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#include <stdlib.h>
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2
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#include <assert.h>
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3
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#include "ALT_2.lustrec.h"
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4
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5
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/* C code generated by main_lustre_compiler.native
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SVN version number 355
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Code is C99 compliant */
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8
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/* Imported nodes declarations */
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10
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/* Global constants (definitions) */
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12
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void top_reset (struct top_mem *self) {
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AltitudeControl_reset(&self->ni_0);
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return;
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}
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void top_step (_Bool AltEng, double AltCmd, double Altitude, double gskts,
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double hdot, double hdotChgRate,
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_Bool (*obs),
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struct top_mem *self) {
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/*@ensures Ctrans_top(AltEng,
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AltCmd,
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Altitude,
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gskts,
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hdot,
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hdotChgRate,
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*obs,
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\at(*self, Pre),
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(*self));
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assigns *obs, *self;
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*/
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{
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double altgammaCmd;
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double tempAlt;
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/* Asserting trans predicate: locals are [altgammaCmd: real] */
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/*@ensures \exists real altgammaCmd;
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trans_top(AltEng,
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AltCmd,
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Altitude,
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gskts,
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hdot,
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hdotChgRate,
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*obs,
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\at(*self, Pre),
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49
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(*self),
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altgammaCmd,
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tempAlt);
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assigns *obs, *self, altgammaCmd, tempAlt;
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*/
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{
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/*@ensures trans_top(AltEng,
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AltCmd,
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Altitude,
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gskts,
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hdot,
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hdotChgRate,
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*obs,
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\at(*self, Pre),
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(*self),
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altgammaCmd,
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tempAlt);
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assigns *obs, *self, altgammaCmd, tempAlt;
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*/
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{
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/*@ ensures (tempAlt == (AltEng?(1.):(0.)));
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ensures Ctrans_AltitudeControl((double) tempAlt,
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(double) AltCmd,
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(double) Altitude,
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(double) gskts,
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(double) hdot,
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(double) hdotChgRate,
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altgammaCmd,
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\at(*self, Pre).ni_0,
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(*self).ni_0);
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ensures ((!*obs) == (!(altgammaCmd == 0.)));
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assigns *obs, *self, altgammaCmd, tempAlt;
