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hoverboard-firmware-hack-fo.../Src/BLDC_controller.c

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/*
* File: BLDC_controller.c
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1164
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Sun Oct 6 14:06:21 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 "BLDC_controller.h"
/* Named constants for Chart: '<S4>/F02_02_Control_Mode_Manager' */
#define IN_ACTIVE ((uint8_T)1U)
#define IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define IN_OPEN ((uint8_T)2U)
#define IN_SPEED_MODE ((uint8_T)1U)
#define IN_TORQUE_MODE ((uint8_T)2U)
#define IN_VOLTAGE_MODE ((uint8_T)3U)
#define OPEN_MODE ((uint8_T)0U)
#define SPD_MODE ((uint8_T)2U)
#define TRQ_MODE ((uint8_T)3U)
#define VLT_MODE ((uint8_T)1U)
#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
uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
maxIndex);
uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
maxIndex);
uint8_T plook_u8s16u8n6_evenc_s(int16_T u, int16_T bp0, uint16_T bpSpace,
uint32_T maxIndex, uint8_T *fraction);
uint16_T intrp1d_u16s16s16u8u8n6l_s(uint8_T bpIndex, uint8_T frac, const
uint16_T table[]);
extern void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit);
extern int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst,
DW_Counter *localDW);
extern void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW);
extern void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T
rty_y[2], DW_Low_Pass_Filter *localDW);
extern void PI_backCalc_fixdt_Reset(DW_PI_backCalc_fixdt *localDW);
extern void PI_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
uint16_T rtu_Kb, int32_T rtu_ext_limProt, int16_T rtu_satMax, int16_T
rtu_satMin, int16_T *rty_out, DW_PI_backCalc_fixdt *localDW);
extern void PI_backCalc_fixdt_n_Reset(DW_PI_backCalc_fixdt_f *localDW);
extern int16_T PI_backCalc_fixdt_n(int16_T rtu_err, uint16_T rtu_P, uint16_T
rtu_I, uint16_T rtu_Kb, int16_T rtu_ext_limProt, int16_T rtu_satMax, int16_T
rtu_satMin, DW_PI_backCalc_fixdt_f *localDW);
extern void Rate_Limiter_Reset(DW_Rate_Limiter *localDW);
extern int32_T Rate_Limiter(int32_T rtu_u, int32_T rtu_initVal, boolean_T
rtu_init, int32_T rtu_inc, int32_T rtu_dec, DW_Rate_Limiter *localDW);
extern void rising_edge_init_Init(DW_rising_edge_init *localDW);
extern void rising_edge_init_Reset(DW_rising_edge_init *localDW);
extern boolean_T rising_edge_init(DW_rising_edge_init *localDW);
extern void Counter_b_Init(DW_Counter_l *localDW, uint16_T rtp_z_cntInit);
extern uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
DW_Counter_l *localDW);
extern void either_edge_Reset(DW_either_edge *localDW);
extern boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW);
extern void Debounce_Filter_Init(DW_Debounce_Filter *localDW);
extern void Debounce_Filter_Reset(DW_Debounce_Filter *localDW);
extern void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T
rtu_tDeacv, boolean_T *rty_y, DW_Debounce_Filter *localDW);
uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
maxIndex)
{
uint8_T bpIndex;
uint16_T fbpIndex;
/* Prelookup - Index only
Index Search method: 'even'
Extrapolation method: 'Clip'
Use previous index: 'off'
Use last breakpoint for index at or above upper limit: 'on'
Remove protection against out-of-range input in generated code: 'off'
*/
if (u <= bp0) {
bpIndex = 0U;
} else {
fbpIndex = (uint16_T)((uint32_T)(uint16_T)((uint32_T)u - bp0) / bpSpace);
if (fbpIndex < maxIndex) {
bpIndex = (uint8_T)fbpIndex;
} else {
bpIndex = (uint8_T)maxIndex;
}
}
return bpIndex;
}
uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
maxIndex)
{
uint8_T bpIndex;
uint16_T fbpIndex;
/* Prelookup - Index only
Index Search method: 'even'
Extrapolation method: 'Clip'
Use previous index: 'off'
Use last breakpoint for index at or above upper limit: 'on'
Remove protection against out-of-range input in generated code: 'off'
*/
if (u <= bp0) {
bpIndex = 0U;
} else {
fbpIndex = (uint16_T)((uint32_T)(uint16_T)(u - bp0) / bpSpace);
if (fbpIndex < maxIndex) {
bpIndex = (uint8_T)fbpIndex;
} else {
bpIndex = (uint8_T)maxIndex;
}
}
return bpIndex;
}
uint8_T plook_u8s16u8n6_evenc_s(int16_T u, int16_T bp0, uint16_T bpSpace,
uint32_T maxIndex, uint8_T *fraction)
{
uint8_T bpIndex;
uint16_T uAdjust;
uint16_T fbpIndex;
/* Prelookup - Index and Fraction
Index Search method: 'even'
Extrapolation method: 'Clip'
Use previous index: 'off'
Use last breakpoint for index at or above upper limit: 'off'
Remove protection against out-of-range input in generated code: 'off'
Rounding mode: 'simplest'
*/
if (u <= bp0) {
bpIndex = 0U;
*fraction = 0U;
} else {
uAdjust = (uint16_T)(u - bp0);
fbpIndex = (uint16_T)((uint32_T)uAdjust / bpSpace);
if (fbpIndex < maxIndex) {
bpIndex = (uint8_T)fbpIndex;
*fraction = (uint8_T)(((uint32_T)(uint16_T)((uint32_T)uAdjust - (uint16_T)
((uint32_T)bpIndex * bpSpace)) << 6) / bpSpace);
} else {
bpIndex = (uint8_T)(maxIndex - 1U);
*fraction = 64U;
}
}
return bpIndex;
}
uint16_T intrp1d_u16s16s16u8u8n6l_s(uint8_T bpIndex, uint8_T frac, const
uint16_T table[])
{
uint32_T offset_0d;
/* Interpolation 1-D
Interpolation method: 'Linear'
Use last breakpoint for index at or above upper limit: 'off'
Rounding mode: 'simplest'
Overflow mode: 'wrapping'
*/
offset_0d = bpIndex;
return (uint16_T)((uint32_T)(uint16_T)(((int16_T)(table[offset_0d + 1U] -
table[offset_0d]) * frac) >> 6) + table[offset_0d]);
}
/* System initialize for atomic system: '<S11>/Counter' */
void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit)
{
/* InitializeConditions for UnitDelay: '<S17>/UnitDelay' */
localDW->UnitDelay_DSTATE = rtp_z_cntInit;
}
/* Output and update for atomic system: '<S11>/Counter' */
int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst, DW_Counter *
localDW)
{
int16_T rtu_rst_0;
int16_T rty_cnt_0;
/* Switch: '<S17>/Switch1' incorporates:
* Constant: '<S17>/Constant23'
* UnitDelay: '<S17>/UnitDelay'
*/
if (rtu_rst) {
rtu_rst_0 = 0;
} else {
rtu_rst_0 = localDW->UnitDelay_DSTATE;
}
/* End of Switch: '<S17>/Switch1' */
/* Sum: '<S15>/Sum1' */
rty_cnt_0 = (int16_T)(rtu_inc + rtu_rst_0);
/* MinMax: '<S15>/MinMax' */
if (rty_cnt_0 < rtu_max) {
/* Update for UnitDelay: '<S17>/UnitDelay' */
localDW->UnitDelay_DSTATE = rty_cnt_0;
} else {
/* Update for UnitDelay: '<S17>/UnitDelay' */
localDW->UnitDelay_DSTATE = rtu_max;
}
/* End of MinMax: '<S15>/MinMax' */
return rty_cnt_0;
}
/* System reset for atomic system: '<S31>/Low_Pass_Filter' */
void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW)
{
/* InitializeConditions for UnitDelay: '<S44>/UnitDelay3' */
localDW->UnitDelay3_DSTATE[0] = 0;
localDW->UnitDelay3_DSTATE[1] = 0;
}
/* Output and update for atomic system: '<S31>/Low_Pass_Filter' */
void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T rty_y[2],
DW_Low_Pass_Filter *localDW)
{
uint16_T rtb_Sum5;
/* Sum: '<S44>/Sum5' */
rtb_Sum5 = (uint16_T)(65535U - rtu_coef);
/* Sum: '<S44>/Sum1' incorporates:
* Product: '<S44>/Divide1'
* Product: '<S44>/Divide2'
* UnitDelay: '<S44>/UnitDelay3'
*/
rty_y[0] = (int16_T)(((rtu_u[0] * rtu_coef) >> 16) +
((localDW->UnitDelay3_DSTATE[0] * rtb_Sum5) >> 16));
/* Update for UnitDelay: '<S44>/UnitDelay3' */
localDW->UnitDelay3_DSTATE[0] = rty_y[0];
/* Sum: '<S44>/Sum1' incorporates:
* Product: '<S44>/Divide1'
* Product: '<S44>/Divide2'
* UnitDelay: '<S44>/UnitDelay3'
*/
rty_y[1] = (int16_T)(((rtu_u[1] * rtu_coef) >> 16) +
((localDW->UnitDelay3_DSTATE[1] * rtb_Sum5) >> 16));
/* Update for UnitDelay: '<S44>/UnitDelay3' */
localDW->UnitDelay3_DSTATE[1] = rty_y[1];
}
/*
* System reset for atomic system:
* '<S40>/PI_backCalc_fixdt_Id'
* '<S39>/PI_backCalc_fixdt_Iq'
*/
void PI_backCalc_fixdt_Reset(DW_PI_backCalc_fixdt *localDW)
{
/* InitializeConditions for UnitDelay: '<S61>/UnitDelay' */
localDW->UnitDelay_DSTATE = 0;
/* InitializeConditions for UnitDelay: '<S63>/UnitDelay' */
