From d191524d49c7639ae4c4b2b1edcaca600a4687a5 Mon Sep 17 00:00:00 2001
From: sunbeam <fcb1995@163.com>
Date: Mon, 11 Nov 2024 14:30:20 +0800
Subject: [PATCH] =?UTF-8?q?=E6=A8=A1=E5=9E=8B=E5=BC=80=E5=8F=91=E5=88=9D?=
 =?UTF-8?q?=E7=89=88?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 cva_asw_m0146/.vscode/settings.json           |   5 +-
 cva_asw_m0146/cva_asw_m0146.ewp               |  31 +-
 cva_asw_m0146/cva_asw_m0146.ewt               |  27 +
 .../settings/cva_asw_m0146.Debug.cspy.bat     |   4 +-
 .../settings/cva_asw_m0146.Debug.cspy.ps1     |   4 +-
 .../settings/cva_asw_m0146.Debug.driver.xcl   |   2 +-
 .../settings/cva_asw_m0146.Debug.general.xcl  |   8 +-
 cva_asw_m0146/settings/cva_asw_m0146.dnx      |   4 +-
 cva_asw_m0146/settings/cva_asw_m0146.wsdt     |  45 +-
 cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.c  | 636 ++++++++++++++
 cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.h  | 121 +++
 .../RP_01_APP_ert_rtw/MotorCtrl_Maintask.c    | 114 +++
 .../RP_01_APP_ert_rtw/MotorCtrl_Maintask.h    |  46 ++
 cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.c   | 410 +++++++++
 cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.h   |  48 ++
 .../src/RP_01_APP_ert_rtw/RP_01_APP.c         | 346 ++++++++
 .../src/RP_01_APP_ert_rtw/RP_01_APP.h         | 195 +++++
 .../src/RP_01_APP_ert_rtw/RP_01_APP_private.h |  31 +
 .../src/RP_01_APP_ert_rtw/RP_01_APP_types.h   |  46 ++
 .../RP_01_APP_ert_rtw/can_datatype_ground.c   |   4 +
 .../src/RP_01_APP_ert_rtw/can_key_msg.c       | 778 ++++++++++++++++++
 .../src/RP_01_APP_ert_rtw/can_key_msg.h       |  69 ++
 .../src/RP_01_APP_ert_rtw/ert_main.c          | 103 +++
 cva_asw_m0146/src/RTE/RTE.C                   | 109 +++
 cva_asw_m0146/src/RTE/RTE.H                   |  28 +
 cva_asw_m0146/src/RTE/can_message.h           |  76 ++
 cva_asw_m0146/src/RTE/rtwtypes.h              |  89 ++
 cva_asw_m0146/src/appTask.c                   |   6 +-
 cva_asw_m0146/src/canuser.c                   |  19 +-
 cva_asw_m0146/src/canuser.h                   |  18 +-
 30 files changed, 3378 insertions(+), 44 deletions(-)
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.c
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.h
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/MotorCtrl_Maintask.c
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/MotorCtrl_Maintask.h
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.c
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.h
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP.c
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP.h
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP_private.h
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP_types.h
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/can_datatype_ground.c
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/can_key_msg.c
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/can_key_msg.h
 create mode 100644 cva_asw_m0146/src/RP_01_APP_ert_rtw/ert_main.c
 create mode 100644 cva_asw_m0146/src/RTE/RTE.C
 create mode 100644 cva_asw_m0146/src/RTE/RTE.H
 create mode 100644 cva_asw_m0146/src/RTE/can_message.h
 create mode 100644 cva_asw_m0146/src/RTE/rtwtypes.h

diff --git a/cva_asw_m0146/.vscode/settings.json b/cva_asw_m0146/.vscode/settings.json
index 4afa91c..d3e447c 100644
--- a/cva_asw_m0146/.vscode/settings.json
+++ b/cva_asw_m0146/.vscode/settings.json
@@ -19,7 +19,10 @@
         "sbc_tle94x1.h": "c",
         "tle94x1.h": "c",
         "reset_drv.h": "c",
-        "pwmlite_drv.h": "c"
+        "pwmlite_drv.h": "c",
+        "RTE.C": "cpp",
+        "rtwtypes.h": "c",
+        "can_message.h": "c"
     },
     "C_Cpp.default.compilerPath": ""
 }
\ No newline at end of file
diff --git a/cva_asw_m0146/cva_asw_m0146.ewp b/cva_asw_m0146/cva_asw_m0146.ewp
index ce514be..0122f5a 100644
--- a/cva_asw_m0146/cva_asw_m0146.ewp
+++ b/cva_asw_m0146/cva_asw_m0146.ewp
@@ -361,6 +361,8 @@
                     <state>$PROJ_DIR$\src\RTT</state>
                     <state>$PROJ_DIR$\SDK\platform\devices\CVM014x\drivers\clock</state>
                     <state>$PROJ_DIR$\SDK\platform\devices\CVM014x\drivers\cpu\irq</state>
+                    <state>$PROJ_DIR$\src\RP_01_APP_ert_rtw</state>
+                    <state>$PROJ_DIR$\src\RTE</state>
                 </option>
                 <option>
                     <name>CCStdIncCheck</name>
@@ -693,7 +695,7 @@
             <data>
                 <extensions></extensions>
                 <cmdline></cmdline>
-                <hasPrio>1</hasPrio>
+                <hasPrio>24</hasPrio>
                 <buildSequence>inputOutputBased</buildSequence>
             </data>
         </settings>
@@ -2634,6 +2636,27 @@
                 <name>$PROJ_DIR$\SDK\platform\devices\CVM014x\mcu.h</name>
             </file>
         </group>
+        <group>
+            <name>ert_rtw</name>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\can_datatype_ground.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\can_key_msg.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\KeyPro.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\MotorCtrl_Maintask.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\MsgTx.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\RP_01_APP.c</name>
+            </file>
+        </group>
         <group>
             <name>linker</name>
             <file>
@@ -2916,6 +2939,12 @@
                 <name>$PROJ_DIR$\SDK\platform\devices\CVM014x\reg\wdg_reg.h</name>
             </file>
         </group>
+        <group>
+            <name>RTE</name>
+            <file>
+                <name>$PROJ_DIR$\src\RTE\RTE.C</name>
+            </file>
+        </group>
         <group>
             <name>RTT</name>
             <file>
diff --git a/cva_asw_m0146/cva_asw_m0146.ewt b/cva_asw_m0146/cva_asw_m0146.ewt
index 43da57a..e4e1afb 100644
--- a/cva_asw_m0146/cva_asw_m0146.ewt
+++ b/cva_asw_m0146/cva_asw_m0146.ewt
@@ -3273,6 +3273,27 @@
                 <name>$PROJ_DIR$\SDK\platform\devices\CVM014x\mcu.h</name>
             </file>
         </group>
+        <group>
+            <name>ert_rtw</name>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\can_datatype_ground.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\can_key_msg.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\KeyPro.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\MotorCtrl_Maintask.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\MsgTx.c</name>
+            </file>
+            <file>
+                <name>$PROJ_DIR$\src\RP_01_APP_ert_rtw\RP_01_APP.c</name>
+            </file>
+        </group>
         <group>
             <name>linker</name>
             <file>
@@ -3555,6 +3576,12 @@
                 <name>$PROJ_DIR$\SDK\platform\devices\CVM014x\reg\wdg_reg.h</name>
             </file>
         </group>
+        <group>
+            <name>RTE</name>
+            <file>
+                <name>$PROJ_DIR$\src\RTE\RTE.C</name>
+            </file>
+        </group>
         <group>
             <name>RTT</name>
             <file>
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat
index a46c3b9..d76b81c 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat
+++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat
@@ -25,7 +25,7 @@ if not "%~1" == "" goto debugFile
 
 @echo on 
 
-"e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\work\dm\RP-01\CODE\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\work\dm\RP-01\CODE\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
 
 @echo off 
 goto end 
@@ -34,7 +34,7 @@ goto end
 
 @echo on 
 
-"e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" "--debug_file=%~1" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\work\dm\RP-01\CODE\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" "--debug_file=%~1" --backend -f "F:\work\dm\RP-01\CODE\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
 
 @echo off 
 :end
\ No newline at end of file
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1 b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1
index 9544490..cae4dd2 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1
+++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1
@@ -23,9 +23,9 @@
 
 if ($debugfile -eq "")
 {
-& "e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
+& "D:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\work\dm\RP-01\CODE\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\work\dm\RP-01\CODE\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
 }
 else
 {
-& "e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --debug_file=$debugfile --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
+& "D:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\work\dm\RP-01\CODE\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --debug_file=$debugfile --backend -f "F:\work\dm\RP-01\CODE\RP-01\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl" 
 }
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl b/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl
index 28b46e5..7a6d40b 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl
+++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl
@@ -6,7 +6,7 @@
 
 "-p" 
 
-"e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf" 
 
 "--semihosting" 
 
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl b/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl
index 9bf83b9..f1f127b 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl
+++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl
@@ -1,10 +1,10 @@
-"e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armPROC.dll" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armPROC.dll" 
 
-"e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armJLINK.dll" 
+"D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armJLINK.dll" 
 
-"F:\FCB_project\RP-01\CODE\cva_asw_m0146\Debug_FLASH\Exe\app_m146.out" 
+"F:\work\dm\RP-01\CODE\RP-01\cva_asw_m0146\Debug_FLASH\Exe\app_m146.out" 
 
---plugin="e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armbat.dll" 
+--plugin="D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armbat.dll" 
 
 
 