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*/ {
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tempAlt = (AltEng?(1.):(0.));
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AltitudeControl_step (tempAlt, AltCmd, Altitude, gskts, hdot, hdotChgRate, &altgammaCmd, &self->ni_0);
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*obs = (altgammaCmd == 0.);
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}}}}return;
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}
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void AltitudeControl_reset (struct AltitudeControl_mem *self) {
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VariableRateLimit_reset(&self->ni_1);
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return;
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}
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void AltitudeControl_step (double AntEng_Out1_19, double AltCmd_Out1_29,
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double Alt_Out1_39, double GsKts_Out1_49,
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double hdot_Out1_59, double hdotChgRate_Out1_69,
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double (*altgammacmd_In1_661),
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struct AltitudeControl_mem *self) {
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/*@ensures Ctrans_AltitudeControl(AntEng_Out1_19,
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AltCmd_Out1_29,
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Alt_Out1_39,
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GsKts_Out1_49,
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hdot_Out1_59,
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hdotChgRate_Out1_69,
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*altgammacmd_In1_661,
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\at(*self, Pre),
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(*self));
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assigns *altgammacmd_In1_661, *self;
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*/
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{
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double Abs_Out1_144;
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double Kh_Out1_193;
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_Bool Logical_Operator_In1_197;
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_Bool Logical_Operator_Out1_198;
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double Saturation1_Out1_213;
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double Sum3_Out1_296;
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double Sum_Out1_286;
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_Bool Switch1_In2_312;
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double Switch1_Out1_314;
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_Bool Switch_In2_303;
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double Switch_Out1_305;
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double Variable_Limit_Saturation_0_Out1_509;
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double Variable__Rate_Limit_Out1_324;
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_Bool __AltitudeControl_1;
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_Bool __AltitudeControl_2;
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double k_Out1_585;
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double kts2fps_Out1_594;
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double r2d_Out1_603;
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/* Asserting trans predicate: locals are [Saturation1_Out1_213: real, Variable_Limit_Saturation_0_Out1_509: real, Variable__Rate_Limit_Out1_324: real] */
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/*@ensures \exists real Saturation1_Out1_213;
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\exists real Variable_Limit_Saturation_0_Out1_509;
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\exists real Variable__Rate_Limit_Out1_324;
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trans_AltitudeControl(AntEng_Out1_19,
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AltCmd_Out1_29,
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Alt_Out1_39,
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GsKts_Out1_49,
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hdot_Out1_59,
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hdotChgRate_Out1_69,
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*altgammacmd_In1_661,
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144
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\at(*self, Pre),
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(*self),
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Abs_Out1_144,
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Kh_Out1_193,
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Logical_Operator_In1_197,
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Logical_Operator_Out1_198,
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Saturation1_Out1_213,
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Sum3_Out1_296,
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Sum_Out1_286,
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Switch1_In2_312,
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Switch1_Out1_314,
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Switch_In2_303,
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Switch_Out1_305,
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Variable_Limit_Saturation_0_Out1_509,