localDW->UnitDelay_DSTATE_l = 0;
}
/*
* Output and update for atomic system:
* '<S40>/PI_backCalc_fixdt_Id'
* '<S39>/PI_backCalc_fixdt_Iq'
*/
void PI_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, uint16_T
rtu_Kb, int32_T rtu_ext_limProt, int16_T rtu_satMax, int16_T rtu_satMin,
int16_T *rty_out, DW_PI_backCalc_fixdt *localDW)
{
int32_T rtb_Sum1_i4;
int32_T tmp;
/* Sum: '<S61>/Sum2' incorporates:
* Product: '<S61>/Divide1'
* UnitDelay: '<S61>/UnitDelay'
*/
rtb_Sum1_i4 = rtu_err * rtu_I;
if ((rtb_Sum1_i4 < 0) && (rtu_ext_limProt < MIN_int32_T - rtb_Sum1_i4)) {
rtb_Sum1_i4 = MIN_int32_T;
} else if ((rtb_Sum1_i4 > 0) && (rtu_ext_limProt > MAX_int32_T - rtb_Sum1_i4))
{
rtb_Sum1_i4 = MAX_int32_T;
} else {
rtb_Sum1_i4 += rtu_ext_limProt;
}
if ((rtb_Sum1_i4 < 0) && (localDW->UnitDelay_DSTATE < MIN_int32_T
- rtb_Sum1_i4)) {
rtb_Sum1_i4 = MIN_int32_T;
} else if ((rtb_Sum1_i4 > 0) && (localDW->UnitDelay_DSTATE > MAX_int32_T
- rtb_Sum1_i4)) {
rtb_Sum1_i4 = MAX_int32_T;
} else {
rtb_Sum1_i4 += localDW->UnitDelay_DSTATE;
}
/* End of Sum: '<S61>/Sum2' */
/* Sum: '<S63>/Sum1' incorporates:
* UnitDelay: '<S63>/UnitDelay'
*/
rtb_Sum1_i4 += localDW->UnitDelay_DSTATE_l;
/* Product: '<S61>/Divide4' */
tmp = (rtu_err * rtu_P) >> 7;
if (tmp > 32767) {
tmp = 32767;
} else {
if (tmp < -32768) {
tmp = -32768;
}
}
/* Sum: '<S61>/Sum6' incorporates:
* DataTypeConversion: '<S63>/Data Type Conversion1'
* Product: '<S61>/Divide4'
*/
tmp = (((rtb_Sum1_i4 >> 16) << 1) + tmp) >> 1;
if (tmp > 32767) {
tmp = 32767;
} else {
if (tmp < -32768) {
tmp = -32768;
}
}
/* Switch: '<S64>/Switch2' incorporates:
* RelationalOperator: '<S64>/LowerRelop1'
* RelationalOperator: '<S64>/UpperRelop'
* Sum: '<S61>/Sum6'
* Switch: '<S64>/Switch'
*/
if ((int16_T)tmp > rtu_satMax) {
*rty_out = rtu_satMax;
} else if ((int16_T)tmp < rtu_satMin) {
/* Switch: '<S64>/Switch' */
*rty_out = rtu_satMin;
} else {
*rty_out = (int16_T)tmp;
}
/* End of Switch: '<S64>/Switch2' */
/* Update for UnitDelay: '<S61>/UnitDelay' incorporates:
* Product: '<S61>/Divide2'
* Sum: '<S61>/Sum3'
* Sum: '<S61>/Sum6'
*/
localDW->UnitDelay_DSTATE = (int16_T)(*rty_out - (int16_T)tmp) * rtu_Kb;
/* Update for UnitDelay: '<S63>/UnitDelay' */
localDW->UnitDelay_DSTATE_l = rtb_Sum1_i4;
}
/* System reset for atomic system: '<S38>/PI_backCalc_fixdt_n' */
void PI_backCalc_fixdt_n_Reset(DW_PI_backCalc_fixdt_f *localDW)
{
/* InitializeConditions for UnitDelay: '<S53>/UnitDelay' */
localDW->UnitDelay_DSTATE = 0;
/* InitializeConditions for UnitDelay: '<S55>/UnitDelay' */
localDW->UnitDelay_DSTATE_h = 0;
}
/* Output and update for atomic system: '<S38>/PI_backCalc_fixdt_n' */
int16_T PI_backCalc_fixdt_n(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
uint16_T rtu_Kb, int16_T rtu_ext_limProt, int16_T rtu_satMax, int16_T
rtu_satMin, DW_PI_backCalc_fixdt_f *localDW)
{
int32_T rtb_Sum1_l;
int32_T q1;
int16_T rty_out_0;
/* Sum: '<S53>/Sum2' incorporates:
* Product: '<S53>/Divide1'
* UnitDelay: '<S53>/UnitDelay'
*/
rtb_Sum1_l = rtu_err * rtu_I;
q1 = rtu_ext_limProt << 10;
if ((rtb_Sum1_l < 0) && (q1 < MIN_int32_T - rtb_Sum1_l)) {
rtb_Sum1_l = MIN_int32_T;
} else if ((rtb_Sum1_l > 0) && (q1 > MAX_int32_T - rtb_Sum1_l)) {
rtb_Sum1_l = MAX_int32_T;
} else {
rtb_Sum1_l += q1;
}
if ((rtb_Sum1_l < 0) && (localDW->UnitDelay_DSTATE < MIN_int32_T - rtb_Sum1_l))
{
rtb_Sum1_l = MIN_int32_T;
} else if ((rtb_Sum1_l > 0) && (localDW->UnitDelay_DSTATE > MAX_int32_T
- rtb_Sum1_l)) {
rtb_Sum1_l = MAX_int32_T;
} else {
rtb_Sum1_l += localDW->UnitDelay_DSTATE;
}
/* End of Sum: '<S53>/Sum2' */
/* Sum: '<S55>/Sum1' incorporates:
* UnitDelay: '<S55>/UnitDelay'
*/
rtb_Sum1_l += localDW->UnitDelay_DSTATE_h;
/* Product: '<S53>/Divide4' */
q1 = (rtu_err * rtu_P) >> 7;
if (q1 > 32767) {
q1 = 32767;
} else {
if (q1 < -32768) {
q1 = -32768;
}
}
/* Sum: '<S53>/Sum6' incorporates:
* DataTypeConversion: '<S55>/Data Type Conversion1'
* Product: '<S53>/Divide4'
*/
q1 = (((rtb_Sum1_l >> 16) << 1) + q1) >> 1;
if (q1 > 32767) {
q1 = 32767;
} else {
if (q1 < -32768) {
q1 = -32768;
}
}
/* Switch: '<S56>/Switch2' incorporates:
* RelationalOperator: '<S56>/LowerRelop1'
* RelationalOperator: '<S56>/UpperRelop'
* Sum: '<S53>/Sum6'
* Switch: '<S56>/Switch'
*/
if ((int16_T)q1 > rtu_satMax) {
rty_out_0 = rtu_satMax;
} else if ((int16_T)q1 < rtu_satMin) {
/* Switch: '<S56>/Switch' */
rty_out_0 = rtu_satMin;
} else {
rty_out_0 = (int16_T)q1;
}
/* End of Switch: '<S56>/Switch2' */
/* Update for UnitDelay: '<S53>/UnitDelay' incorporates:
* Product: '<S53>/Divide2'
* Sum: '<S53>/Sum3'
* Sum: '<S53>/Sum6'
*/
localDW->UnitDelay_DSTATE = (int16_T)(rty_out_0 - (int16_T)q1) * rtu_Kb;
/* Update for UnitDelay: '<S55>/UnitDelay' */
localDW->UnitDelay_DSTATE_h = rtb_Sum1_l;
return rty_out_0;
}
/* System reset for atomic system: '<S36>/Rate_Limiter' */
void Rate_Limiter_Reset(DW_Rate_Limiter *localDW)
{
/* InitializeConditions for UnitDelay: '<S51>/UnitDelay' */
localDW->UnitDelay_DSTATE = 0;
}
/* Output and update for atomic system: '<S36>/Rate_Limiter' */
int32_T Rate_Limiter(int32_T rtu_u, int32_T rtu_initVal, boolean_T rtu_init,
int32_T rtu_inc, int32_T rtu_dec, DW_Rate_Limiter *localDW)
{
int32_T rtb_Switch1_h;
int32_T rtb_Sum1_k;
int32_T rty_y_0;
/* Switch: '<S51>/Switch1' incorporates:
* UnitDelay: '<S51>/UnitDelay'
*/
if (rtu_init) {
rtb_Switch1_h = rtu_initVal;
} else {
rtb_Switch1_h = localDW->UnitDelay_DSTATE;
}
/* End of Switch: '<S51>/Switch1' */
/* Sum: '<S49>/Sum1' */
rtb_Sum1_k = rtu_u - rtb_Switch1_h;
rtb_Sum1_k = (rtb_Sum1_k & 134217728) != 0 ? rtb_Sum1_k | -134217728 :
rtb_Sum1_k & 134217727;
/* Switch: '<S52>/Switch2' incorporates:
* RelationalOperator: '<S52>/LowerRelop1'
* RelationalOperator: '<S52>/UpperRelop'
* Switch: '<S52>/Switch'
*/
if (rtb_Sum1_k > rtu_inc) {
rtb_Sum1_k = rtu_inc;
} else {
if (rtb_Sum1_k < rtu_dec) {
/* Switch: '<S52>/Switch' */
rtb_Sum1_k = rtu_dec;
}
}
/* End of Switch: '<S52>/Switch2' */
/* Sum: '<S49>/Sum2' */
rtb_Sum1_k += rtb_Switch1_h;
rty_y_0 = (rtb_Sum1_k & 134217728) != 0 ? rtb_Sum1_k | -134217728 : rtb_Sum1_k
& 134217727;
/* Switch: '<S51>/Switch2' */
if (rtu_init) {
/* Update for UnitDelay: '<S51>/UnitDelay' */
localDW->UnitDelay_DSTATE = rtu_initVal;
} else {
/* Update for UnitDelay: '<S51>/UnitDelay' */
localDW->UnitDelay_DSTATE = rty_y_0;
}
/* End of Switch: '<S51>/Switch2' */
return rty_y_0;
}
/* System initialize for atomic system: '<S36>/rising_edge_init' */
void rising_edge_init_Init(DW_rising_edge_init *localDW)
{
/* InitializeConditions for UnitDelay: '<S50>/UnitDelay' */
localDW->UnitDelay_DSTATE = true;
}
/* System reset for atomic system: '<S36>/rising_edge_init' */
void rising_edge_init_Reset(DW_rising_edge_init *localDW)
{
/* InitializeConditions for UnitDelay: '<S50>/UnitDelay' */
localDW->UnitDelay_DSTATE = true;
}
/* Output and update for atomic system: '<S36>/rising_edge_init' */
boolean_T rising_edge_init(DW_rising_edge_init *localDW)
{
boolean_T rty_y_0;
/* UnitDelay: '<S50>/UnitDelay' */
rty_y_0 = localDW->UnitDelay_DSTATE;
/* Update for UnitDelay: '<S50>/UnitDelay' incorporates:
* Constant: '<S50>/Constant'
*/
localDW->UnitDelay_DSTATE = false;
return rty_y_0;
}
/*
* System initialize for atomic system:
* '<S22>/Counter'
* '<S21>/Counter'
*/
void Counter_b_Init(DW_Counter_l *localDW, uint16_T rtp_z_cntInit)
{
/* InitializeConditions for UnitDelay: '<S27>/UnitDelay' */
localDW->UnitDelay_DSTATE = rtp_z_cntInit;
}
/*
* Output and update for atomic system:
* '<S22>/Counter'
* '<S21>/Counter'
*/
uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
DW_Counter_l *localDW)
{
uint16_T rtu_rst_0;
uint16_T rty_cnt_0;
/* Switch: '<S27>/Switch1' incorporates:
* Constant: '<S27>/Constant23'
* UnitDelay: '<S27>/UnitDelay'
*/
if (rtu_rst) {
rtu_rst_0 = 0U;
} else {
rtu_rst_0 = localDW->UnitDelay_DSTATE;
}
/* End of Switch: '<S27>/Switch1' */
/* Sum: '<S26>/Sum1' */
rty_cnt_0 = (uint16_T)((uint32_T)rtu_inc + rtu_rst_0);
