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Updates on BLDC controller

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- added possbility to switch the Control mode while motor is spinning
- added support for Cruise control: activated by b_cruiseCtrlEna, where the target to set is n_cruiseMotTgt. (Needs small aditional handling on the application firmware to set the n_cruiseMotTgt properly to the current operation speed, immediately after activation via b_cruiseCtrlEna).
- extended Phase current measurements z_selPhaCurMeasABC : {iA,iB} = 0; {iB,iC} = 1; {iA,iC} = 2
- added interface for external motor angle measurement from as sensor, e.g., encoder. The selection can be done via b_angleMeasEna.
This commit is contained in:
EmanuelFeru
2020-10-11 20:58:03 +02:00
parent bb38ef1790
commit 3c8a035b2e
360 changed files with 151736 additions and 130057 deletions
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01_Libraries/01_Controller/BLDC_controller_Lib.slx
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03_CreateParamTable/create_tableParamType.m
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@ -23,8 +23,8 @@
% get_param(gcb, 'BlockType')
% Compile model
BLDCmotorControl_FOC_R2017b_fixdt([],[],[],'compile');
modelName = 'BLDCmotorControl_FOC_R2017b_fixdt';
BLDCmotor_FOC_R2017b_fixdt([],[],[],'compile');
modelName = 'BLDCmotor_FOC_R2017b_fixdt';
Parameter = '';
DataType = '';
@ -89,7 +89,7 @@ for k = 1:length(Blocks)
end
% Terminate compilation
BLDCmotorControl_FOC_R2017b_fixdt([],[],[],'term');
BLDCmotor_FOC_R2017b_fixdt([],[],[],'term');
% Create table
T = table(Parameter,DataType);

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BLDC_controller_ert_rtw/BLDC_controller.c Normal file
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BLDC_controller_ert_rtw/BLDC_controller.h Normal file
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/*
* File: BLDC_controller.h
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1284
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Sun Oct 11 20:20:20 2020
*
* 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 '<S12>/Counter' */
typedef struct {
int16_T UnitDelay_DSTATE; /* '<S17>/UnitDelay' */
} DW_Counter;
/* Block signals and states (auto storage) for system '<S57>/PI_clamp_fixdt' */
typedef struct {
int32_T ResettableDelay_DSTATE; /* '<S71>/Resettable Delay' */
uint8_T icLoad; /* '<S71>/Resettable Delay' */
boolean_T UnitDelay1_DSTATE; /* '<S68>/UnitDelay1' */
} DW_PI_clamp_fixdt;
/* Block signals and states (auto storage) for system '<S55>/PI_clamp_fixdt' */
typedef struct {
int32_T ResettableDelay_DSTATE; /* '<S61>/Resettable Delay' */
uint8_T icLoad; /* '<S61>/Resettable Delay' */
boolean_T UnitDelay1_DSTATE; /* '<S59>/UnitDelay1' */
} DW_PI_clamp_fixdt_i;
/* Block signals and states (auto storage) for system '<S56>/PI_clamp_fixdt' */
typedef struct {
int16_T ResettableDelay_DSTATE; /* '<S66>/Resettable Delay' */
uint8_T icLoad; /* '<S66>/Resettable Delay' */
boolean_T UnitDelay1_DSTATE; /* '<S63>/UnitDelay1' */
} DW_PI_clamp_fixdt_e;
/* Block signals and states (auto storage) for system '<S43>/Low_Pass_Filter' */
typedef struct {
int32_T UnitDelay1_DSTATE[2]; /* '<S53>/UnitDelay1' */
} DW_Low_Pass_Filter;
/* Block signals and states (auto storage) for system '<S76>/I_backCalc_fixdt' */
typedef struct {
int32_T UnitDelay_DSTATE; /* '<S81>/UnitDelay' */
int32_T UnitDelay_DSTATE_h; /* '<S83>/UnitDelay' */
} DW_I_backCalc_fixdt;
/* Block signals and states (auto storage) for system '<S23>/Counter' */
typedef struct {
uint16_T UnitDelay_DSTATE; /* '<S28>/UnitDelay' */
} DW_Counter_l;
/* Block signals and states (auto storage) for system '<S19>/either_edge' */
typedef struct {
boolean_T UnitDelay_DSTATE; /* '<S24>/UnitDelay' */
} DW_either_edge;
/* Block signals and states (auto storage) for system '<S3>/Debounce_Filter' */
typedef struct {
DW_either_edge either_edge_k; /* '<S19>/either_edge' */
DW_Counter_l Counter_h; /* '<S22>/Counter' */
DW_Counter_l Counter_i0; /* '<S23>/Counter' */
boolean_T UnitDelay_DSTATE; /* '<S19>/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' */
DW_I_backCalc_fixdt I_backCalc_fixdt_g;/* '<S75>/I_backCalc_fixdt' */
DW_I_backCalc_fixdt I_backCalc_fixdt1;/* '<S76>/I_backCalc_fixdt1' */
DW_I_backCalc_fixdt I_backCalc_fixdt_i;/* '<S76>/I_backCalc_fixdt' */
DW_Low_Pass_Filter Low_Pass_Filter_m;/* '<S43>/Low_Pass_Filter' */
DW_PI_clamp_fixdt_e PI_clamp_fixdt_at;/* '<S56>/PI_clamp_fixdt' */
DW_PI_clamp_fixdt_i PI_clamp_fixdt_oc;/* '<S55>/PI_clamp_fixdt' */
DW_PI_clamp_fixdt PI_clamp_fixdt_k; /* '<S57>/PI_clamp_fixdt' */
DW_Counter Counter_e; /* '<S12>/Counter' */
int32_T Divide1; /* '<S74>/Divide1' */
int32_T UnitDelay_DSTATE; /* '<S38>/UnitDelay' */