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Variable__Rate_Limit_Out1_324,
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__AltitudeControl_1,
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__AltitudeControl_2,
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k_Out1_585,
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kts2fps_Out1_594,
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r2d_Out1_603);
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assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
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Logical_Operator_In1_197, Logical_Operator_Out1_198,
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Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
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Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
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Variable_Limit_Saturation_0_Out1_509,
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Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
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__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
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*/
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{
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/*@ensures \exists real Variable_Limit_Saturation_0_Out1_509;
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\exists real Variable__Rate_Limit_Out1_324;
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trans_AltitudeControl(AntEng_Out1_19,
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AltCmd_Out1_29,
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Alt_Out1_39,
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GsKts_Out1_49,
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hdot_Out1_59,
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hdotChgRate_Out1_69,
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*altgammacmd_In1_661,
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\at(*self, Pre),
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(*self),
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Abs_Out1_144,
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Kh_Out1_193,
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Logical_Operator_In1_197,
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Logical_Operator_Out1_198,
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189
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Saturation1_Out1_213,
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190
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Sum3_Out1_296,
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191
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Sum_Out1_286,
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192
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Switch1_In2_312,
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193
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Switch1_Out1_314,
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194
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Switch_In2_303,
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195
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Switch_Out1_305,
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196
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Variable_Limit_Saturation_0_Out1_509,
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197
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Variable__Rate_Limit_Out1_324,
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198
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__AltitudeControl_1,
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199
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__AltitudeControl_2,
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200
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k_Out1_585,
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201
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kts2fps_Out1_594,
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202
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r2d_Out1_603);
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assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
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Logical_Operator_In1_197, Logical_Operator_Out1_198,
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Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
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Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
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207
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Variable_Limit_Saturation_0_Out1_509,
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208
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Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
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209
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__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
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210
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*/
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211
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{
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212
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213
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/*@ensures \exists real Variable__Rate_Limit_Out1_324;
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214
