Project 2 Adaptive Cruise Control
PROJECT: 1 :
OBJECTIVE:
- To Develop Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
- To Follow all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.
- Use Embedded Coder to generate the code.
OVERVIEW:
Adaptive Cruise Control Feature for passenger cars allows the host vehicle to adapt to the speed in line with the flow of traffic. Driving in heavy traffic or keeping a safe distance to the preceding vehicle calls for a high level of concentration. The Adaptive Cruise Control feature can reduce the stress on the driver by automatically controlling the vehicle speed & maintaining a predefined minimum distance to the preceding vehicle. As a consequence, the driver enjoys more comfort & can concentrate on the road little better.
A radar sensor is usually at the core of the Adaptive Cruise Control. Installed at the front of the vehicle, the system permanently monitors the road ahead. As long as the road ahead is clear, cruise control feature maintains the speed set by the driver. If the system spots a slower vehicle within its detection range, it gently reduces speed by releasing the accelerator or actively engaging the brake control system. If the vehicle ahead speeds up or changes lanes, the cruise control automatically accelerates to the driver’s desired speed.
Standard Adaptive Cruise Control can be activated from speeds of around 30 km/h (20 mph) upwards and supports the driver, primarily on cross-country journeys or on freeways. The cruise control stop & go variant is also active at speeds below 30 km/h (20 mph). It can maintain the set distance to the preceding vehicle even at very low speeds and can decelerate to a complete standstill. When the vehicle remains stopped longer, the driver needs only to reactivate the system, for example by briefly stepping on the gas pedal to return to cruise control mode. In this way, cruise control stop & go supports the driver even in heavy traffic and traffic jams.
Since Adaptive Cruise Control is a comfort and convenience system, brake interventions and vehicle acceleration only take place within defined limits. Even with Adaptive Cruise Control switched on, it remains the driver’s responsibility to monitor the speed and distance from the vehicle in front.
REQUIREMENTS:
Requirement 1– Lead Vehicle:
- Lead Vehicle is a vehicle which is driving in the road ahead of our drive vehicle. Two input signals (Signal Name: CameraInput_LeadVehicle & RadarInput_LeadVehicle).
- Ideally sensor fusion techniques will be deployed to process & analyze data from camera & radar. For complexity reasons, let’s not adapt to any such algorithms.
- We can simply add both the radar & camera inputs & the corresponding output is read as Speed profile output (Signal Name: LeadVehicle_Speed).
- Speed data of the lead vehicle is critical in implementing the Adaptive Cruise Control algorithm.
Requirement 2 – Drive Vehicle:
- Drive Vehicle is the vehicle driven by the user & this is the vehicle which has ACC algorithm in it.
- Like the Lead Vehicle, Drive Vehicle algorithm also has 2 input signals (Signal Name: CameraInput_DriveVehicle, RadarInput_DriveVehicle) & one signal coming as an Input to this subsystem (Signal Name: Acceleration_Mode) – three inputs into this requirement in total.
- Like the above requirement, sensor fusion techniques will also be deployed here, for complexity reasons we are ignoring them.
- Two output signals come from this subsystem (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected).
- Signal DriveVehicle_Speed is summation of three input signals mentioned above & LeadVehicle_Detected is renamed from Input Signal RadarInput_DriveVehicle by mere use of Signal Conversion block.
Requirement 3 – Adaptive Cruise Control Algorithm:
- Adaptive Cruise Control feature has 3 major modes of operation: OFF Mode, STANDBY Mode & ON Mode. This particular requirement has to be implemented as state machine logic in Simulink.
- The input signals to this state machine system are (Signal Name: Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, SetSwitch).
- Also, the output signals (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected) from requirement-2 is fed back as an input signal into this state machine block.
- Additionally, output signal (Signal Name: LeadVehicle_Speed) from requirement-1 is given as an input signal to this state machine block as well.
- Output from this subsystem is a signal (Signal Name: Acceleration_Mode) which governs the vehicular speed of the drive vehicle which automatically adjusts its speed & velocity to match the lead vehicle.
Requirement 3a – ACC OFF MODE state logic:
- This is the default state inside state machine logic. Output signal Acceleration_Mode is at value 0 in this state.
- This state is governed by input signal CruiseSwitch.
