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  1. /*
  2.  * vehicle_behavior_model.c
  3.  *
  4.  * Trial License - for use to evaluate programs for possible purchase as
  5.  * an end-user only.
  6.  *
  7.  * Code generation for model "vehicle_behavior_model".
  8.  *
  9.  * Model version              : 1.0
  10.  * Simulink Coder version : 24.1 (R2024a) 19-Nov-2023
  11.  * C source code generated on : Mon Jun  3 16:39:46 2024
  12.  *
  13.  * Target selection: grt.tlc
  14.  * Note: GRT includes extra infrastructure and instrumentation for prototyping
  15.  * Embedded hardware selection: Intel->x86-64 (Windows64)
  16.  * Code generation objectives: Unspecified
  17.  * Validation result: Not run
  18.  */
  19.  
  20. #include "vehicle_behavior_model.h"
  21. #include "vehicle_behavior_model_private.h"
  22.  
  23. /* Block signals (default storage) */
  24. B_vehicle_behavior_model_T vehicle_behavior_model_B;
  25.  
  26. /* Continuous states */
  27. X_vehicle_behavior_model_T vehicle_behavior_model_X;
  28.  
  29. /* Disabled State Vector */
  30. XDis_vehicle_behavior_model_T vehicle_behavior_model_XDis;
  31.  
  32. /* Real-time model */
  33. static RT_MODEL_vehicle_behavior_mod_T vehicle_behavior_model_M_;
  34. RT_MODEL_vehicle_behavior_mod_T *const vehicle_behavior_model_M =
  35.   &vehicle_behavior_model_M_;
  36.  
  37. /*
  38.  * This function updates continuous states using the ODE3 fixed-step
  39.  * solver algorithm
  40.  */
  41. static void rt_ertODEUpdateContinuousStates(RTWSolverInfo *si )
  42. {
  43.   /* Solver Matrices */
  44.   static const real_T rt_ODE3_A[3] = {
  45.     1.0/2.0, 3.0/4.0, 1.0
  46.   };
  47.  
  48.   static const real_T rt_ODE3_B[3][3] = {
  49.     { 1.0/2.0, 0.0, 0.0 },
  50.  
  51.     { 0.0, 3.0/4.0, 0.0 },
  52.  
  53.     { 2.0/9.0, 1.0/3.0, 4.0/9.0 }
  54.   };
  55.  
  56.   time_T t = rtsiGetT(si);
  57.   time_T tnew = rtsiGetSolverStopTime(si);
  58.   time_T h = rtsiGetStepSize(si);
  59.   real_T *x = rtsiGetContStates(si);
  60.   ODE3_IntgData *id = (ODE3_IntgData *)rtsiGetSolverData(si);
  61.   real_T *y = id->y;
  62.   real_T *f0 = id->f[0];
  63.   real_T *f1 = id->f[1];
  64.   real_T *f2 = id->f[2];
  65.   real_T hB[3];
  66.   int_T i;
  67.   int_T nXc = 1;
  68.   rtsiSetSimTimeStep(si,MINOR_TIME_STEP);
  69.  
  70.   /* Save the state values at time t in y, we'll use x as ynew. */
  71.   (void) memcpy(y, x,
  72.                 (uint_T)nXc*sizeof(real_T));
  73.  
  74.   /* Assumes that rtsiSetT and ModelOutputs are up-to-date */
  75.   /* f0 = f(t,y) */
  76.   rtsiSetdX(si, f0);
  77.   vehicle_behavior_model_derivatives();
  78.  
  79.   /* f(:,2) = feval(odefile, t + hA(1), y + f*hB(:,1), args(:)(*)); */
  80.   hB[0] = h * rt_ODE3_B[0][0];
  81.   for (i = 0; i < nXc; i++) {
  82.     x[i] = y[i] + (f0[i]*hB[0]);
  83.   }
  84.  
  85.   rtsiSetT(si, t + h*rt_ODE3_A[0]);
  86.   rtsiSetdX(si, f1);
  87.   vehicle_behavior_model_step();
  88.   vehicle_behavior_model_derivatives();
  89.  
  90.   /* f(:,3) = feval(odefile, t + hA(2), y + f*hB(:,2), args(:)(*)); */
  91.   for (i = 0; i <= 1; i++) {
  92.     hB[i] = h * rt_ODE3_B[1][i];
  93.   }
  94.  
  95.   for (i = 0; i < nXc; i++) {
  96.     x[i] = y[i] + (f0[i]*hB[0] + f1[i]*hB[1]);
  97.   }
  98.  
  99.   rtsiSetT(si, t + h*rt_ODE3_A[1]);
  100.   rtsiSetdX(si, f2);
  101.   vehicle_behavior_model_step();
  102.   vehicle_behavior_model_derivatives();
  103.  
  104.   /* tnew = t + hA(3);
  105.      ynew = y + f*hB(:,3); */
  106.   for (i = 0; i <= 2; i++) {
  107.     hB[i] = h * rt_ODE3_B[2][i];
  108.   }
  109.  
  110.   for (i = 0; i < nXc; i++) {
  111.     x[i] = y[i] + (f0[i]*hB[0] + f1[i]*hB[1] + f2[i]*hB[2]);
  112.   }
  113.  
  114.   rtsiSetT(si, tnew);
  115.   rtsiSetSimTimeStep(si,MAJOR_TIME_STEP);
  116. }
  117.  
  118. /* Model step function */
  119. void vehicle_behavior_model_step(void)
  120. {
  121.   if (rtmIsMajorTimeStep(vehicle_behavior_model_M)) {
  122.     /* set solver stop time */
