Initial commit

.gitattributes

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+# Auto detect text files and perform LF normalization
+* text=auto

.gitignore

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+!build/hover.hex
+.pioenvs/
+.vscode/
+01_Matlab/slprj/

.pio/build/project.checksum

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+76821137013022c4791715f428d69e72141182d4

01_Matlab/03_CreateParamTable/create_tableParamType.m

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+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% This file is part of the hoverboard-new-firmware-hack-FOC project
+%
+% Author: Emanuel FERU
+% Copyright © 2019 Emanuel FERU <aerdronix@gmail.com>
+%
+% This program is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+%
+% This program is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with this program.  If not, see <http://www.gnu.org/licenses/>.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
+%% =========================================================================
+% get_param(gcb, 'BlockType')
+
+% Compile model
+BLDCmotorControl_FOC_R2017b_fixdt([],[],[],'compile');
+modelName = 'BLDCmotorControl_FOC_R2017b_fixdt';
+
+Parameter   = '';
+DataType    = '';
+
+% Search for constants
+Blocks = find_system(modelName, 'regexp', 'on', 'BlockType', 'Constant');
+for k = 1:length(Blocks)
+    
+    if strcmp('yellow',get_param(Blocks{k},'BackgroundColor'))  % get only the tunnable parameters
+        
+        val = get_param(Blocks{k}, 'Value'); % BreakpointsData, Table
+        typ = get_param(Blocks{k}, 'CompiledPortDataTypes');
+        Parameter{end+1,1}    = val;
+        DataType{end+1,1}     = typ.Outport{1};
+        
+    end
+end
+
+% Search for PreLookup
+Blocks = find_system(modelName, 'regexp', 'on', 'BlockType', 'PreLookup');
+for k = 1:length(Blocks)
+    
+    if strcmp('yellow',get_param(Blocks{k},'BackgroundColor'))  % get only the tunnable parameters
+        
+        val = get_param(Blocks{k}, 'BreakpointsData'); % BreakpointsData, Table
+        typ = get_param(Blocks{k}, 'CompiledPortDataTypes');
+        Parameter{end+1,1}    = val;
+        DataType{end+1,1}     = typ.Inport{1};
+        
+    end
+end
+
+% Search for Interpolation_n-D
+Blocks = find_system(modelName, 'regexp', 'on', 'BlockType', 'Interpolation_n-D');
+for k = 1:length(Blocks)
+    
+    if strcmp('yellow',get_param(Blocks{k},'BackgroundColor'))  % get only the tunnable parameters
+        
+        val = get_param(Blocks{k}, 'Table'); % BreakpointsData, Table
+        typ = get_param(Blocks{k}, 'CompiledPortDataTypes');
+        Parameter{end+1,1}    = val;
+        DataType{end+1,1}     = typ.Outport{1};
+        
+    end
+end
+
+% Terminate compilation
+BLDCmotorControl_FOC_R2017b_fixdt([],[],[],'term');
+
+% Create table
+T = table(Parameter,DataType);
+T = unique(T, 'rows');                  % remove duplicates
+T = sortrows(T);                        % sort
+writetable(T,'tableParamType.xlsx');    % write to file
+
+disp('---- Parameters Table: Successful ----');