int16_T Gain4[3]; /* '<S45>/Gain4' */
int16_T DataTypeConversion[2]; /* '<S53>/Data Type Conversion' */
int16_T z_counterRawPrev; /* '<S16>/z_counterRawPrev' */
int16_T Merge1; /* '<S31>/Merge1' */
int16_T Divide3; /* '<S5>/Divide3' */
int16_T Vd_max1; /* '<S47>/Vd_max1' */
int16_T Gain3; /* '<S47>/Gain3' */
int16_T Vq_max_M1; /* '<S47>/Vq_max_M1' */
int16_T Gain5; /* '<S47>/Gain5' */
int16_T i_max; /* '<S47>/i_max' */
int16_T Divide1_a; /* '<S47>/Divide1' */
int16_T Gain1; /* '<S47>/Gain1' */
int16_T Gain4_c; /* '<S47>/Gain4' */
int16_T Switch2; /* '<S80>/Switch2' */
int16_T Switch2_l; /* '<S86>/Switch2' */
int16_T Switch2_c; /* '<S84>/Switch2' */
int16_T Merge; /* '<S44>/Merge' */
int16_T Switch1; /* '<S72>/Switch1' */
int16_T Divide11; /* '<S16>/Divide11' */
int16_T UnitDelay3_DSTATE; /* '<S12>/UnitDelay3' */
int16_T UnitDelay4_DSTATE; /* '<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; /* '<S12>/UnitDelay4' */
int16_T UnitDelay4_DSTATE_eu; /* '<S7>/UnitDelay4' */
int16_T UnitDelay4_DSTATE_h; /* '<S6>/UnitDelay4' */
int8_T Switch2_e; /* '<S11>/Switch2' */
int8_T UnitDelay2_DSTATE_b; /* '<S11>/UnitDelay2' */
int8_T If4_ActiveSubsystem; /* '<S1>/If4' */
int8_T If1_ActiveSubsystem_p; /* '<S1>/If1' */
int8_T If2_ActiveSubsystem; /* '<S31>/If2' */
int8_T If2_ActiveSubsystem_a; /* '<S6>/If2' */
int8_T If1_ActiveSubsystem_e; /* '<S6>/If1' */
int8_T SwitchCase_ActiveSubsystem; /* '<S44>/Switch Case' */
uint8_T z_ctrlMod; /* '<S4>/F03_02_Control_Mode_Manager' */
uint8_T UnitDelay3_DSTATE_fy; /* '<S9>/UnitDelay3' */
uint8_T UnitDelay1_DSTATE; /* '<S9>/UnitDelay1' */
uint8_T UnitDelay2_DSTATE_f; /* '<S9>/UnitDelay2' */
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' */
boolean_T Merge_n; /* '<S19>/Merge' */
boolean_T dz_cntTrnsDet; /* '<S16>/dz_cntTrnsDet' */
boolean_T UnitDelay2_DSTATE_g; /* '<S8>/UnitDelay2' */
boolean_T UnitDelay5_DSTATE_l; /* '<S8>/UnitDelay5' */
boolean_T UnitDelay6_DSTATE; /* '<S8>/UnitDelay6' */
boolean_T UnitDelay_DSTATE_b; /* '<S37>/UnitDelay' */
boolean_T UnitDelay1_DSTATE_n; /* '<S16>/UnitDelay1' */
boolean_T n_commDeacv_Mode; /* '<S12>/n_commDeacv' */
boolean_T dz_cntTrnsDet_Mode; /* '<S16>/dz_cntTrnsDet' */
} DW;
/* Constant parameters (auto storage) */
typedef struct {
/* Computed Parameter: r_sin3PhaA_M1_Table
* Referenced by: '<S89>/r_sin3PhaA_M1'
*/
int16_T r_sin3PhaA_M1_Table[181];
/* Computed Parameter: r_sin3PhaB_M1_Table
* Referenced by: '<S89>/r_sin3PhaB_M1'
*/
int16_T r_sin3PhaB_M1_Table[181];
/* Computed Parameter: r_sin3PhaC_M1_Table
* Referenced by: '<S89>/r_sin3PhaC_M1'
*/
int16_T r_sin3PhaC_M1_Table[181];
/* Computed Parameter: r_sin_M1_Table
* Referenced by: '<S49>/r_sin_M1'
*/
int16_T r_sin_M1_Table[181];
/* Computed Parameter: r_cos_M1_Table
* Referenced by: '<S49>/r_cos_M1'
*/
int16_T r_cos_M1_Table[181];
/* Computed Parameter: iq_maxSca_M1_Table
* Referenced by: '<S47>/iq_maxSca_M1'
*/
uint16_T iq_maxSca_M1_Table[50];
/* Computed Parameter: z_commutMap_M1_table
* Referenced by: '<S87>/z_commutMap_M1'
*/
int8_T z_commutMap_M1_table[18];
/* Computed Parameter: vec_hallToPos_Value
* Referenced by: '<S10>/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' */
int16_T a_mechAngle; /* '<Root>/a_mechAngle' */
} 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 n_motHiRes; /* '<Root>/n_motHiRes' */
int16_T a_elecAngle; /* '<Root>/a_elecAngle' */
int16_T iq; /* '<Root>/iq' */
int16_T id; /* '<Root>/id' */
} ExtY;
/* Parameters (auto storage) */
struct P_ {
int32_T dV_openRate; /* Variable: dV_openRate
* Referenced by: '<S35>/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 n_cruiseMotTgt; /* Variable: n_cruiseMotTgt
* Referenced by: '<S55>/n_cruiseMotTgt'
*/
int16_T z_maxCntRst; /* Variable: z_maxCntRst
* Referenced by:
* '<S12>/Counter'
* '<S12>/z_maxCntRst'
* '<S12>/z_maxCntRst2'
* '<S12>/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'
*/
int16_T Vd_max; /* Variable: Vd_max
* Referenced by:
* '<S47>/Vd_max1'
* '<S34>/Vd_max'
*/
int16_T Vq_max_M1[46]; /* Variable: Vq_max_M1
* Referenced by: '<S47>/Vq_max_M1'
*/
int16_T Vq_max_XA[46]; /* Variable: Vq_max_XA
* Referenced by: '<S47>/Vq_max_XA'
*/
int16_T a_phaAdvMax; /* Variable: a_phaAdvMax
* Referenced by: '<S5>/a_phaAdvMax'
*/
int16_T i_max; /* Variable: i_max
* Referenced by:
* '<S47>/i_max'
* '<S34>/i_max'
*/
int16_T id_fieldWeakMax; /* Variable: id_fieldWeakMax
* Referenced by: '<S5>/id_fieldWeakMax'
*/
int16_T n_commAcvLo; /* Variable: n_commAcvLo
* Referenced by: '<S12>/n_commDeacv'
*/
int16_T n_commDeacvHi; /* Variable: n_commDeacvHi
* Referenced by: '<S12>/n_commDeacv'
*/
int16_T n_fieldWeakAuthHi; /* Variable: n_fieldWeakAuthHi
* Referenced by: '<S5>/n_fieldWeakAuthHi'
*/
int16_T n_fieldWeakAuthLo; /* Variable: n_fieldWeakAuthLo