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trans_AltitudeControl(AntEng_Out1_19,
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215
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AltCmd_Out1_29,
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216
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Alt_Out1_39,
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217
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GsKts_Out1_49,
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218
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hdot_Out1_59,
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219
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hdotChgRate_Out1_69,
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220
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*altgammacmd_In1_661,
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221
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\at(*self, Pre),
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222
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(*self),
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223
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Abs_Out1_144,
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224
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Kh_Out1_193,
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225
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Logical_Operator_In1_197,
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226
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Logical_Operator_Out1_198,
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227
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Saturation1_Out1_213,
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228
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Sum3_Out1_296,
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229
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Sum_Out1_286,
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230
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Switch1_In2_312,
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231
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Switch1_Out1_314,
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232
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Switch_In2_303,
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233
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Switch_Out1_305,
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234
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Variable_Limit_Saturation_0_Out1_509,
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235
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Variable__Rate_Limit_Out1_324,
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236
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__AltitudeControl_1,
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237
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__AltitudeControl_2,
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238
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k_Out1_585,
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239
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kts2fps_Out1_594,
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240
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r2d_Out1_603);
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241
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assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
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242
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Logical_Operator_In1_197, Logical_Operator_Out1_198,
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243
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Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
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244
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Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
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245
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Variable_Limit_Saturation_0_Out1_509,
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246
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Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
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247
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__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
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248
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*/
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249
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{
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250
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251
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/*@ensures trans_AltitudeControl(AntEng_Out1_19,
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252
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AltCmd_Out1_29,
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253
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Alt_Out1_39,
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254
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GsKts_Out1_49,
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255
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hdot_Out1_59,
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256
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hdotChgRate_Out1_69,
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257
