '<S46>/Divide1'

     *  SignalConversion generated from: '<S79>/iq_target'

     *  Sum: '<S79>/Add2'

     *  Switch: '<S10>/Switch2'

     *  Switch: '<S84>/Switch2'

     */

    rtDW->Merge_b = rtb_Switch_oi;



    /* End of Outputs for SubSystem: '<S50>/speed_mode' */

  } else {

    if ((rtb_DataTypeConversion1_c > 0) && (rtb_z_ctrlMod == 2)) {

      /* Outputs for IfAction SubSystem: '<S50>/torque_mode' incorporates:

       *  ActionPort: '<S80>/Action Port'

       */

      /* Product: '<S80>/Divide' incorporates:

       *  Constant: '<S80>/Constant2'

       *  Sum: '<S80>/Sum2'

       *  Switch: '<S10>/Switch2'

       *  Switch: '<S22>/Switch'

       */

      rtb_Divide = ((int16_T)(rtb_Switch_oi - rtb_Switch2_ip) * 819) >> 6;

      if (rtb_Divide > 32767) {

        rtb_Divide = 32767;

      } else {

        if (rtb_Divide < -32768) {

          rtb_Divide = -32768;

        }

      }



      /* Product: '<S80>/Divide1' incorporates:

       *  Sum: '<S80>/Sum3'

       *  Switch: '<S10>/Switch2'

       *  Switch: '<S22>/Switch'

       */

      rtb_Gain1 = ((int16_T)(rtb_Switch2_ip - rtb_Switch_oi) * -51) >> 5;

      if (rtb_Gain1 > 32767) {

        rtb_Gain1 = 32767;

      } else {

        if (rtb_Gain1 < -32768) {

          rtb_Gain1 = -32768;

        }

      }



      rtb_Switch_oi = (int16_T)rtb_Gain1;



      /* End of Product: '<S80>/Divide1' */



      /* MinMax: '<S80>/Max' incorporates:

       *  Product: '<S80>/Divide'

       *  Product: '<S80>/Divide1'

       */

      if ((int16_T)rtb_Divide > rtb_Switch_oi) {

        rtb_Max = (int16_T)rtb_Divide;

      } else {

        rtb_Max = rtb_Switch_oi;

      }



      /* End of MinMax: '<S80>/Max' */



      /* MinMax: '<S80>/Max3' incorporates:

       *  MinMax: '<S80>/Max'

       *  Product: '<S46>/Divide1'

       *  Switch: '<S85>/Switch2'

       */

      if (rtb_Divide4_c < rtb_Max) {

        rtb_Max = rtb_Divide4_c;

      }



      /* End of MinMax: '<S80>/Max3' */



      /* Switch: '<S85>/Switch2' incorporates:

       *  Product: '<S29>/Divide1'

       *  RelationalOperator: '<S85>/LowerRelop1'

       */

      if (rtDW->Divide1 <= rtb_Max) {

        /* MinMax: '<S80>/Max1' incorporates:

         *  Product: '<S80>/Divide'

         *  Product: '<S80>/Divide1'

         */

        if ((int16_T)rtb_Divide < rtb_Switch_oi) {

          rtb_Switch_oi = (int16_T)rtb_Divide;

        }



        /* End of MinMax: '<S80>/Max1' */



        /* MinMax: '<S80>/Max2' incorporates:

         *  Gain: '<S46>/Gain1'

         *  MinMax: '<S80>/Max1'

         *  Product: '<S46>/Divide1'

         */

        if (rtb_Switch_oi <= (int16_T)-rtb_Divide4_c) {

          rtb_Switch_oi = (int16_T)-rtb_Divide4_c;

        }



        /* End of MinMax: '<S80>/Max2' */



        /* Switch: '<S85>/Switch' incorporates:

         *  MinMax: '<S80>/Max2'

         *  RelationalOperator: '<S85>/UpperRelop'