/* MinMax: '<S26>/MinMax' */
if (rty_cnt_0 < rtu_max) {
/* Update for UnitDelay: '<S27>/UnitDelay' */
localDW->UnitDelay_DSTATE = rty_cnt_0;
} else {
/* Update for UnitDelay: '<S27>/UnitDelay' */
localDW->UnitDelay_DSTATE = rtu_max;
}
/* End of MinMax: '<S26>/MinMax' */
return rty_cnt_0;
}
/*
* System reset for atomic system:
* '<S18>/either_edge'
* '<S3>/either_edge'
*/
void either_edge_Reset(DW_either_edge *localDW)
{
/* InitializeConditions for UnitDelay: '<S23>/UnitDelay' */
localDW->UnitDelay_DSTATE = false;
}
/*
* Output and update for atomic system:
* '<S18>/either_edge'
* '<S3>/either_edge'
*/
boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW)
{
boolean_T rty_y_0;
/* RelationalOperator: '<S23>/Relational Operator' incorporates:
* UnitDelay: '<S23>/UnitDelay'
*/
rty_y_0 = (rtu_u != localDW->UnitDelay_DSTATE);
/* Update for UnitDelay: '<S23>/UnitDelay' */
localDW->UnitDelay_DSTATE = rtu_u;
return rty_y_0;
}
/* System initialize for atomic system: '<S3>/Debounce_Filter' */
void Debounce_Filter_Init(DW_Debounce_Filter *localDW)
{
/* SystemInitialize for IfAction SubSystem: '<S18>/Qualification' */
/* SystemInitialize for Atomic SubSystem: '<S22>/Counter' */
Counter_b_Init(&localDW->Counter_i0, 0U);
/* End of SystemInitialize for SubSystem: '<S22>/Counter' */
/* End of SystemInitialize for SubSystem: '<S18>/Qualification' */
/* SystemInitialize for IfAction SubSystem: '<S18>/Dequalification' */
/* SystemInitialize for Atomic SubSystem: '<S21>/Counter' */
Counter_b_Init(&localDW->Counter_h, 0U);
/* End of SystemInitialize for SubSystem: '<S21>/Counter' */
/* End of SystemInitialize for SubSystem: '<S18>/Dequalification' */
}
/* System reset for atomic system: '<S3>/Debounce_Filter' */
void Debounce_Filter_Reset(DW_Debounce_Filter *localDW)
{
/* InitializeConditions for UnitDelay: '<S18>/UnitDelay' */
localDW->UnitDelay_DSTATE = false;
/* SystemReset for Atomic SubSystem: '<S18>/either_edge' */
either_edge_Reset(&localDW->either_edge_k);
/* End of SystemReset for SubSystem: '<S18>/either_edge' */
}
/* Output and update for atomic system: '<S3>/Debounce_Filter' */
void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T rtu_tDeacv,
boolean_T *rty_y, DW_Debounce_Filter *localDW)
{
uint16_T rtb_Sum1_l;
boolean_T rtb_RelationalOperator_f;
/* Outputs for Atomic SubSystem: '<S18>/either_edge' */
rtb_RelationalOperator_f = either_edge(rtu_u, &localDW->either_edge_k);
/* End of Outputs for SubSystem: '<S18>/either_edge' */
/* If: '<S18>/If2' incorporates:
* Constant: '<S21>/Constant6'
* Constant: '<S22>/Constant6'
* Inport: '<S20>/yPrev'
* Logic: '<S18>/Logical Operator1'
* Logic: '<S18>/Logical Operator2'
* Logic: '<S18>/Logical Operator3'
* Logic: '<S18>/Logical Operator4'
* UnitDelay: '<S18>/UnitDelay'
*/
if (rtu_u && (!localDW->UnitDelay_DSTATE)) {
/* Outputs for IfAction SubSystem: '<S18>/Qualification' incorporates:
* ActionPort: '<S22>/Action Port'
*/
/* Outputs for Atomic SubSystem: '<S22>/Counter' */
rtb_Sum1_l = (uint16_T) Counter_i(1U, rtu_tAcv, rtb_RelationalOperator_f,
&localDW->Counter_i0);
/* End of Outputs for SubSystem: '<S22>/Counter' */
/* Switch: '<S22>/Switch2' incorporates:
* Constant: '<S22>/Constant6'
* RelationalOperator: '<S22>/Relational Operator2'
*/
*rty_y = ((rtb_Sum1_l > rtu_tAcv) || localDW->UnitDelay_DSTATE);
/* End of Outputs for SubSystem: '<S18>/Qualification' */
} else if ((!rtu_u) && localDW->UnitDelay_DSTATE) {
/* Outputs for IfAction SubSystem: '<S18>/Dequalification' incorporates:
* ActionPort: '<S21>/Action Port'
*/
/* Outputs for Atomic SubSystem: '<S21>/Counter' */
rtb_Sum1_l = (uint16_T) Counter_i(1U, rtu_tDeacv, rtb_RelationalOperator_f,
&localDW->Counter_h);
/* End of Outputs for SubSystem: '<S21>/Counter' */
/* Switch: '<S21>/Switch2' incorporates:
* Constant: '<S21>/Constant6'
* RelationalOperator: '<S21>/Relational Operator2'
*/
*rty_y = ((!(rtb_Sum1_l > rtu_tDeacv)) && localDW->UnitDelay_DSTATE);
/* End of Outputs for SubSystem: '<S18>/Dequalification' */
} else {
/* Outputs for IfAction SubSystem: '<S18>/Default' incorporates:
* ActionPort: '<S20>/Action Port'
*/
*rty_y = localDW->UnitDelay_DSTATE;
/* End of Outputs for SubSystem: '<S18>/Default' */
}
/* End of If: '<S18>/If2' */
/* Update for UnitDelay: '<S18>/UnitDelay' */
localDW->UnitDelay_DSTATE = *rty_y;
}
/* Model step function */
void BLDC_controller_step(RT_MODEL *const rtM)
{
P *rtP = ((P *) rtM->defaultParam);
DW *rtDW = ((DW *) rtM->dwork);
ExtU *rtU = (ExtU *) rtM->inputs;
ExtY *rtY = (ExtY *) rtM->outputs;
uint16_T finalAccum;
uint8_T rtb_Sum;
uint8_T rtb_BitwiseOperator;
boolean_T rtb_RelationalOperator9;
int8_T rtb_Sum2_h;
boolean_T rtb_RelationalOperator4_d;
boolean_T rtb_RelationalOperator1_m;
uint8_T rtb_iq_max_XA;
int16_T rtb_Merge;
int16_T rtb_Switch2_fv;
int16_T rtb_Abs5;
int16_T rtb_Switch1_a;
uint16_T rtb_Switch2_d;
int16_T rtb_Saturation;
int16_T rtb_Saturation1;
int16_T rtb_Sum6;
int16_T rtb_r_sin_M1;
int16_T rtb_Sum2_e;
int16_T rtb_TmpSignalConversionAtLow_Pa[2];
uint8_T rtb_n_fieldWeak_XA_o2;
int16_T rtb_Gain1;
int16_T rtb_Gain6;
int32_T rtb_Sum2;
int16_T tmp[4];
int8_T UnitDelay3;
int32_T tmp_0;
int32_T tmp_1;
int16_T rtb_Switch2_d_0;
/* Outputs for Atomic SubSystem: '<Root>/BLDC_controller' */
/* Sum: '<S9>/Sum' incorporates:
* Gain: '<S9>/g_Ha'
* Gain: '<S9>/g_Hb'
* Inport: '<Root>/b_hallA '
* Inport: '<Root>/b_hallB'
* Inport: '<Root>/b_hallC'
*/
rtb_Sum = (uint8_T)((uint32_T)(uint8_T)((uint32_T)(uint8_T)(rtU->b_hallA << 2)
+ (uint8_T)(rtU->b_hallB << 1)) + rtU->b_hallC);
/* If: '<S7>/If1' incorporates:
* Constant: '<S1>/z_ctrlTypSel1'
* DataTypeConversion: '<S1>/Data Type Conversion9'
* Inport: '<Root>/r_inpTgt'
* Inport: '<S13>/r_inpTgt'
*/
if (rtP->z_ctrlTypSel == 0) {
/* Outputs for IfAction SubSystem: '<S7>/Commutation_Control_Type' incorporates:
* ActionPort: '<S13>/Action Port'
*/
rtb_Merge = (int16_T)(rtU->r_inpTgt << 4);
/* End of Outputs for SubSystem: '<S7>/Commutation_Control_Type' */
} else {
/* Outputs for IfAction SubSystem: '<S7>/FOC_Control_Type' incorporates:
* ActionPort: '<S14>/Action Port'
*/
/* SignalConversion: '<S14>/TmpSignal ConversionAtSelectorInport1' incorporates:
* Constant: '<S14>/Vd_max'
* Constant: '<S14>/constant1'
* Constant: '<S14>/i_max'
* Constant: '<S14>/n_max'
*/
tmp[0] = 0;
tmp[1] = rtP->Vd_max;
tmp[2] = rtP->n_max;
tmp[3] = rtP->i_max;
/* Product: '<S14>/Divide1' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion9'
* Inport: '<Root>/r_inpTgt'
* Product: '<S14>/Divide4'
* Selector: '<S14>/Selector'
* UnitDelay: '<S4>/UnitDelay1'
*/
rtb_Merge = (int16_T)(((uint16_T)((tmp[rtDW->UnitDelay1_DSTATE] << 5) / 125)
* (int16_T)(rtU->r_inpTgt << 4)) >> 12);
/* End of Outputs for SubSystem: '<S7>/FOC_Control_Type' */
}
/* End of If: '<S7>/If1' */
/* S-Function (sfix_bitop): '<S8>/Bitwise Operator' incorporates:
* Inport: '<Root>/b_hallA '
* Inport: '<Root>/b_hallB'
* Inport: '<Root>/b_hallC'
* UnitDelay: '<S8>/UnitDelay1'
* UnitDelay: '<S8>/UnitDelay2'
* UnitDelay: '<S8>/UnitDelay3'
*/
rtb_BitwiseOperator = (uint8_T)(rtU->b_hallA ^ rtU->b_hallB ^ rtU->b_hallC ^
rtDW->UnitDelay3_DSTATE_fy ^ rtDW->UnitDelay1_DSTATE_m ^
rtDW->UnitDelay2_DSTATE_f);
/* If: '<S11>/If2' incorporates:
* DataTypeConversion: '<S8>/Data Type Conversion2'
* If: '<S2>/If2'
* Inport: '<S16>/z_counterRawPrev'
* UnitDelay: '<S11>/UnitDelay3'
*/
if (rtb_BitwiseOperator != 0) {
/* Outputs for IfAction SubSystem: '<S2>/F01_04_Direction_Detection' incorporates:
* ActionPort: '<S10>/Action Port'
*/
/* UnitDelay: '<S10>/UnitDelay3' */
UnitDelay3 = rtDW->Switch2_e;
/* Sum: '<S10>/Sum2' incorporates:
* Constant: '<S9>/vec_hallToPos'
* Selector: '<S9>/Selector'
* UnitDelay: '<S10>/UnitDelay2'
*/
rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] -
rtDW->UnitDelay2_DSTATE_b);
/* Switch: '<S10>/Switch2' incorporates:
* Constant: '<S10>/Constant20'
* Constant: '<S10>/Constant23'
* Constant: '<S10>/Constant24'
