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Code Pull Requests Activity

► New BLDC control

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- auto-code regenerated
This commit is contained in:
EmanuelFeru
2019-06-06 22:05:57 +02:00
parent fe4bd76d7e
commit b90a2503b4
71 changed files with 9025 additions and 8864 deletions
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01_Matlab/01_Libraries/01_Controller/BLDC_controller_Lib.slx
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01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.c
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@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.877
* Model version : 1.879
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
* C/C++ source code generated on : Thu Jun 6 17:49:29 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
@ -154,15 +154,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
ExtU *rtU = (ExtU *) rtM->inputs;
ExtY *rtY = (ExtY *) rtM->outputs;
uint8_T rtb_Sum;
int32_T rtb_Sum2;
int32_T rtb_Abs1;
uint8_T rtb_BitwiseOperator;
int32_T rtb_Sum2;
int16_T rtb_Abs2;
int16_T rtb_Sum1_a;
int32_T rtb_Abs5;
int8_T rtAction;
int8_T rtb_Sum2_h;
uint32_T rtb_r_phaAdvDC_XA_o2;
int32_T rtb_Switch1_idx_0;
int32_T rtb_Switch1_idx_1;
/* Outputs for Atomic SubSystem: '<Root>/BLDC_controller' */
@ -176,6 +176,17 @@ void BLDC_controller_step(RT_MODEL *const rtM)
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);
/* Abs: '<S2>/Abs1' incorporates:
* Inport: '<Root>/r_DC'
*/
if (rtU->r_DC < 0) {
rtb_Abs1 = -rtU->r_DC;
} else {
rtb_Abs1 = rtU->r_DC;
}
/* End of Abs: '<S2>/Abs1' */
/* S-Function (sfix_bitop): '<S11>/Bitwise Operator' incorporates:
* Inport: '<Root>/b_hallA '
* Inport: '<Root>/b_hallB'
@ -411,19 +422,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Outport: '<Root>/a_elecAngle'
*/
if (rtP->b_phaAdvEna) {
/* Abs: '<S8>/Abs2' incorporates:
* Inport: '<Root>/r_DC'
*/
if (rtU->r_DC < 0) {
rtb_Switch1_idx_0 = -rtU->r_DC;
} else {
rtb_Switch1_idx_0 = rtU->r_DC;
}
/* End of Abs: '<S8>/Abs2' */
/* PreLookup: '<S8>/r_phaAdvDC_XA' */
rtb_BitwiseOperator = plook_u8s32u32n31_evenc_s(rtb_Switch1_idx_0,
rtb_BitwiseOperator = plook_u8s32u32n31_evenc_s(rtb_Abs1,
rtP->r_phaAdvDC_XA[0], (uint32_T)rtP->r_phaAdvDC_XA[1] -
rtP->r_phaAdvDC_XA[0], 10U, &rtb_r_phaAdvDC_XA_o2);
@ -435,11 +435,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Outport: '<Root>/a_elecAngle'
* Product: '<S8>/Product2'
*/
rtb_Switch1_idx_0 = (int16_T)(rtb_Abs2 * rtDW->Switch2) + rtY->a_elecAngle;
rtb_Abs5 = (int16_T)(rtb_Abs2 * rtDW->Switch2) + rtY->a_elecAngle;
/* Math: '<S8>/Math Function' */
rtDW->Switch_PhaAdv = rtb_Switch1_idx_0 - div_nde_s32_floor
(rtb_Switch1_idx_0, 360) * 360;
rtDW->Switch_PhaAdv = rtb_Abs5 - div_nde_s32_floor(rtb_Abs5, 360) * 360;
} else {
rtDW->Switch_PhaAdv = rtY->a_elecAngle;
}
@ -526,20 +525,6 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of SwitchCase: '<S9>/Switch Case' */
/* Abs: '<S14>/Abs1' incorporates:
* Inport: '<Root>/r_DC'
* Signum: '<S14>/Sign1'
*/
if (rtU->r_DC < 0) {
rtb_Switch1_idx_0 = -rtU->r_DC;
rtb_Switch1_idx_1 = -1;
} else {
rtb_Switch1_idx_0 = rtU->r_DC;
rtb_Switch1_idx_1 = (rtU->r_DC > 0);
}
/* End of Abs: '<S14>/Abs1' */
/* Signum: '<S14>/Sign' */
if (rtDW->Switch2 < 0) {
rtb_Sum2_h = -1;
@ -549,6 +534,17 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of Signum: '<S14>/Sign' */
/* Signum: '<S14>/Sign1' incorporates:
* Inport: '<Root>/r_DC'
*/
if (rtU->r_DC < 0) {
rtb_Abs5 = -1;
} else {
rtb_Abs5 = (rtU->r_DC > 0);
}
/* End of Signum: '<S14>/Sign1' */
/* Switch: '<S10>/Switch1' incorporates:
* Constant: '<S12>/vec_hallToPos'
* Constant: '<S14>/CTRL_COMM'
@ -569,12 +565,11 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* About '<S10>/z_commutMap_M1':
* 2-dimensional Direct Look-Up returning a Column
*/
if ((rtP->z_ctrlTypSel != 0) && (rtb_Switch1_idx_0 > rtP->r_commDCDeacv) &&
(rtb_Sum2_h == rtb_Switch1_idx_1) && rtDW->n_commDeacv_Mode &&
(!rtDW->dz_counter_Mode)) {
rtb_Switch1_idx_0 = rtU->r_DC * rtDW->Merge;
if ((rtP->z_ctrlTypSel != 0) && (rtb_Abs1 > rtP->r_commDCDeacv) && (rtb_Sum2_h
== rtb_Abs5) && rtDW->n_commDeacv_Mode && (!rtDW->dz_counter_Mode)) {
rtb_Abs5 = rtU->r_DC * rtDW->Merge;
rtb_Switch1_idx_1 = rtU->r_DC * rtDW->Merge1;
rtb_Abs5 = rtU->r_DC * rtDW->Merge2;
rtb_Abs1 = rtU->r_DC * rtDW->Merge2;
} else {
if (rtConstP.vec_hallToPos_Value[rtb_Sum] > 5) {
/* LookupNDDirect: '<S10>/z_commutMap_M1'
@ -608,10 +603,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* About '<S10>/z_commutMap_M1':
* 2-dimensional Direct Look-Up returning a Column
*/
rtb_Abs5 = rtb_Sum2_h * 3;
rtb_Switch1_idx_0 = rtU->r_DC * rtConstP.z_commutMap_M1_table[rtb_Abs5];
rtb_Switch1_idx_1 = rtConstP.z_commutMap_M1_table[1 + rtb_Abs5] * rtU->r_DC;
rtb_Abs5 = rtConstP.z_commutMap_M1_table[2 + rtb_Abs5] * rtU->r_DC;
rtb_Abs1 = rtb_Sum2_h * 3;
rtb_Abs5 = rtU->r_DC * rtConstP.z_commutMap_M1_table[rtb_Abs1];
rtb_Switch1_idx_1 = rtConstP.z_commutMap_M1_table[1 + rtb_Abs1] * rtU->r_DC;
rtb_Abs1 = rtConstP.z_commutMap_M1_table[2 + rtb_Abs1] * rtU->r_DC;
}
/* End of Switch: '<S10>/Switch1' */
@ -620,7 +615,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Constant: '<S10>/Constant1'
* Product: '<S10>/Divide1'
*/
rtY->DC_phaA = rtb_Switch1_idx_0 / 1000;
rtY->DC_phaA = rtb_Abs5 / 1000;
/* Outport: '<Root>/DC_phaB' incorporates:
* Constant: '<S10>/Constant1'
@ -656,7 +651,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Constant: '<S10>/Constant1'
* Product: '<S10>/Divide1'
*/
rtY->DC_phaC = rtb_Abs5 / 1000;
rtY->DC_phaC = rtb_Abs1 / 1000;
/* End of Outputs for SubSystem: '<Root>/BLDC_controller' */