  123.     if (!(vehicle_behavior_model_M->Timing.clockTick0+1)) {
  124.       rtsiSetSolverStopTime(&vehicle_behavior_model_M->solverInfo,
  125.                             ((vehicle_behavior_model_M->Timing.clockTickH0 + 1) *
  126.         vehicle_behavior_model_M->Timing.stepSize0 * 4294967296.0));
  127.     } else {
  128.       rtsiSetSolverStopTime(&vehicle_behavior_model_M->solverInfo,
  129.                             ((vehicle_behavior_model_M->Timing.clockTick0 + 1) *
  130.         vehicle_behavior_model_M->Timing.stepSize0 +
  131.         vehicle_behavior_model_M->Timing.clockTickH0 *
  132.         vehicle_behavior_model_M->Timing.stepSize0 * 4294967296.0));
  133.     }
  134.   }                                    /* end MajorTimeStep */
  135.  
  136.   /* Update absolute time of base rate at minor time step */
  137.   if (rtmIsMinorTimeStep(vehicle_behavior_model_M)) {
  138.     vehicle_behavior_model_M->Timing.t[0] = rtsiGetT
  139.       (&vehicle_behavior_model_M->solverInfo);
  140.   }
  141.  
  142.   /* Integrator: '<Root>/Integrator' */
  143.   vehicle_behavior_model_B.Integrator =
  144.     vehicle_behavior_model_X.Integrator_CSTATE;
  145.   if (rtmIsMajorTimeStep(vehicle_behavior_model_M)) {
  146.     /* Switch: '<Root>/Switch' incorporates:
  147.      *  Constant: '<Root>/Braking Force'
  148.      */
  149.     if (vehicle_behavior_model_P.BrakingForce_Value != 0.0) {
  150.       /* Switch: '<Root>/Switch' incorporates:
  151.        *  Constant: '<Root>/Engine Force'
  152.        */
  153.       vehicle_behavior_model_B.Switch =
  154.         vehicle_behavior_model_P.EngineForce_Value;
  155.     } else {
  156.       /* Switch: '<Root>/Switch' */
  157.       vehicle_behavior_model_B.Switch = 0.0;
  158.     }
  159.  
  160.     /* End of Switch: '<Root>/Switch' */
  161.   }
  162.  
  163.   /* Gain: '<Root>/Acceleration' incorporates:
  164.    *  Gain: '<Root>/Damping Force'
  165.    *  Sum: '<Root>/Sum'
  166.    */
  167.   vehicle_behavior_model_B.Acceleration = (vehicle_behavior_model_B.Switch -
  168.     vehicle_behavior_model_P.DampingForce_Gain *
  169.     vehicle_behavior_model_B.Integrator) *
  170.     vehicle_behavior_model_P.Acceleration_Gain;
  171.   if (rtmIsMajorTimeStep(vehicle_behavior_model_M)) {
  172.     /* Matfile logging */
  173.     rt_UpdateTXYLogVars(vehicle_behavior_model_M->rtwLogInfo,
  174.                         (vehicle_behavior_model_M->Timing.t));
  175.   }                                    /* end MajorTimeStep */
  176.  
  177.   if (rtmIsMajorTimeStep(vehicle_behavior_model_M)) {
  178.     /* signal main to stop simulation */
  179.     {                                  /* Sample time: [0.0s, 0.0s] */
  180.       if ((rtmGetTFinal(vehicle_behavior_model_M)!=-1) &&
  181.           !((rtmGetTFinal(vehicle_behavior_model_M)-
  182.              (((vehicle_behavior_model_M->Timing.clockTick1+
  183.                 vehicle_behavior_model_M->Timing.clockTickH1* 4294967296.0)) *
  184.               0.2)) > (((vehicle_behavior_model_M->Timing.clockTick1+
  185.                          vehicle_behavior_model_M->Timing.clockTickH1*
  186.                          4294967296.0)) * 0.2) * (DBL_EPSILON))) {
  187.         rtmSetErrorStatus(vehicle_behavior_model_M, "Simulation finished");
  188.       }
  189.     }
  190.  
  191.     rt_ertODEUpdateContinuousStates(&vehicle_behavior_model_M->solverInfo);
  192.  
  193.     /* Update absolute time for base rate */
  194.     /* The "clockTick0" counts the number of times the code of this task has
  195.      * been executed. The absolute time is the multiplication of "clockTick0"
  196.      * and "Timing.stepSize0". Size of "clockTick0" ensures timer will not
  197.      * overflow during the application lifespan selected.
  198.      * Timer of this task consists of two 32 bit unsigned integers.
  199.      * The two integers represent the low bits Timing.clockTick0 and the high bits
  200.      * Timing.clockTickH0. When the low bit overflows to 0, the high bits increment.
  201.      */