* Constant: '<S10>/Constant8'
* Logic: '<S10>/Logical Operator3'
* RelationalOperator: '<S10>/Relational Operator1'
* RelationalOperator: '<S10>/Relational Operator6'
*/
if ((rtb_Sum2_h == 1) || (rtb_Sum2_h == -5)) {
rtDW->Switch2_e = 1;
} else {
rtDW->Switch2_e = -1;
}
/* End of Switch: '<S10>/Switch2' */
/* Update for UnitDelay: '<S10>/UnitDelay2' incorporates:
* Constant: '<S9>/vec_hallToPos'
* Selector: '<S9>/Selector'
*/
rtDW->UnitDelay2_DSTATE_b = rtConstP.vec_hallToPos_Value[rtb_Sum];
/* End of Outputs for SubSystem: '<S2>/F01_04_Direction_Detection' */
/* Outputs for IfAction SubSystem: '<S11>/Raw_Motor_Speed_Estimation' incorporates:
* ActionPort: '<S16>/Action Port'
*/
rtDW->z_counterRawPrev = rtDW->UnitDelay3_DSTATE;
/* Sum: '<S16>/Sum7' incorporates:
* Inport: '<S16>/z_counterRawPrev'
* UnitDelay: '<S11>/UnitDelay3'
* UnitDelay: '<S16>/UnitDelay4'
*/
rtb_Switch2_fv = (int16_T)(rtDW->z_counterRawPrev -
rtDW->UnitDelay4_DSTATE_p);
/* Abs: '<S16>/Abs2' */
if (rtb_Switch2_fv < 0) {
rtb_Switch1_a = (int16_T)-rtb_Switch2_fv;
} else {
rtb_Switch1_a = rtb_Switch2_fv;
}
/* End of Abs: '<S16>/Abs2' */
/* Relay: '<S16>/dz_cntTrnsDet' */
if (rtb_Switch1_a >= rtP->dz_cntTrnsDetHi) {
rtDW->dz_cntTrnsDet_Mode = true;
} else {
if (rtb_Switch1_a <= rtP->dz_cntTrnsDetLo) {
rtDW->dz_cntTrnsDet_Mode = false;
}
}
rtDW->dz_cntTrnsDet = rtDW->dz_cntTrnsDet_Mode;
/* End of Relay: '<S16>/dz_cntTrnsDet' */
/* RelationalOperator: '<S16>/Relational Operator4' */
rtb_RelationalOperator4_d = (rtDW->Switch2_e != UnitDelay3);
/* Switch: '<S16>/Switch3' incorporates:
* Constant: '<S16>/Constant4'
* Logic: '<S16>/Logical Operator1'
* Switch: '<S16>/Switch1'
* Switch: '<S16>/Switch2'
* UnitDelay: '<S16>/UnitDelay1'
*/
if (rtb_RelationalOperator4_d && rtDW->UnitDelay1_DSTATE_n) {
rtb_Switch1_a = 0;
} else if (rtb_RelationalOperator4_d) {
/* Switch: '<S16>/Switch2' incorporates:
* UnitDelay: '<S11>/UnitDelay4'
*/
rtb_Switch1_a = rtDW->UnitDelay4_DSTATE_e;
} else if (rtDW->dz_cntTrnsDet) {
/* Switch: '<S16>/Switch1' incorporates:
* Constant: '<S16>/cf_speedCoef'
* Product: '<S16>/Divide14'
* Switch: '<S16>/Switch2'
*/
rtb_Switch1_a = (int16_T)((rtP->cf_speedCoef << 4) /
rtDW->z_counterRawPrev);
} else {
/* Switch: '<S16>/Switch1' incorporates:
* Constant: '<S16>/cf_speedCoef'
* Gain: '<S16>/g_Ha'
* Product: '<S16>/Divide13'
* Sum: '<S16>/Sum13'
* Switch: '<S16>/Switch2'
* UnitDelay: '<S16>/UnitDelay2'
* UnitDelay: '<S16>/UnitDelay3'
* UnitDelay: '<S16>/UnitDelay5'
*/
rtb_Switch1_a = (int16_T)(((uint16_T)(rtP->cf_speedCoef << 2) << 4) /
(int16_T)(((rtDW->UnitDelay2_DSTATE + rtDW->UnitDelay3_DSTATE_o) +
rtDW->UnitDelay5_DSTATE) + rtDW->z_counterRawPrev));
}
/* End of Switch: '<S16>/Switch3' */
/* Product: '<S16>/Divide11' */
rtDW->Divide11 = (int16_T)(rtb_Switch1_a * rtDW->Switch2_e);
/* Update for UnitDelay: '<S16>/UnitDelay4' */
rtDW->UnitDelay4_DSTATE_p = rtDW->z_counterRawPrev;
/* Update for UnitDelay: '<S16>/UnitDelay2' incorporates:
* UnitDelay: '<S16>/UnitDelay3'
*/
rtDW->UnitDelay2_DSTATE = rtDW->UnitDelay3_DSTATE_o;
/* Update for UnitDelay: '<S16>/UnitDelay3' incorporates:
* UnitDelay: '<S16>/UnitDelay5'
*/
rtDW->UnitDelay3_DSTATE_o = rtDW->UnitDelay5_DSTATE;
/* Update for UnitDelay: '<S16>/UnitDelay5' */
rtDW->UnitDelay5_DSTATE = rtDW->z_counterRawPrev;
/* Update for UnitDelay: '<S16>/UnitDelay1' */
rtDW->UnitDelay1_DSTATE_n = rtb_RelationalOperator4_d;
/* End of Outputs for SubSystem: '<S11>/Raw_Motor_Speed_Estimation' */
}
/* End of If: '<S11>/If2' */
/* Outputs for Atomic SubSystem: '<S11>/Counter' */
/* Constant: '<S11>/Constant6' incorporates:
* Constant: '<S11>/z_maxCntRst2'
* DataTypeConversion: '<S8>/Data Type Conversion2'
*/
rtb_Switch1_a = (int16_T) Counter(1, rtP->z_maxCntRst, rtb_BitwiseOperator !=
0, &rtDW->Counter_e);
/* End of Outputs for SubSystem: '<S11>/Counter' */
/* Switch: '<S11>/Switch2' incorporates:
* Constant: '<S11>/Constant4'
* Constant: '<S11>/z_maxCntRst'
* RelationalOperator: '<S11>/Relational Operator2'
*/
if (rtb_Switch1_a > rtP->z_maxCntRst) {
rtb_Switch2_fv = 0;
} else {
rtb_Switch2_fv = rtDW->Divide11;
}
/* End of Switch: '<S11>/Switch2' */
/* Abs: '<S11>/Abs5' */
if (rtb_Switch2_fv < 0) {
rtb_Abs5 = (int16_T)-rtb_Switch2_fv;
} else {
rtb_Abs5 = rtb_Switch2_fv;
}
/* End of Abs: '<S11>/Abs5' */
/* Relay: '<S11>/n_commDeacv' */
if (rtb_Abs5 >= rtP->n_commDeacvHi) {
rtDW->n_commDeacv_Mode = true;
} else {
if (rtb_Abs5 <= rtP->n_commAcvLo) {
rtDW->n_commDeacv_Mode = false;
}
}
/* Logic: '<S11>/Logical Operator2' incorporates:
* Constant: '<S11>/CTRL_COMM'
* Constant: '<S1>/z_ctrlTypSel1'
* Logic: '<S11>/Logical Operator1'
* RelationalOperator: '<S11>/Relational Operator3'
* Relay: '<S11>/n_commDeacv'
*/
rtb_RelationalOperator4_d = ((rtP->z_ctrlTypSel != 0) &&
rtDW->n_commDeacv_Mode && (!rtDW->dz_cntTrnsDet));
/* RelationalOperator: '<S11>/Relational Operator9' incorporates:
* Constant: '<S11>/n_stdStillDet'
*/
rtb_RelationalOperator9 = (rtb_Abs5 < rtP->n_stdStillDet);
/* If: '<S1>/If2' incorporates:
* Constant: '<S1>/b_diagEna'
* Constant: '<S3>/CTRL_COMM2'
* Constant: '<S3>/t_errDequal'
* Constant: '<S3>/t_errQual'
* RelationalOperator: '<S3>/Relational Operator2'
*/
rtb_Sum2_h = rtDW->If2_ActiveSubsystem;
UnitDelay3 = -1;
if (rtP->b_diagEna) {
UnitDelay3 = 0;
}
rtDW->If2_ActiveSubsystem = UnitDelay3;
if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
/* Disable for Outport: '<Root>/z_errCode' incorporates:
* Outport: '<S3>/z_errCode '
*/
rtY->z_errCode = 0U;
/* Disable for Outport: '<S3>/b_errFlag' */
rtDW->Merge_n = false;
}
if (UnitDelay3 == 0) {
if (0 != rtb_Sum2_h) {
/* InitializeConditions for IfAction SubSystem: '<S1>/F02_Diagnostics' incorporates:
* ActionPort: '<S3>/Action Port'
*/
/* InitializeConditions for If: '<S1>/If2' incorporates:
* UnitDelay: '<S3>/UnitDelay'
*/
rtDW->UnitDelay_DSTATE = 0U;
/* End of InitializeConditions for SubSystem: '<S1>/F02_Diagnostics' */
/* SystemReset for IfAction SubSystem: '<S1>/F02_Diagnostics' incorporates:
* ActionPort: '<S3>/Action Port'
*/
/* SystemReset for Atomic SubSystem: '<S3>/Debounce_Filter' */
/* SystemReset for If: '<S1>/If2' */
Debounce_Filter_Reset(&rtDW->Debounce_Filter_f);
/* End of SystemReset for SubSystem: '<S3>/Debounce_Filter' */
/* SystemReset for Atomic SubSystem: '<S3>/either_edge' */
either_edge_Reset(&rtDW->either_edge_a);
/* End of SystemReset for SubSystem: '<S3>/either_edge' */
/* End of SystemReset for SubSystem: '<S1>/F02_Diagnostics' */
}
/* Outputs for IfAction SubSystem: '<S1>/F02_Diagnostics' incorporates:
* ActionPort: '<S3>/Action Port'
*/
/* Switch: '<S3>/Switch3' incorporates:
* Abs: '<S3>/Abs4'
* Constant: '<S3>/CTRL_COMM4'
* Constant: '<S3>/r_errInpTgtThres'
* Logic: '<S3>/Logical Operator1'
* RelationalOperator: '<S3>/Relational Operator7'
* S-Function (sfix_bitop): '<S3>/Bitwise Operator1'
* UnitDelay: '<S3>/UnitDelay'
* UnitDelay: '<S6>/UnitDelay4'
*/
if ((rtDW->UnitDelay_DSTATE & 4) != 0) {
rtb_RelationalOperator1_m = true;
} else {
if (rtDW->UnitDelay4_DSTATE < 0) {
/* Abs: '<S3>/Abs4' incorporates:
* UnitDelay: '<S6>/UnitDelay4'
*/
rtb_Switch2_d_0 = (int16_T)-rtDW->UnitDelay4_DSTATE;
} else {
/* Abs: '<S3>/Abs4' incorporates:
* UnitDelay: '<S6>/UnitDelay4'
*/
rtb_Switch2_d_0 = rtDW->UnitDelay4_DSTATE;
}
rtb_RelationalOperator1_m = ((rtb_Switch2_d_0 > rtP->r_errInpTgtThres) &&
rtb_RelationalOperator9);
}
/* End of Switch: '<S3>/Switch3' */
/* Sum: '<S3>/Sum' incorporates:
* Constant: '<S3>/CTRL_COMM'
* Constant: '<S3>/CTRL_COMM1'
* DataTypeConversion: '<S3>/Data Type Conversion3'
* Gain: '<S3>/g_Hb'
* Gain: '<S3>/g_Hb1'
* RelationalOperator: '<S3>/Relational Operator1'
* RelationalOperator: '<S3>/Relational Operator3'
*/
rtb_BitwiseOperator = (uint8_T)(((uint32_T)((rtb_Sum == 7) << 1) + (rtb_Sum ==
0)) + (rtb_RelationalOperator1_m << 2));
/* Outputs for Atomic SubSystem: '<S3>/Debounce_Filter' */