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.dnx b/cva_asw_m0146/settings/cva_asw_m0146.dnx
index 900ff00..997477b 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.dnx
+++ b/cva_asw_m0146/settings/cva_asw_m0146.dnx
@@ -22,11 +22,11 @@
     </JLinkDriver>
     <PlDriver>
         <FirstRun>0</FirstRun>
-        <MemConfigValue>e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue>
+        <MemConfigValue>D:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue>
     </PlDriver>
     <ArmDriver>
-        <EnableCache>0</EnableCache>
         <EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>
+        <EnableCache>0</EnableCache>
     </ArmDriver>
     <DebugChecksum>
         <Checksum>3190234441</Checksum>
diff --git a/cva_asw_m0146/settings/cva_asw_m0146.wsdt b/cva_asw_m0146/settings/cva_asw_m0146.wsdt
index 677087d..f520318 100644
--- a/cva_asw_m0146/settings/cva_asw_m0146.wsdt
+++ b/cva_asw_m0146/settings/cva_asw_m0146.wsdt
@@ -83,9 +83,9 @@
                     <item>_I0</item>
                 </col-names>
                 <col-widths>
-                    <item>441</item>
+                    <item>440</item>
                     <item>40</item>
-                    <item>1004</item>
+                    <item>1005</item>
                     <item>20</item>
                 </col-widths>
                 <BuildLogLevel>2</BuildLogLevel>
@@ -103,11 +103,12 @@
                 <NodeDict>
                     <ExpandedNode>cva_asw_m0146</ExpandedNode>
                     <ExpandedNode>cva_asw_m0146/src</ExpandedNode>
+                    <ExpandedNode>cva_asw_m0146/src/ert_rtw</ExpandedNode>
                 </NodeDict>
             </IarPane-34060>
             <ControlBarVersion>
                 <Major>14</Major>
-                <Minor>32</Minor>
+                <Minor>38</Minor>
             </ControlBarVersion>
             <MFCToolBarParameters>
                 <Tooltips>1</Tooltips>
@@ -117,16 +118,16 @@
                 <RecentlyUsedMenus>1</RecentlyUsedMenus>
                 <MenuShadows>1</MenuShadows>
                 <ShowAllMenusAfterDelay>1</ShowAllMenusAfterDelay>
-                <CommandsUsage>9800000019001386000007000000268100000500000010860000010000000F8100000100000001E10000010000000D800000010000000C8100007C000000038400000100000017810000010000005686000006000000558400000200000014810000010000005E860000010000000E810000140000000B810000020000002897000001000000E98000000700000014860000020000000581000004000000118600000100000046810000010000000A840000010000005D860000010000000D81000001000000E880000001000000</CommandsUsage>
+                <CommandsUsage>A70000001A001386000007000000268100000500000010860000010000000F810000010000005F8600000200000001E10000010000000D800000010000000C81000088000000038400000100000017810000010000005686000006000000558400000200000014810000010000005E860000010000000E810000140000000B810000030000002897000001000000E98000000700000014860000020000000581000004000000118600000100000046810000010000000A840000010000005D860000010000000D81000001000000E880000001000000</CommandsUsage>
             </MFCToolBarParameters>
             <CommandManager>
                 <CommandsWithoutImages>4C000D8400000F84000008840000FFFFFFFF54840000328100001C810000098400000C8400003384000078840000118400005384000010E1000011E1000012E1000013E1000014E1000015E1000016E1000017E1000018E1000019E100001AE100001BE100001CE100001DE100001EE100001FE10000E8800000778400000784000086840000808C000044D500002AE10000008200001C82000033820000018200003D9700003E9700004D9700002DDE00001FDE000020DE000021DE000026DE000028DE000023DE000022DE000024DE000027DE000025DE000020920000289200002992000037920000389200003492000033920000259200001E9200001D9200002CDE00000088000001880000028800000388000004880000058800007C8400007D8400007E8400008384000084840000</CommandsWithoutImages>
-                <MenuUserImages>57001397000077000000249700007A000000048400004D00000026810000760000001097000072000000048100001B0000002CE1000044000000158100002400000023920000000000001E9700007400000029E10000B7000000318400005400000007E100003F000000009000005800000020810000740000000F8100006C00000004E100003D00000007970000B20000003A9700008F00000029970000640000000C8100006900000023E100004100000001E100003A0000000D80000018000000098100006700000015970000760000002697000086000000068400004F00000019820000130000001297000071000000239700007D000000349700008A000000038400004C0000001682000011000000178100002600000025920000590000000F97000070000000319700008700000000840000490000002BE10000430000001481000023000000449200000C0000000E84000051000000308400005300000000810000190000001F920000090000003C970000910000002B970000660000001F810000730000000E8100006B0000002F8200001400000025E100004200000003E100003C0000002D9200000B000000179700007B000000399700008E00000028970000630000000B8100001E000000069700003800000022E100004000000000E100003900000014970000790000002597000085000000D184000059000000058400004E000000188200001200000041E10000460000001197000075000000058100001C000000028400004B00000016810000250000000E9700006F0000001084000052000000328400005500000005E100003E000000518400005700000035E100008F0000003B970000900000002A9700006500000024E10000B60000000A840000500000000D8100002000000002E100003B0000002C9200000A000000169700007C000000279700007E0000000597000037000000</MenuUserImages>
+                <MenuUserImages>57001397000077000000249700007A000000048400009500000026810000760000001097000072000000048100001B0000002CE1000044000000158100002400000023920000000000001E9700007400000029E10000B7000000318400005400000007E100003F000000009000005800000020810000740000000F8100006C00000004E100003D00000007970000B20000003A9700008F00000029970000640000000C8100006900000023E100004100000001E100003A0000000D80000018000000098100006700000015970000760000002697000086000000068400009700000019820000130000001297000071000000239700007D000000349700008A000000038400004C0000001682000011000000178100002600000025920000590000000F97000070000000319700008700000000840000490000002BE10000430000001481000023000000449200000C0000000E84000099000000308400009B00000000810000190000001F920000090000003C970000910000002B970000660000001F810000730000000E8100006B0000002F8200001400000025E100004200000003E100003C0000002D9200000B000000179700007B000000399700008E00000028970000630000000B81000022010000069700003800000022E100004000000000E100003900000014970000790000002597000085000000D184000059000000058400004E000000188200001200000041E10000460000001197000075000000058100001C000000028400004B00000016810000250000000E9700006F0000001084000052000000328400005500000005E100003E000000518400005700000035E100008F0000003B970000900000002A9700006500000024E10000B60000000A840000500000000D8100002401000002E100003B0000002C9200000A000000169700007C000000279700007E0000000597000037000000</MenuUserImages>
             </CommandManager>
             <Pane-59393>
                 <ID>0</ID>
                 <RectRecentFloat>0A0000000A0000006E0000006E000000</RectRecentFloat>
-                <RectRecentDocked>000000001A030000000600002B030000</RectRecentDocked>
+                <RectRecentDocked>00000000100300000006000021030000</RectRecentDocked>
                 <RecentFrameAlignment>4096</RecentFrameAlignment>
                 <RecentRowIndex>0</RecentRowIndex>
                 <IsFloating>0</IsFloating>
@@ -138,8 +139,8 @@
             </BasePane-59393>
             <Pane--1>
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diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.c b/cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.c
new file mode 100644
index 0000000..afc2327
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.c
@@ -0,0 +1,636 @@
+/*
+ * File: KeyPro.c
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#include "rtwtypes.h"
+#include "KeyPro.h"
+
+/* Named constants for Chart: '<S6>/Value_Debounce_Chart' */
+#define RP_01_APP_IN_Default_output    ((uint8_T)1U)
+#define RP_01_APP_IN_Update_output     ((uint8_T)2U)
+#define RP_01_APP_IN_input_changed     ((uint8_T)3U)
+
+/*
+ * System initialize for atomic system:
+ *    '<S6>/Value_Debounce_Chart'
+ *    '<S7>/Value_Debounce_Chart'
+ *    '<S8>/Value_Debounce_Chart'
+ *    '<S9>/Value_Debounce_Chart'
+ *    '<S10>/Value_Debounce_Chart'
+ *    '<S11>/Value_Debounce_Chart'
+ *    '<S12>/Value_Debounce_Chart'
+ *    '<S13>/Value_Debounce_Chart'
+ *    '<S14>/Value_Debounce_Chart'
+ *    '<S15>/Value_Debounce_Chart'
+ *    ...
+ */
+void RP_01_Value_Debounce_Chart_Init(uint8_T *rty_output)
+{
+    *rty_output = 0U;
+}
+
+/*
+ * Output and update for atomic system:
+ *    '<S6>/Value_Debounce_Chart'
+ *    '<S7>/Value_Debounce_Chart'
+ *    '<S8>/Value_Debounce_Chart'
+ *    '<S9>/Value_Debounce_Chart'
+ *    '<S10>/Value_Debounce_Chart'
+ *    '<S11>/Value_Debounce_Chart'
+ *    '<S12>/Value_Debounce_Chart'
+ *    '<S13>/Value_Debounce_Chart'
+ *    '<S14>/Value_Debounce_Chart'
+ *    '<S15>/Value_Debounce_Chart'
+ *    ...
+ */
+void RP_01_APP_Value_Debounce_Chart(uint8_T rtu_input, uint8_T rtu_change_flag,
+    uint8_T *rty_output, uint8_T rtp_Debounce_count,
+    DW_Value_Debounce_Chart_RP_01_T *localDW)
+{
+    if ((uint32_T)localDW->temporalCounter_i1 < 255U) {
+        localDW->temporalCounter_i1 = (uint8_T)((uint32_T)
+            localDW->temporalCounter_i1 + 1U);
+    }
+
+    /* Chart: '<S6>/Value_Debounce_Chart' */
+    if ((uint32_T)localDW->bitsForTID0.is_active_c1_WorkLib == 0U) {
+        localDW->bitsForTID0.is_active_c1_WorkLib = 1U;
+        localDW->bitsForTID0.is_c1_WorkLib = RP_01_APP_IN_Default_output;
+        *rty_output = rtu_input;
+    } else {
+        switch (localDW->bitsForTID0.is_c1_WorkLib) {
+          case RP_01_APP_IN_Default_output:
+            if (rtu_change_flag == 1U) {
+                localDW->temp_state = rtu_input;
+                localDW->temporalCounter_i1 = 0U;
+                localDW->bitsForTID0.is_c1_WorkLib = RP_01_APP_IN_input_changed;
+            }
+            break;
+
+          case RP_01_APP_IN_Update_output:
+            if (rtu_change_flag == 1U) {
+                localDW->temp_state = rtu_input;
+                localDW->temporalCounter_i1 = 0U;
+                localDW->bitsForTID0.is_c1_WorkLib = RP_01_APP_IN_input_changed;
+            }
+            break;
+
+          default:
+            /* case IN_input_changed: */
+            if (localDW->temporalCounter_i1 >= rtp_Debounce_count) {
+                localDW->bitsForTID0.is_c1_WorkLib = RP_01_APP_IN_Update_output;
+                *rty_output = localDW->temp_state;
+            } else if (rtu_change_flag == 1U) {
+                localDW->temp_state = rtu_input;
+                localDW->temporalCounter_i1 = 0U;
+                localDW->bitsForTID0.is_c1_WorkLib = RP_01_APP_IN_input_changed;
+            } else {
+                /* no actions */
+            }
+            break;
+        }
+    }
+
+    /* End of Chart: '<S6>/Value_Debounce_Chart' */
+}
+
+/* System initialize for function-call system: '<Root>/KeyPro' */
+void RP_01_APP_KeyPro_Init(uint8_T *rty_KeyHG_F_state, uint8_T
+    *rty_KeyHG_R_state, uint8_T *rty_KeyKB_F_state, uint8_T *rty_KeyKB_R_state,
+    uint8_T *rty_KeyTT_F_state, uint8_T *rty_KeyTT_R_state, uint8_T
+    *rty_KeyZY_U_state, uint8_T *rty_KeyZY_D_state, uint8_T *rty_KeyTZ_U_state,
+    uint8_T *rty_KeyTZ_D_state, uint8_T *rty_KeyYT_U_state, uint8_T
+    *rty_KeyYT_D_state, uint8_T *rty_KeyZY_HEAT_state, uint8_T
+    *rty_KeyZY_FAN_state, uint8_T *rty_KeyZY_MSSG_state, uint8_T
+    *rty_KeyMEMORY_SET_state, uint8_T *rty_KeyMEMORY_1_state, uint8_T
+    *rty_KeyMEMORY_2_state, uint8_T *rty_KeyMEMORY_3_state, uint8_T
+    *rty_KeyRESET_state, uint8_T *rty_KeyZY_FLAT_state)
+{
+    /* SystemInitialize for Chart: '<S6>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyHG_F_state);
+
+    /* SystemInitialize for Chart: '<S7>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyHG_R_state);
+
+    /* SystemInitialize for Chart: '<S16>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyKB_F_state);
+
+    /* SystemInitialize for Chart: '<S20>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyKB_R_state);
+
+    /* SystemInitialize for Chart: '<S21>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyTT_F_state);
+
+    /* SystemInitialize for Chart: '<S22>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyTT_R_state);
+
+    /* SystemInitialize for Chart: '<S23>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyZY_U_state);
+
+    /* SystemInitialize for Chart: '<S24>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyZY_D_state);
+
+    /* SystemInitialize for Chart: '<S25>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyTZ_U_state);
+
+    /* SystemInitialize for Chart: '<S26>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyTZ_D_state);
+
+    /* SystemInitialize for Chart: '<S8>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyYT_U_state);
+
+    /* SystemInitialize for Chart: '<S9>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyYT_D_state);
+
+    /* SystemInitialize for Chart: '<S10>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyZY_HEAT_state);
+
+    /* SystemInitialize for Chart: '<S11>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyZY_FAN_state);
+
+    /* SystemInitialize for Chart: '<S12>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyZY_MSSG_state);
+
+    /* SystemInitialize for Chart: '<S13>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyMEMORY_SET_state);
+
+    /* SystemInitialize for Chart: '<S17>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyMEMORY_1_state);
+
+    /* SystemInitialize for Chart: '<S18>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyMEMORY_2_state);
+
+    /* SystemInitialize for Chart: '<S19>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyMEMORY_3_state);
+
+    /* SystemInitialize for Chart: '<S14>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyRESET_state);
+
+    /* SystemInitialize for Chart: '<S15>/Value_Debounce_Chart' */
+    RP_01_Value_Debounce_Chart_Init(rty_KeyZY_FLAT_state);
+}
+
+/* Output and update for function-call system: '<Root>/KeyPro' */
+void RP_01_APP_KeyPro(uint8_T rtu_KeyHG_F, uint8_T rtu_KeyHG_R, uint8_T
+                      rtu_KeyKB_F, uint8_T rtu_KeyKB_R, uint8_T rtu_KeyTT_F,
+                      uint8_T rtu_KeyTT_R, uint8_T rtu_KeyZY_U, uint8_T
+                      rtu_KeyZY_D, uint8_T rtu_KeyTZ_U, uint8_T rtu_KeyTZ_D,
+                      uint8_T rtu_KeyYT_U, uint8_T rtu_KeyYT_D, uint8_T
+                      rtu_KeyZY_HEAT, uint8_T rtu_KeyZY_FAN, uint8_T
+                      rtu_KeyZY_MSSG, uint8_T rtu_KeyMEMORY_SET, uint8_T
+                      rtu_KeyMEMORY_1, uint8_T rtu_KeyMEMORY_2, uint8_T
+                      rtu_KeyMEMORY_3, uint8_T rtu_KeyRESET, uint8_T
+                      rtu_KeyZY_FLAT, uint8_T *rty_KeyHG_F_state, uint8_T
+                      *rty_KeyHG_R_state, uint8_T *rty_KeyKB_F_state, uint8_T
+                      *rty_KeyKB_R_state, uint8_T *rty_KeyTT_F_state, uint8_T
+                      *rty_KeyTT_R_state, uint8_T *rty_KeyZY_U_state, uint8_T
+                      *rty_KeyZY_D_state, uint8_T *rty_KeyTZ_U_state, uint8_T
+                      *rty_KeyTZ_D_state, uint8_T *rty_KeyYT_U_state, uint8_T
+                      *rty_KeyYT_D_state, uint8_T *rty_KeyZY_HEAT_state, uint8_T
+                      *rty_KeyZY_FAN_state, uint8_T *rty_KeyZY_MSSG_state,
+                      uint8_T *rty_KeyMEMORY_SET_state, uint8_T
+                      *rty_KeyMEMORY_1_state, uint8_T *rty_KeyMEMORY_2_state,
+                      uint8_T *rty_KeyMEMORY_3_state, uint8_T
+                      *rty_KeyRESET_state, uint8_T *rty_KeyZY_FLAT_state,
+                      DW_KeyPro_RP_01_APP_T *localDW)
+{
+    /* Chart: '<S6>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S27>/FixPt Relational Operator'
+     *  UnitDelay: '<S27>/Delay Input1'
+     *
+     * Block description for '<S27>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyHG_F, (uint8_T)((rtu_KeyHG_F !=