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01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.h
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@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.877
* Model version : 1.879
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
* C/C++ source code generated on : Thu Jun 6 17:49:29 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

4
01_Matlab/BLDC_controller_ert_rtw/BLDC_controller_data.c
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@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.877
* Model version : 1.879
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
* C/C++ source code generated on : Thu Jun 6 17:49:29 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

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01_Matlab/BLDC_controller_ert_rtw/buildInfo.mat
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01_Matlab/BLDC_controller_ert_rtw/codeInfo.mat
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01_Matlab/BLDC_controller_ert_rtw/codedescriptor.dmr
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01_Matlab/BLDC_controller_ert_rtw/ert_main.c
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@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.877
* Model version : 1.879
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
* C/C++ source code generated on : Thu Jun 6 17:49:29 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

999
01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_c.html
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01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_data_c.html
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@ -21,9 +21,9 @@
</span><span><a class="LN" name="7"> 7 </a><span class="CT"> *</span>
</span><span><a class="LN" name="8"> 8 </a><span class="CT"> * Code generated for Simulink model 'BLDC_controller'.</span>
</span><span><a class="LN" name="9"> 9 </a><span class="CT"> *</span>
</span><span><a class="LN" name="10"> 10 </a><span class="CT"> * Model version : 1.877</span>
</span><span><a class="LN" name="10"> 10 </a><span class="CT"> * Model version : 1.879</span>
</span><span><a class="LN" name="11"> 11 </a><span class="CT"> * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017</span>
</span><span><a class="LN" name="12"> 12 </a><span class="CT"> * C/C++ source code generated on : Wed Jun 5 22:29:28 2019</span>
</span><span><a class="LN" name="12"> 12 </a><span class="CT"> * C/C++ source code generated on : Thu Jun 6 17:49:29 2019</span>
</span><span><a class="LN" name="13"> 13 </a><span class="CT"> *</span>
</span><span><a class="LN" name="14"> 14 </a><span class="CT"> * Target selection: ert.tlc</span>
</span><span><a class="LN" name="15"> 15 </a><span class="CT"> * Embedded hardware selection: ARM Compatible-&gt;ARM Cortex</span>

4
01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_h.html
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@ -21,9 +21,9 @@
</span><span><a class="LN" name="7"> 7 </a><span class="CT"> *</span>
</span><span><a class="LN" name="8"> 8 </a><span class="CT"> * Code generated for Simulink model 'BLDC_controller'.</span>
</span><span><a class="LN" name="9"> 9 </a><span class="CT"> *</span>
</span><span><a class="LN" name="10"> 10 </a><span class="CT"> * Model version : 1.877</span>
</span><span><a class="LN" name="10"> 10 </a><span class="CT"> * Model version : 1.879</span>
</span><span><a class="LN" name="11"> 11 </a><span class="CT"> * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017</span>
</span><span><a class="LN" name="12"> 12 </a><span class="CT"> * C/C++ source code generated on : Wed Jun 5 22:29:28 2019</span>
</span><span><a class="LN" name="12"> 12 </a><span class="CT"> * C/C++ source code generated on : Thu Jun 6 17:49:29 2019</span>
</span><span><a class="LN" name="13"> 13 </a><span class="CT"> *</span>
</span><span><a class="LN" name="14"> 14 </a><span class="CT"> * Target selection: ert.tlc</span>
</span><span><a class="LN" name="15"> 15 </a><span class="CT"> * Embedded hardware selection: ARM Compatible-&gt;ARM Cortex</span>