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*altgammacmd_In1_661,
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258
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\at(*self, Pre),
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259
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(*self),
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260
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Abs_Out1_144,
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261
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Kh_Out1_193,
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262
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Logical_Operator_In1_197,
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263
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Logical_Operator_Out1_198,
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264
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Saturation1_Out1_213,
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265
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Sum3_Out1_296,
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266
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Sum_Out1_286,
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267
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Switch1_In2_312,
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268
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Switch1_Out1_314,
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269
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Switch_In2_303,
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270
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Switch_Out1_305,
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271
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Variable_Limit_Saturation_0_Out1_509,
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272
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Variable__Rate_Limit_Out1_324,
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273
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__AltitudeControl_1,
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274
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__AltitudeControl_2,
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275
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k_Out1_585,
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276
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kts2fps_Out1_594,
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277
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r2d_Out1_603);
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278
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assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
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279
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Logical_Operator_In1_197, Logical_Operator_Out1_198,
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280
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Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
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281
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Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
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282
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Variable_Limit_Saturation_0_Out1_509,
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283
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Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
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284
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__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
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285
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*/
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286
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{
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287
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/*@ ensures (__AltitudeControl_1 == (hdot_Out1_59 < 0.));
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288
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ensures (Abs_Out1_144 == (__AltitudeControl_1?((- hdot_Out1_59)):(hdot_Out1_59)));
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289
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ensures (Sum3_Out1_296 == (Abs_Out1_144 + 10.));
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290
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ensures (k_Out1_585 == (- Sum3_Out1_296));
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291
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ensures (__AltitudeControl_2 == (AntEng_Out1_19 == 0.));
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292
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ensures ((!Logical_Operator_In1_197) == (!(__AltitudeControl_2?(0):(1))));
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293
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ensures ((!Logical_Operator_Out1_198) == (!(!Logical_Operator_In1_197)));
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294
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ensures ((!Switch_In2_303) == (!(__AltitudeControl_2?(0):(1))));
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295
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ensures (Sum_Out1_286 == (AltCmd_Out1_29 + (- Alt_Out1_39)));
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296