         */

        if (rtDW->Divide1 < rtb_Switch_oi) {

          rtb_Max = rtb_Switch_oi;

        } else {

          rtb_Max = rtDW->Divide1;

        }



        /* End of Switch: '<S85>/Switch' */

      }



      /* End of Switch: '<S85>/Switch2' */



      /* Merge: '<S50>/Merge' incorporates:

       *  SignalConversion generated from: '<S80>/torque_iq'

       *  Switch: '<S85>/Switch2'

       */

      rtDW->Merge_b = rtb_Max;



      /* End of Outputs for SubSystem: '<S50>/torque_mode' */

    }

  }



  /* End of If: '<S50>/If' */



  /* If: '<S47>/If' incorporates:

   *  Constant: '<S47>/Constant3'

   *  Constant: '<S57>/Constant3'

   *  Constant: '<S57>/Constant4'

   *  Constant: '<S57>/Constant6'

   *  Constant: '<S57>/Constant9'

   *  Constant: '<S58>/Constant1'

   *  Constant: '<S58>/Constant7'

   *  Constant: '<S58>/Constant8'

   *  Gain: '<S46>/Gain3'

   *  Gain: '<S46>/Gain5'

   *  If: '<S47>/If1'

   *  Inport: '<Root>/vbus_voltage'

   *  Interpolation_n-D: '<S46>/Vq_max_M1'

   *  Sum: '<S57>/Add'

   *  Sum: '<S58>/Add1'

   *  Switch: '<S60>/Switch2'

   *  Switch: '<S64>/Switch2'

   */

  if (rtb_Switch2_fu == 1) {

    /* Outputs for IfAction SubSystem: '<S47>/iq_ctrl' incorporates:

     *  ActionPort: '<S58>/Action Port'

     */

    /* Switch: '<S64>/Switch2' incorporates:

     *  Merge: '<S50>/Merge'

     *  Product: '<S46>/Divide1'

     *  RelationalOperator: '<S64>/LowerRelop1'

     */

    if (rtDW->Merge_b <= rtb_Divide4_c) {

      /* Switch: '<S64>/Switch' incorporates:

       *  Gain: '<S46>/Gain1'

       *  RelationalOperator: '<S64>/UpperRelop'

       *  Switch: '<S64>/Switch2'

       */

      if (rtDW->Merge_b < (int16_T)-rtb_Divide4_c) {

        rtb_Divide4_c = (int16_T)-rtb_Divide4_c;

      } else {

        rtb_Divide4_c = rtDW->Merge_b;

      }



      /* End of Switch: '<S64>/Switch' */

    }



    /* End of Switch: '<S64>/Switch2' */



    /* Outputs for Atomic SubSystem: '<S58>/PI_iq' */

    PI_iq((int16_T)(rtb_Divide4_c - rtb_DataTypeConversion[1]), 4096, 51, 1024,

          rtb_Divide1_fi, (int16_T)-rtb_Divide1_fi, 0, &rtDW->Switch2_m,

          &rtDW->PI_iq_g);



    /* End of Outputs for SubSystem: '<S58>/PI_iq' */

    /* End of Outputs for SubSystem: '<S47>/iq_ctrl' */



    /* Outputs for IfAction SubSystem: '<S47>/id_ctrl' incorporates:

     *  ActionPort: '<S57>/Action Port'

     */

    /* Switch: '<S60>/Switch2' incorporates:

     *  Constant: '<S47>/Constant3'

     *  Constant: '<S58>/Constant1'

     *  Constant: '<S58>/Constant7'

     *  Constant: '<S58>/Constant8'

     *  Gain: '<S46>/Gain4'

     *  Gain: '<S46>/Gain5'

     *  Inport: '<Root>/i_dc_limit'

     *  Interpolation_n-D: '<S46>/Vq_max_M1'

     *  Product: '<S24>/Divide3'

