From 3c8a035b2e4867f515ef709a8eaa0f4bbaeb15a1 Mon Sep 17 00:00:00 2001
From: EmanuelFeru <aerdronix@gmail.com>
Date: Sun, 11 Oct 2020 20:58:03 +0200
Subject: [PATCH] Updates on BLDC controller

- 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.
---
 .../01_Controller/BLDC_controller_Lib.slx     |   Bin 54790 -> 55618 bytes
 02_Figures/paramTable.png                     |   Bin 0 -> 68023 bytes
 03_CreateParamTable/create_tableParamType.m   |     6 +-
 03_CreateParamTable/tableParamType.xlsx       |   Bin 13164 -> 13383 bytes
 BLDC_controller_ert_rtw/BLDC_controller.c     |  3216 ++++
 BLDC_controller_ert_rtw/BLDC_controller.h     |   536 +
 .../BLDC_controller_data.c                    |   157 +
 BLDC_controller_ert_rtw/ert_main.c            |   354 +
 .../html/webview/support/slwebview.json       |    19 +-
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 ...rControl_FOC_R2017b_fixdt_9948_2395_d.json |   936 --
 ...> BLDCmotor_FOC_R2017b_fixdt_10035_d.json} |   162 +-
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 ...=> BLDCmotor_FOC_R2017b_fixdt_10035_d.svg} |   364 +-
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 .../BLDCmotor_FOC_R2017b_fixdt_10066_d.png    |   Bin 0 -> 8754 bytes
 ...=> BLDCmotor_FOC_R2017b_fixdt_10066_d.svg} |  3260 ++--
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 ...=> BLDCmotor_FOC_R2017b_fixdt_10364_d.svg} |  7392 +++++----
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 ...DCmotor_FOC_R2017b_fixdt_10454_2779_d.svg} |   458 +-
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 ...DCmotor_FOC_R2017b_fixdt_10454_2816_d.svg} |   448 +-
 ...> BLDCmotor_FOC_R2017b_fixdt_10454_d.json} |  1842 ++-
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 ...=> BLDCmotor_FOC_R2017b_fixdt_10454_d.svg} |  2569 +--
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 ...DCmotor_FOC_R2017b_fixdt_10455_2779_d.svg} |   462 +-
 ...Cmotor_FOC_R2017b_fixdt_10455_2791_d.json} |  1146 +-
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 ...DCmotor_FOC_R2017b_fixdt_10455_2816_d.png} |   Bin
 ...DCmotor_FOC_R2017b_fixdt_10455_2816_d.svg} |    76 +-
 ...> BLDCmotor_FOC_R2017b_fixdt_10455_d.json} |  1310 +-
 .../BLDCmotor_FOC_R2017b_fixdt_10455_d.png    |   Bin 0 -> 7766 bytes
 ...=> BLDCmotor_FOC_R2017b_fixdt_10455_d.svg} |  2233 +--
 ...> BLDCmotor_FOC_R2017b_fixdt_10507_d.json} |    68 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_10507_d.png} |   Bin
 .../BLDCmotor_FOC_R2017b_fixdt_10507_d.svg    |  1180 ++
 ...> BLDCmotor_FOC_R2017b_fixdt_10508_d.json} |    68 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_10508_d.png} |   Bin
 .../BLDCmotor_FOC_R2017b_fixdt_10508_d.svg    |  1180 ++
 ...> BLDCmotor_FOC_R2017b_fixdt_10566_d.json} |  1602 +-
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 ...=> BLDCmotor_FOC_R2017b_fixdt_10602_d.svg} |   910 +-
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 ...DCmotor_FOC_R2017b_fixdt_10746_2877_d.svg} |   176 +-
 ...DCmotor_FOC_R2017b_fixdt_10746_2895_d.json |   936 ++
 ...DCmotor_FOC_R2017b_fixdt_10746_2895_d.png} |   Bin
 ...LDCmotor_FOC_R2017b_fixdt_10746_2895_d.svg |  1180 ++
 ...> BLDCmotor_FOC_R2017b_fixdt_10746_d.json} |  1260 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_10746_d.png} |   Bin
 ...=> BLDCmotor_FOC_R2017b_fixdt_10746_d.svg} |   904 +-
 ...Cmotor_FOC_R2017b_fixdt_10808_2877_d.json} |   376 +-
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 ...DCmotor_FOC_R2017b_fixdt_10808_2877_d.svg} |   198 +-
 ...DCmotor_FOC_R2017b_fixdt_10808_2895_d.json |   936 ++
 ...DCmotor_FOC_R2017b_fixdt_10808_2895_d.png} |   Bin
 ...LDCmotor_FOC_R2017b_fixdt_10808_2895_d.svg |  1180 ++
 ...> BLDCmotor_FOC_R2017b_fixdt_10808_d.json} |   988 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_10808_d.png} |   Bin
 ...=> BLDCmotor_FOC_R2017b_fixdt_10808_d.svg} |  1068 +-
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 ...LDCmotor_FOC_R2017b_fixdt_10828_2779_d.svg |   489 +
 ...Cmotor_FOC_R2017b_fixdt_10828_2791_d.json} |   530 +-
 ...DCmotor_FOC_R2017b_fixdt_10828_2791_d.png} |   Bin
 ...DCmotor_FOC_R2017b_fixdt_10828_2791_d.svg} |  1242 +-
 ...Cmotor_FOC_R2017b_fixdt_10828_2816_d.json} |   314 +-
 ...DCmotor_FOC_R2017b_fixdt_10828_2816_d.png} |   Bin
 ...DCmotor_FOC_R2017b_fixdt_10828_2816_d.svg} |   538 +-
 ...> BLDCmotor_FOC_R2017b_fixdt_10828_d.json} |  1886 ++-
 .../BLDCmotor_FOC_R2017b_fixdt_10828_d.png    |   Bin 0 -> 7778 bytes
 ...=> BLDCmotor_FOC_R2017b_fixdt_10828_d.svg} |  2169 +--
 .../BLDCmotor_FOC_R2017b_fixdt_10829_d.json   |   936 ++
 ...=> BLDCmotor_FOC_R2017b_fixdt_10829_d.png} |   Bin
 ...=> BLDCmotor_FOC_R2017b_fixdt_10829_d.svg} |    58 +-
 .../BLDCmotor_FOC_R2017b_fixdt_11023_d.json   |  2949 ++++
 .../BLDCmotor_FOC_R2017b_fixdt_11023_d.png    |   Bin 0 -> 6931 bytes
 ...=> BLDCmotor_FOC_R2017b_fixdt_11023_d.svg} |  2364 ++-
 ...> BLDCmotor_FOC_R2017b_fixdt_11026_d.json} |   672 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_11026_d.png} |   Bin
 ...=> BLDCmotor_FOC_R2017b_fixdt_11026_d.svg} |   740 +-
 .../BLDCmotor_FOC_R2017b_fixdt_11041_d.json   |  1122 ++
 .../BLDCmotor_FOC_R2017b_fixdt_11041_d.png    |   Bin 0 -> 5647 bytes
 .../BLDCmotor_FOC_R2017b_fixdt_11041_d.svg    |   960 ++
 ...> BLDCmotor_FOC_R2017b_fixdt_11056_d.json} |   896 +-
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 ...=> BLDCmotor_FOC_R2017b_fixdt_11056_d.svg} |   954 +-
 ...> BLDCmotor_FOC_R2017b_fixdt_11151_d.json} |  1772 +-
 .../BLDCmotor_FOC_R2017b_fixdt_11151_d.png    |   Bin 0 -> 10131 bytes
 ...=> BLDCmotor_FOC_R2017b_fixdt_11151_d.svg} |  3143 ++--
 .../BLDCmotor_FOC_R2017b_fixdt_11159_d.json   |  3840 +++++
 .../BLDCmotor_FOC_R2017b_fixdt_11159_d.png    |   Bin 0 -> 8903 bytes
 ...=> BLDCmotor_FOC_R2017b_fixdt_11159_d.svg} |  4752 +++---
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 ...> BLDCmotor_FOC_R2017b_fixdt_11207_d.json} |    16 +-
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 ...=> BLDCmotor_FOC_R2017b_fixdt_11215_d.svg} |  1016 +-
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 ...Cmotor_FOC_R2017b_fixdt_11265_2342_d.json} |    52 +-
 ...DCmotor_FOC_R2017b_fixdt_11265_2342_d.png} |   Bin
 ...DCmotor_FOC_R2017b_fixdt_11265_2342_d.svg} |    34 +-
 ...DCmotor_FOC_R2017b_fixdt_11265_2395_d.json |   936 ++
 ...DCmotor_FOC_R2017b_fixdt_11265_2395_d.png} |   Bin
 ...DCmotor_FOC_R2017b_fixdt_11265_2395_d.svg} |    48 +-
 ...> BLDCmotor_FOC_R2017b_fixdt_11265_d.json} |   654 +-
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 ...> BLDCmotor_FOC_R2017b_fixdt_11267_d.json} |    20 +-
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 ...=> BLDCmotor_FOC_R2017b_fixdt_11267_d.svg} |    48 +-
 .../BLDCmotor_FOC_R2017b_fixdt_11357_d.json   |  1323 ++
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 .../BLDCmotor_FOC_R2017b_fixdt_11357_d.svg    |  1006 ++
 .../BLDCmotor_FOC_R2017b_fixdt_11408_d.json   |   693 +
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 .../BLDCmotor_FOC_R2017b_fixdt_11408_d.svg    |   523 +
 ...n => BLDCmotor_FOC_R2017b_fixdt_29_d.json} |  7558 +++++----
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 ...vg => BLDCmotor_FOC_R2017b_fixdt_29_d.svg} | 13776 ++++++++--------
 ...> BLDCmotor_FOC_R2017b_fixdt_29_icons.css} |     2 +-
 .../BLDCmotor_FOC_R2017b_fixdt_29_icons.png   |   Bin 0 -> 3300 bytes
 ...=> BLDCmotor_FOC_R2017b_fixdt_8220_d.json} |  3410 ++--
 .../BLDCmotor_FOC_R2017b_fixdt_8220_d.png     |   Bin 0 -> 14237 bytes
 ... => BLDCmotor_FOC_R2017b_fixdt_8220_d.svg} |  3251 ++--
 ...=> BLDCmotor_FOC_R2017b_fixdt_8225_d.json} |    60 +-
 .../BLDCmotor_FOC_R2017b_fixdt_8225_d.png     |   Bin 0 -> 7422 bytes
 ... => BLDCmotor_FOC_R2017b_fixdt_8225_d.svg} |    72 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_8235_d.json} |   154 +-
 ... => BLDCmotor_FOC_R2017b_fixdt_8235_d.png} |   Bin
 ... => BLDCmotor_FOC_R2017b_fixdt_8235_d.svg} |    42 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_8247_d.json} |   108 +-
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 ... => BLDCmotor_FOC_R2017b_fixdt_8247_d.svg} |    94 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_8263_d.json} |  4329 ++---
 .../BLDCmotor_FOC_R2017b_fixdt_8263_d.png     |   Bin 0 -> 8729 bytes
 ... => BLDCmotor_FOC_R2017b_fixdt_8263_d.svg} |  5342 +++---
 ...DCmotor_FOC_R2017b_fixdt_8272_2515_d.json} |    44 +-
 ...LDCmotor_FOC_R2017b_fixdt_8272_2515_d.png} |   Bin
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 ... => BLDCmotor_FOC_R2017b_fixdt_8272_d.svg} |    68 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_8314_d.json} |  3922 ++---
 .../BLDCmotor_FOC_R2017b_fixdt_8314_d.png     |   Bin 0 -> 8557 bytes
 ... => BLDCmotor_FOC_R2017b_fixdt_8314_d.svg} |  3958 ++---
 ...=> BLDCmotor_FOC_R2017b_fixdt_8384_d.json} |  1835 +-
 .../BLDCmotor_FOC_R2017b_fixdt_8384_d.png     |   Bin 0 -> 8133 bytes
 ... => BLDCmotor_FOC_R2017b_fixdt_8384_d.svg} |  1514 +-
 ...=> BLDCmotor_FOC_R2017b_fixdt_8469_d.json} |  3340 ++--
 .../BLDCmotor_FOC_R2017b_fixdt_8469_d.png     |   Bin 0 -> 6630 bytes
 ... => BLDCmotor_FOC_R2017b_fixdt_8469_d.svg} |  3958 ++---
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 create mode 100644 BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10455_2779_d.png
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 create mode 100644 BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11357_d.png
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 create mode 100644 BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8225_d.png
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 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_8738_d.json => BLDCmotor_FOC_R2017b_fixdt_8738_d.json} (88%)
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 create mode 100644 BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8913_d.png
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 create mode 100644 BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9143_d.png
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 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9198_d.json => BLDCmotor_FOC_R2017b_fixdt_9198_d.json} (86%)
 create mode 100644 BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9198_d.png
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9198_d.svg => BLDCmotor_FOC_R2017b_fixdt_9198_d.svg} (91%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9292_d.json => BLDCmotor_FOC_R2017b_fixdt_9292_d.json} (100%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9292_d.png => BLDCmotor_FOC_R2017b_fixdt_9292_d.png} (100%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9292_d.svg => BLDCmotor_FOC_R2017b_fixdt_9292_d.svg} (81%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9293_d.json => BLDCmotor_FOC_R2017b_fixdt_9293_d.json} (100%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9293_d.png => BLDCmotor_FOC_R2017b_fixdt_9293_d.png} (100%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9293_d.svg => BLDCmotor_FOC_R2017b_fixdt_9293_d.svg} (81%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9741_d.json => BLDCmotor_FOC_R2017b_fixdt_9741_d.json} (88%)
 create mode 100644 BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9741_d.png
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9741_d.svg => BLDCmotor_FOC_R2017b_fixdt_9741_d.svg} (95%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9743_d.json => BLDCmotor_FOC_R2017b_fixdt_9743_d.json} (87%)
 create mode 100644 BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9743_d.png
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9743_d.svg => BLDCmotor_FOC_R2017b_fixdt_9743_d.svg} (95%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9842_d.json => BLDCmotor_FOC_R2017b_fixdt_9842_d.json} (89%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9842_d.png => BLDCmotor_FOC_R2017b_fixdt_9842_d.png} (100%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9842_d.svg => BLDCmotor_FOC_R2017b_fixdt_9842_d.svg} (92%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9904_d.json => BLDCmotor_FOC_R2017b_fixdt_9904_d.json} (86%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9904_d.png => BLDCmotor_FOC_R2017b_fixdt_9904_d.png} (100%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_9904_d.svg => BLDCmotor_FOC_R2017b_fixdt_9904_d.svg} (93%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_h_1.json => BLDCmotor_FOC_R2017b_fixdt_h_1.json} (52%)
 rename BLDC_controller_ert_rtw/html/webview/support/slwebview_files/{BLDCmotorControl_FOC_R2017b_fixdt_m.json => BLDCmotor_FOC_R2017b_fixdt_m.json} (90%)
 create mode 100644 BLDC_controller_ert_rtw/rtwtypes.h

diff --git a/01_Libraries/01_Controller/BLDC_controller_Lib.slx b/01_Libraries/01_Controller/BLDC_controller_Lib.slx
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literal 0
HcmV?d00001

diff --git a/03_CreateParamTable/create_tableParamType.m b/03_CreateParamTable/create_tableParamType.m
index e13c855..6032710 100644
--- a/03_CreateParamTable/create_tableParamType.m
+++ b/03_CreateParamTable/create_tableParamType.m
@@ -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);
diff --git a/03_CreateParamTable/tableParamType.xlsx b/03_CreateParamTable/tableParamType.xlsx
index 077ab206548216c5c68c31c9ec7689d3107796c2..f2b64929ba2e846e89f87df028e73c40d9617911 100644
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diff --git a/BLDC_controller_ert_rtw/BLDC_controller.c b/BLDC_controller_ert_rtw/BLDC_controller.c
new file mode 100644
index 0000000..2aa9ce3
--- /dev/null
+++ b/BLDC_controller_ert_rtw/BLDC_controller.c
@@ -0,0 +1,3216 @@
+/*
+ * File: BLDC_controller.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"
+
+/* Named constants for Chart: '<S4>/F03_02_Control_Mode_Manager' */
+#define IN_ACTIVE                      ((uint8_T)1U)
+#define IN_NO_ACTIVE_CHILD             ((uint8_T)0U)
+#define IN_OPEN                        ((uint8_T)2U)
+#define IN_SPEED_MODE                  ((uint8_T)1U)
+#define IN_TORQUE_MODE                 ((uint8_T)2U)
+#define IN_VOLTAGE_MODE                ((uint8_T)3U)
+#define OPEN_MODE                      ((uint8_T)0U)
+#define SPD_MODE                       ((uint8_T)2U)
+#define TRQ_MODE                       ((uint8_T)3U)
+#define VLT_MODE                       ((uint8_T)1U)
+#ifndef UCHAR_MAX
+#include <limits.h>
+#endif
+
+#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
+#error Code was generated for compiler with different sized uchar/char. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
+#error Code was generated for compiler with different sized ushort/short. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
+#error Code was generated for compiler with different sized uint/int. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
+#error Code was generated for compiler with different sized ulong/long. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if 0
+
+/* Skip this size verification because of preprocessor limitation */
+#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
+#error Code was generated for compiler with different sized ulong_long/long_long. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+#endif
+
+uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
+  maxIndex);
+uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
+  maxIndex);
+int32_T div_nde_s32_floor(int32_T numerator, int32_T denominator);
+extern void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit);
+extern int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst,
+  DW_Counter *localDW);
+extern void PI_clamp_fixdt_Init(DW_PI_clamp_fixdt *localDW);
+extern void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
+  int32_T rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T
+  rtu_ext_limProt, int16_T *rty_out, DW_PI_clamp_fixdt *localDW);
+extern void PI_clamp_fixdt_g_Init(DW_PI_clamp_fixdt_i *localDW);
+extern void PI_clamp_fixdt_g_Reset(DW_PI_clamp_fixdt_i *localDW);
+extern int16_T PI_clamp_fixdt_o(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
+  int16_T rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T
+  rtu_ext_limProt, DW_PI_clamp_fixdt_i *localDW);
+extern void PI_clamp_fixdt_k_Init(DW_PI_clamp_fixdt_e *localDW);
+extern void PI_clamp_fixdt_b_Reset(DW_PI_clamp_fixdt_e *localDW);
+extern int16_T PI_clamp_fixdt_a(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
+  int16_T rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T
+  rtu_ext_limProt, DW_PI_clamp_fixdt_e *localDW);
+extern void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW);
+extern void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T
+  rty_y[2], DW_Low_Pass_Filter *localDW);
+extern void I_backCalc_fixdt_Init(DW_I_backCalc_fixdt *localDW, int32_T
+  rtp_yInit);
+extern void I_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_I, uint16_T rtu_Kb,
+  int16_T rtu_satMax, int16_T rtu_satMin, int16_T *rty_out, DW_I_backCalc_fixdt *
+  localDW);
+extern void Counter_b_Init(DW_Counter_l *localDW, uint16_T rtp_z_cntInit);
+extern uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
+  DW_Counter_l *localDW);
+extern boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW);
+extern void Debounce_Filter_Init(DW_Debounce_Filter *localDW);
+extern void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T
+  rtu_tDeacv, boolean_T *rty_y, DW_Debounce_Filter *localDW);
+uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
+  maxIndex)
+{
+  uint8_T bpIndex;
+  uint16_T fbpIndex;
+
+  /* Prelookup - Index only
+     Index Search method: 'even'
+     Extrapolation method: 'Clip'
+     Use previous index: 'off'
+     Use last breakpoint for index at or above upper limit: 'on'
+     Remove protection against out-of-range input in generated code: 'off'
+   */
+  if (u <= bp0) {
+    bpIndex = 0U;
+  } else {
+    fbpIndex = (uint16_T)((uint32_T)(uint16_T)(u - bp0) / bpSpace);
+    if (fbpIndex < maxIndex) {
+      bpIndex = (uint8_T)fbpIndex;
+    } else {
+      bpIndex = (uint8_T)maxIndex;
+    }
+  }
+
+  return bpIndex;
+}
+
+uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
+  maxIndex)
+{
+  uint8_T bpIndex;
+  uint16_T fbpIndex;
+
+  /* Prelookup - Index only
+     Index Search method: 'even'
+     Extrapolation method: 'Clip'
+     Use previous index: 'off'
+     Use last breakpoint for index at or above upper limit: 'on'
+     Remove protection against out-of-range input in generated code: 'off'
+   */
+  if (u <= bp0) {
+    bpIndex = 0U;
+  } else {
+    fbpIndex = (uint16_T)((uint32_T)(uint16_T)((uint32_T)u - bp0) / bpSpace);
+    if (fbpIndex < maxIndex) {
+      bpIndex = (uint8_T)fbpIndex;
+    } else {
+      bpIndex = (uint8_T)maxIndex;
+    }
+  }
+
+  return bpIndex;
+}
+
+int32_T div_nde_s32_floor(int32_T numerator, int32_T denominator)
+{
+  return (((numerator < 0) != (denominator < 0)) && (numerator % denominator !=
+           0) ? -1 : 0) + numerator / denominator;
+}
+
+/* System initialize for atomic system: '<S12>/Counter' */
+void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit)
+{
+  /* InitializeConditions for UnitDelay: '<S17>/UnitDelay' */
+  localDW->UnitDelay_DSTATE = rtp_z_cntInit;
+}
+
+/* Output and update for atomic system: '<S12>/Counter' */
+int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst, DW_Counter *
+                localDW)
+{
+  int16_T rtu_rst_0;
+  int16_T rty_cnt_0;
+
+  /* Switch: '<S17>/Switch1' incorporates:
+   *  Constant: '<S17>/Constant23'
+   *  UnitDelay: '<S17>/UnitDelay'
+   */
+  if (rtu_rst) {
+    rtu_rst_0 = 0;
+  } else {
+    rtu_rst_0 = localDW->UnitDelay_DSTATE;
+  }
+
+  /* End of Switch: '<S17>/Switch1' */
+
+  /* Sum: '<S15>/Sum1' */
+  rty_cnt_0 = (int16_T)(rtu_inc + rtu_rst_0);
+
+  /* MinMax: '<S15>/MinMax' */
+  if (rty_cnt_0 < rtu_max) {
+    /* Update for UnitDelay: '<S17>/UnitDelay' */
+    localDW->UnitDelay_DSTATE = rty_cnt_0;
+  } else {
+    /* Update for UnitDelay: '<S17>/UnitDelay' */
+    localDW->UnitDelay_DSTATE = rtu_max;
+  }
+
+  /* End of MinMax: '<S15>/MinMax' */
+  return rty_cnt_0;
+}
+
+/* System initialize for atomic system: '<S57>/PI_clamp_fixdt' */
+void PI_clamp_fixdt_Init(DW_PI_clamp_fixdt *localDW)
+{
+  /* InitializeConditions for Delay: '<S71>/Resettable Delay' */
+  localDW->icLoad = 1U;
+}
+
+/* Output and update for atomic system: '<S57>/PI_clamp_fixdt' */
+void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int32_T
+                    rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T
+                    rtu_ext_limProt, int16_T *rty_out, DW_PI_clamp_fixdt
+                    *localDW)
+{
+  boolean_T rtb_LowerRelop1_c;
+  boolean_T rtb_UpperRelop_e;
+  int32_T rtb_Sum1_n;
+  int32_T q0;
+  int32_T tmp;
+  int16_T tmp_0;
+
+  /* Sum: '<S68>/Sum2' incorporates:
+   *  Product: '<S68>/Divide2'
+   */
+  q0 = rtu_err * rtu_I;
+  if ((q0 < 0) && (rtu_ext_limProt < MIN_int32_T - q0)) {
+    q0 = MIN_int32_T;
+  } else if ((q0 > 0) && (rtu_ext_limProt > MAX_int32_T - q0)) {
+    q0 = MAX_int32_T;
+  } else {
+    q0 += rtu_ext_limProt;
+  }
+
+  /* Delay: '<S71>/Resettable Delay' */
+  if (localDW->icLoad != 0) {
+    localDW->ResettableDelay_DSTATE = rtu_init;
+  }
+
+  /* Switch: '<S68>/Switch1' incorporates:
+   *  Constant: '<S68>/Constant'
+   *  Sum: '<S68>/Sum2'
+   *  UnitDelay: '<S68>/UnitDelay1'
+   */
+  if (localDW->UnitDelay1_DSTATE) {
+    tmp = 0;
+  } else {
+    tmp = q0;
+  }
+
+  /* End of Switch: '<S68>/Switch1' */
+
+  /* Sum: '<S71>/Sum1' incorporates:
+   *  Delay: '<S71>/Resettable Delay'
+   */
+  rtb_Sum1_n = tmp + localDW->ResettableDelay_DSTATE;
+
+  /* Product: '<S68>/Divide5' */
+  tmp = (rtu_err * rtu_P) >> 11;
+  if (tmp > 32767) {
+    tmp = 32767;
+  } else {
+    if (tmp < -32768) {
+      tmp = -32768;
+    }
+  }
+
+  /* Sum: '<S68>/Sum1' incorporates:
+   *  DataTypeConversion: '<S71>/Data Type Conversion1'
+   *  Product: '<S68>/Divide5'
+   */
+  tmp = (((rtb_Sum1_n >> 16) << 1) + tmp) >> 1;
+  if (tmp > 32767) {
+    tmp = 32767;
+  } else {
+    if (tmp < -32768) {
+      tmp = -32768;
+    }
+  }
+
+  /* RelationalOperator: '<S72>/LowerRelop1' incorporates:
+   *  Sum: '<S68>/Sum1'
+   */
+  rtb_LowerRelop1_c = ((int16_T)tmp > rtu_satMax);
+
+  /* RelationalOperator: '<S72>/UpperRelop' incorporates:
+   *  Sum: '<S68>/Sum1'
+   */
+  rtb_UpperRelop_e = ((int16_T)tmp < rtu_satMin);
+
+  /* Switch: '<S72>/Switch1' incorporates:
+   *  Sum: '<S68>/Sum1'
+   *  Switch: '<S72>/Switch3'
+   */
+  if (rtb_LowerRelop1_c) {
+    *rty_out = rtu_satMax;
+  } else if (rtb_UpperRelop_e) {
+    /* Switch: '<S72>/Switch3' */
+    *rty_out = rtu_satMin;
+  } else {
+    *rty_out = (int16_T)tmp;
+  }
+
+  /* End of Switch: '<S72>/Switch1' */
+
+  /* Signum: '<S70>/SignDeltaU2' incorporates:
+   *  Sum: '<S68>/Sum2'
+   */
+  if (q0 < 0) {
+    q0 = -1;
+  } else {
+    q0 = (q0 > 0);
+  }
+
+  /* End of Signum: '<S70>/SignDeltaU2' */
+
+  /* Signum: '<S70>/SignDeltaU3' incorporates:
+   *  Sum: '<S68>/Sum1'
+   */
+  if ((int16_T)tmp < 0) {
+    tmp_0 = -1;
+  } else {
+    tmp_0 = (int16_T)((int16_T)tmp > 0);
+  }
+
+  /* End of Signum: '<S70>/SignDeltaU3' */
+
+  /* Update for UnitDelay: '<S68>/UnitDelay1' incorporates:
+   *  DataTypeConversion: '<S70>/DataTypeConv4'
+   *  Logic: '<S68>/AND1'
+   *  Logic: '<S70>/AND1'
+   *  RelationalOperator: '<S70>/Equal1'
+   */
+  localDW->UnitDelay1_DSTATE = ((q0 == tmp_0) && (rtb_LowerRelop1_c ||
+    rtb_UpperRelop_e));
+
+  /* Update for Delay: '<S71>/Resettable Delay' */
+  localDW->icLoad = 0U;
+  localDW->ResettableDelay_DSTATE = rtb_Sum1_n;
+}
+
+/* System initialize for atomic system: '<S55>/PI_clamp_fixdt' */
+void PI_clamp_fixdt_g_Init(DW_PI_clamp_fixdt_i *localDW)
+{
+  /* InitializeConditions for Delay: '<S61>/Resettable Delay' */
+  localDW->icLoad = 1U;
+}
+
+/* System reset for atomic system: '<S55>/PI_clamp_fixdt' */
+void PI_clamp_fixdt_g_Reset(DW_PI_clamp_fixdt_i *localDW)
+{
+  /* InitializeConditions for UnitDelay: '<S59>/UnitDelay1' */
+  localDW->UnitDelay1_DSTATE = false;
+
+  /* InitializeConditions for Delay: '<S61>/Resettable Delay' */
+  localDW->icLoad = 1U;
+}
+
+/* Output and update for atomic system: '<S55>/PI_clamp_fixdt' */
+int16_T PI_clamp_fixdt_o(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
+  int16_T rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T
+  rtu_ext_limProt, DW_PI_clamp_fixdt_i *localDW)
+{
+  boolean_T rtb_LowerRelop1_l;
+  boolean_T rtb_UpperRelop_f2;
+  int32_T rtb_Sum1_o;
+  int32_T q0;
+  int32_T tmp;
+  int16_T tmp_0;
+  int16_T rty_out_0;
+
+  /* Sum: '<S59>/Sum2' incorporates:
+   *  Product: '<S59>/Divide2'
+   */
+  q0 = rtu_err * rtu_I;
+  if ((q0 < 0) && (rtu_ext_limProt < MIN_int32_T - q0)) {
+    q0 = MIN_int32_T;
+  } else if ((q0 > 0) && (rtu_ext_limProt > MAX_int32_T - q0)) {
+    q0 = MAX_int32_T;
+  } else {
+    q0 += rtu_ext_limProt;
+  }
+
+  /* Delay: '<S61>/Resettable Delay' */
+  if (localDW->icLoad != 0) {
+    localDW->ResettableDelay_DSTATE = rtu_init << 16;
+  }
+
+  /* Switch: '<S59>/Switch1' incorporates:
+   *  Constant: '<S59>/Constant'
+   *  Sum: '<S59>/Sum2'
+   *  UnitDelay: '<S59>/UnitDelay1'
+   */
+  if (localDW->UnitDelay1_DSTATE) {
+    tmp = 0;
+  } else {
+    tmp = q0;
+  }
+
+  /* End of Switch: '<S59>/Switch1' */
+
+  /* Sum: '<S61>/Sum1' incorporates:
+   *  Delay: '<S61>/Resettable Delay'
+   */
+  rtb_Sum1_o = tmp + localDW->ResettableDelay_DSTATE;
+
+  /* Product: '<S59>/Divide5' */
+  tmp = (rtu_err * rtu_P) >> 11;
+  if (tmp > 32767) {
+    tmp = 32767;
+  } else {
+    if (tmp < -32768) {
+      tmp = -32768;
+    }
+  }
+
+  /* Sum: '<S59>/Sum1' incorporates:
+   *  DataTypeConversion: '<S61>/Data Type Conversion1'
+   *  Product: '<S59>/Divide5'
+   */
+  tmp = (((rtb_Sum1_o >> 16) << 1) + tmp) >> 1;
+  if (tmp > 32767) {
+    tmp = 32767;
+  } else {
+    if (tmp < -32768) {
+      tmp = -32768;
+    }
+  }
+
+  /* RelationalOperator: '<S62>/LowerRelop1' incorporates:
+   *  Sum: '<S59>/Sum1'
+   */
+  rtb_LowerRelop1_l = ((int16_T)tmp > rtu_satMax);
+
+  /* RelationalOperator: '<S62>/UpperRelop' incorporates:
+   *  Sum: '<S59>/Sum1'
+   */
+  rtb_UpperRelop_f2 = ((int16_T)tmp < rtu_satMin);
+
+  /* Switch: '<S62>/Switch1' incorporates:
+   *  Sum: '<S59>/Sum1'
+   *  Switch: '<S62>/Switch3'
+   */
+  if (rtb_LowerRelop1_l) {
+    rty_out_0 = rtu_satMax;
+  } else if (rtb_UpperRelop_f2) {
+    /* Switch: '<S62>/Switch3' */