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ensures (Kh_Out1_193 == (0.08 * Sum_Out1_286));
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297
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ensures (Switch_Out1_305 == (Switch_In2_303?(Kh_Out1_193):(0.)));
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298
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ensures Ctrans_VariableLimitSaturation((double) Sum3_Out1_296,
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|
299
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(double) Switch_Out1_305,
|
|
300
|
(double) k_Out1_585,
|
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301
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Variable_Limit_Saturation_0_Out1_509);
|
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302
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ensures Ctrans_VariableRateLimit((double) hdotChgRate_Out1_69,
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303
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(double) Variable_Limit_Saturation_0_Out1_509,
|
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304
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(_Bool) ((Logical_Operator_Out1_198)?1:0),
|
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305
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(double) hdot_Out1_59,
|
|
306
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Variable__Rate_Limit_Out1_324,
|
|
307
|
\at(*self, Pre).ni_1,
|
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308
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(*self).ni_1);
|
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309
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ensures (r2d_Out1_603 == (57.2958 * Variable__Rate_Limit_Out1_324));
|
|
310
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ensures (kts2fps_Out1_594 == (1.6878 * GsKts_Out1_49));
|
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311
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ensures ((!Switch1_In2_312) == (!(__AltitudeControl_2?(0):(1))));
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312
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ensures (Switch1_Out1_314 == (Switch1_In2_312?(r2d_Out1_603):(0.)));
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313
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ensures (*altgammacmd_In1_661 == Switch1_Out1_314);
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314
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ensures Ctrans_Saturation((double) kts2fps_Out1_594,
|
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315
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Saturation1_Out1_213);
|
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316
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assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
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317
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Logical_Operator_In1_197, Logical_Operator_Out1_198,
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318
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Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
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319
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Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
320
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Variable_Limit_Saturation_0_Out1_509,
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321
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Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
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322
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__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
323
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*/ {
|
|
324
|
|
|
325
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__AltitudeControl_1 = (hdot_Out1_59 < 0.);
|
|
326
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Abs_Out1_144 = (__AltitudeControl_1?((- hdot_Out1_59)):(hdot_Out1_59));
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|
327
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Sum3_Out1_296 = (Abs_Out1_144 + 10.);
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|
328
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k_Out1_585 = (- Sum3_Out1_296);
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|
329
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__AltitudeControl_2 = (AntEng_Out1_19 == 0.);
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|
330
|
Logical_Operator_In1_197 = (__AltitudeControl_2?(0):(1));
|
|
331
|
Logical_Operator_Out1_198 = (!Logical_Operator_In1_197);
|
|
332
|
Switch_In2_303 = (__AltitudeControl_2?(0):(1));
|
|
333
|
Sum_Out1_286 = (AltCmd_Out1_29 + (- Alt_Out1_39));
|
|
334
|
Kh_Out1_193 = (0.08 * Sum_Out1_286);
|
|
335
|
Switch_Out1_305 = (Switch_In2_303?(Kh_Out1_193):(0.));
|
|
336
|
/*@
|
|
337
|
ensures Ctrans_VariableLimitSaturation((double) Sum3_Out1_296,
|
|
338
|
(double) Switch_Out1_305,
|
|
339
|
(double) k_Out1_585,
|
|
340
|
Variable_Limit_Saturation_0_Out1_509);
|
|
341
|
assigns Variable_Limit_Saturation_0_Out1_509;
|
|
342
|
*/ {
|
|
343
|
VariableLimitSaturation_step (Sum3_Out1_296, Switch_Out1_305, k_Out1_585, &Variable_Limit_Saturation_0_Out1_509);
|
|
344
|
}
|
|
345
|
/*@
|
|
346
|
ensures Ctrans_VariableRateLimit((double) hdotChgRate_Out1_69,
|
|
347
|
(double) Variable_Limit_Saturation_0_Out1_509,
|
|
348
|
(_Bool) ((Logical_Operator_Out1_198)?1:0),
|
|
349
|
(double) hdot_Out1_59,
|
|
350
|
Variable__Rate_Limit_Out1_324,