24
01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_metrics.html
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@ -100,7 +100,7 @@ Function Information
:
</td>
<td width="4%" align="right" valign="top">
408
404
</td>
<td width="86%" align="right" valign="top">
&#160;
@ -115,7 +115,7 @@ Function Information
:
</td>
<td width="4%" align="right" valign="top">
1,155
1,150
</td>
<td width="86%" align="right" valign="top">
&#160;
@ -169,13 +169,13 @@ BLDC_controller.c
</td>
<td width="22%" align="right" valign="top" style="border-style: none">
258
254
</td>
<td width="22%" align="right" valign="top" style="border-style: none">
698
693
</td>
<td width="22%" align="right" valign="top" style="border-style: none">
06/05/2019 10:29 PM
06/06/2019 5:49 PM
</td>
</tr>
@ -193,7 +193,7 @@ BLDC_controller.h
246
</td>
<td width="22%" align="right" valign="top" style="border-style: none">
06/05/2019 10:29 PM
06/06/2019 5:49 PM
</td>
</tr>
@ -211,7 +211,7 @@ rtwtypes.h
109
</td>
<td width="22%" align="right" valign="top" style="border-style: none">
06/05/2019 10:29 PM
06/06/2019 5:49 PM
</td>
</tr>
@ -229,7 +229,7 @@ BLDC_controller_data.c
102
</td>
<td width="22%" align="right" valign="top" style="border-style: none">
06/05/2019 10:29 PM
06/06/2019 5:49 PM
</td>
</tr>
@ -448,10 +448,10 @@ BLDC_controller_step
60
</td>
<td width="12%" align="right" valign="top" style="border-style: none">
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</td>
<td width="12%" align="right" valign="top" style="border-style: none">
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</td>
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@ -760,10 +760,10 @@ BLDC_controller_step
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</td>
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185
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</td>
<td width="11%" align="right" valign="top" style="border-style: none">
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01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_sid_map.js
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@ -36,6 +36,7 @@ function RTW_SidParentMap() {
this.sidParentMap["BLDCmotorControl_R2017b:2687:3"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:4"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:5"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1660"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:6"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:215"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:282"] = "BLDCmotorControl_R2017b:2687";
@ -43,6 +44,7 @@ function RTW_SidParentMap() {
this.sidParentMap["BLDCmotorControl_R2017b:2687:416"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:417"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1379"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1667"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:418"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:419"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:420"] = "BLDCmotorControl_R2017b:2687";
@ -60,6 +62,7 @@ function RTW_SidParentMap() {
this.sidParentMap["BLDCmotorControl_R2017b:2687:431"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:432"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:433"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1659"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:434"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:457"] = "BLDCmotorControl_R2017b:2687";
this.sidParentMap["BLDCmotorControl_R2017b:2687:589"] = "BLDCmotorControl_R2017b:2687";
@ -80,6 +83,7 @@ function RTW_SidParentMap() {
this.sidParentMap["BLDCmotorControl_R2017b:2687:8"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:9"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1375"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1661"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:26"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:10"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:38"] = "BLDCmotorControl_R2017b:2687:6";
@ -93,6 +97,7 @@ function RTW_SidParentMap() {
this.sidParentMap["BLDCmotorControl_R2017b:2687:184"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1633"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1482"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1666"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1382"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:186"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:187"] = "BLDCmotorControl_R2017b:2687:6";
@ -106,6 +111,7 @@ function RTW_SidParentMap() {
this.sidParentMap["BLDCmotorControl_R2017b:2687:195"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:196"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:197"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1662"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:198"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1376"] = "BLDCmotorControl_R2017b:2687:6";