  202.     if (!(++vehicle_behavior_model_M->Timing.clockTick0)) {
  203.       ++vehicle_behavior_model_M->Timing.clockTickH0;
  204.     }
  205.  
  206.     vehicle_behavior_model_M->Timing.t[0] = rtsiGetSolverStopTime
  207.       (&vehicle_behavior_model_M->solverInfo);
  208.  
  209.     {
  210.       /* Update absolute timer for sample time: [0.2s, 0.0s] */
  211.       /* The "clockTick1" counts the number of times the code of this task has
  212.        * been executed. The resolution of this integer timer is 0.2, which is the step size
  213.        * of the task. Size of "clockTick1" ensures timer will not overflow during the
  214.        * application lifespan selected.
  215.        * Timer of this task consists of two 32 bit unsigned integers.
  216.        * The two integers represent the low bits Timing.clockTick1 and the high bits
  217.        * Timing.clockTickH1. When the low bit overflows to 0, the high bits increment.
  218.        */
  219.       vehicle_behavior_model_M->Timing.clockTick1++;
  220.       if (!vehicle_behavior_model_M->Timing.clockTick1) {
  221.         vehicle_behavior_model_M->Timing.clockTickH1++;
  222.       }
  223.     }
  224.   }                                    /* end MajorTimeStep */
  225. }
  226.  
  227. /* Derivatives for root system: '<Root>' */
  228. void vehicle_behavior_model_derivatives(void)
  229. {
  230.   XDot_vehicle_behavior_model_T *_rtXdot;
  231.   _rtXdot = ((XDot_vehicle_behavior_model_T *) vehicle_behavior_model_M->derivs);
  232.  
  233.   /* Derivatives for Integrator: '<Root>/Integrator' */
  234.   _rtXdot->Integrator_CSTATE = vehicle_behavior_model_B.Acceleration;
  235. }
  236.  
  237. /* Model initialize function */
  238. void vehicle_behavior_model_initialize(void)
  239. {
  240.   /* Registration code */
  241.  
  242.   /* initialize real-time model */
  243.   (void) memset((void *)vehicle_behavior_model_M, 0,
  244.                 sizeof(RT_MODEL_vehicle_behavior_mod_T));
  245.  
  246.   {
  247.     /* Setup solver object */
  248.     rtsiSetSimTimeStepPtr(&vehicle_behavior_model_M->solverInfo,
  249.                           &vehicle_behavior_model_M->Timing.simTimeStep);
  250.     rtsiSetTPtr(&vehicle_behavior_model_M->solverInfo, &rtmGetTPtr
  251.                 (vehicle_behavior_model_M));
  252.     rtsiSetStepSizePtr(&vehicle_behavior_model_M->solverInfo,
  253.                        &vehicle_behavior_model_M->Timing.stepSize0);
  254.     rtsiSetdXPtr(&vehicle_behavior_model_M->solverInfo,
  255.                  &vehicle_behavior_model_M->derivs);
  256.     rtsiSetContStatesPtr(&vehicle_behavior_model_M->solverInfo, (real_T **)
  257.                          &vehicle_behavior_model_M->contStates);
  258.     rtsiSetNumContStatesPtr(&vehicle_behavior_model_M->solverInfo,
  259.       &vehicle_behavior_model_M->Sizes.numContStates);
  260.     rtsiSetNumPeriodicContStatesPtr(&vehicle_behavior_model_M->solverInfo,
  261.       &vehicle_behavior_model_M->Sizes.numPeriodicContStates);
  262.     rtsiSetPeriodicContStateIndicesPtr(&vehicle_behavior_model_M->solverInfo,
  263.       &vehicle_behavior_model_M->periodicContStateIndices);
  264.     rtsiSetPeriodicContStateRangesPtr(&vehicle_behavior_model_M->solverInfo,
  265.       &vehicle_behavior_model_M->periodicContStateRanges);
  266.     rtsiSetContStateDisabledPtr(&vehicle_behavior_model_M->solverInfo,
  267.       (boolean_T**) &vehicle_behavior_model_M->contStateDisabled);
  268.     rtsiSetErrorStatusPtr(&vehicle_behavior_model_M->solverInfo,
  269.                           (&rtmGetErrorStatus(vehicle_behavior_model_M)));
  270.     rtsiSetRTModelPtr(&vehicle_behavior_model_M->solverInfo,
  271.                       vehicle_behavior_model_M);
  272.   }
  273.  
  274.   rtsiSetSimTimeStep(&vehicle_behavior_model_M->solverInfo, MAJOR_TIME_STEP);
  275.   rtsiSetIsMinorTimeStepWithModeChange(&vehicle_behavior_model_M->solverInfo,
  276.     false);
  277.   rtsiSetIsContModeFrozen(&vehicle_behavior_model_M->solverInfo, false);