     *  RelationalOperator: '<S60>/LowerRelop1'

     *  RelationalOperator: '<S60>/UpperRelop'

     *  Sum: '<S58>/Add1'

     *  Switch: '<S60>/Switch'

     *  Switch: '<S64>/Switch2'

     */

    if (rtDW->Divide3 > rtU->i_dc_limit) {

      rtb_Switch_oi = rtU->i_dc_limit;

    } else if (rtDW->Divide3 < (int16_T)-rtU->i_dc_limit) {

      /* Switch: '<S60>/Switch' incorporates:

       *  Gain: '<S46>/Gain4'

       *  Switch: '<S60>/Switch2'

       */

      rtb_Switch_oi = (int16_T)-rtU->i_dc_limit;

    } else {

      rtb_Switch_oi = rtDW->Divide3;

    }



    /* End of Switch: '<S60>/Switch2' */



    /* Outputs for Atomic SubSystem: '<S57>/PI_id' */

    PI_id((int16_T)(rtb_Switch_oi - rtb_DataTypeConversion[0]), 4096, 51, 1024,

          rtU->vbus_voltage, (int16_T)-rtU->vbus_voltage, 0, &rtDW->Switch2,

          &rtDW->PI_id_b);



    /* End of Outputs for SubSystem: '<S57>/PI_id' */

    /* End of Outputs for SubSystem: '<S47>/id_ctrl' */

  }



  /* End of If: '<S47>/If' */



  /* Switch: '<S5>/Switch1' incorporates:

   *  Switch: '<S5>/Switch'

   *  Switch: '<S62>/Switch2'

   *  Switch: '<S66>/Switch2'

   */

  if (rtb_z_ctrlMod != 0) {

    rtb_Switch_oi = rtDW->Switch2_m;

    rtb_Divide1_fi = rtDW->Switch2;

  } else {

    rtb_Switch_oi = rtDW->Merge[1];

    rtb_Divide1_fi = rtDW->Merge[0];

  }



  /* End of Switch: '<S5>/Switch1' */



  /* Sum: '<S48>/Sum1' incorporates:

   *  Interpolation_n-D: '<S56>/r_cos_M1'

   *  Product: '<S48>/Divide2'

   *  Product: '<S48>/Divide3'

   *  Product: '<S67>/Divide4'

   *  Switch: '<S5>/Switch'

   *  Switch: '<S5>/Switch1'

   */

  rtb_Divide = (int16_T)((rtb_Divide1_fi * rtb_Abs5_h) >> 14) + (int16_T)

    ((rtb_Switch_oi * rtb_Sign) >> 14);

  if (rtb_Divide > 32767) {

    rtb_Divide = 32767;

  } else {

    if (rtb_Divide < -32768) {

      rtb_Divide = -32768;

    }

  }



  /* Sum: '<S48>/Sum6' incorporates:

   *  Interpolation_n-D: '<S56>/r_cos_M1'

   *  Product: '<S48>/Divide1'

   *  Product: '<S48>/Divide4'

   *  Product: '<S67>/Divide4'

   *  Switch: '<S5>/Switch'

   *  Switch: '<S5>/Switch1'

   */

  rtb_Gain1 = (int16_T)((rtb_Divide1_fi * rtb_Sign) >> 14) - (int16_T)

    ((rtb_Switch_oi * rtb_Abs5_h) >> 14);

  if (rtb_Gain1 > 32767) {

    rtb_Gain1 = 32767;

  } else {

    if (rtb_Gain1 < -32768) {

      rtb_Gain1 = -32768;

    }

  }



  /* Product: '<S67>/Divide3' incorporates:

   *  Constant: '<S67>/Constant1'

   *  Product: '<S67>/Divide'

   *  Sum: '<S48>/Sum6'

   */

  rtb_Sign = (int16_T)((3547 * (int16_T)rtb_Gain1) >> 12);



  /* Product: '<S67>/Divide4' incorporates:

   *  Constant: '<S67>/Constant'

   *  Constant: '<S67>/Constant2'

   *  Product: '<S67>/Divide2'

   *  Product: '<S67>/Divide8'

   *  Sum: '<S48>/Sum1'

   */

  rtb_MultiportSwitch_idx_0 = 2365 * (int16_T)((3547 * (int16_T)rtb_Divide) >>

    12);

  rtb_Abs5_h = (int16_T)(rtb_MultiportSwitch_idx_0 >> 12);



  /* Sum: '<S67>/Add' incorporates:

   *  Product: '<S67>/Divide'

   *  Product: '<S67>/Divide4'

   */

  rtb_Max = (int16_T)((rtb_Sign + rtb_Abs5_h) >> 1);



  /* Sum: '<S67>/Add1' incorporates:

   *  Product: '<S67>/Divide'

   *  Product: '<S67>/Divide4'

   */

  rtb_Abs5_h = (int16_T)((rtb_Abs5_h - rtb_Sign) >> 1);



  /* Product: '<S67>/Divide7' incorporates:

   *  Constant: '<S67>/Constant3'

   *  Sum: '<S48>/Sum1'

   */

  rtb_Sign = (int16_T)((2365 * (int16_T)rtb_Divide) >> 12);



  /* MATLAB Function: '<S67>/sector_select' incorporates:

   *  Product: '<S67>/Divide7'

   *  Sum: '<S48>/Sum1'

   *  Sum: '<S48>/Sum6'

   */

  if ((int16_T)rtb_Divide >= 0) {

    if ((int16_T)rtb_Gain1 >= 0) {

      if (rtb_Sign > (int16_T)rtb_Gain1) {

        /* DataTypeConversion: '<S67>/Data Type Conversion' */

        rtb_DataTypeConversion1_c = 2U;

      } else {

        /* DataTypeConversion: '<S67>/Data Type Conversion' */

        rtb_DataTypeConversion1_c = 1U;

      }

    } else if (-rtb_Sign > (int16_T)rtb_Gain1) {

      /* DataTypeConversion: '<S67>/Data Type Conversion' */

      rtb_DataTypeConversion1_c = 3U;

    } else {

      /* DataTypeConversion: '<S67>/Data Type Conversion' */

      rtb_DataTypeConversion1_c = 2U;

    }

  } else if ((int16_T)rtb_Gain1 >= 0) {

    if (-rtb_Sign > (int16_T)rtb_Gain1) {

      /* DataTypeConversion: '<S67>/Data Type Conversion' */

      rtb_DataTypeConversion1_c = 5U;

    } else {

      /* DataTypeConversion: '<S67>/Data Type Conversion' */

      rtb_DataTypeConversion1_c = 6U;

    }

  } else if (rtb_Sign > (int16_T)rtb_Gain1) {

    /* DataTypeConversion: '<S67>/Data Type Conversion' */

    rtb_DataTypeConversion1_c = 4U;

  } else {

    /* DataTypeConversion: '<S67>/Data Type Conversion' */

    rtb_DataTypeConversion1_c = 5U;

  }



  /* End of MATLAB Function: '<S67>/sector_select' */



  /* Product: '<S67>/Divide' incorporates:

   *  Inport: '<Root>/vbus_voltage'

   */

  rtb_Sign = (int16_T)(40960000 / rtU->vbus_voltage);



  /* Product: '<S67>/Divide1' incorporates:

   *  Product: '<S67>/Divide'

   *  Product: '<S67>/Divide8'

   */

  rtb_Divide4_c = (int16_T)(((rtb_MultiportSwitch_idx_0 >> 13) * rtb_Sign) >> 10);



  /* Product: '<S67>/Divide5' incorporates:

   *  Product: '<S67>/Divide'

   *  Sum: '<S67>/Add'

   */

  rtb_Max = (int16_T)((rtb_Max * rtb_Sign) >> 11);