Debounce_Filter(rtb_BitwiseOperator != 0, rtP->t_errQual, rtP->t_errDequal,
&rtDW->Merge_n, &rtDW->Debounce_Filter_f);
/* End of Outputs for SubSystem: '<S3>/Debounce_Filter' */
/* Outputs for Atomic SubSystem: '<S3>/either_edge' */
rtb_RelationalOperator1_m = either_edge(rtDW->Merge_n, &rtDW->either_edge_a);
/* End of Outputs for SubSystem: '<S3>/either_edge' */
/* Switch: '<S3>/Switch1' incorporates:
* Constant: '<S3>/CTRL_COMM2'
* Constant: '<S3>/t_errDequal'
* Constant: '<S3>/t_errQual'
* RelationalOperator: '<S3>/Relational Operator2'
*/
if (rtb_RelationalOperator1_m) {
/* Outport: '<Root>/z_errCode' */
rtY->z_errCode = rtb_BitwiseOperator;
} else {
/* Outport: '<Root>/z_errCode' incorporates:
* UnitDelay: '<S3>/UnitDelay'
*/
rtY->z_errCode = rtDW->UnitDelay_DSTATE;
}
/* End of Switch: '<S3>/Switch1' */
/* Update for UnitDelay: '<S3>/UnitDelay' incorporates:
* Outport: '<Root>/z_errCode'
*/
rtDW->UnitDelay_DSTATE = rtY->z_errCode;
/* End of Outputs for SubSystem: '<S1>/F02_Diagnostics' */
}
/* End of If: '<S1>/If2' */
/* Logic: '<S28>/Logical Operator4' incorporates:
* Constant: '<S28>/constant2'
* Constant: '<S28>/constant8'
* Inport: '<Root>/b_motEna'
* Inport: '<Root>/z_ctrlModReq'
* Logic: '<S28>/Logical Operator1'
* Logic: '<S28>/Logical Operator7'
* RelationalOperator: '<S28>/Relational Operator10'
* RelationalOperator: '<S28>/Relational Operator11'
* RelationalOperator: '<S28>/Relational Operator2'
* UnitDelay: '<S4>/UnitDelay1'
*/
rtb_RelationalOperator1_m = ((!rtU->b_motEna) || rtDW->Merge_n ||
(rtU->z_ctrlModReq == 0) || ((rtU->z_ctrlModReq != rtDW->UnitDelay1_DSTATE) &&
(rtDW->UnitDelay1_DSTATE != 0)));
/* Chart: '<S4>/F02_02_Control_Mode_Manager' incorporates:
* Constant: '<S28>/constant'
* Constant: '<S28>/constant1'
* Constant: '<S28>/constant5'
* Constant: '<S28>/constant6'
* Constant: '<S28>/constant7'
* Inport: '<Root>/z_ctrlModReq'
* Logic: '<S28>/Logical Operator3'
* Logic: '<S28>/Logical Operator6'
* Logic: '<S28>/Logical Operator9'
* RelationalOperator: '<S28>/Relational Operator1'
* RelationalOperator: '<S28>/Relational Operator3'
* RelationalOperator: '<S28>/Relational Operator4'
* RelationalOperator: '<S28>/Relational Operator5'
* RelationalOperator: '<S28>/Relational Operator6'
*/
if (rtDW->is_active_c1_BLDC_controller == 0U) {
rtDW->is_active_c1_BLDC_controller = 1U;
rtDW->is_c1_BLDC_controller = IN_OPEN;
rtb_BitwiseOperator = OPEN_MODE;
} else if (rtDW->is_c1_BLDC_controller == IN_ACTIVE) {
if (rtb_RelationalOperator1_m) {
rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD;
rtDW->is_c1_BLDC_controller = IN_OPEN;
rtb_BitwiseOperator = OPEN_MODE;
} else {
switch (rtDW->is_ACTIVE) {
case IN_SPEED_MODE:
rtb_BitwiseOperator = SPD_MODE;
break;
case IN_TORQUE_MODE:
rtb_BitwiseOperator = TRQ_MODE;
break;
default:
rtb_BitwiseOperator = VLT_MODE;
break;
}
}
} else {
rtb_BitwiseOperator = OPEN_MODE;
if ((!rtb_RelationalOperator1_m) && ((rtU->z_ctrlModReq == 1) ||
(rtU->z_ctrlModReq == 2) || (rtU->z_ctrlModReq == 3)) &&
rtb_RelationalOperator9) {
rtDW->is_c1_BLDC_controller = IN_ACTIVE;
if (rtU->z_ctrlModReq == 3) {
rtDW->is_ACTIVE = IN_TORQUE_MODE;
rtb_BitwiseOperator = TRQ_MODE;
} else if (rtU->z_ctrlModReq == 2) {
rtDW->is_ACTIVE = IN_SPEED_MODE;
rtb_BitwiseOperator = SPD_MODE;
} else {
rtDW->is_ACTIVE = IN_VOLTAGE_MODE;
rtb_BitwiseOperator = VLT_MODE;
}
}
}
/* End of Chart: '<S4>/F02_02_Control_Mode_Manager' */
/* Switch: '<S12>/Switch3' incorporates:
* Constant: '<S12>/Constant16'
* Constant: '<S9>/vec_hallToPos'
* RelationalOperator: '<S12>/Relational Operator7'
* Selector: '<S9>/Selector'
* Sum: '<S12>/Sum1'
*/
if (rtDW->Switch2_e == 1) {
rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
} else {
rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] + 1);
}
/* End of Switch: '<S12>/Switch3' */
/* Switch: '<S12>/Switch2' incorporates:
* Product: '<S12>/Divide1'
* Product: '<S12>/Divide3'
* Sum: '<S12>/Sum3'
*/
if (rtb_RelationalOperator4_d) {
/* Product: '<S12>/Divide1' */
tmp_1 = rtb_Switch1_a << 16;
tmp_1 = (tmp_1 == MIN_int32_T) && (rtDW->z_counterRawPrev == -1) ?
MAX_int32_T : tmp_1 / rtDW->z_counterRawPrev;
if (tmp_1 < 0) {
tmp_1 = 0;
} else {
if (tmp_1 > 65535) {
tmp_1 = 65535;
}
}
rtb_Switch2_d = (uint16_T)(((int16_T)((tmp_1 * rtDW->Switch2_e) >> 1) +
(rtb_Sum2_h << 15)) >> 3);
} else {
rtb_Switch2_d = (uint16_T)((uint16_T)rtb_Sum2_h << 12);
}
/* End of Switch: '<S12>/Switch2' */
/* Product: '<S12>/Divide2' */
rtb_Switch2_d = (uint16_T)((15U * rtb_Switch2_d) >> 4);
/* Saturate: '<S1>/Saturation' incorporates:
* Inport: '<Root>/i_phaAB'
*/
tmp_1 = rtU->i_phaAB << 4;
if (tmp_1 >= 24000) {
rtb_Saturation = 24000;
} else if (tmp_1 <= -24000) {
rtb_Saturation = -24000;
} else {
rtb_Saturation = (int16_T)(rtU->i_phaAB << 4);
}
/* End of Saturate: '<S1>/Saturation' */
/* Saturate: '<S1>/Saturation1' incorporates:
* Inport: '<Root>/i_phaBC'
*/
tmp_1 = rtU->i_phaBC << 4;
if (tmp_1 >= 24000) {
rtb_Saturation1 = 24000;
} else if (tmp_1 <= -24000) {
rtb_Saturation1 = -24000;
} else {
rtb_Saturation1 = (int16_T)(rtU->i_phaBC << 4);
}
/* End of Saturate: '<S1>/Saturation1' */
/* If: '<S1>/If1' incorporates:
* Constant: '<S1>/z_ctrlTypSel1'
* Constant: '<S31>/cf_currFilt'
*/
rtb_Sum2_h = rtDW->If1_ActiveSubsystem;
UnitDelay3 = -1;
if (rtP->z_ctrlTypSel != 0) {
UnitDelay3 = 0;
}
rtDW->If1_ActiveSubsystem = UnitDelay3;
if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
/* Disable for If: '<S5>/If1' */
if (rtDW->If1_ActiveSubsystem_h == 0) {
/* Disable for Outport: '<S40>/Vd' */
rtDW->Switch2 = 0;
}
rtDW->If1_ActiveSubsystem_h = -1;
/* End of Disable for If: '<S5>/If1' */
/* Disable for If: '<S35>/If1' */
if (rtDW->If1_ActiveSubsystem_f == 0) {
/* Disable for Outport: '<S45>/iq_limProt' */
rtDW->Divide4 = 0;
}
rtDW->If1_ActiveSubsystem_f = -1;
/* End of Disable for If: '<S35>/If1' */
/* Disable for If: '<S35>/If2' */
if (rtDW->If2_ActiveSubsystem_c == 0) {
/* Disable for Outport: '<S46>/n_limProt' */
rtDW->Divide1 = 0;
}
rtDW->If2_ActiveSubsystem_c = -1;
/* End of Disable for If: '<S35>/If2' */
/* Disable for SwitchCase: '<S5>/Switch Case' */
rtDW->SwitchCase_ActiveSubsystem = -1;
/* Disable for Outport: '<S5>/r_phaA' */
rtDW->Gain4[0] = 0;
/* Disable for Outport: '<S5>/r_phaB' */
rtDW->Gain4[1] = 0;
/* Disable for Outport: '<S5>/r_phaC ' */
rtDW->Gain4[2] = 0;
/* Disable for Outport: '<S5>/Vq' */
rtDW->Merge = 0;
/* Disable for Outport: '<S5>/r_devSignal1' */
rtDW->Sum1[0] = 0;
/* Disable for Outport: '<S5>/r_devSignal2' */
rtDW->Sum1[1] = 0;
}
if (UnitDelay3 == 0) {
if (0 != rtb_Sum2_h) {
/* InitializeConditions for IfAction SubSystem: '<S1>/F04_Field_Oriented_Control' incorporates:
* ActionPort: '<S5>/Action Port'
*/
/* InitializeConditions for If: '<S1>/If1' incorporates:
* UnitDelay: '<S5>/UnitDelay4'
*/
rtDW->UnitDelay4_DSTATE_er = 0;
/* End of InitializeConditions for SubSystem: '<S1>/F04_Field_Oriented_Control' */
/* SystemReset for IfAction SubSystem: '<S1>/F04_Field_Oriented_Control' incorporates:
* ActionPort: '<S5>/Action Port'
*/
/* SystemReset for Atomic SubSystem: '<S31>/Low_Pass_Filter' */
/* SystemReset for If: '<S1>/If1' */
Low_Pass_Filter_Reset(&rtDW->Low_Pass_Filter_m);
/* End of SystemReset for SubSystem: '<S31>/Low_Pass_Filter' */
/* End of SystemReset for SubSystem: '<S1>/F04_Field_Oriented_Control' */
}
/* Outputs for IfAction SubSystem: '<S1>/F04_Field_Oriented_Control' incorporates:
* ActionPort: '<S5>/Action Port'
*/
/* If: '<S30>/If1' incorporates:
* Constant: '<S30>/b_selPhaABCurrMeas'
*/
if (rtP->b_selPhaABCurrMeas) {
/* Outputs for IfAction SubSystem: '<S30>/Clarke_PhasesAB' incorporates:
* ActionPort: '<S42>/Action Port'
*/
/* Gain: '<S42>/Gain4' */
tmp_1 = 18919 * rtb_Saturation;
/* Gain: '<S42>/Gain2' */
tmp_0 = 18919 * rtb_Saturation1;
/* Sum: '<S42>/Sum1' incorporates:
* Gain: '<S42>/Gain2'
* Gain: '<S42>/Gain4'
*/
tmp_1 = (((tmp_1 < 0 ? 32767 : 0) + tmp_1) >> 15) + (int16_T)(((tmp_0 < 0 ?