+    rty_out_0 = rtu_satMin;
+  } else {
+    rty_out_0 = (int16_T)tmp;
+  }
+
+  /* End of Switch: '<S62>/Switch1' */
+
+  /* Signum: '<S60>/SignDeltaU2' incorporates:
+   *  Sum: '<S59>/Sum2'
+   */
+  if (q0 < 0) {
+    q0 = -1;
+  } else {
+    q0 = (q0 > 0);
+  }
+
+  /* End of Signum: '<S60>/SignDeltaU2' */
+
+  /* Signum: '<S60>/SignDeltaU3' incorporates:
+   *  Sum: '<S59>/Sum1'
+   */
+  if ((int16_T)tmp < 0) {
+    tmp_0 = -1;
+  } else {
+    tmp_0 = (int16_T)((int16_T)tmp > 0);
+  }
+
+  /* End of Signum: '<S60>/SignDeltaU3' */
+
+  /* Update for UnitDelay: '<S59>/UnitDelay1' incorporates:
+   *  DataTypeConversion: '<S60>/DataTypeConv4'
+   *  Logic: '<S59>/AND1'
+   *  Logic: '<S60>/AND1'
+   *  RelationalOperator: '<S60>/Equal1'
+   */
+  localDW->UnitDelay1_DSTATE = ((q0 == tmp_0) && (rtb_LowerRelop1_l ||
+    rtb_UpperRelop_f2));
+
+  /* Update for Delay: '<S61>/Resettable Delay' */
+  localDW->icLoad = 0U;
+  localDW->ResettableDelay_DSTATE = rtb_Sum1_o;
+  return rty_out_0;
+}
+
+/* System initialize for atomic system: '<S56>/PI_clamp_fixdt' */
+void PI_clamp_fixdt_k_Init(DW_PI_clamp_fixdt_e *localDW)
+{
+  /* InitializeConditions for Delay: '<S66>/Resettable Delay' */
+  localDW->icLoad = 1U;
+}
+
+/* System reset for atomic system: '<S56>/PI_clamp_fixdt' */
+void PI_clamp_fixdt_b_Reset(DW_PI_clamp_fixdt_e *localDW)
+{
+  /* InitializeConditions for UnitDelay: '<S63>/UnitDelay1' */
+  localDW->UnitDelay1_DSTATE = false;
+
+  /* InitializeConditions for Delay: '<S66>/Resettable Delay' */
+  localDW->icLoad = 1U;
+}
+
+/* Output and update for atomic system: '<S56>/PI_clamp_fixdt' */
+int16_T PI_clamp_fixdt_a(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
+  int16_T rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T
+  rtu_ext_limProt, DW_PI_clamp_fixdt_e *localDW)
+{
+  boolean_T rtb_LowerRelop1_lt;
+  boolean_T rtb_UpperRelop_i;
+  int16_T rtb_Sum1_n;
+  int16_T tmp;
+  int32_T tmp_0;
+  int32_T q0;
+  int16_T rty_out_0;
+
+  /* Sum: '<S63>/Sum2' incorporates:
+   *  Product: '<S63>/Divide2'
+   */
+  q0 = rtu_err * rtu_I;
+  if ((q0 < 0) && (rtu_ext_limProt < MIN_int32_T - q0)) {
+    q0 = MIN_int32_T;
+  } else if ((q0 > 0) && (rtu_ext_limProt > MAX_int32_T - q0)) {
+    q0 = MAX_int32_T;
+  } else {
+    q0 += rtu_ext_limProt;
+  }
+
+  /* Delay: '<S66>/Resettable Delay' */
+  if (localDW->icLoad != 0) {
+    localDW->ResettableDelay_DSTATE = rtu_init;
+  }
+
+  /* Switch: '<S63>/Switch1' incorporates:
+   *  Constant: '<S63>/Constant'
+   *  Sum: '<S63>/Sum2'
+   *  UnitDelay: '<S63>/UnitDelay1'
+   */
+  if (localDW->UnitDelay1_DSTATE) {
+    tmp = 0;
+  } else {
+    tmp = (int16_T)(((q0 < 0 ? 65535 : 0) + q0) >> 16);
+  }
+
+  /* End of Switch: '<S63>/Switch1' */
+
+  /* Sum: '<S66>/Sum1' incorporates:
+   *  Delay: '<S66>/Resettable Delay'
+   */
+  rtb_Sum1_n = (int16_T)(tmp + localDW->ResettableDelay_DSTATE);
+
+  /* Product: '<S63>/Divide5' */
+  tmp_0 = (rtu_err * rtu_P) >> 11;
+  if (tmp_0 > 32767) {
+    tmp_0 = 32767;
+  } else {
+    if (tmp_0 < -32768) {
+      tmp_0 = -32768;
+    }
+  }
+
+  /* Sum: '<S63>/Sum1' incorporates:
+   *  Product: '<S63>/Divide5'
+   */
+  tmp_0 = ((rtb_Sum1_n << 1) + tmp_0) >> 1;
+  if (tmp_0 > 32767) {
+    tmp_0 = 32767;
+  } else {
+    if (tmp_0 < -32768) {
+      tmp_0 = -32768;
+    }
+  }
+
+  /* RelationalOperator: '<S67>/LowerRelop1' incorporates:
+   *  Sum: '<S63>/Sum1'
+   */
+  rtb_LowerRelop1_lt = ((int16_T)tmp_0 > rtu_satMax);
+
+  /* RelationalOperator: '<S67>/UpperRelop' incorporates:
+   *  Sum: '<S63>/Sum1'
+   */
+  rtb_UpperRelop_i = ((int16_T)tmp_0 < rtu_satMin);
+
+  /* Switch: '<S67>/Switch1' incorporates:
+   *  Sum: '<S63>/Sum1'
+   *  Switch: '<S67>/Switch3'
+   */
+  if (rtb_LowerRelop1_lt) {
+    rty_out_0 = rtu_satMax;
+  } else if (rtb_UpperRelop_i) {
+    /* Switch: '<S67>/Switch3' */
+    rty_out_0 = rtu_satMin;
+  } else {
+    rty_out_0 = (int16_T)tmp_0;
+  }
+
+  /* End of Switch: '<S67>/Switch1' */
+
+  /* Signum: '<S65>/SignDeltaU2' incorporates:
+   *  Sum: '<S63>/Sum2'
+   */
+  if (q0 < 0) {
+    q0 = -1;
+  } else {
+    q0 = (q0 > 0);
+  }
+
+  /* End of Signum: '<S65>/SignDeltaU2' */
+
+  /* Signum: '<S65>/SignDeltaU3' incorporates:
+   *  Sum: '<S63>/Sum1'
+   */
+  if ((int16_T)tmp_0 < 0) {
+    tmp = -1;
+  } else {
+    tmp = (int16_T)((int16_T)tmp_0 > 0);
+  }
+
+  /* End of Signum: '<S65>/SignDeltaU3' */
+
+  /* Update for UnitDelay: '<S63>/UnitDelay1' incorporates:
+   *  DataTypeConversion: '<S65>/DataTypeConv4'
+   *  Logic: '<S63>/AND1'
+   *  Logic: '<S65>/AND1'
+   *  RelationalOperator: '<S65>/Equal1'
+   */
+  localDW->UnitDelay1_DSTATE = ((q0 == tmp) && (rtb_LowerRelop1_lt ||
+    rtb_UpperRelop_i));
+
+  /* Update for Delay: '<S66>/Resettable Delay' */
+  localDW->icLoad = 0U;
+  localDW->ResettableDelay_DSTATE = rtb_Sum1_n;
+  return rty_out_0;
+}
+
+/* System reset for atomic system: '<S43>/Low_Pass_Filter' */
+void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW)
+{
+  /* InitializeConditions for UnitDelay: '<S53>/UnitDelay1' */
+  localDW->UnitDelay1_DSTATE[0] = 0;
+  localDW->UnitDelay1_DSTATE[1] = 0;
+}
+
+/* Output and update for atomic system: '<S43>/Low_Pass_Filter' */
+void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T rty_y[2],
+                     DW_Low_Pass_Filter *localDW)
+{
+  int32_T rtb_Sum3_g;
+
+  /* Sum: '<S53>/Sum2' incorporates:
+   *  UnitDelay: '<S53>/UnitDelay1'
+   */
+  rtb_Sum3_g = rtu_u[0] - (localDW->UnitDelay1_DSTATE[0] >> 16);
+  if (rtb_Sum3_g > 32767) {
+    rtb_Sum3_g = 32767;
+  } else {
+    if (rtb_Sum3_g < -32768) {
+      rtb_Sum3_g = -32768;
+    }
+  }
+
+  /* Sum: '<S53>/Sum3' incorporates:
+   *  Product: '<S53>/Divide3'
+   *  Sum: '<S53>/Sum2'
+   *  UnitDelay: '<S53>/UnitDelay1'
+   */
+  rtb_Sum3_g = rtu_coef * rtb_Sum3_g + localDW->UnitDelay1_DSTATE[0];
+
+  /* DataTypeConversion: '<S53>/Data Type Conversion' */
+  rty_y[0] = (int16_T)(rtb_Sum3_g >> 16);
+
+  /* Update for UnitDelay: '<S53>/UnitDelay1' */
+  localDW->UnitDelay1_DSTATE[0] = rtb_Sum3_g;
+
+  /* Sum: '<S53>/Sum2' incorporates:
+   *  UnitDelay: '<S53>/UnitDelay1'
+   */
+  rtb_Sum3_g = rtu_u[1] - (localDW->UnitDelay1_DSTATE[1] >> 16);
+  if (rtb_Sum3_g > 32767) {
+    rtb_Sum3_g = 32767;
+  } else {
+    if (rtb_Sum3_g < -32768) {
+      rtb_Sum3_g = -32768;
+    }
+  }
+
+  /* Sum: '<S53>/Sum3' incorporates:
+   *  Product: '<S53>/Divide3'
+   *  Sum: '<S53>/Sum2'
+   *  UnitDelay: '<S53>/UnitDelay1'
+   */
+  rtb_Sum3_g = rtu_coef * rtb_Sum3_g + localDW->UnitDelay1_DSTATE[1];
+
+  /* DataTypeConversion: '<S53>/Data Type Conversion' */
+  rty_y[1] = (int16_T)(rtb_Sum3_g >> 16);
+
+  /* Update for UnitDelay: '<S53>/UnitDelay1' */
+  localDW->UnitDelay1_DSTATE[1] = rtb_Sum3_g;
+}
+
+/*
+ * System initialize for atomic system:
+ *    '<S76>/I_backCalc_fixdt'
+ *    '<S76>/I_backCalc_fixdt1'
+ *    '<S75>/I_backCalc_fixdt'
+ */
+void I_backCalc_fixdt_Init(DW_I_backCalc_fixdt *localDW, int32_T rtp_yInit)
+{
+  /* InitializeConditions for UnitDelay: '<S83>/UnitDelay' */
+  localDW->UnitDelay_DSTATE_h = rtp_yInit;
+}
+
+/*
+ * Output and update for atomic system:
+ *    '<S76>/I_backCalc_fixdt'
+ *    '<S76>/I_backCalc_fixdt1'
+ *    '<S75>/I_backCalc_fixdt'
+ */
+void I_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_I, uint16_T rtu_Kb, int16_T
+                      rtu_satMax, int16_T rtu_satMin, int16_T *rty_out,
+                      DW_I_backCalc_fixdt *localDW)
+{
+  int32_T rtb_Sum1_m;
+  int16_T rtb_DataTypeConversion1_no;
+
+  /* Sum: '<S81>/Sum2' incorporates:
+   *  Product: '<S81>/Divide2'
+   *  UnitDelay: '<S81>/UnitDelay'
+   */
+  rtb_Sum1_m = (rtu_err * rtu_I) >> 4;
+  if ((rtb_Sum1_m < 0) && (localDW->UnitDelay_DSTATE < MIN_int32_T - rtb_Sum1_m))
+  {
+    rtb_Sum1_m = MIN_int32_T;
+  } else if ((rtb_Sum1_m > 0) && (localDW->UnitDelay_DSTATE > MAX_int32_T
+              - rtb_Sum1_m)) {
+    rtb_Sum1_m = MAX_int32_T;
+  } else {
+    rtb_Sum1_m += localDW->UnitDelay_DSTATE;
+  }
+
+  /* End of Sum: '<S81>/Sum2' */
+
+  /* Sum: '<S83>/Sum1' incorporates:
+   *  UnitDelay: '<S83>/UnitDelay'
+   */
+  rtb_Sum1_m += localDW->UnitDelay_DSTATE_h;
+
+  /* DataTypeConversion: '<S83>/Data Type Conversion1' */
+  rtb_DataTypeConversion1_no = (int16_T)(rtb_Sum1_m >> 12);
+
+  /* Switch: '<S84>/Switch2' incorporates:
+   *  RelationalOperator: '<S84>/LowerRelop1'
+   *  RelationalOperator: '<S84>/UpperRelop'
+   *  Switch: '<S84>/Switch'
+   */
+  if (rtb_DataTypeConversion1_no > rtu_satMax) {
+    *rty_out = rtu_satMax;
+  } else if (rtb_DataTypeConversion1_no < rtu_satMin) {
+    /* Switch: '<S84>/Switch' */
+    *rty_out = rtu_satMin;
+  } else {
+    *rty_out = rtb_DataTypeConversion1_no;
+  }
+
+  /* End of Switch: '<S84>/Switch2' */
+
+  /* Update for UnitDelay: '<S81>/UnitDelay' incorporates:
+   *  Product: '<S81>/Divide1'
+   *  Sum: '<S81>/Sum3'
+   */
+  localDW->UnitDelay_DSTATE = (int16_T)(*rty_out - rtb_DataTypeConversion1_no) *
+    rtu_Kb;
+
+  /* Update for UnitDelay: '<S83>/UnitDelay' */
+  localDW->UnitDelay_DSTATE_h = rtb_Sum1_m;
+}
+
+/*
+ * System initialize for atomic system:
+ *    '<S23>/Counter'
+ *    '<S22>/Counter'
+ */
+void Counter_b_Init(DW_Counter_l *localDW, uint16_T rtp_z_cntInit)
+{
+  /* InitializeConditions for UnitDelay: '<S28>/UnitDelay' */
+  localDW->UnitDelay_DSTATE = rtp_z_cntInit;
+}
+
+/*
+ * Output and update for atomic system:
+ *    '<S23>/Counter'
+ *    '<S22>/Counter'
+ */
+uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
+                   DW_Counter_l *localDW)
+{
+  uint16_T rtu_rst_0;
+  uint16_T rty_cnt_0;
+
+  /* Switch: '<S28>/Switch1' incorporates:
+   *  Constant: '<S28>/Constant23'
+   *  UnitDelay: '<S28>/UnitDelay'
+   */
+  if (rtu_rst) {
+    rtu_rst_0 = 0U;
+  } else {
+    rtu_rst_0 = localDW->UnitDelay_DSTATE;
+  }
+
+  /* End of Switch: '<S28>/Switch1' */
+
+  /* Sum: '<S27>/Sum1' */
+  rty_cnt_0 = (uint16_T)((uint32_T)rtu_inc + rtu_rst_0);
+
+  /* MinMax: '<S27>/MinMax' */
+  if (rty_cnt_0 < rtu_max) {
+    /* Update for UnitDelay: '<S28>/UnitDelay' */
+    localDW->UnitDelay_DSTATE = rty_cnt_0;
+  } else {
+    /* Update for UnitDelay: '<S28>/UnitDelay' */
+    localDW->UnitDelay_DSTATE = rtu_max;
+  }
+
+  /* End of MinMax: '<S27>/MinMax' */
+  return rty_cnt_0;
+}
+
+/*
+ * Output and update for atomic system:
+ *    '<S19>/either_edge'
+ *    '<S3>/either_edge'
+ */
+boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW)
+{
+  boolean_T rty_y_0;
+
+  /* RelationalOperator: '<S24>/Relational Operator' incorporates:
+   *  UnitDelay: '<S24>/UnitDelay'
+   */
+  rty_y_0 = (rtu_u != localDW->UnitDelay_DSTATE);
+
+  /* Update for UnitDelay: '<S24>/UnitDelay' */
+  localDW->UnitDelay_DSTATE = rtu_u;
+  return rty_y_0;
+}
+
+/* System initialize for atomic system: '<S3>/Debounce_Filter' */
+void Debounce_Filter_Init(DW_Debounce_Filter *localDW)
+{
+  /* SystemInitialize for IfAction SubSystem: '<S19>/Qualification' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S23>/Counter' */
+  Counter_b_Init(&localDW->Counter_i0, 0U);
+
+  /* End of SystemInitialize for SubSystem: '<S23>/Counter' */
+
+  /* End of SystemInitialize for SubSystem: '<S19>/Qualification' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S19>/Dequalification' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S22>/Counter' */
+  Counter_b_Init(&localDW->Counter_h, 0U);
+
+  /* End of SystemInitialize for SubSystem: '<S22>/Counter' */
+
+  /* End of SystemInitialize for SubSystem: '<S19>/Dequalification' */
+}
+
+/* Output and update for atomic system: '<S3>/Debounce_Filter' */
+void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T rtu_tDeacv,
+                     boolean_T *rty_y, DW_Debounce_Filter *localDW)
+{
+  boolean_T rtb_UnitDelay_o;
+  uint16_T rtb_Sum1_l;
+  boolean_T rtb_RelationalOperator_f;
+
+  /* UnitDelay: '<S19>/UnitDelay' */
+  rtb_UnitDelay_o = localDW->UnitDelay_DSTATE;
+
+  /* Outputs for Atomic SubSystem: '<S19>/either_edge' */
+  rtb_RelationalOperator_f = either_edge(rtu_u, &localDW->either_edge_k);
+
+  /* End of Outputs for SubSystem: '<S19>/either_edge' */
+
+  /* If: '<S19>/If2' incorporates:
+   *  Constant: '<S22>/Constant6'
+   *  Constant: '<S23>/Constant6'
+   *  Inport: '<S21>/yPrev'
+   *  Logic: '<S19>/Logical Operator1'
+   *  Logic: '<S19>/Logical Operator2'
+   *  Logic: '<S19>/Logical Operator3'
+   *  Logic: '<S19>/Logical Operator4'
+   */
+  if (rtu_u && (!rtb_UnitDelay_o)) {
+    /* Outputs for IfAction SubSystem: '<S19>/Qualification' incorporates:
+     *  ActionPort: '<S23>/Action Port'
+     */
+
+    /* Outputs for Atomic SubSystem: '<S23>/Counter' */
+    rtb_Sum1_l = (uint16_T) Counter_i(1U, rtu_tAcv, rtb_RelationalOperator_f,
+      &localDW->Counter_i0);
+
+    /* End of Outputs for SubSystem: '<S23>/Counter' */
+
+    /* Switch: '<S23>/Switch2' incorporates:
+     *  Constant: '<S23>/Constant6'
+     *  RelationalOperator: '<S23>/Relational Operator2'
+     */
+    *rty_y = (rtb_Sum1_l > rtu_tAcv);
+
+    /* End of Outputs for SubSystem: '<S19>/Qualification' */
+  } else if ((!rtu_u) && rtb_UnitDelay_o) {
+    /* Outputs for IfAction SubSystem: '<S19>/Dequalification' incorporates:
+     *  ActionPort: '<S22>/Action Port'
+     */
+
+    /* Outputs for Atomic SubSystem: '<S22>/Counter' */
+    rtb_Sum1_l = (uint16_T) Counter_i(1U, rtu_tDeacv, rtb_RelationalOperator_f,
+      &localDW->Counter_h);
+
+    /* End of Outputs for SubSystem: '<S22>/Counter' */
+
+    /* Switch: '<S22>/Switch2' incorporates:
+     *  Constant: '<S22>/Constant6'
+     *  RelationalOperator: '<S22>/Relational Operator2'
+     */
+    *rty_y = !(rtb_Sum1_l > rtu_tDeacv);
+
+    /* End of Outputs for SubSystem: '<S19>/Dequalification' */
+  } else {
+    /* Outputs for IfAction SubSystem: '<S19>/Default' incorporates:
+     *  ActionPort: '<S21>/Action Port'
+     */
+    *rty_y = rtb_UnitDelay_o;
+
+    /* End of Outputs for SubSystem: '<S19>/Default' */
+  }
+
+  /* End of If: '<S19>/If2' */
+
+  /* Update for UnitDelay: '<S19>/UnitDelay' */
+  localDW->UnitDelay_DSTATE = *rty_y;
+}
+
+/* Model step function */
+void BLDC_controller_step(RT_MODEL *const rtM)
+{
+  P *rtP = ((P *) rtM->defaultParam);
+  DW *rtDW = ((DW *) rtM->dwork);
+  ExtU *rtU = (ExtU *) rtM->inputs;
+  ExtY *rtY = (ExtY *) rtM->outputs;
+  uint8_T rtb_Sum;
+  boolean_T rtb_LogicalOperator;
+  int8_T rtb_Sum2_h;
+  boolean_T rtb_RelationalOperator4_d;
+  boolean_T rtb_RelationalOperator1_m;
+  uint8_T rtb_Sum_l;
+  boolean_T rtb_LogicalOperator2_p;
+  boolean_T rtb_LogicalOperator4;
+  int16_T rtb_Switch2_k;
+  int16_T rtb_Abs5;
+  int16_T rtb_DataTypeConversion2;
+  int16_T rtb_Switch1_l;
+  int16_T rtb_Saturation1;
+  int16_T rtb_Divide2_h;
+  int16_T rtb_Merge;
+  int16_T rtb_Switch2_l;
+  int32_T rtb_DataTypeConversion;
+  int16_T rtb_toNegative;
+  int32_T rtb_Switch1;
+  int32_T rtb_Sum1;
+  int32_T rtb_Gain3;
+  int16_T rtb_TmpSignalConversionAtLow_Pa[2];
+  int16_T tmp[4];
+  int8_T UnitDelay3;
+  int16_T rtb_Merge_f_idx_2;
+
+  /* Outputs for Atomic SubSystem: '<Root>/BLDC_controller' */
+  /* Sum: '<S10>/Sum' incorporates:
+   *  Gain: '<S10>/g_Ha'
+   *  Gain: '<S10>/g_Hb'
+   *  Inport: '<Root>/b_hallA '
+   *  Inport: '<Root>/b_hallB'
+   *  Inport: '<Root>/b_hallC'
+   */
+  rtb_Sum = (uint8_T)((uint32_T)(uint8_T)((uint32_T)(uint8_T)(rtU->b_hallA << 2)
+    + (uint8_T)(rtU->b_hallB << 1)) + rtU->b_hallC);
+
+  /* Logic: '<S9>/Logical Operator' incorporates:
+   *  Inport: '<Root>/b_hallA '
+   *  Inport: '<Root>/b_hallB'
+   *  Inport: '<Root>/b_hallC'
+   *  UnitDelay: '<S9>/UnitDelay1'
+   *  UnitDelay: '<S9>/UnitDelay2'
+   *  UnitDelay: '<S9>/UnitDelay3'
+   */
+  rtb_LogicalOperator = (boolean_T)((rtU->b_hallA != 0) ^ (rtU->b_hallB != 0) ^
+    (rtU->b_hallC != 0) ^ (rtDW->UnitDelay3_DSTATE_fy != 0) ^
+    (rtDW->UnitDelay1_DSTATE != 0)) ^ (rtDW->UnitDelay2_DSTATE_f != 0);
+
+  /* If: '<S12>/If2' incorporates:
+   *  If: '<S2>/If2'
+   *  Inport: '<S16>/z_counterRawPrev'
+   *  UnitDelay: '<S12>/UnitDelay3'
+   */
+  if (rtb_LogicalOperator) {
+    /* Outputs for IfAction SubSystem: '<S2>/F01_03_Direction_Detection' incorporates:
+     *  ActionPort: '<S11>/Action Port'
+     */
+    /* UnitDelay: '<S11>/UnitDelay3' */
+    UnitDelay3 = rtDW->Switch2_e;
+
+    /* Sum: '<S11>/Sum2' incorporates:
+     *  Constant: '<S10>/vec_hallToPos'
+     *  Selector: '<S10>/Selector'
+     *  UnitDelay: '<S11>/UnitDelay2'
+     */
+    rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] -
+                          rtDW->UnitDelay2_DSTATE_b);
+
+    /* Switch: '<S11>/Switch2' incorporates:
+     *  Constant: '<S11>/Constant20'
+     *  Constant: '<S11>/Constant23'
+     *  Constant: '<S11>/Constant24'
+     *  Constant: '<S11>/Constant8'
+     *  Logic: '<S11>/Logical Operator3'
+     *  RelationalOperator: '<S11>/Relational Operator1'
+     *  RelationalOperator: '<S11>/Relational Operator6'
+     */
+    if ((rtb_Sum2_h == 1) || (rtb_Sum2_h == -5)) {
+      rtDW->Switch2_e = 1;
+    } else {
+      rtDW->Switch2_e = -1;
+    }
+
+    /* End of Switch: '<S11>/Switch2' */
+
+    /* Update for UnitDelay: '<S11>/UnitDelay2' incorporates:
+     *  Constant: '<S10>/vec_hallToPos'
+     *  Selector: '<S10>/Selector'
+     */
+    rtDW->UnitDelay2_DSTATE_b = rtConstP.vec_hallToPos_Value[rtb_Sum];
+
+    /* End of Outputs for SubSystem: '<S2>/F01_03_Direction_Detection' */
+
+    /* Outputs for IfAction SubSystem: '<S12>/Raw_Motor_Speed_Estimation' incorporates:
+     *  ActionPort: '<S16>/Action Port'
+     */
+    rtDW->z_counterRawPrev = rtDW->UnitDelay3_DSTATE;
+
+    /* Sum: '<S16>/Sum7' incorporates:
+     *  Inport: '<S16>/z_counterRawPrev'
+     *  UnitDelay: '<S12>/UnitDelay3'
+     *  UnitDelay: '<S16>/UnitDelay4'
+     */
+    rtb_Switch2_k = (int16_T)(rtDW->z_counterRawPrev - rtDW->UnitDelay4_DSTATE);
+
+    /* Abs: '<S16>/Abs2' */
+    if (rtb_Switch2_k < 0) {
+      rtb_Switch1_l = (int16_T)-rtb_Switch2_k;
+    } else {
+      rtb_Switch1_l = rtb_Switch2_k;
+    }
+
+    /* End of Abs: '<S16>/Abs2' */
+
+    /* Relay: '<S16>/dz_cntTrnsDet' */
+    if (rtb_Switch1_l >= rtP->dz_cntTrnsDetHi) {
+      rtDW->dz_cntTrnsDet_Mode = true;
+    } else {
+      if (rtb_Switch1_l <= rtP->dz_cntTrnsDetLo) {
+        rtDW->dz_cntTrnsDet_Mode = false;
+      }
+    }
+
+    rtDW->dz_cntTrnsDet = rtDW->dz_cntTrnsDet_Mode;
+
+    /* End of Relay: '<S16>/dz_cntTrnsDet' */
+
+    /* RelationalOperator: '<S16>/Relational Operator4' */
+    rtb_RelationalOperator4_d = (rtDW->Switch2_e != UnitDelay3);
+
+    /* Switch: '<S16>/Switch3' incorporates:
+     *  Constant: '<S16>/Constant4'
+     *  Logic: '<S16>/Logical Operator1'
+     *  Switch: '<S16>/Switch1'
+     *  Switch: '<S16>/Switch2'
+     *  UnitDelay: '<S16>/UnitDelay1'
+     */
+    if (rtb_RelationalOperator4_d && rtDW->UnitDelay1_DSTATE_n) {
+      rtb_Switch1_l = 0;
+    } else if (rtb_RelationalOperator4_d) {
+      /* Switch: '<S16>/Switch2' incorporates:
+       *  UnitDelay: '<S12>/UnitDelay4'
+       */
+      rtb_Switch1_l = rtDW->UnitDelay4_DSTATE_e;
+    } else if (rtDW->dz_cntTrnsDet) {
+      /* Switch: '<S16>/Switch1' incorporates:
+       *  Constant: '<S16>/cf_speedCoef'
+       *  Product: '<S16>/Divide14'
+       *  Switch: '<S16>/Switch2'
+       */
+      rtb_Switch1_l = (int16_T)((rtP->cf_speedCoef << 4) /
+        rtDW->z_counterRawPrev);
+    } else {
+      /* Switch: '<S16>/Switch1' incorporates:
+       *  Constant: '<S16>/cf_speedCoef'
+       *  Gain: '<S16>/g_Ha'
+       *  Product: '<S16>/Divide13'
+       *  Sum: '<S16>/Sum13'
+       *  Switch: '<S16>/Switch2'
+       *  UnitDelay: '<S16>/UnitDelay2'
+       *  UnitDelay: '<S16>/UnitDelay3'
+       *  UnitDelay: '<S16>/UnitDelay5'
+       */
+      rtb_Switch1_l = (int16_T)(((uint16_T)(rtP->cf_speedCoef << 2) << 4) /
+        (int16_T)(((rtDW->UnitDelay2_DSTATE + rtDW->UnitDelay3_DSTATE_o) +
+                   rtDW->UnitDelay5_DSTATE) + rtDW->z_counterRawPrev));
+    }
+
+    /* End of Switch: '<S16>/Switch3' */
+
+    /* Product: '<S16>/Divide11' */
+    rtDW->Divide11 = (int16_T)(rtb_Switch1_l * rtDW->Switch2_e);
+
+    /* Update for UnitDelay: '<S16>/UnitDelay4' */
+    rtDW->UnitDelay4_DSTATE = rtDW->z_counterRawPrev;
+
+    /* Update for UnitDelay: '<S16>/UnitDelay2' incorporates:
+     *  UnitDelay: '<S16>/UnitDelay3'
+     */
+    rtDW->UnitDelay2_DSTATE = rtDW->UnitDelay3_DSTATE_o;
+
+    /* Update for UnitDelay: '<S16>/UnitDelay3' incorporates:
+     *  UnitDelay: '<S16>/UnitDelay5'
+     */
+    rtDW->UnitDelay3_DSTATE_o = rtDW->UnitDelay5_DSTATE;
+
+    /* Update for UnitDelay: '<S16>/UnitDelay5' */
+    rtDW->UnitDelay5_DSTATE = rtDW->z_counterRawPrev;
+
+    /* Update for UnitDelay: '<S16>/UnitDelay1' */
+    rtDW->UnitDelay1_DSTATE_n = rtb_RelationalOperator4_d;
+
+    /* End of Outputs for SubSystem: '<S12>/Raw_Motor_Speed_Estimation' */
+  }
+
+  /* End of If: '<S12>/If2' */
+
+  /* Outputs for Atomic SubSystem: '<S12>/Counter' */
+
+  /* Constant: '<S12>/Constant6' incorporates:
+   *  Constant: '<S12>/z_maxCntRst2'
+   */
+  rtb_Switch1_l = (int16_T) Counter(1, rtP->z_maxCntRst, rtb_LogicalOperator,
+    &rtDW->Counter_e);
+
+  /* End of Outputs for SubSystem: '<S12>/Counter' */
+
+  /* Switch: '<S12>/Switch2' incorporates:
+   *  Constant: '<S12>/Constant4'
+   *  Constant: '<S12>/z_maxCntRst'
+   *  RelationalOperator: '<S12>/Relational Operator2'
+   */
+  if (rtb_Switch1_l > rtP->z_maxCntRst) {
+    rtb_Switch2_k = 0;
+  } else {
+    rtb_Switch2_k = rtDW->Divide11;
+  }
+
+  /* End of Switch: '<S12>/Switch2' */
+
+  /* Abs: '<S12>/Abs5' */
+  if (rtb_Switch2_k < 0) {
+    rtb_Abs5 = (int16_T)-rtb_Switch2_k;
+  } else {
+    rtb_Abs5 = rtb_Switch2_k;
+  }
+
+  /* End of Abs: '<S12>/Abs5' */
+
+  /* Relay: '<S12>/n_commDeacv' */
+  if (rtb_Abs5 >= rtP->n_commDeacvHi) {
+    rtDW->n_commDeacv_Mode = true;
+  } else {
+    if (rtb_Abs5 <= rtP->n_commAcvLo) {
+      rtDW->n_commDeacv_Mode = false;
+    }
+  }
+
+  /* Logic: '<S12>/Logical Operator3' incorporates:
+   *  Constant: '<S12>/b_angleMeasEna'
+   *  Logic: '<S12>/Logical Operator1'
+   *  Logic: '<S12>/Logical Operator2'
+   *  Relay: '<S12>/n_commDeacv'
+   */
+  rtb_LogicalOperator = (rtP->b_angleMeasEna || (rtDW->n_commDeacv_Mode &&
+    (!rtDW->dz_cntTrnsDet)));
+
+  /* DataTypeConversion: '<S1>/Data Type Conversion2' incorporates:
+   *  Inport: '<Root>/r_inpTgt'
+   */
+  rtb_DataTypeConversion2 = (int16_T)(rtU->r_inpTgt << 4);
+
+  /* UnitDelay: '<S8>/UnitDelay2' */
+  rtb_RelationalOperator4_d = rtDW->UnitDelay2_DSTATE_g;
+
+  /* If: '<S1>/If2' incorporates:
+   *  Constant: '<S1>/b_diagEna'
+   *  Constant: '<S3>/CTRL_COMM2'
+   *  Constant: '<S3>/t_errDequal'
+   *  Constant: '<S3>/t_errQual'
+   *  Logic: '<S1>/Logical Operator2'
+   *  RelationalOperator: '<S3>/Relational Operator2'
+   *  UnitDelay: '<S8>/UnitDelay2'
+   */
+  if (rtP->b_diagEna && rtDW->UnitDelay2_DSTATE_g) {
+    /* Outputs for IfAction SubSystem: '<S1>/F02_Diagnostics' incorporates:
+     *  ActionPort: '<S3>/Action Port'
+     */
+    /* Switch: '<S3>/Switch3' incorporates:
+     *  Abs: '<S3>/Abs4'
+     *  Constant: '<S12>/n_stdStillDet'
+     *  Constant: '<S3>/CTRL_COMM4'
+     *  Constant: '<S3>/r_errInpTgtThres'
+     *  Inport: '<Root>/b_motEna'
+     *  Logic: '<S3>/Logical Operator1'
+     *  RelationalOperator: '<S12>/Relational Operator9'
+     *  RelationalOperator: '<S3>/Relational Operator7'
+     *  S-Function (sfix_bitop): '<S3>/Bitwise Operator1'
+     *  UnitDelay: '<S3>/UnitDelay'
+     *  UnitDelay: '<S7>/UnitDelay4'
+     */
+    if ((rtY->z_errCode & 4) != 0) {
+      rtb_RelationalOperator1_m = true;
+    } else {
+      if (rtDW->UnitDelay4_DSTATE_eu < 0) {
+        /* Abs: '<S3>/Abs4' incorporates:
+         *  UnitDelay: '<S7>/UnitDelay4'
+         */
+        rtb_Merge_f_idx_2 = (int16_T)-rtDW->UnitDelay4_DSTATE_eu;
+      } else {
+        /* Abs: '<S3>/Abs4' incorporates:
+         *  UnitDelay: '<S7>/UnitDelay4'
+         */
+        rtb_Merge_f_idx_2 = rtDW->UnitDelay4_DSTATE_eu;
+      }
+
+      rtb_RelationalOperator1_m = (rtU->b_motEna && (rtb_Abs5 <
+        rtP->n_stdStillDet) && (rtb_Merge_f_idx_2 > rtP->r_errInpTgtThres));
+    }
+
+    /* End of Switch: '<S3>/Switch3' */
+
+    /* Sum: '<S3>/Sum' incorporates:
+     *  Constant: '<S3>/CTRL_COMM'
+     *  Constant: '<S3>/CTRL_COMM1'
+     *  DataTypeConversion: '<S3>/Data Type Conversion3'
+     *  Gain: '<S3>/g_Hb'
+     *  Gain: '<S3>/g_Hb1'
+     *  RelationalOperator: '<S3>/Relational Operator1'
+     *  RelationalOperator: '<S3>/Relational Operator3'
+     */
+    rtb_Sum_l = (uint8_T)(((uint32_T)((rtb_Sum == 7) << 1) + (rtb_Sum == 0)) +
+                          (rtb_RelationalOperator1_m << 2));
+
+    /* Outputs for Atomic SubSystem: '<S3>/Debounce_Filter' */
+    Debounce_Filter(rtb_Sum_l != 0, rtP->t_errQual, rtP->t_errDequal,
+                    &rtDW->Merge_n, &rtDW->Debounce_Filter_f);
+
+    /* End of Outputs for SubSystem: '<S3>/Debounce_Filter' */
+
+    /* Outputs for Atomic SubSystem: '<S3>/either_edge' */
+    rtb_RelationalOperator1_m = either_edge(rtDW->Merge_n, &rtDW->either_edge_a);
+
+    /* End of Outputs for SubSystem: '<S3>/either_edge' */
+
+    /* Switch: '<S3>/Switch1' incorporates:
+     *  Constant: '<S3>/CTRL_COMM2'
+     *  Constant: '<S3>/t_errDequal'
+     *  Constant: '<S3>/t_errQual'
+     *  RelationalOperator: '<S3>/Relational Operator2'
+     */
+    if (rtb_RelationalOperator1_m) {
+      /* Outport: '<Root>/z_errCode' */
+      rtY->z_errCode = rtb_Sum_l;
+    }
+
+    /* End of Switch: '<S3>/Switch1' */
+    /* End of Outputs for SubSystem: '<S1>/F02_Diagnostics' */
+  }
+
+  /* End of If: '<S1>/If2' */
+
+  /* If: '<S1>/If4' incorporates:
+   *  UnitDelay: '<S8>/UnitDelay2'
+   */
+  rtb_Sum2_h = rtDW->If4_ActiveSubsystem;
+  UnitDelay3 = -1;
+  if (rtDW->UnitDelay2_DSTATE_g) {
+    UnitDelay3 = 0;
+  }
+
+  rtDW->If4_ActiveSubsystem = UnitDelay3;
+  if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
+    /* Disable for If: '<S31>/If2' */
+    rtDW->If2_ActiveSubsystem = -1;
+  }
+
+  if (UnitDelay3 == 0) {
+    /* Outputs for IfAction SubSystem: '<S1>/F03_Control_Mode_Manager' incorporates:
+     *  ActionPort: '<S4>/Action Port'
+     */
+    /* Logic: '<S29>/Logical Operator1' incorporates:
+     *  Constant: '<S1>/b_cruiseCtrlEna'
+     *  Constant: '<S29>/constant1'
+     *  Inport: '<Root>/z_ctrlModReq'
+     *  RelationalOperator: '<S29>/Relational Operator1'
+     */
+    rtb_RelationalOperator1_m = ((rtU->z_ctrlModReq == 2) ||
+      rtP->b_cruiseCtrlEna);
+
+    /* Logic: '<S29>/Logical Operator2' incorporates:
+     *  Constant: '<S1>/b_cruiseCtrlEna'
+     *  Constant: '<S29>/constant'
+     *  Inport: '<Root>/z_ctrlModReq'
+     *  Logic: '<S29>/Logical Operator5'
+     *  RelationalOperator: '<S29>/Relational Operator4'
+     */
+    rtb_LogicalOperator2_p = ((rtU->z_ctrlModReq == 3) && (!rtP->b_cruiseCtrlEna));
+
+    /* Logic: '<S29>/Logical Operator4' incorporates:
+     *  Constant: '<S29>/constant8'
+     *  Inport: '<Root>/b_motEna'
+     *  Inport: '<Root>/z_ctrlModReq'
+     *  Logic: '<S29>/Logical Operator7'
+     *  RelationalOperator: '<S29>/Relational Operator10'
+     */
+    rtb_LogicalOperator4 = (rtDW->Merge_n || (!rtU->b_motEna) ||
+      (rtU->z_ctrlModReq == 0));
+
+    /* Chart: '<S4>/F03_02_Control_Mode_Manager' incorporates:
+     *  Constant: '<S29>/constant5'
+     *  Inport: '<Root>/z_ctrlModReq'
+     *  Logic: '<S29>/Logical Operator3'
+     *  Logic: '<S29>/Logical Operator6'
+     *  Logic: '<S29>/Logical Operator9'
+     *  RelationalOperator: '<S29>/Relational Operator5'
+     */
+    if (rtDW->is_active_c1_BLDC_controller == 0U) {
+      rtDW->is_active_c1_BLDC_controller = 1U;
+      rtDW->is_c1_BLDC_controller = IN_OPEN;
+      rtDW->z_ctrlMod = OPEN_MODE;
+    } else if (rtDW->is_c1_BLDC_controller == IN_ACTIVE) {
+      if (rtb_LogicalOperator4) {
+        rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD;
+        rtDW->is_c1_BLDC_controller = IN_OPEN;
+        rtDW->z_ctrlMod = OPEN_MODE;
+      } else {
+        switch (rtDW->is_ACTIVE) {
+         case IN_SPEED_MODE:
+          rtDW->z_ctrlMod = SPD_MODE;
+          if (!rtb_RelationalOperator1_m) {
+            rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD;
+            if (rtb_LogicalOperator2_p) {
+              rtDW->is_ACTIVE = IN_TORQUE_MODE;
+              rtDW->z_ctrlMod = TRQ_MODE;
+            } else {
+              rtDW->is_ACTIVE = IN_VOLTAGE_MODE;
+              rtDW->z_ctrlMod = VLT_MODE;
+            }
+          }
+          break;
+
+         case IN_TORQUE_MODE:
+          rtDW->z_ctrlMod = TRQ_MODE;
+          if (!rtb_LogicalOperator2_p) {
+            rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD;
+            if (rtb_RelationalOperator1_m) {
+              rtDW->is_ACTIVE = IN_SPEED_MODE;
+              rtDW->z_ctrlMod = SPD_MODE;
+            } else {
+              rtDW->is_ACTIVE = IN_VOLTAGE_MODE;
+              rtDW->z_ctrlMod = VLT_MODE;
+            }
+          }
+          break;
+
+         default:
+          rtDW->z_ctrlMod = VLT_MODE;
+          if (rtb_LogicalOperator2_p || rtb_RelationalOperator1_m) {
+            rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD;
+            if (rtb_LogicalOperator2_p) {
+              rtDW->is_ACTIVE = IN_TORQUE_MODE;
+              rtDW->z_ctrlMod = TRQ_MODE;
+            } else if (rtb_RelationalOperator1_m) {
+              rtDW->is_ACTIVE = IN_SPEED_MODE;
+              rtDW->z_ctrlMod = SPD_MODE;
+            } else {
+              rtDW->is_ACTIVE = IN_VOLTAGE_MODE;
+              rtDW->z_ctrlMod = VLT_MODE;
+            }
+          }
+          break;
+        }
+      }
+    } else {
+      rtDW->z_ctrlMod = OPEN_MODE;
+      if ((!rtb_LogicalOperator4) && ((rtU->z_ctrlModReq == 1) ||
+           rtb_RelationalOperator1_m || rtb_LogicalOperator2_p)) {
+        rtDW->is_c1_BLDC_controller = IN_ACTIVE;
+        if (rtb_LogicalOperator2_p) {
+          rtDW->is_ACTIVE = IN_TORQUE_MODE;
+          rtDW->z_ctrlMod = TRQ_MODE;
+        } else if (rtb_RelationalOperator1_m) {
+          rtDW->is_ACTIVE = IN_SPEED_MODE;
+          rtDW->z_ctrlMod = SPD_MODE;
+        } else {
+          rtDW->is_ACTIVE = IN_VOLTAGE_MODE;
+          rtDW->z_ctrlMod = VLT_MODE;
+        }
+      }
+    }
+
+    /* End of Chart: '<S4>/F03_02_Control_Mode_Manager' */
+
+    /* If: '<S31>/If1' incorporates:
+     *  Constant: '<S1>/z_ctrlTypSel'
+     *  Inport: '<S32>/r_inpTgt'
+     *  Saturate: '<S31>/Saturation'
+     */
+    if (rtP->z_ctrlTypSel == 2) {
+      /* Outputs for IfAction SubSystem: '<S31>/FOC_Control_Type' incorporates:
+       *  ActionPort: '<S34>/Action Port'
+       */
+      /* SignalConversion: '<S34>/TmpSignal ConversionAtSelectorInport1' incorporates:
+       *  Constant: '<S34>/Vd_max'
+       *  Constant: '<S34>/constant1'
+       *  Constant: '<S34>/i_max'
+       *  Constant: '<S34>/n_max'
+       */
+      tmp[0] = 0;
+      tmp[1] = rtP->Vd_max;
+      tmp[2] = rtP->n_max;
+      tmp[3] = rtP->i_max;
+
+      /* End of Outputs for SubSystem: '<S31>/FOC_Control_Type' */
+
+      /* Saturate: '<S31>/Saturation' */
+      if (rtb_DataTypeConversion2 > 16000) {
+        rtb_Merge = 16000;
+      } else if (rtb_DataTypeConversion2 < -16000) {
+        rtb_Merge = -16000;
+      } else {
+        rtb_Merge = rtb_DataTypeConversion2;
+      }
+
+      /* Outputs for IfAction SubSystem: '<S31>/FOC_Control_Type' incorporates:
+       *  ActionPort: '<S34>/Action Port'
+       */
+      /* Product: '<S34>/Divide1' incorporates:
+       *  Inport: '<Root>/z_ctrlModReq'
+       *  Product: '<S34>/Divide4'
+       *  Selector: '<S34>/Selector'
+       */
+      rtb_Merge = (int16_T)(((uint16_T)((tmp[rtU->z_ctrlModReq] << 5) / 125) *
+        rtb_Merge) >> 12);
+
+      /* End of Outputs for SubSystem: '<S31>/FOC_Control_Type' */
+    } else if (rtb_DataTypeConversion2 > 16000) {
+      /* Outputs for IfAction SubSystem: '<S31>/Default_Control_Type' incorporates:
+       *  ActionPort: '<S32>/Action Port'
+       */
+      /* Saturate: '<S31>/Saturation' incorporates:
+       *  Inport: '<S32>/r_inpTgt'
+       */
+      rtb_Merge = 16000;
+
+      /* End of Outputs for SubSystem: '<S31>/Default_Control_Type' */
+    } else if (rtb_DataTypeConversion2 < -16000) {
+      /* Outputs for IfAction SubSystem: '<S31>/Default_Control_Type' incorporates:
+       *  ActionPort: '<S32>/Action Port'
+       */
+      /* Saturate: '<S31>/Saturation' incorporates:
+       *  Inport: '<S32>/r_inpTgt'
+       */
+      rtb_Merge = -16000;
+
+      /* End of Outputs for SubSystem: '<S31>/Default_Control_Type' */
+    } else {
+      /* Outputs for IfAction SubSystem: '<S31>/Default_Control_Type' incorporates:
+       *  ActionPort: '<S32>/Action Port'
+       */
+      rtb_Merge = rtb_DataTypeConversion2;
+
+      /* End of Outputs for SubSystem: '<S31>/Default_Control_Type' */
+    }
+
+    /* End of If: '<S31>/If1' */
+
+    /* If: '<S31>/If2' incorporates:
+     *  Inport: '<S33>/r_inpTgtScaRaw'
+     */
+    rtb_Sum2_h = rtDW->If2_ActiveSubsystem;
+    UnitDelay3 = (int8_T)!(rtDW->z_ctrlMod == 0);
+    rtDW->If2_ActiveSubsystem = UnitDelay3;
+    switch (UnitDelay3) {
+     case 0:
+      if (UnitDelay3 != rtb_Sum2_h) {
+        /* SystemReset for IfAction SubSystem: '<S31>/Open_Mode' incorporates:
+         *  ActionPort: '<S35>/Action Port'
+         */
+        /* SystemReset for Atomic SubSystem: '<S35>/rising_edge_init' */
+        /* SystemReset for If: '<S31>/If2' incorporates:
+         *  UnitDelay: '<S37>/UnitDelay'
+         *  UnitDelay: '<S38>/UnitDelay'
+         */
+        rtDW->UnitDelay_DSTATE_b = true;
+
+        /* End of SystemReset for SubSystem: '<S35>/rising_edge_init' */
+
+        /* SystemReset for Atomic SubSystem: '<S35>/Rate_Limiter' */
+        rtDW->UnitDelay_DSTATE = 0;
+
+        /* End of SystemReset for SubSystem: '<S35>/Rate_Limiter' */
+        /* End of SystemReset for SubSystem: '<S31>/Open_Mode' */
+      }
+
+      /* Outputs for IfAction SubSystem: '<S31>/Open_Mode' incorporates:
+       *  ActionPort: '<S35>/Action Port'
+       */
+      /* DataTypeConversion: '<S35>/Data Type Conversion' incorporates:
+       *  UnitDelay: '<S7>/UnitDelay4'
+       */
+      rtb_Gain3 = rtDW->UnitDelay4_DSTATE_eu << 12;
+      rtb_DataTypeConversion = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 |
+        -134217728 : rtb_Gain3 & 134217727;
+
+      /* Outputs for Atomic SubSystem: '<S35>/rising_edge_init' */
+      /* UnitDelay: '<S37>/UnitDelay' */
+      rtb_RelationalOperator1_m = rtDW->UnitDelay_DSTATE_b;
+
+      /* Update for UnitDelay: '<S37>/UnitDelay' incorporates:
+       *  Constant: '<S37>/Constant'
+       */
+      rtDW->UnitDelay_DSTATE_b = false;
+
+      /* End of Outputs for SubSystem: '<S35>/rising_edge_init' */
+
+      /* Outputs for Atomic SubSystem: '<S35>/Rate_Limiter' */
+      /* Switch: '<S38>/Switch1' incorporates:
+       *  UnitDelay: '<S38>/UnitDelay'
+       */
+      if (rtb_RelationalOperator1_m) {
+        rtb_Switch1 = rtb_DataTypeConversion;
+      } else {
+        rtb_Switch1 = rtDW->UnitDelay_DSTATE;
+      }
+
+      /* End of Switch: '<S38>/Switch1' */
+
+      /* Sum: '<S36>/Sum1' */
+      rtb_Gain3 = -rtb_Switch1;
+      rtb_Sum1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
+        rtb_Gain3 & 134217727;
+
+      /* Switch: '<S39>/Switch2' incorporates:
+       *  Constant: '<S35>/dV_openRate'
+       *  RelationalOperator: '<S39>/LowerRelop1'
+       */
+      if (rtb_Sum1 > rtP->dV_openRate) {
+        rtb_Sum1 = rtP->dV_openRate;
+      } else {
+        /* Gain: '<S35>/Gain3' */
+        rtb_Gain3 = -rtP->dV_openRate;
+        rtb_Gain3 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
+          rtb_Gain3 & 134217727;
+
+        /* Switch: '<S39>/Switch' incorporates:
+         *  RelationalOperator: '<S39>/UpperRelop'
+         */
+        if (rtb_Sum1 < rtb_Gain3) {
+          rtb_Sum1 = rtb_Gain3;
+        }
+
+        /* End of Switch: '<S39>/Switch' */
+      }
+
+      /* End of Switch: '<S39>/Switch2' */
+
+      /* Sum: '<S36>/Sum2' */
+      rtb_Gain3 = rtb_Sum1 + rtb_Switch1;
+      rtb_Switch1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
+        rtb_Gain3 & 134217727;
+
+      /* Switch: '<S38>/Switch2' */
+      if (rtb_RelationalOperator1_m) {
+        /* Update for UnitDelay: '<S38>/UnitDelay' */
+        rtDW->UnitDelay_DSTATE = rtb_DataTypeConversion;
+      } else {
+        /* Update for UnitDelay: '<S38>/UnitDelay' */
+        rtDW->UnitDelay_DSTATE = rtb_Switch1;
+      }
+
+      /* End of Switch: '<S38>/Switch2' */
+      /* End of Outputs for SubSystem: '<S35>/Rate_Limiter' */
+
+      /* DataTypeConversion: '<S35>/Data Type Conversion1' */
+      rtDW->Merge1 = (int16_T)(rtb_Switch1 >> 12);
+
+      /* End of Outputs for SubSystem: '<S31>/Open_Mode' */
+      break;
+
+     case 1:
+      /* Outputs for IfAction SubSystem: '<S31>/Default_Mode' incorporates:
+       *  ActionPort: '<S33>/Action Port'
+       */
+      rtDW->Merge1 = rtb_Merge;
+
+      /* End of Outputs for SubSystem: '<S31>/Default_Mode' */
+      break;
+    }
+
+    /* End of If: '<S31>/If2' */
+    /* End of Outputs for SubSystem: '<S1>/F03_Control_Mode_Manager' */
+  }
+
+  /* End of If: '<S1>/If4' */
+
+  /* UnitDelay: '<S8>/UnitDelay5' */
+  rtb_RelationalOperator1_m = rtDW->UnitDelay5_DSTATE_l;
+
+  /* Saturate: '<S1>/Saturation' incorporates:
+   *  Inport: '<Root>/i_phaAB'
+   */
+  rtb_Gain3 = rtU->i_phaAB << 4;
+  if (rtb_Gain3 >= 27200) {
+    rtb_Merge = 27200;
+  } else if (rtb_Gain3 <= -27200) {
+    rtb_Merge = -27200;
+  } else {
+    rtb_Merge = (int16_T)(rtU->i_phaAB << 4);
+  }
+
+  /* End of Saturate: '<S1>/Saturation' */
+
+  /* Saturate: '<S1>/Saturation1' incorporates:
+   *  Inport: '<Root>/i_phaBC'
+   */
+  rtb_Gain3 = rtU->i_phaBC << 4;
+  if (rtb_Gain3 >= 27200) {
+    rtb_Saturation1 = 27200;
+  } else if (rtb_Gain3 <= -27200) {
+    rtb_Saturation1 = -27200;
+  } else {
+    rtb_Saturation1 = (int16_T)(rtU->i_phaBC << 4);
+  }
+
+  /* End of Saturate: '<S1>/Saturation1' */
+
+  /* If: '<S2>/If1' incorporates:
+   *  Constant: '<S2>/b_angleMeasEna'
+   */
+  switch ((int8_T)rtP->b_angleMeasEna) {
+   case 0:
+    /* Outputs for IfAction SubSystem: '<S2>/F01_05_Electrical_Angle_Estimation' incorporates:
+     *  ActionPort: '<S13>/Action Port'
+     */
+    /* Switch: '<S13>/Switch2' incorporates:
+     *  Constant: '<S13>/Constant16'
+     *  Product: '<S13>/Divide1'
+     *  Product: '<S13>/Divide3'
+     *  RelationalOperator: '<S13>/Relational Operator7'
+     *  Sum: '<S13>/Sum3'
+     *  Switch: '<S13>/Switch3'
+     */
+    if (rtb_LogicalOperator) {
+      /* MinMax: '<S13>/MinMax' */
+      rtb_Divide2_h = rtb_Switch1_l;
+      if (!(rtb_Divide2_h < rtDW->z_counterRawPrev)) {
+        rtb_Divide2_h = rtDW->z_counterRawPrev;
+      }
+
+      /* End of MinMax: '<S13>/MinMax' */
+
+      /* Switch: '<S13>/Switch3' incorporates:
+       *  Constant: '<S10>/vec_hallToPos'
+       *  Constant: '<S13>/Constant16'
+       *  RelationalOperator: '<S13>/Relational Operator7'
+       *  Selector: '<S10>/Selector'
+       *  Sum: '<S13>/Sum1'
+       */
+      if (rtDW->Switch2_e == 1) {
+        rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
+      } else {
+        rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] + 1);
+      }
+
+      rtb_Divide2_h = (int16_T)(((int16_T)((int16_T)((rtb_Divide2_h << 14) /
+        rtDW->z_counterRawPrev) * rtDW->Switch2_e) + (rtb_Sum2_h << 14)) >> 2);
+    } else {
+      if (rtDW->Switch2_e == 1) {
+        /* Switch: '<S13>/Switch3' incorporates:
+         *  Constant: '<S10>/vec_hallToPos'
+         *  Selector: '<S10>/Selector'
+         */
+        rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
+      } else {
+        /* Switch: '<S13>/Switch3' incorporates:
+         *  Constant: '<S10>/vec_hallToPos'
+         *  Selector: '<S10>/Selector'
+         *  Sum: '<S13>/Sum1'
+         */
+        rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] + 1);
+      }
+
+      rtb_Divide2_h = (int16_T)(rtb_Sum2_h << 12);
+    }
+
+    /* End of Switch: '<S13>/Switch2' */
+
+    /* MinMax: '<S13>/MinMax1' incorporates:
+     *  Constant: '<S13>/Constant1'
+     */
+    if (!(rtb_Divide2_h > 0)) {
+      rtb_Divide2_h = 0;
+    }
+
+    /* End of MinMax: '<S13>/MinMax1' */
+
+    /* SignalConversion: '<S13>/Signal Conversion2' incorporates:
+     *  Product: '<S13>/Divide2'
+     */
+    rtb_Divide2_h = (int16_T)((15 * rtb_Divide2_h) >> 4);
+
+    /* End of Outputs for SubSystem: '<S2>/F01_05_Electrical_Angle_Estimation' */
+    break;
+
+   case 1:
+    /* Outputs for IfAction SubSystem: '<S2>/F01_06_Electrical_Angle_Measurement' incorporates:
+     *  ActionPort: '<S14>/Action Port'
+     */
+    /* Sum: '<S14>/Sum1' incorporates:
+     *  Constant: '<S14>/Constant2'
+     *  Constant: '<S14>/n_polePairs'
+     *  Inport: '<Root>/a_mechAngle'
+     *  Product: '<S14>/Divide'
+     */
+    rtb_DataTypeConversion = rtU->a_mechAngle * rtP->n_polePairs - 480;
+
+    /* DataTypeConversion: '<S14>/Data Type Conversion20' incorporates:
+     *  Constant: '<S14>/a_elecPeriod'
+     *  Product: '<S18>/Divide2'
+     *  Product: '<S18>/Divide3'
+     *  Sum: '<S18>/Sum3'
+     */
+    rtb_Divide2_h = (int16_T)((int16_T)(rtb_DataTypeConversion - ((int16_T)
+      ((int16_T)div_nde_s32_floor(rtb_DataTypeConversion, 5760) * 360) << 4)) <<
+      2);
+
+    /* End of Outputs for SubSystem: '<S2>/F01_06_Electrical_Angle_Measurement' */
+    break;
+  }
+
+  /* End of If: '<S2>/If1' */
+
+  /* If: '<S1>/If3' incorporates:
+   *  Constant: '<S1>/CTRL_COMM2'
+   *  Constant: '<S1>/b_fieldWeakEna'
+   *  Constant: '<S1>/z_ctrlTypSel'
+   *  Logic: '<S1>/Logical Operator1'
+   *  RelationalOperator: '<S1>/Relational Operator1'
+   *  UnitDelay: '<S8>/UnitDelay5'
+   */
+  if (rtP->b_fieldWeakEna && rtDW->UnitDelay5_DSTATE_l && (rtP->z_ctrlTypSel !=
+       0)) {
+    /* Outputs for IfAction SubSystem: '<S1>/F04_Field_Weakening' incorporates:
+     *  ActionPort: '<S5>/Action Port'
+     */
+    /* Abs: '<S5>/Abs5' */
+    if (rtb_DataTypeConversion2 < 0) {
+      rtb_DataTypeConversion2 = (int16_T)-rtb_DataTypeConversion2;
+    }
+
+    /* End of Abs: '<S5>/Abs5' */
+
+    /* Switch: '<S41>/Switch2' incorporates:
+     *  Constant: '<S5>/r_fieldWeakHi'
+     *  Constant: '<S5>/r_fieldWeakLo'
+     *  RelationalOperator: '<S41>/LowerRelop1'
+     *  RelationalOperator: '<S41>/UpperRelop'
+     *  Switch: '<S41>/Switch'
+     */
+    if (rtb_DataTypeConversion2 > rtP->r_fieldWeakHi) {
+      rtb_DataTypeConversion2 = rtP->r_fieldWeakHi;
+    } else {
+      if (rtb_DataTypeConversion2 < rtP->r_fieldWeakLo) {
+        /* Switch: '<S41>/Switch' incorporates:
+         *  Constant: '<S5>/r_fieldWeakLo'
+         */
+        rtb_DataTypeConversion2 = rtP->r_fieldWeakLo;
+      }
+    }
+
+    /* End of Switch: '<S41>/Switch2' */
+
+    /* Switch: '<S5>/Switch2' incorporates:
+     *  Constant: '<S5>/CTRL_COMM2'
+     *  Constant: '<S5>/a_phaAdvMax'
+     *  Constant: '<S5>/id_fieldWeakMax'
+     *  RelationalOperator: '<S5>/Relational Operator1'
+     */
+    if (rtP->z_ctrlTypSel == 2) {
+      rtb_Merge_f_idx_2 = rtP->id_fieldWeakMax;
+    } else {
+      rtb_Merge_f_idx_2 = rtP->a_phaAdvMax;
+    }
+
+    /* End of Switch: '<S5>/Switch2' */
+
+    /* Switch: '<S40>/Switch2' incorporates:
+     *  Constant: '<S5>/n_fieldWeakAuthHi'
+     *  Constant: '<S5>/n_fieldWeakAuthLo'
+     *  RelationalOperator: '<S40>/LowerRelop1'
+     *  RelationalOperator: '<S40>/UpperRelop'
+     *  Switch: '<S40>/Switch'
+     */
+    if (rtb_Abs5 > rtP->n_fieldWeakAuthHi) {
+      rtb_Switch2_l = rtP->n_fieldWeakAuthHi;
+    } else if (rtb_Abs5 < rtP->n_fieldWeakAuthLo) {
+      /* Switch: '<S40>/Switch' incorporates:
+       *  Constant: '<S5>/n_fieldWeakAuthLo'
+       */
+      rtb_Switch2_l = rtP->n_fieldWeakAuthLo;
+    } else {
+      rtb_Switch2_l = rtb_Abs5;
+    }
+
+    /* End of Switch: '<S40>/Switch2' */
+
+    /* Product: '<S5>/Divide3' incorporates:
+     *  Constant: '<S5>/n_fieldWeakAuthHi'
+     *  Constant: '<S5>/n_fieldWeakAuthLo'
+     *  Constant: '<S5>/r_fieldWeakHi'
+     *  Constant: '<S5>/r_fieldWeakLo'
+     *  Product: '<S5>/Divide1'
+     *  Product: '<S5>/Divide14'
+     *  Product: '<S5>/Divide2'
+     *  Sum: '<S5>/Sum1'
+     *  Sum: '<S5>/Sum2'
+     *  Sum: '<S5>/Sum3'
+     *  Sum: '<S5>/Sum4'
+     */
+    rtDW->Divide3 = (int16_T)(((uint16_T)(((uint32_T)(uint16_T)(((int16_T)
+      (rtb_DataTypeConversion2 - rtP->r_fieldWeakLo) << 15) / (int16_T)
+      (rtP->r_fieldWeakHi - rtP->r_fieldWeakLo)) * (uint16_T)(((int16_T)
+      (rtb_Switch2_l - rtP->n_fieldWeakAuthLo) << 15) / (int16_T)
+      (rtP->n_fieldWeakAuthHi - rtP->n_fieldWeakAuthLo))) >> 15) *
+      rtb_Merge_f_idx_2) >> 15);
+
+    /* End of Outputs for SubSystem: '<S1>/F04_Field_Weakening' */
+  }
+
+  /* End of If: '<S1>/If3' */
+
+  /* If: '<S1>/If1' incorporates:
+   *  Constant: '<S1>/z_ctrlTypSel'
+   */
+  rtb_Sum2_h = rtDW->If1_ActiveSubsystem_p;
+  UnitDelay3 = -1;
+  if (rtP->z_ctrlTypSel == 2) {
+    UnitDelay3 = 0;
+  }
+
+  rtDW->If1_ActiveSubsystem_p = UnitDelay3;
+  if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
+    /* Disable for If: '<S6>/If2' */
+    if (rtDW->If2_ActiveSubsystem_a == 0) {
+      /* Disable for Outport: '<S43>/iq' */
+      rtDW->DataTypeConversion[0] = 0;
+
+      /* Disable for Outport: '<S43>/id' */
+      rtDW->DataTypeConversion[1] = 0;
+    }
+
+    rtDW->If2_ActiveSubsystem_a = -1;
+
+    /* End of Disable for If: '<S6>/If2' */
+
+    /* Disable for If: '<S6>/If1' */
+    if (rtDW->If1_ActiveSubsystem_e == 0) {
+      /* Disable for SwitchCase: '<S44>/Switch Case' */
+      rtDW->SwitchCase_ActiveSubsystem = -1;
+    }
+
+    rtDW->If1_ActiveSubsystem_e = -1;
+
+    /* End of Disable for If: '<S6>/If1' */
+
+    /* Disable for Outport: '<S6>/V_phaABC_FOC' */
+    rtDW->Gain4[0] = 0;
+    rtDW->Gain4[1] = 0;
+    rtDW->Gain4[2] = 0;
+
+    /* Disable for Outport: '<S6>/iq' */
+    rtDW->DataTypeConversion[0] = 0;
+
+    /* Disable for Outport: '<S6>/id' */
+    rtDW->DataTypeConversion[1] = 0;
+  }
+
+  if (UnitDelay3 == 0) {
+    if (0 != rtb_Sum2_h) {
+      /* InitializeConditions for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' incorporates:
+       *  ActionPort: '<S6>/Action Port'
+       */
+      /* InitializeConditions for If: '<S1>/If1' incorporates:
+       *  UnitDelay: '<S6>/UnitDelay4'
+       */
+      rtDW->UnitDelay4_DSTATE_h = 0;
+
+      /* End of InitializeConditions for SubSystem: '<S1>/F05_Field_Oriented_Control' */
+    }
+
+    /* Outputs for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' incorporates:
+     *  ActionPort: '<S6>/Action Port'
+     */
+    /* Abs: '<S6>/Abs1' */
+    if (rtDW->Merge1 < 0) {
+      rtb_Switch2_l = (int16_T)-rtDW->Merge1;
+    } else {
+      rtb_Switch2_l = rtDW->Merge1;
+    }
+
+    /* End of Abs: '<S6>/Abs1' */
+
+    /* Gain: '<S6>/toNegative' */
+    rtb_toNegative = (int16_T)-rtDW->Divide3;
+
+    /* If: '<S42>/If1' incorporates:
+     *  Constant: '<S42>/z_selPhaCurMeasABC'
+     */
+    if (rtP->z_selPhaCurMeasABC == 0) {
+      /* Outputs for IfAction SubSystem: '<S42>/Clarke_PhasesAB' incorporates:
+       *  ActionPort: '<S50>/Action Port'
+       */
+      /* Gain: '<S50>/Gain4' */
+      rtb_Gain3 = 18919 * rtb_Merge;
+
+      /* Gain: '<S50>/Gain2' */
+      rtb_DataTypeConversion = 18919 * rtb_Saturation1;
+
+      /* Sum: '<S50>/Sum1' incorporates:
+       *  Gain: '<S50>/Gain2'
+       *  Gain: '<S50>/Gain4'
+       */
+      rtb_Gain3 = (((rtb_Gain3 < 0 ? 32767 : 0) + rtb_Gain3) >> 15) + (int16_T)
+        (((rtb_DataTypeConversion < 0 ? 16383 : 0) + rtb_DataTypeConversion) >>
+         14);
+      if (rtb_Gain3 > 32767) {
+        rtb_Gain3 = 32767;
+      } else {
+        if (rtb_Gain3 < -32768) {
+          rtb_Gain3 = -32768;
+        }
+      }
+
+      rtb_DataTypeConversion2 = (int16_T)rtb_Gain3;
+
+      /* End of Sum: '<S50>/Sum1' */
+      /* End of Outputs for SubSystem: '<S42>/Clarke_PhasesAB' */
+    } else if (rtP->z_selPhaCurMeasABC == 1) {
+      /* Outputs for IfAction SubSystem: '<S42>/Clarke_PhasesBC' incorporates:
+       *  ActionPort: '<S52>/Action Port'
+       */
+      /* Sum: '<S52>/Sum3' */
+      rtb_Gain3 = rtb_Merge - rtb_Saturation1;
+      if (rtb_Gain3 > 32767) {
+        rtb_Gain3 = 32767;
+      } else {
+        if (rtb_Gain3 < -32768) {
+          rtb_Gain3 = -32768;
+        }
+      }
+
+      /* Gain: '<S52>/Gain2' incorporates:
+       *  Sum: '<S52>/Sum3'
+       */
+      rtb_Gain3 *= 18919;
+      rtb_DataTypeConversion2 = (int16_T)(((rtb_Gain3 < 0 ? 32767 : 0) +
+        rtb_Gain3) >> 15);
+
+      /* Sum: '<S52>/Sum1' */
+      rtb_Gain3 = -rtb_Merge - rtb_Saturation1;
+      if (rtb_Gain3 > 32767) {
+        rtb_Gain3 = 32767;
+      } else {
+        if (rtb_Gain3 < -32768) {
+          rtb_Gain3 = -32768;
+        }
+      }
+
+      rtb_Merge = (int16_T)rtb_Gain3;
+
+      /* End of Sum: '<S52>/Sum1' */
+      /* End of Outputs for SubSystem: '<S42>/Clarke_PhasesBC' */
+    } else {
+      /* Outputs for IfAction SubSystem: '<S42>/Clarke_PhasesAC' incorporates:
+       *  ActionPort: '<S51>/Action Port'
+       */
+      /* Gain: '<S51>/Gain4' */
+      rtb_Gain3 = 18919 * rtb_Merge;
+
+      /* Gain: '<S51>/Gain2' */
+      rtb_DataTypeConversion = 18919 * rtb_Saturation1;
+
+      /* Sum: '<S51>/Sum1' incorporates:
+       *  Gain: '<S51>/Gain2'
+       *  Gain: '<S51>/Gain4'
+       */
+      rtb_Gain3 = -(((rtb_Gain3 < 0 ? 32767 : 0) + rtb_Gain3) >> 15) - (int16_T)
+        (((rtb_DataTypeConversion < 0 ? 16383 : 0) + rtb_DataTypeConversion) >>
+         14);
+      if (rtb_Gain3 > 32767) {
+        rtb_Gain3 = 32767;
+      } else {
+        if (rtb_Gain3 < -32768) {
+          rtb_Gain3 = -32768;
+        }
+      }
+
+      rtb_DataTypeConversion2 = (int16_T)rtb_Gain3;
+
+      /* End of Sum: '<S51>/Sum1' */
+      /* End of Outputs for SubSystem: '<S42>/Clarke_PhasesAC' */
+    }
+
+    /* End of If: '<S42>/If1' */
+
+    /* PreLookup: '<S49>/a_elecAngle_XA' */
+    rtb_Sum_l = plook_u8s16_evencka(rtb_Divide2_h, 0, 128U, 180U);
+
+    /* If: '<S6>/If2' incorporates:
+     *  Constant: '<S43>/cf_currFilt'
+     *  Inport: '<Root>/b_motEna'
+     */
+    rtb_Sum2_h = rtDW->If2_ActiveSubsystem_a;
+    UnitDelay3 = -1;
+    if (rtU->b_motEna) {
+      UnitDelay3 = 0;
+    }
+
+    rtDW->If2_ActiveSubsystem_a = UnitDelay3;
+    if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
+      /* Disable for Outport: '<S43>/iq' */
+      rtDW->DataTypeConversion[0] = 0;
+
+      /* Disable for Outport: '<S43>/id' */
+      rtDW->DataTypeConversion[1] = 0;
+    }
+
+    if (UnitDelay3 == 0) {
+      if (0 != rtb_Sum2_h) {
+        /* SystemReset for IfAction SubSystem: '<S6>/Current_Filtering' incorporates:
+         *  ActionPort: '<S43>/Action Port'
+         */
+
+        /* SystemReset for Atomic SubSystem: '<S43>/Low_Pass_Filter' */
+
+        /* SystemReset for If: '<S6>/If2' */
+        Low_Pass_Filter_Reset(&rtDW->Low_Pass_Filter_m);
+
+        /* End of SystemReset for SubSystem: '<S43>/Low_Pass_Filter' */
+
+        /* End of SystemReset for SubSystem: '<S6>/Current_Filtering' */
+      }
+
+      /* Sum: '<S48>/Sum6' incorporates:
+       *  Interpolation_n-D: '<S49>/r_cos_M1'
+       *  Interpolation_n-D: '<S49>/r_sin_M1'
+       *  Product: '<S48>/Divide1'
+       *  Product: '<S48>/Divide4'
+       */
+      rtb_Gain3 = (int16_T)((rtb_DataTypeConversion2 *
+        rtConstP.r_cos_M1_Table[rtb_Sum_l]) >> 14) - (int16_T)((rtb_Merge *
+        rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14);
+      if (rtb_Gain3 > 32767) {
+        rtb_Gain3 = 32767;
+      } else {
+        if (rtb_Gain3 < -32768) {
+          rtb_Gain3 = -32768;
+        }
+      }
+
+      /* Outputs for IfAction SubSystem: '<S6>/Current_Filtering' incorporates:
+       *  ActionPort: '<S43>/Action Port'
+       */
+      /* SignalConversion: '<S43>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
+       *  Sum: '<S48>/Sum6'
+       */
+      rtb_TmpSignalConversionAtLow_Pa[0] = (int16_T)rtb_Gain3;
+
+      /* End of Outputs for SubSystem: '<S6>/Current_Filtering' */
+
+      /* Sum: '<S48>/Sum1' incorporates:
+       *  Interpolation_n-D: '<S49>/r_cos_M1'
+       *  Interpolation_n-D: '<S49>/r_sin_M1'
+       *  Product: '<S48>/Divide2'
+       *  Product: '<S48>/Divide3'