  /* Product: '<S67>/Divide6' incorporates:

   *  Product: '<S67>/Divide'

   *  Sum: '<S67>/Add1'

   */

  rtb_Abs5_h = (int16_T)((rtb_Abs5_h * rtb_Sign) >> 11);



  /* MultiPortSwitch: '<S70>/Multiport Switch' incorporates:

   *  DataTypeConversion: '<S67>/Data Type Conversion1'

   *  Gain: '<S72>/Gain'

   *  Gain: '<S75>/Gain'

   *  Gain: '<S76>/Gain1'

   *  Product: '<S72>/Divide2'

   *  Product: '<S73>/Divide2'

   *  Product: '<S74>/Divide2'

   *  Product: '<S75>/Divide2'

   *  Product: '<S76>/Divide2'

   *  Product: '<S77>/Divide2'

   *  Sum: '<S72>/Add3'

   *  Sum: '<S73>/Add3'

   *  Sum: '<S74>/Add3'

   *  Sum: '<S75>/Add3'

   *  Sum: '<S76>/Add3'

   *  Sum: '<S77>/Add3'

   */

  switch (rtb_DataTypeConversion1_c) {

   case 1:

    /* Product: '<S72>/Divide' incorporates:

     *  Gain: '<S72>/Gain'

     *  Sum: '<S72>/Add'

     *  Sum: '<S72>/Add1'

     */

    rtb_Gain1 = (10000 - (rtb_Divide4_c - rtb_Abs5_h)) >> 2;



    /* Sum: '<S72>/Add2' incorporates:

     *  Product: '<S72>/Divide1'

     */

    rtb_Add2_l = (rtb_Divide4_c >> 1) + rtb_Gain1;

    rtb_MultiportSwitch_idx_0 = (-rtb_Abs5_h >> 1) + rtb_Add2_l;

    rtb_Divide = rtb_Add2_l;

    break;



   case 2:

    /* Product: '<S73>/Divide' incorporates:

     *  Sum: '<S73>/Add'

     *  Sum: '<S73>/Add1'

     */

    rtb_Sign = (int16_T)((int16_T)(10000 - (int16_T)(rtb_Abs5_h + rtb_Max)) >> 2);



    /* Sum: '<S73>/Add2' incorporates:

     *  Product: '<S73>/Divide1'

     */

    rtb_Divide4_c = (int16_T)((rtb_Max >> 1) + rtb_Sign);

    rtb_MultiportSwitch_idx_0 = rtb_Divide4_c;

    rtb_Divide = (int16_T)((rtb_Abs5_h >> 1) + rtb_Divide4_c);

    rtb_Gain1 = rtb_Sign;

    break;



   case 3:

    /* Product: '<S74>/Divide' incorporates:

     *  Gain: '<S74>/Gain'

     *  Sum: '<S74>/Add'

     *  Sum: '<S74>/Add1'

     */

    rtb_Divide = (10000 - (rtb_Divide4_c - rtb_Max)) >> 2;



    /* Sum: '<S74>/Add2' incorporates:

     *  Gain: '<S74>/Gain'

     *  Product: '<S74>/Divide1'

     */

    rtb_Gain1 = (-rtb_Max >> 1) + rtb_Divide;

    rtb_MultiportSwitch_idx_0 = rtb_Divide;

    rtb_Divide = (rtb_Divide4_c >> 1) + rtb_Gain1;

    break;



   case 4:

    /* Product: '<S75>/Divide' incorporates:

     *  Gain: '<S75>/Gain'

     *  Sum: '<S75>/Add'

     *  Sum: '<S75>/Add1'

     */

    rtb_Gain1 = (10000 - (rtb_Abs5_h - rtb_Divide4_c)) >> 2;



    /* Sum: '<S75>/Add2' incorporates:

     *  Product: '<S75>/Divide1'