- If CruiseSwitch is equal to 1, state ACC STANDBY mode will get activated. If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode
Requirement 3b – ACC STANDBY MODE state logic:
- This is the second activated state inside state machine logic. Output signal Acceleration_Mode is at value 1 in this state.
- This state is governed by both input signals CruiseSwitch & SetSwitch.
- If CruiseSwitch is equal to 1, state ACC STANDBY mode will get activated. If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode
- If SetSwitch is equal to 1, state ACC ON mode will get activated. If SetSwitch is equal to 0, state ACC STANDBY mode will get activated.
Requirement 3c – ACC ON MODE state logic:
This state will be activated when input signal SetSwitch is equal to 1. There are 6 sub states to this state logic: They are:
- LeadVehicle_Detected_Follow (Default)
- LeadVehicle_Not_Detected
- LeadVehicle_Detected_Resume
- LeadVehicle_Not_Detected_Resume
- LeadVehicle_Speed_lessthan_Set_Speed
- LeadVehicle_Speed_equal_Set_Speed
Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):
- This is the default sub state inside ACC ON MODE state. Output signal Acceleration_Mode is equal to 2.
- Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.
- Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed; Input Signals condition (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap).
Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 1.
- Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Detected_Follow; Input signals condition [(LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
- Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Speed_lessthan_Set_Speed; Input signals condition [(LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)]
Requirement 3c (iii) – LeadVehicle_Detected_Resume (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 3.
- Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Detected_Follow; Input signals condition [(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
- Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
- Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Speed_equal_Set_Speed; Input Signal condition [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap)]
Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 1.
Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 4.
- Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Not_Detected; Input signal condition [(LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)]
- Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Speed_equal_Set_Speed; Input signals condition [((LeadVehicle_Speed*1.25>=DriveVehicle_Speed) && (LeadVehicle_Speed * 0.75<=DriveVehicle_Speed)) && (DriveVehicle_Speed < Set_Speed) && ((Time_Gap<=1.25*Set_Gap) && (Time_Gap >=0.75*Set_Gap))]
Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 5.
- Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Not_Detected_Resume; Input signal conditions is [(LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)]
- Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Detected_Resume; Input signal conditions [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) || (Time_Gap >= Set_Gap)]
- Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed<Set_Speed) && (LeadVehicle_Speed<DriveVehicle_Speed) || (Time_Gap == 0.75*Set_Gap)]
PROCEDURE:
step:1 : create a new simulink file and name it.
step:2 : analyse the given requirements.
step:3 : depends on the requirement start creating the model in simulink.
step:4 : A top level subsystem is created to add all the inputs and outputs for the model.
step:5 : requirement 1&2 was created as two different subsystems.
step:6 : Inside the subsystem the actions was performed with respect to the requirements.
step:7 : The output from these subsystem are connected to the third subsystem .
step:8 : Add all the inports and outports for the last syubsystem and create a chart inside it to perform stateflow operations.
step:9 : Two states was created and one subchar was created.
step:10: inside the subchart the remaining states was created.
step:11: The required transition was entered between the states.
Step:12: After creating the complete model, start creating data dictionary.
step:13: Enter the signals and customize them according to the requirement.
step:14: Once its completed, customise the configuration settings and change the code generation to embedded coder.
step:15: After setting the confirgurations, select ctrl+b to build the system for code generation.
step:16: The code generation process will take place instanstly and the code will be generated.
step:17: finally the model advisory check was performed by selecting the required tasks.
step:18: run the advisor and resolve the errors to get the final model.
step:19: save the final file.
SIMULINK MODEL: 
SIMULINK DATA DICTIONARY: 
CONFIGURATION PARAMETERS: 
REQUIREMENT TAGGING: 
MODEL ADVISOR: 
In the above image the advisory was run by selecting the iso26262 guidelines, at first the total warnings are shown and after sometiime changing some parameters the advisory was run again to check it was reduced, likewise the process need to be done till the end of 0 warnings with different tasks.
CODE GENERATION : 
GENERATED CODE:
MAIN.C
/*
* File: ert_main.c
*
* Code generated for Simulink model 'adas'.