  278.   vehicle_behavior_model_M->intgData.y = vehicle_behavior_model_M->odeY;
  279.   vehicle_behavior_model_M->intgData.f[0] = vehicle_behavior_model_M->odeF[0];
  280.   vehicle_behavior_model_M->intgData.f[1] = vehicle_behavior_model_M->odeF[1];
  281.   vehicle_behavior_model_M->intgData.f[2] = vehicle_behavior_model_M->odeF[2];
  282.   vehicle_behavior_model_M->contStates = ((X_vehicle_behavior_model_T *)
  283.     &vehicle_behavior_model_X);
  284.   vehicle_behavior_model_M->contStateDisabled = ((XDis_vehicle_behavior_model_T *)
  285.     &vehicle_behavior_model_XDis);
  286.   vehicle_behavior_model_M->Timing.tStart = (0.0);
  287.   rtsiSetSolverData(&vehicle_behavior_model_M->solverInfo, (void *)
  288.                     &vehicle_behavior_model_M->intgData);
  289.   rtsiSetSolverName(&vehicle_behavior_model_M->solverInfo,"ode3");
  290.   rtmSetTPtr(vehicle_behavior_model_M, &vehicle_behavior_model_M->Timing.tArray
  291.              [0]);
  292.   rtmSetTFinal(vehicle_behavior_model_M, 10.0);
  293.   vehicle_behavior_model_M->Timing.stepSize0 = 0.2;
  294.  
  295.   /* Setup for data logging */
  296.   {
  297.     static RTWLogInfo rt_DataLoggingInfo;
  298.     rt_DataLoggingInfo.loggingInterval = (NULL);
  299.     vehicle_behavior_model_M->rtwLogInfo = &rt_DataLoggingInfo;
  300.   }
  301.  
  302.   /* Setup for data logging */
  303.   {
  304.     rtliSetLogXSignalInfo(vehicle_behavior_model_M->rtwLogInfo, (NULL));
  305.     rtliSetLogXSignalPtrs(vehicle_behavior_model_M->rtwLogInfo, (NULL));
  306.     rtliSetLogT(vehicle_behavior_model_M->rtwLogInfo, "tout");
  307.     rtliSetLogX(vehicle_behavior_model_M->rtwLogInfo, "");
  308.     rtliSetLogXFinal(vehicle_behavior_model_M->rtwLogInfo, "");
  309.     rtliSetLogVarNameModifier(vehicle_behavior_model_M->rtwLogInfo, "rt_");
  310.     rtliSetLogFormat(vehicle_behavior_model_M->rtwLogInfo, 4);
  311.     rtliSetLogMaxRows(vehicle_behavior_model_M->rtwLogInfo, 0);
  312.     rtliSetLogDecimation(vehicle_behavior_model_M->rtwLogInfo, 1);
  313.     rtliSetLogY(vehicle_behavior_model_M->rtwLogInfo, "");
  314.     rtliSetLogYSignalInfo(vehicle_behavior_model_M->rtwLogInfo, (NULL));
  315.     rtliSetLogYSignalPtrs(vehicle_behavior_model_M->rtwLogInfo, (NULL));
  316.   }
  317.  
  318.   /* block I/O */
  319.   (void) memset(((void *) &vehicle_behavior_model_B), 0,
  320.                 sizeof(B_vehicle_behavior_model_T));
  321.  
  322.   /* states (continuous) */
  323.   {
  324.     (void) memset((void *)&vehicle_behavior_model_X, 0,
  325.                   sizeof(X_vehicle_behavior_model_T));
  326.   }
  327.  
  328.   /* disabled states */
  329.   {
  330.     (void) memset((void *)&vehicle_behavior_model_XDis, 0,
  331.                   sizeof(XDis_vehicle_behavior_model_T));
  332.   }
  333.  
  334.   /* Matfile logging */
  335.   rt_StartDataLoggingWithStartTime(vehicle_behavior_model_M->rtwLogInfo, 0.0,
  336.     rtmGetTFinal(vehicle_behavior_model_M),
  337.     vehicle_behavior_model_M->Timing.stepSize0, (&rtmGetErrorStatus
  338.     (vehicle_behavior_model_M)));
  339.  
  340.   /* InitializeConditions for Integrator: '<Root>/Integrator' */
  341.   vehicle_behavior_model_X.Integrator_CSTATE =
  342.     vehicle_behavior_model_P.Integrator_IC;
  343. }
  344.  
  345. /* Model terminate function */
  346. void vehicle_behavior_model_terminate(void)
  347. {
  348.   /* (no terminate code required) */
  349. }
  350.  
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/*
 * vehicle_behavior_model.c
 *
 * Trial License - for use to evaluate programs for possible purchase as
 * an end-user only.
 *
 * Code generation for model "vehicle_behavior_model".
 *
 * Model version              : 1.0
 * Simulink Coder version : 24.1 (R2024a) 19-Nov-2023
 * C source code generated on : Mon Jun  3 16:39:46 2024
 *
 * Target selection: grt.tlc
 * Note: GRT includes extra infrastructure and instrumentation for prototyping
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "vehicle_behavior_model.h"
#include "vehicle_behavior_model_private.h"