* Referenced by: '<S5>/n_fieldWeakAuthLo'
*/
int16_T n_max; /* Variable: n_max
* Referenced by:
* '<S47>/n_max1'
* '<S34>/n_max'
*/
int16_T n_stdStillDet; /* Variable: n_stdStillDet
* Referenced by: '<S12>/n_stdStillDet'
*/
int16_T r_errInpTgtThres; /* Variable: r_errInpTgtThres
* Referenced by: '<S3>/r_errInpTgtThres'
*/
int16_T r_fieldWeakHi; /* Variable: r_fieldWeakHi
* Referenced by: '<S5>/r_fieldWeakHi'
*/
int16_T r_fieldWeakLo; /* Variable: r_fieldWeakLo
* Referenced by: '<S5>/r_fieldWeakLo'
*/
uint16_T cf_KbLimProt; /* Variable: cf_KbLimProt
* Referenced by:
* '<S75>/cf_KbLimProt'
* '<S76>/cf_KbLimProt'
*/
uint16_T cf_idKp; /* Variable: cf_idKp
* Referenced by: '<S57>/cf_idKp1'
*/
uint16_T cf_iqKp; /* Variable: cf_iqKp
* Referenced by: '<S56>/cf_iqKp'
*/
uint16_T cf_nKp; /* Variable: cf_nKp
* Referenced by: '<S55>/cf_nKp'
*/
uint16_T cf_currFilt; /* Variable: cf_currFilt
* Referenced by: '<S43>/cf_currFilt'
*/
uint16_T cf_idKi; /* Variable: cf_idKi
* Referenced by: '<S57>/cf_idKi1'
*/
uint16_T cf_iqKi; /* Variable: cf_iqKi
* Referenced by: '<S56>/cf_iqKi'
*/
uint16_T cf_iqKiLimProt; /* Variable: cf_iqKiLimProt
* Referenced by:
* '<S74>/cf_iqKiLimProt'
* '<S76>/cf_iqKiLimProt'
*/
uint16_T cf_nKi; /* Variable: cf_nKi
* Referenced by: '<S55>/cf_nKi'
*/
uint16_T cf_nKiLimProt; /* Variable: cf_nKiLimProt
* Referenced by:
* '<S75>/cf_nKiLimProt'
* '<S76>/cf_nKiLimProt'
*/
uint8_T n_polePairs; /* Variable: n_polePairs
* Referenced by: '<S14>/n_polePairs'
*/
uint8_T z_ctrlTypSel; /* Variable: z_ctrlTypSel
* Referenced by: '<S1>/z_ctrlTypSel'
*/
uint8_T z_selPhaCurMeasABC; /* Variable: z_selPhaCurMeasABC
* Referenced by: '<S42>/z_selPhaCurMeasABC'
*/
boolean_T b_angleMeasEna; /* Variable: b_angleMeasEna
* Referenced by:
* '<S2>/b_angleMeasEna'
* '<S12>/b_angleMeasEna'
*/
boolean_T b_cruiseCtrlEna; /* Variable: b_cruiseCtrlEna
* Referenced by: '<S1>/b_cruiseCtrlEna'
*/
boolean_T b_diagEna; /* Variable: b_diagEna
* Referenced by: '<S1>/b_diagEna'
*/
boolean_T b_fieldWeakEna; /* Variable: b_fieldWeakEna
* Referenced by:
* '<S1>/b_fieldWeakEna'
* '<S90>/b_fieldWeakEna'
*/
};
/* 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 '<S12>/Scope2' : Unused code path elimination
* Block '<S13>/Scope' : Unused code path elimination
* Block '<S39>/Data Type Duplicate' : Unused code path elimination
* Block '<S39>/Data Type Propagation' : Unused code path elimination
* Block '<S40>/Data Type Duplicate' : Unused code path elimination
* Block '<S40>/Data Type Propagation' : Unused code path elimination
* Block '<S41>/Data Type Duplicate' : Unused code path elimination
* Block '<S41>/Data Type Propagation' : Unused code path elimination
* Block '<S64>/Data Type Duplicate' : Unused code path elimination
* Block '<S64>/Data Type Propagation' : Unused code path elimination
* Block '<S69>/Data Type Duplicate' : Unused code path elimination
* Block '<S69>/Data Type Propagation' : Unused code path elimination
* Block '<S73>/Data Type Duplicate' : Unused code path elimination
* Block '<S73>/Data Type Propagation' : Unused code path elimination
* Block '<S77>/Data Type Duplicate' : Unused code path elimination
* Block '<S77>/Data Type Propagation' : Unused code path elimination
* Block '<S80>/Data Type Duplicate' : Unused code path elimination
* Block '<S80>/Data Type Propagation' : Unused code path elimination
* Block '<S84>/Data Type Duplicate' : Unused code path elimination
* Block '<S84>/Data Type Propagation' : Unused code path elimination
* Block '<S86>/Data Type Duplicate' : Unused code path elimination
* Block '<S86>/Data Type Propagation' : Unused code path elimination
* Block '<S6>/Scope12' : Unused code path elimination
* Block '<S6>/Scope8' : Unused code path elimination
* Block '<S90>/Scope' : Unused code path elimination
* Block '<S66>/Data Type Conversion1' : Eliminate redundant data type conversion
* Block '<S8>/Data Type Conversion' : 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('BLDCmotor_FOC_R2017b_fixdt/BLDC_controller') - opens subsystem BLDCmotor_FOC_R2017b_fixdt/BLDC_controller
* hilite_system('BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Kp') - opens and selects block Kp
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'BLDCmotor_FOC_R2017b_fixdt'
* '<S1>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller'
* '<S2>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations'
* '<S3>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics'
* '<S4>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager'
* '<S5>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening'
* '<S6>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control'
* '<S7>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management'