|
|
351
|
\at(*self, Pre).ni_1,
|
|
352
|
(*self).ni_1);
|
|
353
|
assigns Variable__Rate_Limit_Out1_324, self->ni_1;
|
|
354
|
*/ {
|
|
355
|
VariableRateLimit_step (hdotChgRate_Out1_69, Variable_Limit_Saturation_0_Out1_509, Logical_Operator_Out1_198, hdot_Out1_59, &Variable__Rate_Limit_Out1_324, &self->ni_1);
|
|
356
|
}
|
|
357
|
r2d_Out1_603 = (57.2958 * Variable__Rate_Limit_Out1_324);
|
|
358
|
kts2fps_Out1_594 = (1.6878 * GsKts_Out1_49);
|
|
359
|
Switch1_In2_312 = (__AltitudeControl_2?(0):(1));
|
|
360
|
Switch1_Out1_314 = (Switch1_In2_312?(r2d_Out1_603):(0.));
|
|
361
|
*altgammacmd_In1_661 = Switch1_Out1_314;
|
|
362
|
Saturation_step (kts2fps_Out1_594, &Saturation1_Out1_213);
|
|
363
|
}}}}}}return;
|
|
364
|
}
|
|
365
|
|
|
366
|
void VariableRateLimit_reset (struct VariableRateLimit_mem *self) {
|
|
367
|
_arrow_reset(&self->ni_3);
|
|
368
|
integrator_reset_reset(&self->ni_2);
|
|
369
|
return;
|
|
370
|
}
|
|
371
|
|
|
372
|
void VariableRateLimit_step (double ratelim_Out1_334, double input_Out1_344,
|
|
373
|
_Bool ICtrig_Out1_354, double IC_Out1_364,
|
|
374
|
double (*output_In1_489),
|
|
375
|
struct VariableRateLimit_mem *self) {
|
|
376
|
/*@ensures Ctrans_VariableRateLimit(ratelim_Out1_334,
|
|
377
|
input_Out1_344,
|
|
378
|
ICtrig_Out1_354,
|
|
379
|
IC_Out1_364,
|
|
380
|
*output_In1_489,
|
|
381
|
\at(*self, Pre),
|
|
382
|
(*self));
|
|
383
|
assigns *output_In1_489, *self;
|
|
384
|
*/
|
|
385
|
{
|
|
386
|
|
|
387
|
double Gain1_Out1_382;
|
|
388
|
double Gain_Out1_373;
|
|
389
|
double Integrator1_Out1_391;
|
|
390
|
double Sum2_Out1_401;
|
|
391
|
double Variable_Limit_Saturation_Out1_410;
|
|
392
|
_Bool __VariableRateLimit_1;
|
|
393
|
double __VariableRateLimit_2;
|
|
394
|
|
|
395
|
|
|
396
|
/* Asserting trans predicate: locals are [Variable_Limit_Saturation_Out1_410: real, __VariableRateLimit_2: real] */
|
|
397
|
/*@ensures \exists real Variable_Limit_Saturation_Out1_410;
|
|
398
|
\exists real __VariableRateLimit_2;
|
|
399
|
trans_VariableRateLimit(ratelim_Out1_334,
|
|
400
|
input_Out1_344,
|
|
401
|
ICtrig_Out1_354,
|
|
402
|
IC_Out1_364,
|
|
403
|
*output_In1_489,
|
|
404
|
\at(*self, Pre),
|
|
405
|
(*self),
|
|
406
|
Gain1_Out1_382,
|
|
407
|
Gain_Out1_373,
|
|
408
|
Integrator1_Out1_391,
|
|
409
|
Sum2_Out1_401,
|
|
410
|
Variable_Limit_Saturation_Out1_410,
|
|
411
|
__VariableRateLimit_1,
|
|
412
|
__VariableRateLimit_2);
|
|
413
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
414
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
415
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
416
|
__VariableRateLimit_2;
|
|
417
|
*/
|
|
418
|
{
|
|
419
|
|
|
420
|
/*@ensures \exists real __VariableRateLimit_2;
|
|
421
|
trans_VariableRateLimit(ratelim_Out1_334,
|
|
422
|
input_Out1_344,
|
|
423
|
ICtrig_Out1_354,
|
|
424
|
IC_Out1_364,
|
|
425
|
*output_In1_489,
|
|
426
|
\at(*self, Pre),
|
|
427
|
(*self),
|
|
428
|
Gain1_Out1_382,
|
|
429
|
Gain_Out1_373,
|
|
430
|
Integrator1_Out1_391,
|
|
431
|
Sum2_Out1_401,
|
|
432
|
Variable_Limit_Saturation_Out1_410,
|
|
433
|
__VariableRateLimit_1,
|
|
434
|
__VariableRateLimit_2);
|
|
435
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
436
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
437
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
438
|
__VariableRateLimit_2;
|
|
439
|
*/
|
|
440
|
{
|
|
441
|
|
|
442
|
/*@ensures trans_VariableRateLimit(ratelim_Out1_334,
|
|
443
|
input_Out1_344,
|
|
444
|
ICtrig_Out1_354,
|
|
445
|
IC_Out1_364,
|
|
446
|
*output_In1_489,
|
|
447
|
\at(*self, Pre),
|
|
448
|
(*self),
|
|
449
|
Gain1_Out1_382,
|
|
450
|
Gain_Out1_373,
|
|
451
|
Integrator1_Out1_391,
|
|
452
|
Sum2_Out1_401,
|
|
453
|
Variable_Limit_Saturation_Out1_410,
|
|
454
|
__VariableRateLimit_1,
|
|
455
|
__VariableRateLimit_2);
|
|
456
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
457
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
458
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
459
|
__VariableRateLimit_2;
|
|
460
|
*/
|
|
461
|
{
|
|
462
|
/*@ ensures (__VariableRateLimit_1==(\at(*self, Pre).ni_3._reg._first?(1):(0)));
|
|
463
|
ensures ((*self).ni_3._reg._first==0);
|
|
464
|
ensures (Integrator1_Out1_391 == (__VariableRateLimit_1?(IC_Out1_364):(\at(*self, Pre)._reg.__VariableRateLimit_3)));
|
|
465
|
ensures (*output_In1_489 == Integrator1_Out1_391);
|
|
466
|
ensures (Gain1_Out1_382 == (- ratelim_Out1_334));
|
|
467
|
ensures (Sum2_Out1_401 == (input_Out1_344 + (- Integrator1_Out1_391)));
|
|
468
|
ensures (Gain_Out1_373 == (20. * Sum2_Out1_401));
|
|
469
|
ensures Ctrans_VariableLimitSaturation((double) ratelim_Out1_334,
|
|
470
|
(double) Gain_Out1_373,
|
|
471
|
(double) Gain1_Out1_382,
|
|
472
|
Variable_Limit_Saturation_Out1_410);
|
|
473
|
ensures Ctrans_integrator_reset((double) Variable_Limit_Saturation_Out1_410,
|
|
474
|
ICtrig_Out1_354,
|
|
475
|
(double) IC_Out1_364,
|
|
476
|
__VariableRateLimit_2,
|
|
477
|
\at(*self, Pre).ni_2,
|
|
478
|
(*self).ni_2);
|
|
479
|
ensures ((*self)._reg.__VariableRateLimit_3 == __VariableRateLimit_2);
|
|
480
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
481
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
482
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
483
|
__VariableRateLimit_2;
|
|
484
|
*/ {
|
|
485
|
|
|
486
|
_arrow_step (1, 0, &__VariableRateLimit_1, &self->ni_3);
|
|
487
|
Integrator1_Out1_391 = (__VariableRateLimit_1?(IC_Out1_364):(self->_reg.__VariableRateLimit_3));
|
|
488
|
/*@
|
|
489
|
ensures (*output_In1_489 == Integrator1_Out1_391);
|
|
490
|
assigns *output_In1_489; */
|
|
491
|
{
|
|
492
|
*output_In1_489 = Integrator1_Out1_391;
