EFeru/hoverboard-firmware-hack-SIN
1
0
Fork 0
forked from lucysrausch/hoverboard-firmware-hack
Code Pull Requests Activity

► New BLDC control

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files

83
01_Matlab/BLDC_controller_ert_rtw/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
@@ -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' */