* '<S8>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Task_Scheduler'
* '<S9>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Edge_Detector'
* '<S10>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_02_Position_Calculation'
* '<S11>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_03_Direction_Detection'
* '<S12>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation'
* '<S13>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Electrical_Angle_Estimation'
* '<S14>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement'
* '<S15>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter'
* '<S16>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Raw_Motor_Speed_Estimation'
* '<S17>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter/rst_Delay'
* '<S18>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement/Modulo_fixdt'
* '<S19>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter'
* '<S20>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/either_edge'
* '<S21>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Default'
* '<S22>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification'
* '<S23>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification'
* '<S24>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/either_edge'
* '<S25>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter'
* '<S26>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter/rst_Delay'
* '<S27>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter'
* '<S28>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter/rst_Delay'
* '<S29>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_01_Mode_Transition_Calculation'
* '<S30>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_02_Control_Mode_Manager'
* '<S31>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis'
* '<S32>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Control_Type'
* '<S33>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Mode'
* '<S34>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/FOC_Control_Type'
* '<S35>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode'
* '<S36>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter'
* '<S37>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/rising_edge_init'
* '<S38>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Delay_Init1'
* '<S39>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Saturation Dynamic'
* '<S40>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Saturation Dynamic'
* '<S41>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Saturation Dynamic1'
* '<S42>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform'
* '<S43>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Current_Filtering'
* '<S44>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC'
* '<S45>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Inv_Clarke_Transform'
* '<S46>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Inv_Park_Transform'
* '<S47>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations'
* '<S48>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Park_Transform'
* '<S49>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Sine_Cosine_Approximation'
* '<S50>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesAB'
* '<S51>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesAC'
* '<S52>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesBC'
* '<S53>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Current_Filtering/Low_Pass_Filter'
* '<S54>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Open_Mode'
* '<S55>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode'
* '<S56>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode'
* '<S57>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation'
* '<S58>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Voltage_Mode'
* '<S59>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt'
* '<S60>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt/Clamping_circuit'
* '<S61>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt/Integrator'
* '<S62>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt/Saturation_hit'
* '<S63>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt'
* '<S64>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/Saturation Dynamic1'
* '<S65>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt/Clamping_circuit'
* '<S66>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt/Integrator'
* '<S67>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt/Saturation_hit'
* '<S68>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt'
* '<S69>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/Saturation Dynamic'
* '<S70>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt/Clamping_circuit'
* '<S71>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt/Integrator'
