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hoverboard-firmware-hack-fo.../Inc/BLDC_controller.h

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Initial commit
2019-10-06 13:09:15 +00:00
/*
* File: BLDC_controller.h
*
* Code generated for Simulink model 'BLDC_controller'.
*
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
* Model version : 1.1197
Initial commit
2019-10-06 13:09:15 +00:00
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
* C/C++ source code generated on : Thu Oct 31 21:29:42 2019
Initial commit
2019-10-06 13:09:15 +00:00
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
* Emulation hardware selection:
* Differs from embedded hardware (MATLAB Host)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#ifndef RTW_HEADER_BLDC_controller_h_
#define RTW_HEADER_BLDC_controller_h_
#include "rtwtypes.h"
#ifndef BLDC_controller_COMMON_INCLUDES_
# define BLDC_controller_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif /* BLDC_controller_COMMON_INCLUDES_ */
/* Macros for accessing real-time model data structure */
/* Forward declaration for rtModel */
typedef struct tag_RTM RT_MODEL;
/* Block signals and states (auto storage) for system '<S11>/Counter' */
typedef struct {
int16_T UnitDelay_DSTATE; /* '<S17>/UnitDelay' */
} DW_Counter;
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
/* Block signals and states (auto storage) for system '<S40>/PI_clamp_fixdt_id' */
typedef struct {
int32_T UnitDelay_DSTATE; /* '<S65>/UnitDelay' */
boolean_T UnitDelay1_DSTATE; /* '<S62>/UnitDelay1' */
} DW_PI_clamp_fixdt;
Initial commit
2019-10-06 13:09:15 +00:00
/* Block signals and states (auto storage) for system '<S31>/Low_Pass_Filter' */
typedef struct {
int16_T UnitDelay3_DSTATE[2]; /* '<S44>/UnitDelay3' */
} DW_Low_Pass_Filter;
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
/* Block signals and states (auto storage) for system '<S38>/PI_clamp_fixdt_n' */
Initial commit
2019-10-06 13:09:15 +00:00
typedef struct {
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
int32_T UnitDelay_DSTATE; /* '<S55>/UnitDelay' */
boolean_T UnitDelay1_DSTATE; /* '<S53>/UnitDelay1' */
} DW_PI_clamp_fixdt_c;
Initial commit
2019-10-06 13:09:15 +00:00
/* Block signals and states (auto storage) for system '<S22>/Counter' */
typedef struct {
uint16_T UnitDelay_DSTATE; /* '<S27>/UnitDelay' */
} DW_Counter_l;
/* Block signals and states (auto storage) for system '<S18>/either_edge' */
typedef struct {
boolean_T UnitDelay_DSTATE; /* '<S23>/UnitDelay' */
} DW_either_edge;
/* Block signals and states (auto storage) for system '<S3>/Debounce_Filter' */
typedef struct {
DW_either_edge either_edge_k; /* '<S18>/either_edge' */
DW_Counter_l Counter_h; /* '<S21>/Counter' */
DW_Counter_l Counter_i0; /* '<S22>/Counter' */
boolean_T UnitDelay_DSTATE; /* '<S18>/UnitDelay' */
} DW_Debounce_Filter;
/* Block signals and states (auto storage) for system '<Root>' */
typedef struct {
DW_either_edge either_edge_a; /* '<S3>/either_edge' */
DW_Debounce_Filter Debounce_Filter_f;/* '<S3>/Debounce_Filter' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
DW_PI_clamp_fixdt PI_clamp_fixdt_iq; /* '<S39>/PI_clamp_fixdt_iq' */
DW_PI_clamp_fixdt_c PI_clamp_fixdt_n_o;/* '<S38>/PI_clamp_fixdt_n' */
Initial commit
2019-10-06 13:09:15 +00:00
DW_Low_Pass_Filter Low_Pass_Filter_m;/* '<S31>/Low_Pass_Filter' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
DW_PI_clamp_fixdt PI_clamp_fixdt_id; /* '<S40>/PI_clamp_fixdt_id' */
Initial commit
2019-10-06 13:09:15 +00:00
DW_Counter Counter_e; /* '<S11>/Counter' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
int32_T UnitDelay_DSTATE; /* '<S51>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
int16_T Gain4[3]; /* '<S33>/Gain4' */
int16_T Sum1[2]; /* '<S44>/Sum1' */
