MC100/Simulink/PMSM_Controller_ert_rtw/PMSM_Controller.c

/*
 * File: PMSM_Controller.c
 *
 * Code generated for Simulink model 'PMSM_Controller'.
 *
 * Model version                  : 1.1455
 * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020
 * C/C++ source code generated on : Fri May 27 11:51:11 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"

/* Named constants for Chart: '<S4>/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)
#ifndef UCHAR_MAX
#include <limits.h>
#endif

#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
#error Code was generated for compiler with different sized uchar/char. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif

#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
#error Code was generated for compiler with different sized ushort/short. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif

#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized uint/int. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif

#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized ulong/long. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif

/* Skipping ulong_long/long_long check: insufficient preprocessor integer range. */
extern int16_T rt_sqrt_Us32En10_Ys16E_7VJYwqF9(int32_T u);
extern uint16_T rt_sqrt_Uu16En14_Yu16E_WMwW1mku(uint16_T u);
uint16_T plook_u16s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
  maxIndex);
extern void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T
  rty_y[2], DW_Low_Pass_Filter *localDW);
extern void PI_backCalc_fixdt_Init(DW_PI_backCalc_fixdt *localDW);
extern int32_T PI_backCalc_fixdt(int32_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_init,
  uint8_T rtu_reset, DW_PI_backCalc_fixdt *localDW, ZCE_PI_backCalc_fixdt
  *localZCE);
extern void PI_backCalc_fixdt_p_Init(DW_PI_backCalc_fixdt_i *localDW);
extern int32_T PI_backCalc_fixdt_o(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_init,
  uint8_T rtu_reset, DW_PI_backCalc_fixdt_i *localDW, ZCE_PI_backCalc_fixdt_e
  *localZCE);
extern void RateInit(int16_T rtu_initVal, int16_T rtu_target, int16_T rtu_step,
                     int16_T *rty_s_step, int16_T *rty_High, int16_T *rty_Low);
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;
}

/*
 * Output and update for atomic system:
 *    '<S48>/Low_Pass_Filter'
 *    '<S76>/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 rtb_Sum3_m;

  /* Sum: '<S56>/Sum2' incorporates:
   *  UnitDelay: '<S56>/UnitDelay1'
   */
  rtb_Sum3_m = rtu_u[0] - (localDW->UnitDelay1_DSTATE[0] >> 16);
  if (rtb_Sum3_m > 32767) {
    rtb_Sum3_m = 32767;
  } else {
    if (rtb_Sum3_m < -32768) {
      rtb_Sum3_m = -32768;
    }
  }

  /* Sum: '<S56>/Sum3' incorporates:
   *  Product: '<S56>/Divide3'
   *  Sum: '<S56>/Sum2'
   *  UnitDelay: '<S56>/UnitDelay1'
   */
  rtb_Sum3_m = rtu_coef * rtb_Sum3_m + localDW->UnitDelay1_DSTATE[0];

  /* DataTypeConversion: '<S56>/Data Type Conversion' */
  rty_y[0] = (int16_T)(rtb_Sum3_m >> 16);

  /* Update for UnitDelay: '<S56>/UnitDelay1' */
  localDW->UnitDelay1_DSTATE[0] = rtb_Sum3_m;

  /* Sum: '<S56>/Sum2' incorporates:
   *  UnitDelay: '<S56>/UnitDelay1'
   */
  rtb_Sum3_m = rtu_u[1] - (localDW->UnitDelay1_DSTATE[1] >> 16);
  if (rtb_Sum3_m > 32767) {
    rtb_Sum3_m = 32767;
  } else {
    if (rtb_Sum3_m < -32768) {
      rtb_Sum3_m = -32768;
    }
  }

  /* Sum: '<S56>/Sum3' incorporates:
   *  Product: '<S56>/Divide3'
   *  Sum: '<S56>/Sum2'
   *  UnitDelay: '<S56>/UnitDelay1'
   */
  rtb_Sum3_m = rtu_coef * rtb_Sum3_m + localDW->UnitDelay1_DSTATE[1];

  /* DataTypeConversion: '<S56>/Data Type Conversion' */
  rty_y[1] = (int16_T)(rtb_Sum3_m >> 16);

  /* Update for UnitDelay: '<S56>/UnitDelay1' */
  localDW->UnitDelay1_DSTATE[1] = rtb_Sum3_m;
}

/* System initialize for atomic system: '<S87>/PI_Speed' */
void PI_backCalc_fixdt_Init(DW_PI_backCalc_fixdt *localDW)
{
  /* InitializeConditions for Delay: '<S90>/Resettable Delay' */
  localDW->icLoad = 1U;
}

/* Output and update for atomic system: '<S87>/PI_Speed' */
int32_T PI_backCalc_fixdt(int32_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_init, uint8_T
  rtu_reset, DW_PI_backCalc_fixdt *localDW, ZCE_PI_backCalc_fixdt *localZCE)
{
  int32_T rty_pi_out_0;
  int64_T tmp;
  int64_T tmp_0;

  /* Product: '<S89>/Divide4' */
  tmp_0 = (int64_T)rtu_err * rtu_P;
  if (tmp_0 > 2147483647LL) {
    tmp_0 = 2147483647LL;
  } else {
    if (tmp_0 < -2147483648LL) {
      tmp_0 = -2147483648LL;
    }
  }

  /* Delay: '<S90>/Resettable Delay' incorporates:
   *  DataTypeConversion: '<S90>/Data Type Conversion2'
   */
  if ((rtu_reset > 0) && (localZCE->ResettableDelay_Reset_ZCE_f != POS_ZCSIG)) {
    localDW->icLoad = 1U;
  }

  localZCE->ResettableDelay_Reset_ZCE_f = (ZCSigState)(rtu_reset > 0);
  if (localDW->icLoad != 0) {
    localDW->ResettableDelay_DSTATE = rtu_init << 7;
  }

  /* Product: '<S89>/Divide1' incorporates:
   *  Product: '<S89>/Divide4'
   */
  tmp = ((int64_T)(int32_T)tmp_0 * rtu_I) >> 14;
  if (tmp > 2147483647LL) {
    tmp = 2147483647LL;
  } else {
    if (tmp < -2147483648LL) {
      tmp = -2147483648LL;
    }
  }

  /* Sum: '<S89>/Sum2' incorporates:
   *  Product: '<S89>/Divide1'
   *  UnitDelay: '<S89>/UnitDelay'
   */
  tmp = (int64_T)(int32_T)tmp + localDW->UnitDelay_DSTATE;
  if (tmp > 2147483647LL) {
    tmp = 2147483647LL;
  } else {
    if (tmp < -2147483648LL) {
      tmp = -2147483648LL;
    }
  }

  /* Sum: '<S90>/Sum1' incorporates:
   *  Delay: '<S90>/Resettable Delay'
   *  Sum: '<S89>/Sum2'
   */
  tmp = (((int64_T)localDW->ResettableDelay_DSTATE << 2) + (int32_T)tmp) >> 2;
  if (tmp > 2147483647LL) {
    tmp = 2147483647LL;
  } else {
    if (tmp < -2147483648LL) {
      tmp = -2147483648LL;
    }
  }

  /* Sum: '<S89>/Sum6' incorporates:
   *  DataTypeConversion: '<S90>/Data Type Conversion1'
   *  Product: '<S89>/Divide4'
   *  Sum: '<S90>/Sum1'
   */
  tmp_0 = (int64_T)((int32_T)tmp << 2) + (int32_T)tmp_0;
  if (tmp_0 > 2147483647LL) {
    tmp_0 = 2147483647LL;
  } else {
    if (tmp_0 < -2147483648LL) {
      tmp_0 = -2147483648LL;
    }
  }

  /* RelationalOperator: '<S91>/LowerRelop1' incorporates:
   *  Switch: '<S91>/Switch2'
   */
  rty_pi_out_0 = rtu_satMax << 9;

  /* Switch: '<S91>/Switch2' incorporates:
   *  RelationalOperator: '<S91>/LowerRelop1'
   *  Sum: '<S89>/Sum6'
   */
  if ((int32_T)tmp_0 <= rty_pi_out_0) {
    /* RelationalOperator: '<S91>/UpperRelop' incorporates:
     *  Switch: '<S91>/Switch'
     */
    rty_pi_out_0 = rtu_satMin << 9;

    /* Switch: '<S91>/Switch' incorporates:
     *  RelationalOperator: '<S91>/UpperRelop'
     */
    if ((int32_T)tmp_0 >= rty_pi_out_0) {
      rty_pi_out_0 = (int32_T)tmp_0;
    }
  }

  /* Update for UnitDelay: '<S89>/UnitDelay' incorporates:
   *  Product: '<S89>/Divide2'
   *  Sum: '<S89>/Sum3'
   *  Sum: '<S89>/Sum6'
   */
  localDW->UnitDelay_DSTATE = (int32_T)(((int64_T)(rty_pi_out_0 - (int32_T)tmp_0)
    * rtu_Kb) >> 14);

  /* Update for Delay: '<S90>/Resettable Delay' incorporates:
   *  Sum: '<S90>/Sum1'
   */
  localDW->icLoad = 0U;
  localDW->ResettableDelay_DSTATE = (int32_T)tmp;
  return rty_pi_out_0;
}

/*
 * System initialize for atomic system:
 *    '<S95>/PI_backCalc_fixdt'
 *    '<S95>/PI_backCalc_fixdt1'
 */
void PI_backCalc_fixdt_p_Init(DW_PI_backCalc_fixdt_i *localDW)
{
  /* InitializeConditions for Delay: '<S102>/Resettable Delay' */
  localDW->icLoad = 1U;
}

/*
 * Output and update for atomic system:
 *    '<S95>/PI_backCalc_fixdt'
 *    '<S95>/PI_backCalc_fixdt1'
 */
int32_T PI_backCalc_fixdt_o(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_init,
  uint8_T rtu_reset, DW_PI_backCalc_fixdt_i *localDW, ZCE_PI_backCalc_fixdt_e
  *localZCE)
{
  int32_T rty_pi_out_0;
  int64_T tmp;
  int64_T tmp_0;
  int32_T rtb_Divide4_n;

  /* Product: '<S100>/Divide4' */
  rtb_Divide4_n = (rtu_err * rtu_P) >> 1;

  /* Delay: '<S102>/Resettable Delay' incorporates:
   *  DataTypeConversion: '<S102>/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 = rtu_init << 7;
  }

  /* Product: '<S100>/Divide1' incorporates:
   *  Product: '<S100>/Divide4'
   */
  tmp_0 = ((int64_T)rtb_Divide4_n * rtu_I) >> 14;
  if (tmp_0 > 2147483647LL) {
    tmp_0 = 2147483647LL;
  } else {
    if (tmp_0 < -2147483648LL) {
      tmp_0 = -2147483648LL;
    }
  }

  /* Sum: '<S100>/Sum2' incorporates:
   *  Product: '<S100>/Divide1'
   *  UnitDelay: '<S100>/UnitDelay'
   */
  tmp_0 = (int64_T)(int32_T)tmp_0 + localDW->UnitDelay_DSTATE;
  if (tmp_0 > 2147483647LL) {
    tmp_0 = 2147483647LL;
  } else {
    if (tmp_0 < -2147483648LL) {
      tmp_0 = -2147483648LL;
    }
  }

  /* Sum: '<S102>/Sum1' incorporates:
   *  Delay: '<S102>/Resettable Delay'
   *  Sum: '<S100>/Sum2'
   */
  tmp_0 = (((int64_T)localDW->ResettableDelay_DSTATE << 2) + (int32_T)tmp_0) >>
    2;
  if (tmp_0 > 2147483647LL) {
    tmp_0 = 2147483647LL;
  } else {
    if (tmp_0 < -2147483648LL) {
      tmp_0 = -2147483648LL;
    }
  }

  /* Sum: '<S100>/Sum6' incorporates:
   *  DataTypeConversion: '<S102>/Data Type Conversion1'
   *  Product: '<S100>/Divide4'
   *  Sum: '<S102>/Sum1'
   */
  tmp = (int64_T)((int32_T)tmp_0 << 2) + rtb_Divide4_n;
  if (tmp > 2147483647LL) {
    tmp = 2147483647LL;
  } else {
    if (tmp < -2147483648LL) {
      tmp = -2147483648LL;
    }
  }

  /* RelationalOperator: '<S103>/LowerRelop1' incorporates:
   *  Switch: '<S103>/Switch2'
   */
  rty_pi_out_0 = rtu_satMax << 9;

  /* Switch: '<S103>/Switch2' incorporates:
   *  RelationalOperator: '<S103>/LowerRelop1'
   *  Sum: '<S100>/Sum6'
   */
  if ((int32_T)tmp <= rty_pi_out_0) {
    /* RelationalOperator: '<S103>/UpperRelop' incorporates:
     *  Switch: '<S103>/Switch'
     */
    rty_pi_out_0 = rtu_satMin << 9;

    /* Switch: '<S103>/Switch' incorporates:
     *  RelationalOperator: '<S103>/UpperRelop'
     */
    if ((int32_T)tmp >= rty_pi_out_0) {
      rty_pi_out_0 = (int32_T)tmp;
    }
  }

  /* Update for UnitDelay: '<S100>/UnitDelay' incorporates:
   *  Product: '<S100>/Divide2'
   *  Sum: '<S100>/Sum3'
   *  Sum: '<S100>/Sum6'
   */
  localDW->UnitDelay_DSTATE = (int32_T)(((int64_T)(rty_pi_out_0 - (int32_T)tmp) *
    rtu_Kb) >> 14);

  /* Update for Delay: '<S102>/Resettable Delay' incorporates:
   *  Sum: '<S102>/Sum1'
   */
  localDW->icLoad = 0U;
  localDW->ResettableDelay_DSTATE = (int32_T)tmp_0;
  return rty_pi_out_0;
}

/*
 * Output and update for action system:
 *    '<S108>/RateInit'
 *    '<S115>/RateInit'
 */
void RateInit(int16_T rtu_initVal, int16_T rtu_target, int16_T rtu_step, int16_T
              *rty_s_step, int16_T *rty_High, int16_T *rty_Low)
{
  int16_T rtb_Add_b;

  /* Sum: '<S109>/Add' */
  rtb_Add_b = (int16_T)((rtu_target - rtu_initVal) >> 1);

  /* Signum: '<S109>/Sign' incorporates:
   *  Sum: '<S109>/Add'
   */
  if (rtb_Add_b < 0) {
    rtb_Add_b = -1;
  } else {
    rtb_Add_b = (int16_T)(rtb_Add_b > 0);
  }

  /* End of Signum: '<S109>/Sign' */

  /* Product: '<S109>/Divide' */
  *rty_s_step = (int16_T)(rtu_step * rtb_Add_b);

  /* MinMax: '<S109>/Max' */
  if (rtu_target > rtu_initVal) {
    *rty_High = rtu_target;
  } else {
    *rty_High = rtu_initVal;
  }

  /* End of MinMax: '<S109>/Max' */

  /* MinMax: '<S109>/Max1' */
  if (rtu_initVal < rtu_target) {
    *rty_Low = rtu_initVal;
  } else {
    *rty_Low = rtu_target;
  }

  /* End of MinMax: '<S109>/Max1' */
}

int16_T rt_sqrt_Us32En10_Ys16E_7VJYwqF9(int32_T u)
{
  int32_T iBit;
  int16_T shiftMask;
  int16_T tmp01_y;
  int16_T y;