+       */
+      rtb_Gain3 = (int16_T)((rtb_Merge * rtConstP.r_cos_M1_Table[rtb_Sum_l]) >>
+                            14) + (int16_T)((rtb_DataTypeConversion2 *
+        rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14);
+      if (rtb_Gain3 > 32767) {
+        rtb_Gain3 = 32767;
+      } else {
+        if (rtb_Gain3 < -32768) {
+          rtb_Gain3 = -32768;
+        }
+      }
+
+      /* Outputs for IfAction SubSystem: '<S6>/Current_Filtering' incorporates:
+       *  ActionPort: '<S43>/Action Port'
+       */
+      /* SignalConversion: '<S43>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
+       *  Sum: '<S48>/Sum1'
+       */
+      rtb_TmpSignalConversionAtLow_Pa[1] = (int16_T)rtb_Gain3;
+
+      /* Outputs for Atomic SubSystem: '<S43>/Low_Pass_Filter' */
+      Low_Pass_Filter(rtb_TmpSignalConversionAtLow_Pa, rtP->cf_currFilt,
+                      rtDW->DataTypeConversion, &rtDW->Low_Pass_Filter_m);
+
+      /* End of Outputs for SubSystem: '<S43>/Low_Pass_Filter' */
+
+      /* End of Outputs for SubSystem: '<S6>/Current_Filtering' */
+    }
+
+    /* End of If: '<S6>/If2' */
+
+    /* If: '<S6>/If3' incorporates:
+     *  Constant: '<S47>/Vd_max1'
+     *  Constant: '<S47>/i_max'
+     *  UnitDelay: '<S8>/UnitDelay5'
+     */
+    if (rtDW->UnitDelay5_DSTATE_l) {
+      /* Outputs for IfAction SubSystem: '<S6>/Motor_Limitations' incorporates:
+       *  ActionPort: '<S47>/Action Port'
+       */
+      rtDW->Vd_max1 = rtP->Vd_max;
+
+      /* Gain: '<S47>/Gain3' incorporates:
+       *  Constant: '<S47>/Vd_max1'
+       */
+      rtDW->Gain3 = (int16_T)-rtDW->Vd_max1;
+
+      /* Interpolation_n-D: '<S47>/Vq_max_M1' incorporates:
+       *  Abs: '<S47>/Abs5'
+       *  PreLookup: '<S47>/Vq_max_XA'
+       *  UnitDelay: '<S6>/UnitDelay4'
+       */
+      if (rtDW->UnitDelay4_DSTATE_h < 0) {
+        rtb_Merge_f_idx_2 = (int16_T)-rtDW->UnitDelay4_DSTATE_h;
+      } else {
+        rtb_Merge_f_idx_2 = rtDW->UnitDelay4_DSTATE_h;
+      }
+
+      rtDW->Vq_max_M1 = rtP->Vq_max_M1[plook_u8s16_evencka(rtb_Merge_f_idx_2,
+        rtP->Vq_max_XA[0], (uint16_T)(rtP->Vq_max_XA[1] - rtP->Vq_max_XA[0]),
+        45U)];
+
+      /* End of Interpolation_n-D: '<S47>/Vq_max_M1' */
+
+      /* Gain: '<S47>/Gain5' */
+      rtDW->Gain5 = (int16_T)-rtDW->Vq_max_M1;
+      rtDW->i_max = rtP->i_max;
+
+      /* Interpolation_n-D: '<S47>/iq_maxSca_M1' incorporates:
+       *  Constant: '<S47>/i_max'
+       *  Product: '<S47>/Divide4'
+       */
+      rtb_Gain3 = rtDW->Divide3 << 16;
+      rtb_Gain3 = (rtb_Gain3 == MIN_int32_T) && (rtDW->i_max == -1) ?
+        MAX_int32_T : rtb_Gain3 / rtDW->i_max;
+      if (rtb_Gain3 < 0) {
+        rtb_Gain3 = 0;
+      } else {
+        if (rtb_Gain3 > 65535) {
+          rtb_Gain3 = 65535;
+        }
+      }
+
+      /* Product: '<S47>/Divide1' incorporates:
+       *  Interpolation_n-D: '<S47>/iq_maxSca_M1'
+       *  PreLookup: '<S47>/iq_maxSca_XA'
+       *  Product: '<S47>/Divide4'
+       */
+      rtDW->Divide1_a = (int16_T)
+        ((rtConstP.iq_maxSca_M1_Table[plook_u8u16_evencka((uint16_T)rtb_Gain3,
+           0U, 1311U, 49U)] * rtDW->i_max) >> 16);
+
+      /* Gain: '<S47>/Gain1' */
+      rtDW->Gain1 = (int16_T)-rtDW->Divide1_a;
+
+      /* SwitchCase: '<S47>/Switch Case' incorporates:
+       *  Constant: '<S47>/n_max1'
+       *  Constant: '<S75>/Constant1'
+       *  Constant: '<S75>/cf_KbLimProt'
+       *  Constant: '<S75>/cf_nKiLimProt'
+       *  Constant: '<S76>/Constant'
+       *  Constant: '<S76>/Constant1'
+       *  Constant: '<S76>/cf_KbLimProt'
+       *  Constant: '<S76>/cf_iqKiLimProt'
+       *  Constant: '<S76>/cf_nKiLimProt'
+       *  Sum: '<S75>/Sum1'
+       *  Sum: '<S76>/Sum1'
+       *  Sum: '<S76>/Sum2'
+       */
+      switch (rtDW->z_ctrlMod) {
+       case 1:
+        /* Abs: '<S6>/Abs5' */
+        if (rtDW->DataTypeConversion[0] < 0) {
+          rtb_Merge_f_idx_2 = (int16_T)-rtDW->DataTypeConversion[0];
+        } else {
+          rtb_Merge_f_idx_2 = rtDW->DataTypeConversion[0];
+        }
+
+        /* End of Abs: '<S6>/Abs5' */
+
+        /* Outputs for IfAction SubSystem: '<S47>/Voltage_Mode_Protection' incorporates:
+         *  ActionPort: '<S76>/Action Port'
+         */
+
+        /* Outputs for Atomic SubSystem: '<S76>/I_backCalc_fixdt' */
+        I_backCalc_fixdt((int16_T)(rtDW->Divide1_a - rtb_Merge_f_idx_2),
+                         rtP->cf_iqKiLimProt, rtP->cf_KbLimProt, rtb_Switch2_l,
+                         0, &rtDW->Switch2_c, &rtDW->I_backCalc_fixdt_i);
+
+        /* End of Outputs for SubSystem: '<S76>/I_backCalc_fixdt' */
+
+        /* Outputs for Atomic SubSystem: '<S76>/I_backCalc_fixdt1' */
+        I_backCalc_fixdt((int16_T)(rtP->n_max - rtb_Abs5), rtP->cf_nKiLimProt,
+                         rtP->cf_KbLimProt, rtb_Switch2_l, 0, &rtDW->Switch2_l,
+                         &rtDW->I_backCalc_fixdt1);
+
+        /* End of Outputs for SubSystem: '<S76>/I_backCalc_fixdt1' */
+
+        /* End of Outputs for SubSystem: '<S47>/Voltage_Mode_Protection' */
+        break;
+
+       case 2:
+        /* Outputs for IfAction SubSystem: '<S47>/Speed_Mode_Protection' incorporates:
+         *  ActionPort: '<S74>/Action Port'
+         */
+        /* Switch: '<S77>/Switch2' incorporates:
+         *  RelationalOperator: '<S77>/LowerRelop1'
+         *  RelationalOperator: '<S77>/UpperRelop'
+         *  Switch: '<S77>/Switch'
+         */
+        if (rtDW->DataTypeConversion[0] > rtDW->Divide1_a) {
+          rtb_Merge_f_idx_2 = rtDW->Divide1_a;
+        } else if (rtDW->DataTypeConversion[0] < rtDW->Gain1) {
+          /* Switch: '<S77>/Switch' */
+          rtb_Merge_f_idx_2 = rtDW->Gain1;
+        } else {
+          rtb_Merge_f_idx_2 = rtDW->DataTypeConversion[0];
+        }
+
+        /* End of Switch: '<S77>/Switch2' */
+
+        /* Product: '<S74>/Divide1' incorporates:
+         *  Constant: '<S74>/cf_iqKiLimProt'
+         *  Sum: '<S74>/Sum3'
+         */
+        rtDW->Divide1 = (int16_T)(rtb_Merge_f_idx_2 - rtDW->DataTypeConversion[0])
+          * rtP->cf_iqKiLimProt;
+
+        /* End of Outputs for SubSystem: '<S47>/Speed_Mode_Protection' */
+        break;
+
+       case 3:
+        /* Outputs for IfAction SubSystem: '<S47>/Torque_Mode_Protection' incorporates:
+         *  ActionPort: '<S75>/Action Port'
+         */
+
+        /* Outputs for Atomic SubSystem: '<S75>/I_backCalc_fixdt' */
+        I_backCalc_fixdt((int16_T)(rtP->n_max - rtb_Abs5), rtP->cf_nKiLimProt,
+                         rtP->cf_KbLimProt, rtDW->Vq_max_M1, 0, &rtDW->Switch2,
+                         &rtDW->I_backCalc_fixdt_g);
+
+        /* End of Outputs for SubSystem: '<S75>/I_backCalc_fixdt' */
+
+        /* End of Outputs for SubSystem: '<S47>/Torque_Mode_Protection' */
+        break;
+      }
+
+      /* End of SwitchCase: '<S47>/Switch Case' */
+
+      /* Gain: '<S47>/Gain4' */
+      rtDW->Gain4_c = (int16_T)-rtDW->i_max;
+
+      /* End of Outputs for SubSystem: '<S6>/Motor_Limitations' */
+    }
+
+    /* End of If: '<S6>/If3' */
+
+    /* If: '<S6>/If1' incorporates:
+     *  UnitDelay: '<S8>/UnitDelay6'
+     */
+    rtb_Sum2_h = rtDW->If1_ActiveSubsystem_e;
+    UnitDelay3 = -1;
+    if (rtDW->UnitDelay6_DSTATE) {
+      UnitDelay3 = 0;
+    }
+
+    rtDW->If1_ActiveSubsystem_e = UnitDelay3;
+    if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
+      /* Disable for SwitchCase: '<S44>/Switch Case' */
+      rtDW->SwitchCase_ActiveSubsystem = -1;
+    }
+
+    if (UnitDelay3 == 0) {
+      /* Outputs for IfAction SubSystem: '<S6>/FOC' incorporates:
+       *  ActionPort: '<S44>/Action Port'
+       */
+      /* If: '<S44>/If1' incorporates:
+       *  Constant: '<S57>/cf_idKi1'
+       *  Constant: '<S57>/cf_idKp1'
+       *  Constant: '<S57>/constant1'
+       *  Constant: '<S57>/constant2'
+       *  Sum: '<S57>/Sum3'
+       */
+      if (rtb_LogicalOperator) {
+        /* Outputs for IfAction SubSystem: '<S44>/Vd_Calculation' incorporates:
+         *  ActionPort: '<S57>/Action Port'
+         */
+        /* Switch: '<S69>/Switch2' incorporates:
+         *  RelationalOperator: '<S69>/LowerRelop1'
+         *  RelationalOperator: '<S69>/UpperRelop'
+         *  Switch: '<S69>/Switch'
+         */
+        if (rtb_toNegative > rtDW->i_max) {
+          rtb_toNegative = rtDW->i_max;
+        } else {
+          if (rtb_toNegative < rtDW->Gain4_c) {
+            /* Switch: '<S69>/Switch' */
+            rtb_toNegative = rtDW->Gain4_c;
+          }
+        }
+
+        /* End of Switch: '<S69>/Switch2' */
+
+        /* Sum: '<S57>/Sum3' */
+        rtb_Gain3 = rtb_toNegative - rtDW->DataTypeConversion[1];
+        if (rtb_Gain3 > 32767) {
+          rtb_Gain3 = 32767;
+        } else {
+          if (rtb_Gain3 < -32768) {
+            rtb_Gain3 = -32768;
+          }
+        }
+
+        /* Outputs for Atomic SubSystem: '<S57>/PI_clamp_fixdt' */
+        PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_idKp, rtP->cf_idKi, 0,
+                       rtDW->Vd_max1, rtDW->Gain3, 0, &rtDW->Switch1,
+                       &rtDW->PI_clamp_fixdt_k);
+
+        /* End of Outputs for SubSystem: '<S57>/PI_clamp_fixdt' */
+
+        /* End of Outputs for SubSystem: '<S44>/Vd_Calculation' */
+      }
+
+      /* End of If: '<S44>/If1' */
+
+      /* SwitchCase: '<S44>/Switch Case' incorporates:
+       *  Constant: '<S55>/cf_nKi'
+       *  Constant: '<S55>/cf_nKp'
+       *  Constant: '<S56>/cf_iqKi'
+       *  Constant: '<S56>/cf_iqKp'
+       *  Constant: '<S56>/constant2'
+       *  Inport: '<S54>/r_inpTgtSca'
+       *  Sum: '<S55>/Sum3'
+       *  Sum: '<S56>/Sum2'
+       *  UnitDelay: '<S7>/UnitDelay4'
+       */
+      rtb_Sum2_h = rtDW->SwitchCase_ActiveSubsystem;
+      switch (rtDW->z_ctrlMod) {
+       case 1:
+        break;
+
+       case 2:
+        UnitDelay3 = 1;
+        break;
+
+       case 3:
+        UnitDelay3 = 2;
+        break;
+
+       default:
+        UnitDelay3 = 3;
+        break;
+      }
+
+      rtDW->SwitchCase_ActiveSubsystem = UnitDelay3;
+      switch (UnitDelay3) {
+       case 0:
+        /* Outputs for IfAction SubSystem: '<S44>/Voltage_Mode' incorporates:
+         *  ActionPort: '<S58>/Action Port'
+         */
+        /* MinMax: '<S58>/MinMax' */
+        if (!(rtb_Switch2_l < rtDW->Switch2_c)) {
+          rtb_Switch2_l = rtDW->Switch2_c;
+        }
+
+        if (!(rtb_Switch2_l < rtDW->Switch2_l)) {
+          rtb_Switch2_l = rtDW->Switch2_l;
+        }
+
+        /* End of MinMax: '<S58>/MinMax' */
+
+        /* Signum: '<S58>/SignDeltaU2' */
+        if (rtDW->Merge1 < 0) {
+          rtb_Merge_f_idx_2 = -1;
+        } else {
+          rtb_Merge_f_idx_2 = (int16_T)(rtDW->Merge1 > 0);
+        }
+
+        /* End of Signum: '<S58>/SignDeltaU2' */
+
+        /* Product: '<S58>/Divide1' */
+        rtb_Merge = (int16_T)(rtb_Switch2_l * rtb_Merge_f_idx_2);
+
+        /* Switch: '<S73>/Switch2' incorporates:
+         *  RelationalOperator: '<S73>/LowerRelop1'
+         *  RelationalOperator: '<S73>/UpperRelop'
+         *  Switch: '<S73>/Switch'
+         */
+        if (rtb_Merge > rtDW->Vq_max_M1) {
+          /* SignalConversion: '<S58>/Signal Conversion2' */
+          rtDW->Merge = rtDW->Vq_max_M1;
+        } else if (rtb_Merge < rtDW->Gain5) {
+          /* Switch: '<S73>/Switch' incorporates:
+           *  SignalConversion: '<S58>/Signal Conversion2'
+           */
+          rtDW->Merge = rtDW->Gain5;
+        } else {
+          /* SignalConversion: '<S58>/Signal Conversion2' incorporates:
+           *  Switch: '<S73>/Switch'
+           */
+          rtDW->Merge = rtb_Merge;
+        }
+
+        /* End of Switch: '<S73>/Switch2' */
+        /* End of Outputs for SubSystem: '<S44>/Voltage_Mode' */
+        break;
+
+       case 1:
+        if (UnitDelay3 != rtb_Sum2_h) {
+          /* SystemReset for IfAction SubSystem: '<S44>/Speed_Mode' incorporates:
+           *  ActionPort: '<S55>/Action Port'
+           */
+
+          /* SystemReset for Atomic SubSystem: '<S55>/PI_clamp_fixdt' */
+
+          /* SystemReset for SwitchCase: '<S44>/Switch Case' */
+          PI_clamp_fixdt_g_Reset(&rtDW->PI_clamp_fixdt_oc);
+
+          /* End of SystemReset for SubSystem: '<S55>/PI_clamp_fixdt' */
+
+          /* End of SystemReset for SubSystem: '<S44>/Speed_Mode' */
+        }
+
+        /* Outputs for IfAction SubSystem: '<S44>/Speed_Mode' incorporates:
+         *  ActionPort: '<S55>/Action Port'
+         */
+        /* DataTypeConversion: '<S55>/Data Type Conversion2' incorporates:
+         *  Constant: '<S55>/n_cruiseMotTgt'
+         */
+        rtb_Merge = (int16_T)(rtP->n_cruiseMotTgt << 4);
+
+        /* Switch: '<S55>/Switch4' incorporates:
+         *  Constant: '<S1>/b_cruiseCtrlEna'
+         *  Logic: '<S55>/Logical Operator1'
+         *  RelationalOperator: '<S55>/Relational Operator3'
+         */
+        if (rtP->b_cruiseCtrlEna && (rtb_Merge != 0)) {
+          /* Switch: '<S55>/Switch3' incorporates:
+           *  MinMax: '<S55>/MinMax4'
+           */
+          if (rtb_Merge > 0) {
+            rtb_TmpSignalConversionAtLow_Pa[0] = rtDW->Vq_max_M1;
+
+            /* MinMax: '<S55>/MinMax3' */
+            if (rtDW->Merge1 > rtDW->Gain5) {
+              rtb_TmpSignalConversionAtLow_Pa[1] = rtDW->Merge1;
+            } else {
+              rtb_TmpSignalConversionAtLow_Pa[1] = rtDW->Gain5;
+            }
+
+            /* End of MinMax: '<S55>/MinMax3' */
+          } else {
+            if (rtDW->Vq_max_M1 < rtDW->Merge1) {
+              /* MinMax: '<S55>/MinMax4' */
+              rtb_TmpSignalConversionAtLow_Pa[0] = rtDW->Vq_max_M1;
+            } else {
+              rtb_TmpSignalConversionAtLow_Pa[0] = rtDW->Merge1;
+            }
+
+            rtb_TmpSignalConversionAtLow_Pa[1] = rtDW->Gain5;
+          }
+
+          /* End of Switch: '<S55>/Switch3' */
+        } else {
+          rtb_TmpSignalConversionAtLow_Pa[0] = rtDW->Vq_max_M1;
+          rtb_TmpSignalConversionAtLow_Pa[1] = rtDW->Gain5;
+        }
+
+        /* End of Switch: '<S55>/Switch4' */
+
+        /* Switch: '<S55>/Switch2' incorporates:
+         *  Constant: '<S1>/b_cruiseCtrlEna'
+         */
+        if (!rtP->b_cruiseCtrlEna) {
+          rtb_Merge = rtDW->Merge1;
+        }
+
+        /* End of Switch: '<S55>/Switch2' */
+
+        /* Sum: '<S55>/Sum3' */
+        rtb_Gain3 = rtb_Merge - rtb_Switch2_k;
+        if (rtb_Gain3 > 32767) {
+          rtb_Gain3 = 32767;
+        } else {
+          if (rtb_Gain3 < -32768) {
+            rtb_Gain3 = -32768;
+          }
+        }
+
+        /* Outputs for Atomic SubSystem: '<S55>/PI_clamp_fixdt' */
+        rtDW->Merge = (int16_T) PI_clamp_fixdt_o((int16_T)rtb_Gain3, rtP->cf_nKp,
+          rtP->cf_nKi, rtDW->UnitDelay4_DSTATE_eu,
+          rtb_TmpSignalConversionAtLow_Pa[0], rtb_TmpSignalConversionAtLow_Pa[1],
+          rtDW->Divide1, &rtDW->PI_clamp_fixdt_oc);
+
+        /* End of Outputs for SubSystem: '<S55>/PI_clamp_fixdt' */
+
+        /* End of Outputs for SubSystem: '<S44>/Speed_Mode' */
+        break;
+
+       case 2:
+        if (UnitDelay3 != rtb_Sum2_h) {
+          /* SystemReset for IfAction SubSystem: '<S44>/Torque_Mode' incorporates:
+           *  ActionPort: '<S56>/Action Port'
+           */
+
+          /* SystemReset for Atomic SubSystem: '<S56>/PI_clamp_fixdt' */
+
+          /* SystemReset for SwitchCase: '<S44>/Switch Case' */
+          PI_clamp_fixdt_b_Reset(&rtDW->PI_clamp_fixdt_at);
+
+          /* End of SystemReset for SubSystem: '<S56>/PI_clamp_fixdt' */
+
+          /* End of SystemReset for SubSystem: '<S44>/Torque_Mode' */
+        }
+
+        /* Outputs for IfAction SubSystem: '<S44>/Torque_Mode' incorporates:
+         *  ActionPort: '<S56>/Action Port'
+         */
+        /* Gain: '<S56>/Gain4' */
+        rtb_Merge = (int16_T)-rtDW->Switch2;
+
+        /* Switch: '<S64>/Switch2' incorporates:
+         *  RelationalOperator: '<S64>/LowerRelop1'
+         *  RelationalOperator: '<S64>/UpperRelop'
+         *  Switch: '<S64>/Switch'
+         */
+        if (rtDW->Merge1 > rtDW->Divide1_a) {
+          rtb_Merge_f_idx_2 = rtDW->Divide1_a;
+        } else if (rtDW->Merge1 < rtDW->Gain1) {
+          /* Switch: '<S64>/Switch' */
+          rtb_Merge_f_idx_2 = rtDW->Gain1;
+        } else {
+          rtb_Merge_f_idx_2 = rtDW->Merge1;
+        }
+
+        /* End of Switch: '<S64>/Switch2' */
+
+        /* Sum: '<S56>/Sum2' */
+        rtb_Gain3 = rtb_Merge_f_idx_2 - rtDW->DataTypeConversion[0];
+        if (rtb_Gain3 > 32767) {
+          rtb_Gain3 = 32767;
+        } else {
+          if (rtb_Gain3 < -32768) {
+            rtb_Gain3 = -32768;
+          }
+        }
+
+        /* MinMax: '<S56>/MinMax1' */
+        if (rtDW->Vq_max_M1 < rtDW->Switch2) {
+          rtb_Merge_f_idx_2 = rtDW->Vq_max_M1;
+        } else {
+          rtb_Merge_f_idx_2 = rtDW->Switch2;
+        }
+
+        /* End of MinMax: '<S56>/MinMax1' */
+
+        /* MinMax: '<S56>/MinMax2' */
+        if (!(rtb_Merge > rtDW->Gain5)) {
+          rtb_Merge = rtDW->Gain5;
+        }
+
+        /* End of MinMax: '<S56>/MinMax2' */
+
+        /* Outputs for Atomic SubSystem: '<S56>/PI_clamp_fixdt' */
+        rtDW->Merge = (int16_T) PI_clamp_fixdt_a((int16_T)rtb_Gain3,
+          rtP->cf_iqKp, rtP->cf_iqKi, rtDW->UnitDelay4_DSTATE_eu,
+          rtb_Merge_f_idx_2, rtb_Merge, 0, &rtDW->PI_clamp_fixdt_at);
+
+        /* End of Outputs for SubSystem: '<S56>/PI_clamp_fixdt' */
+
+        /* End of Outputs for SubSystem: '<S44>/Torque_Mode' */
+        break;
+
+       case 3:
+        /* Outputs for IfAction SubSystem: '<S44>/Open_Mode' incorporates:
+         *  ActionPort: '<S54>/Action Port'
+         */
+        rtDW->Merge = rtDW->Merge1;
+
+        /* End of Outputs for SubSystem: '<S44>/Open_Mode' */
+        break;
+      }
+
+      /* End of SwitchCase: '<S44>/Switch Case' */
+      /* End of Outputs for SubSystem: '<S6>/FOC' */
+    }
+
+    /* End of If: '<S6>/If1' */
+
+    /* Sum: '<S46>/Sum6' incorporates:
+     *  Interpolation_n-D: '<S49>/r_cos_M1'
+     *  Interpolation_n-D: '<S49>/r_sin_M1'
+     *  Product: '<S46>/Divide1'
+     *  Product: '<S46>/Divide4'
+     */
+    rtb_Gain3 = (int16_T)((rtDW->Switch1 * rtConstP.r_cos_M1_Table[rtb_Sum_l]) >>
+                          14) - (int16_T)((rtDW->Merge *
+      rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14);
+    if (rtb_Gain3 > 32767) {
+      rtb_Gain3 = 32767;
+    } else {
+      if (rtb_Gain3 < -32768) {
+        rtb_Gain3 = -32768;
+      }
+    }
+
+    /* Sum: '<S46>/Sum1' incorporates:
+     *  Interpolation_n-D: '<S49>/r_cos_M1'
+     *  Interpolation_n-D: '<S49>/r_sin_M1'
+     *  Product: '<S46>/Divide2'
+     *  Product: '<S46>/Divide3'
+     */
+    rtb_DataTypeConversion = (int16_T)((rtDW->Switch1 *
+      rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14) + (int16_T)((rtDW->Merge *
+      rtConstP.r_cos_M1_Table[rtb_Sum_l]) >> 14);
+    if (rtb_DataTypeConversion > 32767) {
+      rtb_DataTypeConversion = 32767;
+    } else {
+      if (rtb_DataTypeConversion < -32768) {
+        rtb_DataTypeConversion = -32768;
+      }
+    }
+
+    /* Gain: '<S45>/Gain1' incorporates:
+     *  Sum: '<S46>/Sum1'
+     */
+    rtb_DataTypeConversion *= 14189;
+
+    /* Sum: '<S45>/Sum6' incorporates:
+     *  Gain: '<S45>/Gain1'
+     *  Gain: '<S45>/Gain3'
+     *  Sum: '<S46>/Sum6'
+     */
+    rtb_DataTypeConversion = (((rtb_DataTypeConversion < 0 ? 16383 : 0) +
+      rtb_DataTypeConversion) >> 14) - ((int16_T)(((int16_T)rtb_Gain3 < 0) +
+      (int16_T)rtb_Gain3) >> 1);
+    if (rtb_DataTypeConversion > 32767) {
+      rtb_DataTypeConversion = 32767;
+    } else {
+      if (rtb_DataTypeConversion < -32768) {
+        rtb_DataTypeConversion = -32768;
+      }
+    }
+
+    /* Sum: '<S45>/Sum2' incorporates:
+     *  Sum: '<S45>/Sum6'
+     *  Sum: '<S46>/Sum6'
+     */
+    rtb_Switch1 = -(int16_T)rtb_Gain3 - (int16_T)rtb_DataTypeConversion;
+    if (rtb_Switch1 > 32767) {
+      rtb_Switch1 = 32767;
+    } else {
+      if (rtb_Switch1 < -32768) {
+        rtb_Switch1 = -32768;
+      }
+    }
+
+    /* MinMax: '<S45>/MinMax1' incorporates:
+     *  Sum: '<S45>/Sum2'
+     *  Sum: '<S45>/Sum6'
+     *  Sum: '<S46>/Sum6'
+     */
+    rtb_Switch2_l = (int16_T)rtb_Gain3;
+    if (!((int16_T)rtb_Gain3 < (int16_T)rtb_DataTypeConversion)) {
+      rtb_Switch2_l = (int16_T)rtb_DataTypeConversion;
+    }
+
+    if (!(rtb_Switch2_l < (int16_T)rtb_Switch1)) {
+      rtb_Switch2_l = (int16_T)rtb_Switch1;
+    }
+
+    /* MinMax: '<S45>/MinMax2' incorporates:
+     *  Sum: '<S45>/Sum2'
+     *  Sum: '<S45>/Sum6'
+     *  Sum: '<S46>/Sum6'
+     */
+    rtb_Merge = (int16_T)rtb_Gain3;
+    if (!((int16_T)rtb_Gain3 > (int16_T)rtb_DataTypeConversion)) {
+      rtb_Merge = (int16_T)rtb_DataTypeConversion;
+    }
+
+    if (!(rtb_Merge > (int16_T)rtb_Switch1)) {
+      rtb_Merge = (int16_T)rtb_Switch1;
+    }
+
+    /* Sum: '<S45>/Add' incorporates:
+     *  MinMax: '<S45>/MinMax1'
+     *  MinMax: '<S45>/MinMax2'
+     */
+    rtb_Sum1 = rtb_Switch2_l + rtb_Merge;
+    if (rtb_Sum1 > 32767) {
+      rtb_Sum1 = 32767;
+    } else {
+      if (rtb_Sum1 < -32768) {
+        rtb_Sum1 = -32768;
+      }
+    }
+
+    /* Gain: '<S45>/Gain2' incorporates:
+     *  Sum: '<S45>/Add'
+     */
+    rtb_DataTypeConversion2 = (int16_T)(rtb_Sum1 >> 1);
+
+    /* Sum: '<S45>/Add1' incorporates:
+     *  Sum: '<S46>/Sum6'
+     */
+    rtb_Gain3 = (int16_T)rtb_Gain3 - rtb_DataTypeConversion2;
+    if (rtb_Gain3 > 32767) {
+      rtb_Gain3 = 32767;
+    } else {
+      if (rtb_Gain3 < -32768) {
+        rtb_Gain3 = -32768;
+      }
+    }
+
+    /* Gain: '<S45>/Gain4' incorporates:
+     *  Sum: '<S45>/Add1'
+     */
+    rtDW->Gain4[0] = (int16_T)((18919 * rtb_Gain3) >> 14);
+
+    /* Sum: '<S45>/Add1' incorporates:
+     *  Sum: '<S45>/Sum6'
+     */
+    rtb_Gain3 = (int16_T)rtb_DataTypeConversion - rtb_DataTypeConversion2;
+    if (rtb_Gain3 > 32767) {
+      rtb_Gain3 = 32767;
+    } else {
+      if (rtb_Gain3 < -32768) {
+        rtb_Gain3 = -32768;
+      }
+    }
+
+    /* Gain: '<S45>/Gain4' incorporates:
+     *  Sum: '<S45>/Add1'
+     */
+    rtDW->Gain4[1] = (int16_T)((18919 * rtb_Gain3) >> 14);
+
+    /* Sum: '<S45>/Add1' incorporates:
+     *  Sum: '<S45>/Sum2'
+     */
+    rtb_Gain3 = (int16_T)rtb_Switch1 - rtb_DataTypeConversion2;
+    if (rtb_Gain3 > 32767) {
+      rtb_Gain3 = 32767;
+    } else {
+      if (rtb_Gain3 < -32768) {
+        rtb_Gain3 = -32768;
+      }
+    }
+
+    /* Gain: '<S45>/Gain4' incorporates:
+     *  Sum: '<S45>/Add1'
+     */
+    rtDW->Gain4[2] = (int16_T)((18919 * rtb_Gain3) >> 14);
+
+    /* Update for UnitDelay: '<S6>/UnitDelay4' */
+    rtDW->UnitDelay4_DSTATE_h = rtDW->Switch1;
+
+    /* End of Outputs for SubSystem: '<S1>/F05_Field_Oriented_Control' */
+  }
+
+  /* End of If: '<S1>/If1' */
+
+  /* Switch: '<S7>/Switch2' incorporates:
+   *  Constant: '<S1>/z_ctrlTypSel'
+   *  Constant: '<S7>/CTRL_COMM1'
+   *  RelationalOperator: '<S7>/Relational Operator6'
+   */
+  if (rtP->z_ctrlTypSel == 2) {
+    rtb_Merge = rtDW->Merge;
+  } else {
+    rtb_Merge = rtDW->Merge1;
+  }
+
+  /* End of Switch: '<S7>/Switch2' */
+
+  /* If: '<S7>/If' incorporates:
+   *  Constant: '<S10>/vec_hallToPos'
+   *  Constant: '<S1>/z_ctrlTypSel'
+   *  Constant: '<S7>/CTRL_COMM2'
+   *  Constant: '<S7>/CTRL_COMM3'
+   *  Inport: '<S88>/V_phaABC_FOC_in'
+   *  Logic: '<S7>/Logical Operator1'
+   *  Logic: '<S7>/Logical Operator2'
+   *  LookupNDDirect: '<S87>/z_commutMap_M1'
+   *  RelationalOperator: '<S7>/Relational Operator1'
+   *  RelationalOperator: '<S7>/Relational Operator2'
+   *  Selector: '<S10>/Selector'
+   *
+   * About '<S87>/z_commutMap_M1':
+   *  2-dimensional Direct Look-Up returning a Column
+   */
+  if (rtb_LogicalOperator && (rtP->z_ctrlTypSel == 2)) {
+    /* Outputs for IfAction SubSystem: '<S7>/FOC_Method' incorporates:
+     *  ActionPort: '<S88>/Action Port'
+     */
+    rtb_DataTypeConversion2 = rtDW->Gain4[0];
+    rtb_Saturation1 = rtDW->Gain4[1];
+    rtb_Merge_f_idx_2 = rtDW->Gain4[2];
+
+    /* End of Outputs for SubSystem: '<S7>/FOC_Method' */
+  } else if (rtb_LogicalOperator && (rtP->z_ctrlTypSel == 1)) {
+    /* Outputs for IfAction SubSystem: '<S7>/SIN_Method' incorporates:
+     *  ActionPort: '<S89>/Action Port'
+     */
+    /* Switch: '<S90>/Switch_PhaAdv' incorporates:
+     *  Constant: '<S90>/b_fieldWeakEna'
+     *  Product: '<S91>/Divide2'
+     *  Product: '<S91>/Divide3'
+     *  Sum: '<S91>/Sum3'
+     */
+    if (rtP->b_fieldWeakEna) {
+      /* Sum: '<S90>/Sum3' incorporates:
+       *  Product: '<S90>/Product2'
+       */
+      rtb_Saturation1 = (int16_T)((int16_T)((int16_T)(rtDW->Divide3 *
+        rtDW->Switch2_e) << 2) + rtb_Divide2_h);
+      rtb_Saturation1 -= (int16_T)((int16_T)((int16_T)div_nde_s32_floor
+        (rtb_Saturation1, 23040) * 360) << 6);
+    } else {
+      rtb_Saturation1 = rtb_Divide2_h;
+    }
+
+    /* End of Switch: '<S90>/Switch_PhaAdv' */
+
+    /* PreLookup: '<S89>/a_elecAngle_XA' */
+    rtb_Sum = plook_u8s16_evencka(rtb_Saturation1, 0, 128U, 180U);
+
+    /* Product: '<S89>/Divide2' incorporates:
+     *  Interpolation_n-D: '<S89>/r_sin3PhaA_M1'
+     *  Interpolation_n-D: '<S89>/r_sin3PhaB_M1'
+     *  Interpolation_n-D: '<S89>/r_sin3PhaC_M1'
+     */
+    rtb_DataTypeConversion2 = (int16_T)((rtb_Merge *
+      rtConstP.r_sin3PhaA_M1_Table[rtb_Sum]) >> 14);
+    rtb_Saturation1 = (int16_T)((rtb_Merge *
+      rtConstP.r_sin3PhaB_M1_Table[rtb_Sum]) >> 14);
+    rtb_Merge_f_idx_2 = (int16_T)((rtb_Merge *
+      rtConstP.r_sin3PhaC_M1_Table[rtb_Sum]) >> 14);
+
+    /* End of Outputs for SubSystem: '<S7>/SIN_Method' */
+  } else {
+    /* Outputs for IfAction SubSystem: '<S7>/COM_Method' incorporates:
+     *  ActionPort: '<S87>/Action Port'
+     */
+    if (rtConstP.vec_hallToPos_Value[rtb_Sum] > 5) {
+      /* LookupNDDirect: '<S87>/z_commutMap_M1'
+       *
+       * About '<S87>/z_commutMap_M1':
+       *  2-dimensional Direct Look-Up returning a Column
+       */
+      rtb_Sum2_h = 5;
+    } else if (rtConstP.vec_hallToPos_Value[rtb_Sum] < 0) {
+      /* LookupNDDirect: '<S87>/z_commutMap_M1'
+       *
+       * About '<S87>/z_commutMap_M1':