16383 : 0) + tmp_0) >> 14);
if (tmp_1 > 32767) {
tmp_1 = 32767;
} else {
if (tmp_1 < -32768) {
tmp_1 = -32768;
}
}
rtb_Sum6 = (int16_T)tmp_1;
/* End of Sum: '<S42>/Sum1' */
/* End of Outputs for SubSystem: '<S30>/Clarke_PhasesAB' */
} else {
/* Outputs for IfAction SubSystem: '<S30>/Clarke_PhasesBC' incorporates:
* ActionPort: '<S43>/Action Port'
*/
/* Sum: '<S43>/Sum3' */
tmp_1 = rtb_Saturation - rtb_Saturation1;
if (tmp_1 > 32767) {
tmp_1 = 32767;
} else {
if (tmp_1 < -32768) {
tmp_1 = -32768;
}
}
/* Gain: '<S43>/Gain2' incorporates:
* Sum: '<S43>/Sum3'
*/
tmp_1 *= 18919;
rtb_Sum6 = (int16_T)(((tmp_1 < 0 ? 32767 : 0) + tmp_1) >> 15);
/* Sum: '<S43>/Sum1' */
tmp_1 = -rtb_Saturation - rtb_Saturation1;
if (tmp_1 > 32767) {
tmp_1 = 32767;
} else {
if (tmp_1 < -32768) {
tmp_1 = -32768;
}
}
rtb_Saturation = (int16_T)tmp_1;
/* End of Sum: '<S43>/Sum1' */
/* End of Outputs for SubSystem: '<S30>/Clarke_PhasesBC' */
}
/* End of If: '<S30>/If1' */
/* PreLookup: '<S32>/a_elecAngle_XA' */
rtb_iq_max_XA = plook_u8u16_evencka(rtb_Switch2_d, 0U, 128U, 180U);
/* Interpolation_n-D: '<S32>/r_sin_M1' */
rtb_r_sin_M1 = rtConstP.r_sin_M1_Table[rtb_iq_max_XA];
/* Interpolation_n-D: '<S32>/r_cos_M1' */
rtb_Saturation1 = rtConstP.r_cos_M1_Table[rtb_iq_max_XA];
/* Sum: '<S37>/Sum6' incorporates:
* Interpolation_n-D: '<S32>/r_cos_M1'
* Interpolation_n-D: '<S32>/r_sin_M1'
* Product: '<S37>/Divide1'
* Product: '<S37>/Divide4'
*/
tmp_1 = (int16_T)((rtb_Sum6 * rtConstP.r_cos_M1_Table[rtb_iq_max_XA]) >> 14)
- (int16_T)((rtb_Saturation * rtConstP.r_sin_M1_Table[rtb_iq_max_XA]) >>
14);
if (tmp_1 > 32767) {
tmp_1 = 32767;
} else {
if (tmp_1 < -32768) {
tmp_1 = -32768;
}
}
/* SignalConversion: '<S31>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
* Sum: '<S37>/Sum6'
*/
rtb_TmpSignalConversionAtLow_Pa[0] = (int16_T)tmp_1;
/* Sum: '<S37>/Sum1' incorporates:
* Interpolation_n-D: '<S32>/r_cos_M1'
* Interpolation_n-D: '<S32>/r_sin_M1'
* Product: '<S37>/Divide2'
* Product: '<S37>/Divide3'
*/
tmp_1 = (int16_T)((rtb_Saturation * rtConstP.r_cos_M1_Table[rtb_iq_max_XA]) >>
14) + (int16_T)((rtb_Sum6 *
rtConstP.r_sin_M1_Table[rtb_iq_max_XA]) >> 14);
if (tmp_1 > 32767) {
tmp_1 = 32767;
} else {
if (tmp_1 < -32768) {
tmp_1 = -32768;
}
}
/* SignalConversion: '<S31>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
* Sum: '<S37>/Sum1'
*/
rtb_TmpSignalConversionAtLow_Pa[1] = (int16_T)tmp_1;
/* Outputs for Atomic SubSystem: '<S31>/Low_Pass_Filter' */
Low_Pass_Filter(rtb_TmpSignalConversionAtLow_Pa, rtP->cf_currFilt,
rtDW->Sum1, &rtDW->Low_Pass_Filter_m);
/* End of Outputs for SubSystem: '<S31>/Low_Pass_Filter' */
/* Switch: '<S32>/Switch1' incorporates:
* Constant: '<S31>/cf_currFilt'
* Constant: '<S32>/a_elecPeriod1'
* Constant: '<S32>/b_fieldWeakEna'
* DataTypeConversion: '<S32>/Data Type Conversion'
* Interpolation_n-D: '<S32>/id_fieldWeak_M1'
*/
if (rtP->b_fieldWeakEna) {
/* PreLookup: '<S32>/n_fieldWeak_XA' */
rtb_iq_max_XA = plook_u8s16u8n6_evenc_s(rtb_Abs5, rtP->n_fieldWeak_XA[0],
(uint16_T)(rtP->n_fieldWeak_XA[1] - rtP->n_fieldWeak_XA[0]), 11U,
&rtb_n_fieldWeak_XA_o2);
/* Interpolation_n-D: '<S32>/id_fieldWeak_M1' */
finalAccum = intrp1d_u16s16s16u8u8n6l_s(rtb_iq_max_XA,
rtb_n_fieldWeak_XA_o2, rtP->id_fieldWeak_M1);
rtb_Sum2_e = (int16_T)((finalAccum & 1023) << 4);
} else {
rtb_Sum2_e = 0;
}
/* End of Switch: '<S32>/Switch1' */
/* Gain: '<S32>/toNegative' */
rtb_Sum6 = (int16_T)-rtb_Sum2_e;
/* Gain: '<S35>/Gain4' incorporates:
* Constant: '<S35>/i_max'
*/
rtb_Saturation = (int16_T)-rtP->i_max;
/* If: '<S5>/If1' incorporates:
* Constant: '<S35>/Vd_max1'
* Constant: '<S40>/cf_idKb'
* Constant: '<S40>/cf_idKi'
* Constant: '<S40>/cf_idKp'
* Constant: '<S40>/constant'
* Gain: '<S35>/Gain3'
* Sum: '<S40>/Sum3'
*/
rtb_Sum2_h = rtDW->If1_ActiveSubsystem_h;
UnitDelay3 = -1;
if (rtb_RelationalOperator4_d) {
UnitDelay3 = 0;
}
rtDW->If1_ActiveSubsystem_h = UnitDelay3;
if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
/* Disable for Outport: '<S40>/Vd' */
rtDW->Switch2 = 0;
}
if (UnitDelay3 == 0) {
if (0 != rtb_Sum2_h) {
/* SystemReset for IfAction SubSystem: '<S5>/Vd_Calculation' incorporates:
* ActionPort: '<S40>/Action Port'
*/
/* SystemReset for Atomic SubSystem: '<S40>/PI_backCalc_fixdt_Id' */
/* SystemReset for If: '<S5>/If1' */
PI_backCalc_fixdt_Reset(&rtDW->PI_backCalc_fixdt_Id);
/* End of SystemReset for SubSystem: '<S40>/PI_backCalc_fixdt_Id' */
/* End of SystemReset for SubSystem: '<S5>/Vd_Calculation' */
}
/* Outputs for IfAction SubSystem: '<S5>/Vd_Calculation' incorporates:
* ActionPort: '<S40>/Action Port'
*/
/* Switch: '<S62>/Switch2' incorporates:
* Constant: '<S35>/i_max'
* RelationalOperator: '<S62>/LowerRelop1'
* RelationalOperator: '<S62>/UpperRelop'
* Switch: '<S62>/Switch'
*/
if (rtb_Sum6 > rtP->i_max) {
rtb_Sum6 = rtP->i_max;
} else {
if (rtb_Sum6 < rtb_Saturation) {
/* Switch: '<S62>/Switch' */
rtb_Sum6 = rtb_Saturation;
}
}
/* End of Switch: '<S62>/Switch2' */
/* Outputs for Atomic SubSystem: '<S40>/PI_backCalc_fixdt_Id' */
PI_backCalc_fixdt((int16_T)(rtb_Sum6 - rtDW->Sum1[1]), rtP->cf_idKp,
rtP->cf_idKi, rtP->cf_idKb, 0, rtP->Vd_max, (int16_T)
-rtP->Vd_max, &rtDW->Switch2,
&rtDW->PI_backCalc_fixdt_Id);
/* End of Outputs for SubSystem: '<S40>/PI_backCalc_fixdt_Id' */
/* End of Outputs for SubSystem: '<S5>/Vd_Calculation' */
}
/* End of If: '<S5>/If1' */
/* Abs: '<S35>/Abs5' */
if (rtDW->Switch2 < 0) {
rtb_Switch2_d_0 = (int16_T)-rtDW->Switch2;
} else {
rtb_Switch2_d_0 = rtDW->Switch2;
}
/* End of Abs: '<S35>/Abs5' */
/* PreLookup: '<S35>/Vq_max_XA' */
rtb_iq_max_XA = plook_u8s16_evencka(rtb_Switch2_d_0, rtP->Vq_max_XA[0],
(uint16_T)(rtP->Vq_max_XA[1] - rtP->Vq_max_XA[0]), 45U);
/* Interpolation_n-D: '<S35>/Vq_max_M1' */
rtb_Sum6 = rtP->Vq_max_M1[rtb_iq_max_XA];
/* Gain: '<S35>/Gain5' incorporates:
* Interpolation_n-D: '<S35>/Vq_max_M1'
*/
rtb_Saturation = (int16_T)-rtP->Vq_max_M1[rtb_iq_max_XA];
/* PreLookup: '<S35>/iq_max_XA' */
rtb_iq_max_XA = plook_u8s16_evencka(rtb_Sum2_e, rtP->iq_max_XA[0], (uint16_T)
(rtP->iq_max_XA[1] - rtP->iq_max_XA[0]), 50U);
/* MinMax: '<S35>/MinMax' incorporates:
* Constant: '<S35>/i_max'
* Interpolation_n-D: '<S35>/iq_max_M1'
*/
if (rtP->i_max < rtP->iq_max_M1[rtb_iq_max_XA]) {
rtb_Sum2_e = rtP->i_max;
} else {
rtb_Sum2_e = rtP->iq_max_M1[rtb_iq_max_XA];
}
/* End of MinMax: '<S35>/MinMax' */
/* Gain: '<S35>/Gain1' */
rtb_Gain1 = (int16_T)-rtb_Sum2_e;
/* Gain: '<S35>/Gain6' incorporates:
* Constant: '<S35>/n_max1'
*/
rtb_Gain6 = (int16_T)-rtP->n_max;
/* If: '<S35>/If1' incorporates:
* Constant: '<S35>/CTRL_COMM'
* Constant: '<S35>/CTRL_COMM1'
* Logic: '<S35>/Logical Operator2'
* RelationalOperator: '<S35>/Relational Operator1'
* RelationalOperator: '<S35>/Relational Operator2'
*/
rtb_Sum2_h = rtDW->If1_ActiveSubsystem_f;
UnitDelay3 = -1;
if ((rtb_BitwiseOperator == 1) || (rtb_BitwiseOperator == 2)) {
UnitDelay3 = 0;
}
rtDW->If1_ActiveSubsystem_f = UnitDelay3;
if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
/* Disable for Outport: '<S45>/iq_limProt' */
rtDW->Divide4 = 0;
}
if (UnitDelay3 == 0) {
/* Outputs for IfAction SubSystem: '<S35>/Current_Limit_Protection' incorporates:
* ActionPort: '<S45>/Action Port'
*/
/* Switch: '<S47>/Switch2' incorporates:
* RelationalOperator: '<S47>/LowerRelop1'
* RelationalOperator: '<S47>/UpperRelop'
* Switch: '<S47>/Switch'
*/
if (rtDW->Sum1[0] > rtb_Sum2_e) {
rtb_Switch2_d_0 = rtb_Sum2_e;
} else if (rtDW->Sum1[0] < rtb_Gain1) {
/* Switch: '<S47>/Switch' */
rtb_Switch2_d_0 = rtb_Gain1;
} else {
rtb_Switch2_d_0 = rtDW->Sum1[0];
}
/* End of Switch: '<S47>/Switch2' */
/* Product: '<S45>/Divide4' incorporates:
* Constant: '<S45>/cf_iqKpLimProt'
* Sum: '<S45>/Sum3'
*/
rtDW->Divide4 = (int16_T)(((int16_T)(rtb_Switch2_d_0 - rtDW->Sum1[0]) *
rtP->cf_iqKpLimProt) >> 6);
/* End of Outputs for SubSystem: '<S35>/Current_Limit_Protection' */