  /* Fixed-Point Sqrt Computation by the bisection method. */
  if (u > 0) {
    y = 0;
    shiftMask = 16384;
    for (iBit = 0; iBit < 15; iBit++) {
      tmp01_y = (int16_T)(y | shiftMask);
      if (tmp01_y * tmp01_y <= u) {
        y = tmp01_y;
      }

      shiftMask = (int16_T)((uint32_T)shiftMask >> 1U);
    }
  } else {
    y = 0;
  }

  return y;
}

uint16_T rt_sqrt_Uu16En14_Yu16E_WMwW1mku(uint16_T u)
{
  int32_T iBit;
  uint32_T tmp03_u;
  uint16_T shiftMask;
  uint16_T tmp01_y;
  uint16_T y;

  /* Fixed-Point Sqrt Computation by the bisection method. */
  if (u > 0) {
    y = 0U;
    shiftMask = 32768U;
    tmp03_u = (uint32_T)u << 14;
    for (iBit = 0; iBit < 16; iBit++) {
      tmp01_y = (uint16_T)(y | shiftMask);
      if ((uint32_T)tmp01_y * tmp01_y <= tmp03_u) {
        y = tmp01_y;
      }

      shiftMask = (uint16_T)((uint32_T)shiftMask >> 1U);
    }
  } else {
    y = 0U;
  }

  return y;
}

/* 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;
  int64_T tmp;
  uint64_T tmp_3;
  int32_T rtb_Gain_b0;
  int32_T rtb_Gain_p2;
  int32_T rtb_Sum1;
  int32_T rtb_Switch;
  int32_T rtb_Switch3;
  int32_T tmp_0;
  int32_T tmp_1;
  int32_T tmp_2;
  uint32_T qY;
  uint32_T rtb_Switch2;
  int16_T rtb_Multiply[2];
  int16_T rtb_UnitDelay1[2];
  int16_T rtb_Divide1_m;
  int16_T rtb_Divide3_k;
  int16_T rtb_Sum1_a;
  int16_T rtb_Sum3_jm;
  int16_T rtb_Sum6_k;
  int16_T rtb_Sum6_p;
  int16_T rtb_Switch_f_idx_0;
  int16_T rtb_Switch_f_idx_1;
  int16_T rtb_r_cos_M1;
  uint16_T rtb_BitwiseOperator2;
  uint16_T rtb_LogicalOperator3;
  int8_T UnitDelay3;
  int8_T rtb_Sum2;
  int8_T rtb_Sum2_tmp;
  uint8_T rtb_Add_gf;
  uint8_T rtb_DataTypeConversion_j;
  uint8_T rtb_Sum_i;
  uint8_T rtb_UnitDelay_bc;
  uint8_T rtb_z_ctrlMod;
  boolean_T rtb_Equal_k;
  boolean_T rtb_LogicalOperator12;
  boolean_T rtb_LogicalOperator2_h;
  boolean_T rtb_LogicalOperator4_e;
  boolean_T rtb_RelationalOperator4_f;
  boolean_T rtb_n_commDeacv;

  /* Outputs for Atomic SubSystem: '<Root>/PMSM_Controller' */
  /* UnitDelay: '<S6>/UnitDelay1' */
  rtb_UnitDelay1[0] = rtDW->UnitDelay1_DSTATE_f[0];
  rtb_UnitDelay1[1] = rtDW->UnitDelay1_DSTATE_f[1];

  /* S-Function (sfix_bitop): '<S4>/Bitwise Operator2' incorporates:
   *  Inport: '<Root>/FOC_Flags'
   */
  rtb_BitwiseOperator2 = (uint16_T)(rtU->FOC_Flags & 1);

  /* UnitDelay: '<S37>/UnitDelay' */
  rtb_UnitDelay_bc = rtDW->UnitDelay_DSTATE_j;

  /* Logic: '<S9>/Edge_Detect' incorporates:
   *  Delay: '<S9>/Delay'
   *  Delay: '<S9>/Delay1'
   *  Delay: '<S9>/Delay2'
   *  Inport: '<Root>/hall_A'
   *  Inport: '<Root>/hall_B'
   *  Inport: '<Root>/hall_C'
   */
  rtb_Equal_k = (boolean_T)((rtU->hall_A != 0) ^ (rtDW->Delay_DSTATE_d != 0) ^
    (rtU->hall_B != 0) ^ (rtDW->Delay1_DSTATE != 0) ^ (rtU->hall_C != 0)) ^
    (rtDW->Delay2_DSTATE != 0);

  /* Sum: '<S11>/Add' incorporates:
   *  Gain: '<S11>/Gain'
   *  Gain: '<S11>/Gain1'
   *  Inport: '<Root>/hall_A'
   *  Inport: '<Root>/hall_B'
   *  Inport: '<Root>/hall_C'
   */
  rtb_Add_gf = (uint8_T)((uint32_T)(uint8_T)((uint32_T)(uint8_T)(rtU->hall_C <<
    2) + (uint8_T)(rtU->hall_B << 1)) + rtU->hall_A);

  /* If: '<S3>/If2' incorporates:
   *  If: '<S14>/If2'
   *  Inport: '<S20>/z_counterRawPrev'
   *  UnitDelay: '<S14>/UnitDelay3'
   */
  if (rtb_Equal_k) {
    /* Outputs for IfAction SubSystem: '<S3>/Direction_Detection' incorporates:
     *  ActionPort: '<S8>/Action Port'
     */
    /* UnitDelay: '<S8>/UnitDelay3' */
    UnitDelay3 = rtDW->Switch2_i;

    /* End of Outputs for SubSystem: '<S3>/Direction_Detection' */

    /* Selector: '<S11>/Selector' incorporates:
     *  Constant: '<S11>/vec_hallToPos'
     */
    rtb_Sum2_tmp = rtConstP.vec_hallToPos_Value[rtb_Add_gf];

    /* Outputs for IfAction SubSystem: '<S3>/Direction_Detection' incorporates:
     *  ActionPort: '<S8>/Action Port'
     */
    /* Sum: '<S8>/Sum2' incorporates:
     *  Constant: '<S11>/vec_hallToPos'
     *  Selector: '<S11>/Selector'
     *  UnitDelay: '<S8>/UnitDelay2'
     */
    rtb_Sum2 = (int8_T)(rtb_Sum2_tmp - rtDW->UnitDelay2_DSTATE_j);

    /* Switch: '<S8>/Switch2' incorporates:
     *  Constant: '<S8>/Constant20'
     *  Constant: '<S8>/Constant8'
     *  Logic: '<S8>/Logical Operator3'
     *  RelationalOperator: '<S8>/Relational Operator1'
     *  RelationalOperator: '<S8>/Relational Operator6'
     */
    if ((rtb_Sum2 == 1) || (rtb_Sum2 == -5)) {
      /* Switch: '<S8>/Switch2' incorporates:
       *  Constant: '<S8>/Constant24'
       */
      rtDW->Switch2_i = 1;
    } else {
      /* Switch: '<S8>/Switch2' incorporates:
       *  Constant: '<S8>/Constant23'
       */
      rtDW->Switch2_i = -1;
    }

    /* End of Switch: '<S8>/Switch2' */

    /* Update for UnitDelay: '<S8>/UnitDelay2' */
    rtDW->UnitDelay2_DSTATE_j = rtb_Sum2_tmp;

    /* End of Outputs for SubSystem: '<S3>/Direction_Detection' */

    /* Outputs for IfAction SubSystem: '<S14>/Raw_Motor_Speed_Estimation' incorporates:
     *  ActionPort: '<S20>/Action Port'
     */
    /* RelationalOperator: '<S20>/Relational Operator4' */
    rtb_RelationalOperator4_f = (rtDW->Switch2_i != UnitDelay3);
    rtDW->z_counterRawPrev = rtDW->UnitDelay3_DSTATE;

    /* Switch: '<S20>/Switch3' incorporates:
     *  Constant: '<S20>/Constant4'
     *  Inport: '<S20>/z_counterRawPrev'
     *  Logic: '<S20>/Logical Operator1'
     *  Switch: '<S20>/Switch2'
     *  UnitDelay: '<S14>/UnitDelay3'
     *  UnitDelay: '<S20>/UnitDelay1'
     */
    if (rtb_RelationalOperator4_f && rtDW->UnitDelay1_DSTATE_iv) {
      rtb_Switch3 = 0;
    } else {
      if (rtb_RelationalOperator4_f) {
        /* Switch: '<S20>/Switch2' incorporates:
         *  UnitDelay: '<S14>/UnitDelay4'
         */
        rtb_Switch2 = rtDW->UnitDelay4_DSTATE;
      } else {
        /* Sum: '<S20>/Sum13' incorporates:
         *  Switch: '<S20>/Switch2'
         *  UnitDelay: '<S20>/UnitDelay2'
         *  UnitDelay: '<S20>/UnitDelay3'
         *  UnitDelay: '<S20>/UnitDelay5'
         */
        tmp_3 = (((uint64_T)rtDW->UnitDelay2_DSTATE + rtDW->UnitDelay3_DSTATE_l)
                 + rtDW->UnitDelay5_DSTATE) + rtDW->z_counterRawPrev;
        if (tmp_3 > 4294967295ULL) {
          tmp_3 = 4294967295ULL;
        }

        /* Product: '<S20>/Divide13' incorporates:
         *  Constant: '<S20>/cf_speedCoef'
         *  Constant: '<S20>/cf_speedCoef1'
         *  Gain: '<S20>/g_Ha'
         *  Product: '<S20>/Divide'
         *  Sum: '<S20>/Sum13'
         *  Switch: '<S20>/Switch2'
         */
        tmp_3 = ((uint64_T)((10000000U / rtP.n_polePairs) << 2) << 4) /
          (uint32_T)tmp_3;
        if (tmp_3 > 4294967295ULL) {
          tmp_3 = 4294967295ULL;
        }

        /* Switch: '<S20>/Switch2' incorporates:
         *  Product: '<S20>/Divide13'
         */
        rtb_Switch2 = (uint32_T)tmp_3;
      }

      rtb_Switch3 = (int32_T)rtb_Switch2;
    }

    /* End of Switch: '<S20>/Switch3' */

    /* Product: '<S20>/Divide11' incorporates:
     *  Switch: '<S20>/Switch3'
     */
    rtDW->Divide11 = rtb_Switch3 * rtDW->Switch2_i;

    /* Update for UnitDelay: '<S20>/UnitDelay1' */
    rtDW->UnitDelay1_DSTATE_iv = rtb_RelationalOperator4_f;

    /* Update for UnitDelay: '<S20>/UnitDelay2' incorporates:
     *  UnitDelay: '<S20>/UnitDelay3'
     */
    rtDW->UnitDelay2_DSTATE = rtDW->UnitDelay3_DSTATE_l;

    /* Update for UnitDelay: '<S20>/UnitDelay3' incorporates:
     *  UnitDelay: '<S20>/UnitDelay5'
     */
    rtDW->UnitDelay3_DSTATE_l = rtDW->UnitDelay5_DSTATE;

    /* Update for UnitDelay: '<S20>/UnitDelay5' */
    rtDW->UnitDelay5_DSTATE = rtDW->z_counterRawPrev;

    /* End of Outputs for SubSystem: '<S14>/Raw_Motor_Speed_Estimation' */
  }

  /* End of If: '<S3>/If2' */

  /* Switch: '<S14>/Switch2' incorporates:
   *  Constant: '<S14>/Constant4'
   *  Constant: '<S14>/z_maxCntRst'
   *  Gain: '<S14>/Gain'
   *  Inport: '<Root>/us_Count'
   *  Product: '<S20>/Divide11'
   *  RelationalOperator: '<S14>/Relational Operator2'
   */
  if (rtU->us_Count >= (rtP.n_hall_count_ps << 1)) {
    rtb_Switch3 = 0;
  } else {
    rtb_Switch3 = rtDW->Divide11;
  }

  /* End of Switch: '<S14>/Switch2' */

  /* Abs: '<S14>/Abs5' incorporates:
   *  Switch: '<S14>/Switch2'
   */
  if (rtb_Switch3 < 0) {
    rtb_Switch2 = (uint32_T)-rtb_Switch3;
  } else {
    rtb_Switch2 = (uint32_T)rtb_Switch3;
  }

  /* End of Abs: '<S14>/Abs5' */

  /* If: '<S14>/If1' */
  if (rtb_Equal_k) {
    /* Outputs for IfAction SubSystem: '<S14>/AdvCtrlDetect' incorporates:
     *  ActionPort: '<S19>/Action Port'
     */
    /* Relay: '<S19>/n_commDeacv' incorporates:
     *  Abs: '<S14>/Abs5'
     */
    rtDW->n_commDeacv_Mode = ((rtb_Switch2 >= 480U) || ((rtb_Switch2 > 240U) &&
      rtDW->n_commDeacv_Mode));

    /* RelationalOperator: '<S21>/Compare' incorporates:
     *  Constant: '<S21>/Constant'
     *  Relay: '<S19>/n_commDeacv'
     *  Sum: '<S19>/Sum13'
     *  UnitDelay: '<S19>/UnitDelay2'
     *  UnitDelay: '<S19>/UnitDelay3'
     *  UnitDelay: '<S19>/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: '<S19>/UnitDelay2' incorporates:
     *  UnitDelay: '<S19>/UnitDelay3'
     */
    rtDW->UnitDelay2_DSTATE_f = rtDW->UnitDelay3_DSTATE_lh;

    /* Update for UnitDelay: '<S19>/UnitDelay3' incorporates:
     *  UnitDelay: '<S19>/UnitDelay5'
     */
    rtDW->UnitDelay3_DSTATE_lh = rtDW->UnitDelay5_DSTATE_f;

    /* Update for UnitDelay: '<S19>/UnitDelay5' incorporates:
     *  Logic: '<S19>/Logical Operator3'
     *  Relay: '<S19>/n_commDeacv'
     */
    rtDW->UnitDelay5_DSTATE_f = rtDW->n_commDeacv_Mode;

    /* End of Outputs for SubSystem: '<S14>/AdvCtrlDetect' */
  }

  /* End of If: '<S14>/If1' */

  /* Switch: '<S37>/Switch3' incorporates:
   *  Abs: '<S14>/Abs5'
   *  Abs: '<S37>/Abs4'
   *  Constant: '<S37>/CTRL_COMM4'
   *  Inport: '<Root>/b_motEna'
   *  Logic: '<S37>/Logical Operator1'
   *  RelationalOperator: '<S14>/Relational Operator9'
   *  RelationalOperator: '<S37>/Relational Operator7'
   *  S-Function (sfix_bitop): '<S37>/Bitwise Operator1'
   *  UnitDelay: '<S6>/UnitDelay1'
   */
  if ((rtb_UnitDelay_bc & 4U) != 0U) {
    rtb_Equal_k = true;
  } else {
    if (rtDW->UnitDelay1_DSTATE_f[1] < 0) {
      /* Abs: '<S37>/Abs4' incorporates:
       *  UnitDelay: '<S6>/UnitDelay1'
       */
      rtb_Sum6_p = (int16_T)-rtDW->UnitDelay1_DSTATE_f[1];
    } else {
      /* Abs: '<S37>/Abs4' incorporates:
       *  UnitDelay: '<S6>/UnitDelay1'
       */
      rtb_Sum6_p = rtDW->UnitDelay1_DSTATE_f[1];
    }

    rtb_Equal_k = (rtU->b_motEna && (rtb_Switch2 < 48U) && (rtb_Sum6_p > 9920));
  }

  /* End of Switch: '<S37>/Switch3' */

  /* Sum: '<S37>/Sum' incorporates:
   *  Constant: '<S37>/CTRL_COMM'
   *  Constant: '<S37>/CTRL_COMM1'
   *  DataTypeConversion: '<S37>/Data Type Conversion3'
   *  Gain: '<S37>/g_Hb'
   *  Gain: '<S37>/g_Hb1'
   *  RelationalOperator: '<S37>/Relational Operator1'
   *  RelationalOperator: '<S37>/Relational Operator3'
   */
  rtb_Sum_i = (uint8_T)(((uint32_T)((rtb_Add_gf == 7) << 1) + (rtb_Add_gf == 0))
                        + (rtb_Equal_k << 2));