*
* Model version : 1.5
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Tue Aug 30 18:48:19 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include <stddef.h>
#include <stdio.h> /* This ert_main.c example uses printf/fflush */
#include "adas.h" /* Model's header file */
#include "rtwtypes.h"
/*
* Associating rt_OneStep with a real-time clock or interrupt service routine
* is what makes the generated code "real-time". The function rt_OneStep is
* always associated with the base rate of the model. Subrates are managed
* by the base rate from inside the generated code. Enabling/disabling
* interrupts and floating point context switches are target specific. This
* example code indicates where these should take place relative to executing
* the generated code step function. Overrun behavior should be tailored to
* your application needs. This example simply sets an error status in the
* real-time model and returns from rt_OneStep.
*/
void rt_OneStep(void);
void rt_OneStep(void)
{
static boolean_T OverrunFlag = false;
/* Disable interrupts here */
/* Check for overrun */
if (OverrunFlag) {
rtmSetErrorStatus(adas_M, "Overrun");
return;
}
OverrunFlag = true;
/* Save FPU context here (if necessary) */
/* Re-enable timer or interrupt here */
/* Set model inputs here */
/* Step the model */
adas_step();
/* Get model outputs here */
/* Indicate task complete */
OverrunFlag = false;
/* Disable interrupts here */
/* Restore FPU context here (if necessary) */
/* Enable interrupts here */
}
/*
* The example "main" function illustrates what is required by your
* application code to initialize, execute, and terminate the generated code.
* Attaching rt_OneStep to a real-time clock is target specific. This example
* illustrates how you do this relative to initializing the model.
*/
int_T main(int_T argc, const char *argv[])
{
/* Unused arguments */
(void)(argc);
(void)(argv);
/* Initialize model */
adas_initialize();
/* Attach rt_OneStep to a timer or interrupt service routine with
* period 0.01 seconds (the model's base sample time) here. The
* call syntax for rt_OneStep is
*
* rt_OneStep();
*/
printf("Warning: The simulation will run forever. "
"Generated ERT main won't simulate model step behavior. "
"To change this behavior select the 'MAT-file logging' option.\n");
fflush((NULL));
while (rtmGetErrorStatus(adas_M) == (NULL)) {
/* Perform other application tasks here */
}
/* Disable rt_OneStep() here */
/* Terminate model */
adas_terminate
();
return 0;
}
/*
* File trailer for generated code.
*
* [EOF]
*/
ADAS.C
/*
* File: adas.c
*
* Code generated for Simulink model 'adas'.
*
* Model version : 1.5
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Tue Aug 30 18:48:19 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "adas.h"
#include "adas_private.h"
/* Named constants for Chart: '<S4>/Chart' */
#define IN_LeadVehicle_Detected_Follow ((uint8_T)1U)
#define IN_LeadVehicle_Detected_Resume ((uint8_T)2U)
#define IN_LeadVehicle_Not_Detected_Res ((uint8_T)4U)
#define IN_LeadVehicle_Speed_equal_Set_ ((uint8_T)5U)
#define IN_LeadVehicle_Speed_lessthan_S ((uint8_T)6U)
#define ada_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define adas_IN_ACC_OFF_MODE ((uint8_T)1U)
#define adas_IN_ACC_ON_MODE ((uint8_T)2U)
#define adas_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define adas_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
/* Exported data definition */
/* Definition for custom storage class: ExportToFile */
uint8_T Acceleration_Mode; /* '<S4>/Chart' */
/* Block states (default storage) */
DW_adas_T adas_DW;