this.sidParentMap["BLDCmotorControl_R2017b:2687:199"] = "BLDCmotorControl_R2017b:2687:6";
@ -132,7 +138,6 @@ function RTW_SidParentMap() {
this.sidParentMap["BLDCmotorControl_R2017b:2687:1460"] = "BLDCmotorControl_R2017b:2687:215";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1461"] = "BLDCmotorControl_R2017b:2687:215";
this.sidParentMap["BLDCmotorControl_R2017b:2687:221"] = "BLDCmotorControl_R2017b:2687:215";
this.sidParentMap["BLDCmotorControl_R2017b:2687:595"] = "BLDCmotorControl_R2017b:2687:215";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1464"] = "BLDCmotorControl_R2017b:2687:215";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1465"] = "BLDCmotorControl_R2017b:2687:215";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1466"] = "BLDCmotorControl_R2017b:2687:215";
@ -291,11 +296,11 @@ function RTW_SidParentMap() {
this.sidParentMap["BLDCmotorControl_R2017b:2687:57"] = "BLDCmotorControl_R2017b:2687:38";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1632"] = "BLDCmotorControl_R2017b:2687:38";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1373"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1663"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1370"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:60"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:61"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1629"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1319"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1366"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1320"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1321"] = "BLDCmotorControl_R2017b:2687:59";
@ -310,10 +315,10 @@ function RTW_SidParentMap() {
this.sidParentMap["BLDCmotorControl_R2017b:2687:1641"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1642"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:86"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1665"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1380"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1455"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1361"] = "BLDCmotorControl_R2017b:2687:59";
this.sidParentMap["BLDCmotorControl_R2017b:2687:1322"] = "BLDCmotorControl_R2017b:2687:59";
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":2687:1517",
":2687:1323",
":2687:1322",
":2687:1401",
":2687:1372",
":2687:1455",
":2687:1380",
":2687:1641",
":2687:1630",
":2687:1642",
":2687:1523",
":2687:1486",
":2687:660",
":2687:1642",
":2687:1397",
":2687:1524",
":2687:1340",
":2687:1320",
":2687:972",
":2687:1395",
":2687:1525",
":2687:1321",
":2687:1329",
":2687:1629",
":2687:1366",
":2687:1518",
":2687:1370",
":2687:1339",
":2687:1373",
":2687:786",
":2687:1524",
":2687:1455",
":2687:1380",
":2687:1321",
":2687:1327",
":2687:1361",
":2687:1319",
":2687:1366",
":2687:1323",
":2687:1340",
":2687:1629",
":2687:1339",
":2687:1374",
":2687:1370",
":2687:1324",
":2687:1641",
":2687:1663",
":2687:1397",
":2687:1651",
":2687:1320",
":2687:1665",
":2687:1487",
":2687:1373",
":2687:1325",
":2687:1366#out:1",
":2687:1518#out:1",
@ -508,8 +519,7 @@
":2687:1324#out:1",
":2687:1320#out:1",
":2687:1321#out:1",
":2687:1319#out:1",
":2687:1322#out:1",
":2687:1665#out:1",
":2687:1329#out:1",
":2687:1325#out:1",
":2687:1339#out:1",
@ -540,7 +550,8 @@
":2687:1328#out:1",
":2687:1326#out:1",
":2687:1327#out:1",
":2687:1524#out:1"
":2687:1524#out:1",
":2687:1663#out:1"
],
"sameAsElement":true
},
@ -561,8 +572,8 @@
"elements":[
":2687:1359",
":2687:1358",
":2687:169",
":2687:1454",
":2687:169",
":2687:1344",
":2687:1341",
":2687:1341#out:1",
@ -594,33 +605,33 @@
":2687:1438",
":2687:1451",
":2687:1440",
":2687:1450",
":2687:1625",
":2687:1443",
":2687:1638",
":2687:1624",
":2687:1650",
":2687:1645",
":2687:1623",
":2687:1646",
":2687:1448",
":2687:1439",
":2687:1636",
":2687:1635",
":2687:1628",
":2687:1436",
":2687:1637",
":2687:1639",
":2687:1446",
":2687:1444",
":2687:1443",
":2687:1628",
":2687:1645",
":2687:1636",
":2687:1646",
":2687:1635",
":2687:1623",
":2687:1439",
":2687:1648",
":2687:1624",
":2687:1647",
":2687:1434",
":2687:1433",
":2687:1436",
":2687:1435",
":2687:1437",
":2687:1637",
":2687:1650",
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":2687:1437",
":2687:1435",
":2687:1627",
":2687:1439#out:1",
":2687:1448#out:1",
@ -674,8 +685,8 @@
":2687:1651:1622",
":2687:1651:1614",
":2687:1651:1620",
":2687:1651:1618",
":2687:1651:1616",
":2687:1651:1618",
":2687:1651:1620#out:1",
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":2687:1651:1616#out:1",
@ -734,7 +745,6 @@
":2687:545",
":2687:543",
":2687:578",
":2687:595",
":2687:623",
":2687:1460",
":2687:1462",
@ -775,7 +785,6 @@
":2687:545#out:1",
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":2687:595#out:1",
":2687:547#out:1",
":2687:623#out:1",
":2687:546#out:1",