     */

    rtb_Add2_l = (rtb_Abs5_h >> 1) + rtb_Gain1;

    rtb_MultiportSwitch_idx_0 = rtb_Gain1;

    rtb_Divide = rtb_Add2_l;

    rtb_Gain1 = (-rtb_Divide4_c >> 1) + rtb_Add2_l;

    break;



   case 5:

    /* Product: '<S76>/Divide' incorporates:

     *  Gain: '<S76>/Gain'

     *  Gain: '<S76>/Gain1'

     *  Sum: '<S76>/Add1'

     */

    rtb_Gain1 = (10000 - (-rtb_Abs5_h - rtb_Max)) >> 2;



    /* Sum: '<S76>/Add2' incorporates:

     *  Gain: '<S76>/Gain'

     *  Product: '<S76>/Divide1'

     */

    rtb_Add2_l = (-rtb_Abs5_h >> 1) + rtb_Gain1;

    rtb_MultiportSwitch_idx_0 = rtb_Add2_l;

    rtb_Divide = rtb_Gain1;

    rtb_Gain1 = (-rtb_Max >> 1) + rtb_Add2_l;

    break;



   default:

    /* Product: '<S77>/Divide' incorporates:

     *  Gain: '<S77>/Gain1'

     *  Sum: '<S77>/Add'

     *  Sum: '<S77>/Add1'

     */

    rtb_Divide = (10000 - (rtb_Max - rtb_Divide4_c)) >> 2;



    /* Sum: '<S77>/Add2' incorporates:

     *  Gain: '<S77>/Gain1'

     *  Product: '<S77>/Divide1'

     */

    rtb_Gain1 = (-rtb_Divide4_c >> 1) + rtb_Divide;

    rtb_MultiportSwitch_idx_0 = (rtb_Max >> 1) + rtb_Gain1;

    break;

  }



  /* End of MultiPortSwitch: '<S70>/Multiport Switch' */



  /* Switch: '<S69>/Switch2' incorporates:

   *  Constant: '<S67>/Constant6'

   *  RelationalOperator: '<S69>/LowerRelop1'

   *  RelationalOperator: '<S69>/UpperRelop'

   *  Switch: '<S69>/Switch'

   */

  if (rtb_MultiportSwitch_idx_0 > 5000) {

    rtb_LogicalOperator3 = 5000U;

  } else if (rtb_MultiportSwitch_idx_0 < 0) {

    /* Switch: '<S69>/Switch' incorporates:

     *  Constant: '<S67>/Constant5'

     */

    rtb_LogicalOperator3 = 0U;

  } else {

    rtb_LogicalOperator3 = (uint16_T)rtb_MultiportSwitch_idx_0;

  }



  if (rtb_Divide > 5000) {

    rtb_Switch2_idx_1 = 5000U;

  } else if (rtb_Divide < 0) {

    /* Switch: '<S69>/Switch' incorporates:

     *  Constant: '<S67>/Constant5'

     */

    rtb_Switch2_idx_1 = 0U;

  } else {

    rtb_Switch2_idx_1 = (uint16_T)rtb_Divide;

  }



  if (rtb_Gain1 > 5000) {

    rtb_Switch2_idx_2 = 5000U;

  } else if (rtb_Gain1 < 0) {

    /* Switch: '<S69>/Switch' incorporates:

     *  Constant: '<S67>/Constant5'

     */

    rtb_Switch2_idx_2 = 0U;

  } else {

    rtb_Switch2_idx_2 = (uint16_T)rtb_Gain1;