/* Real-time model */
static RT_MODEL_adas_T adas_M_;
RT_MODEL_adas_T *const adas_M = &adas_M_;
real_T rt_roundd_snf(real_T u)
{
real_T y;
if (fabs(u) < 4.503599627370496E+15) {
if (u >= 0.5) {
y = floor(u + 0.5);
} else if (u > -0.5) {
y = u * 0.0;
} else {
y = ceil(u - 0.5);
}
} else {
y = u;
}
return y;
}
/* Model step function */
void adas_step(void)
{
int32_T tmp;
int32_T tmp_0;
uint8_T rtb_Add;
uint8_T rtb_Sum;
uint8_T tmp_1;
uint8_T tmp_2;
/* Sum: '<S2>/Sum' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle'
* Inport: '<Root>/RadarInput_LeadVehicle'
*/
rtb_Sum = (uint8_T)((uint32_T)CameraInput_LeadVehicle + RadarInput_LeadVehicle);
/* Sum: '<S3>/Add' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
* UnitDelay: '<S1>/Unit Delay'
*/
rtb_Add = (uint8_T)((uint32_T)(uint8_T)((uint32_T)CameraInput_DriveVehicle +
RadarInput_DriveVehicle) + Acceleration_Mode);
/* Chart: '<S4>/Chart' incorporates:
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/RadarInput_DriveVehicle'
* Inport: '<Root>/SetSwitch'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if (adas_DW.is_active_c3_adas == 0U) {
adas_DW.is_active_c3_adas = 1U;
adas_DW.is_c3_adas = adas_IN_ACC_OFF_MODE;
Acceleration_Mode = 0U;
} else {
switch (adas_DW.is_c3_adas) {
case adas_IN_ACC_OFF_MODE:
Acceleration_Mode = 0U;
if (CruiseSwitch) {
adas_DW.is_c3_adas = adas_IN_ACC_STANDBY_MODE;
Acceleration_Mode = 1U;
}
break;
case adas_IN_ACC_ON_MODE:
if (!CruiseSwitch) {
adas_DW.is_ACC_ON_MODE = adas_IN_NO_ACTIVE_CHILD;
adas_DW.is_c3_adas = adas_IN_ACC_OFF_MODE;
Acceleration_Mode = 0U;
} else if (!SetSwitch) {
adas_DW.is_ACC_ON_MODE = adas_IN_NO_ACTIVE_CHILD;
adas_DW.is_c3_adas = adas_IN_ACC_STANDBY_MODE;
Acceleration_Mode = 1U;
} else {
switch (adas_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
Acceleration_Mode = 2U;
if (RadarInput_DriveVehicle == 0) {
adas_DW.is_ACC_ON_MODE = ada_IN_LeadVehicle_Not_Detected;
Acceleration_Mode = 1U;
}
break;
case IN_LeadVehicle_Detected_Resume:
Acceleration_Mode = 3U;
if ((rtb_Add == Set_Speed) && (rtb_Sum >= Set_Speed) && (Time_Gap >=
Set_Gap)) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
} else if (RadarInput_DriveVehicle == 0) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
Acceleration_Mode = 1U;
} else if ((rtb_Add < Set_Speed) && (rtb_Sum > rtb_Add) && (Time_Gap >=
Set_Gap)) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
Acceleration_Mode = 5U;
}
break;
case ada_IN_LeadVehicle_Not_Detected:
Acceleration_Mode = 1U;
if ((RadarInput_DriveVehicle == 1) && (rtb_Add == Set_Speed) &&
(rtb_Sum >= Set_Speed) && (Time_Gap >= Set_Gap)) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
} else if (((RadarInput_DriveVehicle == 1) && (rtb_Sum < Set_Speed)) ||
(Time_Gap < Set_Gap)) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
Acceleration_Mode = 1U;
if ((RadarInput_DriveVehicle == 0) || (rtb_Add <= Set_Speed)) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
Acceleration_Mode = 5U;
}
break;
case IN_LeadVehicle_Speed_equal_Set_:
Acceleration_Mode = 5U;
if (((rtb_Add < Set_Speed) && (rtb_Sum > rtb_Add)) || (Time_Gap >=
Set_Gap)) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;
Acceleration_Mode = 3U;
} else if (((rtb_Sum < Set_Speed) && (rtb_Sum < rtb_Add)) || ((int32_T)
rt_roundd_snf(0.75 * (real_T)Set_Gap) == Time_Gap)) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Acceleration_Mode = 4U;
if (((RadarInput_DriveVehicle == 1) && (rtb_Sum < Set_Speed)) ||
(Time_Gap < Set_Gap)) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
} else if ((RadarInput_DriveVehicle == 0) && (rtb_Add == Set_Speed)) {