  /* RelationalOperator: '<S37>/Relational Operator2' incorporates:
   *  Constant: '<S37>/CTRL_COMM2'
   */
  rtb_RelationalOperator4_f = (rtb_Sum_i != 0);

  /* RelationalOperator: '<S42>/Relational Operator' incorporates:
   *  UnitDelay: '<S42>/UnitDelay'
   */
  rtb_n_commDeacv = (rtb_RelationalOperator4_f != rtDW->UnitDelay_DSTATE_n);

  /* If: '<S38>/If2' incorporates:
   *  Inport: '<S40>/yPrev'
   *  Logic: '<S38>/Logical Operator1'
   *  Logic: '<S38>/Logical Operator2'
   *  Logic: '<S38>/Logical Operator3'
   *  Logic: '<S38>/Logical Operator4'
   *  UnitDelay: '<S38>/UnitDelay'
   */
  if (rtb_RelationalOperator4_f && (!rtDW->UnitDelay_DSTATE_k)) {
    /* Outputs for IfAction SubSystem: '<S38>/Qualification' incorporates:
     *  ActionPort: '<S43>/Action Port'
     */
    /* Switch: '<S47>/Switch1' incorporates:
     *  Constant: '<S47>/Constant23'
     *  UnitDelay: '<S47>/UnitDelay'
     */
    if (rtb_n_commDeacv) {
      rtb_LogicalOperator3 = 0U;
    } else {
      rtb_LogicalOperator3 = rtDW->UnitDelay_DSTATE_p;
    }

    /* End of Switch: '<S47>/Switch1' */

    /* Switch: '<S43>/Switch2' incorporates:
     *  Constant: '<S37>/t_errQual'
     *  Constant: '<S43>/Constant6'
     *  RelationalOperator: '<S43>/Relational Operator2'
     *  Sum: '<S46>/Sum1'
     */
    rtb_n_commDeacv = (((uint16_T)(rtb_LogicalOperator3 + 1U) > 1600) ||
                       rtDW->UnitDelay_DSTATE_k);

    /* MinMax: '<S46>/MinMax' incorporates:
     *  Constant: '<S43>/Constant6'
     *  Sum: '<S46>/Sum1'
     */
    if ((uint16_T)(rtb_LogicalOperator3 + 1U) < 1600) {
      /* Update for UnitDelay: '<S47>/UnitDelay' */
      rtDW->UnitDelay_DSTATE_p = (uint16_T)(rtb_LogicalOperator3 + 1U);
    } else {
      /* Update for UnitDelay: '<S47>/UnitDelay' */
      rtDW->UnitDelay_DSTATE_p = 1600U;
    }

    /* End of MinMax: '<S46>/MinMax' */
    /* End of Outputs for SubSystem: '<S38>/Qualification' */
  } else if ((!rtb_RelationalOperator4_f) && rtDW->UnitDelay_DSTATE_k) {
    /* Outputs for IfAction SubSystem: '<S38>/Dequalification' incorporates:
     *  ActionPort: '<S41>/Action Port'
     */
    /* Switch: '<S45>/Switch1' incorporates:
     *  Constant: '<S45>/Constant23'
     *  UnitDelay: '<S45>/UnitDelay'
     */
    if (rtb_n_commDeacv) {
      rtb_LogicalOperator3 = 0U;
    } else {
      rtb_LogicalOperator3 = rtDW->UnitDelay_DSTATE_f;
    }

    /* End of Switch: '<S45>/Switch1' */

    /* Switch: '<S41>/Switch2' incorporates:
     *  Constant: '<S37>/t_errDequal'
     *  Constant: '<S41>/Constant6'
     *  RelationalOperator: '<S41>/Relational Operator2'
     *  Sum: '<S44>/Sum1'
     */
    rtb_n_commDeacv = (((uint16_T)(rtb_LogicalOperator3 + 1U) <= 12000) &&
                       rtDW->UnitDelay_DSTATE_k);

    /* MinMax: '<S44>/MinMax' incorporates:
     *  Constant: '<S41>/Constant6'
     *  Sum: '<S44>/Sum1'
     */
    if ((uint16_T)(rtb_LogicalOperator3 + 1U) < 12000) {
      /* Update for UnitDelay: '<S45>/UnitDelay' */
      rtDW->UnitDelay_DSTATE_f = (uint16_T)(rtb_LogicalOperator3 + 1U);
    } else {
      /* Update for UnitDelay: '<S45>/UnitDelay' */
      rtDW->UnitDelay_DSTATE_f = 12000U;
    }

    /* End of MinMax: '<S44>/MinMax' */
    /* End of Outputs for SubSystem: '<S38>/Dequalification' */
  } else {
    /* Outputs for IfAction SubSystem: '<S38>/Default' incorporates:
     *  ActionPort: '<S40>/Action Port'
     */
    rtb_n_commDeacv = rtDW->UnitDelay_DSTATE_k;

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

  /* End of If: '<S38>/If2' */

  /* Logic: '<S25>/Logical Operator12' incorporates:
   *  Inport: '<Root>/b_motEna'
   *  Logic: '<S25>/Logical Operator7'
   */
  rtb_LogicalOperator12 = ((!rtb_n_commDeacv) && rtU->b_motEna);

  /* Logic: '<S25>/Logical Operator4' incorporates:
   *  Constant: '<S25>/constant8'
   *  Inport: '<Root>/n_ctrlModReq'
   *  Logic: '<S25>/Logical Operator11'
   *  Logic: '<S25>/Logical Operator8'
   *  RelationalOperator: '<S25>/Relational Operator10'
   */
  rtb_LogicalOperator4_e = ((rtb_BitwiseOperator2 != 0) || (!rtDW->Compare) || (
    !rtb_LogicalOperator12) || (rtU->n_ctrlModReq == 0));

  /* Abs: '<S4>/Abs2' incorporates:
   *  Switch: '<S14>/Switch2'
   */
  if (rtb_Switch3 < 0) {
    rtb_LogicalOperator3 = (uint16_T)((uint32_T)-rtb_Switch3 >> 4);
  } else {
    rtb_LogicalOperator3 = (uint16_T)((uint32_T)rtb_Switch3 >> 4);
  }

  /* End of Abs: '<S4>/Abs2' */

  /* Relay: '<S25>/n_SpeedCtrl' */
  rtDW->n_SpeedCtrl_Mode = ((rtb_LogicalOperator3 >= 300) ||
    ((rtb_LogicalOperator3 > 200) && rtDW->n_SpeedCtrl_Mode));

  /* Logic: '<S25>/Logical Operator10' incorporates:
   *  Inport: '<Root>/b_cruiseEna'
   *  Relay: '<S25>/n_SpeedCtrl'
   */
  rtb_Equal_k = (rtDW->n_SpeedCtrl_Mode && rtU->b_cruiseEna);

  /* Logic: '<S25>/Logical Operator2' incorporates:
   *  Constant: '<S25>/constant'
   *  Inport: '<Root>/n_ctrlModReq'
   *  Logic: '<S25>/Logical Operator5'
   *  RelationalOperator: '<S25>/Relational Operator4'
   */
  rtb_LogicalOperator2_h = ((rtU->n_ctrlModReq == 2) && (!rtb_Equal_k));

  /* Logic: '<S25>/Logical Operator1' incorporates:
   *  Constant: '<S25>/constant1'
   *  Inport: '<Root>/n_ctrlModReq'
   *  RelationalOperator: '<S25>/Relational Operator1'
   */
  rtb_Equal_k = ((rtU->n_ctrlModReq == 1) || rtb_Equal_k);

  /* Chart: '<S4>/Control_Mode_Manager' incorporates:
   *  Logic: '<S25>/Logical Operator3'
   *  Logic: '<S25>/Logical Operator6'
   *  Logic: '<S25>/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_e) {
      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_Equal_k) {
        if (rtb_LogicalOperator2_h) {
          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_h) {
        rtDW->is_ACTIVE = IN_SPEED_MODE;
        rtb_z_ctrlMod = SPD_MODE;
      }
    }
  } else {
    /* case IN_OPEN: */
    rtb_z_ctrlMod = OPEN_MODE;
    if ((!rtb_LogicalOperator4_e) && (rtb_LogicalOperator2_h || rtb_Equal_k)) {
      rtDW->is_c5_PMSM_Controller = IN_ACTIVE;
      if (rtb_LogicalOperator2_h) {
        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: '<S4>/Control_Mode_Manager' */

  /* Gain: '<S52>/Multiply' incorporates:
   *  Inport: '<Root>/adc_Pha'
   *  Inport: '<Root>/adc_Phb'
   */
  rtb_Gain_b0 = (12351 * rtU->adc_Pha) >> 12;
  if (rtb_Gain_b0 > 32767) {
    rtb_Gain_b0 = 32767;
  } else {
    if (rtb_Gain_b0 < -32768) {
      rtb_Gain_b0 = -32768;
    }
  }

  tmp_2 = (12351 * rtU->adc_Phb) >> 12;
  if (tmp_2 > 32767) {
    tmp_2 = 32767;
  } else {
    if (tmp_2 < -32768) {
      tmp_2 = -32768;
    }
  }

  /* Sum: '<S48>/Add' incorporates:
   *  Gain: '<S52>/Multiply'
   */
  tmp_0 = (int16_T)rtb_Gain_b0 + (int16_T)tmp_2;
  if (tmp_0 > 32767) {
    tmp_0 = 32767;
  } else {
    if (tmp_0 < -32768) {
      tmp_0 = -32768;
    }
  }

  /* Sum: '<S48>/Add1' incorporates:
   *  Sum: '<S48>/Add'
   */
  tmp_1 = -tmp_0;
  if (-tmp_0 > 32767) {
    tmp_1 = 32767;
  }

  /* Sum: '<S55>/Add3' incorporates:
   *  Gain: '<S52>/Multiply'
   *  Sum: '<S48>/Add1'
   */
  tmp_0 = (int16_T)tmp_2 + (int16_T)tmp_1;

  /* Gain: '<S55>/Gain' incorporates:
   *  Gain: '<S52>/Multiply'
   */
  if ((int16_T)rtb_Gain_b0 > 16383) {
    rtb_Sum6_p = MAX_int16_T;
  } else if ((int16_T)rtb_Gain_b0 <= -16384) {
    rtb_Sum6_p = MIN_int16_T;
  } else {
    rtb_Sum6_p = (int16_T)((int16_T)rtb_Gain_b0 << 1);
  }

  /* End of Gain: '<S55>/Gain' */

  /* Sum: '<S55>/Add3' */
  if (tmp_0 > 16383) {
    rtb_Divide1_m = MAX_int16_T;
  } else if (tmp_0 <= -16384) {
    rtb_Divide1_m = MIN_int16_T;
  } else {
    rtb_Divide1_m = (int16_T)(tmp_0 << 1);
  }

  /* Sum: '<S55>/Add' */
  rtb_Gain_b0 = ((rtb_Sum6_p << 1) - rtb_Divide1_m) >> 1;
  if (rtb_Gain_b0 > 32767) {
    rtb_Gain_b0 = 32767;
  } else {
    if (rtb_Gain_b0 < -32768) {
      rtb_Gain_b0 = -32768;
    }
  }

  /* Gain: '<S55>/Gain1' incorporates:
   *  Product: '<S57>/Divide1'
   *  Sum: '<S55>/Add'
   */
  rtb_Divide1_m = (int16_T)((21845 * rtb_Gain_b0) >> 16);

  /* Switch: '<S10>/Switch3' incorporates:
   *  Constant: '<S10>/Constant16'
   *  Constant: '<S10>/Constant2'
   *  Constant: '<S11>/vec_hallToPos'
   *  RelationalOperator: '<S10>/Relational Operator7'
   *  Selector: '<S11>/Selector'
   *  Sum: '<S10>/Sum1'
   */
  if (rtDW->Switch2_i == 1) {
    rtb_Sum2 = rtConstP.vec_hallToPos_Value[rtb_Add_gf];
  } else {
    rtb_Sum2 = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Add_gf] + 1);
  }

  /* End of Switch: '<S10>/Switch3' */

  /* MinMax: '<S10>/MinMax' incorporates:
   *  Inport: '<Root>/us_Count'
   */
  if (rtU->us_Count < rtDW->z_counterRawPrev) {
    qY = rtU->us_Count;
  } else {
    qY = rtDW->z_counterRawPrev;
  }

  /* End of MinMax: '<S10>/MinMax' */

  /* Sum: '<S10>/Sum3' incorporates:
   *  Product: '<S10>/Divide1'
   *  Product: '<S10>/Divide3'
   */
  rtb_Sum3_jm = (int16_T)(((int16_T)((int16_T)(((uint64_T)qY << 14) /
    rtDW->z_counterRawPrev) * rtDW->Switch2_i) + (rtb_Sum2 << 14)) >> 2);

  /* MinMax: '<S10>/MinMax1' incorporates:
   *  Constant: '<S10>/Constant1'
   *  Sum: '<S10>/Sum3'
   *  Switch: '<S10>/Switch2'
   */
  if (rtb_Sum3_jm <= 0) {
    rtb_Sum3_jm = 0;
  }

  /* End of MinMax: '<S10>/MinMax1' */

  /* Sum: '<S15>/Add2' incorporates:
   *  Constant: '<S15>/Constant2'
   *  Product: '<S10>/Divide2'
   */
  rtb_Sum3_jm = (int16_T)((((15 * rtb_Sum3_jm) >> 4) + (rtP.i_hall_offset << 2))
    >> 2);

  /* DataTypeConversion: '<S15>/Data Type Conversion' incorporates:
   *  Sum: '<S15>/Add2'
   */
  rtb_r_cos_M1 = (int16_T)(rtb_Sum3_jm >> 4);

  /* If: '<S15>/If' incorporates:
   *  Constant: '<S15>/Constant1'
   *  Constant: '<S15>/Constant3'
   *  Inport: '<S16>/In1'
   *  Inport: '<S18>/In1'
   *  Merge: '<S15>/Merge'
   *  Sum: '<S15>/Add'
   *  Sum: '<S15>/Add1'
   *  Sum: '<S15>/Add2'
   */
  if (rtb_r_cos_M1 >= 360) {
    /* Outputs for IfAction SubSystem: '<S15>/If Action Subsystem' incorporates:
     *  ActionPort: '<S16>/Action Port'
     */
    rtb_Sum3_jm = (int16_T)(rtb_Sum3_jm - 5760);

    /* End of Outputs for SubSystem: '<S15>/If Action Subsystem' */
  } else {
    if (rtb_r_cos_M1 < 0) {
      /* Outputs for IfAction SubSystem: '<S15>/If Action Subsystem2' incorporates:
       *  ActionPort: '<S18>/Action Port'
       */
      rtb_Sum3_jm = (int16_T)(rtb_Sum3_jm + 5760);

      /* End of Outputs for SubSystem: '<S15>/If Action Subsystem2' */
    }
  }

  /* End of If: '<S15>/If' */

  /* If: '<S3>/If' incorporates:
   *  Inport: '<Root>/FOC_Flags'
   */
  if ((rtU->FOC_Flags == 0) || (rtU->FOC_Flags == 2)) {
    /* Outputs for IfAction SubSystem: '<S3>/If Action Subsystem' incorporates:
     *  ActionPort: '<S12>/Action Port'
     */
    /* Merge: '<S3>/Merge' incorporates:
     *  Inport: '<S12>/In1'
     *  Merge: '<S15>/Merge'
     */
    rtDW->Merge_i = rtb_Sum3_jm;