+       *  2-dimensional Direct Look-Up returning a Column
+       */
+      rtb_Sum2_h = 0;
+    } else {
+      /* LookupNDDirect: '<S87>/z_commutMap_M1' incorporates:
+       *  Constant: '<S10>/vec_hallToPos'
+       *  Selector: '<S10>/Selector'
+       *
+       * About '<S87>/z_commutMap_M1':
+       *  2-dimensional Direct Look-Up returning a Column
+       */
+      rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
+    }
+
+    /* LookupNDDirect: '<S87>/z_commutMap_M1' incorporates:
+     *  Constant: '<S10>/vec_hallToPos'
+     *  Selector: '<S10>/Selector'
+     *
+     * About '<S87>/z_commutMap_M1':
+     *  2-dimensional Direct Look-Up returning a Column
+     */
+    rtb_DataTypeConversion = rtb_Sum2_h * 3;
+
+    /* Product: '<S87>/Divide2' incorporates:
+     *  LookupNDDirect: '<S87>/z_commutMap_M1'
+     *
+     * About '<S87>/z_commutMap_M1':
+     *  2-dimensional Direct Look-Up returning a Column
+     */
+    rtb_DataTypeConversion2 = (int16_T)(rtb_Merge *
+      rtConstP.z_commutMap_M1_table[rtb_DataTypeConversion]);
+    rtb_Saturation1 = (int16_T)(rtConstP.z_commutMap_M1_table[1 +
+      rtb_DataTypeConversion] * rtb_Merge);
+    rtb_Merge_f_idx_2 = (int16_T)(rtConstP.z_commutMap_M1_table[2 +
+      rtb_DataTypeConversion] * rtb_Merge);
+
+    /* End of Outputs for SubSystem: '<S7>/COM_Method' */
+  }
+
+  /* End of If: '<S7>/If' */
+
+  /* Outport: '<Root>/DC_phaA' incorporates:
+   *  DataTypeConversion: '<S7>/Data Type Conversion6'
+   */
+  rtY->DC_phaA = (int16_T)(rtb_DataTypeConversion2 >> 4);
+
+  /* Outport: '<Root>/DC_phaB' incorporates:
+   *  DataTypeConversion: '<S7>/Data Type Conversion6'
+   */
+  rtY->DC_phaB = (int16_T)(rtb_Saturation1 >> 4);
+
+  /* Update for UnitDelay: '<S9>/UnitDelay3' incorporates:
+   *  Inport: '<Root>/b_hallA '
+   */
+  rtDW->UnitDelay3_DSTATE_fy = rtU->b_hallA;
+
+  /* Update for UnitDelay: '<S9>/UnitDelay1' incorporates:
+   *  Inport: '<Root>/b_hallB'
+   */
+  rtDW->UnitDelay1_DSTATE = rtU->b_hallB;
+
+  /* Update for UnitDelay: '<S9>/UnitDelay2' incorporates:
+   *  Inport: '<Root>/b_hallC'
+   */
+  rtDW->UnitDelay2_DSTATE_f = rtU->b_hallC;
+
+  /* Update for UnitDelay: '<S12>/UnitDelay3' */
+  rtDW->UnitDelay3_DSTATE = rtb_Switch1_l;
+
+  /* Update for UnitDelay: '<S12>/UnitDelay4' */
+  rtDW->UnitDelay4_DSTATE_e = rtb_Abs5;
+
+  /* Update for UnitDelay: '<S8>/UnitDelay2' incorporates:
+   *  UnitDelay: '<S8>/UnitDelay6'
+   */
+  rtDW->UnitDelay2_DSTATE_g = rtDW->UnitDelay6_DSTATE;
+
+  /* Update for UnitDelay: '<S7>/UnitDelay4' */
+  rtDW->UnitDelay4_DSTATE_eu = rtb_Merge;
+
+  /* Update for UnitDelay: '<S8>/UnitDelay5' */
+  rtDW->UnitDelay5_DSTATE_l = rtb_RelationalOperator4_d;
+
+  /* Update for UnitDelay: '<S8>/UnitDelay6' */
+  rtDW->UnitDelay6_DSTATE = rtb_RelationalOperator1_m;
+
+  /* Outport: '<Root>/DC_phaC' incorporates:
+   *  DataTypeConversion: '<S7>/Data Type Conversion6'
+   */
+  rtY->DC_phaC = (int16_T)(rtb_Merge_f_idx_2 >> 4);
+
+  /* Outport: '<Root>/n_mot' incorporates:
+   *  DataTypeConversion: '<S1>/Data Type Conversion1'
+   */
+  rtY->n_mot = (int16_T)(rtb_Switch2_k >> 4);
+
+  /* End of Outputs for SubSystem: '<Root>/BLDC_controller' */
+
+  /* Outport: '<Root>/n_motHiRes' */
+  rtY->n_motHiRes = rtb_Switch2_k;
+
+  /* Outport: '<Root>/a_elecAngle' */
+  rtY->a_elecAngle = rtb_Divide2_h;
+
+  /* Outport: '<Root>/iq' */
+  rtY->iq = rtDW->DataTypeConversion[0];
+
+  /* Outport: '<Root>/id' */
+  rtY->id = rtDW->DataTypeConversion[1];
+}
+
+/* Model initialize function */
+void BLDC_controller_initialize(RT_MODEL *const rtM)
+{
+  P *rtP = ((P *) rtM->defaultParam);
+  DW *rtDW = ((DW *) rtM->dwork);
+
+  /* Start for Atomic SubSystem: '<Root>/BLDC_controller' */
+  /* Start for If: '<S1>/If4' */
+  rtDW->If4_ActiveSubsystem = -1;
+
+  /* Start for IfAction SubSystem: '<S1>/F03_Control_Mode_Manager' */
+  /* Start for If: '<S31>/If2' */
+  rtDW->If2_ActiveSubsystem = -1;
+
+  /* End of Start for SubSystem: '<S1>/F03_Control_Mode_Manager' */
+
+  /* Start for If: '<S1>/If1' */
+  rtDW->If1_ActiveSubsystem_p = -1;
+
+  /* Start for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' */
+  /* Start for If: '<S6>/If2' */
+  rtDW->If2_ActiveSubsystem_a = -1;
+
+  /* Start for If: '<S6>/If1' */
+  rtDW->If1_ActiveSubsystem_e = -1;
+
+  /* Start for IfAction SubSystem: '<S6>/FOC' */
+  /* Start for SwitchCase: '<S44>/Switch Case' */
+  rtDW->SwitchCase_ActiveSubsystem = -1;
+
+  /* End of Start for SubSystem: '<S6>/FOC' */
+  /* End of Start for SubSystem: '<S1>/F05_Field_Oriented_Control' */
+  /* End of Start for SubSystem: '<Root>/BLDC_controller' */
+
+  /* SystemInitialize for Atomic SubSystem: '<Root>/BLDC_controller' */
+  /* InitializeConditions for UnitDelay: '<S12>/UnitDelay3' */
+  rtDW->UnitDelay3_DSTATE = rtP->z_maxCntRst;
+
+  /* InitializeConditions for UnitDelay: '<S8>/UnitDelay2' */
+  rtDW->UnitDelay2_DSTATE_g = true;
+
+  /* SystemInitialize for IfAction SubSystem: '<S12>/Raw_Motor_Speed_Estimation' */
+  /* SystemInitialize for Outport: '<S16>/z_counter' */
+  rtDW->z_counterRawPrev = rtP->z_maxCntRst;
+
+  /* End of SystemInitialize for SubSystem: '<S12>/Raw_Motor_Speed_Estimation' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S12>/Counter' */
+  Counter_Init(&rtDW->Counter_e, rtP->z_maxCntRst);
+
+  /* End of SystemInitialize for SubSystem: '<S12>/Counter' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S1>/F02_Diagnostics' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S3>/Debounce_Filter' */
+  Debounce_Filter_Init(&rtDW->Debounce_Filter_f);
+
+  /* End of SystemInitialize for SubSystem: '<S3>/Debounce_Filter' */
+
+  /* End of SystemInitialize for SubSystem: '<S1>/F02_Diagnostics' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S1>/F03_Control_Mode_Manager' */
+  /* SystemInitialize for IfAction SubSystem: '<S31>/Open_Mode' */
+  /* SystemInitialize for Atomic SubSystem: '<S35>/rising_edge_init' */
+  /* InitializeConditions for UnitDelay: '<S37>/UnitDelay' */
+  rtDW->UnitDelay_DSTATE_b = true;
+
+  /* End of SystemInitialize for SubSystem: '<S35>/rising_edge_init' */
+  /* End of SystemInitialize for SubSystem: '<S31>/Open_Mode' */
+  /* End of SystemInitialize for SubSystem: '<S1>/F03_Control_Mode_Manager' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' */
+  /* SystemInitialize for IfAction SubSystem: '<S6>/Motor_Limitations' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S47>/Voltage_Mode_Protection' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S76>/I_backCalc_fixdt' */
+  I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt_i, 65536000);
+
+  /* End of SystemInitialize for SubSystem: '<S76>/I_backCalc_fixdt' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S76>/I_backCalc_fixdt1' */
+  I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt1, 65536000);
+
+  /* End of SystemInitialize for SubSystem: '<S76>/I_backCalc_fixdt1' */
+
+  /* End of SystemInitialize for SubSystem: '<S47>/Voltage_Mode_Protection' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S47>/Torque_Mode_Protection' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S75>/I_backCalc_fixdt' */
+  I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt_g, 58982400);
+
+  /* End of SystemInitialize for SubSystem: '<S75>/I_backCalc_fixdt' */
+
+  /* End of SystemInitialize for SubSystem: '<S47>/Torque_Mode_Protection' */
+
+  /* SystemInitialize for Outport: '<S47>/Vd_max' */
+  rtDW->Vd_max1 = 14400;
+
+  /* SystemInitialize for Outport: '<S47>/Vd_min' */
+  rtDW->Gain3 = -14400;
+
+  /* SystemInitialize for Outport: '<S47>/Vq_max' */
+  rtDW->Vq_max_M1 = 14400;
+
+  /* SystemInitialize for Outport: '<S47>/Vq_min' */
+  rtDW->Gain5 = -14400;
+
+  /* SystemInitialize for Outport: '<S47>/id_max' */
+  rtDW->i_max = 12000;
+
+  /* SystemInitialize for Outport: '<S47>/id_min' */
+  rtDW->Gain4_c = -12000;
+
+  /* SystemInitialize for Outport: '<S47>/iq_max' */
+  rtDW->Divide1_a = 12000;
+
+  /* SystemInitialize for Outport: '<S47>/iq_min' */
+  rtDW->Gain1 = -12000;
+
+  /* End of SystemInitialize for SubSystem: '<S6>/Motor_Limitations' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S6>/FOC' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S44>/Vd_Calculation' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S57>/PI_clamp_fixdt' */
+  PI_clamp_fixdt_Init(&rtDW->PI_clamp_fixdt_k);
+
+  /* End of SystemInitialize for SubSystem: '<S57>/PI_clamp_fixdt' */
+
+  /* End of SystemInitialize for SubSystem: '<S44>/Vd_Calculation' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S44>/Speed_Mode' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S55>/PI_clamp_fixdt' */
+  PI_clamp_fixdt_g_Init(&rtDW->PI_clamp_fixdt_oc);
+
+  /* End of SystemInitialize for SubSystem: '<S55>/PI_clamp_fixdt' */
+
+  /* End of SystemInitialize for SubSystem: '<S44>/Speed_Mode' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S44>/Torque_Mode' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S56>/PI_clamp_fixdt' */
+  PI_clamp_fixdt_k_Init(&rtDW->PI_clamp_fixdt_at);
+
+  /* End of SystemInitialize for SubSystem: '<S56>/PI_clamp_fixdt' */
+
+  /* End of SystemInitialize for SubSystem: '<S44>/Torque_Mode' */
+
+  /* End of SystemInitialize for SubSystem: '<S6>/FOC' */
+
+  /* End of SystemInitialize for SubSystem: '<S1>/F05_Field_Oriented_Control' */
+  /* End of SystemInitialize for SubSystem: '<Root>/BLDC_controller' */
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/BLDC_controller_ert_rtw/BLDC_controller.h b/BLDC_controller_ert_rtw/BLDC_controller.h
new file mode 100644
index 0000000..1d9bf7c
--- /dev/null
+++ b/BLDC_controller_ert_rtw/BLDC_controller.h
@@ -0,0 +1,536 @@
+/*
+ * 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]
+ */
diff --git a/BLDC_controller_ert_rtw/BLDC_controller_data.c b/BLDC_controller_ert_rtw/BLDC_controller_data.c
new file mode 100644
index 0000000..7b6f6a9
--- /dev/null
+++ b/BLDC_controller_ert_rtw/BLDC_controller_data.c
@@ -0,0 +1,157 @@
+/*
+ * 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]
+ */
diff --git a/BLDC_controller_ert_rtw/ert_main.c b/BLDC_controller_ert_rtw/ert_main.c
new file mode 100644
index 0000000..20417aa
--- /dev/null
+++ b/BLDC_controller_ert_rtw/ert_main.c
@@ -0,0 +1,354 @@
+/*
+ * 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]
+ */
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview.json
index 36f4043..c515578 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview.json
@@ -5,10 +5,10 @@
  "sections":[
   {
    "hid":1,
-   "sid":"BLDCmotorControl_FOC_R2017b_fixdt",
-   "name":"BLDCmotorControl_FOC_R2017b_fixdt",
-   "fullname":"BLDCmotorControl_FOC_R2017b_fixdt",
-   "label":"BLDCmotorControl_FOC_R2017b_fixdt",
+   "sid":"BLDCmotor_FOC_R2017b_fixdt",
+   "name":"BLDCmotor_FOC_R2017b_fixdt",
+   "fullname":"BLDCmotor_FOC_R2017b_fixdt",
+   "label":"BLDCmotor_FOC_R2017b_fixdt",
    "parent":0,
    "descendants":[
     2,
@@ -100,10 +100,13 @@
     88,
     89,
     90,
-    91
+    91,
+    92,
+    93,
+    94
    ],
-   "hierarchyUrl":"support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_h_1.json",
-   "backingUrl":"support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_m.json"
+   "hierarchyUrl":"support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_h_1.json",
+   "backingUrl":"support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_m.json"
   }
  ],
  "optViews":[
@@ -111,5 +114,5 @@
  "display":{
   "informer":false
  },
- "iconsUrl":"support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_icons.css"
+ "iconsUrl":"support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_29_icons.css"
 }
\ No newline at end of file
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10035_d.png b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10035_d.png
deleted file mode 100644
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deleted file mode 100644
index ed5ae4a..0000000
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10507_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10507_d.json
deleted file mode 100644
index 12e7f43..0000000
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10507_d.json
+++ /dev/null
@@ -1,936 +0,0 @@
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deleted file mode 100644
index 8277b17..0000000
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10746_2895_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10746_2895_d.json
deleted file mode 100644
index c6f99ce..0000000
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10746_2895_d.json
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deleted file mode 100644
index 97d0d89..0000000
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deleted file mode 100644
index 7f0920d..0000000
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deleted file mode 100644
index b8d89b6..0000000
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9948_2395_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9948_2395_d.json
deleted file mode 100644
index f4e0b68..0000000
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9948_2395_d.json
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2395:6#out:1",
-  "className":"Simulink.Line",
-  "icon":"WebViewIcon5",
-  "name":"",
-  "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2395",
-  "inspector":{
-   "params":[
-    "SignalNameFromLabel",
-    "MustResolveToSignal",
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-   "tabs_idx":[
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-  "name":"",
-  "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2395",
-  "inspector":{
-   "params":[
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-    "MustResolveToSignal",
-    "ShowPropagatedSignal",
-    "DataLogging",
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-    "Description",
-    "documentLink"
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-    "off",
-    "off",
-    "off",
-    "Simulink",
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10035_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10035_d.json
similarity index 90%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10035_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10035_d.json
index 8fc5151..f9fcdc6 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10035_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10035_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:576",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:576",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Modulo implementation: </span><span style=\" font-size:10px; color:#ff0000;\">rem = num - div*(num/div)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Note</span><span style=\" font-size:10px; color:#ff0000;\">: Division and multiplier has the setting 'Floor'</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Modulo implementation: </span><span style=\" font-size:10px; color:#ff0000;\">rem = num - div*(num/div)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Note</span><span style=\" font-size:10px; color:#ff0000;\">: Division and multiplier has the setting 'Floor'</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "Text",
@@ -49,12 +49,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:572",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:572",
   "className":"Simulink.Product",
   "icon":"WebViewIcon3",
   "name":"Divide2",
   "label":"Divide2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "Inputs",
@@ -106,71 +106,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:574",
-  "className":"Simulink.Sum",
-  "icon":"WebViewIcon3",
-  "name":"Sum3",
-  "label":"Sum3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
-  "inspector":{
-   "params":[
-    "IconShape",
-    "Inputs",
-    "InputSameDT",
-    "AccumDataTypeStr",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
-   ],
-   "values":[
-    "round",
-    "|+-",
-    "off",
-    "Inherit: Same as first input",
-    "[]",
-    "[]",
-    "Inherit: Same as first input",
-    "off",
-    "Simplest",
-    "off",
-    "1",
-    "All dimensions",
-    "-1"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    2,
-    10
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Sum",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:573",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:573",
   "className":"Simulink.Product",
   "icon":"WebViewIcon3",
   "name":"Divide3",
   "label":"Divide3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "Inputs",
@@ -222,12 +163,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:570",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:570",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"num",
   "label":"num",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "Port",
@@ -289,12 +230,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:571",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:571",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"div",
   "label":"div",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "Port",
@@ -356,12 +297,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:575",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:575",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
   "name":"rem",
   "label":"rem",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "Port",
@@ -436,12 +377,71 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:572#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:2906",
+  "className":"Simulink.Sum",
+  "icon":"WebViewIcon3",
+  "name":"Sum3",
+  "label":"Sum3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
+  "inspector":{
+   "params":[
+    "IconShape",
+    "Inputs",
+    "InputSameDT",
+    "AccumDataTypeStr",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "CollapseDim",
+    "CollapseMode",
+    "SampleTime"
+   ],
+   "values":[
+    "round",
+    "|+-",
+    "off",
+    "Inherit: Same as first input",
+    "[]",
+    "[]",
+    "Inherit: Same as first input",
+    "off",
+    "Simplest",
+    "off",
+    "1",
+    "All dimensions",
+    "-1"
+   ],
+   "tabs":[
+    "Main",
+    "Signal Attributes",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    2,
+    10
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Sum",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:572#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "SignalNameFromLabel",
@@ -487,12 +487,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:571#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:571#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "SignalNameFromLabel",
@@ -538,12 +538,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:573#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:2906#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "SignalNameFromLabel",
@@ -589,12 +589,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:574#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:570#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "SignalNameFromLabel",
@@ -640,12 +640,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10035:570#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10035:573#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10035",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10035",
   "inspector":{
    "params":[
     "SignalNameFromLabel",
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10066_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10066_d.json
similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10066_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10066_d.json
index e9834b5..5555aab 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10066_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10066_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10523",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10523",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:14px; font-weight:600; color:#0070c0;\">Field Weakening / Phase Advance</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:14px; font-weight:600; color:#0070c0;\">Field Weakening / Phase Advance</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
    "params":[
     "Text",
@@ -49,12 +49,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10522",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10522",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This blendig factor is a number between [0, 1]. It manages the Field weakening amount, ranging from 0 to a calibratable Max value.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This blendig factor is a number between [0, 1]. It manages the Field weakening amount, ranging from 0 to a calibratable Max value.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
    "params":[
     "Text",
@@ -98,12 +98,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10521",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10521",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:14px; font-weight:600; color:#0070c0;\">Calculate Blending Factor</span></p></body></html>",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
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@@ -147,12 +147,208 @@
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+   ],
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+  "viewer":{
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+  "label":"n_fieldWeakAuthLo",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
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+  "className":"Simulink.Constant",
+  "icon":"WebViewIcon3",
+  "name":"n_fieldWeakAuthHi",
+  "label":"n_fieldWeakAuthHi",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
+  "inspector":{
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+    "VectorParams1D",
+    "SampleTime",
+    "OutMin",
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+  "finder":{
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+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10514",
+  "className":"Simulink.Constant",
+  "icon":"WebViewIcon3",
+  "name":"a_phaAdvMax",
+  "label":"a_phaAdvMax",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
+  "inspector":{
+   "params":[
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+    "VectorParams1D",
+    "SampleTime",
+    "OutMin",
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   "icon":"WebViewIcon3",
   "name":"r_fieldWeak ",
   "label":"r_fieldWeak ",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
    "params":[
     "Port",
@@ -227,616 +423,12 @@
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@@ -888,43 +480,12 @@
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   "label":"Divide3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
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@@ -1035,12 +982,12 @@
   }
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10494",
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   "icon":"WebViewIcon3",
   "name":"Divide2",
   "label":"Divide2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
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@@ -1092,19 +1039,19 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10497",
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   "icon":"WebViewIcon3",
-  "name":"From24",
-  "label":"From24",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
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+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
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     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgt",
+    "z_ctrlTypSel",
     "Tag"
    ],
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@@ -1123,12 +1070,12 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10493",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10492",
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   "icon":"WebViewIcon3",
-  "name":"Divide14",
-  "label":"Divide14",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
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+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
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@@ -1180,186 +1127,12 @@
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10512",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10509",
   "className":"Simulink.Sum",
   "icon":"WebViewIcon3",
-  "name":"Sum4",
-  "label":"Sum4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "name":"Sum1",
+  "label":"Sum1",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
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     "IconShape",
@@ -1413,12 +1186,12 @@
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  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10490",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10490",
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   "icon":"WebViewIcon3",
   "name":"Abs5",
   "label":"Abs5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
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     "OutMin",
@@ -1460,12 +1233,12 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10496",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10496",
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   "icon":"WebViewIcon3",
   "name":"From",
   "label":"From",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
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     "GotoTag",
@@ -1491,12 +1264,45 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10489",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10505",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto6",
+  "label":"Goto6",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
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+    "r_blendFactor",
+    "local",
+    "Tag"
+   ],
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+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
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+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
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+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10489",
   "className":"Simulink.ActionPort",
   "icon":"WebViewIcon3",
   "name":"Action Port",
   "label":"Action Port",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
    "params":[
     "InitializeStates",
