forked from lucysrausch/hoverboard-firmware-hack
► Improved controller: faster and better overall
- the controller is faster and more light in memory footprint - motor control is now done intependenly using Reusable code generation setting in Simulink - fixed bug when chaging direction fast
This commit is contained in:
EmanuelFeru
@@ -7,9 +7,9 @@
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*
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* Code generated for Simulink model 'BLDC_controller'.
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*
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* Model version : 1.817
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* Model version : 1.877
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* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
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* C/C++ source code generated on : Tue May 28 19:55:33 2019
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* C/C++ source code generated on : Wed Jun 5 22:29:28 2019
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex
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@@ -23,185 +23,75 @@
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#include "BLDC_controller.h"
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/* Block parameters (auto storage) */
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P rtP = {
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/* Variable: cf_speedCoef
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* Referenced by:
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* '<S28>/cf_spdCoef'
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* '<S66>/cf_spdCoef'
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*/
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66667,
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/* Variable: n_commAcvLo
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* Referenced by:
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* '<S15>/Relay'
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* '<S53>/Relay'
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*/
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100,
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/* Variable: n_commDeacvHi
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* Referenced by:
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* '<S15>/Relay'
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* '<S53>/Relay'
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*/
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180,
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/* Variable: r_commDCDeacv
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* Referenced by:
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* '<S15>/r_commDCDeacv'
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* '<S53>/r_commDCDeacv'
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*/
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70,
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/* Variable: r_phaAdvDC_XA
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* Referenced by:
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* '<S13>/r_phaAdvDC_XA'
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* '<S51>/r_phaAdvDC_XA'
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*/
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{ 0, 100, 200, 300, 400, 500, 600, 700, 800, 900, 1000 },
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/* Variable: a_phaAdv_M1
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* Referenced by:
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* '<S13>/a_phaAdv_M2'
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* '<S51>/a_phaAdv_M2'
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*/
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{ 0, 0, 7, 2, 2, 2, 4, 5, 9, 16, 25 },
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/* Variable: z_maxCntRst
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* Referenced by:
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* '<S23>/z_maxCntRst'
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* '<S23>/z_maxCntRst1'
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* '<S23>/z_maxCntRst2'
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* '<S23>/z_counter2'
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* '<S61>/z_maxCntRst'
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* '<S61>/z_maxCntRst1'
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* '<S61>/z_maxCntRst2'
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* '<S61>/z_counter2'
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* '<S28>/z_maxCntRst'
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* '<S66>/z_maxCntRst'
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*/
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2000,
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/* Variable: z_ctrlTypSel
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* Referenced by:
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* '<S12>/z_ctrlTypSel1'
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* '<S50>/z_ctrlTypSel1'
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*/
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3U,
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/* Variable: z_nrEdgeSpdAcv
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* Referenced by:
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* '<S23>/z_nrEdgeSpdAcv'
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* '<S61>/z_nrEdgeSpdAcv'
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*/
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3U,
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/* Variable: b_phaAdvEna
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* Referenced by:
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* '<S13>/a_elecPeriod1'
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* '<S51>/a_elecPeriod1'
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*/
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1
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};
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/* Constant parameters (auto storage) */
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const ConstP rtConstP = {
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/* Pooled Parameter (Expression: r_trapPhaA_M1)
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* Referenced by:
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* '<S41>/r_trapPhaA_M1'
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* '<S79>/r_trapPhaA_M1'
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/* Computed Parameter: r_trapPhaA_M1_Table
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* Referenced by: '<S18>/r_trapPhaA_M1'
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*/
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{ 1000, 1000, 1000, -1000, -1000, -1000, 1000 },
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/* Pooled Parameter (Expression: r_trapPhaB_M1)
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* Referenced by:
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* '<S41>/r_trapPhaB_M1'
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* '<S79>/r_trapPhaB_M1'
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/* Computed Parameter: r_trapPhaB_M1_Table
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* Referenced by: '<S18>/r_trapPhaB_M1'
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*/
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{ -1000, -1000, 1000, 1000, 1000, -1000, -1000 },
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/* Pooled Parameter (Expression: r_trapPhaC_M1)
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* Referenced by:
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* '<S41>/r_trapPhaC_M1'
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* '<S79>/r_trapPhaC_M1'