+        localDW->DelayInput1_DSTATE) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyHG_F_state, 3, &localDW->sf_Value_Debounce_Chart);
+
+    /* Chart: '<S7>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S29>/FixPt Relational Operator'
+     *  UnitDelay: '<S29>/Delay Input1'
+     *
+     * Block description for '<S29>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyHG_R, (uint8_T)((rtu_KeyHG_R !=
+        localDW->DelayInput1_DSTATE_h) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyHG_R_state, 3, &localDW->sf_Value_Debounce_Chart_f);
+
+    /* Chart: '<S16>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S47>/FixPt Relational Operator'
+     *  UnitDelay: '<S47>/Delay Input1'
+     *
+     * Block description for '<S47>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyKB_F, (uint8_T)((rtu_KeyKB_F !=
+        localDW->DelayInput1_DSTATE_e) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyKB_F_state, 3, &localDW->sf_Value_Debounce_Chart_hx);
+
+    /* Chart: '<S20>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S55>/FixPt Relational Operator'
+     *  UnitDelay: '<S55>/Delay Input1'
+     *
+     * Block description for '<S55>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyKB_R, (uint8_T)((rtu_KeyKB_R !=
+        localDW->DelayInput1_DSTATE_j) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyKB_R_state, 3, &localDW->sf_Value_Debounce_Chart_k);
+
+    /* Chart: '<S21>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S57>/FixPt Relational Operator'
+     *  UnitDelay: '<S57>/Delay Input1'
+     *
+     * Block description for '<S57>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyTT_F, (uint8_T)((rtu_KeyTT_F !=
+        localDW->DelayInput1_DSTATE_a) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyTT_F_state, 3, &localDW->sf_Value_Debounce_Chart_m);
+
+    /* Chart: '<S22>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S59>/FixPt Relational Operator'
+     *  UnitDelay: '<S59>/Delay Input1'
+     *
+     * Block description for '<S59>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyTT_R, (uint8_T)((rtu_KeyTT_R !=
+        localDW->DelayInput1_DSTATE_c) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyTT_R_state, 3, &localDW->sf_Value_Debounce_Chart_d);
+
+    /* Chart: '<S23>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S61>/FixPt Relational Operator'
+     *  UnitDelay: '<S61>/Delay Input1'
+     *
+     * Block description for '<S61>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyZY_U, (uint8_T)((rtu_KeyZY_U !=
+        localDW->DelayInput1_DSTATE_k) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyZY_U_state, 3, &localDW->sf_Value_Debounce_Chart_l);
+
+    /* Chart: '<S24>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S63>/FixPt Relational Operator'
+     *  UnitDelay: '<S63>/Delay Input1'
+     *
+     * Block description for '<S63>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyZY_D, (uint8_T)((rtu_KeyZY_D !=
+        localDW->DelayInput1_DSTATE_n) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyZY_D_state, 3, &localDW->sf_Value_Debounce_Chart_b);
+
+    /* Chart: '<S25>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S65>/FixPt Relational Operator'
+     *  UnitDelay: '<S65>/Delay Input1'
+     *
+     * Block description for '<S65>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyTZ_U, (uint8_T)((rtu_KeyTZ_U !=
+        localDW->DelayInput1_DSTATE_af) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyTZ_U_state, 3, &localDW->sf_Value_Debounce_Chart_ba);
+
+    /* Chart: '<S26>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S67>/FixPt Relational Operator'
+     *  UnitDelay: '<S67>/Delay Input1'
+     *
+     * Block description for '<S67>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyTZ_D, (uint8_T)((rtu_KeyTZ_D !=
+        localDW->DelayInput1_DSTATE_no) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyTZ_D_state, 3, &localDW->sf_Value_Debounce_Chart_cg);
+
+    /* Chart: '<S8>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S31>/FixPt Relational Operator'
+     *  UnitDelay: '<S31>/Delay Input1'
+     *
+     * Block description for '<S31>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyYT_U, (uint8_T)((rtu_KeyYT_U !=
+        localDW->DelayInput1_DSTATE_d) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyYT_U_state, 3, &localDW->sf_Value_Debounce_Chart_a);
+
+    /* Chart: '<S9>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S33>/FixPt Relational Operator'
+     *  UnitDelay: '<S33>/Delay Input1'
+     *
+     * Block description for '<S33>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyYT_D, (uint8_T)((rtu_KeyYT_D !=
+        localDW->DelayInput1_DSTATE_av) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyYT_D_state, 3, &localDW->sf_Value_Debounce_Chart_o);
+
+    /* Chart: '<S10>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S35>/FixPt Relational Operator'
+     *  UnitDelay: '<S35>/Delay Input1'
+     *
+     * Block description for '<S35>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyZY_HEAT, (uint8_T)((rtu_KeyZY_HEAT !=
+        localDW->DelayInput1_DSTATE_ks) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyZY_HEAT_state, 3, &localDW->sf_Value_Debounce_Chart_c);
+
+    /* Chart: '<S11>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S37>/FixPt Relational Operator'
+     *  UnitDelay: '<S37>/Delay Input1'
+     *
+     * Block description for '<S37>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyZY_FAN, (uint8_T)((rtu_KeyZY_FAN !=
+        localDW->DelayInput1_DSTATE_f) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyZY_FAN_state, 3, &localDW->sf_Value_Debounce_Chart_cj);
+
+    /* Chart: '<S12>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S39>/FixPt Relational Operator'
+     *  UnitDelay: '<S39>/Delay Input1'
+     *
+     * Block description for '<S39>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyZY_MSSG, (uint8_T)((rtu_KeyZY_MSSG !=
+        localDW->DelayInput1_DSTATE_p) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyZY_MSSG_state, 3, &localDW->sf_Value_Debounce_Chart_h);
+
+    /* Chart: '<S13>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S41>/FixPt Relational Operator'
+     *  UnitDelay: '<S41>/Delay Input1'
+     *
+     * Block description for '<S41>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyMEMORY_SET, (uint8_T)
+        ((rtu_KeyMEMORY_SET != localDW->DelayInput1_DSTATE_pu) ? ((int32_T)1) :
+         ((int32_T)0)), rty_KeyMEMORY_SET_state, 3,
+        &localDW->sf_Value_Debounce_Chart_cu);
+
+    /* Chart: '<S17>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S49>/FixPt Relational Operator'
+     *  UnitDelay: '<S49>/Delay Input1'
+     *
+     * Block description for '<S49>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyMEMORY_1, (uint8_T)((rtu_KeyMEMORY_1
+        != localDW->DelayInput1_DSTATE_o) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyMEMORY_1_state, 3, &localDW->sf_Value_Debounce_Chart_os);
+
+    /* Chart: '<S18>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S51>/FixPt Relational Operator'
+     *  UnitDelay: '<S51>/Delay Input1'
+     *
+     * Block description for '<S51>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyMEMORY_2, (uint8_T)((rtu_KeyMEMORY_2
+        != localDW->DelayInput1_DSTATE_g) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyMEMORY_2_state, 3, &localDW->sf_Value_Debounce_Chart_p);
+
+    /* Chart: '<S19>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S53>/FixPt Relational Operator'
+     *  UnitDelay: '<S53>/Delay Input1'
+     *
+     * Block description for '<S53>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyMEMORY_3, (uint8_T)((rtu_KeyMEMORY_3
+        != localDW->DelayInput1_DSTATE_i) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyMEMORY_3_state, 3, &localDW->sf_Value_Debounce_Chart_ab);
+
+    /* Chart: '<S14>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S43>/FixPt Relational Operator'
+     *  UnitDelay: '<S43>/Delay Input1'
+     *
+     * Block description for '<S43>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyRESET, (uint8_T)((rtu_KeyRESET !=
+        localDW->DelayInput1_DSTATE_ez) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyRESET_state, 3, &localDW->sf_Value_Debounce_Chart_co);
+
+    /* Chart: '<S15>/Value_Debounce_Chart' incorporates:
+     *  RelationalOperator: '<S45>/FixPt Relational Operator'
+     *  UnitDelay: '<S45>/Delay Input1'
+     *
+     * Block description for '<S45>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    RP_01_APP_Value_Debounce_Chart(rtu_KeyZY_FLAT, (uint8_T)((rtu_KeyZY_FLAT !=
+        localDW->DelayInput1_DSTATE_hp) ? ((int32_T)1) : ((int32_T)0)),
+        rty_KeyZY_FLAT_state, 3, &localDW->sf_Value_Debounce_Chart_av);
+
+    /* Update for UnitDelay: '<S27>/Delay Input1'
+     *
+     * Block description for '<S27>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE = rtu_KeyHG_F;
+
+    /* Update for UnitDelay: '<S29>/Delay Input1'
+     *
+     * Block description for '<S29>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_h = rtu_KeyHG_R;
+
+    /* Update for UnitDelay: '<S47>/Delay Input1'
+     *
+     * Block description for '<S47>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_e = rtu_KeyKB_F;
+
+    /* Update for UnitDelay: '<S55>/Delay Input1'
+     *
+     * Block description for '<S55>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_j = rtu_KeyKB_R;
+
+    /* Update for UnitDelay: '<S57>/Delay Input1'
+     *
+     * Block description for '<S57>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_a = rtu_KeyTT_F;
+
+    /* Update for UnitDelay: '<S59>/Delay Input1'
+     *
+     * Block description for '<S59>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_c = rtu_KeyTT_R;
+
+    /* Update for UnitDelay: '<S61>/Delay Input1'
+     *
+     * Block description for '<S61>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_k = rtu_KeyZY_U;
+
+    /* Update for UnitDelay: '<S63>/Delay Input1'
+     *
+     * Block description for '<S63>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_n = rtu_KeyZY_D;
+
+    /* Update for UnitDelay: '<S65>/Delay Input1'
+     *
+     * Block description for '<S65>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_af = rtu_KeyTZ_U;
+
+    /* Update for UnitDelay: '<S67>/Delay Input1'
+     *
+     * Block description for '<S67>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_no = rtu_KeyTZ_D;
+
+    /* Update for UnitDelay: '<S31>/Delay Input1'
+     *
+     * Block description for '<S31>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_d = rtu_KeyYT_U;
+
+    /* Update for UnitDelay: '<S33>/Delay Input1'
+     *
+     * Block description for '<S33>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_av = rtu_KeyYT_D;
+
+    /* Update for UnitDelay: '<S35>/Delay Input1'
+     *
+     * Block description for '<S35>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_ks = rtu_KeyZY_HEAT;
+
+    /* Update for UnitDelay: '<S37>/Delay Input1'
+     *
+     * Block description for '<S37>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_f = rtu_KeyZY_FAN;
+
+    /* Update for UnitDelay: '<S39>/Delay Input1'
+     *
+     * Block description for '<S39>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_p = rtu_KeyZY_MSSG;
+
+    /* Update for UnitDelay: '<S41>/Delay Input1'
+     *
+     * Block description for '<S41>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_pu = rtu_KeyMEMORY_SET;
+
+    /* Update for UnitDelay: '<S49>/Delay Input1'
+     *
+     * Block description for '<S49>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_o = rtu_KeyMEMORY_1;
+
+    /* Update for UnitDelay: '<S51>/Delay Input1'
+     *
+     * Block description for '<S51>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_g = rtu_KeyMEMORY_2;
+
+    /* Update for UnitDelay: '<S53>/Delay Input1'
+     *
+     * Block description for '<S53>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_i = rtu_KeyMEMORY_3;
+
+    /* Update for UnitDelay: '<S43>/Delay Input1'
+     *
+     * Block description for '<S43>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_ez = rtu_KeyRESET;
+
+    /* Update for UnitDelay: '<S45>/Delay Input1'
+     *
+     * Block description for '<S45>/Delay Input1':
+     *
+     *  Store in Global RAM
+     */
+    localDW->DelayInput1_DSTATE_hp = rtu_KeyZY_FLAT;
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.h b/cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.h
new file mode 100644
index 0000000..153463d
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/KeyPro.h
@@ -0,0 +1,121 @@
+/*
+ * File: KeyPro.h
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_KeyPro_h_
+#define RTW_HEADER_KeyPro_h_
+#ifndef RP_01_APP_COMMON_INCLUDES_
+#define RP_01_APP_COMMON_INCLUDES_
+#include <math.h>
+#include "rtwtypes.h"
+#endif                                 /* RP_01_APP_COMMON_INCLUDES_ */
+
+/* Block states (default storage) for system '<S6>/Value_Debounce_Chart' */
+typedef struct {
+    struct {
+        uint_T is_c1_WorkLib:2;        /* '<S6>/Value_Debounce_Chart' */
+        uint_T is_active_c1_WorkLib:1; /* '<S6>/Value_Debounce_Chart' */
+    } bitsForTID0;
+
+    uint8_T temp_state;                /* '<S6>/Value_Debounce_Chart' */
+    uint8_T temporalCounter_i1;        /* '<S6>/Value_Debounce_Chart' */
+} DW_Value_Debounce_Chart_RP_01_T;
+
+/* Block states (default storage) for system '<Root>/KeyPro' */
+typedef struct {
+    uint8_T DelayInput1_DSTATE;        /* '<S27>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_h;      /* '<S29>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_e;      /* '<S47>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_j;      /* '<S55>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_a;      /* '<S57>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_c;      /* '<S59>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_k;      /* '<S61>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_n;      /* '<S63>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_af;     /* '<S65>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_no;     /* '<S67>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_d;      /* '<S31>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_av;     /* '<S33>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_ks;     /* '<S35>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_f;      /* '<S37>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_p;      /* '<S39>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_pu;     /* '<S41>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_o;      /* '<S49>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_g;      /* '<S51>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_i;      /* '<S53>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_ez;     /* '<S43>/Delay Input1' */
+    uint8_T DelayInput1_DSTATE_hp;     /* '<S45>/Delay Input1' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_cg;/* '<S26>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_ba;/* '<S25>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_b;/* '<S24>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_l;/* '<S23>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_d;/* '<S22>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_m;/* '<S21>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_k;/* '<S20>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_ab;/* '<S19>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_p;/* '<S18>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_os;/* '<S17>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_hx;/* '<S16>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_av;/* '<S15>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_co;/* '<S14>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_cu;/* '<S13>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_h;/* '<S12>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_cj;/* '<S11>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_c;/* '<S10>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_o;/* '<S9>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_a;/* '<S8>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart_f;/* '<S7>/Value_Debounce_Chart' */