/* Block signals (default storage) */
B_vehicle_behavior_model_T vehicle_behavior_model_B;

/* Continuous states */
X_vehicle_behavior_model_T vehicle_behavior_model_X;

/* Disabled State Vector */
XDis_vehicle_behavior_model_T vehicle_behavior_model_XDis;

/* Real-time model */
static RT_MODEL_vehicle_behavior_mod_T vehicle_behavior_model_M_;
RT_MODEL_vehicle_behavior_mod_T *const vehicle_behavior_model_M =
  &vehicle_behavior_model_M_;

/*
 * This function updates continuous states using the ODE3 fixed-step
 * solver algorithm
 */
static void rt_ertODEUpdateContinuousStates(RTWSolverInfo *si )
{
  /* Solver Matrices */
  static const real_T rt_ODE3_A[3] = {
    1.0/2.0, 3.0/4.0, 1.0
  };

  static const real_T rt_ODE3_B[3][3] = {
    { 1.0/2.0, 0.0, 0.0 },

    { 0.0, 3.0/4.0, 0.0 },

    { 2.0/9.0, 1.0/3.0, 4.0/9.0 }
  };

  time_T t = rtsiGetT(si);
  time_T tnew = rtsiGetSolverStopTime(si);
  time_T h = rtsiGetStepSize(si);
  real_T *x = rtsiGetContStates(si);
  ODE3_IntgData *id = (ODE3_IntgData *)rtsiGetSolverData(si);
  real_T *y = id->y;
  real_T *f0 = id->f[0];
  real_T *f1 = id->f[1];
  real_T *f2 = id->f[2];
  real_T hB[3];
  int_T i;
  int_T nXc = 1;
  rtsiSetSimTimeStep(si,MINOR_TIME_STEP);

  /* Save the state values at time t in y, we'll use x as ynew. */
  (void) memcpy(y, x,
                (uint_T)nXc*sizeof(real_T));

  /* Assumes that rtsiSetT and ModelOutputs are up-to-date */
  /* f0 = f(t,y) */
  rtsiSetdX(si, f0);
  vehicle_behavior_model_derivatives();

  /* f(:,2) = feval(odefile, t + hA(1), y + f*hB(:,1), args(:)(*)); */
  hB[0] = h * rt_ODE3_B[0][0];
  for (i = 0; i < nXc; i++) {
    x[i] = y[i] + (f0[i]*hB[0]);
  }

  rtsiSetT(si, t + h*rt_ODE3_A[0]);
  rtsiSetdX(si, f1);
  vehicle_behavior_model_step();
  vehicle_behavior_model_derivatives();