* '<S72>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt/Saturation_hit'
* '<S73>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Voltage_Mode/Saturation Dynamic1'
* '<S74>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Speed_Mode_Protection'
* '<S75>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection'
* '<S76>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection'
* '<S77>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Speed_Mode_Protection/Saturation Dynamic'
* '<S78>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection/I_backCalc_fixdt'
* '<S79>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection/I_backCalc_fixdt/Integrator'
* '<S80>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
* '<S81>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt'
* '<S82>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt1'
* '<S83>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt/Integrator'
* '<S84>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
* '<S85>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt1/Integrator'
* '<S86>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt1/Saturation Dynamic1'
* '<S87>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/COM_Method'
* '<S88>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/FOC_Method'
* '<S89>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method'
* '<S90>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation'
* '<S91>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation/Modulo_fixdt'
*/
#endif /* RTW_HEADER_BLDC_controller_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/

157
BLDC_controller_ert_rtw/BLDC_controller_data.c Normal file
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/*
* File: BLDC_controller_data.c
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1284
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Sun Oct 11 20:20:20 2020
*
* 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"
/* Constant parameters (auto storage) */
const ConstP rtConstP = {
/* Computed Parameter: r_sin3PhaA_M1_Table
* Referenced by: '<S89>/r_sin3PhaA_M1'
*/
{ -13091, -13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009,
-16159, -16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172,
-16079, -15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306,
-15248, -15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377,
-15461, -15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253,
-16317, -16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816,
-15577, -15289, -14953, -14565, -14126, -13634, -13091, -12496, -11849,
-11154, -10411, -9623, -8791, -7921, -7014, -6075, -5107, -4115, -3104,
-2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075, 7014, 7921, 8791, 9623,
10411, 11154, 11849, 12496, 13091, 13634, 14126, 14565, 14953, 15289, 15577,
15816, 16009, 16159, 16269, 16340, 16377, 16383, 16362, 16317, 16253, 16172,
16079, 15977, 15870, 15762, 15656, 15555, 15461, 15377, 15306, 15248, 15206,
15180, 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762,
15870, 15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269,
16159, 16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496,
11849, 11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077,
1041, 0, -1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791,
-9623, -10411, -11154, -11849, -12496, -13091 },
/* Computed Parameter: r_sin3PhaB_M1_Table
* Referenced by: '<S89>/r_sin3PhaB_M1'
*/
{ 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762, 15870,
15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269, 16159,
16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496, 11849,
11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077, 1041, 0,
-1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791, -9623, -10411,
-11154, -11849, -12496, -13091, -13634, -14126, -14565, -14953, -15289,
-15577, -15816, -16009, -16159, -16269, -16340, -16377, -16383, -16362,
-16317, -16253, -16172, -16079, -15977, -15870, -15762, -15656, -15555,
-15461, -15377, -15306, -15248, -15206, -15180, -15172, -15180, -15206,
-15248, -15306, -15377, -15461, -15555, -15656, -15762, -15870, -15977,
-16079, -16172, -16253, -16317, -16362, -16383, -16377, -16340, -16269,
-16159, -16009, -15816, -15577, -15289, -14953, -14565, -14126, -13634,
-13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075,
-5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075,
7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126,
14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383,
16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461,
15377, 15306, 15248, 15206, 15180, 15172 },
/* Computed Parameter: r_sin3PhaC_M1_Table