+    DW_Value_Debounce_Chart_RP_01_T sf_Value_Debounce_Chart;/* '<S6>/Value_Debounce_Chart' */
+} DW_KeyPro_RP_01_APP_T;
+
+extern void RP_01_Value_Debounce_Chart_Init(uint8_T *rty_output);
+extern void RP_01_APP_Value_Debounce_Chart(uint8_T rtu_input, uint8_T
+    rtu_change_flag, uint8_T *rty_output, uint8_T rtp_Debounce_count,
+    DW_Value_Debounce_Chart_RP_01_T *localDW);
+extern void RP_01_APP_KeyPro_Init(uint8_T *rty_KeyHG_F_state, uint8_T
+    *rty_KeyHG_R_state, uint8_T *rty_KeyKB_F_state, uint8_T *rty_KeyKB_R_state,
+    uint8_T *rty_KeyTT_F_state, uint8_T *rty_KeyTT_R_state, uint8_T
+    *rty_KeyZY_U_state, uint8_T *rty_KeyZY_D_state, uint8_T *rty_KeyTZ_U_state,
+    uint8_T *rty_KeyTZ_D_state, uint8_T *rty_KeyYT_U_state, uint8_T
+    *rty_KeyYT_D_state, uint8_T *rty_KeyZY_HEAT_state, uint8_T
+    *rty_KeyZY_FAN_state, uint8_T *rty_KeyZY_MSSG_state, uint8_T
+    *rty_KeyMEMORY_SET_state, uint8_T *rty_KeyMEMORY_1_state, uint8_T
+    *rty_KeyMEMORY_2_state, uint8_T *rty_KeyMEMORY_3_state, uint8_T
+    *rty_KeyRESET_state, uint8_T *rty_KeyZY_FLAT_state);
+extern void RP_01_APP_KeyPro(uint8_T rtu_KeyHG_F, uint8_T rtu_KeyHG_R, uint8_T
+    rtu_KeyKB_F, uint8_T rtu_KeyKB_R, uint8_T rtu_KeyTT_F, uint8_T rtu_KeyTT_R,
+    uint8_T rtu_KeyZY_U, uint8_T rtu_KeyZY_D, uint8_T rtu_KeyTZ_U, uint8_T
+    rtu_KeyTZ_D, uint8_T rtu_KeyYT_U, uint8_T rtu_KeyYT_D, uint8_T
+    rtu_KeyZY_HEAT, uint8_T rtu_KeyZY_FAN, uint8_T rtu_KeyZY_MSSG, uint8_T
+    rtu_KeyMEMORY_SET, uint8_T rtu_KeyMEMORY_1, uint8_T rtu_KeyMEMORY_2, uint8_T
+    rtu_KeyMEMORY_3, uint8_T rtu_KeyRESET, uint8_T rtu_KeyZY_FLAT, uint8_T
+    *rty_KeyHG_F_state, uint8_T *rty_KeyHG_R_state, uint8_T *rty_KeyKB_F_state,
+    uint8_T *rty_KeyKB_R_state, uint8_T *rty_KeyTT_F_state, uint8_T
+    *rty_KeyTT_R_state, uint8_T *rty_KeyZY_U_state, uint8_T *rty_KeyZY_D_state,
+    uint8_T *rty_KeyTZ_U_state, uint8_T *rty_KeyTZ_D_state, uint8_T
+    *rty_KeyYT_U_state, uint8_T *rty_KeyYT_D_state, uint8_T
+    *rty_KeyZY_HEAT_state, uint8_T *rty_KeyZY_FAN_state, uint8_T
+    *rty_KeyZY_MSSG_state, uint8_T *rty_KeyMEMORY_SET_state, uint8_T
+    *rty_KeyMEMORY_1_state, uint8_T *rty_KeyMEMORY_2_state, uint8_T
+    *rty_KeyMEMORY_3_state, uint8_T *rty_KeyRESET_state, uint8_T
+    *rty_KeyZY_FLAT_state, DW_KeyPro_RP_01_APP_T *localDW);
+
+#endif                                 /* RTW_HEADER_KeyPro_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/MotorCtrl_Maintask.c b/cva_asw_m0146/src/RP_01_APP_ert_rtw/MotorCtrl_Maintask.c
new file mode 100644
index 0000000..8e12849
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/MotorCtrl_Maintask.c
@@ -0,0 +1,114 @@
+/*
+ * File: MotorCtrl_Maintask.c
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#include "rtwtypes.h"
+#include "MotorCtrl_Maintask.h"
+
+/*
+ * System initialize for atomic system:
+ *    '<S69>/Chart'
+ *    '<S70>/Chart'
+ *    '<S71>/Chart'
+ *    '<S72>/Chart'
+ *    '<S73>/Chart'
+ *    '<S74>/Chart'
+ */
+void RP_01_APP_Chart_Init(uint8_T *rty_Out)
+{
+    *rty_Out = 0U;
+}
+
+/*
+ * Output and update for atomic system:
+ *    '<S69>/Chart'
+ *    '<S70>/Chart'
+ *    '<S71>/Chart'
+ *    '<S72>/Chart'
+ *    '<S73>/Chart'
+ *    '<S74>/Chart'
+ */
+void RP_01_APP_Chart(uint8_T rtu_front, uint8_T rtu_rear, uint8_T *rty_Out)
+{
+    /* Chart: '<S69>/Chart' */
+    if ((rtu_front > 0U) && (rtu_rear == 0U)) {
+        *rty_Out = 1U;
+    } else if ((rtu_rear > 0U) && (rtu_front == 0U)) {
+        *rty_Out = 2U;
+    } else {
+        *rty_Out = 0U;
+    }
+
+    /* End of Chart: '<S69>/Chart' */
+}
+
+/* System initialize for function-call system: '<Root>/MotorCtrl_Maintask' */
+void RP_01_A_MotorCtrl_Maintask_Init(uint8_T *rty_HG_state, uint8_T
+    *rty_KB_state, uint8_T *rty_TT_state, uint8_T *rty_ZY_state, uint8_T
+    *rty_TZ_state, uint8_T *rty_YT_state)
+{
+    /* SystemInitialize for Chart: '<S69>/Chart' */
+    RP_01_APP_Chart_Init(rty_HG_state);
+
+    /* SystemInitialize for Chart: '<S70>/Chart' */
+    RP_01_APP_Chart_Init(rty_KB_state);
+
+    /* SystemInitialize for Chart: '<S71>/Chart' */
+    RP_01_APP_Chart_Init(rty_TT_state);
+
+    /* SystemInitialize for Chart: '<S72>/Chart' */
+    RP_01_APP_Chart_Init(rty_ZY_state);
+
+    /* SystemInitialize for Chart: '<S73>/Chart' */
+    RP_01_APP_Chart_Init(rty_TZ_state);
+
+    /* SystemInitialize for Chart: '<S74>/Chart' */
+    RP_01_APP_Chart_Init(rty_YT_state);
+}
+
+/* Output and update for function-call system: '<Root>/MotorCtrl_Maintask' */
+void RP_01_APP_MotorCtrl_Maintask(uint8_T rtu_Key_HG_F, uint8_T rtu_Key_HG_R,
+    uint8_T rtu_Key_KB_F, uint8_T rtu_Key_KB_R, uint8_T rtu_Key_TT_F, uint8_T
+    rtu_Key_TT_R, uint8_T rtu_Key_ZY_U, uint8_T rtu_Key_ZY_D, uint8_T
+    rtu_Key_TZ_U, uint8_T rtu_Key_TZ_D, uint8_T rtu_Key_YT_U, uint8_T
+    rtu_Key_YT_D, uint8_T *rty_HG_state, uint8_T *rty_KB_state, uint8_T
+    *rty_TT_state, uint8_T *rty_ZY_state, uint8_T *rty_TZ_state, uint8_T
+    *rty_YT_state)
+{
+    /* Chart: '<S69>/Chart' */
+    RP_01_APP_Chart(rtu_Key_HG_F, rtu_Key_HG_R, rty_HG_state);
+
+    /* Chart: '<S70>/Chart' */
+    RP_01_APP_Chart(rtu_Key_KB_F, rtu_Key_KB_R, rty_KB_state);
+
+    /* Chart: '<S71>/Chart' */
+    RP_01_APP_Chart(rtu_Key_TT_F, rtu_Key_TT_R, rty_TT_state);
+
+    /* Chart: '<S72>/Chart' */
+    RP_01_APP_Chart(rtu_Key_ZY_U, rtu_Key_ZY_D, rty_ZY_state);
+
+    /* Chart: '<S73>/Chart' */
+    RP_01_APP_Chart(rtu_Key_TZ_U, rtu_Key_TZ_D, rty_TZ_state);
+
+    /* Chart: '<S74>/Chart' */
+    RP_01_APP_Chart(rtu_Key_YT_U, rtu_Key_YT_D, rty_YT_state);
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/MotorCtrl_Maintask.h b/cva_asw_m0146/src/RP_01_APP_ert_rtw/MotorCtrl_Maintask.h
new file mode 100644
index 0000000..833fd61
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/MotorCtrl_Maintask.h
@@ -0,0 +1,46 @@
+/*
+ * File: MotorCtrl_Maintask.h
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_MotorCtrl_Maintask_h_
+#define RTW_HEADER_MotorCtrl_Maintask_h_
+#ifndef RP_01_APP_COMMON_INCLUDES_
+#define RP_01_APP_COMMON_INCLUDES_
+#include <math.h>
+#include "rtwtypes.h"
+#endif                                 /* RP_01_APP_COMMON_INCLUDES_ */
+
+extern void RP_01_APP_Chart_Init(uint8_T *rty_Out);
+extern void RP_01_APP_Chart(uint8_T rtu_front, uint8_T rtu_rear, uint8_T
+    *rty_Out);
+extern void RP_01_A_MotorCtrl_Maintask_Init(uint8_T *rty_HG_state, uint8_T
+    *rty_KB_state, uint8_T *rty_TT_state, uint8_T *rty_ZY_state, uint8_T
+    *rty_TZ_state, uint8_T *rty_YT_state);
+extern void RP_01_APP_MotorCtrl_Maintask(uint8_T rtu_Key_HG_F, uint8_T
+    rtu_Key_HG_R, uint8_T rtu_Key_KB_F, uint8_T rtu_Key_KB_R, uint8_T
+    rtu_Key_TT_F, uint8_T rtu_Key_TT_R, uint8_T rtu_Key_ZY_U, uint8_T
+    rtu_Key_ZY_D, uint8_T rtu_Key_TZ_U, uint8_T rtu_Key_TZ_D, uint8_T
+    rtu_Key_YT_U, uint8_T rtu_Key_YT_D, uint8_T *rty_HG_state, uint8_T
+    *rty_KB_state, uint8_T *rty_TT_state, uint8_T *rty_ZY_state, uint8_T
+    *rty_TZ_state, uint8_T *rty_YT_state);
+
+#endif                                 /* RTW_HEADER_MotorCtrl_Maintask_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.c b/cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.c
new file mode 100644
index 0000000..29e8262
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.c
@@ -0,0 +1,410 @@
+/*
+ * File: MsgTx.c
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#include "rtwtypes.h"
+#include "MsgTx.h"
+
+/* Output and update for function-call system: '<Root>/MsgTx' */
+void RP_01_APP_MsgTx(uint8_T rtu_hg_state, uint8_T rtu_kb_state, uint8_T
+                     rtu_tt_state, uint8_T rtu_tz_state, uint8_T rtu_yt_state,
+                     uint8_T rtu_zy_state, uint8_T rty_Out1[8],
+                     B_MsgTx_RP_01_APP_T *localB)
+{
+    int32_T i;
+
+    /* S-Function (scanpack): '<S3>/CAN Pack' incorporates:
+     *  Constant: '<S3>/Constant'
+     *  Constant: '<S3>/Constant1'
+     *  Constant: '<S3>/Constant2'
+     */
+    /* S-Function (scanpack): '<S3>/CAN Pack' */
+    localB->CANPack.ID = 769U;
+    localB->CANPack.Length = 8U;
+    localB->CANPack.Extended = 0U;
+    localB->CANPack.Remote = 0;
+    localB->CANPack.Data[0] = 0;
+    localB->CANPack.Data[1] = 0;
+    localB->CANPack.Data[2] = 0;
+    localB->CANPack.Data[3] = 0;
+    localB->CANPack.Data[4] = 0;
+    localB->CANPack.Data[5] = 0;
+    localB->CANPack.Data[6] = 0;
+    localB->CANPack.Data[7] = 0;
+
+    {
+        /* --------------- START Packing signal 0 ------------------
+         *  startBit                = 0
+         *  length                  = 2
+         *  desiredSignalByteLayout = LITTLEENDIAN
+         *  dataType                = UNSIGNED
+         *  factor                  = 1.0
+         *  offset                  = 0.0
+         *  minimum                 = 0.0
+         *  maximum                 = 0.0
+         * -----------------------------------------------------------------------*/
+        {
+            uint32_T packingValue = 0;
+
+            {
+                uint32_T result = (uint32_T) (rtu_hg_state);
+
+                /* no scaling required */
+                packingValue = result;
+            }
+
+            {
+                uint8_T packedValue;
+                if (packingValue > (uint8_T)(3)) {
+                    packedValue = (uint8_T) 3;
+                } else {
+                    packedValue = (uint8_T) (packingValue);
+                }
+
+                {
+                    {
+                        localB->CANPack.Data[0] = localB->CANPack.Data[0] |
+                            (uint8_T)((uint8_T)(packedValue & (uint8_T)0x3U));
+                    }
+                }
+            }
+        }
+
+        /* --------------- START Packing signal 1 ------------------
+         *  startBit                = 2
+         *  length                  = 2
+         *  desiredSignalByteLayout = LITTLEENDIAN
+         *  dataType                = UNSIGNED
+         *  factor                  = 1.0
+         *  offset                  = 0.0
+         *  minimum                 = 0.0
+         *  maximum                 = 0.0
+         * -----------------------------------------------------------------------*/
+        {
+            uint32_T packingValue = 0;
+
+            {
+                uint32_T result = (uint32_T) (rtu_kb_state);
+
+                /* no scaling required */
+                packingValue = result;
+            }
+
+            {
+                uint8_T packedValue;
+                if (packingValue > (uint8_T)(3)) {
+                    packedValue = (uint8_T) 3;
+                } else {
+                    packedValue = (uint8_T) (packingValue);
+                }
+
+                {
+                    {
+                        localB->CANPack.Data[0] = localB->CANPack.Data[0] |
+                            (uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
+                                        0x3U) << 2));
+                    }
+                }
+            }
+        }
+
+        /* --------------- START Packing signal 2 ------------------
+         *  startBit                = 4
+         *  length                  = 2
+         *  desiredSignalByteLayout = LITTLEENDIAN
+         *  dataType                = UNSIGNED
+         *  factor                  = 1.0
+         *  offset                  = 0.0
+         *  minimum                 = 0.0
+         *  maximum                 = 0.0
+         * -----------------------------------------------------------------------*/
+        {
+            uint32_T packingValue = 0;
+
+            {
+                uint32_T result = (uint32_T) (rtu_tt_state);
+
+                /* no scaling required */
+                packingValue = result;
+            }
+
+            {
+                uint8_T packedValue;
+                if (packingValue > (uint8_T)(3)) {
+                    packedValue = (uint8_T) 3;
+                } else {
+                    packedValue = (uint8_T) (packingValue);
+                }
+
+                {
+                    {
+                        localB->CANPack.Data[0] = localB->CANPack.Data[0] |
+                            (uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
+                                        0x3U) << 4));
+                    }
+                }
+            }
+        }
+
+        /* --------------- START Packing signal 3 ------------------
+         *  startBit                = 6
+         *  length                  = 2
+         *  desiredSignalByteLayout = LITTLEENDIAN
+         *  dataType                = UNSIGNED
+         *  factor                  = 1.0
+         *  offset                  = 0.0
+         *  minimum                 = 0.0
+         *  maximum                 = 0.0
+         * -----------------------------------------------------------------------*/
+        {
+            uint32_T packingValue = 0;
+
+            {
+                uint32_T result = (uint32_T) (rtu_tz_state);
+
+                /* no scaling required */
+                packingValue = result;
+            }
+
+            {
+                uint8_T packedValue;
+                if (packingValue > (uint8_T)(3)) {
+                    packedValue = (uint8_T) 3;
+                } else {
+                    packedValue = (uint8_T) (packingValue);
+                }
+
+                {
+                    {
+                        localB->CANPack.Data[0] = localB->CANPack.Data[0] |
+                            (uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
+                                        0x3U) << 6));
+                    }
+                }
+            }
+        }
+
+        /* --------------- START Packing signal 4 ------------------
+         *  startBit                = 8
+         *  length                  = 2
+         *  desiredSignalByteLayout = LITTLEENDIAN
+         *  dataType                = UNSIGNED
+         *  factor                  = 1.0
+         *  offset                  = 0.0
+         *  minimum                 = 0.0
+         *  maximum                 = 0.0
+         * -----------------------------------------------------------------------*/
+        {
+            uint32_T packingValue = 0;
+
+            {
+                uint32_T result = (uint32_T) (rtu_yt_state);
+
+                /* no scaling required */
+                packingValue = result;
+            }
+
+            {
+                uint8_T packedValue;
+                if (packingValue > (uint8_T)(3)) {
+                    packedValue = (uint8_T) 3;
+                } else {
+                    packedValue = (uint8_T) (packingValue);
+                }
+
+                {
+                    {
+                        localB->CANPack.Data[1] = localB->CANPack.Data[1] |
+                            (uint8_T)((uint8_T)(packedValue & (uint8_T)0x3U));
+                    }
+                }
+            }
+        }
+
+        /* --------------- START Packing signal 5 ------------------
+         *  startBit                = 10
+         *  length                  = 2
+         *  desiredSignalByteLayout = LITTLEENDIAN
+         *  dataType                = UNSIGNED
+         *  factor                  = 1.0
+         *  offset                  = 0.0
+         *  minimum                 = 0.0
+         *  maximum                 = 0.0
+         * -----------------------------------------------------------------------*/
+        {
+            uint32_T packingValue = 0;
+
+            {
+                uint32_T result = (uint32_T) (rtu_zy_state);
+
+                /* no scaling required */