01_Matlab/99_RecycleBin/Filter_fixdt/filtLowPass_ert_rtw_sFix16En4/filtLowPass.c

@@ -0,0 +1,171 @@
+/*
+ * File: filtLowPass.c
+ *
+ * Code generated for Simulink model 'filtLowPass'.
+ *
+ * Model version                  : 1.1160
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Fri Sep 27 08:03:25 2019
+ *
+ * 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
+ */
+
+#include "filtLowPass.h"
+#ifndef UCHAR_MAX
+#include <limits.h>
+#endif
+
+#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
+#error Code was generated for compiler with different sized uchar/char. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
+#error Code was generated for compiler with different sized ushort/short. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
+#error Code was generated for compiler with different sized uint/int. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
+#error Code was generated for compiler with different sized ulong/long. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if 0
+
+/* Skip this size verification because of preprocessor limitation */
+#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
+#error Code was generated for compiler with different sized ulong_long/long_long. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+#endif
+
+extern int16_T filtLowPass_l(int16_T rtu_u, uint16_T rtu_coef, DW_filtLowPass
+  *localDW);
+
+/*===========*
+ * Constants *
+ *===========*/
+#define RT_PI                          3.14159265358979323846
+#define RT_PIF                         3.1415927F
+#define RT_LN_10                       2.30258509299404568402
+#define RT_LN_10F                      2.3025851F
+#define RT_LOG10E                      0.43429448190325182765
+#define RT_LOG10EF                     0.43429449F
+#define RT_E                           2.7182818284590452354
+#define RT_EF                          2.7182817F
+
+/*
+ * UNUSED_PARAMETER(x)
+ *   Used to specify that a function parameter (argument) is required but not
+ *   accessed by the function body.
+ */
+#ifndef UNUSED_PARAMETER
+# if defined(__LCC__)
+#   define UNUSED_PARAMETER(x)                                   /* do nothing */
+# else
+
+/*
+ * This is the semi-ANSI standard way of indicating that an
+ * unused function parameter is required.
+ */
+#   define UNUSED_PARAMETER(x)         (void) (x)
+# endif
+#endif
+
+/* Output and update for atomic system: '<Root>/filtLowPass' */
+int16_T filtLowPass_l(int16_T rtu_u, uint16_T rtu_coef, DW_filtLowPass *localDW)
+{
+  int16_T rtb_Sum1;
+
+  /* Outputs for Atomic SubSystem: '<S1>/Low_Pass_Filter1' */
+  /* Sum: '<S2>/Sum1' incorporates:
+   *  DataTypeConversion: '<S1>/Data Type Conversion'
+   *  Product: '<S2>/Divide1'
+   *  Product: '<S2>/Divide2'
+   *  Sum: '<S2>/Sum5'
+   *  UnitDelay: '<S2>/UnitDelay3'
+   */
+  rtb_Sum1 = (int16_T)((((int16_T)(rtu_u << 4) * rtu_coef) >> 16) + (((int32_T)
+    (65535U - rtu_coef) * localDW->UnitDelay3_DSTATE) >> 16));
+
+  /* Update for UnitDelay: '<S2>/UnitDelay3' */
+  localDW->UnitDelay3_DSTATE = rtb_Sum1;
+
+  /* End of Outputs for SubSystem: '<S1>/Low_Pass_Filter1' */
+
+  /* DataTypeConversion: '<S1>/Data Type Conversion1' */
+  return (int16_T)(rtb_Sum1 >> 4);
+}
+
+/* Model step function */
+void filtLowPass_step(RT_MODEL *const rtM)
+{
+  DW *rtDW = ((DW *) rtM->dwork);
+  ExtU *rtU = (ExtU *) rtM->inputs;
+  ExtY *rtY = (ExtY *) rtM->outputs;
+
+  /* Outputs for Atomic SubSystem: '<Root>/filtLowPass' */
+
+  /* Outport: '<Root>/y' incorporates:
+   *  Inport: '<Root>/coef'
+   *  Inport: '<Root>/u'
+   */
+  rtY->y = (int16_T) filtLowPass_l(rtU->u, rtU->coef, &rtDW->filtLowPass_l2);
+
+  /* End of Outputs for SubSystem: '<Root>/filtLowPass' */
+}
+
+/* Model initialize function */
+void filtLowPass_initialize(RT_MODEL *const rtM)
+{
+  /* (no initialization code required) */
+  UNUSED_PARAMETER(rtM);
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */

01_Matlab/99_RecycleBin/Filter_fixdt/filtLowPass_ert_rtw_sFix16En4/filtLowPass.h

@@ -0,0 +1,91 @@
+/*
+ * File: filtLowPass.h
+ *
+ * Code generated for Simulink model 'filtLowPass'.
+ *
+ * Model version                  : 1.1160
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Fri Sep 27 08:03:25 2019
+ *
+ * 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_filtLowPass_h_
+#define RTW_HEADER_filtLowPass_h_
+#ifndef filtLowPass_COMMON_INCLUDES_
+# define filtLowPass_COMMON_INCLUDES_
+#include "rtwtypes.h"
+#endif                                 /* filtLowPass_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 '<Root>/filtLowPass' */
+typedef struct {
+  int16_T UnitDelay3_DSTATE;           /* '<S2>/UnitDelay3' */
+} DW_filtLowPass;
+
+/* Block signals and states (auto storage) for system '<Root>' */
+typedef struct {
+  DW_filtLowPass filtLowPass_l2;       /* '<Root>/filtLowPass' */
+} DW;
+
+/* External inputs (root inport signals with auto storage) */
+typedef struct {
+  int16_T u;                           /* '<Root>/u' */
+  uint16_T coef;                       /* '<Root>/coef' */
+} ExtU;
+
+/* External outputs (root outports fed by signals with auto storage) */
+typedef struct {
+  int16_T y;                           /* '<Root>/y' */
+} ExtY;
+
+/* Real-time Model Data Structure */
+struct tag_RTM {
+  ExtU *inputs;
+  ExtY *outputs;
+  DW *dwork;
+};
+
+/* Model entry point functions */
+extern void filtLowPass_initialize(RT_MODEL *const rtM);
+extern void filtLowPass_step(RT_MODEL *const rtM);
+
+/*-
+ * 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/F04_Field_Oriented_Control/filtLowPass')    - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/filtLowPass
+ * hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/filtLowPass/Kp') - opens and selects block Kp
+ *
+ * Here is the system hierarchy for this model
+ *
+ * '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control'
+ * '<S1>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/filtLowPass'
+ * '<S2>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/filtLowPass/Low_Pass_Filter1'
+ */
+#endif                                 /* RTW_HEADER_filtLowPass_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */

01_Matlab/99_RecycleBin/Filter_fixdt/filtLowPass_ert_rtw_sFix32En16/filtLowPass.c

@@ -0,0 +1,171 @@
+/*
+ * File: filtLowPass.c
+ *
+ * Code generated for Simulink model 'filtLowPass'.
+ *
+ * Model version                  : 1.1160
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Fri Sep 27 08:08:04 2019
+ *
+ * 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
+ */
+
+#include "filtLowPass.h"
+#ifndef UCHAR_MAX
+#include <limits.h>
+#endif
+
+#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
+#error Code was generated for compiler with different sized uchar/char. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
+#error Code was generated for compiler with different sized ushort/short. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
+#error Code was generated for compiler with different sized uint/int. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
+#error Code was generated for compiler with different sized ulong/long. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if 0
+
+/* Skip this size verification because of preprocessor limitation */
+#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
+#error Code was generated for compiler with different sized ulong_long/long_long. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+#endif
+
+extern int16_T filtLowPass_l(int32_T rtu_u, uint16_T rtu_coef, DW_filtLowPass
+  *localDW);
+
+/*===========*
+ * Constants *
+ *===========*/
+#define RT_PI                          3.14159265358979323846
+#define RT_PIF                         3.1415927F
+#define RT_LN_10                       2.30258509299404568402
+#define RT_LN_10F                      2.3025851F
+#define RT_LOG10E                      0.43429448190325182765
+#define RT_LOG10EF                     0.43429449F
+#define RT_E                           2.7182818284590452354
+#define RT_EF                          2.7182817F
+
+/*
+ * UNUSED_PARAMETER(x)
+ *   Used to specify that a function parameter (argument) is required but not
+ *   accessed by the function body.
+ */
+#ifndef UNUSED_PARAMETER
+# if defined(__LCC__)
+#   define UNUSED_PARAMETER(x)                                   /* do nothing */
+# else
+
+/*
+ * This is the semi-ANSI standard way of indicating that an
+ * unused function parameter is required.
+ */
+#   define UNUSED_PARAMETER(x)         (void) (x)
+# endif
+#endif
+
+/* Output and update for atomic system: '<Root>/filtLowPass' */
+int16_T filtLowPass_l(int32_T rtu_u, uint16_T rtu_coef, DW_filtLowPass *localDW)
+{
+  int32_T rtb_Sum1;
+
+  /* Outputs for Atomic SubSystem: '<S1>/Low_Pass_Filter1' */
+  /* Sum: '<S2>/Sum1' incorporates:
+   *  DataTypeConversion: '<S1>/Data Type Conversion'
+   *  Product: '<S2>/Divide1'
+   *  Product: '<S2>/Divide2'
+   *  Sum: '<S2>/Sum5'
+   *  UnitDelay: '<S2>/UnitDelay3'
+   */
+  rtb_Sum1 = (int32_T)(((int64_T)(rtu_u << 16) * rtu_coef) >> 16) + (int32_T)
+    (((int64_T)(65535U - rtu_coef) * localDW->UnitDelay3_DSTATE) >> 16);
+
+  /* Update for UnitDelay: '<S2>/UnitDelay3' */
+  localDW->UnitDelay3_DSTATE = rtb_Sum1;
+
+  /* End of Outputs for SubSystem: '<S1>/Low_Pass_Filter1' */
+
+  /* DataTypeConversion: '<S1>/Data Type Conversion1' */
+  return (int16_T)(rtb_Sum1 >> 16);
+}
+
+/* Model step function */
+void filtLowPass_step(RT_MODEL *const rtM)
+{
+  DW *rtDW = ((DW *) rtM->dwork);
+  ExtU *rtU = (ExtU *) rtM->inputs;
+  ExtY *rtY = (ExtY *) rtM->outputs;
+
+  /* Outputs for Atomic SubSystem: '<Root>/filtLowPass' */
+
+  /* Outport: '<Root>/y' incorporates:
+   *  Inport: '<Root>/coef'
+   *  Inport: '<Root>/u'
+   */
+  rtY->y = (int16_T) filtLowPass_l(rtU->u, rtU->coef, &rtDW->filtLowPass_l2);
+
+  /* End of Outputs for SubSystem: '<Root>/filtLowPass' */
+}
+
+/* Model initialize function */
+void filtLowPass_initialize(RT_MODEL *const rtM)
+{
+  /* (no initialization code required) */
+  UNUSED_PARAMETER(rtM);
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */

01_Matlab/99_RecycleBin/Filter_fixdt/filtLowPass_ert_rtw_sFix32En16/filtLowPass.h

@@ -0,0 +1,91 @@
+/*
+ * File: filtLowPass.h
+ *
+ * Code generated for Simulink model 'filtLowPass'.
+ *
+ * Model version                  : 1.1160
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Fri Sep 27 08:08:04 2019
+ *
+ * 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_filtLowPass_h_
+#define RTW_HEADER_filtLowPass_h_
+#ifndef filtLowPass_COMMON_INCLUDES_
+# define filtLowPass_COMMON_INCLUDES_
+#include "rtwtypes.h"
+#endif                                 /* filtLowPass_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 '<Root>/filtLowPass' */
+typedef struct {
+  int32_T UnitDelay3_DSTATE;           /* '<S2>/UnitDelay3' */
+} DW_filtLowPass;
+
+/* Block signals and states (auto storage) for system '<Root>' */
+typedef struct {
+  DW_filtLowPass filtLowPass_l2;       /* '<Root>/filtLowPass' */
+} DW;
+
+/* External inputs (root inport signals with auto storage) */
+typedef struct {
+  int32_T u;                           /* '<Root>/u' */
+  uint16_T coef;                       /* '<Root>/coef' */
+} ExtU;
+
+/* External outputs (root outports fed by signals with auto storage) */
+typedef struct {
+  int16_T y;                           /* '<Root>/y' */
+} ExtY;
+
+/* Real-time Model Data Structure */
+struct tag_RTM {
+  ExtU *inputs;
+  ExtY *outputs;
+  DW *dwork;
+};
+
+/* Model entry point functions */
+extern void filtLowPass_initialize(RT_MODEL *const rtM);
+extern void filtLowPass_step(RT_MODEL *const rtM);
+
+/*-
+ * 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/F04_Field_Oriented_Control/filtLowPass')    - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/filtLowPass
+ * hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/filtLowPass/Kp') - opens and selects block Kp
+ *
+ * Here is the system hierarchy for this model
+ *
+ * '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control'
+ * '<S1>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/filtLowPass'
+ * '<S2>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/filtLowPass/Low_Pass_Filter1'
+ */
+#endif                                 /* RTW_HEADER_filtLowPass_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */

01_Matlab/99_RecycleBin/Motor_Control_Model_Package/Model_1_Initialization.m

@@ -0,0 +1,17 @@
+%% Copyright 2018 The MathWorks, Inc.%%
+clear all;
+bdclose all;
+clc;
+%% PMSM parameters
+Ld = 1.7e-3;
+Lq = 3.2e-3;
+Rs = 0.02;
+Lambda_m = 0.2205;
+Polepairs = 4;
+
+%% Controller parameters
+Iq_reference = 100;
+Id_reference = -50;
+Gain_P = 1;
+Gain_I = 1;
+

01_Matlab/99_RecycleBin/Motor_Control_Model_Package/Model_2_Initialization.m

@@ -0,0 +1,21 @@
+%% Copyright 2018 The MathWorks, Inc.%%
+clear all;
+bdclose all;
+clc;
+%% PMSM parameters
+Ld = 1.7e-3;
+Lq = 3.2e-3;
+Rs = 0.02;
+Lambda_m = 0.2205;
+Polepairs = 4;
+
+%% Current Loop PI Controller parameters
+
+Gain_P = 7.74;
+Gain_I = 26.84;
+
+%% Speed Loop PI Controller Parameters
+Speed_Gain_P = 0.1;
+Speed_Gain_I = 0.1;
+
+

01_Matlab/99_RecycleBin/Motor_Control_Model_Package/ReadMe.txt

@@ -0,0 +1,4 @@
+1.  All models are built in MATLAB R2018b.  Prior releases cannot open them.
+2.  Before running the model, please first run the corresponding initialization file.
+3.  The initial PI Gain set for model_1 is not satisfactory. We are going to use SDO to tune the gains.
+4.  Copyright 2018 The MathWorks, Inc.