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#ifndef CRUISECONTROL_H_
#define CRUISECONTROL_H_

#include 

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

typedef struct {
<09>double desiredSpeed;
<09>double actualSpeed;
} CruiseControl_Input;

typedef struct {
<09>double power;
} CruiseControl_Output;

void CruiseControl_initialize(void);

void CruiseControl_execute(const CruiseControl_Input *input, CruiseControl_Output *output);

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* CRUISECONTROL_H_ */

実装

#include 

#include "CruiseControl.h"

typedef struct {
  double sum[2];
  uint_fast8_t sum_index;
} CruiseControl_DiscreteIntegrator_Context;

typedef struct {
  CruiseControl_DiscreteIntegrator_Context CruiseControl_DiscreteIntegrator;
} CruiseControl_Context;

typedef struct { double data[2]; } CruiseControl_Vector;

static CruiseControl_Context CruiseControl_context;

void CruiseControl_initialize(void) {
  /* DiscreteIntegrator */
  {
    CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index = 0;
    {
      CruiseControl_context.CruiseControl_DiscreteIntegrator.sum[CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index] = 0.0;
    }
  }
}

void CruiseControl_execute(const CruiseControl_Input *input, CruiseControl_Output *output) {
  double CruiseControl_Sum_y;
  double CruiseControl_Gain_y;
  double CruiseControl_DiscreteIntegrator_y;
  int32_t CruiseControl_Constant_y;
  double CruiseControl_Sum2_y;
  double CruiseControl_Saturation_y;
  uint_fast8_t CruiseControl_Compare_y;
  double CruiseControl_Switch_y;

  /*
   * Compute outputs
   */

  /* Sum */
  {
    CruiseControl_Vector sum_input = { { input->desiredSpeed, input->actualSpeed } };
    {
      CruiseControl_Sum_y = (1.0 * sum_input.data[INT32_C(0)] + -1.0 * sum_input.data[INT32_C(1)]);
    }
  }

  /* Gain */
  {
    {
      CruiseControl_Gain_y = 0.1 * CruiseControl_Sum_y;
    }
  }

  /* DiscreteIntegrator */
  {
    {
      CruiseControl_DiscreteIntegrator_y = CruiseControl_context.CruiseControl_DiscreteIntegrator.sum[CruiseControl_context.CruiseControl_DiscreteIntegrator.s
    }
  }

  /* Constant */
  {
    {
      CruiseControl_Constant_y = INT32_C(0);
    }
  }

  /* Sum2 */
  {
    CruiseControl_Vector sum2_input = { { CruiseControl_Gain_y, CruiseControl_DiscreteIntegrator_y } };
    {
      CruiseControl_Sum2_y = (1.0 * sum2_input.data[INT32_C(0)] + 1.0 * sum2_input.data[INT32_C(1)]);
    }
  }

  /* Saturation */
  {
    {
      double ifresult;
      if (CruiseControl_Sum2_y > 1.0) {
        ifresult = 1.0;
      } else {
        double ifresult2;
        if (CruiseControl_Sum2_y < -1.0) {
          ifresult2 = -1.0;
        } else {
          ifresult2 = CruiseControl_Sum2_y;
        }
        ifresult = ifresult2;
      }
      CruiseControl_Saturation_y = ifresult;
    }
  }

  /* Compare */
  {
    {
      CruiseControl_Compare_y = CruiseControl_Sum2_y == CruiseControl_Saturation_y;
    }
  }

  /* Power */
  {
    output->power = CruiseControl_Saturation_y;
  }

  /* Switch */
  {
    {
      double ifresult;
      if (CruiseControl_Compare_y) {
        ifresult = CruiseControl_Sum_y;
      } else {
        ifresult = ((double) (CruiseControl_Constant_y));
      }
      CruiseControl_Switch_y = ifresult;
    }
  }

  /*
   * Update states
   */

  /* DiscreteIntegrator */
  {
    {
      CruiseControl_context.CruiseControl_DiscreteIntegrator.sum[(CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index + 1) % 2] = CruiseControl_c
    }
    CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index = (CruiseControl_context.CruiseControl_DiscreteIntegrator.sum_index + 1) % 2;
  }
}