4
01_Matlab/BLDC_controller_ert_rtw/rtwtypes.h
View File

@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.877
* Model version : 1.879
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
* C/C++ source code generated on : Thu Jun 6 17:49:29 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

BIN
01_Matlab/BLDC_controller_ert_rtw/rtwtypeschksum.mat
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BIN
01_Matlab/BLDCmotorControl_R2017b.slx
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4
Inc/BLDC_controller.h
View File

@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.877
* Model version : 1.879
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
* C/C++ source code generated on : Thu Jun 6 17:49:29 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

4
Inc/rtwtypes.h
View File

@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.877
* Model version : 1.879
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
* C/C++ source code generated on : Thu Jun 6 17:49:29 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

85
Src/BLDC_controller.c
View File

@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.877
* Model version : 1.879
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
* C/C++ source code generated on : Thu Jun 6 17:49:29 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
@ -26,6 +26,8 @@
#include <limits.h>
#endif
#define static static inline
#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 \
@ -154,15 +156,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
ExtU *rtU = (ExtU *) rtM->inputs;
ExtY *rtY = (ExtY *) rtM->outputs;
uint8_T rtb_Sum;
int32_T rtb_Sum2;
int32_T rtb_Abs1;
uint8_T rtb_BitwiseOperator;
int32_T rtb_Sum2;
int16_T rtb_Abs2;
int16_T rtb_Sum1_a;
int32_T rtb_Abs5;
int8_T rtAction;
int8_T rtb_Sum2_h;
uint32_T rtb_r_phaAdvDC_XA_o2;
int32_T rtb_Switch1_idx_0;
int32_T rtb_Switch1_idx_1;
/* Outputs for Atomic SubSystem: '<Root>/BLDC_controller' */
@ -176,6 +178,17 @@ void BLDC_controller_step(RT_MODEL *const rtM)
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);
/* Abs: '<S2>/Abs1' incorporates:
* Inport: '<Root>/r_DC'
*/
if (rtU->r_DC < 0) {
rtb_Abs1 = -rtU->r_DC;
} else {
rtb_Abs1 = rtU->r_DC;
}
/* End of Abs: '<S2>/Abs1' */
/* S-Function (sfix_bitop): '<S11>/Bitwise Operator' incorporates:
* Inport: '<Root>/b_hallA '
* Inport: '<Root>/b_hallB'
@ -411,19 +424,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Outport: '<Root>/a_elecAngle'
*/
if (rtP->b_phaAdvEna) {
/* Abs: '<S8>/Abs2' incorporates:
* Inport: '<Root>/r_DC'
*/
if (rtU->r_DC < 0) {
rtb_Switch1_idx_0 = -rtU->r_DC;
} else {
rtb_Switch1_idx_0 = rtU->r_DC;
}
/* End of Abs: '<S8>/Abs2' */
/* PreLookup: '<S8>/r_phaAdvDC_XA' */
rtb_BitwiseOperator = plook_u8s32u32n31_evenc_s(rtb_Switch1_idx_0,
rtb_BitwiseOperator = plook_u8s32u32n31_evenc_s(rtb_Abs1,
rtP->r_phaAdvDC_XA[0], (uint32_T)rtP->r_phaAdvDC_XA[1] -
rtP->r_phaAdvDC_XA[0], 10U, &rtb_r_phaAdvDC_XA_o2);
@ -435,11 +437,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Outport: '<Root>/a_elecAngle'
* Product: '<S8>/Product2'
*/
rtb_Switch1_idx_0 = (int16_T)(rtb_Abs2 * rtDW->Switch2) + rtY->a_elecAngle;