    /* End of Outputs for SubSystem: '<S3>/If Action Subsystem' */
  } else {
    if (rtU->FOC_Flags == 1) {
      /* Outputs for IfAction SubSystem: '<S3>/If Action Subsystem1' incorporates:
       *  ActionPort: '<S13>/Action Port'
       */
      /* Merge: '<S3>/Merge' incorporates:
       *  Inport: '<Root>/theta_Open'
       *  Inport: '<S13>/In1'
       */
      rtDW->Merge_i = rtU->theta_Open;

      /* End of Outputs for SubSystem: '<S3>/If Action Subsystem1' */
    }
  }

  /* End of If: '<S3>/If' */

  /* PreLookup: '<S58>/a_elecAngle_XA' incorporates:
   *  Merge: '<S3>/Merge'
   */
  rtb_LogicalOperator3 = plook_u16s16_evencka(rtDW->Merge_i, 0, 16U, 360U);

  /* Sum: '<S55>/Add2' incorporates:
   *  Gain: '<S52>/Multiply'
   *  Sum: '<S48>/Add1'
   */
  rtb_Gain_b0 = (int16_T)tmp_2 - (int16_T)tmp_1;
  if (rtb_Gain_b0 > 32767) {
    rtb_Gain_b0 = 32767;
  } else {
    if (rtb_Gain_b0 < -32768) {
      rtb_Gain_b0 = -32768;
    }
  }

  /* Gain: '<S55>/Gain2' incorporates:
   *  Sum: '<S55>/Add2'
   *  Sum: '<S57>/Sum6'
   */
  rtb_Sum6_p = (int16_T)((18919 * rtb_Gain_b0) >> 15);

  /* Sum: '<S57>/Sum1' incorporates:
   *  Interpolation_n-D: '<S58>/r_cos_M1'
   *  Interpolation_n-D: '<S58>/r_sin_M1'
   *  Product: '<S57>/Divide1'
   *  Product: '<S57>/Divide2'
   *  Product: '<S57>/Divide3'
   *  Sum: '<S57>/Sum6'
   */
  rtb_Gain_b0 = ((rtb_Divide1_m * rtConstP.pooled8[rtb_LogicalOperator3]) >> 14)
    + (int16_T)((rtb_Sum6_p * rtConstP.pooled7[rtb_LogicalOperator3]) >> 14);
  if (rtb_Gain_b0 > 32767) {
    rtb_Gain_b0 = 32767;
  } else {
    if (rtb_Gain_b0 < -32768) {
      rtb_Gain_b0 = -32768;
    }
  }

  /* SignalConversion generated from: '<S48>/Low_Pass_Filter' incorporates:
   *  Sum: '<S57>/Sum1'
   */
  rtb_Multiply[0] = (int16_T)rtb_Gain_b0;

  /* Sum: '<S57>/Sum6' incorporates:
   *  Interpolation_n-D: '<S58>/r_cos_M1'
   *  Interpolation_n-D: '<S58>/r_sin_M1'
   *  Product: '<S57>/Divide1'
   *  Product: '<S57>/Divide4'
   */
  rtb_Gain_b0 = (int16_T)((rtb_Sum6_p * rtConstP.pooled8[rtb_LogicalOperator3]) >>
    14) - ((rtb_Divide1_m * rtConstP.pooled7[rtb_LogicalOperator3]) >> 14);
  if (rtb_Gain_b0 > 32767) {
    rtb_Gain_b0 = 32767;
  } else {
    if (rtb_Gain_b0 < -32768) {
      rtb_Gain_b0 = -32768;
    }
  }

  /* SignalConversion generated from: '<S48>/Low_Pass_Filter' incorporates:
   *  Sum: '<S57>/Sum6'
   */
  rtb_Multiply[1] = (int16_T)rtb_Gain_b0;

  /* Outputs for Atomic SubSystem: '<S48>/Low_Pass_Filter' */
  /* Constant: '<S48>/Constant' incorporates:
   *  Outport: '<Root>/f_Idq'
   */
  Low_Pass_Filter(rtb_Multiply, rtP.f_lpf_idq, rtY->f_Idq,
                  &rtDW->Low_Pass_Filter_d);

  /* End of Outputs for SubSystem: '<S48>/Low_Pass_Filter' */

  /* Switch: '<S24>/Switch' incorporates:
   *  Constant: '<S24>/Constant3'
   *  Inport: '<Root>/spd_Target'
   */
  if (rtU->spd_Target > 240) {
    /* Switch: '<S24>/Switch1' incorporates:
     *  Constant: '<S24>/Constant1'
     *  DataTypeConversion: '<S24>/Data Type Conversion'
     *  Switch: '<S24>/Switch'
     */
    if (rtb_LogicalOperator12) {
      rtb_Switch = rtU->spd_Target;
    } else {
      rtb_Switch = 0;
    }

    /* End of Switch: '<S24>/Switch1' */
  } else {
    rtb_Switch = 0;
  }

  /* End of Switch: '<S24>/Switch' */

  /* Switch: '<S24>/Switch3' incorporates:
   *  Constant: '<S24>/Constant4'
   *  DataTypeConversion: '<S24>/Data Type Conversion2'
   *  Inport: '<Root>/vdq_Open'
   */
  if (rtb_LogicalOperator12) {
    rtb_Sum6_p = rtU->vdq_Open[1];
  } else {
    rtb_Sum6_p = 0;
  }

  /* End of Switch: '<S24>/Switch3' */

  /* Sum: '<S7>/Sum3' incorporates:
   *  UnitDelay: '<S7>/UnitDelay1'
   */
  qY = rtDW->UnitDelay1_DSTATE + /*MW:OvSatOk*/ 1U;
  if (rtDW->UnitDelay1_DSTATE + 1U < 1U) {
    qY = MAX_uint32_T;
  }

  /* RelationalOperator: '<S2>/Equal' incorporates:
   *  Constant: '<S2>/Constant1'
   *  Math: '<S2>/Rem'
   *  Sum: '<S7>/Sum3'
   */
  rtb_Equal_k = (qY % 40U == 0U);

  /* If: '<S26>/If' incorporates:
   *  DataTypeConversion: '<S26>/Data Type Conversion1'
   *  DataTypeConversion: '<S26>/Data Type Conversion2'
   *  Inport: '<Root>/idq_Target'
   *  Inport: '<S27>/vq_in'
   *  Inport: '<S30>/r_currTgt'
   *  Switch: '<S24>/Switch3'
   */
  if (rtb_BitwiseOperator2 == 1) {
    /* Switch: '<S24>/Switch2' incorporates:
     *  Constant: '<S24>/Constant2'
     *  DataTypeConversion: '<S24>/Data Type Conversion1'
     *  Inport: '<Root>/vdq_Open'
     *  Inport: '<S27>/vd_in'
     */
    if (rtb_LogicalOperator12) {
      /* Outputs for IfAction SubSystem: '<S26>/If Action Subsystem' incorporates:
       *  ActionPort: '<S27>/Action Port'
       */
      rtDW->Merge[0] = rtU->vdq_Open[0];

      /* End of Outputs for SubSystem: '<S26>/If Action Subsystem' */
    } else {
      /* Outputs for IfAction SubSystem: '<S26>/If Action Subsystem' incorporates:
       *  ActionPort: '<S27>/Action Port'
       */
      rtDW->Merge[0] = 0;

      /* End of Outputs for SubSystem: '<S26>/If Action Subsystem' */
    }

    /* End of Switch: '<S24>/Switch2' */

    /* Outputs for IfAction SubSystem: '<S26>/If Action Subsystem' incorporates:
     *  ActionPort: '<S27>/Action Port'
     */
    rtDW->Merge[1] = rtb_Sum6_p;

    /* End of Outputs for SubSystem: '<S26>/If Action Subsystem' */
  } else if ((rtb_z_ctrlMod == 0) && rtb_Equal_k) {
    /* Outputs for IfAction SubSystem: '<S26>/open_mode' incorporates:
     *  ActionPort: '<S29>/Action Port'
     */
    /* RelationalOperator: '<S31>/Relational Operator' incorporates:
     *  Switch: '<S24>/Switch3'
     *  UnitDelay: '<S31>/UnitDelay'
     */
    rtb_LogicalOperator12 = (rtb_Sum6_p != rtDW->UnitDelay_DSTATE_e);

    /* If: '<S32>/If' */
    if (rtb_LogicalOperator12) {
      /* Outputs for IfAction SubSystem: '<S32>/RateInit' incorporates:
       *  ActionPort: '<S33>/Action Port'
       */
      /* Sum: '<S33>/Add' incorporates:
       *  Switch: '<S24>/Switch3'
       *  UnitDelay: '<S6>/UnitDelay1'
       */
      rtb_Divide1_m = (int16_T)((rtb_Sum6_p - rtDW->UnitDelay1_DSTATE_f[1]) >> 1);

      /* Signum: '<S33>/Sign' incorporates:
       *  Sum: '<S33>/Add'
       */
      if (rtb_Divide1_m < 0) {
        rtb_Divide1_m = -1;
      } else {
        rtb_Divide1_m = (int16_T)(rtb_Divide1_m > 0);
      }

      /* End of Signum: '<S33>/Sign' */

      /* Product: '<S33>/Divide' incorporates:
       *  Constant: '<S29>/Constant5'
       */
      rtDW->Divide = (int16_T)(rtP.dz_OpenStepVol * rtb_Divide1_m);

      /* MinMax: '<S33>/Max' incorporates:
       *  Switch: '<S24>/Switch3'
       *  UnitDelay: '<S6>/UnitDelay1'
       */
      if (rtb_Sum6_p > rtDW->UnitDelay1_DSTATE_f[1]) {
        /* MinMax: '<S33>/Max' */
        rtDW->Max_p = rtb_Sum6_p;
      } else {
        /* MinMax: '<S33>/Max' */
        rtDW->Max_p = rtDW->UnitDelay1_DSTATE_f[1];
      }

      /* End of MinMax: '<S33>/Max' */

      /* MinMax: '<S33>/Max1' incorporates:
       *  Switch: '<S24>/Switch3'
       *  UnitDelay: '<S6>/UnitDelay1'
       */
      if (rtDW->UnitDelay1_DSTATE_f[1] < rtb_Sum6_p) {
        /* MinMax: '<S33>/Max1' */
        rtDW->Max1_g = rtDW->UnitDelay1_DSTATE_f[1];
      } else {
        /* MinMax: '<S33>/Max1' */
        rtDW->Max1_g = rtb_Sum6_p;
      }

      /* End of MinMax: '<S33>/Max1' */
      /* End of Outputs for SubSystem: '<S32>/RateInit' */

      /* Switch: '<S36>/Switch1' incorporates:
       *  UnitDelay: '<S6>/UnitDelay1'
       */
      rtb_r_cos_M1 = rtDW->UnitDelay1_DSTATE_f[1];
    } else {
      /* Switch: '<S36>/Switch1' incorporates:
       *  UnitDelay: '<S36>/UnitDelay'
       */
      rtb_r_cos_M1 = rtDW->UnitDelay_DSTATE_fv;
    }

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

    /* Switch: '<S32>/Switch' incorporates:
     *  Constant: '<S32>/Constant'
     *  Product: '<S33>/Divide'
     *  RelationalOperator: '<S32>/Equal'
     *  Switch: '<S24>/Switch3'
     *  UnitDelay: '<S32>/Unit Delay'
     */
    if (rtb_Sum6_p != rtDW->UnitDelay_DSTATE_i) {
      rtb_Divide1_m = rtDW->Divide;
    } else {
      rtb_Divide1_m = 0;
    }

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

    /* Sum: '<S35>/Add2' */
    rtb_Gain_b0 = ((rtb_r_cos_M1 << 2) + rtb_Divide1_m) >> 2;
    if (rtb_Gain_b0 > 32767) {
      rtb_Gain_b0 = 32767;
    } else {
      if (rtb_Gain_b0 < -32768) {
        rtb_Gain_b0 = -32768;
      }
    }

    /* Switch: '<S34>/Switch2' incorporates:
     *  MinMax: '<S33>/Max'
     *  MinMax: '<S33>/Max1'
     *  RelationalOperator: '<S34>/LowerRelop1'
     *  RelationalOperator: '<S34>/UpperRelop'
     *  Sum: '<S35>/Add2'
     *  Switch: '<S34>/Switch'
     */
    if ((int16_T)rtb_Gain_b0 > rtDW->Max_p) {
      rtb_r_cos_M1 = rtDW->Max_p;
    } else if ((int16_T)rtb_Gain_b0 < rtDW->Max1_g) {
      /* Switch: '<S34>/Switch' incorporates:
       *  MinMax: '<S33>/Max1'
       *  Switch: '<S34>/Switch2'
       */
      rtb_r_cos_M1 = rtDW->Max1_g;
    } else {
      rtb_r_cos_M1 = (int16_T)rtb_Gain_b0;
    }

    /* End of Switch: '<S34>/Switch2' */

    /* Merge: '<S26>/Merge' incorporates:
     *  Constant: '<S29>/Constant3'
     *  SignalConversion generated from: '<S29>/open_voltage'
     */
    rtDW->Merge[0] = 0;

    /* Switch: '<S29>/Switch' incorporates:
     *  Switch: '<S24>/Switch'
     */
    if (rtb_Switch > 0) {
      /* Merge: '<S26>/Merge' incorporates:
       *  SignalConversion generated from: '<S29>/open_voltage'
       *  Switch: '<S34>/Switch2'
       */
      rtDW->Merge[1] = rtb_r_cos_M1;
    } else {
      /* Merge: '<S26>/Merge' incorporates:
       *  Constant: '<S29>/Constant1'
       *  SignalConversion generated from: '<S29>/open_voltage'
       */
      rtDW->Merge[1] = 0;
    }

    /* End of Switch: '<S29>/Switch' */

    /* Update for UnitDelay: '<S31>/UnitDelay' incorporates:
     *  Switch: '<S24>/Switch3'
     */
    rtDW->UnitDelay_DSTATE_e = rtb_Sum6_p;

    /* Switch: '<S36>/Switch2' */
    if (rtb_LogicalOperator12) {
      /* Update for UnitDelay: '<S36>/UnitDelay' incorporates:
       *  UnitDelay: '<S6>/UnitDelay1'
       */
      rtDW->UnitDelay_DSTATE_fv = rtDW->UnitDelay1_DSTATE_f[1];
    } else {
      /* Update for UnitDelay: '<S36>/UnitDelay' incorporates:
       *  Sum: '<S35>/Add2'
       */
      rtDW->UnitDelay_DSTATE_fv = (int16_T)rtb_Gain_b0;
    }

    /* End of Switch: '<S36>/Switch2' */

    /* Update for UnitDelay: '<S32>/Unit Delay' incorporates:
     *  Switch: '<S34>/Switch2'
     */
    rtDW->UnitDelay_DSTATE_i = rtb_r_cos_M1;

    /* End of Outputs for SubSystem: '<S26>/open_mode' */
  } else if (rtb_z_ctrlMod == 2) {
    /* Outputs for IfAction SubSystem: '<S26>/torque_mode' incorporates:
     *  ActionPort: '<S30>/Action Port'
     */
    rtDW->r_currTgt = rtU->idq_Target;

    /* Merge: '<S26>/Merge1' incorporates:
     *  Inport: '<Root>/idq_Target'
     *  Inport: '<S30>/r_currTgt'
     *  Inport: '<S30>/r_spdTgt'
     *  Switch: '<S24>/Switch'
     */
    rtDW->Merge1 = rtb_Switch;