  /* f(:,3) = feval(odefile, t + hA(2), y + f*hB(:,2), args(:)(*)); */
  for (i = 0; i <= 1; i++) {
    hB[i] = h * rt_ODE3_B[1][i];
  }

  for (i = 0; i < nXc; i++) {
    x[i] = y[i] + (f0[i]*hB[0] + f1[i]*hB[1]);
  }

  rtsiSetT(si, t + h*rt_ODE3_A[1]);
  rtsiSetdX(si, f2);
  vehicle_behavior_model_step();
  vehicle_behavior_model_derivatives();

  /* tnew = t + hA(3);
     ynew = y + f*hB(:,3); */
  for (i = 0; i <= 2; i++) {
    hB[i] = h * rt_ODE3_B[2][i];
  }

  for (i = 0; i < nXc; i++) {
    x[i] = y[i] + (f0[i]*hB[0] + f1[i]*hB[1] + f2[i]*hB[2]);
  }

  rtsiSetT(si, tnew);
  rtsiSetSimTimeStep(si,MAJOR_TIME_STEP);
}

/* Model step function */
void vehicle_behavior_model_step(void)
{
  if (rtmIsMajorTimeStep(vehicle_behavior_model_M)) {
    /* set solver stop time */
    if (!(vehicle_behavior_model_M->Timing.clockTick0+1)) {
      rtsiSetSolverStopTime(&vehicle_behavior_model_M->solverInfo,
                            ((vehicle_behavior_model_M->Timing.clockTickH0 + 1) *
        vehicle_behavior_model_M->Timing.stepSize0 * 4294967296.0));
    } else {
      rtsiSetSolverStopTime(&vehicle_behavior_model_M->solverInfo,
                            ((vehicle_behavior_model_M->Timing.clockTick0 + 1) *
        vehicle_behavior_model_M->Timing.stepSize0 +
        vehicle_behavior_model_M->Timing.clockTickH0 *
        vehicle_behavior_model_M->Timing.stepSize0 * 4294967296.0));
    }
  }                                    /* end MajorTimeStep */

  /* Update absolute time of base rate at minor time step */
  if (rtmIsMinorTimeStep(vehicle_behavior_model_M)) {
    vehicle_behavior_model_M->Timing.t[0] = rtsiGetT
      (&vehicle_behavior_model_M->solverInfo);
  }

  /* Integrator: '<Root>/Integrator' */
  vehicle_behavior_model_B.Integrator =
    vehicle_behavior_model_X.Integrator_CSTATE;
  if (rtmIsMajorTimeStep(vehicle_behavior_model_M)) {
    /* Switch: '<Root>/Switch' incorporates:
     *  Constant: '<Root>/Braking Force'
     */
    if (vehicle_behavior_model_P.BrakingForce_Value != 0.0) {
      /* Switch: '<Root>/Switch' incorporates:
       *  Constant: '<Root>/Engine Force'
       */
      vehicle_behavior_model_B.Switch =
        vehicle_behavior_model_P.EngineForce_Value;
    } else {
      /* Switch: '<Root>/Switch' */
      vehicle_behavior_model_B.Switch = 0.0;
    }

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

  /* Gain: '<Root>/Acceleration' incorporates:
   *  Gain: '<Root>/Damping Force'
   *  Sum: '<Root>/Sum'
   */
  vehicle_behavior_model_B.Acceleration = (vehicle_behavior_model_B.Switch -
    vehicle_behavior_model_P.DampingForce_Gain *
    vehicle_behavior_model_B.Integrator) *
    vehicle_behavior_model_P.Acceleration_Gain;
  if (rtmIsMajorTimeStep(vehicle_behavior_model_M)) {
    /* Matfile logging */
    rt_UpdateTXYLogVars(vehicle_behavior_model_M->rtwLogInfo,
                        (vehicle_behavior_model_M->Timing.t));
  }                                    /* end MajorTimeStep */

  if (rtmIsMajorTimeStep(vehicle_behavior_model_M)) {
    /* signal main to stop simulation */
    {                                  /* Sample time: [0.0s, 0.0s] */
      if ((rtmGetTFinal(vehicle_behavior_model_M)!=-1) &&
          !((rtmGetTFinal(vehicle_behavior_model_M)-
             (((vehicle_behavior_model_M->Timing.clockTick1+
                vehicle_behavior_model_M->Timing.clockTickH1* 4294967296.0)) *
              0.2)) > (((vehicle_behavior_model_M->Timing.clockTick1+
                         vehicle_behavior_model_M->Timing.clockTickH1*
                         4294967296.0)) * 0.2) * (DBL_EPSILON))) {
        rtmSetErrorStatus(vehicle_behavior_model_M, "Simulation finished");
      }
    }

    rt_ertODEUpdateContinuousStates(&vehicle_behavior_model_M->solverInfo);