+                packingValue = result;
+            }
+
+            {
+                uint8_T packedValue;
+                if (packingValue > (uint8_T)(3)) {
+                    packedValue = (uint8_T) 3;
+                } else {
+                    packedValue = (uint8_T) (packingValue);
+                }
+
+                {
+                    {
+                        localB->CANPack.Data[1] = localB->CANPack.Data[1] |
+                            (uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
+                                        0x3U) << 2));
+                    }
+                }
+            }
+        }
+
+        /* --------------- START Packing signal 6 ------------------
+         *  startBit                = 16
+         *  length                  = 2
+         *  desiredSignalByteLayout = LITTLEENDIAN
+         *  dataType                = UNSIGNED
+         *  factor                  = 1.0
+         *  offset                  = 0.0
+         *  minimum                 = 0.0
+         *  maximum                 = 0.0
+         * -----------------------------------------------------------------------*/
+        {
+            real_T outValue = 0;
+
+            {
+                real_T result = 0.0;
+
+                /* no scaling required */
+                /* round to closest integer value for integer CAN signal */
+                outValue = round(result);
+            }
+
+            {
+                uint8_T packedValue;
+                if (outValue > (real_T)(3)) {
+                    packedValue = (uint8_T) 3;
+                } else if (outValue < (real_T)(0)) {
+                    packedValue = (uint8_T) 0;
+                } else {
+                    packedValue = (uint8_T) (outValue);
+                }
+
+                {
+                    {
+                        localB->CANPack.Data[2] = localB->CANPack.Data[2] |
+                            (uint8_T)((uint8_T)(packedValue & (uint8_T)0x3U));
+                    }
+                }
+            }
+        }
+
+        /* --------------- START Packing signal 7 ------------------
+         *  startBit                = 18
+         *  length                  = 2
+         *  desiredSignalByteLayout = LITTLEENDIAN
+         *  dataType                = UNSIGNED
+         *  factor                  = 1.0
+         *  offset                  = 0.0
+         *  minimum                 = 0.0
+         *  maximum                 = 0.0
+         * -----------------------------------------------------------------------*/
+        {
+            real_T outValue = 0;
+
+            {
+                real_T result = 0.0;
+
+                /* no scaling required */
+                /* round to closest integer value for integer CAN signal */
+                outValue = round(result);
+            }
+
+            {
+                uint8_T packedValue;
+                if (outValue > (real_T)(3)) {
+                    packedValue = (uint8_T) 3;
+                } else if (outValue < (real_T)(0)) {
+                    packedValue = (uint8_T) 0;
+                } else {
+                    packedValue = (uint8_T) (outValue);
+                }
+
+                {
+                    {
+                        localB->CANPack.Data[2] = localB->CANPack.Data[2] |
+                            (uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
+                                        0x3U) << 2));
+                    }
+                }
+            }
+        }
+
+        /* --------------- START Packing signal 8 ------------------
+         *  startBit                = 20
+         *  length                  = 2
+         *  desiredSignalByteLayout = LITTLEENDIAN
+         *  dataType                = UNSIGNED
+         *  factor                  = 1.0
+         *  offset                  = 0.0
+         *  minimum                 = 0.0
+         *  maximum                 = 0.0
+         * -----------------------------------------------------------------------*/
+        {
+            real_T outValue = 0;
+
+            {
+                real_T result = 0.0;
+
+                /* no scaling required */
+                /* round to closest integer value for integer CAN signal */
+                outValue = round(result);
+            }
+
+            {
+                uint8_T packedValue;
+                if (outValue > (real_T)(3)) {
+                    packedValue = (uint8_T) 3;
+                } else if (outValue < (real_T)(0)) {
+                    packedValue = (uint8_T) 0;
+                } else {
+                    packedValue = (uint8_T) (outValue);
+                }
+
+                {
+                    {
+                        localB->CANPack.Data[2] = localB->CANPack.Data[2] |
+                            (uint8_T)((uint8_T)((uint8_T)(packedValue & (uint8_T)
+                                        0x3U) << 4));
+                    }
+                }
+            }
+        }
+    }
+
+    /* SignalConversion generated from: '<S3>/Out1' */
+    for (i = 0; i < 8; i++) {
+        rty_Out1[i] = localB->CANPack.Data[i];
+    }
+
+    /* End of SignalConversion generated from: '<S3>/Out1' */
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.h b/cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.h
new file mode 100644
index 0000000..179e129
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/MsgTx.h
@@ -0,0 +1,48 @@
+/*
+ * File: MsgTx.h
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_MsgTx_h_
+#define RTW_HEADER_MsgTx_h_
+#ifndef RP_01_APP_COMMON_INCLUDES_
+#define RP_01_APP_COMMON_INCLUDES_
+#include <math.h>
+#include "rtwtypes.h"
+#endif                                 /* RP_01_APP_COMMON_INCLUDES_ */
+
+#include "RP_01_APP_types.h"
+
+/* Block signals for system '<Root>/MsgTx' */
+typedef struct {
+    CAN_MESSAGE_BUS CANPack;           /* '<S3>/CAN Pack' */
+} B_MsgTx_RP_01_APP_T;
+
+/* Block states (default storage) for system '<Root>/MsgTx' */
+typedef struct {
+    int_T CANPack_ModeSignalID;        /* '<S3>/CAN Pack' */
+} DW_MsgTx_RP_01_APP_T;
+
+extern void RP_01_APP_MsgTx(uint8_T rtu_hg_state, uint8_T rtu_kb_state, uint8_T
+    rtu_tt_state, uint8_T rtu_tz_state, uint8_T rtu_yt_state, uint8_T
+    rtu_zy_state, uint8_T rty_Out1[8], B_MsgTx_RP_01_APP_T *localB);
+
+#endif                                 /* RTW_HEADER_MsgTx_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP.c b/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP.c
new file mode 100644
index 0000000..58bc6f2
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP.c
@@ -0,0 +1,346 @@
+/*
+ * File: RP_01_APP.c
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#include "RP_01_APP.h"
+#include "rte.h"
+#include "KeyPro.h"
+#include "can_key_msg.h"
+#include "MsgTx.h"
+#include "MotorCtrl_Maintask.h"
+#include "rtwtypes.h"
+
+/* Block signals (default storage) */
+B_RP_01_APP_T RP_01_APP_B;
+
+/* Block states (default storage) */
+DW_RP_01_APP_T RP_01_APP_DW;
+
+/* Real-time model */
+static RT_MODEL_RP_01_APP_T RP_01_APP_M_;
+RT_MODEL_RP_01_APP_T *const RP_01_APP_M = &RP_01_APP_M_;
+
+/* Model step function */
+void RP_01_APP_step(void)
+{
+    int32_T i;
+    uint8_T CANMSG_0x301_DATA[8];
+    uint8_T output_e1;
+    uint8_T output_f;
+    uint8_T output_g;
+    uint8_T output_i5;
+    uint8_T output_ie;
+    uint8_T output_in;
+    uint8_T output_j;
+    uint8_T output_o;
+    uint8_T output_p;
+
+    /* SignalConversion generated from: '<Root>/In1' incorporates:
+     *  Inport: '<Root>/In1'
+     */
+    RP_01_APP_B.CANMSG_0x201 = rte_get_CANMSG_0x201();
+
+    /* S-Function (fcgen): '<Root>/Function-Call Generator' incorporates:
+     *  Chart: '<Root>/Task Scheduler'
+     */
+    /* Chart: '<Root>/Task Scheduler' incorporates:
+     *  Outport: '<Root>/Out1'
+     *  Outport: '<Root>/Output'
+     *  Outport: '<Root>/Output1'
+     *  Outport: '<Root>/Output2'
+     *  Outport: '<Root>/Output3'
+     *  Outport: '<Root>/Output4'
+     *  Outport: '<Root>/Output5'
+     */
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i1 < 2U) {
+        RP_01_APP_DW.temporalCounter_i1 = (uint8_T)((uint32_T)
+            RP_01_APP_DW.temporalCounter_i1 + 1U);
+    }
+
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i2 < 5U) {
+        RP_01_APP_DW.temporalCounter_i2 = (uint8_T)((uint32_T)
+            RP_01_APP_DW.temporalCounter_i2 + 1U);
+    }
+
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i3 < 10U) {
+        RP_01_APP_DW.temporalCounter_i3 = (uint8_T)((uint32_T)
+            RP_01_APP_DW.temporalCounter_i3 + 1U);
+    }
+
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i4 < 100U) {
+        RP_01_APP_DW.temporalCounter_i4 = (uint8_T)((uint32_T)
+            RP_01_APP_DW.temporalCounter_i4 + 1U);
+    }
+
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i5 < 1000U) {
+        RP_01_APP_DW.temporalCounter_i5 = (uint16_T)((uint32_T)
+            RP_01_APP_DW.temporalCounter_i5 + 1U);
+    }
+
+    if (RP_01_APP_DW.temporalCounter_i2 == 5U) {
+        /* Outputs for Function Call SubSystem: '<Root>/KeyPro' */
+        RP_01_APP_KeyPro(RP_01_APP_B.can_key_msg.CANUnpack_o1,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o2,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o3,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o4,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o10,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o11,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o21,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o16,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o13,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o12,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o15,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o14,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o19,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o17,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o20,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o8,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o5,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o6,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o7,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o9,
+                         RP_01_APP_B.can_key_msg.CANUnpack_o18,
+                         &RP_01_APP_B.output_hw, &RP_01_APP_B.output_jf,
+                         &RP_01_APP_B.output_hj, &RP_01_APP_B.output_ed,
+                         &RP_01_APP_B.output_i, &RP_01_APP_B.output_e,
+                         &RP_01_APP_B.output_hc, &RP_01_APP_B.output_h,
+                         &RP_01_APP_B.output_c, &RP_01_APP_B.output,
+                         &RP_01_APP_B.output_a, &RP_01_APP_B.output_pp,
+                         &output_e1, &output_p, &output_ie, &output_f,
+                         &output_i5, &output_o, &output_g, &output_j, &output_in,
+                         &RP_01_APP_DW.KeyPro);
+
+        /* End of Outputs for SubSystem: '<Root>/KeyPro' */
+
+        /* Outputs for Function Call SubSystem: '<Root>/MotorCtrl_Maintask' */
+        /* Outport: '<Root>/Output' */
+        output_e1 = rte_get_Motor_HG_State();
+
+        /* Outport: '<Root>/Output1' */
+        output_p = rte_get_Motor_KB_State();
+
+        /* Outport: '<Root>/Output2' */
+        output_ie = rte_get_Motor_TT_State();
+
+        /* Outport: '<Root>/Output3' */
+        output_f = rte_get_Motor_ZY_State();
+
+        /* Outport: '<Root>/Output4' */
+        output_i5 = rte_get_Motor_TZ_State();
+
+        /* Outport: '<Root>/Output5' */
+        output_o = rte_get_Motor_YT_State();
+        RP_01_APP_MotorCtrl_Maintask(RP_01_APP_B.output_hw,
+            RP_01_APP_B.output_jf, RP_01_APP_B.output_hj, RP_01_APP_B.output_ed,
+            RP_01_APP_B.output_i, RP_01_APP_B.output_e, RP_01_APP_B.output_hc,
+            RP_01_APP_B.output_h, RP_01_APP_B.output_c, RP_01_APP_B.output,
+            RP_01_APP_B.output_a, RP_01_APP_B.output_pp, &output_e1, &output_p,
+            &output_ie, &output_f, &output_i5, &output_o);
+
+        /* Outport: '<Root>/Output5' incorporates:
+         *  Outport: '<Root>/Output'
+         *  Outport: '<Root>/Output1'
+         *  Outport: '<Root>/Output2'
+         *  Outport: '<Root>/Output3'
+         *  Outport: '<Root>/Output4'
+         */
+        rte_set_Motor_YT_State(output_o);
+
+        /* Outport: '<Root>/Output4' */
+        rte_set_Motor_TZ_State(output_i5);
+
+        /* Outport: '<Root>/Output3' */
+        rte_set_Motor_ZY_State(output_f);
+
+        /* Outport: '<Root>/Output2' */
+        rte_set_Motor_TT_State(output_ie);
+
+        /* Outport: '<Root>/Output1' */
+        rte_set_Motor_KB_State(output_p);
+
+        /* Outport: '<Root>/Output' */
+        rte_set_Motor_HG_State(output_e1);
+
+        /* End of Outputs for SubSystem: '<Root>/MotorCtrl_Maintask' */
+    }
+
+    if (RP_01_APP_DW.temporalCounter_i3 == 10U) {
+        /* Outputs for Function Call SubSystem: '<Root>/can_key_msg' */
+        RP_01_APP_can_key_msg(&RP_01_APP_B.CANMSG_0x201,
+                              &RP_01_APP_B.can_key_msg);
+
+        /* End of Outputs for SubSystem: '<Root>/can_key_msg' */
+
+        /* Outputs for Function Call SubSystem: '<Root>/MsgTx' */
+        /* Outport: '<Root>/Out1' */
+        for (i = 0; i < 8; i++) {
+            CANMSG_0x301_DATA[i] = rte_get_CANMSG_0x301_DATA(i);
+        }
+
+        RP_01_APP_MsgTx(rte_get_Motor_HG_State(), rte_get_Motor_KB_State(),
+                        rte_get_Motor_TT_State(), rte_get_Motor_TZ_State(),
+                        rte_get_Motor_YT_State(), rte_get_Motor_ZY_State(),
+                        CANMSG_0x301_DATA, &RP_01_APP_B.MsgTx);
+
+        /* Outport: '<Root>/Out1' incorporates:
+         *  Outport: '<Root>/Output'
+         *  Outport: '<Root>/Output1'
+         *  Outport: '<Root>/Output2'
+         *  Outport: '<Root>/Output3'
+         *  Outport: '<Root>/Output4'
+         *  Outport: '<Root>/Output5'
+         */
+        for (i = 0; i < 8; i++) {
+            rte_set_CANMSG_0x301_DATA(i, CANMSG_0x301_DATA[i]);
+        }
+
+        /* End of Outputs for SubSystem: '<Root>/MsgTx' */
+    }
+
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i1 == 2U) {
+        RP_01_APP_DW.temporalCounter_i1 = 0U;
+    }
+
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i2 == 5U) {
+        RP_01_APP_DW.temporalCounter_i2 = 0U;
+    }
+
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i3 == 10U) {
+        RP_01_APP_DW.temporalCounter_i3 = 0U;
+    }
+
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i4 == 100U) {
+        RP_01_APP_DW.temporalCounter_i4 = 0U;
+    }
+
+    if ((uint32_T)RP_01_APP_DW.temporalCounter_i5 == 1000U) {
+        RP_01_APP_DW.temporalCounter_i5 = 0U;
+    }
+
+    /* End of Chart: '<Root>/Task Scheduler' */
+    /* End of Outputs for S-Function (fcgen): '<Root>/Function-Call Generator' */
+}
+
+/* Model initialize function */
+void RP_01_APP_initialize(void)
+{
+    {
+        uint8_T output_e1;
+        uint8_T output_f;
+        uint8_T output_g;
+        uint8_T output_i5;
+        uint8_T output_ie;
+        uint8_T output_in;
+        uint8_T output_j;
+        uint8_T output_o;
+        uint8_T output_p;
+
+        /* SystemInitialize for S-Function (fcgen): '<Root>/Function-Call Generator' incorporates:
+         *  Chart: '<Root>/Task Scheduler'
+         */
+        /* SystemInitialize for Chart: '<Root>/Task Scheduler' incorporates:
+         *  SubSystem: '<Root>/can_key_msg'
+         */
+        RP_01_APP_can_key_msg_Init();
+
+        /* SystemInitialize for Chart: '<Root>/Task Scheduler' incorporates:
+         *  SubSystem: '<Root>/MsgTx'
+         */
+        /* SystemInitialize for Outport: '<Root>/Output' incorporates:
+         *  Outport: '<Root>/Output1'
+         *  Outport: '<Root>/Output2'
+         *  Outport: '<Root>/Output3'