int16_T z_counterRawPrev; /* '<S16>/z_counterRawPrev' */
int16_T Merge; /* '<S5>/Merge' */
int16_T Divide1; /* '<S46>/Divide1' */
int16_T Divide4; /* '<S45>/Divide4' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
int16_T Switch1; /* '<S66>/Switch1' */
Initial commit
2019-10-06 13:09:15 +00:00
int16_T Divide11; /* '<S16>/Divide11' */
int16_T UnitDelay3_DSTATE; /* '<S11>/UnitDelay3' */
int16_T UnitDelay4_DSTATE; /* '<S6>/UnitDelay4' */
int16_T UnitDelay4_DSTATE_p; /* '<S16>/UnitDelay4' */
int16_T UnitDelay2_DSTATE; /* '<S16>/UnitDelay2' */
int16_T UnitDelay3_DSTATE_o; /* '<S16>/UnitDelay3' */
int16_T UnitDelay5_DSTATE; /* '<S16>/UnitDelay5' */
int16_T UnitDelay4_DSTATE_e; /* '<S11>/UnitDelay4' */
int16_T UnitDelay4_DSTATE_er; /* '<S5>/UnitDelay4' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
int8_T Switch2; /* '<S10>/Switch2' */
Initial commit
2019-10-06 13:09:15 +00:00
int8_T UnitDelay2_DSTATE_b; /* '<S10>/UnitDelay2' */
int8_T If2_ActiveSubsystem; /* '<S1>/If2' */
int8_T If1_ActiveSubsystem; /* '<S1>/If1' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
int8_T If2_ActiveSubsystem_a; /* '<S5>/If2' */
int8_T If1_ActiveSubsystem_e; /* '<S5>/If1' */
Initial commit
2019-10-06 13:09:15 +00:00
int8_T If1_ActiveSubsystem_f; /* '<S35>/If1' */
int8_T If2_ActiveSubsystem_c; /* '<S35>/If2' */
int8_T SwitchCase_ActiveSubsystem; /* '<S5>/Switch Case' */
uint8_T UnitDelay3_DSTATE_fy; /* '<S8>/UnitDelay3' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
uint8_T UnitDelay1_DSTATE; /* '<S8>/UnitDelay1' */
Initial commit
2019-10-06 13:09:15 +00:00
uint8_T UnitDelay2_DSTATE_f; /* '<S8>/UnitDelay2' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
uint8_T UnitDelay1_DSTATE_p; /* '<S4>/UnitDelay1' */
uint8_T UnitDelay_DSTATE_c; /* '<S3>/UnitDelay' */
uint8_T is_active_c1_BLDC_controller;/* '<S4>/F03_02_Control_Mode_Manager' */
uint8_T is_c1_BLDC_controller; /* '<S4>/F03_02_Control_Mode_Manager' */
uint8_T is_ACTIVE; /* '<S4>/F03_02_Control_Mode_Manager' */
Initial commit
2019-10-06 13:09:15 +00:00
boolean_T Merge_n; /* '<S18>/Merge' */
boolean_T dz_cntTrnsDet; /* '<S16>/dz_cntTrnsDet' */
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
boolean_T UnitDelay_DSTATE_g; /* '<S50>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
boolean_T UnitDelay1_DSTATE_n; /* '<S16>/UnitDelay1' */
boolean_T n_commDeacv_Mode; /* '<S11>/n_commDeacv' */
Improvements and Issues implementation Major: - Issue #3: added raw ADC1, ADC2 values to the setScopeChannel - Issue #4: added functionality for joystick control. Middle resting potis are now supported (by default it is enabled) - Issue #6: implemented that board does not power-off after a software reset due to flashing - added Rate constraints for Input target for smoother response Minor: - added 2 beep sound when motors get enabled - minor bugfixes
2019-10-27 17:21:04 +00:00
boolean_T n_fieldWeakAuth_Mode; /* '<S32>/n_fieldWeakAuth' */
Initial commit
2019-10-06 13:09:15 +00:00
boolean_T dz_cntTrnsDet_Mode; /* '<S16>/dz_cntTrnsDet' */
} DW;
/* Constant parameters (auto storage) */
typedef struct {
/* Computed Parameter: z_commutMap_M1_table
* Referenced by: '<S6>/z_commutMap_M1'
*/
int16_T z_commutMap_M1_table[18];
/* Computed Parameter: r_sin_M1_Table
* Referenced by: '<S32>/r_sin_M1'
*/
int16_T r_sin_M1_Table[181];
/* Computed Parameter: r_cos_M1_Table
* Referenced by: '<S32>/r_cos_M1'
*/
int16_T r_cos_M1_Table[181];
/* Computed Parameter: vec_hallToPos_Value
* Referenced by: '<S9>/vec_hallToPos'
*/
int8_T vec_hallToPos_Value[8];
} ConstP;
/* External inputs (root inport signals with auto storage) */
typedef struct {
boolean_T b_motEna; /* '<Root>/b_motEna' */
uint8_T z_ctrlModReq; /* '<Root>/z_ctrlModReq' */
int16_T r_inpTgt; /* '<Root>/r_inpTgt' */