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/* Computed Parameter: r_trapPhaC_M1_Table
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* Referenced by: '<S18>/r_trapPhaC_M1'
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*/
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{ 1000, -1000, -1000, -1000, 1000, 1000, 1000 },
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/* Pooled Parameter (Expression: r_sinPhaA_M1)
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* Referenced by:
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* '<S43>/r_sinPhaA_M1'
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* '<S81>/r_sinPhaA_M1'
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/* Computed Parameter: r_sinPhaA_M1_Table
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* Referenced by: '<S19>/r_sinPhaA_M1'
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*/
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{ 500, 643, 766, 866, 940, 985, 1000, 985, 940, 866, 766, 643, 500, 342, 174,
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0, -174, -342, -500, -643, -766, -866, -940, -985, -1000, -985, -940, -866,
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-766, -643, -500, -342, -174, 0, 174, 342, 500 },
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/* Pooled Parameter (Expression: r_sinPhaB_M1)
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* Referenced by:
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* '<S43>/r_sinPhaB_M1'
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* '<S81>/r_sinPhaB_M1'
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/* Computed Parameter: r_sinPhaB_M1_Table
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* Referenced by: '<S19>/r_sinPhaB_M1'
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*/
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{ -1000, -985, -940, -866, -766, -643, -500, -342, -174, 0, 174, 342, 500, 643,
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766, 866, 940, 985, 1000, 985, 940, 866, 766, 643, 500, 342, 174, 0, -174,
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-342, -500, -643, -766, -866, -940, -985, -1000 },
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/* Pooled Parameter (Expression: r_sinPhaC_M1)
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* Referenced by:
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* '<S43>/r_sinPhaC_M1'
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* '<S81>/r_sinPhaC_M1'
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/* Computed Parameter: r_sinPhaC_M1_Table
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* Referenced by: '<S19>/r_sinPhaC_M1'
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*/
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{ 500, 342, 174, 0, -174, -342, -500, -643, -766, -866, -940, -985, -1000,
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-985, -940, -866, -766, -643, -500, -342, -174, 0, 174, 342, 500, 643, 766,
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866, 940, 985, 1000, 985, 940, 866, 766, 643, 500 },
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/* Pooled Parameter (Expression: r_sin3PhaA_M1)
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* Referenced by:
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* '<S42>/r_sin3PhaA_M1'
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* '<S80>/r_sin3PhaA_M1'
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/* Computed Parameter: r_sin3PhaA_M1_Table
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* Referenced by: '<S20>/r_sin3PhaA_M1'
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*/
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{ 795, 930, 991, 996, 971, 942, 930, 942, 971, 996, 991, 930, 795, 584, 310, 0,
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-310, -584, -795, -930, -991, -996, -971, -942, -930, -942, -971, -996, -991,
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-930, -795, -584, -310, 0, 310, 584, 795 },
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/* Pooled Parameter (Expression: r_sin3PhaB_M1)
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* Referenced by:
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* '<S42>/r_sin3PhaB_M1'
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* '<S80>/r_sin3PhaB_M1'
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/* Computed Parameter: r_sin3PhaB_M1_Table
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* Referenced by: '<S20>/r_sin3PhaB_M1'
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*/
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{ -930, -942, -971, -996, -991, -930, -795, -584, -310, 0, 310, 584, 795, 930,
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991, 996, 971, 942, 930, 942, 971, 996, 991, 930, 795, 584, 310, 0, -310,
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-584, -795, -930, -991, -996, -971, -942, -930 },
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/* Pooled Parameter (Expression: r_sin3PhaC_M1)
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* Referenced by:
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* '<S42>/r_sin3PhaC_M1'
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* '<S80>/r_sin3PhaC_M1'
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/* Computed Parameter: r_sin3PhaC_M1_Table
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* Referenced by: '<S20>/r_sin3PhaC_M1'
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*/
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{ 795, 584, 310, 0, -310, -584, -795, -930, -991, -996, -971, -942, -930, -942,
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-971, -996, -991, -930, -795, -584, -310, 0, 310, 584, 795, 930, 991, 996,
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971, 942, 930, 942, 971, 996, 991, 930, 795 },
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/* Pooled Parameter (Expression: z_commutMap_M1)
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* Referenced by:
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* '<S15>/z_commutMap_M1'
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* '<S53>/z_commutMap_M1'
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/* Computed Parameter: z_commutMap_M1_table
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* Referenced by: '<S10>/z_commutMap_M1'
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*/
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{ 1000, -1000, 0, 1000, 0, -1000, 0, 1000, -1000, -1000, 1000, 0, -1000, 0,
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1000, 0, -1000, 1000 },
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/* Pooled Parameter (Expression: vec_hallToPos)
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* Referenced by:
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* '<S21>/vec_hallToPos'
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* '<S59>/vec_hallToPos'
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/* Computed Parameter: vec_hallToPos_Value
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* Referenced by: '<S12>/vec_hallToPos'
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*/
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{ 0U, 5U, 3U, 4U, 1U, 0U, 2U, 0U },
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/* Pooled Parameter (Expression: [0 1;1 0;0 1;0 1;1 0;1 0;0 0;0 0])
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* Referenced by:
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* '<S29>/Logic'
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* '<S67>/Logic'
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*/
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{ 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0 }
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{ 0, 5, 3, 4, 1, 0, 2, 0 }
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};
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/*
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