    /* Update absolute time for base rate */
    /* The "clockTick0" counts the number of times the code of this task has
     * been executed. The absolute time is the multiplication of "clockTick0"
     * and "Timing.stepSize0". Size of "clockTick0" ensures timer will not
     * overflow during the application lifespan selected.
     * Timer of this task consists of two 32 bit unsigned integers.
     * The two integers represent the low bits Timing.clockTick0 and the high bits
     * Timing.clockTickH0. When the low bit overflows to 0, the high bits increment.
     */
    if (!(++vehicle_behavior_model_M->Timing.clockTick0)) {
      ++vehicle_behavior_model_M->Timing.clockTickH0;
    }

    vehicle_behavior_model_M->Timing.t[0] = rtsiGetSolverStopTime
      (&vehicle_behavior_model_M->solverInfo);

    {
      /* Update absolute timer for sample time: [0.2s, 0.0s] */
      /* The "clockTick1" counts the number of times the code of this task has
       * been executed. The resolution of this integer timer is 0.2, which is the step size
       * of the task. Size of "clockTick1" ensures timer will not overflow during the
       * application lifespan selected.
       * Timer of this task consists of two 32 bit unsigned integers.
       * The two integers represent the low bits Timing.clockTick1 and the high bits
       * Timing.clockTickH1. When the low bit overflows to 0, the high bits increment.
       */
      vehicle_behavior_model_M->Timing.clockTick1++;
      if (!vehicle_behavior_model_M->Timing.clockTick1) {
        vehicle_behavior_model_M->Timing.clockTickH1++;
      }
    }
  }                                    /* end MajorTimeStep */
}

/* Derivatives for root system: '<Root>' */
void vehicle_behavior_model_derivatives(void)
{
  XDot_vehicle_behavior_model_T *_rtXdot;
  _rtXdot = ((XDot_vehicle_behavior_model_T *) vehicle_behavior_model_M->derivs);

  /* Derivatives for Integrator: '<Root>/Integrator' */
  _rtXdot->Integrator_CSTATE = vehicle_behavior_model_B.Acceleration;
}

/* Model initialize function */
void vehicle_behavior_model_initialize(void)
{
  /* Registration code */

  /* initialize real-time model */
  (void) memset((void *)vehicle_behavior_model_M, 0,
                sizeof(RT_MODEL_vehicle_behavior_mod_T));

  {
    /* Setup solver object */
    rtsiSetSimTimeStepPtr(&vehicle_behavior_model_M->solverInfo,
                          &vehicle_behavior_model_M->Timing.simTimeStep);
    rtsiSetTPtr(&vehicle_behavior_model_M->solverInfo, &rtmGetTPtr
                (vehicle_behavior_model_M));
    rtsiSetStepSizePtr(&vehicle_behavior_model_M->solverInfo,
                       &vehicle_behavior_model_M->Timing.stepSize0);
    rtsiSetdXPtr(&vehicle_behavior_model_M->solverInfo,
                 &vehicle_behavior_model_M->derivs);
    rtsiSetContStatesPtr(&vehicle_behavior_model_M->solverInfo, (real_T **)
                         &vehicle_behavior_model_M->contStates);
    rtsiSetNumContStatesPtr(&vehicle_behavior_model_M->solverInfo,
      &vehicle_behavior_model_M->Sizes.numContStates);
    rtsiSetNumPeriodicContStatesPtr(&vehicle_behavior_model_M->solverInfo,
      &vehicle_behavior_model_M->Sizes.numPeriodicContStates);
    rtsiSetPeriodicContStateIndicesPtr(&vehicle_behavior_model_M->solverInfo,
      &vehicle_behavior_model_M->periodicContStateIndices);
    rtsiSetPeriodicContStateRangesPtr(&vehicle_behavior_model_M->solverInfo,
      &vehicle_behavior_model_M->periodicContStateRanges);
    rtsiSetContStateDisabledPtr(&vehicle_behavior_model_M->solverInfo,
      (boolean_T**) &vehicle_behavior_model_M->contStateDisabled);
    rtsiSetErrorStatusPtr(&vehicle_behavior_model_M->solverInfo,
                          (&rtmGetErrorStatus(vehicle_behavior_model_M)));
    rtsiSetRTModelPtr(&vehicle_behavior_model_M->solverInfo,
                      vehicle_behavior_model_M);
  }