uint8_T b_hallA; /* '<Root>/b_hallA ' */
uint8_T b_hallB; /* '<Root>/b_hallB' */
uint8_T b_hallC; /* '<Root>/b_hallC' */
int16_T i_phaAB; /* '<Root>/i_phaAB' */
int16_T i_phaBC; /* '<Root>/i_phaBC' */
int16_T i_DCLink; /* '<Root>/i_DCLink' */
} ExtU;
/* External outputs (root outports fed by signals with auto storage) */
typedef struct {
int16_T DC_phaA; /* '<Root>/DC_phaA' */
int16_T DC_phaB; /* '<Root>/DC_phaB' */
int16_T DC_phaC; /* '<Root>/DC_phaC' */
uint8_T z_errCode; /* '<Root>/z_errCode' */
int16_T n_mot; /* '<Root>/n_mot' */
int16_T a_elecAngle; /* '<Root>/a_elecAngle' */
int16_T r_devSignal1; /* '<Root>/r_devSignal1' */
int16_T r_devSignal2; /* '<Root>/r_devSignal2' */
} ExtY;
/* Parameters (auto storage) */
struct P_ {
int32_T dV_openRate; /* Variable: dV_openRate
* Referenced by: '<S36>/dV_openRate'
*/
int16_T dz_cntTrnsDetHi; /* Variable: dz_cntTrnsDetHi
* Referenced by: '<S16>/dz_cntTrnsDet'
*/
int16_T dz_cntTrnsDetLo; /* Variable: dz_cntTrnsDetLo
* Referenced by: '<S16>/dz_cntTrnsDet'
*/
int16_T r_errInpTgtThres; /* Variable: r_errInpTgtThres
* Referenced by: '<S3>/r_errInpTgtThres'
*/
int16_T z_maxCntRst; /* Variable: z_maxCntRst
* Referenced by:
* '<S11>/Counter'
* '<S11>/z_maxCntRst'
* '<S11>/z_maxCntRst2'
* '<S11>/UnitDelay3'
* '<S16>/z_counter'
*/
uint16_T cf_speedCoef; /* Variable: cf_speedCoef
* Referenced by: '<S16>/cf_speedCoef'
*/
uint16_T t_errDequal; /* Variable: t_errDequal
* Referenced by: '<S3>/t_errDequal'
*/
uint16_T t_errQual; /* Variable: t_errQual
* Referenced by: '<S3>/t_errQual'
*/
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
uint16_T cf_idKp; /* Variable: cf_idKp
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
* Referenced by: '<S40>/cf_idKp1'
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
*/
uint16_T cf_iqKp; /* Variable: cf_iqKp
* Referenced by: '<S39>/cf_iqKp'
*/
uint16_T cf_nKp; /* Variable: cf_nKp
* Referenced by: '<S38>/cf_nKp'
*/
Initial commit
2019-10-06 13:09:15 +00:00
int16_T Vd_max; /* Variable: Vd_max
* Referenced by:
* '<S35>/Vd_max1'
* '<S14>/Vd_max'
*/
int16_T Vq_max_M1[46]; /* Variable: Vq_max_M1
* Referenced by: '<S35>/Vq_max_M1'
*/
int16_T Vq_max_XA[46]; /* Variable: Vq_max_XA
* Referenced by: '<S35>/Vq_max_XA'
*/
int16_T i_max; /* Variable: i_max
* Referenced by:
* '<S35>/i_max'
* '<S14>/i_max'
*/
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
int16_T id_fieldWeak_M1[12]; /* Variable: id_fieldWeak_M1
* Referenced by: '<S32>/id_fieldWeak_M1'
*/
Initial commit
2019-10-06 13:09:15 +00:00
int16_T iq_max_M1[51]; /* Variable: iq_max_M1
* Referenced by: '<S35>/iq_max_M1'
*/
int16_T iq_max_XA[51]; /* Variable: iq_max_XA
* Referenced by: '<S35>/iq_max_XA'
*/
int16_T n_commAcvLo; /* Variable: n_commAcvLo
* Referenced by: '<S11>/n_commDeacv'
*/
int16_T n_commDeacvHi; /* Variable: n_commDeacvHi
* Referenced by: '<S11>/n_commDeacv'
*/
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
int16_T n_fieldWeakAuthHi; /* Variable: n_fieldWeakAuthHi
Improvements and Issues implementation Major: - Issue #3: added raw ADC1, ADC2 values to the setScopeChannel - Issue #4: added functionality for joystick control. Middle resting potis are now supported (by default it is enabled) - Issue #6: implemented that board does not power-off after a software reset due to flashing - added Rate constraints for Input target for smoother response Minor: - added 2 beep sound when motors get enabled - minor bugfixes
2019-10-27 17:21:04 +00:00
* Referenced by: '<S32>/n_fieldWeakAuth'
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
*/
int16_T n_fieldWeakAuthLo; /* Variable: n_fieldWeakAuthLo