rtb_Abs5 = (int16_T)(rtb_Abs2 * rtDW->Switch2) + rtY->a_elecAngle;
/* Math: '<S8>/Math Function' */
rtDW->Switch_PhaAdv = rtb_Switch1_idx_0 - div_nde_s32_floor
(rtb_Switch1_idx_0, 360) * 360;
rtDW->Switch_PhaAdv = rtb_Abs5 - div_nde_s32_floor(rtb_Abs5, 360) * 360;
} else {
rtDW->Switch_PhaAdv = rtY->a_elecAngle;
}
@ -526,20 +527,6 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of SwitchCase: '<S9>/Switch Case' */
/* Abs: '<S14>/Abs1' incorporates:
* Inport: '<Root>/r_DC'
* Signum: '<S14>/Sign1'
*/
if (rtU->r_DC < 0) {
rtb_Switch1_idx_0 = -rtU->r_DC;
rtb_Switch1_idx_1 = -1;
} else {
rtb_Switch1_idx_0 = rtU->r_DC;
rtb_Switch1_idx_1 = (rtU->r_DC > 0);
}
/* End of Abs: '<S14>/Abs1' */
/* Signum: '<S14>/Sign' */
if (rtDW->Switch2 < 0) {
rtb_Sum2_h = -1;
@ -549,6 +536,17 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of Signum: '<S14>/Sign' */
/* Signum: '<S14>/Sign1' incorporates:
* Inport: '<Root>/r_DC'
*/
if (rtU->r_DC < 0) {
rtb_Abs5 = -1;
} else {
rtb_Abs5 = (rtU->r_DC > 0);
}
/* End of Signum: '<S14>/Sign1' */
/* Switch: '<S10>/Switch1' incorporates:
* Constant: '<S12>/vec_hallToPos'
* Constant: '<S14>/CTRL_COMM'
@ -569,12 +567,11 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* About '<S10>/z_commutMap_M1':
* 2-dimensional Direct Look-Up returning a Column
*/
if ((rtP->z_ctrlTypSel != 0) && (rtb_Switch1_idx_0 > rtP->r_commDCDeacv) &&
(rtb_Sum2_h == rtb_Switch1_idx_1) && rtDW->n_commDeacv_Mode &&
(!rtDW->dz_counter_Mode)) {
rtb_Switch1_idx_0 = rtU->r_DC * rtDW->Merge;
if ((rtP->z_ctrlTypSel != 0) && (rtb_Abs1 > rtP->r_commDCDeacv) && (rtb_Sum2_h
== rtb_Abs5) && rtDW->n_commDeacv_Mode && (!rtDW->dz_counter_Mode)) {
rtb_Abs5 = rtU->r_DC * rtDW->Merge;
rtb_Switch1_idx_1 = rtU->r_DC * rtDW->Merge1;
rtb_Abs5 = rtU->r_DC * rtDW->Merge2;
rtb_Abs1 = rtU->r_DC * rtDW->Merge2;
} else {
if (rtConstP.vec_hallToPos_Value[rtb_Sum] > 5) {
/* LookupNDDirect: '<S10>/z_commutMap_M1'
@ -608,10 +605,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* About '<S10>/z_commutMap_M1':
* 2-dimensional Direct Look-Up returning a Column
*/
rtb_Abs5 = rtb_Sum2_h * 3;
rtb_Switch1_idx_0 = rtU->r_DC * rtConstP.z_commutMap_M1_table[rtb_Abs5];
rtb_Switch1_idx_1 = rtConstP.z_commutMap_M1_table[1 + rtb_Abs5] * rtU->r_DC;
rtb_Abs5 = rtConstP.z_commutMap_M1_table[2 + rtb_Abs5] * rtU->r_DC;
rtb_Abs1 = rtb_Sum2_h * 3;
rtb_Abs5 = rtU->r_DC * rtConstP.z_commutMap_M1_table[rtb_Abs1];
rtb_Switch1_idx_1 = rtConstP.z_commutMap_M1_table[1 + rtb_Abs1] * rtU->r_DC;
rtb_Abs1 = rtConstP.z_commutMap_M1_table[2 + rtb_Abs1] * rtU->r_DC;
}
/* End of Switch: '<S10>/Switch1' */
@ -620,7 +617,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Constant: '<S10>/Constant1'
* Product: '<S10>/Divide1'
*/
rtY->DC_phaA = rtb_Switch1_idx_0 / 1000;
rtY->DC_phaA = rtb_Abs5 / 1000;
/* Outport: '<Root>/DC_phaB' incorporates:
* Constant: '<S10>/Constant1'
@ -656,7 +653,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
* Constant: '<S10>/Constant1'
* Product: '<S10>/Divide1'
*/
rtY->DC_phaC = rtb_Abs5 / 1000;
rtY->DC_phaC = rtb_Abs1 / 1000;
/* End of Outputs for SubSystem: '<Root>/BLDC_controller' */