    /* End of Outputs for SubSystem: '<S26>/torque_mode' */
  } else {
    /* Outputs for IfAction SubSystem: '<S26>/If Action Subsystem1' incorporates:
     *  ActionPort: '<S28>/Action Port'
     */
    /* Merge: '<S26>/Merge1' incorporates:
     *  Inport: '<S28>/In1'
     *  Switch: '<S24>/Switch'
     */
    rtDW->Merge1 = rtb_Switch;

    /* End of Outputs for SubSystem: '<S26>/If Action Subsystem1' */
  }

  /* End of If: '<S26>/If' */

  /* Switch: '<S59>/Switch2' incorporates:
   *  Inport: '<Root>/spd_Limit'
   *  Merge: '<S26>/Merge1'
   *  RelationalOperator: '<S59>/LowerRelop1'
   *  RelationalOperator: '<S59>/UpperRelop'
   *  Switch: '<S59>/Switch'
   */
  if (rtDW->Merge1 > rtU->spd_Limit) {
    rtb_Switch = rtU->spd_Limit;
  } else if (rtDW->Merge1 < 0) {
    /* Switch: '<S59>/Switch' incorporates:
     *  Constant: '<S49>/Constant'
     *  Switch: '<S59>/Switch2'
     */
    rtb_Switch = 0;
  } else {
    rtb_Switch = rtDW->Merge1;
  }

  /* End of Switch: '<S59>/Switch2' */

  /* If: '<S53>/If' incorporates:
   *  Constant: '<S76>/Constant'
   *  Logic: '<S71>/Logical Operator'
   *  Switch: '<S71>/Switch2'
   */
  if ((rtb_z_ctrlMod != 0) && rtb_Equal_k) {
    /* Outputs for IfAction SubSystem: '<S53>/Do_Calc' incorporates:
     *  ActionPort: '<S70>/Action Port'
     */
    /* Outputs for Atomic SubSystem: '<S76>/Low_Pass_Filter' */
    Low_Pass_Filter(rtb_UnitDelay1, rtP.f_lpf_vdq, rtb_Multiply,
                    &rtDW->Low_Pass_Filter_h);

    /* End of Outputs for SubSystem: '<S76>/Low_Pass_Filter' */

    /* DataTypeConversion: '<S70>/Data Type Conversion' incorporates:
     *  Constant: '<S76>/Constant'
     *  RelationalOperator: '<S70>/Equal'
     *  UnitDelay: '<S70>/Unit Delay'
     */
    rtb_DataTypeConversion_j = (uint8_T)(rtDW->UnitDelay_DSTATE_p2 !=
      rtb_z_ctrlMod);

    /* If: '<S73>/If' incorporates:
     *  Constant: '<S87>/Constant1'
     *  Constant: '<S87>/Constant11'
     *  Constant: '<S87>/Constant4'
     *  Gain: '<S70>/Gain'
     *  Sum: '<S87>/Sum1'
     *  Switch: '<S14>/Switch2'
     *  Switch: '<S59>/Switch2'
     *  UnitDelay: '<S70>/Unit Delay1'
     */
    if (rtb_z_ctrlMod == 1) {
      rtb_Sum2 = 0;

      /* Outputs for IfAction SubSystem: '<S73>/speed_mode' incorporates:
       *  ActionPort: '<S87>/Action Port'
       */
      /* MinMax: '<S87>/Min' incorporates:
       *  Constant: '<S87>/Constant6'
       *  UnitDelay: '<S87>/Unit Delay'
       */
      if (4800 < rtDW->UnitDelay_DSTATE_l) {
        rtb_Sum6_p = 4800;
      } else {
        rtb_Sum6_p = rtDW->UnitDelay_DSTATE_l;
      }

      /* End of MinMax: '<S87>/Min' */

      /* MinMax: '<S87>/Min1' incorporates:
       *  Constant: '<S87>/Constant2'
       *  Gain: '<S87>/Gain'
       *  UnitDelay: '<S87>/Unit Delay'
       */
      if ((int16_T)-rtDW->UnitDelay_DSTATE_l > -4800) {
        rtb_Divide1_m = (int16_T)-rtDW->UnitDelay_DSTATE_l;
      } else {
        rtb_Divide1_m = -4800;
      }

      /* End of MinMax: '<S87>/Min1' */

      /* Outputs for Atomic SubSystem: '<S87>/PI_Speed' */
      rtb_Sum1 = PI_backCalc_fixdt(rtb_Switch - rtb_Switch3, rtP.cf_nKp,
        rtP.cf_nKi, rtP.cf_nKb, rtb_Sum6_p, rtb_Divide1_m, (int16_T)
        ((rtP.cf_lastIqGain * rtDW->UnitDelay1_DSTATE_g) >> 15),
        rtb_DataTypeConversion_j, &rtDW->PI_Speed, &rtPrevZCX->PI_Speed);

      /* End of Outputs for SubSystem: '<S87>/PI_Speed' */

      /* Merge: '<S73>/Merge' incorporates:
       *  Constant: '<S87>/Constant1'
       *  Constant: '<S87>/Constant11'
       *  Constant: '<S87>/Constant4'
       *  DataTypeConversion: '<S87>/Data Type Conversion'
       *  Gain: '<S70>/Gain'
       *  Sum: '<S87>/Sum1'
       *  Switch: '<S14>/Switch2'
       *  Switch: '<S59>/Switch2'
       *  Switch: '<S91>/Switch2'
       *  UnitDelay: '<S70>/Unit Delay1'
       */
      rtDW->Merge_f = (int16_T)(rtb_Sum1 >> 9);

      /* End of Outputs for SubSystem: '<S73>/speed_mode' */
    } else {
      rtb_Sum2 = 1;

      /* Outputs for IfAction SubSystem: '<S73>/torque_mode' incorporates:
       *  ActionPort: '<S88>/Action Port'
       */
      /* Sum: '<S88>/Sum1' incorporates:
       *  Switch: '<S14>/Switch2'
       *  Switch: '<S59>/Switch2'
       */
      rtb_Sum1 = rtb_Switch - rtb_Switch3;

      /* Delay: '<S88>/Delay' incorporates:
       *  Inport: '<S30>/r_currTgt'
       */
      if (rtDW->icLoad != 0) {
        rtDW->Delay_DSTATE = rtDW->r_currTgt;
      }

      /* MinMax: '<S88>/Min' incorporates:
       *  Delay: '<S88>/Delay'
       *  Inport: '<S30>/r_currTgt'
       */
      if (rtDW->r_currTgt < rtDW->Delay_DSTATE) {
        rtb_Sum6_p = rtDW->r_currTgt;
      } else {
        rtb_Sum6_p = rtDW->Delay_DSTATE;
      }

      /* End of MinMax: '<S88>/Min' */

      /* Outputs for Atomic SubSystem: '<S88>/PI_TrqSpdLim' */
      /* Delay: '<S93>/Resettable Delay' incorporates:
       *  DataTypeConversion: '<S93>/Data Type Conversion2'
       *  Inport: '<S30>/r_currTgt'
       */
      if ((rtb_DataTypeConversion_j > 0) &&
          (rtPrevZCX->ResettableDelay_Reset_ZCE_a != 1)) {
        rtDW->icLoad_k = 1U;
      }

      rtPrevZCX->ResettableDelay_Reset_ZCE_a = (ZCSigState)
        (rtb_DataTypeConversion_j > 0);
      if (rtDW->icLoad_k != 0) {
        rtDW->ResettableDelay_DSTATE = rtDW->r_currTgt << 7;
      }

      /* Product: '<S92>/Divide1' incorporates:
       *  Constant: '<S88>/Constant1'
       *  Sum: '<S88>/Sum1'
       */
      tmp = (int64_T)rtb_Sum1 * rtP.cf_TrqLimKi;
      if (tmp > 2147483647LL) {
        tmp = 2147483647LL;
      } else {
        if (tmp < -2147483648LL) {
          tmp = -2147483648LL;
        }
      }

      /* Sum: '<S92>/Sum2' incorporates:
       *  Product: '<S92>/Divide1'
       *  UnitDelay: '<S92>/Unit Delay'
       */
      if (((int32_T)tmp < 0) && (rtDW->UnitDelay_DSTATE < MIN_int32_T - (int32_T)
           tmp)) {
        rtb_Gain_b0 = MIN_int32_T;
      } else if (((int32_T)tmp > 0) && (rtDW->UnitDelay_DSTATE > MAX_int32_T
                  - (int32_T)tmp)) {
        rtb_Gain_b0 = MAX_int32_T;
      } else {
        rtb_Gain_b0 = (int32_T)tmp + rtDW->UnitDelay_DSTATE;
      }

      /* End of Sum: '<S92>/Sum2' */

      /* Sum: '<S93>/Sum1' incorporates:
       *  Delay: '<S93>/Resettable Delay'
       */
      tmp = (((int64_T)rtDW->ResettableDelay_DSTATE << 2) + rtb_Gain_b0) >> 2;
      if (tmp > 2147483647LL) {
        tmp = 2147483647LL;
      } else {
        if (tmp < -2147483648LL) {
          tmp = -2147483648LL;
        }
      }

      rtb_Switch = (int32_T)tmp;

      /* End of Sum: '<S93>/Sum1' */

      /* Product: '<S92>/Divide4' incorporates:
       *  Constant: '<S88>/Constant4'
       *  Sum: '<S88>/Sum1'
       */
      tmp = (int64_T)rtb_Sum1 * rtP.cf_TrqLimKp;
      if (tmp > 2147483647LL) {
        tmp = 2147483647LL;
      } else {
        if (tmp < -2147483648LL) {
          tmp = -2147483648LL;
        }
      }

      /* Sum: '<S92>/Sum6' incorporates:
       *  DataTypeConversion: '<S93>/Data Type Conversion1'
       *  Product: '<S92>/Divide4'
       *  Sum: '<S93>/Sum1'
       */
      tmp = (int64_T)(rtb_Switch << 2) + (int32_T)tmp;
      if (tmp > 2147483647LL) {
        tmp = 2147483647LL;
      } else {
        if (tmp < -2147483648LL) {
          tmp = -2147483648LL;
        }
      }

      rtb_Sum1 = (int32_T)tmp;

      /* End of Sum: '<S92>/Sum6' */

      /* RelationalOperator: '<S94>/LowerRelop1' incorporates:
       *  MinMax: '<S88>/Min'
       *  Switch: '<S94>/Switch2'
       */
      rtb_Gain_b0 = rtb_Sum6_p << 9;

      /* Switch: '<S94>/Switch2' incorporates:
       *  RelationalOperator: '<S94>/LowerRelop1'
       *  Sum: '<S92>/Sum6'
       */
      if (rtb_Sum1 <= rtb_Gain_b0) {
        /* Gain: '<S92>/Gain' incorporates:
         *  MinMax: '<S88>/Min'
         */
        rtb_Gain_b0 = -32768 * rtb_Sum6_p;

        /* Switch: '<S94>/Switch' incorporates:
         *  Gain: '<S92>/Gain'
         *  RelationalOperator: '<S94>/UpperRelop'
         *  Switch: '<S94>/Switch2'
         */
        if (((int64_T)rtb_Sum1 << 6) < rtb_Gain_b0) {
          rtb_Gain_b0 >>= 6;
        } else {
          rtb_Gain_b0 = rtb_Sum1;
        }

        /* End of Switch: '<S94>/Switch' */
      }

      /* Update for UnitDelay: '<S92>/Unit Delay' incorporates:
       *  Constant: '<S88>/Constant2'
       *  Product: '<S92>/Divide2'
       *  Sum: '<S92>/Sum3'
       *  Sum: '<S92>/Sum6'
       *  Switch: '<S94>/Switch2'
       */
      rtDW->UnitDelay_DSTATE = (int32_T)(((int64_T)(rtb_Gain_b0 - rtb_Sum1) *
        rtP.cf_TrqLimKb) >> 10);

      /* Update for Delay: '<S93>/Resettable Delay' incorporates:
       *  Sum: '<S93>/Sum1'
       */
      rtDW->icLoad_k = 0U;
      rtDW->ResettableDelay_DSTATE = rtb_Switch;

      /* End of Outputs for SubSystem: '<S88>/PI_TrqSpdLim' */

      /* Merge: '<S73>/Merge' incorporates:
       *  DataTypeConversion: '<S88>/Data Type Conversion'
       *  ManualSwitch: '<S88>/Manual Switch'
       *  Switch: '<S94>/Switch2'
       */
      rtDW->Merge_f = (int16_T)(rtb_Gain_b0 >> 9);

      /* End of Outputs for SubSystem: '<S73>/torque_mode' */
    }

    /* Outputs for IfAction SubSystem: '<S75>/MTPA_Calc' incorporates:
     *  ActionPort: '<S80>/Action Port'
     */
    /* If: '<S75>/If' incorporates:
     *  Constant: '<S80>/Constant3'
     *  Merge: '<S75>/Merge'
     *  Switch: '<S80>/Switch'
     */
    rtDW->Merge_c[0] = 0;
    rtDW->Merge_c[1] = rtDW->Merge_f;

    /* End of Outputs for SubSystem: '<S75>/MTPA_Calc' */

    /* Sum: '<S76>/Add' incorporates:
     *  Inport: '<Root>/iDC_Limit'
     *  Inport: '<Root>/vDC'
     *  Math: '<S86>/Math Function3'
     *  Merge: '<S75>/Merge'
     *  Product: '<S49>/Divide'
     *  Product: '<S76>/Divide'
     *  Switch: '<S74>/Switch'
     */
    rtb_Switch = rtU->iDC_Limit * rtU->vDC - rtDW->Merge_c[0] * rtb_Multiply[0];

    /* Product: '<S76>/Divide3' incorporates:
     *  Constant: '<S76>/Constant5'
     *  Math: '<S86>/Math Function3'
     */
    rtb_Gain_b0 = rtb_Switch / 9600;
    if (rtb_Gain_b0 > 32767) {
      rtb_Gain_b0 = 32767;
    } else {
      if (rtb_Gain_b0 < -32768) {
        rtb_Gain_b0 = -32768;
      }
    }

    /* Product: '<S76>/Divide1' incorporates:
     *  Math: '<S86>/Math Function3'
     */
    tmp_2 = rtb_Switch;

    /* MinMax: '<S76>/Min2' incorporates:
     *  Product: '<S76>/Divide3'
     */
    if (rtb_Multiply[1] > (int16_T)rtb_Gain_b0) {
      rtb_Divide1_m = rtb_Multiply[1];
    } else {
      rtb_Divide1_m = (int16_T)rtb_Gain_b0;
    }

    /* End of MinMax: '<S76>/Min2' */

    /* Product: '<S76>/Divide1' */
    rtb_Gain_b0 = tmp_2 / rtb_Divide1_m;
    if (rtb_Gain_b0 > 32767) {
      rtb_Gain_b0 = 32767;
    } else {
      if (rtb_Gain_b0 < -32768) {
        rtb_Gain_b0 = -32768;
      }
    }

    /* Signum: '<S76>/Sign' incorporates:
     *  Merge: '<S75>/Merge'
     *  Switch: '<S74>/Switch'
     */
    if (rtDW->Merge_c[1] < 0) {
      rtb_Divide1_m = -1;
    } else {
      rtb_Divide1_m = (int16_T)(rtDW->Merge_c[1] > 0);
    }

    /* End of Signum: '<S76>/Sign' */

    /* Product: '<S76>/Divide2' incorporates:
     *  Product: '<S76>/Divide1'
     */
    rtb_Sum6_p = (int16_T)((int16_T)rtb_Gain_b0 * rtb_Divide1_m);