Improvements and Issues implementation Major: - Issue #3: added raw ADC1, ADC2 values to the setScopeChannel - Issue #4: added functionality for joystick control. Middle resting potis are now supported (by default it is enabled) - Issue #6: implemented that board does not power-off after a software reset due to flashing - added Rate constraints for Input target for smoother response Minor: - added 2 beep sound when motors get enabled - minor bugfixes
2019-10-27 17:21:04 +00:00
* Referenced by: '<S32>/n_fieldWeakAuth'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T n_max; /* Variable: n_max
* Referenced by:
* '<S35>/n_max1'
* '<S14>/n_max'
*/
int16_T n_stdStillDet; /* Variable: n_stdStillDet
* Referenced by: '<S11>/n_stdStillDet'
*/
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
int16_T r_fieldWeak_XA[12]; /* Variable: r_fieldWeak_XA
* Referenced by: '<S32>/r_fieldWeak_XA'
*/
Initial commit
2019-10-06 13:09:15 +00:00
uint16_T cf_currFilt; /* Variable: cf_currFilt
* Referenced by: '<S31>/cf_currFilt'
*/
uint16_T cf_idKi; /* Variable: cf_idKi
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
* Referenced by: '<S40>/cf_idKi1'
Initial commit
2019-10-06 13:09:15 +00:00
*/
uint16_T cf_iqKi; /* Variable: cf_iqKi
* Referenced by: '<S39>/cf_iqKi'
*/
uint16_T cf_iqKiLimProt; /* Variable: cf_iqKiLimProt
* Referenced by: '<S38>/cf_iqKiLimProt'
*/
uint16_T cf_nKi; /* Variable: cf_nKi
* Referenced by: '<S38>/cf_nKi'
*/
uint16_T cf_iqKpLimProt; /* Variable: cf_iqKpLimProt
* Referenced by: '<S45>/cf_iqKpLimProt'
*/
uint16_T cf_nKpLimProt; /* Variable: cf_nKpLimProt
* Referenced by: '<S46>/cf_nKpLimProt'
*/
uint8_T z_ctrlTypSel; /* Variable: z_ctrlTypSel
* Referenced by: '<S1>/z_ctrlTypSel1'
*/
boolean_T b_diagEna; /* Variable: b_diagEna
* Referenced by: '<S1>/b_diagEna'
*/
boolean_T b_fieldWeakEna; /* Variable: b_fieldWeakEna
* Referenced by: '<S32>/b_fieldWeakEna'
*/
boolean_T b_selPhaABCurrMeas; /* Variable: b_selPhaABCurrMeas
* Referenced by: '<S30>/b_selPhaABCurrMeas'
*/
};
/* Parameters (auto storage) */
typedef struct P_ P;
/* Real-time Model Data Structure */
struct tag_RTM {
P *defaultParam;
ExtU *inputs;
ExtY *outputs;
DW *dwork;
};
/* Constant parameters (auto storage) */
extern const ConstP rtConstP;
/* Model entry point functions */
extern void BLDC_controller_initialize(RT_MODEL *const rtM);
extern void BLDC_controller_step(RT_MODEL *const rtM);
/*-
* These blocks were eliminated from the model due to optimizations:
*
* Block '<S11>/Scope2' : Unused code path elimination
* Block '<S12>/Scope' : Unused code path elimination
* Block '<S47>/Data Type Duplicate' : Unused code path elimination
* Block '<S47>/Data Type Propagation' : Unused code path elimination
* Block '<S48>/Data Type Duplicate' : Unused code path elimination
* Block '<S48>/Data Type Propagation' : Unused code path elimination
* Block '<S52>/Data Type Duplicate' : Unused code path elimination
* Block '<S52>/Data Type Propagation' : Unused code path elimination
* Block '<S5>/Scope12' : Unused code path elimination
* Block '<S5>/Scope8' : Unused code path elimination
* Block '<S5>/Scope9' : Unused code path elimination
* Block '<S58>/Data Type Duplicate' : Unused code path elimination
* Block '<S58>/Data Type Propagation' : Unused code path elimination
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
* Block '<S63>/Data Type Duplicate' : Unused code path elimination
* Block '<S63>/Data Type Propagation' : Unused code path elimination
* Block '<S67>/Data Type Duplicate' : Unused code path elimination
* Block '<S67>/Data Type Propagation' : Unused code path elimination
Initial commit
2019-10-06 13:09:15 +00:00
* Block '<S1>/Data Type Conversion2' : Eliminate redundant data type conversion
* Block '<S1>/Data Type Conversion3' : Eliminate redundant data type conversion
* Block '<S1>/Data Type Conversion6' : Eliminate redundant data type conversion
*/
/*-
* 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.