+         *  Outport: '<Root>/Output4'
+         *  Outport: '<Root>/Output5'
+         */
+
+        /* SystemInitialize for Chart: '<Root>/Task Scheduler' incorporates:
+         *  SubSystem: '<Root>/KeyPro'
+         */
+        RP_01_APP_KeyPro_Init(&RP_01_APP_B.output_hw, &RP_01_APP_B.output_jf,
+                              &RP_01_APP_B.output_hj, &RP_01_APP_B.output_ed,
+                              &RP_01_APP_B.output_i, &RP_01_APP_B.output_e,
+                              &RP_01_APP_B.output_hc, &RP_01_APP_B.output_h,
+                              &RP_01_APP_B.output_c, &RP_01_APP_B.output,
+                              &RP_01_APP_B.output_a, &RP_01_APP_B.output_pp,
+                              &output_e1, &output_p, &output_ie, &output_f,
+                              &output_i5, &output_o, &output_g, &output_j,
+                              &output_in);
+
+        /* SystemInitialize for Chart: '<Root>/Task Scheduler' incorporates:
+         *  SubSystem: '<Root>/MotorCtrl_Maintask'
+         */
+        /* SystemInitialize for Outport: '<Root>/Output' */
+        output_e1 = rte_get_Motor_HG_State();
+
+        /* SystemInitialize for Outport: '<Root>/Output1' */
+        output_p = rte_get_Motor_KB_State();
+
+        /* SystemInitialize for Outport: '<Root>/Output2' */
+        output_ie = rte_get_Motor_TT_State();
+
+        /* SystemInitialize for Outport: '<Root>/Output3' */
+        output_f = rte_get_Motor_ZY_State();
+
+        /* SystemInitialize for Outport: '<Root>/Output4' */
+        output_i5 = rte_get_Motor_TZ_State();
+
+        /* SystemInitialize for Outport: '<Root>/Output5' */
+        output_o = rte_get_Motor_YT_State();
+
+        /* SystemInitialize for Outport: '<Root>/Output' incorporates:
+         *  Outport: '<Root>/Output1'
+         *  Outport: '<Root>/Output2'
+         *  Outport: '<Root>/Output3'
+         *  Outport: '<Root>/Output4'
+         *  Outport: '<Root>/Output5'
+         */
+        RP_01_A_MotorCtrl_Maintask_Init(&output_e1, &output_p, &output_ie,
+            &output_f, &output_i5, &output_o);
+
+        /* SystemInitialize for Outport: '<Root>/Output5' */
+        rte_set_Motor_YT_State(output_o);
+
+        /* SystemInitialize for Outport: '<Root>/Output4' */
+        rte_set_Motor_TZ_State(output_i5);
+
+        /* SystemInitialize for Outport: '<Root>/Output3' */
+        rte_set_Motor_ZY_State(output_f);
+
+        /* SystemInitialize for Outport: '<Root>/Output2' */
+        rte_set_Motor_TT_State(output_ie);
+
+        /* SystemInitialize for Outport: '<Root>/Output1' */
+        rte_set_Motor_KB_State(output_p);
+
+        /* SystemInitialize for Outport: '<Root>/Output' */
+        rte_set_Motor_HG_State(output_e1);
+
+        /* End of SystemInitialize for S-Function (fcgen): '<Root>/Function-Call Generator' */
+    }
+}
+
+/* Model terminate function */
+void RP_01_APP_terminate(void)
+{
+    /* (no terminate code required) */
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP.h b/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP.h
new file mode 100644
index 0000000..53aaa29
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP.h
@@ -0,0 +1,195 @@
+/*
+ * File: RP_01_APP.h
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_RP_01_APP_h_
+#define RTW_HEADER_RP_01_APP_h_
+#ifndef RP_01_APP_COMMON_INCLUDES_
+#define RP_01_APP_COMMON_INCLUDES_
+#include <math.h>
+#include "rtwtypes.h"
+#endif                                 /* RP_01_APP_COMMON_INCLUDES_ */
+
+#include "RP_01_APP_types.h"
+#include "can_message.h"
+#include "MsgTx.h"
+#include "can_key_msg.h"
+#include "KeyPro.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 signals (default storage) */
+typedef struct {
+    CAN_DATATYPE CANMSG_0x201;         /* '<Root>/In1' */
+    uint8_T output;                    /* '<S26>/Value_Debounce_Chart' */
+    uint8_T output_c;                  /* '<S25>/Value_Debounce_Chart' */
+    uint8_T output_h;                  /* '<S24>/Value_Debounce_Chart' */
+    uint8_T output_hc;                 /* '<S23>/Value_Debounce_Chart' */
+    uint8_T output_e;                  /* '<S22>/Value_Debounce_Chart' */
+    uint8_T output_i;                  /* '<S21>/Value_Debounce_Chart' */
+    uint8_T output_ed;                 /* '<S20>/Value_Debounce_Chart' */
+    uint8_T output_hj;                 /* '<S16>/Value_Debounce_Chart' */
+    uint8_T output_pp;                 /* '<S9>/Value_Debounce_Chart' */
+    uint8_T output_a;                  /* '<S8>/Value_Debounce_Chart' */
+    uint8_T output_jf;                 /* '<S7>/Value_Debounce_Chart' */
+    uint8_T output_hw;                 /* '<S6>/Value_Debounce_Chart' */
+    B_MsgTx_RP_01_APP_T MsgTx;         /* '<Root>/MsgTx' */
+    B_can_key_msg_RP_01_APP_T can_key_msg;/* '<Root>/can_key_msg' */
+} B_RP_01_APP_T;
+
+/* Block states (default storage) for system '<Root>' */
+typedef struct {
+    uint16_T temporalCounter_i5;       /* '<Root>/Task Scheduler' */
+    uint8_T temporalCounter_i1;        /* '<Root>/Task Scheduler' */
+    uint8_T temporalCounter_i2;        /* '<Root>/Task Scheduler' */
+    uint8_T temporalCounter_i3;        /* '<Root>/Task Scheduler' */
+    uint8_T temporalCounter_i4;        /* '<Root>/Task Scheduler' */
+    DW_KeyPro_RP_01_APP_T KeyPro;      /* '<Root>/KeyPro' */
+    DW_MsgTx_RP_01_APP_T MsgTx;        /* '<Root>/MsgTx' */
+    DW_can_key_msg_RP_01_APP_T can_key_msg;/* '<Root>/can_key_msg' */
+} DW_RP_01_APP_T;
+
+/* Real-time Model Data Structure */
+struct tag_RTM_RP_01_APP_T {
+    const char_T * volatile errorStatus;
+};
+
+extern CAN_DATATYPE CAN_DATATYPE_GROUND;
+
+/* Block signals (default storage) */
+extern B_RP_01_APP_T RP_01_APP_B;
+
+/* Block states (default storage) */
+extern DW_RP_01_APP_T RP_01_APP_DW;
+
+/* Model entry point functions */
+extern void RP_01_APP_initialize(void);
+extern void RP_01_APP_step(void);
+extern void RP_01_APP_terminate(void);
+
+/* Real-time Model object */
+extern RT_MODEL_RP_01_APP_T *const RP_01_APP_M;
+
+/*-
+ * 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>' : 'RP_01_APP'
+ * '<S1>'   : 'RP_01_APP/KeyPro'
+ * '<S2>'   : 'RP_01_APP/MotorCtrl_Maintask'
+ * '<S3>'   : 'RP_01_APP/MsgTx'
+ * '<S4>'   : 'RP_01_APP/Task Scheduler'
+ * '<S5>'   : 'RP_01_APP/can_key_msg'
+ * '<S6>'   : 'RP_01_APP/KeyPro/KeyDebounce'
+ * '<S7>'   : 'RP_01_APP/KeyPro/KeyDebounce1'
+ * '<S8>'   : 'RP_01_APP/KeyPro/KeyDebounce10'
+ * '<S9>'   : 'RP_01_APP/KeyPro/KeyDebounce11'
+ * '<S10>'  : 'RP_01_APP/KeyPro/KeyDebounce12'
+ * '<S11>'  : 'RP_01_APP/KeyPro/KeyDebounce13'
+ * '<S12>'  : 'RP_01_APP/KeyPro/KeyDebounce14'
+ * '<S13>'  : 'RP_01_APP/KeyPro/KeyDebounce15'
+ * '<S14>'  : 'RP_01_APP/KeyPro/KeyDebounce16'
+ * '<S15>'  : 'RP_01_APP/KeyPro/KeyDebounce17'
+ * '<S16>'  : 'RP_01_APP/KeyPro/KeyDebounce2'
+ * '<S17>'  : 'RP_01_APP/KeyPro/KeyDebounce21'
+ * '<S18>'  : 'RP_01_APP/KeyPro/KeyDebounce22'
+ * '<S19>'  : 'RP_01_APP/KeyPro/KeyDebounce23'
+ * '<S20>'  : 'RP_01_APP/KeyPro/KeyDebounce3'
+ * '<S21>'  : 'RP_01_APP/KeyPro/KeyDebounce4'
+ * '<S22>'  : 'RP_01_APP/KeyPro/KeyDebounce5'
+ * '<S23>'  : 'RP_01_APP/KeyPro/KeyDebounce6'
+ * '<S24>'  : 'RP_01_APP/KeyPro/KeyDebounce7'
+ * '<S25>'  : 'RP_01_APP/KeyPro/KeyDebounce8'
+ * '<S26>'  : 'RP_01_APP/KeyPro/KeyDebounce9'
+ * '<S27>'  : 'RP_01_APP/KeyPro/KeyDebounce/Detect Change2'
+ * '<S28>'  : 'RP_01_APP/KeyPro/KeyDebounce/Value_Debounce_Chart'
+ * '<S29>'  : 'RP_01_APP/KeyPro/KeyDebounce1/Detect Change2'
+ * '<S30>'  : 'RP_01_APP/KeyPro/KeyDebounce1/Value_Debounce_Chart'
+ * '<S31>'  : 'RP_01_APP/KeyPro/KeyDebounce10/Detect Change2'
+ * '<S32>'  : 'RP_01_APP/KeyPro/KeyDebounce10/Value_Debounce_Chart'
+ * '<S33>'  : 'RP_01_APP/KeyPro/KeyDebounce11/Detect Change2'
+ * '<S34>'  : 'RP_01_APP/KeyPro/KeyDebounce11/Value_Debounce_Chart'
+ * '<S35>'  : 'RP_01_APP/KeyPro/KeyDebounce12/Detect Change2'
+ * '<S36>'  : 'RP_01_APP/KeyPro/KeyDebounce12/Value_Debounce_Chart'
+ * '<S37>'  : 'RP_01_APP/KeyPro/KeyDebounce13/Detect Change2'
+ * '<S38>'  : 'RP_01_APP/KeyPro/KeyDebounce13/Value_Debounce_Chart'
+ * '<S39>'  : 'RP_01_APP/KeyPro/KeyDebounce14/Detect Change2'
+ * '<S40>'  : 'RP_01_APP/KeyPro/KeyDebounce14/Value_Debounce_Chart'
+ * '<S41>'  : 'RP_01_APP/KeyPro/KeyDebounce15/Detect Change2'
+ * '<S42>'  : 'RP_01_APP/KeyPro/KeyDebounce15/Value_Debounce_Chart'
+ * '<S43>'  : 'RP_01_APP/KeyPro/KeyDebounce16/Detect Change2'
+ * '<S44>'  : 'RP_01_APP/KeyPro/KeyDebounce16/Value_Debounce_Chart'
+ * '<S45>'  : 'RP_01_APP/KeyPro/KeyDebounce17/Detect Change2'
+ * '<S46>'  : 'RP_01_APP/KeyPro/KeyDebounce17/Value_Debounce_Chart'
+ * '<S47>'  : 'RP_01_APP/KeyPro/KeyDebounce2/Detect Change2'
+ * '<S48>'  : 'RP_01_APP/KeyPro/KeyDebounce2/Value_Debounce_Chart'
+ * '<S49>'  : 'RP_01_APP/KeyPro/KeyDebounce21/Detect Change2'
+ * '<S50>'  : 'RP_01_APP/KeyPro/KeyDebounce21/Value_Debounce_Chart'
+ * '<S51>'  : 'RP_01_APP/KeyPro/KeyDebounce22/Detect Change2'
+ * '<S52>'  : 'RP_01_APP/KeyPro/KeyDebounce22/Value_Debounce_Chart'
+ * '<S53>'  : 'RP_01_APP/KeyPro/KeyDebounce23/Detect Change2'
+ * '<S54>'  : 'RP_01_APP/KeyPro/KeyDebounce23/Value_Debounce_Chart'
+ * '<S55>'  : 'RP_01_APP/KeyPro/KeyDebounce3/Detect Change2'
+ * '<S56>'  : 'RP_01_APP/KeyPro/KeyDebounce3/Value_Debounce_Chart'
+ * '<S57>'  : 'RP_01_APP/KeyPro/KeyDebounce4/Detect Change2'
+ * '<S58>'  : 'RP_01_APP/KeyPro/KeyDebounce4/Value_Debounce_Chart'
+ * '<S59>'  : 'RP_01_APP/KeyPro/KeyDebounce5/Detect Change2'
+ * '<S60>'  : 'RP_01_APP/KeyPro/KeyDebounce5/Value_Debounce_Chart'
+ * '<S61>'  : 'RP_01_APP/KeyPro/KeyDebounce6/Detect Change2'
+ * '<S62>'  : 'RP_01_APP/KeyPro/KeyDebounce6/Value_Debounce_Chart'
+ * '<S63>'  : 'RP_01_APP/KeyPro/KeyDebounce7/Detect Change2'
+ * '<S64>'  : 'RP_01_APP/KeyPro/KeyDebounce7/Value_Debounce_Chart'
+ * '<S65>'  : 'RP_01_APP/KeyPro/KeyDebounce8/Detect Change2'
+ * '<S66>'  : 'RP_01_APP/KeyPro/KeyDebounce8/Value_Debounce_Chart'
+ * '<S67>'  : 'RP_01_APP/KeyPro/KeyDebounce9/Detect Change2'
+ * '<S68>'  : 'RP_01_APP/KeyPro/KeyDebounce9/Value_Debounce_Chart'
+ * '<S69>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual'
+ * '<S70>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual1'
+ * '<S71>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual2'
+ * '<S72>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual3'
+ * '<S73>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual4'
+ * '<S74>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual5'
+ * '<S75>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual/Chart'
+ * '<S76>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual1/Chart'
+ * '<S77>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual2/Chart'
+ * '<S78>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual3/Chart'
+ * '<S79>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual4/Chart'
+ * '<S80>'  : 'RP_01_APP/MotorCtrl_Maintask/MotorManual5/Chart'
+ */
+#endif                                 /* RTW_HEADER_RP_01_APP_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP_private.h b/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP_private.h
new file mode 100644
index 0000000..11e8bb7
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP_private.h
@@ -0,0 +1,31 @@
+/*
+ * File: RP_01_APP_private.h
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_RP_01_APP_private_h_
+#define RTW_HEADER_RP_01_APP_private_h_
+#include "rtwtypes.h"
+#include "RP_01_APP_types.h"
+
+/* Includes for objects with custom storage classes */
+#include "rte.h"
+#endif                                 /* RTW_HEADER_RP_01_APP_private_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP_types.h b/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP_types.h
new file mode 100644
index 0000000..f8c0fcc
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/RP_01_APP_types.h
@@ -0,0 +1,46 @@
+/*
+ * File: RP_01_APP_types.h
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_RP_01_APP_types_h_
+#define RTW_HEADER_RP_01_APP_types_h_
+#include "rtwtypes.h"
+#include "can_message.h"
+#ifndef DEFINED_TYPEDEF_FOR_CAN_MESSAGE_BUS_
+#define DEFINED_TYPEDEF_FOR_CAN_MESSAGE_BUS_
+
+typedef struct {
+    uint8_T Extended;
+    uint8_T Length;
+    uint8_T Remote;
+    uint8_T Error;
+    uint32_T ID;
+    real_T Timestamp;
+    uint8_T Data[8];
+} CAN_MESSAGE_BUS;
+
+#endif
+
+/* Forward declaration for rtModel */
+typedef struct tag_RTM_RP_01_APP_T RT_MODEL_RP_01_APP_T;
+
+#endif                                 /* RTW_HEADER_RP_01_APP_types_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/can_datatype_ground.c b/cva_asw_m0146/src/RP_01_APP_ert_rtw/can_datatype_ground.c
new file mode 100644
index 0000000..84de43d
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/can_datatype_ground.c
@@ -0,0 +1,4 @@
+#include "can_message.h"
+
+const CAN_DATATYPE CAN_DATATYPE_GROUND = { 0, 0, 0, 0, 0, 0.0, { 0, 0, 0, 0, 0,
+        0, 0, 0 } };
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/can_key_msg.c b/cva_asw_m0146/src/RP_01_APP_ert_rtw/can_key_msg.c
new file mode 100644
index 0000000..5c35434
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/can_key_msg.c
@@ -0,0 +1,778 @@
+/*
+ * File: can_key_msg.c
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#include "can_message.h"
+#include "can_key_msg.h"
+
+/* System initialize for function-call system: '<Root>/can_key_msg' */
+void RP_01_APP_can_key_msg_Init(void)
+{
+    /* Start for S-Function (scanunpack): '<S5>/CAN Unpack' */
+
+    /*-----------S-Function Block: <S5>/CAN Unpack -----------------*/
+}
+
+/* Output and update for function-call system: '<Root>/can_key_msg' */
+void RP_01_APP_can_key_msg(const CAN_DATATYPE *rtu_In1,
+    B_can_key_msg_RP_01_APP_T *localB)
+{
+    /* S-Function (scanunpack): '<S5>/CAN Unpack' */
+    {
+        /* S-Function (scanunpack): '<S5>/CAN Unpack' */
+        if ((8 == (*rtu_In1).Length) && ((*rtu_In1).ID != INVALID_CAN_ID) ) {
+            if ((513 == (*rtu_In1).ID) && (0U == (*rtu_In1).Extended) ) {
+                {
+                    /* --------------- START Unpacking signal 0 ------------------
+                     *  startBit                = 7
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[0]) &
+                                         (uint8_T)(0x80U)) >> 7);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o1 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 1 ------------------
+                     *  startBit                = 6
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[0]) &
+                                         (uint8_T)(0x40U)) >> 6);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o2 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 2 ------------------
+                     *  startBit                = 5
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[0]) &
+                                         (uint8_T)(0x20U)) >> 5);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o3 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 3 ------------------
+                     *  startBit                = 4
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[0]) &
+                                         (uint8_T)(0x10U)) >> 4);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o4 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 4 ------------------
+                     *  startBit                = 26
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[3]) &
+                                         (uint8_T)(0x4U)) >> 2);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o5 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 5 ------------------
+                     *  startBit                = 25
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[3]) &
+                                         (uint8_T)(0x2U)) >> 1);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o6 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 6 ------------------
+                     *  startBit                = 24