5
Src/BLDC_controller_data.c
View File

@ -7,9 +7,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.877
* Model version : 1.879
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
* C/C++ source code generated on : Thu Jun 6 17:49:29 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
@ -94,7 +94,6 @@ const ConstP rtConstP = {
{ 0, 5, 3, 4, 1, 0, 2, 0 }
};
/* Tunable parameters (auto storage) */
P rtP = {
/* Variable: cf_speedCoef
* Referenced by: '<S16>/cf_spdCoef'

11
Src/main.c
View File

@ -23,7 +23,6 @@
#include "defines.h"
#include "setup.h"
#include "config.h"
#include <stdlib.h>
//#include "hd44780.h"
// Matlab includes and defines - from auto-code generation
@ -31,8 +30,8 @@
#include "BLDC_controller.h" /* Model's header file */
#include "rtwtypes.h"
static RT_MODEL rtM_Left_; /* Real-time model */
static RT_MODEL rtM_Right_; /* Real-time model */
RT_MODEL rtM_Left_; /* Real-time model */
RT_MODEL rtM_Right_; /* Real-time model */
RT_MODEL *const rtM_Left = &rtM_Left_;
RT_MODEL *const rtM_Right = &rtM_Right_;
@ -263,9 +262,11 @@ int main(void) {
timeout = 0;
#endif
// Bypass - only for testing purposes
// cmd2 = cmd2-500;
// cmd1 = 0;
// ####### LOW-PASS FILTER #######
cmd2 = cmd2-500;
cmd1 = 0;
steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
speed = speed * (1.0 - FILTER) + cmd2 * FILTER;

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build/firmware.bin
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build/firmware.elf
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