adas_DW.is_ACC_ON_MODE = ada_IN_LeadVehicle_Not_Detected;
Acceleration_Mode = 1U;
} else {
tmp = (int32_T)rt_roundd_snf((real_T)rtb_Sum * 1.25);
tmp_0 = (int32_T)rt_roundd_snf(1.25 * (real_T)Set_Gap);
if (tmp < 256) {
tmp_1 = (uint8_T)tmp;
} else {
tmp_1 = MAX_uint8_T;
}
if (tmp_0 < 256) {
tmp_2 = (uint8_T)tmp_0;
} else {
tmp_2 = MAX_uint8_T;
}
if ((tmp_1 >= rtb_Add) && ((int32_T)rt_roundd_snf((real_T)rtb_Sum *
0.75) <= rtb_Add) && (rtb_Add < Set_Speed) && (Time_Gap <=
tmp_2) && (Time_Gap >= (int32_T)rt_roundd_snf(0.75 * (real_T)
Set_Gap))) {
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
Acceleration_Mode = 5U;
}
}
break;
}
}
break;
default:
/* case IN_ACC_STANDBY_MODE: */
Acceleration_Mode = 1U;
if (!CruiseSwitch) {
adas_DW.is_c3_adas = adas_IN_ACC_OFF_MODE;
Acceleration_Mode = 0U;
} else if (SetSwitch) {
adas_DW.is_c3_adas = adas_IN_ACC_ON_MODE;
adas_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
}
break;
}
}
/* End of Chart: '<S4>/Chart' */
}
/* Model initialize function */
void adas_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void adas_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
ADAS.H
/*
* File: adas.h
*
* Code generated for Simulink model 'adas'.
*
* Model version : 1.5
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Tue Aug 30 18:48:19 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#ifndef RTW_HEADER_adas_h_
#define RTW_HEADER_adas_h_
#include <math.h>
#ifndef adas_COMMON_INCLUDES_
#define adas_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif /* adas_COMMON_INCLUDES_ */
#include "adas_types.h"
/* Macros for accessing real-time model data structure */
#ifndef rtmGetErrorStatus
#define rtmGetErrorStatus(rtm) ((rtm)->errorStatus)
#endif
#ifndef rtmSetErrorStatus
#define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val))
#endif
/* Block states (default storage) for system '<Root>' */
typedef struct {
uint8_T is_active_c3_adas; /* '<S4>/Chart' */
uint8_T is_c3_adas; /* '<S4>/Chart' */
uint8_T is_ACC_ON_MODE; /* '<S4>/Chart' */
} DW_adas_T;
/* Real-time Model Data Structure */
struct tag_RTM_adas_T {
const char_T * volatile errorStatus;
};
/* Block states (default storage) */
extern DW_adas_T adas_DW;
/* Model entry point functions */
extern void adas_initialize(void);
extern void adas_step(void);
extern void adas_terminate(void);
/* Exported data declaration */
/* Declaration for custom storage class: ExportToFile */
extern uint8_T Acceleration_Mode; /* '<S4>/Chart' */
/* Real-time Model object */
extern RT_MODEL_adas_T *const adas_M;
/*-
* These blocks were eliminated from the model due to optimizations:
*
* Block '<S3>/Signal Conversion' : Eliminate redundant signal conversion block
*/
/*-
* The generated code includes comments that allow you to trace directly
* back to the appropriate location in the model. The basic format
* is <system>/block_name, where system is the system number (uniquely
* assigned by Simulink) and block_name is the name of the block.
*
* Use the MATLAB hilite_system command to trace the generated code back
* to the model. For example,
*
* hilite_system('<S3>') - opens system 3
* hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'adas'
* '<S1>' : 'adas/cruise_control'
* '<S2>' : 'adas/cruise_control/requirement1'
* '<S3>' : 'adas/cruise_control/requirement2'
* '<S4>' : 'adas/cruise_control/requirement3'
* '<S5>' : 'adas/cruise_control/requirement3/Chart'
*/
#endif /* RTW_HEADER_adas_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/
ADAS_PRIVATE.H
/*
* File: adas_private.h
*
* Code generated for Simulink model 'adas'.