  rtsiSetSimTimeStep(&vehicle_behavior_model_M->solverInfo, MAJOR_TIME_STEP);
  rtsiSetIsMinorTimeStepWithModeChange(&vehicle_behavior_model_M->solverInfo,
    false);
  rtsiSetIsContModeFrozen(&vehicle_behavior_model_M->solverInfo, false);
  vehicle_behavior_model_M->intgData.y = vehicle_behavior_model_M->odeY;
  vehicle_behavior_model_M->intgData.f[0] = vehicle_behavior_model_M->odeF[0];
  vehicle_behavior_model_M->intgData.f[1] = vehicle_behavior_model_M->odeF[1];
  vehicle_behavior_model_M->intgData.f[2] = vehicle_behavior_model_M->odeF[2];
  vehicle_behavior_model_M->contStates = ((X_vehicle_behavior_model_T *)
    &vehicle_behavior_model_X);
  vehicle_behavior_model_M->contStateDisabled = ((XDis_vehicle_behavior_model_T *)
    &vehicle_behavior_model_XDis);
  vehicle_behavior_model_M->Timing.tStart = (0.0);
  rtsiSetSolverData(&vehicle_behavior_model_M->solverInfo, (void *)
                    &vehicle_behavior_model_M->intgData);
  rtsiSetSolverName(&vehicle_behavior_model_M->solverInfo,"ode3");
  rtmSetTPtr(vehicle_behavior_model_M, &vehicle_behavior_model_M->Timing.tArray
             [0]);
  rtmSetTFinal(vehicle_behavior_model_M, 10.0);
  vehicle_behavior_model_M->Timing.stepSize0 = 0.2;

  /* Setup for data logging */
  {
    static RTWLogInfo rt_DataLoggingInfo;
    rt_DataLoggingInfo.loggingInterval = (NULL);
    vehicle_behavior_model_M->rtwLogInfo = &rt_DataLoggingInfo;
  }

  /* Setup for data logging */
  {
    rtliSetLogXSignalInfo(vehicle_behavior_model_M->rtwLogInfo, (NULL));
    rtliSetLogXSignalPtrs(vehicle_behavior_model_M->rtwLogInfo, (NULL));
    rtliSetLogT(vehicle_behavior_model_M->rtwLogInfo, "tout");
    rtliSetLogX(vehicle_behavior_model_M->rtwLogInfo, "");
    rtliSetLogXFinal(vehicle_behavior_model_M->rtwLogInfo, "");
    rtliSetLogVarNameModifier(vehicle_behavior_model_M->rtwLogInfo, "rt_");
    rtliSetLogFormat(vehicle_behavior_model_M->rtwLogInfo, 4);
    rtliSetLogMaxRows(vehicle_behavior_model_M->rtwLogInfo, 0);
    rtliSetLogDecimation(vehicle_behavior_model_M->rtwLogInfo, 1);
    rtliSetLogY(vehicle_behavior_model_M->rtwLogInfo, "");
    rtliSetLogYSignalInfo(vehicle_behavior_model_M->rtwLogInfo, (NULL));
    rtliSetLogYSignalPtrs(vehicle_behavior_model_M->rtwLogInfo, (NULL));
  }

  /* block I/O */
  (void) memset(((void *) &vehicle_behavior_model_B), 0,
                sizeof(B_vehicle_behavior_model_T));

  /* states (continuous) */
  {
    (void) memset((void *)&vehicle_behavior_model_X, 0,
                  sizeof(X_vehicle_behavior_model_T));
  }

  /* disabled states */
  {
    (void) memset((void *)&vehicle_behavior_model_XDis, 0,
                  sizeof(XDis_vehicle_behavior_model_T));
  }

  /* Matfile logging */
  rt_StartDataLoggingWithStartTime(vehicle_behavior_model_M->rtwLogInfo, 0.0,
    rtmGetTFinal(vehicle_behavior_model_M),
    vehicle_behavior_model_M->Timing.stepSize0, (&rtmGetErrorStatus
    (vehicle_behavior_model_M)));

  /* InitializeConditions for Integrator: '<Root>/Integrator' */
  vehicle_behavior_model_X.Integrator_CSTATE =
    vehicle_behavior_model_P.Integrator_IC;
}

/* Model terminate function */
void vehicle_behavior_model_terminate(void)
{
  /* (no terminate code required) */
}
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