    /* Switch: '<S85>/Switch2' incorporates:
     *  Constant: '<S76>/Constant3'
     *  Product: '<S76>/Divide2'
     *  RelationalOperator: '<S85>/LowerRelop1'
     *  RelationalOperator: '<S85>/UpperRelop'
     *  Switch: '<S85>/Switch'
     */
    if (rtb_Sum6_p > 4800) {
      rtb_Sum6_p = 4800;
    } else {
      if (rtb_Sum6_p < -4800) {
        /* Switch: '<S85>/Switch' incorporates:
         *  Gain: '<S76>/Gain1'
         *  Switch: '<S85>/Switch2'
         */
        rtb_Sum6_p = -4800;
      }
    }

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

    /* Switch: '<S76>/Switch' incorporates:
     *  Merge: '<S75>/Merge'
     *  MinMax: '<S76>/Min1'
     *  Switch: '<S74>/Switch'
     *  Switch: '<S85>/Switch2'
     */
    if (rtb_Divide1_m > 0) {
      /* MinMax: '<S76>/Min' incorporates:
       *  Merge: '<S75>/Merge'
       *  Switch: '<S74>/Switch'
       *  Switch: '<S85>/Switch2'
       */
      if (rtb_Sum6_p < rtDW->Merge_c[1]) {
        /* Switch: '<S76>/Switch' */
        rtDW->Switch = rtb_Sum6_p;
      } else {
        /* Switch: '<S76>/Switch' */
        rtDW->Switch = rtDW->Merge_c[1];
      }

      /* End of MinMax: '<S76>/Min' */
    } else if (rtb_Sum6_p > rtDW->Merge_c[1]) {
      /* MinMax: '<S76>/Min1' incorporates:
       *  Switch: '<S76>/Switch'
       *  Switch: '<S85>/Switch2'
       */
      rtDW->Switch = rtb_Sum6_p;
    } else {
      /* Switch: '<S76>/Switch' incorporates:
       *  Merge: '<S75>/Merge'
       *  Switch: '<S74>/Switch'
       */
      rtDW->Switch = rtDW->Merge_c[1];
    }

    /* End of Switch: '<S76>/Switch' */

    /* Switch: '<S84>/Switch2' incorporates:
     *  Merge: '<S75>/Merge'
     *  RelationalOperator: '<S84>/LowerRelop1'
     *  RelationalOperator: '<S84>/UpperRelop'
     *  Switch: '<S74>/Switch'
     *  Switch: '<S84>/Switch'
     */
    if (rtDW->Merge_c[0] > 4800) {
      /* Switch: '<S84>/Switch2' incorporates:
       *  Constant: '<S76>/Constant1'
       */
      rtDW->Switch2 = 4800;
    } else if (rtDW->Merge_c[0] < -4800) {
      /* Switch: '<S84>/Switch' incorporates:
       *  Gain: '<S76>/Gain1'
       *  Switch: '<S84>/Switch2'
       */
      rtDW->Switch2 = -4800;
    } else {
      /* Switch: '<S84>/Switch2' */
      rtDW->Switch2 = rtDW->Merge_c[0];
    }

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

    /* Update for UnitDelay: '<S70>/Unit Delay' */
    rtDW->UnitDelay_DSTATE_p2 = rtb_z_ctrlMod;

    /* Update for UnitDelay: '<S70>/Unit Delay1' incorporates:
     *  Merge: '<S73>/Merge'
     */
    rtDW->UnitDelay1_DSTATE_g = rtDW->Merge_f;

    /* If: '<S73>/If' */
    switch (rtb_Sum2) {
     case 0:
      /* Update for IfAction SubSystem: '<S73>/speed_mode' incorporates:
       *  ActionPort: '<S87>/Action Port'
       */
      /* Update for UnitDelay: '<S87>/Unit Delay' incorporates:
       *  Math: '<S86>/Math Function2'
       *  Math: '<S86>/Math Function3'
       *  Merge: '<S75>/Merge'
       *  Product: '<S76>/Divide1'
       *  Sqrt: '<S86>/Sqrt1'
       *  Sum: '<S86>/Add'
       *  Switch: '<S74>/Switch'
       */
      rtDW->UnitDelay_DSTATE_l = rt_sqrt_Us32En10_Ys16E_7VJYwqF9(rtDW->Merge_c[0]
        * rtDW->Merge_c[0] + (int16_T)rtb_Gain_b0 * (int16_T)rtb_Gain_b0);

      /* End of Update for SubSystem: '<S73>/speed_mode' */
      break;

     case 1:
      /* Update for IfAction SubSystem: '<S73>/torque_mode' incorporates:
       *  ActionPort: '<S88>/Action Port'
       */
      /* Update for Delay: '<S88>/Delay' incorporates:
       *  Math: '<S86>/Math Function2'
       *  Math: '<S86>/Math Function3'
       *  Merge: '<S75>/Merge'
       *  Product: '<S76>/Divide1'
       *  Sqrt: '<S86>/Sqrt1'
       *  Sum: '<S86>/Add'
       *  Switch: '<S74>/Switch'
       */
      rtDW->icLoad = 0U;
      rtDW->Delay_DSTATE = rt_sqrt_Us32En10_Ys16E_7VJYwqF9(rtDW->Merge_c[0] *
        rtDW->Merge_c[0] + (int16_T)rtb_Gain_b0 * (int16_T)rtb_Gain_b0);

      /* End of Update for SubSystem: '<S73>/torque_mode' */
      break;
    }

    /* End of Outputs for SubSystem: '<S53>/Do_Calc' */
  }

  /* End of If: '<S53>/If' */

  /* RelationalOperator: '<S106>/Relational Operator' incorporates:
   *  Switch: '<S84>/Switch2'
   *  UnitDelay: '<S106>/UnitDelay'
   */
  rtb_Equal_k = (rtDW->Switch2 != rtDW->UnitDelay_DSTATE_h);

  /* Sum: '<S97>/Add' incorporates:
   *  Product: '<S60>/Divide1'
   *  Switch: '<S84>/Switch2'
   *  UnitDelay: '<S97>/Unit Delay1'
   */
  rtb_r_cos_M1 = (int16_T)(rtDW->Switch2 - rtDW->UnitDelay1_DSTATE_i);

  /* Abs: '<S97>/Abs' incorporates:
   *  Product: '<S60>/Divide1'
   */
  if (rtb_r_cos_M1 < 0) {
    rtb_r_cos_M1 = (int16_T)-rtb_r_cos_M1;
  }

  /* End of Abs: '<S97>/Abs' */

  /* Outputs for Enabled SubSystem: '<S97>/Enabled Subsystem' incorporates:
   *  EnablePort: '<S107>/Enable'
   */
  /* If: '<S108>/If' incorporates:
   *  Gain: '<S97>/Gain'
   *  Product: '<S60>/Divide1'
   *  UnitDelay: '<S97>/Unit Delay1'
   */
  if (rtb_Equal_k) {
    /* Outputs for IfAction SubSystem: '<S108>/RateInit' incorporates:
     *  ActionPort: '<S109>/Action Port'
     */
    RateInit(rtDW->UnitDelay1_DSTATE_i, rtDW->Switch2, (int16_T)((13107 *
               rtb_r_cos_M1) >> 13), &rtDW->Divide_n, &rtDW->Max_g,
             &rtDW->Max1_j);

    /* End of Outputs for SubSystem: '<S108>/RateInit' */

    /* Switch: '<S112>/Switch1' incorporates:
     *  Gain: '<S97>/Gain'
     *  Product: '<S60>/Divide1'
     *  UnitDelay: '<S97>/Unit Delay1'
     */
    rtb_Divide1_m = rtDW->UnitDelay1_DSTATE_i;
  } else {
    /* Switch: '<S112>/Switch1' incorporates:
     *  UnitDelay: '<S112>/UnitDelay'
     */
    rtb_Divide1_m = rtDW->UnitDelay_DSTATE_b;
  }

  /* End of If: '<S108>/If' */
  /* End of Outputs for SubSystem: '<S97>/Enabled Subsystem' */

  /* Switch: '<S108>/Switch' incorporates:
   *  Constant: '<S108>/Constant'
   *  Product: '<S109>/Divide'
   *  RelationalOperator: '<S108>/Equal'
   *  Switch: '<S84>/Switch2'
   *  UnitDelay: '<S108>/Unit Delay'
   */
  if (rtDW->Switch2 != rtDW->UnitDelay_DSTATE_g) {
    rtb_Sum6_p = rtDW->Divide_n;
  } else {
    rtb_Sum6_p = 0;
  }

  /* End of Switch: '<S108>/Switch' */

  /* Sum: '<S111>/Add2' */
  rtb_Gain_b0 = ((rtb_Divide1_m << 5) + rtb_Sum6_p) >> 5;
  if (rtb_Gain_b0 > 32767) {
    rtb_Gain_b0 = 32767;
  } else {
    if (rtb_Gain_b0 < -32768) {
      rtb_Gain_b0 = -32768;
    }
  }

  /* Switch: '<S110>/Switch2' incorporates:
   *  MinMax: '<S109>/Max'
   *  MinMax: '<S109>/Max1'
   *  RelationalOperator: '<S110>/LowerRelop1'
   *  RelationalOperator: '<S110>/UpperRelop'
   *  Sum: '<S111>/Add2'
   *  Switch: '<S110>/Switch'
   */
  if ((int16_T)rtb_Gain_b0 > rtDW->Max_g) {
    rtb_Divide1_m = rtDW->Max_g;
  } else if ((int16_T)rtb_Gain_b0 < rtDW->Max1_j) {
    /* Switch: '<S110>/Switch' incorporates:
     *  MinMax: '<S109>/Max1'
     *  Switch: '<S110>/Switch2'
     */
    rtb_Divide1_m = rtDW->Max1_j;
  } else {
    rtb_Divide1_m = (int16_T)rtb_Gain_b0;
  }

  /* End of Switch: '<S110>/Switch2' */

  /* RelationalOperator: '<S113>/Relational Operator' incorporates:
   *  Switch: '<S76>/Switch'
   *  UnitDelay: '<S113>/UnitDelay'
   */
  rtb_LogicalOperator12 = (rtDW->Switch != rtDW->UnitDelay_DSTATE_o);

  /* Sum: '<S98>/Add' incorporates:
   *  Product: '<S60>/Divide1'
   *  Switch: '<S76>/Switch'
   *  UnitDelay: '<S98>/Unit Delay1'
   */
  rtb_r_cos_M1 = (int16_T)(rtDW->Switch - rtDW->UnitDelay1_DSTATE_b);

  /* Abs: '<S98>/Abs' incorporates:
   *  Product: '<S60>/Divide1'
   */
  if (rtb_r_cos_M1 < 0) {
    rtb_r_cos_M1 = (int16_T)-rtb_r_cos_M1;
  }

  /* End of Abs: '<S98>/Abs' */

  /* Outputs for Enabled SubSystem: '<S98>/Enabled Subsystem' incorporates:
   *  EnablePort: '<S114>/Enable'
   */
  /* If: '<S115>/If' incorporates:
   *  Gain: '<S98>/Gain'
   *  Product: '<S60>/Divide1'
   *  UnitDelay: '<S98>/Unit Delay1'
   */
  if (rtb_LogicalOperator12) {
    /* Outputs for IfAction SubSystem: '<S115>/RateInit' incorporates:
     *  ActionPort: '<S116>/Action Port'
     */
    RateInit(rtDW->UnitDelay1_DSTATE_b, rtDW->Switch, (int16_T)((13107 *
               rtb_r_cos_M1) >> 13), &rtDW->Divide_l, &rtDW->Max, &rtDW->Max1);

    /* End of Outputs for SubSystem: '<S115>/RateInit' */

    /* Switch: '<S119>/Switch1' incorporates:
     *  Gain: '<S98>/Gain'
     *  Product: '<S60>/Divide1'
     *  UnitDelay: '<S98>/Unit Delay1'
     */
    rtb_r_cos_M1 = rtDW->UnitDelay1_DSTATE_b;
  } else {
    /* Switch: '<S119>/Switch1' incorporates:
     *  UnitDelay: '<S119>/UnitDelay'
     */
    rtb_r_cos_M1 = rtDW->UnitDelay_DSTATE_d;
  }

  /* End of If: '<S115>/If' */
  /* End of Outputs for SubSystem: '<S98>/Enabled Subsystem' */

  /* Switch: '<S115>/Switch' incorporates:
   *  Constant: '<S115>/Constant'
   *  Product: '<S116>/Divide'
   *  RelationalOperator: '<S115>/Equal'
   *  Switch: '<S76>/Switch'
   *  UnitDelay: '<S115>/Unit Delay'
   */
  if (rtDW->Switch != rtDW->UnitDelay_DSTATE_a) {
    rtb_Sum6_p = rtDW->Divide_l;
  } else {
    rtb_Sum6_p = 0;
  }

  /* End of Switch: '<S115>/Switch' */

  /* Sum: '<S118>/Add2' */
  tmp_2 = ((rtb_r_cos_M1 << 5) + rtb_Sum6_p) >> 5;
  if (tmp_2 > 32767) {
    tmp_2 = 32767;
  } else {
    if (tmp_2 < -32768) {
      tmp_2 = -32768;
    }
  }

  /* Switch: '<S117>/Switch2' incorporates:
   *  MinMax: '<S116>/Max'
   *  MinMax: '<S116>/Max1'
   *  RelationalOperator: '<S117>/LowerRelop1'
   *  RelationalOperator: '<S117>/UpperRelop'
   *  Sum: '<S118>/Add2'
   *  Switch: '<S117>/Switch'
   */
  if ((int16_T)tmp_2 > rtDW->Max) {
    rtb_Sum6_p = rtDW->Max;
  } else if ((int16_T)tmp_2 < rtDW->Max1) {
    /* Switch: '<S117>/Switch' incorporates:
     *  MinMax: '<S116>/Max1'
     *  Switch: '<S117>/Switch2'
     */
    rtb_Sum6_p = rtDW->Max1;
  } else {
    rtb_Sum6_p = (int16_T)tmp_2;
  }

  /* End of Switch: '<S117>/Switch2' */

  /* DataTypeConversion: '<S54>/Data Type Conversion' incorporates:
   *  Logic: '<S54>/Logical Operator'
   *  RelationalOperator: '<S54>/Equal'
   *  UnitDelay: '<S54>/Unit Delay'
   */
  rtb_DataTypeConversion_j = (uint8_T)((rtb_z_ctrlMod != 0) &&
    (rtDW->UnitDelay_DSTATE_bm != rtb_z_ctrlMod));

  /* If: '<S54>/If1' incorporates:
   *  Constant: '<S95>/Constant1'
   *  Constant: '<S95>/Constant3'
   *  Constant: '<S95>/Constant4'
   *  Constant: '<S95>/Constant6'
   *  Constant: '<S95>/Constant7'
   *  Constant: '<S95>/Constant8'
   *  Gain: '<S95>/Gain1'
   *  Gain: '<S95>/Gain2'
   *  Inport: '<S96>/In1'
   *  Merge: '<S26>/Merge'
   *  Merge: '<S54>/Merge'
   *  Outport: '<Root>/f_Idq'
   *  Product: '<S95>/Divide'
   *  Sum: '<S95>/Sum'
   *  Sum: '<S95>/Sum1'
   *  Switch: '<S110>/Switch2'
   *  Switch: '<S117>/Switch2'
   *  UnitDelay: '<S6>/UnitDelay1'
   */
  if (rtb_z_ctrlMod != 0) {
    /* Outputs for IfAction SubSystem: '<S54>/CurrentLoop' incorporates:
     *  ActionPort: '<S95>/Action Port'
     */
    /* Product: '<S95>/Divide' incorporates:
     *  Inport: '<Root>/vDC'
     */
    rtb_r_cos_M1 = (int16_T)((rtU->vDC * 15) >> 4);