}
/* End of If: '<S35>/If1' */
/* If: '<S35>/If2' incorporates:
* Constant: '<S35>/CTRL_COMM2'
* Constant: '<S35>/CTRL_COMM3'
* Logic: '<S35>/Logical Operator1'
* RelationalOperator: '<S35>/Relational Operator3'
* RelationalOperator: '<S35>/Relational Operator4'
*/
rtb_Sum2_h = rtDW->If2_ActiveSubsystem_c;
UnitDelay3 = -1;
if ((rtb_BitwiseOperator == 1) || (rtb_BitwiseOperator == 3)) {
UnitDelay3 = 0;
}
rtDW->If2_ActiveSubsystem_c = UnitDelay3;
if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
/* Disable for Outport: '<S46>/n_limProt' */
rtDW->Divide1 = 0;
}
if (UnitDelay3 == 0) {
/* Outputs for IfAction SubSystem: '<S35>/Speed_Limit_Protection' incorporates:
* ActionPort: '<S46>/Action Port'
*/
/* Switch: '<S48>/Switch2' incorporates:
* Constant: '<S35>/n_max1'
* RelationalOperator: '<S48>/LowerRelop1'
* RelationalOperator: '<S48>/UpperRelop'
* Switch: '<S48>/Switch'
*/
if (rtb_Switch2_fv > rtP->n_max) {
rtb_Switch2_d_0 = rtP->n_max;
} else if (rtb_Switch2_fv < rtb_Gain6) {
/* Switch: '<S48>/Switch' */
rtb_Switch2_d_0 = rtb_Gain6;
} else {
rtb_Switch2_d_0 = rtb_Switch2_fv;
}
/* End of Switch: '<S48>/Switch2' */
/* Product: '<S46>/Divide1' incorporates:
* Constant: '<S46>/cf_nKpLimProt'
* Sum: '<S46>/Sum1'
*/
rtDW->Divide1 = (int16_T)(((int16_T)(rtb_Switch2_d_0 - rtb_Switch2_fv) *
rtP->cf_nKpLimProt) >> 6);
/* End of Outputs for SubSystem: '<S35>/Speed_Limit_Protection' */
}
/* End of If: '<S35>/If2' */
/* SwitchCase: '<S5>/Switch Case' incorporates:
* Constant: '<S36>/Constant23'
* Constant: '<S36>/dV_openRate'
* Constant: '<S38>/cf_iqKiLimProt'
* Constant: '<S38>/cf_nKb'
* Constant: '<S38>/cf_nKi'
* Constant: '<S38>/cf_nKp'
* DataTypeConversion: '<S36>/Data Type Conversion'
* Gain: '<S36>/Gain3'
* Product: '<S38>/Divide1'
* SignalConversion: '<S38>/Signal Conversion2'
* Sum: '<S38>/Sum3'
*/
rtb_Sum2_h = rtDW->SwitchCase_ActiveSubsystem;
switch (rtb_BitwiseOperator) {
case 1:
UnitDelay3 = 0;
break;
case 2:
UnitDelay3 = 1;
break;
case 3:
UnitDelay3 = 2;
break;
default:
UnitDelay3 = 3;
break;
}
rtDW->SwitchCase_ActiveSubsystem = UnitDelay3;
switch (UnitDelay3) {
case 0:
/* Outputs for IfAction SubSystem: '<S5>/Voltage_Mode' incorporates:
* ActionPort: '<S41>/Action Port'
*/
/* Sum: '<S41>/Sum3' */
rtb_Sum2_e = (int16_T)((rtb_Merge + rtDW->Divide4) + rtDW->Divide1);
/* Switch: '<S65>/Switch2' incorporates:
* RelationalOperator: '<S65>/LowerRelop1'
* RelationalOperator: '<S65>/UpperRelop'
* Switch: '<S65>/Switch'
*/
if (rtb_Sum2_e > rtb_Sum6) {
/* SignalConversion: '<S41>/Signal Conversion2' */
rtDW->Merge = rtb_Sum6;
} else if (rtb_Sum2_e < rtb_Saturation) {
/* Switch: '<S65>/Switch' incorporates:
* SignalConversion: '<S41>/Signal Conversion2'
*/
rtDW->Merge = rtb_Saturation;
} else {
/* SignalConversion: '<S41>/Signal Conversion2' incorporates:
* Switch: '<S65>/Switch'
*/
rtDW->Merge = rtb_Sum2_e;
}
/* End of Switch: '<S65>/Switch2' */
/* End of Outputs for SubSystem: '<S5>/Voltage_Mode' */
break;
case 1:
if (UnitDelay3 != rtb_Sum2_h) {
/* SystemReset for IfAction SubSystem: '<S5>/Speed_Mode' incorporates:
* ActionPort: '<S38>/Action Port'
*/
/* SystemReset for Atomic SubSystem: '<S38>/PI_backCalc_fixdt_n' */
/* SystemReset for SwitchCase: '<S5>/Switch Case' */
PI_backCalc_fixdt_n_Reset(&rtDW->PI_backCalc_fixdt_n_p);
/* End of SystemReset for SubSystem: '<S38>/PI_backCalc_fixdt_n' */
/* End of SystemReset for SubSystem: '<S5>/Speed_Mode' */
}
/* Outputs for IfAction SubSystem: '<S5>/Speed_Mode' incorporates:
* ActionPort: '<S38>/Action Port'
*/
/* Switch: '<S54>/Switch2' incorporates:
* Constant: '<S35>/n_max1'
* RelationalOperator: '<S54>/LowerRelop1'
* RelationalOperator: '<S54>/UpperRelop'
* Switch: '<S54>/Switch'
*/
if (rtb_Merge > rtP->n_max) {
rtb_Gain6 = rtP->n_max;
} else {
if (!(rtb_Merge < rtb_Gain6)) {
rtb_Gain6 = rtb_Merge;
}
}
/* End of Switch: '<S54>/Switch2' */
/* Outputs for Atomic SubSystem: '<S38>/PI_backCalc_fixdt_n' */
rtDW->Merge = (int16_T) PI_backCalc_fixdt_n((int16_T)(rtb_Gain6 -
rtb_Switch2_fv), rtP->cf_nKp, rtP->cf_nKi, rtP->cf_nKb, (int16_T)
((rtDW->Divide4 * rtP->cf_iqKiLimProt) >> 10), rtb_Sum6, rtb_Saturation,
&rtDW->PI_backCalc_fixdt_n_p);
/* End of Outputs for SubSystem: '<S38>/PI_backCalc_fixdt_n' */
/* End of Outputs for SubSystem: '<S5>/Speed_Mode' */
break;
case 2:
if (UnitDelay3 != rtb_Sum2_h) {
/* SystemReset for IfAction SubSystem: '<S5>/Torque_Mode' incorporates:
* ActionPort: '<S39>/Action Port'
*/
/* SystemReset for Atomic SubSystem: '<S39>/PI_backCalc_fixdt_Iq' */
/* SystemReset for SwitchCase: '<S5>/Switch Case' */
PI_backCalc_fixdt_Reset(&rtDW->PI_backCalc_fixdt_Iq);
/* End of SystemReset for SubSystem: '<S39>/PI_backCalc_fixdt_Iq' */
/* End of SystemReset for SubSystem: '<S5>/Torque_Mode' */
}
/* Outputs for IfAction SubSystem: '<S5>/Torque_Mode' incorporates:
* ActionPort: '<S39>/Action Port'
*/
/* Sum: '<S39>/Sum2' */
rtb_Gain6 = (int16_T)(rtb_Merge + rtDW->Divide1);
/* Switch: '<S58>/Switch2' incorporates:
* RelationalOperator: '<S58>/LowerRelop1'
*/
if (!(rtb_Gain6 > rtb_Sum2_e)) {
/* Switch: '<S58>/Switch' incorporates:
* RelationalOperator: '<S58>/UpperRelop'
*/
if (rtb_Gain6 < rtb_Gain1) {
rtb_Sum2_e = rtb_Gain1;
} else {
rtb_Sum2_e = rtb_Gain6;
}
/* End of Switch: '<S58>/Switch' */
}
/* End of Switch: '<S58>/Switch2' */
/* Outputs for Atomic SubSystem: '<S39>/PI_backCalc_fixdt_Iq' */
/* SignalConversion: '<S39>/Signal Conversion2' incorporates:
* Constant: '<S39>/cf_iqKb'
* Constant: '<S39>/cf_iqKi'
* Constant: '<S39>/cf_iqKp'
* Constant: '<S39>/constant'
* Sum: '<S39>/Sum1'
*/
PI_backCalc_fixdt((int16_T)(rtb_Sum2_e - rtDW->Sum1[0]), rtP->cf_iqKp,
rtP->cf_iqKi, rtP->cf_iqKb, 0, rtb_Sum6, rtb_Saturation,
&rtDW->Merge, &rtDW->PI_backCalc_fixdt_Iq);
/* End of Outputs for SubSystem: '<S39>/PI_backCalc_fixdt_Iq' */
/* End of Outputs for SubSystem: '<S5>/Torque_Mode' */
break;
case 3:
if (UnitDelay3 != rtb_Sum2_h) {
/* SystemReset for IfAction SubSystem: '<S5>/Open_Mode' incorporates:
* ActionPort: '<S36>/Action Port'
*/
/* SystemReset for Atomic SubSystem: '<S36>/rising_edge_init' */
/* SystemReset for SwitchCase: '<S5>/Switch Case' */
rising_edge_init_Reset(&rtDW->rising_edge_init_p);
/* End of SystemReset for SubSystem: '<S36>/rising_edge_init' */
/* SystemReset for Atomic SubSystem: '<S36>/Rate_Limiter' */
Rate_Limiter_Reset(&rtDW->Rate_Limiter_l);
/* End of SystemReset for SubSystem: '<S36>/Rate_Limiter' */
/* End of SystemReset for SubSystem: '<S5>/Open_Mode' */
}
/* Outputs for IfAction SubSystem: '<S5>/Open_Mode' incorporates:
* ActionPort: '<S36>/Action Port'
*/
/* Outputs for Atomic SubSystem: '<S36>/rising_edge_init' */
rtb_RelationalOperator9 = rising_edge_init(&rtDW->rising_edge_init_p);
/* End of Outputs for SubSystem: '<S36>/rising_edge_init' */
/* DataTypeConversion: '<S36>/Data Type Conversion' incorporates:
* UnitDelay: '<S5>/UnitDelay4'
*/
tmp_1 = rtDW->UnitDelay4_DSTATE_er << 12;
/* Gain: '<S36>/Gain3' incorporates:
* Constant: '<S36>/dV_openRate'
*/
tmp_0 = -rtP->dV_openRate;
/* Outputs for Atomic SubSystem: '<S36>/Rate_Limiter' */
rtb_Sum2 = Rate_Limiter(0, (tmp_1 & 134217728) != 0 ? tmp_1 | -134217728 :
tmp_1 & 134217727, rtb_RelationalOperator9, rtP->dV_openRate, (tmp_0 &
134217728) != 0 ? tmp_0 | -134217728 : tmp_0 & 134217727,
&rtDW->Rate_Limiter_l);
/* End of Outputs for SubSystem: '<S36>/Rate_Limiter' */
/* DataTypeConversion: '<S36>/Data Type Conversion1' incorporates:
* Constant: '<S36>/Constant23'
* Constant: '<S36>/dV_openRate'
* DataTypeConversion: '<S36>/Data Type Conversion'
* Gain: '<S36>/Gain3'
*/
rtDW->Merge = (int16_T)(rtb_Sum2 >> 12);
/* End of Outputs for SubSystem: '<S5>/Open_Mode' */
break;
}
/* End of SwitchCase: '<S5>/Switch Case' */
/* Sum: '<S34>/Sum6' incorporates:
* Product: '<S34>/Divide1'
* Product: '<S34>/Divide4'