*
* Note that this particular code originates from a subsystem build,
* and has its own system numbers different from the parent model.
* Refer to the system hierarchy for this subsystem below, and use the
* MATLAB hilite_system command to trace the generated code back
* to the parent model. For example,
*
* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller') - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller
* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/Kp') - opens and selects block Kp
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt'
* '<S1>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller'
* '<S2>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations'
* '<S3>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics'
* '<S4>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager'
* '<S5>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control'
* '<S6>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Control_Type_Management'
* '<S7>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Input_Scaling'
* '<S8>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_02_Edge_Detector'
* '<S9>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_03_Position_Calculation'
* '<S10>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Direction_Detection'
* '<S11>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Speed_Estimation'
* '<S12>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Estimation'
* '<S13>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Input_Scaling/Commutation_Control_Type'
* '<S14>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Input_Scaling/FOC_Control_Type'
* '<S15>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Speed_Estimation/Counter'
* '<S16>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Speed_Estimation/Raw_Motor_Speed_Estimation'
* '<S17>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Speed_Estimation/Counter/rst_Delay'
* '<S18>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter'
* '<S19>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/either_edge'
* '<S20>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Default'
* '<S21>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification'
* '<S22>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification'
* '<S23>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/either_edge'
* '<S24>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter'
* '<S25>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter/rst_Delay'
* '<S26>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter'
* '<S27>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter/rst_Delay'
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
* '<S28>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_01_Mode_Transition_Calculation'
* '<S29>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_02_Control_Mode_Manager'
Initial commit
2019-10-06 13:09:15 +00:00
* '<S30>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Clarke_Transform'
* '<S31>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Current_Filtering'
* '<S32>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Field_Weakening'
* '<S33>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Inv_Clarke_Transform'
* '<S34>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Inv_Park_Transform'
* '<S35>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations'
* '<S36>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode'
* '<S37>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Park_Transform'
* '<S38>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode'
* '<S39>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode'
* '<S40>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation'
* '<S41>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Voltage_Mode'
* '<S42>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesAB'
* '<S43>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesBC'
* '<S44>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Current_Filtering/Low_Pass_Filter'
* '<S45>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations/Current_Limit_Protection'
* '<S46>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations/Speed_Limit_Protection'
* '<S47>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations/Current_Limit_Protection/Saturation Dynamic'
* '<S48>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations/Speed_Limit_Protection/Saturation Dynamic1'
* '<S49>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode/Rate_Limiter'
* '<S50>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode/rising_edge_init'
* '<S51>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode/Rate_Limiter/Delay_Init1'
* '<S52>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode/Rate_Limiter/Saturation Dynamic'
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
* '<S53>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode/PI_clamp_fixdt_n'
* '<S54>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode/PI_clamp_fixdt_n/Clamping_circuit'
* '<S55>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode/PI_clamp_fixdt_n/Integrator'
* '<S56>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode/PI_clamp_fixdt_n/Saturation_hit'
* '<S57>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/PI_clamp_fixdt_iq'
Initial commit
2019-10-06 13:09:15 +00:00
* '<S58>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/Saturation Dynamic'
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
* '<S59>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/PI_clamp_fixdt_iq/Clamping_circuit'
* '<S60>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/PI_clamp_fixdt_iq/Integrator'
* '<S61>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/PI_clamp_fixdt_iq/Saturation_hit'
* '<S62>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/PI_clamp_fixdt_id'
* '<S63>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/Saturation Dynamic'
* '<S64>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/PI_clamp_fixdt_id/Clamping_circuit'
* '<S65>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/PI_clamp_fixdt_id/Integrator'
* '<S66>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/PI_clamp_fixdt_id/Saturation_hit'
* '<S67>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Voltage_Mode/Saturation Dynamic1'
Initial commit
2019-10-06 13:09:15 +00:00
*/
#endif /* RTW_HEADER_BLDC_controller_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/