    /* Outputs for Atomic SubSystem: '<S95>/PI_backCalc_fixdt' */
    rtb_Switch = PI_backCalc_fixdt_o((int16_T)(rtb_Divide1_m - rtY->f_Idq[0]),
      rtP.cf_idKp, rtP.cf_idKi, rtP.cf_idKb, rtb_r_cos_M1, (int16_T)
      -rtb_r_cos_M1, rtDW->UnitDelay1_DSTATE_f[0], rtb_DataTypeConversion_j,
      &rtDW->PI_backCalc_fixdt_o3, &rtPrevZCX->PI_backCalc_fixdt_o3);

    /* End of Outputs for SubSystem: '<S95>/PI_backCalc_fixdt' */

    /* Outputs for Atomic SubSystem: '<S95>/PI_backCalc_fixdt1' */
    rtb_Sum1 = PI_backCalc_fixdt_o((int16_T)(rtb_Sum6_p - rtY->f_Idq[1]),
      rtP.cf_iqKp, rtP.cf_iqKi, rtP.cf_iqKb, rtb_r_cos_M1, (int16_T)
      -rtb_r_cos_M1, rtDW->UnitDelay1_DSTATE_f[1], rtb_DataTypeConversion_j,
      &rtDW->PI_backCalc_fixdt1, &rtPrevZCX->PI_backCalc_fixdt1);

    /* End of Outputs for SubSystem: '<S95>/PI_backCalc_fixdt1' */

    /* Sum: '<S95>/Sum2' incorporates:
     *  Constant: '<S95>/Constant1'
     *  Constant: '<S95>/Constant3'
     *  Constant: '<S95>/Constant4'
     *  Constant: '<S95>/Constant6'
     *  Constant: '<S95>/Constant7'
     *  Constant: '<S95>/Constant8'
     *  DataTypeConversion: '<S95>/Data Type Conversion'
     *  DataTypeConversion: '<S95>/Data Type Conversion1'
     *  Gain: '<S95>/Gain1'
     *  Gain: '<S95>/Gain2'
     *  Merge: '<S54>/Merge'
     *  Outport: '<Root>/f_Idq'
     *  Product: '<S95>/Divide'
     *  Sum: '<S95>/Sum'
     *  Sum: '<S95>/Sum1'
     *  Switch: '<S103>/Switch2'
     *  Switch: '<S105>/Switch2'
     *  Switch: '<S110>/Switch2'
     *  Switch: '<S117>/Switch2'
     *  UnitDelay: '<S6>/UnitDelay1'
     */
    rtb_Multiply[0] = (int16_T)(rtb_Switch >> 9);
    rtb_Multiply[1] = (int16_T)(rtb_Sum1 >> 9);

    /* End of Outputs for SubSystem: '<S54>/CurrentLoop' */
  } else {
    /* Outputs for IfAction SubSystem: '<S54>/OpenLoop' incorporates:
     *  ActionPort: '<S96>/Action Port'
     */
    rtb_Multiply[0] = rtDW->Merge[0];
    rtb_Multiply[1] = rtDW->Merge[1];

    /* End of Outputs for SubSystem: '<S54>/OpenLoop' */
  }

  /* End of If: '<S54>/If1' */

  /* Gain: '<S51>/Gain' incorporates:
   *  Inport: '<Root>/vDC'
   *  Product: '<S60>/Divide1'
   */
  rtb_r_cos_M1 = (int16_T)((15565 * rtU->vDC) >> 13);

  /* Math: '<S51>/Math Function1' incorporates:
   *  Product: '<S60>/Divide1'
   */
  rtb_Switch = (rtb_r_cos_M1 * rtb_r_cos_M1) >> 6;

  /* Sum: '<S51>/Sum of Elements' incorporates:
   *  Math: '<S51>/Math Function'
   *  Merge: '<S54>/Merge'
   */
  tmp = (int64_T)((rtb_Multiply[0] * rtb_Multiply[0]) >> 4) + ((rtb_Multiply[1] *
    rtb_Multiply[1]) >> 4);
  if (tmp > 2147483647LL) {
    tmp = 2147483647LL;
  } else {
    if (tmp < -2147483648LL) {
      tmp = -2147483648LL;
    }
  }

  /* Product: '<S51>/Divide' incorporates:
   *  Math: '<S51>/Math Function1'
   *  Sum: '<S51>/Sum of Elements'
   */
  tmp = ((int64_T)(int32_T)tmp << 14) / rtb_Switch;
  if (tmp < 0LL) {
    tmp = 0LL;
  } else {
    if (tmp > 65535LL) {
      tmp = 65535LL;
    }
  }

  /* Sqrt: '<S51>/Sqrt' incorporates:
   *  Product: '<S51>/Divide'
   */
  rtb_BitwiseOperator2 = rt_sqrt_Uu16En14_Yu16E_WMwW1mku((uint16_T)tmp);

  /* Switch: '<S51>/Switch' incorporates:
   *  Merge: '<S54>/Merge'
   *  Sqrt: '<S51>/Sqrt'
   */
  if (rtb_BitwiseOperator2 > 16384) {
    /* Switch: '<S51>/Switch' incorporates:
     *  Merge: '<S54>/Merge'
     *  MultiPortSwitch: '<S51>/Multiport Switch'
     *  Product: '<S51>/Divide1'
     */
    rtb_Switch_f_idx_0 = (int16_T)((rtb_Multiply[0] << 14) /
      rtb_BitwiseOperator2);
    rtb_Switch_f_idx_1 = (int16_T)((rtb_Multiply[1] << 14) /
      rtb_BitwiseOperator2);
  } else {
    rtb_Switch_f_idx_0 = rtb_Multiply[0];
    rtb_Switch_f_idx_1 = rtb_Multiply[1];
  }

  /* End of Switch: '<S51>/Switch' */

  /* Sum: '<S60>/Sum1' incorporates:
   *  Interpolation_n-D: '<S58>/r_cos_M1'
   *  Interpolation_n-D: '<S58>/r_sin_M1'
   *  Product: '<S60>/Divide2'
   *  Product: '<S60>/Divide3'
   */
  tmp_0 = (int16_T)((rtb_Switch_f_idx_0 * rtConstP.pooled7[rtb_LogicalOperator3])
                    >> 14) + (int16_T)((rtb_Switch_f_idx_1 *
    rtConstP.pooled8[rtb_LogicalOperator3]) >> 14);
  if (tmp_0 > 32767) {
    tmp_0 = 32767;
  } else {
    if (tmp_0 < -32768) {
      tmp_0 = -32768;
    }
  }

  /* Sum: '<S60>/Sum6' incorporates:
   *  Interpolation_n-D: '<S58>/r_cos_M1'
   *  Interpolation_n-D: '<S58>/r_sin_M1'
   *  Product: '<S60>/Divide1'
   *  Product: '<S60>/Divide4'
   */
  tmp_1 = (int16_T)((rtb_Switch_f_idx_0 * rtConstP.pooled8[rtb_LogicalOperator3])
                    >> 14) - (int16_T)((rtb_Switch_f_idx_1 *
    rtConstP.pooled7[rtb_LogicalOperator3]) >> 14);
  if (tmp_1 > 32767) {
    tmp_1 = 32767;
  } else {
    if (tmp_1 < -32768) {
      tmp_1 = -32768;
    }
  }

  /* Product: '<S61>/Divide7' incorporates:
   *  Constant: '<S61>/Constant3'
   *  Sum: '<S60>/Sum1'
   */
  rtb_r_cos_M1 = (int16_T)((2365 * (int16_T)tmp_0) >> 11);

  /* MATLAB Function: '<S61>/sector_select' incorporates:
   *  Product: '<S61>/Divide7'
   *  Sum: '<S60>/Sum1'
   *  Sum: '<S60>/Sum6'
   */
  if ((int16_T)tmp_0 >= 0) {
    if ((int16_T)tmp_1 >= 0) {
      if (rtb_r_cos_M1 > ((int16_T)tmp_1 << 1)) {
        /* DataTypeConversion: '<S61>/Data Type Conversion' */
        rtb_DataTypeConversion_j = 2U;
      } else {
        /* DataTypeConversion: '<S61>/Data Type Conversion' */
        rtb_DataTypeConversion_j = 1U;
      }
    } else {
      rtb_Gain_p2 = -rtb_r_cos_M1;
      if (-rtb_r_cos_M1 > 32767) {
        rtb_Gain_p2 = 32767;
      }

      if (rtb_Gain_p2 > ((int16_T)tmp_1 << 1)) {
        /* DataTypeConversion: '<S61>/Data Type Conversion' */
        rtb_DataTypeConversion_j = 3U;
      } else {
        /* DataTypeConversion: '<S61>/Data Type Conversion' */
        rtb_DataTypeConversion_j = 2U;
      }
    }
  } else if ((int16_T)tmp_1 >= 0) {
    rtb_Gain_p2 = -rtb_r_cos_M1;
    if (-rtb_r_cos_M1 > 32767) {
      rtb_Gain_p2 = 32767;
    }

    if (rtb_Gain_p2 > ((int16_T)tmp_1 << 1)) {
      /* DataTypeConversion: '<S61>/Data Type Conversion' */
      rtb_DataTypeConversion_j = 5U;
    } else {
      /* DataTypeConversion: '<S61>/Data Type Conversion' */
      rtb_DataTypeConversion_j = 6U;
    }
  } else if (rtb_r_cos_M1 > ((int16_T)tmp_1 << 1)) {
    /* DataTypeConversion: '<S61>/Data Type Conversion' */
    rtb_DataTypeConversion_j = 4U;
  } else {
    /* DataTypeConversion: '<S61>/Data Type Conversion' */
    rtb_DataTypeConversion_j = 5U;
  }

  /* End of MATLAB Function: '<S61>/sector_select' */

  /* Gain: '<S61>/Gain' incorporates:
   *  Inport: '<Root>/vDC'
   */
  rtb_Gain_p2 = 18919 * rtU->vDC;

  /* Product: '<S61>/Divide' incorporates:
   *  Gain: '<S61>/Gain'
   *  Sum: '<S60>/Sum6'
   */
  rtb_Sum6_k = (int16_T)(((int64_T)(int16_T)tmp_1 << 26) / rtb_Gain_p2);

  /* Product: '<S61>/Divide1' incorporates:
   *  Gain: '<S61>/Gain'
   *  Sum: '<S60>/Sum1'
   */
  rtb_Sum1_a = (int16_T)(((int64_T)(int16_T)tmp_0 << 26) / rtb_Gain_p2);

  /* MultiPortSwitch: '<S62>/Multiport Switch' incorporates:
   *  DataTypeConversion: '<S61>/Data Type Conversion1'
   */
  switch (rtb_DataTypeConversion_j) {
   case 1:
    /* Product: '<S64>/Divide3' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide1'
     *  Product: '<S64>/Divide2'
     */
    rtb_Divide3_k = (int16_T)(((int16_T)((rtb_Sum1_a * 9459) >> 13) * (int16_T)
      rtP.i_pwm_count) >> 12);

    /* Product: '<S64>/Divide1' incorporates:
     *  Constant: '<S61>/Constant1'
     *  Constant: '<S64>/Constant'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide'
     *  Product: '<S61>/Divide1'
     *  Product: '<S64>/Divide'
     *  Sum: '<S64>/Add'
     */
    rtb_Sum1_a = (int16_T)(((int16_T)(rtb_Sum6_k - ((rtb_Sum1_a * 9459) >> 14)) *
      (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S64>/Divide4' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Sum: '<S64>/Add1'
     *  Sum: '<S64>/Add2'
     */
    rtb_r_cos_M1 = (int16_T)((int16_T)((int16_T)((int16_T)rtP.i_pwm_count -
      rtb_Sum1_a) - rtb_Divide3_k) >> 1);

    /* Sum: '<S64>/Add3' */
    rtb_Sum6_k = (int16_T)(rtb_r_cos_M1 + rtb_Divide3_k);

    /* Outport: '<Root>/pwm_Duty' incorporates:
     *  Sum: '<S64>/Add4'
     */
    rtY->pwm_Duty[0] = (int16_T)(rtb_Sum6_k + rtb_Sum1_a);
    rtY->pwm_Duty[1] = rtb_Sum6_k;
    rtY->pwm_Duty[2] = rtb_r_cos_M1;
    break;

   case 2:
    /* Product: '<S65>/Divide1' incorporates:
     *  Constant: '<S61>/Constant1'
     *  Constant: '<S65>/Constant'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide'
     *  Product: '<S61>/Divide1'
     *  Product: '<S65>/Divide'
     *  Sum: '<S65>/Add'
     */
    rtb_Divide3_k = (int16_T)(((int16_T)(((rtb_Sum1_a * 9459) >> 14) +
      rtb_Sum6_k) * (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S65>/Divide3' incorporates:
     *  Constant: '<S61>/Constant1'
     *  Constant: '<S65>/Constant'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide'
     *  Product: '<S61>/Divide1'
     *  Product: '<S65>/Divide2'
     *  Sum: '<S65>/Add5'
     */
    rtb_Sum1_a = (int16_T)(((int16_T)(((rtb_Sum1_a * 9459) >> 14) - rtb_Sum6_k) *
      (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S65>/Divide4' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Sum: '<S65>/Add1'
     *  Sum: '<S65>/Add2'
     */
    rtb_r_cos_M1 = (int16_T)((int16_T)((int16_T)((int16_T)rtP.i_pwm_count -
      rtb_Sum1_a) - rtb_Divide3_k) >> 1);

    /* Sum: '<S65>/Add3' */
    rtb_Sum6_k = (int16_T)(rtb_r_cos_M1 + rtb_Divide3_k);

    /* Outport: '<Root>/pwm_Duty' incorporates:
     *  Sum: '<S65>/Add4'
     */
    rtY->pwm_Duty[0] = rtb_Sum6_k;
    rtY->pwm_Duty[1] = (int16_T)(rtb_Sum6_k + rtb_Sum1_a);
    rtY->pwm_Duty[2] = rtb_r_cos_M1;
    break;

   case 3:
    /* Product: '<S66>/Divide1' incorporates:
     *  Constant: '<S61>/Constant1'
     *  Constant: '<S66>/Constant'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide'
     *  Product: '<S61>/Divide1'
     *  Product: '<S66>/Divide'
     *  Sum: '<S66>/Add'
     */
    rtb_Sum6_k = (int16_T)(((int16_T)(-rtb_Sum6_k - ((rtb_Sum1_a * 9459) >> 14))
      * (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S66>/Divide3' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide1'
     *  Product: '<S66>/Divide2'
     */
    rtb_Sum1_a = (int16_T)(((int16_T)((rtb_Sum1_a * 9459) >> 13) * (int16_T)
      rtP.i_pwm_count) >> 12);

    /* Product: '<S66>/Divide4' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Sum: '<S66>/Add1'
     *  Sum: '<S66>/Add2'
     */
    rtb_r_cos_M1 = (int16_T)((int16_T)((int16_T)((int16_T)rtP.i_pwm_count -
      rtb_Sum1_a) - rtb_Sum6_k) >> 1);

    /* Sum: '<S66>/Add3' */
    rtb_Sum6_k += rtb_r_cos_M1;