|
|
493
|
}
|
|
494
|
Gain1_Out1_382 = (- ratelim_Out1_334);
|
|
495
|
Sum2_Out1_401 = (input_Out1_344 + (- Integrator1_Out1_391));
|
|
496
|
Gain_Out1_373 = (20. * Sum2_Out1_401);
|
|
497
|
/*@
|
|
498
|
ensures Ctrans_VariableLimitSaturation((double) ratelim_Out1_334,
|
|
499
|
(double) Gain_Out1_373,
|
|
500
|
(double) Gain1_Out1_382,
|
|
501
|
Variable_Limit_Saturation_Out1_410);
|
|
502
|
assigns Variable_Limit_Saturation_Out1_410; */
|
|
503
|
{
|
|
504
|
VariableLimitSaturation_step (ratelim_Out1_334, Gain_Out1_373, Gain1_Out1_382, &Variable_Limit_Saturation_Out1_410);
|
|
505
|
}
|
|
506
|
/*@
|
|
507
|
ensures Ctrans_integrator_reset((double) Variable_Limit_Saturation_Out1_410,
|
|
508
|
(_Bool) ((ICtrig_Out1_354)),
|
|
509
|
(double) IC_Out1_364,
|
|
510
|
__VariableRateLimit_2,
|
|
511
|
\at(*self, Pre).ni_2,
|
|
512
|
(*self).ni_2);
|
|
513
|
assigns __VariableRateLimit_2, self->ni_2; */
|
|
514
|
{
|
|
515
|
integrator_reset_step (Variable_Limit_Saturation_Out1_410, ICtrig_Out1_354, IC_Out1_364, &__VariableRateLimit_2, &self->ni_2);
|
|
516
|
}
|
|
517
|
self->_reg.__VariableRateLimit_3 = __VariableRateLimit_2;
|
|
518
|
}}}}}return;
|
|
519
|
}
|
|
520
|
|
|
521
|
void Saturation_step (double Signal,
|
|
522
|
double (*s_out)
|
|
523
|
) {
|
|
524
|
/*@ensures Ctrans_Saturation(Signal,
|
|
525
|
*s_out);
|
|
526
|
assigns *s_out;
|
|
527
|
*/
|
|
528
|
{
|
|
529
|
|
|
530
|
_Bool __Saturation_1;
|
|
531
|
_Bool __Saturation_2;
|
|
532
|
double enforce_lo_lim;
|
|
533
|
|
|
534
|
|
|
535
|
/* Asserting trans predicate: locals are [] */
|
|
536
|
/*@ensures trans_Saturation(Signal,
|
|
537
|
*s_out,
|
|
538
|
__Saturation_1,
|
|
539
|
__Saturation_2,
|
|
540
|
enforce_lo_lim);
|
|
541
|
assigns *s_out, __Saturation_1, __Saturation_2, enforce_lo_lim;
|
|
542
|
*/
|
|
543
|
{
|
|
544
|
/*@ ensures (__Saturation_1 == (0.0001 >= Signal));
|
|
545
|
ensures (enforce_lo_lim == (__Saturation_1?(0.0001):(Signal)));
|
|
546
|
ensures (__Saturation_2 == (1000. <= enforce_lo_lim));
|
|
547
|
ensures (*s_out == (__Saturation_2?(1000.):(enforce_lo_lim)));
|
|
548
|
assigns *s_out, __Saturation_1, __Saturation_2, enforce_lo_lim;
|
|
549
|
*/ {
|
|
550
|
__Saturation_1 = (0.0001 >= Signal);
|
|
551
|
enforce_lo_lim = (__Saturation_1?(0.0001):(Signal));
|
|
552
|
__Saturation_2 = (1000. <= enforce_lo_lim);
|
|
553
|
*s_out = (__Saturation_2?(1000.):(enforce_lo_lim));
|
|
554
|
}}}return;
|
|
555
|
}
|
|
556
|
|
|
557
|
void integrator_reset_reset (struct integrator_reset_mem *self) {
|
|
558
|
_arrow_reset(&self->ni_4);
|
|
559
|
return;
|
|
560
|
}
|
|
561
|
|
|
562
|
void integrator_reset_step (double Fx, _Bool ResetLevel, double x0,
|
|
563
|
double (*ir_out),
|
|
564
|
struct integrator_reset_mem *self) {
|
|
565
|
/*@ensures Ctrans_integrator_reset(Fx,
|
|
566
|
ResetLevel,
|
|
567
|
x0,
|
|
568
|
*ir_out,
|
|
569
|
\at(*self, Pre),
|
|
570
|
(*self));
|
|
571
|
assigns *ir_out, *self;
|
|
572
|
*/
|
|
573
|
{
|
|
574
|
|
|
575
|
_Bool __integrator_reset_1;
|
|
576
|
|
|
577
|
|
|
578
|
/* Asserting trans predicate: locals are [] */
|
|
579
|
/*@ensures trans_integrator_reset(Fx,
|
|
580
|
ResetLevel,
|
|
581
|
x0,
|
|
582
|
*ir_out,
|
|
583
|
\at(*self, Pre),
|
|
584
|
(*self),
|
|
585
|
__integrator_reset_1);
|
|
586
|
assigns *ir_out, *self, __integrator_reset_1;
|
|
587
|
*/
|
|
588
|
{
|
|
589
|
/*@ ensures (__integrator_reset_1==(\at(*self, Pre).ni_4._reg._first?(1):(0))) && ((*self).ni_4._reg._first==0);
|
|
590
|
ensures (*ir_out == (__integrator_reset_1?(x0):((ResetLevel?(x0):(((Fx * 1.) + \at(*self, Pre)._reg.__integrator_reset_2))))));
|
|
591
|
ensures ((*self)._reg.__integrator_reset_2 == *ir_out);
|
|
592
|
assigns *ir_out, *self, __integrator_reset_1;
|
|
593
|
*/ {
|
|
594
|
|
|
595
|
_arrow_step (1, 0, &__integrator_reset_1, &self->ni_4);
|
|
596
|
*ir_out = (__integrator_reset_1?(x0):((ResetLevel?(x0):(((Fx * 1.) + self->_reg.__integrator_reset_2)))));
|
|
597
|
self->_reg.__integrator_reset_2 = *ir_out;
|
|
598
|
}}}return;
|
|
599
|
}
|
|
600
|
|
|
601
|
void VariableLimitSaturation_step (double up_lim, double Signal,
|
|
602
|
double lo_lim,
|
|
603
|
double (*out)
|
|
604
|
) {
|
|
605
|
/*@ensures Ctrans_VariableLimitSaturation(up_lim,
|
|
606
|
Signal,
|
|
607
|
lo_lim,
|
|
608
|
*out);
|
|
609
|
assigns *out;
|
|
610
|
*/
|
|
611
|
{
|
|
612
|
|
|
613
|
_Bool __VariableLimitSaturation_1;
|
|
614
|
_Bool __VariableLimitSaturation_2;
|
|
615
|
double enforce_lo_lim;
|
|
616
|
|
|
617
|
|
|
618
|
/* Asserting trans predicate: locals are [] */
|
|
619
|
/*@ensures trans_VariableLimitSaturation(up_lim,
|
|
620
|
Signal,
|
|
621
|
lo_lim,
|
|
622
|
*out,
|
|
623
|
__VariableLimitSaturation_1,
|
|
624
|
__VariableLimitSaturation_2,
|
|
625
|
enforce_lo_lim);
|
|
626
|
assigns *out, __VariableLimitSaturation_1, __VariableLimitSaturation_2,
|
|
627
|
enforce_lo_lim;
|
|
628
|
*/
|
|
629
|
{
|
|
630
|
/*@ ensures (__VariableLimitSaturation_1 == (Signal >= lo_lim));
|
|
631
|
ensures (enforce_lo_lim == (__VariableLimitSaturation_1?(Signal):(lo_lim)));
|
|
632
|
ensures (__VariableLimitSaturation_2 == (enforce_lo_lim <= up_lim));
|
|
633
|
ensures (*out == (__VariableLimitSaturation_2?(enforce_lo_lim):(up_lim)));
|
|
634
|
assigns *out, __VariableLimitSaturation_1, __VariableLimitSaturation_2,
|
|
635
|
enforce_lo_lim;
|
|
636
|
*/ {
|
|
637
|
__VariableLimitSaturation_1 = (Signal >= lo_lim);
|
|
638
|
enforce_lo_lim = (__VariableLimitSaturation_1?(Signal):(lo_lim));
|
|
639
|
__VariableLimitSaturation_2 = (enforce_lo_lim <= up_lim);
|
|
640
|
*out = (__VariableLimitSaturation_2?(enforce_lo_lim):(up_lim));
|
|
641
|
}}}return;
|
|
642
|
}
|
|
643
|
|