*
* Model version : 1.5
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Tue Aug 30 18:48:19 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#ifndef RTW_HEADER_adas_private_h_
#define RTW_HEADER_adas_private_h_
#include "rtwtypes.h"
/* Imported (extern) block signals */
extern uint8_T CameraInput_LeadVehicle;/* '<Root>/CameraInput_LeadVehicle' */
extern uint8_T RadarInput_LeadVehicle; /* '<Root>/RadarInput_LeadVehicle' */
extern uint8_T CameraInput_DriveVehicle;/* '<Root>/CameraInput_DriveVehicle' */
extern uint8_T RadarInput_DriveVehicle;/* '<Root>/RadarInput_DriveVehicle' */
extern uint8_T Time_Gap; /* '<Root>/Time_Gap' */
extern uint8_T Set_Speed; /* '<Root>/Set_Speed' */
extern boolean_T SetSwitch; /* '<Root>/SetSwitch' */
extern boolean_T CruiseSwitch
Customization
Individual element mapping
CruiseSwitch: ImportedExtern
; /* '<Root>/CruiseSwitch' */
extern uint8_T Set_Gap; /* '<Root>/Set_Gap' */
extern real_T rt_roundd_snf(real_T u);
#endif /* RTW_HEADER_adas_private_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/
ADAS_TYPES.H
/*
* File: adas_types.h
*
* Code generated for Simulink model 'adas'.
*
* Model version : 1.5
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Tue Aug 30 18:48:19 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#ifndef RTW_HEADER_adas_types_h_
#define RTW_HEADER_adas_types_h_
/* Model Code Variants */
/* Forward declaration for rtModel */
typedef struct tag_RTM_adas_T RT_MODEL_adas_T;
#endif /* RTW_HEADER_adas_types_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/
RTWTYPES.H
/*
* File: rtwtypes.h
*
* Code generated for Simulink model 'adas'.
*
* Model version : 1.5
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Tue Aug 30 18:48:19 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#ifndef RTWTYPES_H
#define RTWTYPES_H
/* Logical type definitions */
#if (!defined(__cplusplus))
#ifndef false
#define false (0U)
#endif
#ifndef true
#define true (1U)
#endif
#endif
/*=======================================================================*
* Target hardware information
* Device type: Intel->x86-64 (Windows64)
* Number of bits: char: 8 short: 16 int: 32
* long: 32
* native word size: 64
* Byte ordering: LittleEndian
* Signed integer division rounds to: Zero
* Shift right on a signed integer as arithmetic shift: on
*=======================================================================*/
/*=======================================================================*
* Fixed width word size data types: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
* real32_T, real64_T - 32 and 64 bit floating point numbers *
*=======================================================================*/
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;
/*===========================================================================*
* Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T, *
* real_T, time_T, ulong_T. *
*===========================================================================*/
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef unsigned char uchar_T;
typedef char_T byte_T;
/*===========================================================================*
* Complex number type definitions *
*===========================================================================*/
#define CREAL_T
typedef struct {
real32_T re;
real32_T im;
} creal32_T;
typedef struct {
real64_T re;
real64_T im;
} creal64_T;
typedef struct {
real_T re;
real_T im;
} creal_T;
#define CINT8_T
typedef struct {
int8_T re;
int8_T im;
} cint8_T;
#define CUINT8_T
typedef struct {
uint8_T re;
uint8_T im;
} cuint8_T;
#define CINT16_T
typedef struct {
int16_T re;
int16_T im;
} cint16_T;
#define CUINT16_T
typedef struct {
uint16_T re;
uint16_T im;
} cuint16_T;
#define CINT32_T
typedef struct {
int32_T re;
int32_T im;
} cint32_T;
#define CUINT32_T
typedef struct {
uint32_T re;
uint32_T im;
} cuint32_T;
/*=======================================================================*
* Min and Max: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
*=======================================================================*/
#define MAX_int8_T ((int8_T)(127))
#define MIN_int8_T ((int8_T)(-128))
#define MAX_uint8_T ((uint8_T)(255U))
#define MAX_int16_T ((int16_T)(32767))
#define MIN_int16_T ((int16_T)(-32768))
#define MAX_uint16_T ((uint16_T)(65535U))
#define MAX_int32_T ((int32_T)(2147483647))
#define MIN_int32_T ((int32_T)(-2147483647-1))
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
/* Block D-Work pointer type */
typedef void * pointer_T;
#endif /* RTWTYPES_H */
/*
* File trailer for generated code.
*
* [EOF]
*/
RESULTS:
The project was completed successfully by solving all the challenges and fulfilling the requirements.