@@ -1522,12 +1328,188 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10488",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10507",
+  "className":"Saturation Dynamic",
+  "icon":"WebViewIcon3",
+  "name":"Saturation Dynamic",
+  "label":"Saturation Dynamic",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
+  "inspector":{
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+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "DoSatur"
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+    "[]",
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+    "Floor",
+    "off"
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+  },
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+  "finder":{
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+   "masktype":"Saturation Dynamic"
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+  "className":"Simulink.Constant",
+  "icon":"WebViewIcon3",
+  "name":"r_fieldWeakHi",
+  "label":"r_fieldWeakHi",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
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+  "icon":"WebViewIcon3",
+  "name":"Divide14",
+  "label":"Divide14",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
+  "inspector":{
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+    "InputSameDT",
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+    "OutMax",
+    "OutDataTypeStr",
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+    "SaturateOnIntegerOverflow",
+    "CollapseDim",
+    "CollapseMode",
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+  "finder":{
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+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From8",
+  "label":"From8",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
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+    "Tag"
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+   "tabs_idx":0
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   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"n_motAbs",
   "label":"n_motAbs",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
    "params":[
     "Port",
@@ -1589,102 +1571,12 @@
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-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
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-  "label":"Divide1",
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10487",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10487",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"r_inpTgt",
   "label":"r_inpTgt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
    "params":[
     "Port",
@@ -1746,12 +1638,61 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10486",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10491",
+  "className":"Simulink.Constant",
+  "icon":"WebViewIcon3",
+  "name":"CTRL_COMM2",
+  "label":"CTRL_COMM2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
+  "inspector":{
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+    "VectorParams1D",
+    "SampleTime",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "FramePeriod"
+   ],
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+    "on",
+    "inf",
+    "[]",
+    "[]",
+    "Inherit: Inherit via back propagation",
+    "off",
+    "inf"
+   ],
+   "tabs":[
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+    "Signal Attributes",
+    "-Other"
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+   "tabs_idx":[
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+    3,
+    7
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10486",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"z_ctrlTypSel",
   "label":"z_ctrlTypSel",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
    "params":[
     "Port",
@@ -1813,12 +1754,71 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10514#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10512",
+  "className":"Simulink.Sum",
+  "icon":"WebViewIcon3",
+  "name":"Sum4",
+  "label":"Sum4",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
+  "inspector":{
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+    "LockScale",
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "CollapseDim",
+    "CollapseMode",
+    "SampleTime"
+   ],
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+    "[]",
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+    "1",
+    "All dimensions",
+    "-1"
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
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@@ -1864,12 +1864,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10500#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10500#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
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@@ -1915,12 +1915,12 @@
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  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10513#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10513#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
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     "SignalNameFromLabel",
@@ -1966,12 +1966,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10517#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10517#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
   "inspector":{
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     "SignalNameFromLabel",
@@ -2017,12 +2017,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10491#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10491#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10066",
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@@ -2068,12 +2068,12 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10164_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10164_d.json
similarity index 89%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10164_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10164_d.json
index 064c7cb..47581d5 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10164_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10164_d.json
@@ -1,11 +1,11 @@
 [
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10169",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10164",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10164",
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+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
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+    "MustResolveToSignalObject",
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@@ -927,12 +80,327 @@
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+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Auto",
+    "-1",
+    "",
+    "off",
+    ""
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+  },
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+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9108",
+  "className":"Simulink.SwitchCase",
+  "icon":"WebViewIcon3",
+  "name":"Switch Case",
+  "label":"Switch Case",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
+  "inspector":{
+   "params":[
+    "CaseConditions",
+    "ShowDefaultCase",
+    "SampleTime",
+    "ZeroCross"
+   ],
+   "values":[
+    "{VLT_MODE, SPD_MODE, TRQ_MODE}",
+    "on",
+    "-1",
+    "on"
+   ],
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+    "-Other"
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+    2
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
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+  ],
+  "finder":{
+   "blocktype":"SwitchCase",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"Speed_Mode",
+  "label":"Speed_Mode",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
+  "inspector":{
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+    "Permissions",
+    "ErrorFcn",
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+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
+    "PropagateVariantConditions",
+    "RTWFcnName",
+    "RTWFcnNameOpts",
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+    "RTWFileNameOpts",
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+  "finder":{
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+  }
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+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8912",
+  "className":"Simulink.Merge",
+  "icon":"WebViewIcon3",
+  "name":"Merge",
+  "label":"Merge",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
+  "inspector":{
+   "params":[
+    "Inputs",
+    "InitialOutput",
+    "AllowUnequalInputPortWidths",
+    "InputPortOffsets"
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+   "values":[
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+    "[]"
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+    3
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+  "obj_viewer":[
+  ],
+  "finder":{
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+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9715",
+  "className":"Simulink.If",
+  "icon":"WebViewIcon3",
+  "name":"If1",
+  "label":"If1",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
+  "inspector":{
+   "params":[
+    "NumInputs",
+    "IfExpression",
+    "ElseIfExpressions",
+    "ShowElse",
+    "SampleTime",
+    "ZeroCross"
+   ],
+   "values":[
+    "1",
+    "u1 ~= 0",
+    "",
+    "off",
+    "-1",
+    "on"
+   ],
+   "tabs":[
+    "Parameter Attributes",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    4
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"If",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10391",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto",
-  "label":"Goto",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
+  "name":"Goto8",
+  "label":"Goto8",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
   "inspector":{
    "params":[
     "GotoTag",
@@ -940,7 +408,7 @@
     "IconDisplay"
    ],
    "values":[
-    "id_Tgt",
+    "b_enaAdvCtrl",
     "local",
     "Tag"
    ],
@@ -960,43 +428,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10030",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From9",
-  "label":"From9",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
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-    "Tag"
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-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8830",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10419",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto10",
-  "label":"Goto10",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
+  "name":"Goto5",
+  "label":"Goto5",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
   "inspector":{
    "params":[
     "GotoTag",
@@ -1004,7 +441,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_Open",
+    "Vq_min",
     "local",
     "Tag"
    ],
@@ -1024,19 +461,21 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8824",
-  "className":"Simulink.From",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10421",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From68",
-  "label":"From68",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
+  "name":"Goto31",
+  "label":"Goto31",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
     "iq_limProtErr",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -1050,141 +489,17 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8823",
-  "className":"Simulink.From",
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-  "label":"From67",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8813",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From58",
-  "label":"From58",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
-  "inspector":{
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-    "IconDisplay"
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-  "className":"Simulink.From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10742",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From5",
-  "label":"From5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
-  "inspector":{
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-    "IconDisplay"
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-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8852",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8852",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto30",
   "label":"Goto30",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
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    "params":[
     "GotoTag",
@@ -1212,167 +527,12 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8816",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From60",
-  "label":"From60",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
-  "inspector":{
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8801",
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-  "icon":"WebViewIcon3",
-  "name":"From46",
-  "label":"From46",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
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-  "name":"From4",
-  "label":"From4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8804",
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-  "icon":"WebViewIcon3",
-  "name":"From49",
-  "label":"From49",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8793",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From38",
-  "label":"From38",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
-  "inspector":{
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-    "IconDisplay"
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-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10388",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10388",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto3",
   "label":"Goto3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
   "inspector":{
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     "GotoTag",
@@ -1400,12 +560,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10410",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10387",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto18",
-  "label":"Goto18",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
+  "name":"Goto27",
+  "label":"Goto27",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
   "inspector":{
    "params":[
     "GotoTag",
@@ -1413,7 +573,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vd_min",
+    "r_inpTgtSca",
     "local",
     "Tag"
    ],
@@ -1433,12 +593,276 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8792",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11477",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto22",
+  "label":"Goto22",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10409",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto17",
+  "label":"Goto17",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
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+    "IconDisplay"
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10723",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto16",
+  "label":"Goto16",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
+  "inspector":{
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+  "name":"Goto4",
+  "label":"Goto4",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10364",
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+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto11",
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@@ -1464,12 +888,1052 @@
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@@ -1544,551 +2008,12 @@
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@@ -2150,1026 +2075,12 @@
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@@ -3398,243 +2795,12 @@
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@@ -3696,12 +2862,140 @@
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similarity index 84%
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similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10828_2791_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10454_2791_d.json
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rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10454_2816_d.json
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rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10455_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10454_d.json
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@@ -838,12 +901,12 @@
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+   "tabs":[
+    "Parameter Attributes",
+    "Logging and Accessibility",
+    "Code Generation",
+    "Documentation"
+   ],
+   "tabs_idx":[
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+    5,
+    7
+   ]
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+  "finder":[
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+ {
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+  "className":"Simulink.Line",
+  "icon":"WebViewIcon5",
+  "name":"",
+  "label":"",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10454",
   "inspector":{
    "params":[
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10454_d.png b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10454_d.png
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10455_2791_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10455_2791_d.json
similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10455_2791_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10455_2791_d.json
index 35fa977..6b82c24 100644
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rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10455_2816_d.json
index 1cf9302..9833e2a 100644
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10455_d.json
similarity index 85%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10455_d.json
index 9944950..16cb1d8 100644
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+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10455_d.json
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10454:2791",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10455:2791",
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+  "icon":"WebViewIcon6",
   "name":"Saturation_hit",
   "label":"Saturation_hit",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
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@@ -418,111 +398,140 @@
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-  "icon":"WebViewIcon1",
-  "name":"Integrator",
-  "label":"Integrator",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
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+  "icon":"WebViewIcon3",
+  "name":"Goto1",
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   "icon":"WebViewIcon3",
   "name":"Divide2",
   "label":"Divide2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
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@@ -574,111 +583,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10455:2815",
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   "icon":"WebViewIcon3",
   "name":"Constant",
   "label":"Constant",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10455",
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@@ -722,61 +632,25 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10454:2733",
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   "icon":"WebViewIcon3",
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-  "label":"satMin",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
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-    "InputConnect",
-    "Interpolate",
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@@ -784,17 +658,17 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10455:2794",
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   "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
+  "name":"Goto6",
+  "label":"Goto6",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10455",
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@@ -802,7 +676,7 @@
     "IconDisplay"
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-    "b_hitMin",
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@@ -822,85 +696,114 @@
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-  "icon":"WebViewIcon3",
-  "name":"satMax",
-  "label":"satMax",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
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+    6
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+   "jshandler":"webview/handlers/ContainerHandler"
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   "icon":"WebViewIcon3",
-  "name":"Sum1",
-  "label":"Sum1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
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@@ -912,13 +815,12 @@
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@@ -943,97 +845,17 @@
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@@ -1095,40 +917,50 @@
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rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9188_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10508_d.json
index d44d053..b08d448 100644
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10566_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10566_d.json
similarity index 86%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10566_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10566_d.json
index c66e1f1..db140bd 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10566_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10566_d.json
@@ -1,11 +1,91 @@
 [
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@@ -80,159 +160,12 @@
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-  "label":"Sum1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10566",
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@@ -286,18 +219,77 @@
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   "name":"I_backCalc_fixdt1",
   "label":"I_backCalc_fixdt1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10566",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10566",
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@@ -315,45 +307,41 @@
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-  "icon":"WebViewIcon3",
-  "name":"Goto7",
-  "label":"Goto7",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10566",
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+  "name":"I_backCalc_fixdt",
+  "label":"I_backCalc_fixdt",
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@@ -751,12 +1045,12 @@
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   "name":"iq_max",
   "label":"iq_max",
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@@ -1282,45 +1228,12 @@
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-  "name":"r_nLimProtMax",
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@@ -1335,17 +1248,11 @@
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@@ -1360,17 +1267,10 @@
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@@ -1390,17 +1290,117 @@
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@@ -1446,12 +1446,12 @@
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@@ -1497,12 +1497,12 @@
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@@ -1548,12 +1548,12 @@
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@@ -1599,12 +1599,12 @@
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@@ -1650,12 +1650,12 @@
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@@ -1701,12 +1701,12 @@
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@@ -1752,12 +1752,12 @@
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   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10566",
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@@ -1803,12 +1803,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10655#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10566",
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@@ -1854,12 +1854,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10566",
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@@ -1905,12 +1905,12 @@
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@@ -1956,12 +1956,12 @@
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@@ -2007,12 +2007,12 @@
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@@ -2058,12 +2058,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10566",
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@@ -2109,12 +2109,12 @@
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   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10566",
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@@ -2160,12 +2160,12 @@
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   "name":"",
   "label":"",
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@@ -2211,12 +2211,12 @@
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@@ -2262,12 +2262,12 @@
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@@ -2313,12 +2313,12 @@
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@@ -2364,12 +2364,12 @@
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@@ -2415,12 +2415,12 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10584_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10584_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10584_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10584_d.json
index 8a2bf6d..7981a72 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10584_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10584_d.json
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10602_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10602_d.json
similarity index 86%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10602_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10602_d.json
index f373373..1c1e946 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10602_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10602_d.json
@@ -1,41 +1,31 @@
 [
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10809",
-  "className":"Simulink.Sum",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10810",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"Sum1",
-  "label":"Sum1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
+  "name":"cf_KbLimProt",
+  "label":"cf_KbLimProt",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10602",
   "inspector":{
    "params":[
-    "IconShape",
-    "Inputs",
-    "InputSameDT",
-    "AccumDataTypeStr",
+    "Value",