  }



  /* End of Switch: '<S69>/Switch2' */



  /* MultiPortSwitch: '<S68>/Multiport Switch' */

  switch (rtb_DataTypeConversion1_c) {

   case 1:

    rtb_MultiportSwitch_g_idx_0 = rtb_LogicalOperator3;

    rtb_MultiportSwitch_g_idx_1 = rtb_Switch2_idx_1;

    break;



   case 2:

    rtb_MultiportSwitch_g_idx_0 = rtb_Switch2_idx_1;

    rtb_MultiportSwitch_g_idx_1 = rtb_LogicalOperator3;

    break;



   case 3:

    rtb_MultiportSwitch_g_idx_0 = rtb_Switch2_idx_1;

    rtb_MultiportSwitch_g_idx_1 = rtb_Switch2_idx_2;

    break;



   case 4:

    rtb_MultiportSwitch_g_idx_0 = rtb_Switch2_idx_2;

    rtb_MultiportSwitch_g_idx_1 = rtb_Switch2_idx_1;

    break;



   case 5:

    rtb_MultiportSwitch_g_idx_0 = rtb_Switch2_idx_2;

    rtb_MultiportSwitch_g_idx_1 = rtb_LogicalOperator3;

    break;



   default:

    rtb_MultiportSwitch_g_idx_0 = rtb_LogicalOperator3;

    rtb_MultiportSwitch_g_idx_1 = rtb_Switch2_idx_2;

    break;

  }



  /* End of MultiPortSwitch: '<S68>/Multiport Switch' */



  /* Outport: '<Root>/PWM' incorporates:

   *  Constant: '<S68>/Constant'

   *  Constant: '<S68>/Constant1'

   *  Constant: '<S68>/Constant2'

   *  Constant: '<S68>/Constant3'

   *  MATLAB Function: '<S68>/Shunt_Three_Sample_Point'

   *  Outport: '<Root>/sector'

   */

  Shunt_Three_Sample_Point(rtb_MultiportSwitch_g_idx_0,

    rtb_MultiportSwitch_g_idx_1, rtb_DataTypeConversion1_c, 5000, 10, 10, 10,

    &rtY->PWM[6], &rtY->PWM[7], &rtY->sector);



  /* Update for Delay: '<S7>/Delay' incorporates:

   *  Inport: '<Root>/hall_a'

   */

  rtDW->Delay_DSTATE = rtU->hall_a;



  /* Update for Delay: '<S7>/Delay1' incorporates:

   *  Inport: '<Root>/hall_b'

   */

  rtDW->Delay1_DSTATE = rtU->hall_b;



  /* Update for Delay: '<S7>/Delay2' incorporates:

   *  Inport: '<Root>/hall_c'

   */

  rtDW->Delay2_DSTATE = rtU->hall_c;



  /* Update for UnitDelay: '<S10>/UnitDelay3' incorporates:

   *  Inport: '<Root>/hw_count'

   */

  rtDW->UnitDelay3_DSTATE = rtU->hw_count;



  /* Update for UnitDelay: '<S10>/UnitDelay4' incorporates:

   *  Abs: '<S10>/Abs5'

   */

  rtDW->UnitDelay4_DSTATE = rtb_Abs5;



  /* Update for UnitDelay: '<S34>/UnitDelay' */

  rtDW->UnitDelay_DSTATE_j = rtb_UnitDelay;



  /* Update for UnitDelay: '<S5>/UnitDelay2' incorporates:

   *  Switch: '<S5>/Switch1'

   */

  rtDW->UnitDelay2_DSTATE_p = rtb_Switch_oi;



  /* Update for UnitDelay: '<S5>/UnitDelay1' incorporates:

   *  Switch: '<S5>/Switch'

   */

  rtDW->UnitDelay1_DSTATE = rtb_Divide1_fi;



  /* Update for UnitDelay: '<S86>/Unit Delay' incorporates:

   *  Delay: '<S86>/Delay'

   */

  rtDW->UnitDelay_DSTATE_f = rtDW->Delay_DSTATE_n[0];



  /* Update for Delay: '<S86>/Delay' incorporates:

   *  Logic: '<S86>/Logical Operator1'