* Referenced by: '<S89>/r_sin3PhaC_M1'
*/
{ -13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075,
-5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075,
7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126,
14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383,
16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461,
15377, 15306, 15248, 15206, 15180, 15172, 15180, 15206, 15248, 15306, 15377,
15461, 15555, 15656, 15762, 15870, 15977, 16079, 16172, 16253, 16317, 16362,
16383, 16377, 16340, 16269, 16159, 16009, 15816, 15577, 15289, 14953, 14565,
14126, 13634, 13091, 12496, 11849, 11154, 10411, 9623, 8791, 7921, 7014,
6075, 5107, 4115, 3104, 2077, 1041, 0, -1041, -2077, -3104, -4115, -5107,
-6075, -7014, -7921, -8791, -9623, -10411, -11154, -11849, -12496, -13091,
-13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009, -16159,
-16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172, -16079,
-15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306, -15248,
-15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377, -15461,
-15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253, -16317,
-16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816, -15577,
-15289, -14953, -14565, -14126, -13634, -13091 },
/* Computed Parameter: r_sin_M1_Table
* Referenced by: '<S49>/r_sin_M1'
*/
{ 8192, 8682, 9162, 9630, 10087, 10531, 10963, 11381, 11786, 12176, 12551,
12911, 13255, 13583, 13894, 14189, 14466, 14726, 14968, 15191, 15396, 15582,
15749, 15897, 16026, 16135, 16225, 16294, 16344, 16374, 16384, 16374, 16344,
16294, 16225, 16135, 16026, 15897, 15749, 15582, 15396, 15191, 14968, 14726,
14466, 14189, 13894, 13583, 13255, 12911, 12551, 12176, 11786, 11381, 10963,
10531, 10087, 9630, 9162, 8682, 8192, 7692, 7182, 6664, 6138, 5604, 5063,
4516, 3964, 3406, 2845, 2280, 1713, 1143, 572, 0, -572, -1143, -1713, -2280,
-2845, -3406, -3964, -4516, -5063, -5604, -6138, -6664, -7182, -7692, -8192,
-8682, -9162, -9630, -10087, -10531, -10963, -11381, -11786, -12176, -12551,
-12911, -13255, -13583, -13894, -14189, -14466, -14726, -14968, -15191,
-15396, -15582, -15749, -15897, -16026, -16135, -16225, -16294, -16344,
-16374, -16384, -16374, -16344, -16294, -16225, -16135, -16026, -15897,
-15749, -15582, -15396, -15191, -14968, -14726, -14466, -14189, -13894,
-13583, -13255, -12911, -12551, -12176, -11786, -11381, -10963, -10531,
-10087, -9630, -9162, -8682, -8192, -7692, -7182, -6664, -6138, -5604, -5063,
-4516, -3964, -3406, -2845, -2280, -1713, -1143, -572, 0, 572, 1143, 1713,
2280, 2845, 3406, 3964, 4516, 5063, 5604, 6138, 6664, 7182, 7692, 8192 },
/* Computed Parameter: r_cos_M1_Table
* Referenced by: '<S49>/r_cos_M1'
*/
{ 14189, 13894, 13583, 13255, 12911, 12551, 12176, 11786, 11381, 10963, 10531,
10087, 9630, 9162, 8682, 8192, 7692, 7182, 6664, 6138, 5604, 5063, 4516,
3964, 3406, 2845, 2280, 1713, 1143, 572, 0, -572, -1143, -1713, -2280, -2845,
-3406, -3964, -4516, -5063, -5604, -6138, -6664, -7182, -7692, -8192, -8682,
-9162, -9630, -10087, -10531, -10963, -11381, -11786, -12176, -12551, -12911,
-13255, -13583, -13894, -14189, -14466, -14726, -14968, -15191, -15396,
-15582, -15749, -15897, -16026, -16135, -16225, -16294, -16344, -16374,
-16384, -16374, -16344, -16294, -16225, -16135, -16026, -15897, -15749,
-15582, -15396, -15191, -14968, -14726, -14466, -14189, -13894, -13583,
-13255, -12911, -12551, -12176, -11786, -11381, -10963, -10531, -10087,
-9630, -9162, -8682, -8192, -7692, -7182, -6664, -6138, -5604, -5063, -4516,
-3964, -3406, -2845, -2280, -1713, -1143, -572, 0, 572, 1143, 1713, 2280,
2845, 3406, 3964, 4516, 5063, 5604, 6138, 6664, 7182, 7692, 8192, 8682, 9162,
9630, 10087, 10531, 10963, 11381, 11786, 12176, 12551, 12911, 13255, 13583,
13894, 14189, 14466, 14726, 14968, 15191, 15396, 15582, 15749, 15897, 16026,
16135, 16225, 16294, 16344, 16374, 16384, 16374, 16344, 16294, 16225, 16135,
16026, 15897, 15749, 15582, 15396, 15191, 14968, 14726, 14466, 14189 },
/* Computed Parameter: iq_maxSca_M1_Table
* Referenced by: '<S47>/iq_maxSca_M1'
*/
{ 65535U, 65523U, 65484U, 65418U, 65326U, 65207U, 65062U, 64890U, 64691U,
64465U, 64211U, 63930U, 63620U, 63281U, 62913U, 62516U, 62088U, 61630U,
61140U, 60618U, 60062U, 59473U, 58848U, 58187U, 57489U, 56752U, 55974U,
55155U, 54291U, 53381U, 52422U, 51413U, 50349U, 49227U, 48043U, 46792U,
45470U, 44069U, 42581U, 40997U, 39307U, 37494U, 35541U, 33422U, 31105U,
28540U, 25655U, 22323U, 18304U, 12974U },
/* Computed Parameter: z_commutMap_M1_table
* Referenced by: '<S87>/z_commutMap_M1'
*/
{ -1, 1, 0, -1, 0, 1, 0, -1, 1, 1, -1, 0, 1, 0, -1, 0, 1, -1 },
/* Computed Parameter: vec_hallToPos_Value
* Referenced by: '<S10>/vec_hallToPos'
*/
{ 0, 2, 0, 1, 4, 3, 5, 0 }
};
/*
* File trailer for generated code.