+    "VectorParams1D",
+    "SampleTime",
     "OutMin",
     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
+    "FramePeriod"
    ],
    "values":[
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-    "Inherit: Inherit via internal rule",
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+    "inf",
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     "[]",
-    "Inherit: Same as first input",
+    "fixdt(0,16,12)",
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-    "Simplest",
-    "off",
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-    10
+    3,
+    7
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   ],
   "finder":{
-   "blocktype":"Sum",
+   "blocktype":"Constant",
    "masktype":""
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10815",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
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-  "viewer":{
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-    "IconDisplay"
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-   "tabs":[
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-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
-  "inspector":{
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-   "blocktype":"Goto",
-   "masktype":""
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10619",
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   "name":"Vq_nLimProtMax",
   "label":"Vq_nLimProtMax",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10602",
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@@ -236,12 +129,171 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10812",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10808",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon4",
+  "name":"I_backCalc_fixdt",
+  "label":"I_backCalc_fixdt",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10602",
+  "inspector":{
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+  "finder":{
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+   "masktype":""
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+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10777",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto5",
+  "label":"Goto5",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10602",
+  "inspector":{
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+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
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+    "local",
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+   ],
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+   ],
+   "tabs_idx":0
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+  "finder":{
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+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10776",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto4",
+  "label":"Goto4",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10602",
+  "inspector":{
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+    "IconDisplay"
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+    "Parameter Attributes"
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+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
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+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"Goto",
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+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10815",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto1",
+  "label":"Goto1",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10602",
+  "inspector":{
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+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "Vq_max",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
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+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
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+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10805",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From6",
+  "label":"From6",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10602",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "n_motAbs",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"From",
+   "masktype":""
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+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10812",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From1",
   "label":"From1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10602",
   "inspector":{
    "params":[
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@@ -267,41 +319,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
-  "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon4",
-  "name":"I_backCalc_fixdt",
-  "label":"I_backCalc_fixdt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
-  "inspector":{
-   "params":[
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-   "values":[
-    "0"
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10803",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10803",
   "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
   "name":"Constant1",
   "label":"Constant1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10602",
   "inspector":{
    "params":[
     "Value",
@@ -345,339 +368,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10811",
-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon3",
-  "name":"cf_nKiLimProt",
-  "label":"cf_nKiLimProt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10829_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10745_2895_d.json
similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10829_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10745_2895_d.json
index 19c5274..765b1f8 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10829_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10745_2895_d.json
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10745_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10745_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10745_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10745_d.json
index 4db20e0..ac24e85 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10745_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10745_d.json
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10746_2895_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10746_2895_d.json
new file mode 100644
index 0000000..7d20e66
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similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10746_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10746_d.json
index 1c92278..d670dc1 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10746_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10746_d.json
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similarity index 87%
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rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10808_2877_d.json
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new file mode 100644
index 0000000..893375d
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10808_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10808_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10808_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10808_d.json
index a8b562d..f0c8f9d 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10808_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10808_d.json
@@ -1,11 +1,11 @@
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+  "className":"Simulink.Inport",
+  "icon":"WebViewIcon3",
+  "name":"satMin",
+  "label":"satMin",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10808",
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+    "OutMax",
+    "OutDataTypeStr",
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+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
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+  "finder":{
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+   "masktype":""
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   "icon":"WebViewIcon3",
   "name":"out",
   "label":"out",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10808",
   "inspector":{
    "params":[
     "Port",
@@ -139,101 +515,12 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2894",
-  "className":"Simulink.UnitDelay",
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-  "label":"UnitDelay",
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-  "className":"Saturation Dynamic",
-  "icon":"WebViewIcon3",
-  "name":"Saturation Dynamic1",
-  "label":"Saturation Dynamic1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
-  "inspector":{
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-    "OutMax",
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-   "masktype":"Saturation Dynamic"
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2854",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10808:2854",
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   "icon":"WebViewIcon3",
   "name":"satMax",
   "label":"satMax",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10808",
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     "Port",
@@ -295,302 +582,12 @@
   }
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-  "className":"Simulink.Product",
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2853",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10808:2853",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"I",
   "label":"I",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10808",
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     "Port",
@@ -652,42 +649,100 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2892",
-  "className":"Simulink.Sum",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10808:2894",
+  "className":"Simulink.UnitDelay",
   "icon":"WebViewIcon3",
-  "name":"Sum2",
-  "label":"Sum2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
+  "name":"UnitDelay",
+  "label":"UnitDelay",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10808",
   "inspector":{
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-    "IconShape",
-    "Inputs",
-    "InputSameDT",
-    "AccumDataTypeStr",
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+    "CodeGenStateStorageTypeQualifier",
+    "StateMustResolveToSignalObject",
+    "StateSignalObject",
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+  "className":"Simulink.Inport",
+  "icon":"WebViewIcon3",
+  "name":"Kb",
+  "label":"Kb",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10808",
+  "inspector":{
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     "OutMin",
     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
+    "Unit",
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+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
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-    "Inherit: Inherit via internal rule",
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@@ -697,7 +752,7 @@
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@@ -706,74 +761,17 @@
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-  "className":"Simulink.Product",
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- {
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10808:2851",
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   "icon":"WebViewIcon3",
   "name":"err",
   "label":"err",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:10808",
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@@ -835,12 +833,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2892#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10808:2892#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -886,12 +884,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2869#out:1",
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   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -937,12 +935,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2890#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -988,12 +986,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2893#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10808:2893#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -1039,12 +1037,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2891#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -1090,12 +1088,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2894#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10808:2894#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -1141,12 +1139,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2877#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10808:2877#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -1192,12 +1190,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2895#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -1243,12 +1241,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2851#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -1294,12 +1292,12 @@
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similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_2791_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10828_2791_d.json
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+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10828_2791_d.json
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similarity index 86%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_2816_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10828_2816_d.json
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--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_2816_d.json
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rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10828_d.json
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@@ -939,17 +889,74 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10829_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_10829_d.json
new file mode 100644
index 0000000..ad86594
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8671_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11026_d.json
similarity index 89%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8671_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11026_d.json
index a0c43fd..d29cc0d 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8671_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11026_d.json
@@ -1,11 +1,11 @@
 [
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8685",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11040",
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   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Clarke Transform:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">i_alpha  = i_phaA</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">i_beta  = ((1/sqrt(3))*i_phaA + (2/sqrt(3))*i_phaB)</span></p></body></html>",
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+  "name":"i_betaAB",
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@@ -108,12 +188,12 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11041_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11041_d.json
new file mode 100644
index 0000000..29ee2b7
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+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11041_d.json
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8686_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11056_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8686_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11056_d.json
index c5c5351..6cf8e3d 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8686_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11056_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8701",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11071",
   "className":"Simulink.Annotation",
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   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Clarke Transform:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">i_alpha  = - i_phaB - i_phaC</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">i_beta  = (1/sqrt(3)) * (i_phaB - i_phaC)</span></p></body></html>",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8686",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11056",
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@@ -49,279 +49,12 @@
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-  "icon":"WebViewIcon3",
-  "name":"Action Port",
-  "label":"Action Port",
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-  "inspector":{
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-    "PropagateVarSize"
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-   "masktype":""
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8700",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11070",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
   "name":"i_betaBC",
   "label":"i_betaBC",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8686",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11056",
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@@ -396,12 +129,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11069",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"i_phaC",
-  "label":"i_phaC",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8686",
+  "name":"i_alphaBC",
+  "label":"i_alphaBC",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11056",
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@@ -416,14 +149,20 @@
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     "BusOutputAsStruct",
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-    "LatchInputForFeedbackSignals",
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+    "EnsureOutportIsVirtual",
+    "InitialOutput",
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+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
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+    "SignalObject",
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+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
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+    "1",
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@@ -435,10 +174,17 @@
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@@ -458,66 +204,32 @@
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   "icon":"WebViewIcon3",
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-    "BusOutputAsStruct",
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similarity index 81%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8535_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11151_d.json
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+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11151_d.json
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   "name":"Goto2",
   "label":"Goto2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
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@@ -629,12 +389,233 @@
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10028",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11294",
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+  "icon":"WebViewIcon3",
+  "name":"Goto3",
+  "label":"Goto3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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+    "IconDisplay"
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+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto12",
+  "label":"Goto12",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
+  "inspector":{
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+    "TagVisibility",
+    "IconDisplay"
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11287",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From9",
+  "label":"From9",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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+    "GotoTag",
+    "IconDisplay"
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+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From8",
+  "label":"From8",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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+    "GotoTag",
+    "IconDisplay"
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+    "z_ctrlMod",
+    "Tag"
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11282",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From4",
+  "label":"From4",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
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+    "b_motEna",
+    "Tag"
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+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
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+   "masktype":""
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+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11277",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From2",
+  "label":"From2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
+  "inspector":{
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+    "GotoTag",
+    "IconDisplay"
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11275",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From1",
+  "label":"From1",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
+  "inspector":{
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+    "GotoTag",
+    "IconDisplay"
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+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
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   "icon":"WebViewIcon3",
   "name":"From24",
   "label":"From24",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
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@@ -660,19 +641,19 @@
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9995",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11285",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From21",
-  "label":"From21",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"From7",
+  "label":"From7",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
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     "GotoTag",
     "IconDisplay"
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    "values":[
-    "z_ctrlModReq",
+    "b_toTrqMod",
     "Tag"
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@@ -691,43 +672,12 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8630",
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-  "name":"From2",
-  "label":"From2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8628",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11276",
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   "icon":"WebViewIcon3",
   "name":"From12",
   "label":"From12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
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@@ -753,43 +703,12 @@
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-  "icon":"WebViewIcon3",
-  "name":"From1",
-  "label":"From1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8624",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11274",
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   "icon":"WebViewIcon3",
   "name":"From",
   "label":"From",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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@@ -815,111 +734,12 @@
   }
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-  "name":"F03_03_Input_Target_Synthesis",
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-   "masktype":""
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8646",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11288",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto4",
-  "label":"Goto4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"Goto",
+  "label":"Goto",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
    "params":[
     "GotoTag",
@@ -927,7 +747,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_toSpdMod",
+    "z_ctrlMod",
     "local",
     "Tag"
    ],
@@ -947,20 +767,20 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8603",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon6",
-  "name":"F03_02_Control_Mode_Manager",
-  "label":"F03_02_Control_Mode_Manager",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "icon":"WebViewIcon1",
+  "name":"F03_03_Input_Target_Synthesis",
+  "label":"F03_03_Input_Target_Synthesis",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
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     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
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     "ActiveVariantBlock",
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@@ -972,6 +792,7 @@
     "MemberBlocks",
     "MinAlgLoopOccurrences",
     "OverrideUsingVariant",
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@@ -982,20 +803,19 @@
     "RTWMemSecDataParameters",
     "RTWMemSecFuncExecute",
     "RTWMemSecFuncInitTerm",
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     "ReadWrite",
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@@ -1003,11 +823,12 @@
     "void_void",
     "off",
     "off",
-    "off",
+    "on",
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     "off",
     "",
     "off",
+    "off",
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     "Auto",
     "",
@@ -1017,21 +838,18 @@
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
+    "Auto",
     "-1",
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-    "on",
-    "on",
     "off",
     ""
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     6
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   },
@@ -1046,19 +864,116 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9424",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11200",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon7",
+  "name":"F03_02_Control_Mode_Manager",
+  "label":"F03_02_Control_Mode_Manager",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
+  "inspector":{
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+    "Permissions",
+    "ErrorFcn",
+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
+    "PropagateVariantConditions",
+    "RTWFcnName",
+    "RTWFcnNameOpts",
+    "RTWFileName",
+    "RTWFileNameOpts",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