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((*rtu_In1).Data[3]) & (uint8_T)(0x1U));
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o7 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 7 ------------------
+                     *  startBit                = 27
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[3]) &
+                                         (uint8_T)(0x8U)) >> 3);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o8 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 8 ------------------
+                     *  startBit                = 33
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[4]) &
+                                         (uint8_T)(0x2U)) >> 1);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o9 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 9 ------------------
+                     *  startBit                = 3
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[0]) &
+                                         (uint8_T)(0x8U)) >> 3);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o10 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 10 ------------------
+                     *  startBit                = 2
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[0]) &
+                                         (uint8_T)(0x4U)) >> 2);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o11 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 11 ------------------
+                     *  startBit                = 10
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[1]) &
+                                         (uint8_T)(0x4U)) >> 2);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o12 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 12 ------------------
+                     *  startBit                = 11
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[1]) &
+                                         (uint8_T)(0x8U)) >> 3);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o13 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 13 ------------------
+                     *  startBit                = 8
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((*rtu_In1).Data[1]) & (uint8_T)(0x1U));
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o14 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 14 ------------------
+                     *  startBit                = 9
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[1]) &
+                                         (uint8_T)(0x2U)) >> 1);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o15 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 15 ------------------
+                     *  startBit                = 0
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((*rtu_In1).Data[0]) & (uint8_T)(0x1U));
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o16 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 16 ------------------
+                     *  startBit                = 16
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((*rtu_In1).Data[2]) & (uint8_T)(0x1U));
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o17 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 17 ------------------
+                     *  startBit                = 32
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((*rtu_In1).Data[4]) & (uint8_T)(0x1U));
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o18 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 18 ------------------
+                     *  startBit                = 17
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[2]) &
+                                         (uint8_T)(0x2U)) >> 1);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o19 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 19 ------------------
+                     *  startBit                = 20
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[2]) &
+                                         (uint8_T)(0x10U)) >> 4);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o20 = result;
+                        }
+                    }
+
+                    /* --------------- START Unpacking signal 20 ------------------
+                     *  startBit                = 1
+                     *  length                  = 1
+                     *  desiredSignalByteLayout = LITTLEENDIAN
+                     *  dataType                = UNSIGNED
+                     *  factor                  = 1.0
+                     *  offset                  = 0.0
+                     * -----------------------------------------------------------------------*/
+                    {
+                        uint8_T outValue = 0;
+
+                        {
+                            uint8_T unpackedValue = 0;
+
+                            {
+                                uint8_T tempValue = (uint8_T) (0);
+
+                                {
+                                    tempValue = tempValue | (uint8_T)((uint8_T)
+                                        ((uint8_T)((*rtu_In1).Data[0]) &
+                                         (uint8_T)(0x2U)) >> 1);
+                                }
+
+                                unpackedValue = tempValue;
+                            }
+
+                            outValue = (uint8_T) (unpackedValue);
+                        }
+
+                        {
+                            uint8_T result = (uint8_T) outValue;
+                            localB->CANUnpack_o21 = result;
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/can_key_msg.h b/cva_asw_m0146/src/RP_01_APP_ert_rtw/can_key_msg.h
new file mode 100644
index 0000000..eb6cbc1
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/can_key_msg.h
@@ -0,0 +1,69 @@
+/*
+ * File: can_key_msg.h
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_can_key_msg_h_
+#define RTW_HEADER_can_key_msg_h_
+#ifndef RP_01_APP_COMMON_INCLUDES_
+#define RP_01_APP_COMMON_INCLUDES_
+#include <math.h>
+#include "rtwtypes.h"
+#endif                                 /* RP_01_APP_COMMON_INCLUDES_ */
+
+#include "can_message.h"
+
+/* Block signals for system '<Root>/can_key_msg' */
+typedef struct {
+    uint8_T CANUnpack_o1;              /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o2;              /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o3;              /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o4;              /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o5;              /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o6;              /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o7;              /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o8;              /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o9;              /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o10;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o11;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o12;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o13;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o14;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o15;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o16;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o17;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o18;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o19;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o20;             /* '<S5>/CAN Unpack' */
+    uint8_T CANUnpack_o21;             /* '<S5>/CAN Unpack' */
+} B_can_key_msg_RP_01_APP_T;
+
+/* Block states (default storage) for system '<Root>/can_key_msg' */
+typedef struct {
+    int_T CANUnpack_ModeSignalID;      /* '<S5>/CAN Unpack' */
+    int_T CANUnpack_StatusPortID;      /* '<S5>/CAN Unpack' */
+} DW_can_key_msg_RP_01_APP_T;
+
+extern void RP_01_APP_can_key_msg_Init(void);
+extern void RP_01_APP_can_key_msg(const CAN_DATATYPE *rtu_In1,
+    B_can_key_msg_RP_01_APP_T *localB);
+
+#endif                                 /* RTW_HEADER_can_key_msg_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RP_01_APP_ert_rtw/ert_main.c b/cva_asw_m0146/src/RP_01_APP_ert_rtw/ert_main.c
new file mode 100644
index 0000000..f122946
--- /dev/null
+++ b/cva_asw_m0146/src/RP_01_APP_ert_rtw/ert_main.c
@@ -0,0 +1,103 @@
+/*
+ * File: ert_main.c
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.26
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Mon Nov 11 11:21:18 2024
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: Intel->x86-64 (Windows64)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. MISRA C:2012 guidelines
+ * Validation result: Not run
+ */
+
+#include <stddef.h>
+#include <stdio.h>            /* This example main program uses printf/fflush */
+#include "RP_01_APP.h"                 /* Model header file */
+
+/*
+ * 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(RP_01_APP_M, "Overrun");
+        return;
+    }
+
+    OverrunFlag = true;
+
+    /* Save FPU context here (if necessary) */
+    /* Re-enable timer or interrupt here */
+    /* Set model inputs here */
+
+    /* Step the model */
+    RP_01_APP_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 */
+    RP_01_APP_initialize();
+
+    /* Attach rt_OneStep to a timer or interrupt service routine with
+     * period 0.001 seconds (base rate of the model) 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(RP_01_APP_M) == (NULL)) {
+        /*  Perform application tasks here */
+    }
+
+    /* Terminate model */
+    RP_01_APP_terminate();
+    return 0;
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/cva_asw_m0146/src/RTE/RTE.C b/cva_asw_m0146/src/RTE/RTE.C
new file mode 100644
index 0000000..7109502
--- /dev/null
+++ b/cva_asw_m0146/src/RTE/RTE.C
@@ -0,0 +1,109 @@
+
+#include "RTE.h"
+#include "hwctrl.h"
+#include "mcu.h"
+#include "canuser.h"
+
+extern McuType mcu;
+
+uint8_T CAN0X301_DATA[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
+uint8_T Motor_state[6] = {0,0,0,0,0,0};
+
+CAN_DATATYPE rte_get_CANMSG_0x201(void)
+{
+    CAN_DATATYPE CANMsg_0x201;
+    CANMsg_0x201.ID = 0x201;
+    GetRxMsgData(0x201,CANMsg_0x201.Data,8);
+    CANMsg_0x201.Length = 8;
+    CANMsg_0x201.Remote = 0;
+    CANMsg_0x201.Extended = 0;
+    CANMsg_0x201.Error = 0;
+
+    return CANMsg_0x201;
+    
+
+}
+
+uint8_T rte_get_CANMSG_0x301_DATA(int32_T i)
+{
+    return 0x00;
+}
+
+void rte_set_CANMSG_0x301_DATA(int32_T i,uint8_T data)
+{
+    if (i >= 0 && i <= 7)
+    {
+        CAN0X301_DATA[i] = data;
+    }
+    if (i == 7)
+    {
+        SetTxMsgData(0x301,CAN0X301_DATA,8);
+    }
+    
+}
+
+
+
+void rte_set_Motor_HG_State(uint8_T act)
+{
+    hw_MotorCtrl(&mcu,Motor1,act);
+    Motor_state[Motor1] = act;
+}
+
+void rte_set_Motor_KB_State(uint8_T act)
+{
+    hw_MotorCtrl(&mcu,Motor2,act);
+    Motor_state[Motor2] = act;
+}
+
+void rte_set_Motor_TT_State(uint8_T act)
+{
+    hw_MotorCtrl(&mcu,Motor3,act);
+    Motor_state[Motor3] = act;
+}
+
+void rte_set_Motor_ZY_State(uint8_T act)
+{
+    hw_MotorCtrl(&mcu,Motor4,act);
+    Motor_state[Motor4] = act;
+}
+
+void rte_set_Motor_TZ_State(uint8_T act)
+{
+    hw_MotorCtrl(&mcu,Motor5,act);
+    Motor_state[Motor5] = act;
+}
+
+void rte_set_Motor_YT_State(uint8_T act)
+{
+    hw_MotorCtrl(&mcu,Motor6,act);
+    Motor_state[Motor6] = act;
+}
+
+
+uint8_T rte_get_Motor_HG_State(void)
+{
+    return Motor_state[Motor1];
+}
+uint8_T rte_get_Motor_KB_State(void)
+{
+    return Motor_state[Motor2];
+}
+uint8_T rte_get_Motor_TT_State(void)
+{
+    return Motor_state[Motor3];
+}
+uint8_T rte_get_Motor_ZY_State(void)
+{
+    return Motor_state[Motor4];
+}
+uint8_T rte_get_Motor_TZ_State(void)
+{
+    return Motor_state[Motor5];
+}
+uint8_T rte_get_Motor_YT_State(void)
+{
+    return Motor_state[Motor6];
+}
+
+
diff --git a/cva_asw_m0146/src/RTE/RTE.H b/cva_asw_m0146/src/RTE/RTE.H
new file mode 100644
index 0000000..8b94fce
--- /dev/null
+++ b/cva_asw_m0146/src/RTE/RTE.H
@@ -0,0 +1,28 @@
+#ifndef __RTE_H__
+#define __RTE_H__
+
+#include "rtwtypes.h"
+#include "can_message.h"
+
+CAN_DATATYPE rte_get_CANMSG_0x201(void);
+uint8_T rte_get_CANMSG_0x301_DATA(int32_T );
+void rte_set_CANMSG_0x301_DATA(int32_T,uint8_T);
+
+
+void rte_set_Motor_HG_State(uint8_T act);
+void rte_set_Motor_KB_State(uint8_T act);
+void rte_set_Motor_TT_State(uint8_T act);
+void rte_set_Motor_ZY_State(uint8_T act);
+void rte_set_Motor_TZ_State(uint8_T act);
+void rte_set_Motor_YT_State(uint8_T act);
+
+uint8_T rte_get_Motor_HG_State(void);
+uint8_T rte_get_Motor_KB_State(void);
+uint8_T rte_get_Motor_TT_State(void);
+uint8_T rte_get_Motor_ZY_State(void);
+uint8_T rte_get_Motor_TZ_State(void);
+uint8_T rte_get_Motor_YT_State(void);
+
+
+
+#endif /* __RTE_H__ */
diff --git a/cva_asw_m0146/src/RTE/can_message.h b/cva_asw_m0146/src/RTE/can_message.h
new file mode 100644
index 0000000..1ea4501
--- /dev/null
+++ b/cva_asw_m0146/src/RTE/can_message.h
@@ -0,0 +1,76 @@
+/* Copyright 2008-2015 The MathWorks, Inc. */
+/**
+ * @file:       can_message.h
+ *
+ * Purpose:     Declare custom and register CAN datatype.
+ *
+ * $Authors:    Shankar Subramanian $
+ *
+ * $Copyright: 2008-2014 The MathWorks, Inc.$
+ *
+ */
+#ifndef __CANMESSAGE__HEADER__
+#define __CANMESSAGE__HEADER__
+
+
+#include "rtwtypes.h" /* Use rtwtypes.h if available */
+
+/* @DO NOT REMOVE: The following typedef is required for targets (FM5, C166 etc.) to actually
+   use it for their code generation TLC file. Since their datatype is being
+   discarded, this is being defined in our header which they will be referencing.*/
+typedef enum {CAN_MESSAGE_STANDARD, CAN_MESSAGE_EXTENDED} CanFrameType;
+
+/* Define invalid CAN Identifier value. This can be used to specify invalid CAN Message
+   This represents a uint32_T value */
+#define INVALID_CAN_ID 0xFFFFFFFFU
+
+/*
+  The CAN_DATATYPE structure has been structured so that it is tightly packed.
+  Size of structure (without timestamp field) :16 bytes
+  Size of structure (with timestamp field)    :24 bytes
+*/
+typedef struct
+{
+
+    /* Is Extended frame */
+    uint8_T Extended;
+
+    /* Length */
+    uint8_T Length;
+
+    /* RTR */
+    uint8_T Remote;
+
+    /* Error */
+    uint8_T Error;
+
+    /* CAN ID */
+    uint32_T ID;
+
+    /*
+      TIMESTAMP_NOT_REQUIRED is a macro that will be defined by Target teams
+      PIL, C166, FM5, xPC if they do not require the timestamp field during code
+      generation. By default, timestamp is defined. If the targets do not require
+      the timestamp field, they should define the macro TIMESTAMP_NOT_REQUIRED before
+      including this header file for code generation.
+    */
+#ifndef TIMESTAMP_NOT_REQUIRED
+    /* Timestamp */
+    double Timestamp;
+#endif
+
+    /* Data field */
+    uint8_T Data[8];
+
+}  CAN_MESSAGE;
+
+typedef CAN_MESSAGE CAN_DATATYPE;
+
+/**
+ * Initialize a CAN message.
+ *
+ * @param CAN_DATATYPE: CAN Message structure
+ */
+void initializeCANMessage(CAN_DATATYPE* canmsg, uint8_T Extended);
+
+#endif
diff --git a/cva_asw_m0146/src/RTE/rtwtypes.h b/cva_asw_m0146/src/RTE/rtwtypes.h
new file mode 100644
index 0000000..494eafb
--- /dev/null
+++ b/cva_asw_m0146/src/RTE/rtwtypes.h
@@ -0,0 +1,89 @@
+/*
+ * File: rtwtypes.h
+ *
+ * Code generated for Simulink model 'RP_01_APP'.
+ *
+ * Model version                  : 1.24
+ * Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+ * C/C++ source code generated on : Sat Nov  9 16:01:04 2024
+ */
+
+#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;
+
+/*=======================================================================*
+ * 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]
+ */
diff --git a/cva_asw_m0146/src/appTask.c b/cva_asw_m0146/src/appTask.c
index 49d0731..7269df4 100644
--- a/cva_asw_m0146/src/appTask.c
+++ b/cva_asw_m0146/src/appTask.c
@@ -10,6 +10,7 @@
 #include "SEGGER_RTT.h"
 #include "MotorCtrl.h"
 #include "canuser.h"
+#include "RP_01_APP.h"
 