    /* Outport: '<Root>/pwm_Duty' incorporates:
     *  Sum: '<S66>/Add4'
     */
    rtY->pwm_Duty[0] = rtb_r_cos_M1;
    rtY->pwm_Duty[1] = (int16_T)(rtb_Sum6_k + rtb_Sum1_a);
    rtY->pwm_Duty[2] = rtb_Sum6_k;
    break;

   case 4:
    /* Product: '<S67>/Divide1' incorporates:
     *  Constant: '<S61>/Constant1'
     *  Constant: '<S67>/Constant'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide'
     *  Product: '<S61>/Divide1'
     *  Product: '<S67>/Divide'
     *  Sum: '<S67>/Add'
     */
    rtb_Sum6_k = (int16_T)(((int16_T)(((rtb_Sum1_a * 9459) >> 14) - rtb_Sum6_k) *
      (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S67>/Divide3' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide1'
     *  Product: '<S67>/Divide2'
     *  Sum: '<S67>/Add5'
     */
    rtb_Sum1_a = (int16_T)(((int16_T)(-((int16_T)((rtb_Sum1_a * 9459) >> 13) <<
      2) >> 2) * (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S67>/Divide4' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Sum: '<S67>/Add1'
     *  Sum: '<S67>/Add2'
     */
    rtb_r_cos_M1 = (int16_T)((int16_T)((int16_T)((int16_T)rtP.i_pwm_count -
      rtb_Sum1_a) - rtb_Sum6_k) >> 1);

    /* Sum: '<S67>/Add3' */
    rtb_Sum6_k += rtb_r_cos_M1;

    /* Outport: '<Root>/pwm_Duty' incorporates:
     *  Sum: '<S67>/Add4'
     */
    rtY->pwm_Duty[0] = rtb_r_cos_M1;
    rtY->pwm_Duty[1] = rtb_Sum6_k;
    rtY->pwm_Duty[2] = (int16_T)(rtb_Sum6_k + rtb_Sum1_a);
    break;

   case 5:
    /* Product: '<S68>/Divide3' incorporates:
     *  Constant: '<S61>/Constant1'
     *  Constant: '<S68>/Constant'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide'
     *  Product: '<S61>/Divide1'
     *  Product: '<S68>/Divide2'
     *  Sum: '<S68>/Add5'
     */
    rtb_Divide3_k = (int16_T)(((int16_T)(rtb_Sum6_k - ((rtb_Sum1_a * 9459) >> 14))
      * (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S68>/Divide1' incorporates:
     *  Constant: '<S61>/Constant1'
     *  Constant: '<S68>/Constant'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide'
     *  Product: '<S61>/Divide1'
     *  Product: '<S68>/Divide'
     *  Sum: '<S68>/Add'
     */
    rtb_Sum1_a = (int16_T)(((int16_T)(-rtb_Sum6_k - ((rtb_Sum1_a * 9459) >> 14))
      * (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S68>/Divide4' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Sum: '<S68>/Add1'
     *  Sum: '<S68>/Add2'
     */
    rtb_r_cos_M1 = (int16_T)((int16_T)((int16_T)((int16_T)rtP.i_pwm_count -
      rtb_Sum1_a) - rtb_Divide3_k) >> 1);

    /* Sum: '<S68>/Add3' */
    rtb_Sum6_k = (int16_T)(rtb_r_cos_M1 + rtb_Divide3_k);

    /* Outport: '<Root>/pwm_Duty' incorporates:
     *  Sum: '<S68>/Add4'
     */
    rtY->pwm_Duty[0] = rtb_Sum6_k;
    rtY->pwm_Duty[1] = rtb_r_cos_M1;
    rtY->pwm_Duty[2] = (int16_T)(rtb_Sum6_k + rtb_Sum1_a);
    break;

   default:
    /* Product: '<S69>/Divide3' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide1'
     *  Product: '<S69>/Divide2'
     *  Sum: '<S69>/Add5'
     */
    rtb_Divide3_k = (int16_T)(((int16_T)(-((int16_T)((rtb_Sum1_a * 9459) >> 13) <<
      2) >> 2) * (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S69>/Divide1' incorporates:
     *  Constant: '<S61>/Constant1'
     *  Constant: '<S69>/Constant'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Product: '<S61>/Divide'
     *  Product: '<S61>/Divide1'
     *  Product: '<S69>/Divide'
     *  Sum: '<S69>/Add'
     */
    rtb_Sum1_a = (int16_T)(((int16_T)(((rtb_Sum1_a * 9459) >> 14) + rtb_Sum6_k) *
      (int16_T)rtP.i_pwm_count) >> 12);

    /* Product: '<S69>/Divide4' incorporates:
     *  Constant: '<S61>/Constant1'
     *  DataTypeConversion: '<S61>/Data Type Conversion2'
     *  Sum: '<S69>/Add1'
     *  Sum: '<S69>/Add2'
     */
    rtb_r_cos_M1 = (int16_T)((int16_T)((int16_T)((int16_T)rtP.i_pwm_count -
      rtb_Sum1_a) - rtb_Divide3_k) >> 1);

    /* Sum: '<S69>/Add3' */
    rtb_Sum6_k = (int16_T)(rtb_r_cos_M1 + rtb_Divide3_k);

    /* Outport: '<Root>/pwm_Duty' incorporates:
     *  Sum: '<S69>/Add4'
     */
    rtY->pwm_Duty[0] = (int16_T)(rtb_Sum6_k + rtb_Sum1_a);
    rtY->pwm_Duty[1] = rtb_r_cos_M1;
    rtY->pwm_Duty[2] = rtb_Sum6_k;
    break;
  }

  /* End of MultiPortSwitch: '<S62>/Multiport Switch' */

  /* Switch: '<S119>/Switch2' */
  if (rtb_LogicalOperator12) {
    /* Update for UnitDelay: '<S119>/UnitDelay' incorporates:
     *  UnitDelay: '<S98>/Unit Delay1'
     */
    rtDW->UnitDelay_DSTATE_d = rtDW->UnitDelay1_DSTATE_b;
  } else {
    /* Update for UnitDelay: '<S119>/UnitDelay' incorporates:
     *  Sum: '<S118>/Add2'
     */
    rtDW->UnitDelay_DSTATE_d = (int16_T)tmp_2;
  }

  /* End of Switch: '<S119>/Switch2' */

  /* Switch: '<S112>/Switch2' */
  if (rtb_Equal_k) {
    /* Update for UnitDelay: '<S112>/UnitDelay' incorporates:
     *  UnitDelay: '<S97>/Unit Delay1'
     */
    rtDW->UnitDelay_DSTATE_b = rtDW->UnitDelay1_DSTATE_i;
  } else {
    /* Update for UnitDelay: '<S112>/UnitDelay' incorporates:
     *  Sum: '<S111>/Add2'
     */
    rtDW->UnitDelay_DSTATE_b = (int16_T)rtb_Gain_b0;
  }

  /* End of Switch: '<S112>/Switch2' */

  /* Switch: '<S37>/Switch1' incorporates:
   *  RelationalOperator: '<S39>/Relational Operator'
   *  UnitDelay: '<S39>/UnitDelay'
   */
  if (rtb_n_commDeacv != rtDW->UnitDelay_DSTATE_bv) {
    rtb_UnitDelay_bc = rtb_Sum_i;
  }

  /* End of Switch: '<S37>/Switch1' */

  /* Update for UnitDelay: '<S37>/UnitDelay' */
  rtDW->UnitDelay_DSTATE_j = rtb_UnitDelay_bc;

  /* Update for Delay: '<S9>/Delay' incorporates:
   *  Inport: '<Root>/hall_A'
   */
  rtDW->Delay_DSTATE_d = rtU->hall_A;

  /* Update for Delay: '<S9>/Delay1' incorporates:
   *  Inport: '<Root>/hall_B'
   */
  rtDW->Delay1_DSTATE = rtU->hall_B;

  /* Update for Delay: '<S9>/Delay2' incorporates:
   *  Inport: '<Root>/hall_C'
   */
  rtDW->Delay2_DSTATE = rtU->hall_C;

  /* Update for UnitDelay: '<S14>/UnitDelay3' incorporates:
   *  Inport: '<Root>/us_Count'
   */
  rtDW->UnitDelay3_DSTATE = rtU->us_Count;

  /* Update for UnitDelay: '<S14>/UnitDelay4' incorporates:
   *  Abs: '<S14>/Abs5'
   */
  rtDW->UnitDelay4_DSTATE = rtb_Switch2;

  /* Update for UnitDelay: '<S38>/UnitDelay' */
  rtDW->UnitDelay_DSTATE_k = rtb_n_commDeacv;

  /* Update for UnitDelay: '<S42>/UnitDelay' */
  rtDW->UnitDelay_DSTATE_n = rtb_RelationalOperator4_f;

  /* Update for UnitDelay: '<S7>/UnitDelay1' incorporates:
   *  Sum: '<S7>/Sum3'
   */
  rtDW->UnitDelay1_DSTATE = qY;

  /* Update for UnitDelay: '<S106>/UnitDelay' incorporates:
   *  Switch: '<S84>/Switch2'
   */
  rtDW->UnitDelay_DSTATE_h = rtDW->Switch2;

  /* Update for UnitDelay: '<S97>/Unit Delay1' incorporates:
   *  Switch: '<S110>/Switch2'
   */
  rtDW->UnitDelay1_DSTATE_i = rtb_Divide1_m;

  /* Update for UnitDelay: '<S108>/Unit Delay' incorporates:
   *  Switch: '<S110>/Switch2'
   */
  rtDW->UnitDelay_DSTATE_g = rtb_Divide1_m;

  /* Update for UnitDelay: '<S113>/UnitDelay' incorporates:
   *  Switch: '<S76>/Switch'
   */
  rtDW->UnitDelay_DSTATE_o = rtDW->Switch;

  /* Update for UnitDelay: '<S98>/Unit Delay1' incorporates:
   *  Switch: '<S117>/Switch2'
   */
  rtDW->UnitDelay1_DSTATE_b = rtb_Sum6_p;

  /* Update for UnitDelay: '<S115>/Unit Delay' incorporates:
   *  Switch: '<S117>/Switch2'
   */
  rtDW->UnitDelay_DSTATE_a = rtb_Sum6_p;

  /* Update for UnitDelay: '<S54>/Unit Delay' */
  rtDW->UnitDelay_DSTATE_bm = rtb_z_ctrlMod;

  /* Update for UnitDelay: '<S39>/UnitDelay' */
  rtDW->UnitDelay_DSTATE_bv = rtb_n_commDeacv;

  /* Update for UnitDelay: '<S6>/UnitDelay1' incorporates:
   *  Switch: '<S51>/Switch'
   */
  rtDW->UnitDelay1_DSTATE_f[0] = rtb_Switch_f_idx_0;

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

  /* Outport: '<Root>/f_Vdq' incorporates:
   *  UnitDelay: '<S6>/UnitDelay1'
   */
  rtY->f_Vdq[0] = rtb_UnitDelay1[0];

  /* Outputs for Atomic SubSystem: '<Root>/PMSM_Controller' */
  /* Update for UnitDelay: '<S6>/UnitDelay1' incorporates:
   *  Switch: '<S51>/Switch'
   */
  rtDW->UnitDelay1_DSTATE_f[1] = rtb_Switch_f_idx_1;

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

  /* Outport: '<Root>/f_Vdq' incorporates:
   *  UnitDelay: '<S6>/UnitDelay1'
   */
  rtY->f_Vdq[1] = rtb_UnitDelay1[1];

  /* Outport: '<Root>/n_Sector' */
  rtY->n_Sector = rtb_DataTypeConversion_j;

  /* Outport: '<Root>/n_MotError' */
  rtY->n_MotError = rtb_UnitDelay_bc;

  /* Outport: '<Root>/f_MotAngle' incorporates:
   *  Merge: '<S3>/Merge'
   */
  rtY->f_MotAngle = rtDW->Merge_i;

  /* Outport: '<Root>/f_MotRPM' incorporates:
   *  Switch: '<S14>/Switch2'
   */
  rtY->f_MotRPM = rtb_Switch3;

  /* Outport: '<Root>/f_hallAngle' incorporates:
   *  Merge: '<S15>/Merge'
   */
  rtY->f_hallAngle = rtb_Sum3_jm;

  /* Outport: '<Root>/n_hallStat' */
  rtY->n_hallStat = rtb_Add_gf;

  /* Outport: '<Root>/n_runingMode' */
  rtY->n_runingMode = rtb_z_ctrlMod;
}

/* Model initialize function */
void PMSM_Controller_initialize(RT_MODEL *const rtM)
{
  DW *rtDW = rtM->dwork;
  PrevZCX *rtPrevZCX = rtM->prevZCSigState;
  ExtY *rtY = (ExtY *) rtM->outputs;
  rtPrevZCX->ResettableDelay_Reset_ZCE_a = POS_ZCSIG;
  rtPrevZCX->PI_backCalc_fixdt1.ResettableDelay_Reset_ZCE = POS_ZCSIG;
  rtPrevZCX->PI_backCalc_fixdt_o3.ResettableDelay_Reset_ZCE = POS_ZCSIG;
  rtPrevZCX->PI_Speed.ResettableDelay_Reset_ZCE_f = POS_ZCSIG;

  /* SystemInitialize for Atomic SubSystem: '<Root>/PMSM_Controller' */
  /* SystemInitialize for IfAction SubSystem: '<S14>/Raw_Motor_Speed_Estimation' */
  /* InitializeConditions for UnitDelay: '<S20>/UnitDelay2' */
  rtDW->UnitDelay2_DSTATE = rtP.n_hall_count_ps;

  /* SystemInitialize for Outport: '<S20>/z_counter' incorporates:
   *  Inport: '<S20>/z_counterRawPrev'
   */
  rtDW->z_counterRawPrev = rtP.n_hall_count_ps;

  /* End of SystemInitialize for SubSystem: '<S14>/Raw_Motor_Speed_Estimation' */

  /* SystemInitialize for IfAction SubSystem: '<S53>/Do_Calc' */
  /* SystemInitialize for IfAction SubSystem: '<S73>/speed_mode' */
  /* SystemInitialize for Atomic SubSystem: '<S87>/PI_Speed' */
  PI_backCalc_fixdt_Init(&rtDW->PI_Speed);

  /* End of SystemInitialize for SubSystem: '<S87>/PI_Speed' */
  /* End of SystemInitialize for SubSystem: '<S73>/speed_mode' */

  /* SystemInitialize for IfAction SubSystem: '<S73>/torque_mode' */
  /* InitializeConditions for Delay: '<S88>/Delay' */
  rtDW->icLoad = 1U;

  /* SystemInitialize for Atomic SubSystem: '<S88>/PI_TrqSpdLim' */
  /* InitializeConditions for Delay: '<S93>/Resettable Delay' */
  rtDW->icLoad_k = 1U;

  /* End of SystemInitialize for SubSystem: '<S88>/PI_TrqSpdLim' */
  /* End of SystemInitialize for SubSystem: '<S73>/torque_mode' */
  /* End of SystemInitialize for SubSystem: '<S53>/Do_Calc' */

  /* SystemInitialize for IfAction SubSystem: '<S54>/CurrentLoop' */
  /* SystemInitialize for Atomic SubSystem: '<S95>/PI_backCalc_fixdt' */
  PI_backCalc_fixdt_p_Init(&rtDW->PI_backCalc_fixdt_o3);

  /* End of SystemInitialize for SubSystem: '<S95>/PI_backCalc_fixdt' */

  /* SystemInitialize for Atomic SubSystem: '<S95>/PI_backCalc_fixdt1' */
  PI_backCalc_fixdt_p_Init(&rtDW->PI_backCalc_fixdt1);

  /* End of SystemInitialize for SubSystem: '<S95>/PI_backCalc_fixdt1' */
  /* End of SystemInitialize for SubSystem: '<S54>/CurrentLoop' */
  /* End of SystemInitialize for SubSystem: '<Root>/PMSM_Controller' */

  /* SystemInitialize for Outport: '<Root>/f_MotAngle' incorporates:
   *  Merge: '<S3>/Merge'
   */
  rtY->f_MotAngle = rtDW->Merge_i;
}

/*
 * File trailer for generated code.
 *
 * [EOF]
 */