*
* [EOF]
*/

354
BLDC_controller_ert_rtw/ert_main.c Normal file
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/*
* File: ert_main.c
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1284
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Sun Oct 11 20:20:20 2020
*
* 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 <stddef.h>
#include <stdio.h> /* This ert_main.c example uses printf/fflush */
#include "BLDC_controller.h" /* Model's header file */
#include "rtwtypes.h"
static RT_MODEL rtM_;
static RT_MODEL *const rtMPtr = &rtM_; /* Real-time model */
static P rtP = {
/* Variable: dV_openRate
* Referenced by: '<S35>/dV_openRate'
*/
12288,
/* Variable: dz_cntTrnsDetHi
* Referenced by: '<S16>/dz_cntTrnsDet'
*/
40,
/* Variable: dz_cntTrnsDetLo
* Referenced by: '<S16>/dz_cntTrnsDet'
*/
20,
/* Variable: n_cruiseMotTgt
* Referenced by: '<S55>/n_cruiseMotTgt'
*/
0,
/* Variable: z_maxCntRst
* Referenced by:
* '<S12>/Counter'
* '<S12>/z_maxCntRst'
* '<S12>/z_maxCntRst2'
* '<S12>/UnitDelay3'
* '<S16>/z_counter'
*/
2000,
/* Variable: cf_speedCoef
* Referenced by: '<S16>/cf_speedCoef'
*/
10667U,
/* Variable: t_errDequal
* Referenced by: '<S3>/t_errDequal'
*/
9600U,
/* Variable: t_errQual
* Referenced by: '<S3>/t_errQual'
*/
1280U,
/* Variable: Vd_max
* Referenced by:
* '<S47>/Vd_max1'
* '<S34>/Vd_max'
*/
14400,
/* Variable: Vq_max_M1
* Referenced by: '<S47>/Vq_max_M1'
*/
{ 14400, 14396, 14386, 14368, 14343, 14311, 14271, 14225, 14171, 14109, 14040,
13963, 13879, 13786, 13685, 13576, 13459, 13333, 13198, 13053, 12900, 12736,
12562, 12377, 12181, 11973, 11753, 11520, 11273, 11011, 10733, 10438, 10124,
9790, 9433, 9051, 8640, 8196, 7713, 7184, 6597, 5935, 5170, 4245, 3019, 0 },
/* Variable: Vq_max_XA
* Referenced by: '<S47>/Vq_max_XA'
*/
{ 0, 320, 640, 960, 1280, 1600, 1920, 2240, 2560, 2880, 3200, 3520, 3840, 4160,
4480, 4800, 5120, 5440, 5760, 6080, 6400, 6720, 7040, 7360, 7680, 8000, 8320,
8640, 8960, 9280, 9600, 9920, 10240, 10560, 10880, 11200, 11520, 11840,
12160, 12480, 12800, 13120, 13440, 13760, 14080, 14400 },
/* Variable: a_phaAdvMax
* Referenced by: '<S5>/a_phaAdvMax'
*/
400,
/* Variable: i_max
* Referenced by:
* '<S47>/i_max'
* '<S34>/i_max'
*/
12000,
/* Variable: id_fieldWeakMax
* Referenced by: '<S5>/id_fieldWeakMax'
*/
4000,
/* Variable: n_commAcvLo
* Referenced by: '<S12>/n_commDeacv'
*/
240,
/* Variable: n_commDeacvHi
* Referenced by: '<S12>/n_commDeacv'
*/
480,
/* Variable: n_fieldWeakAuthHi
* Referenced by: '<S5>/n_fieldWeakAuthHi'
*/
6400,
/* Variable: n_fieldWeakAuthLo
* Referenced by: '<S5>/n_fieldWeakAuthLo'
*/
4800,
/* Variable: n_max
* Referenced by:
* '<S47>/n_max1'
* '<S34>/n_max'
*/
24000,
/* Variable: n_stdStillDet
* Referenced by: '<S12>/n_stdStillDet'
*/
48,
/* Variable: r_errInpTgtThres
* Referenced by: '<S3>/r_errInpTgtThres'
*/
9600,
/* Variable: r_fieldWeakHi
* Referenced by: '<S5>/r_fieldWeakHi'
*/
16000,
/* Variable: r_fieldWeakLo
* Referenced by: '<S5>/r_fieldWeakLo'
*/
12000,
/* Variable: cf_KbLimProt
* Referenced by:
* '<S75>/cf_KbLimProt'
* '<S76>/cf_KbLimProt'
*/
768U,
/* Variable: cf_idKp
* Referenced by: '<S57>/cf_idKp1'
*/
819U,
/* Variable: cf_iqKp
* Referenced by: '<S56>/cf_iqKp'
*/
1229U,
/* Variable: cf_nKp
* Referenced by: '<S55>/cf_nKp'
*/
4833U,
/* Variable: cf_currFilt
* Referenced by: '<S43>/cf_currFilt'
*/
7864U,
/* Variable: cf_idKi
* Referenced by: '<S57>/cf_idKi1'
*/
737U,
/* Variable: cf_iqKi
* Referenced by: '<S56>/cf_iqKi'
*/
1229U,
/* Variable: cf_iqKiLimProt
* Referenced by:
* '<S74>/cf_iqKiLimProt'
* '<S76>/cf_iqKiLimProt'
*/
737U,
/* Variable: cf_nKi