*/
rtb_Sum6 = (int16_T)(((int16_T)((rtDW->Switch2 * rtb_Saturation1) >> 13) -
(int16_T)((rtDW->Merge * rtb_r_sin_M1) >> 13)) >> 1);
/* Sum: '<S34>/Sum1' incorporates:
* Product: '<S34>/Divide2'
* Product: '<S34>/Divide3'
*/
rtb_Saturation1 = (int16_T)(((int16_T)((rtDW->Switch2 * rtb_r_sin_M1) >> 13)
+ (int16_T)((rtDW->Merge * rtb_Saturation1) >> 13)) >> 1);
/* Gain: '<S33>/Gain1' */
tmp_1 = 14189 * rtb_Saturation1;
/* Sum: '<S33>/Sum6' incorporates:
* Gain: '<S33>/Gain1'
* Gain: '<S33>/Gain3'
*/
rtb_Saturation1 = (int16_T)(((int16_T)(((tmp_1 < 0 ? 8191 : 0) + tmp_1) >>
13) - rtb_Sum6) >> 1);
/* Sum: '<S33>/Sum2' */
rtb_Sum2_e = (int16_T)(-rtb_Sum6 - rtb_Saturation1);
/* MinMax: '<S33>/MinMax1' */
rtb_Saturation = rtb_Sum6;
if (!(rtb_Sum6 < rtb_Saturation1)) {
rtb_Saturation = rtb_Saturation1;
}
if (!(rtb_Saturation < rtb_Sum2_e)) {
rtb_Saturation = rtb_Sum2_e;
}
/* MinMax: '<S33>/MinMax2' */
rtb_r_sin_M1 = rtb_Sum6;
if (!(rtb_Sum6 > rtb_Saturation1)) {
rtb_r_sin_M1 = rtb_Saturation1;
}
if (!(rtb_r_sin_M1 > rtb_Sum2_e)) {
rtb_r_sin_M1 = rtb_Sum2_e;
}
/* Gain: '<S33>/Gain2' incorporates:
* MinMax: '<S33>/MinMax1'
* MinMax: '<S33>/MinMax2'
* Sum: '<S33>/Add'
*/
rtb_r_sin_M1 = (int16_T)((int16_T)(rtb_Saturation + rtb_r_sin_M1) >> 1);
/* Gain: '<S33>/Gain4' incorporates:
* Sum: '<S33>/Add1'
*/
rtDW->Gain4[0] = (int16_T)(((int16_T)(rtb_Sum6 - rtb_r_sin_M1) * 18919) >>
18);
rtDW->Gain4[1] = (int16_T)(((int16_T)(rtb_Saturation1 - rtb_r_sin_M1) *
18919) >> 18);
rtDW->Gain4[2] = (int16_T)(((int16_T)(rtb_Sum2_e - rtb_r_sin_M1) * 18919) >>
18);
/* Update for UnitDelay: '<S5>/UnitDelay4' */
rtDW->UnitDelay4_DSTATE_er = rtDW->Merge;
/* End of Outputs for SubSystem: '<S1>/F04_Field_Oriented_Control' */
}
/* End of If: '<S1>/If1' */
/* Switch: '<S6>/Switch2' incorporates:
* Constant: '<S1>/z_ctrlTypSel1'
* Constant: '<S6>/CTRL_COMM1'
* DataTypeConversion: '<S1>/Data Type Conversion10'
* DataTypeConversion: '<S1>/Data Type Conversion8'
* RelationalOperator: '<S6>/Relational Operator6'
*/
if (rtP->z_ctrlTypSel == 0) {
rtb_Merge = (int16_T)(rtb_Merge >> 4);
} else {
rtb_Merge = (int16_T)(rtDW->Merge >> 4);
}
/* End of Switch: '<S6>/Switch2' */
/* Switch: '<S6>/Switch1' incorporates:
* Constant: '<S9>/vec_hallToPos'
* LookupNDDirect: '<S6>/z_commutMap_M1'
* Product: '<S6>/Divide2'
* Selector: '<S9>/Selector'
*
* About '<S6>/z_commutMap_M1':
* 2-dimensional Direct Look-Up returning a Column
*/
if (rtb_RelationalOperator4_d) {
rtb_Saturation1 = rtDW->Gain4[0];
rtb_Sum6 = rtDW->Gain4[1];
rtb_Sum2_e = rtDW->Gain4[2];
} else {
if (rtConstP.vec_hallToPos_Value[rtb_Sum] > 5) {
/* LookupNDDirect: '<S6>/z_commutMap_M1'
*
* About '<S6>/z_commutMap_M1':
* 2-dimensional Direct Look-Up returning a Column
*/
rtb_Sum2_h = 5;
} else if (rtConstP.vec_hallToPos_Value[rtb_Sum] < 0) {
/* LookupNDDirect: '<S6>/z_commutMap_M1'
*
* About '<S6>/z_commutMap_M1':
* 2-dimensional Direct Look-Up returning a Column
*/
rtb_Sum2_h = 0;
} else {
/* LookupNDDirect: '<S6>/z_commutMap_M1' incorporates:
* Constant: '<S9>/vec_hallToPos'
* Selector: '<S9>/Selector'
*
* About '<S6>/z_commutMap_M1':
* 2-dimensional Direct Look-Up returning a Column
*/
rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
}
/* LookupNDDirect: '<S6>/z_commutMap_M1' incorporates:
* Constant: '<S9>/vec_hallToPos'
* Selector: '<S9>/Selector'
*
* About '<S6>/z_commutMap_M1':
* 2-dimensional Direct Look-Up returning a Column
*/
rtb_Sum2 = rtb_Sum2_h * 3;
rtb_Saturation1 = (int16_T)(rtb_Merge *
rtConstP.z_commutMap_M1_table[rtb_Sum2]);
rtb_Sum6 = (int16_T)(rtConstP.z_commutMap_M1_table[1 + rtb_Sum2] * rtb_Merge);
rtb_Sum2_e = (int16_T)(rtConstP.z_commutMap_M1_table[2 + rtb_Sum2] *
rtb_Merge);
}
/* End of Switch: '<S6>/Switch1' */
/* Update for UnitDelay: '<S4>/UnitDelay1' */
rtDW->UnitDelay1_DSTATE = rtb_BitwiseOperator;
/* Update for UnitDelay: '<S8>/UnitDelay3' incorporates:
* Inport: '<Root>/b_hallA '
*/
rtDW->UnitDelay3_DSTATE_fy = rtU->b_hallA;
/* Update for UnitDelay: '<S8>/UnitDelay1' incorporates:
* Inport: '<Root>/b_hallB'
*/
rtDW->UnitDelay1_DSTATE_m = rtU->b_hallB;
/* Update for UnitDelay: '<S8>/UnitDelay2' incorporates:
* Inport: '<Root>/b_hallC'
*/
rtDW->UnitDelay2_DSTATE_f = rtU->b_hallC;
/* Update for UnitDelay: '<S11>/UnitDelay3' */
rtDW->UnitDelay3_DSTATE = rtb_Switch1_a;
/* Update for UnitDelay: '<S11>/UnitDelay4' */
rtDW->UnitDelay4_DSTATE_e = rtb_Abs5;
/* Update for UnitDelay: '<S6>/UnitDelay4' */
rtDW->UnitDelay4_DSTATE = rtb_Merge;
/* End of Outputs for SubSystem: '<Root>/BLDC_controller' */
/* Outport: '<Root>/DC_phaA' */
rtY->DC_phaA = rtb_Saturation1;
/* Outport: '<Root>/DC_phaB' */
rtY->DC_phaB = rtb_Sum6;
/* Outport: '<Root>/DC_phaC' */
rtY->DC_phaC = rtb_Sum2_e;
/* Outputs for Atomic SubSystem: '<Root>/BLDC_controller' */
/* Outport: '<Root>/n_mot' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion1'
*/
rtY->n_mot = (int16_T)(rtb_Switch2_fv >> 4);
/* Outport: '<Root>/a_elecAngle' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion7'
*/
rtY->a_elecAngle = (int16_T)((uint32_T)rtb_Switch2_d >> 6);
/* Outport: '<Root>/r_devSignal1' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion4'
*/
rtY->r_devSignal1 = (int16_T)(rtDW->Sum1[0] >> 4);
/* Outport: '<Root>/r_devSignal2' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion5'
*/
rtY->r_devSignal2 = (int16_T)(rtDW->Sum1[1] >> 4);
/* End of Outputs for SubSystem: '<Root>/BLDC_controller' */
}
/* Model initialize function */
void BLDC_controller_initialize(RT_MODEL *const rtM)
{
P *rtP = ((P *) rtM->defaultParam);
DW *rtDW = ((DW *) rtM->dwork);
/* Start for Atomic SubSystem: '<Root>/BLDC_controller' */
/* Start for If: '<S1>/If2' */
rtDW->If2_ActiveSubsystem = -1;
/* Start for If: '<S1>/If1' */
rtDW->If1_ActiveSubsystem = -1;
/* Start for IfAction SubSystem: '<S1>/F04_Field_Oriented_Control' */
/* Start for If: '<S5>/If1' */
rtDW->If1_ActiveSubsystem_h = -1;
/* Start for If: '<S35>/If1' */
rtDW->If1_ActiveSubsystem_f = -1;
/* Start for If: '<S35>/If2' */
rtDW->If2_ActiveSubsystem_c = -1;
/* Start for SwitchCase: '<S5>/Switch Case' */
rtDW->SwitchCase_ActiveSubsystem = -1;
/* End of Start for SubSystem: '<S1>/F04_Field_Oriented_Control' */
/* End of Start for SubSystem: '<Root>/BLDC_controller' */
/* SystemInitialize for Atomic SubSystem: '<Root>/BLDC_controller' */
/* InitializeConditions for UnitDelay: '<S11>/UnitDelay3' */
rtDW->UnitDelay3_DSTATE = rtP->z_maxCntRst;
/* SystemInitialize for IfAction SubSystem: '<S11>/Raw_Motor_Speed_Estimation' */
/* SystemInitialize for Outport: '<S16>/z_counter' */
rtDW->z_counterRawPrev = rtP->z_maxCntRst;
/* End of SystemInitialize for SubSystem: '<S11>/Raw_Motor_Speed_Estimation' */
/* SystemInitialize for Atomic SubSystem: '<S11>/Counter' */
Counter_Init(&rtDW->Counter_e, rtP->z_maxCntRst);
/* End of SystemInitialize for SubSystem: '<S11>/Counter' */
/* SystemInitialize for IfAction SubSystem: '<S1>/F02_Diagnostics' */
/* SystemInitialize for Atomic SubSystem: '<S3>/Debounce_Filter' */
Debounce_Filter_Init(&rtDW->Debounce_Filter_f);
/* End of SystemInitialize for SubSystem: '<S3>/Debounce_Filter' */
/* End of SystemInitialize for SubSystem: '<S1>/F02_Diagnostics' */
/* SystemInitialize for IfAction SubSystem: '<S1>/F04_Field_Oriented_Control' */
/* SystemInitialize for IfAction SubSystem: '<S5>/Open_Mode' */
/* SystemInitialize for Atomic SubSystem: '<S36>/rising_edge_init' */
rising_edge_init_Init(&rtDW->rising_edge_init_p);
/* End of SystemInitialize for SubSystem: '<S36>/rising_edge_init' */
/* End of SystemInitialize for SubSystem: '<S5>/Open_Mode' */
/* End of SystemInitialize for SubSystem: '<S1>/F04_Field_Oriented_Control' */
/* End of SystemInitialize for SubSystem: '<Root>/BLDC_controller' */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
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