   */

  for (rtb_Divide = 0; rtb_Divide < 19; rtb_Divide++) {

    rtDW->Delay_DSTATE_n[rtb_Divide] = rtDW->Delay_DSTATE_n[rtb_Divide + 1];

  }



  rtDW->Delay_DSTATE_n[19] = !rtb_RelationalOperator4_f;



  /* End of Update for Delay: '<S86>/Delay' */

  /* End of Outputs for SubSystem: '<Root>/PMSM_Controller' */



  /* Outport: '<Root>/PWM' */

  rtY->PWM[0] = rtb_LogicalOperator3;

  rtY->PWM[3] = rtb_LogicalOperator3;

  rtY->PWM[1] = rtb_Switch2_idx_1;

  rtY->PWM[4] = rtb_Switch2_idx_1;

  rtY->PWM[2] = rtb_Switch2_idx_2;

  rtY->PWM[5] = rtb_Switch2_idx_2;



  /* Outport: '<Root>/n_MotError' */

  rtY->n_MotError = rtb_UnitDelay;



  /* Outport: '<Root>/iq' */

  rtY->iq = rtb_DataTypeConversion[1];



  /* Outport: '<Root>/id' */

  rtY->id = rtb_DataTypeConversion[0];



  /* Outport: '<Root>/angle' incorporates:

   *  Switch: '<S2>/Switch'

   */

  rtY->angle = rtb_Switch_b;



  /* Outport: '<Root>/rpm' incorporates:

   *  Switch: '<S10>/Switch2'

   */

  rtY->rpm = rtb_Switch2_ip;



  /* Outport: '<Root>/hall_angle' incorporates:

   *  Merge: '<S11>/Merge'

   */

  rtY->hall_angle = rtb_Switch3_c;



  /* Outport: '<Root>/hall_state' */

  rtY->hall_state = rtb_Add_cr;



  /* Outport: '<Root>/running_mode' */

  rtY->running_mode = rtb_z_ctrlMod;

}



/* Model initialize function */

void PMSM_Controller_initialize(RT_MODEL *const rtM)

{

  DW *rtDW = rtM->dwork;

  PrevZCX *rtPrevZCX = rtM->prevZCSigState;



  {

    int32_T i;

    rtPrevZCX->pi_speed_g.ResettableDelay_Reset_ZCE = POS_ZCSIG;



    /* SystemInitialize for Atomic SubSystem: '<Root>/PMSM_Controller' */

    /* InitializeConditions for Delay: '<S86>/Delay' */

    for (i = 0; i < 20; i++) {

      rtDW->Delay_DSTATE_n[i] = true;

    }



    /* End of InitializeConditions for Delay: '<S86>/Delay' */



    /* SystemInitialize for IfAction SubSystem: '<S10>/Raw_Motor_Speed_Estimation' */

    /* SystemInitialize for Outport: '<S15>/z_counter' incorporates:

     *  Inport: '<S15>/z_counterRawPrev'

     */

    rtDW->z_counterRawPrev = 200000U;



    /* End of SystemInitialize for SubSystem: '<S10>/Raw_Motor_Speed_Estimation' */



    /* SystemInitialize for Atomic SubSystem: '<S34>/Debounce_Filter' */

    Debounce_Filter_Init(&rtDW->Debounce_Filter_i);



    /* End of SystemInitialize for SubSystem: '<S34>/Debounce_Filter' */



    /* SystemInitialize for IfAction SubSystem: '<S50>/speed_mode' */

    /* SystemInitialize for Atomic SubSystem: '<S79>/pi_speed' */

    pi_speed_Init(&rtDW->pi_speed_g);



    /* End of SystemInitialize for SubSystem: '<S79>/pi_speed' */

    /* End of SystemInitialize for SubSystem: '<S50>/speed_mode' */

    /* End of SystemInitialize for SubSystem: '<Root>/PMSM_Controller' */

  }

}



/*

 * File trailer for generated code.

 *

 * [EOF]

 */