* Referenced by: '<S55>/cf_nKi'
*/
251U,
/* Variable: cf_nKiLimProt
* Referenced by:
* '<S75>/cf_nKiLimProt'
* '<S76>/cf_nKiLimProt'
*/
246U,
/* Variable: n_polePairs
* Referenced by: '<S14>/n_polePairs'
*/
15U,
/* Variable: z_ctrlTypSel
* Referenced by: '<S1>/z_ctrlTypSel'
*/
2U,
/* Variable: z_selPhaCurMeasABC
* Referenced by: '<S42>/z_selPhaCurMeasABC'
*/
0U,
/* Variable: b_angleMeasEna
* Referenced by:
* '<S2>/b_angleMeasEna'
* '<S12>/b_angleMeasEna'
*/
0,
/* Variable: b_cruiseCtrlEna
* Referenced by: '<S1>/b_cruiseCtrlEna'
*/
0,
/* Variable: b_diagEna
* Referenced by: '<S1>/b_diagEna'
*/
1,
/* Variable: b_fieldWeakEna
* Referenced by:
* '<S1>/b_fieldWeakEna'
* '<S90>/b_fieldWeakEna'
*/
0
}; /* Modifiable parameters */
static DW rtDW; /* Observable states */
static ExtU rtU; /* External inputs */
static ExtY rtY; /* External outputs */
/*
* Associating rt_OneStep with a real-time clock or interrupt service routine
* is what makes the generated code "real-time". The function rt_OneStep is
* always associated with the base rate of the model. Subrates are managed
* by the base rate from inside the generated code. Enabling/disabling
* interrupts and floating point context switches are target specific. This
* example code indicates where these should take place relative to executing
* the generated code step function. Overrun behavior should be tailored to
* your application needs. This example simply sets an error status in the
* real-time model and returns from rt_OneStep.
*/
void rt_OneStep(RT_MODEL *const rtM);
void rt_OneStep(RT_MODEL *const rtM)
{
static boolean_T OverrunFlag = false;
/* Disable interrupts here */
/* Check for overrun */
if (OverrunFlag) {
return;
}
OverrunFlag = true;
/* Save FPU context here (if necessary) */
/* Re-enable timer or interrupt here */
/* Set model inputs here */
/* Step the model */
BLDC_controller_step(rtM);
/* Get model outputs here */
/* Indicate task complete */
OverrunFlag = false;
/* Disable interrupts here */
/* Restore FPU context here (if necessary) */
/* Enable interrupts here */
}
/*
* The example "main" function illustrates what is required by your
* application code to initialize, execute, and terminate the generated code.
* Attaching rt_OneStep to a real-time clock is target specific. This example
* illustrates how you do this relative to initializing the model.
*/
int_T main(int_T argc, const char *argv[])
{
RT_MODEL *const rtM = rtMPtr;
/* Unused arguments */
(void)(argc);
(void)(argv);
/* Pack model data into RTM */
rtM->defaultParam = &rtP;
rtM->dwork = &rtDW;
rtM->inputs = &rtU;
rtM->outputs = &rtY;
/* Initialize model */
BLDC_controller_initialize(rtM);
/* Attach rt_OneStep to a timer or interrupt service routine with
* period 6.0E-5 seconds (the model's base sample time) here. The
* call syntax for rt_OneStep is
*
* rt_OneStep(rtM);
*/
printf("Warning: The simulation will run forever. "
"Generated ERT main won't simulate model step behavior. "
"To change this behavior select the 'MAT-file logging' option.\n");
fflush((NULL));
while (1) {
/* Perform other application tasks here */
}
/* The option 'Remove error status field in real-time model data structure'
* is selected, therefore the following code does not need to execute.
*/
#if 0
/* Disable rt_OneStep() here */
#endif
return 0;
}
/*
* File trailer for generated code.
*
* [EOF]
*/

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162
BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10035_d.json → BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10035_d.json
View File

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