 /*******************************************************************************
  * the defines
@@ -81,13 +82,14 @@ void appTask(McuType *obj)
             Asw_SetBootloaderRequest();
             ResetDrv_SoftwareResetModule(&obj->resetDrv, RESETDRV_SWRESET_SYS);
         }
+        RP_01_APP_step();
         gSystick1msEvent--;
         gSystick1msCnt++;
         gSysTick1sCnt++;
         MsgTask(&udsObj);
         if (gSystick1msCnt % 10 == 0)
         {
-            MotorCtrl_Maintask(obj);
+            //MotorCtrl_Maintask(obj);
         }
 
         if (gSystick1msCnt % 50 == 0)
@@ -115,6 +117,8 @@ void appTaskInit(McuType *obj)
     Uds_UserInit(&udsObj, &udsParam);
 
     MotorCtrl_Init(obj);
+
+    RP_01_APP_initialize();
 }
 
 
diff --git a/cva_asw_m0146/src/canuser.c b/cva_asw_m0146/src/canuser.c
index e684752..734bf65 100644
--- a/cva_asw_m0146/src/canuser.c
+++ b/cva_asw_m0146/src/canuser.c
@@ -132,11 +132,26 @@ const FlexCanDrv_MsgCfgType msgCfgObj[UDS_MSG_IDX_NUM] = {
 };
 
 
+void GetRxMsgData(uint16_t msgId, uint8_t* pData, uint8_t Size)
+{
+    if (msgId == APP_RX_HOST_REQ1_MSG_ID)
+    {
+        memcpy(pData, rxMsgBuf1, Size);
+    }
+}
+
+void SetTxMsgData(uint16_t msgId, uint8_t* pData, uint8_t Size)
+{
+    if (msgId == APP_TX_ECU_STATUS_MSG_ID)
+    {
+        memcpy(txMsgBuf1, pData, Size);
+    }
+}
 
 static void RxMsgProcess(void)
 {
-    HOST_Req1_Type* prxMsgBuf1 = (HOST_Req1_Type*)rxMsgBuf1;
-    debugMode = prxMsgBuf1->HOST_DebugMode;
+    //HOST_Req1_Type* prxMsgBuf1 = (HOST_Req1_Type*)rxMsgBuf1;
+    //debugMode = prxMsgBuf1->HOST_DebugMode;
 }
 void MsgTask(UdsType *obj)//1ms task
 {
diff --git a/cva_asw_m0146/src/canuser.h b/cva_asw_m0146/src/canuser.h
index 0d41704..0392843 100644
--- a/cva_asw_m0146/src/canuser.h
+++ b/cva_asw_m0146/src/canuser.h
@@ -10,12 +10,15 @@
 #define UDS_FUNC_RECV_MSG_ID (0x7DF)
 #define UDS_PHYS_RESP_MSG_ID (0x7B2)
 
-#define APP_TX_ECU_STATUS_MSG_ID  (0x210)
-#define APP_TX_ECU_DEBUG1_MSG_ID  (0x211)
-#define APP_TX_ECU_DEBUG2_MSG_ID  (0x212)
-#define APP_TX_ECU_DEBUG3_MSG_ID  (0x213)
-#define APP_RX_HOST_REQ1_MSG_ID  (0x200)
-#define APP_RX_HOST_REQ2_MSG_ID  (0x201)
+#define APP_TX_ECU_STATUS_MSG_ID  (0x301)
+#define APP_TX_ECU_DEBUG1_MSG_ID  (0x401)
+#define APP_TX_ECU_DEBUG2_MSG_ID  (0x402)
+#define APP_TX_ECU_DEBUG3_MSG_ID  (0x403)
+#define APP_TX_ECU_DEBUG4_MSG_ID  (0x404)
+#define APP_TX_ECU_DEBUG5_MSG_ID  (0x405)
+#define APP_TX_ECU_DEBUG6_MSG_ID  (0x406)
+#define APP_RX_HOST_REQ1_MSG_ID  (0x201)
+#define APP_RX_HOST_REQ2_MSG_ID  (0x202)
 
 #define CAN_DATA_BUFFER_SIZE (64u)
 #define CAN_BUFFER_FIFO_SIZE (32u)
@@ -43,4 +46,7 @@ int8_t FlexCanBoot_TxMessage(uint32_t msgId, const uint8_t* pData, uint8_t size)
 bool FlexCanBoot_ReadoutMsg(FlexCan_FrameStructureType* pRxMsgObj);
 void MsgTask(UdsType *obj);
 
+void GetRxMsgData(uint16_t msgId, uint8_t* pData, uint8_t Size);
+void SetTxMsgData(uint16_t msgId, uint8_t* pData, uint8_t Size);
+
 #endif