+    "RTWMemSecDataParameters",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
+    "SystemSampleTime",
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+    "Variant",
+    "VariantControl"
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+    "Stateflow.Translate.translate",
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+    "off",
+    "",
+    "void_void",
+    "off",
+    "off",
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+    "",
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+    "",
+    "off",
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+    "",
+    "Auto",
+    "",
+    "Auto",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Auto",
+    "-1",
+    "",
+    "off",
+    ""
+   ],
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+    "-Other"
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+   "tabs_idx":[
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+    6
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+  },
+  "viewer":{
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+  },
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+  "finder":{
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+   "masktype":""
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+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11280",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From10",
-  "label":"From10",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"From23",
+  "label":"From23",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
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     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "b_motStdStill",
+    "r_inpTgt",
     "Tag"
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@@ -1077,111 +992,12 @@
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8642",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11297",
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   "icon":"WebViewIcon3",
-  "name":"Goto16",
-  "label":"Goto16",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"Goto6",
+  "label":"Goto6",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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@@ -1189,7 +1005,7 @@
     "IconDisplay"
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-    "z_ctrlModPrev",
+    "z_ctrlTypSel",
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@@ -1209,61 +1025,25 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10022",
-  "className":"Simulink.Inport",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11284",
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   "icon":"WebViewIcon3",
-  "name":"r_inpTgt",
-  "label":"r_inpTgt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"From6",
+  "label":"From6",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
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-    "IconDisplay",
-    "OutMin",
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-    "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
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-    "off"
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-    "Signal Attributes",
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-    11
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@@ -1271,17 +1051,17 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Inport",
+   "blocktype":"From",
    "masktype":""
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10018",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11157",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"VqFinPrev",
   "label":"VqFinPrev",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
    "params":[
     "Port",
@@ -1343,12 +1123,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10023",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11291",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto13",
   "label":"Goto13",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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@@ -1376,61 +1156,27 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8539",
-  "className":"Simulink.Inport",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11292",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"z_ctrlModReq",
-  "label":"z_ctrlModReq",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"Goto19",
+  "label":"Goto19",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
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-    "IconDisplay",
-    "OutMin",
-    "OutMax",
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-    "LockScale",
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-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
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-    "Port number",
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-    "[]",
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-    "on",
-    "off",
-    "off",
-    "off"
+    "r_inpTgtSca",
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+    "Tag"
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    "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
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-    0,
-    2,
-    11
-   ]
+   "tabs_idx":0
   },
   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
@@ -1438,17 +1184,17 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Inport",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10256",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11158",
   "className":"Simulink.ActionPort",
   "icon":"WebViewIcon3",
   "name":"Action Port",
   "label":"Action Port",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
    "params":[
     "InitializeStates",
@@ -1474,21 +1220,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8647",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11278",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"From20",
+  "label":"From20",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
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     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "b_toTrqMod",
-    "local",
+    "z_ctrlTypSel",
     "Tag"
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    "tabs":[
@@ -1502,17 +1246,17 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10021",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11156",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"z_ctrlTypSel",
-  "label":"z_ctrlTypSel",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"r_inpTgt",
+  "label":"r_inpTgt",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
    "params":[
     "Port",
@@ -1534,7 +1278,7 @@
     "OutputFunctionCall"
    ],
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-    "4",
+    "6",
     "Port number",
     "[]",
     "[]",
@@ -1574,12 +1318,12 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8537",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11497",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"b_motEna",
-  "label":"b_motEna",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"b_cruiseCtrlEna",
+  "label":"b_cruiseCtrlEna",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
    "params":[
     "Port",
@@ -1641,107 +1385,79 @@
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-  "icon":"WebViewIcon3",
-  "name":"Goto8",
-  "label":"Goto8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
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-  "label":"From4",
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-   "masktype":""
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9422",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11154",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"b_motStdStill",
-  "label":"b_motStdStill",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"z_ctrlTypSel",
+  "label":"z_ctrlTypSel",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
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+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
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+    "Port number",
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+    "-Other"
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+    2,
+    11
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+  "viewer":{
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+  "finder":{
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+   "masktype":""
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11153",
+  "className":"Simulink.Inport",
+  "icon":"WebViewIcon3",
+  "name":"b_motEna",
+  "label":"b_motEna",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
    "params":[
     "Port",
@@ -1803,21 +1519,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9997",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11279",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto19",
-  "label":"Goto19",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"From21",
+  "label":"From21",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
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     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgtSca",
-    "local",
+    "z_ctrlModReq",
     "Tag"
    ],
    "tabs":[
@@ -1831,17 +1545,145 @@
   "obj_viewer":[
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-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8536",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11498",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From42",
+  "label":"From42",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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+    "IconDisplay"
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+    "Tag"
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+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"F03_01_Mode_Transition_Calculation",
+  "label":"F03_01_Mode_Transition_Calculation",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
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   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"b_errFlag",
   "label":"b_errFlag",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
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@@ -1903,19 +1745,88 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9996",
-  "className":"Simulink.From",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11155",
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   "icon":"WebViewIcon3",
-  "name":"From23",
-  "label":"From23",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "name":"z_ctrlModReq",
+  "label":"z_ctrlModReq",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
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+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
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+    "LatchInputForFeedbackSignals",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11289",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto1",
+  "label":"Goto1",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11151",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgt",
+    "b_toOpen",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -1929,48 +1840,17 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
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similarity index 63%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8546_d.svg
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11159_d.svg
index 4907451..d0258a3 100644
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+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11159_d.svg
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similarity index 67%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8603_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11200_d.json
index da479c3..9859713 100644
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+  "inspector":{
+   "params":[
+    "ExecutionOrder",
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+    "Description",
+    "Document"
+   ],
+   "values":[
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+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":[
+  ]
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11200:31",
+  "className":"Stateflow.Transition",
+  "icon":"WebViewIcon9",
+  "name":"",
+  "label":"[b_toTrqMod]",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11200",
+  "inspector":{
+   "params":[
+    "ExecutionOrder",
+    "LabelString",
+    "Description",
+    "Document"
+   ],
+   "values":[
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+    "[b_toTrqMod]",
+    "",
+    ""
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":[
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+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11200:1",
   "className":"Stateflow.State",
-  "icon":"WebViewIcon7",
+  "icon":"WebViewIcon8",
   "name":"OPEN",
   "label":"OPEN",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8603",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11200",
   "inspector":{
    "params":[
     "HasOutputData",
@@ -423,45 +522,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8603:13",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11200:14",
   "className":"Stateflow.Transition",
-  "icon":"WebViewIcon8",
-  "name":"",
-  "label":"[b_toActive]",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8603",
-  "inspector":{
-   "params":[
-    "ExecutionOrder",
-    "LabelString",
-    "Description",
-    "Document"
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-   "values":[
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-    "[b_toActive]",
-    "",
-    ""
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-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":[
-  ]
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8603:14",
-  "className":"Stateflow.Transition",
-  "icon":"WebViewIcon8",
+  "icon":"WebViewIcon9",
   "name":"",
   "label":"[b_toOpen]",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8603",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11200",
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    "params":[
     "ExecutionOrder",
@@ -489,12 +555,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8603:2",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11200:2",
   "className":"Stateflow.Transition",
-  "icon":"WebViewIcon8",
+  "icon":"WebViewIcon9",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8603",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11200",
   "inspector":{
    "params":[
     "ExecutionOrder",
@@ -520,5 +586,38 @@
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   "finder":[
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+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11200:13",
+  "className":"Stateflow.Transition",
+  "icon":"WebViewIcon9",
+  "name":"",
+  "label":"[b_toActive]",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11200",
+  "inspector":{
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+    "LabelString",
+    "Description",
+    "Document"
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+   "values":[
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+   "tabs":[
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+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":[
+  ]
  }
 ]
\ No newline at end of file
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9953_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11201_d.json
similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9953_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11201_d.json
index 55a997f..2319614 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9953_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11201_d.json
@@ -1,60 +1,11 @@
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-  "className":"Simulink.Annotation",
-  "icon":"WebViewIcon2",
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-  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Input Scaling [-1000,1000] → [min,max]</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
-  "inspector":{
-   "params":[
-    "Text",
-    "DropShadow",
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-    "off",
-    "rich",
-    "auto",
-    "auto",
-    -1,
-    "auto",
-    "black",
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10003",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11272",
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   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Final check if OPEN_MODE is requested</span></p></body></html>",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
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+    "ForegroundColor",
+    "BackgroundColor",
+    "HorizontalAlignment",
+    "UseDisplayTextAsClickCallback",
+    "ClickFcn"
+   ],
+   "values":[
+    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Input Scaling [-1000,1000] → [min,max]</span></p></body></html>",
+    "off",
+    "rich",
+    "auto",
+    "auto",
+    -1,
+    "auto",
+    "black",
+    "white",
+    "left",
+    "off",
+    ""
+   ],
+   "tabs":[
+   ],
+   "tabs_idx":[
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":[
+  ]
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11254",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"Open_Mode",
+  "label":"Open_Mode",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
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+   "params":[
+    "ShowPortLabels",
+    "Permissions",
+    "ErrorFcn",
+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
+    "PropagateVariantConditions",
+    "RTWFcnName",
+    "RTWFcnNameOpts",
+    "RTWFileName",
+    "RTWFileNameOpts",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
+    "RTWMemSecDataParameters",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
+    "SystemSampleTime",
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+    "Variant",
+    "VariantControl"
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+    "ReadWrite",
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+    "on",
+    "",
+    "",
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+    "",
+    "void_void",
+    "off",
+    "off",
+    "off",
+    "",
+    "off",
+    "",
+    "off",
+    "off",
+    "",
+    "Auto",
+    "",
+    "Auto",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Auto",
+    "-1",
+    "",
+    "off",
+    ""
+   ],
+   "tabs":[
+    "Main",
+    "-Other"
+   ],
+   "tabs_idx":[
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+    6
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ContainerHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11253",
+  "className":"Simulink.Merge",
+  "icon":"WebViewIcon3",
+  "name":"Merge1",
+  "label":"Merge1",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
+  "inspector":{
+   "params":[
+    "Inputs",
+    "InitialOutput",
+    "AllowUnequalInputPortWidths",
+    "InputPortOffsets"
+   ],
+   "values":[
+    "2",
+    "[]",
+    "off",
+    "[]"
+   ],
+   "tabs":[
+    "Parameter Attributes",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    3
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Merge",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11270",
   "className":"Simulink.Saturate",
   "icon":"WebViewIcon3",
   "name":"Saturation",
   "label":"Saturation",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "inspector":{
    "params":[
     "UpperLimit",
@@ -151,51 +287,12 @@
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9987",
-  "className":"Simulink.Merge",
-  "icon":"WebViewIcon3",
-  "name":"Merge",
-  "label":"Merge",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
-  "inspector":{
-   "params":[
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-    "AllowUnequalInputPortWidths",
-    "InputPortOffsets",
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-    "2"
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-    "-Other"
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-    1
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-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
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-  "obj_viewer":[
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-  "finder":{
-   "blocktype":"Merge",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10002",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11251",
   "className":"Simulink.If",
   "icon":"WebViewIcon3",
   "name":"If2",
   "label":"If2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "inspector":{
    "params":[
     "NumInputs",
@@ -233,51 +330,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10013",
-  "className":"Simulink.Merge",
-  "icon":"WebViewIcon3",
-  "name":"Merge1",
-  "label":"Merge1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
-  "inspector":{
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-    "AllowUnequalInputPortWidths",
-    "InputPortOffsets",
-    "Inputs"
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-    "[]",
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-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
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-  "obj_viewer":[
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-  "finder":{
-   "blocktype":"Merge",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9985",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11249",
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   "icon":"WebViewIcon3",
   "name":"Goto7",
   "label":"Goto7",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "inspector":{
    "params":[
     "GotoTag",
@@ -305,140 +363,12 @@
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9983",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto13",
-  "label":"Goto13",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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-    "IconDisplay"
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-   "values":[
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-  "finder":{
-   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10014",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto",
-  "label":"Goto",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
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-   "values":[
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-    "Parameter Attributes"
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-  "viewer":{
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-  "finder":{
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9980",
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-  "icon":"WebViewIcon3",
-  "name":"From22",
-  "label":"From22",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From2",
-  "label":"From2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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-    "IconDisplay"
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-   "blocktype":"From",
-   "masktype":""
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9984",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11248",
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   "icon":"WebViewIcon3",
   "name":"Goto6",
   "label":"Goto6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
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@@ -466,19 +396,21 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9978",
-  "className":"Simulink.From",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11243",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From11",
-  "label":"From11",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "name":"Goto",
+  "label":"Goto",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
     "r_inpTgtSca",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -492,17 +424,17 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9977",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11241",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From10",
-  "label":"From10",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "name":"From22",
+  "label":"From22",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "inspector":{
    "params":[
     "GotoTag",
@@ -528,43 +460,12 @@
   }
  },
  {
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-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From",
-  "label":"From",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "z_ctrlMod",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
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-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
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-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9999",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11245",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto2",
-  "label":"Goto2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "name":"Goto12",
+  "label":"Goto12",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "inspector":{
    "params":[
     "GotoTag",
@@ -572,7 +473,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlMod",
+    "VqFinPrev",
     "local",
     "Tag"
    ],
@@ -592,28 +493,55 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9986",
-  "className":"Simulink.If",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11240",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"If1",
-  "label":"If1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "name":"From2",
+  "label":"From2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "inspector":{
    "params":[
-    "NumInputs",
-    "IfExpression",
-    "ElseIfExpressions",
-    "ShowElse",
-    "SampleTime",
-    "ZeroCross"
+    "GotoTag",
+    "IconDisplay"
    ],
    "values":[
-    "1",
-    "u1 == CTRL_FOC",
-    "",
-    "on",
-    "-1",
-    "on"
+    "r_inpTgtScaRaw",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
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+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11252",
+  "className":"Simulink.Merge",
+  "icon":"WebViewIcon3",
+  "name":"Merge",
+  "label":"Merge",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
+  "inspector":{
+   "params":[
+    "Inputs",
+    "InitialOutput",
+    "AllowUnequalInputPortWidths",
+    "InputPortOffsets"
+   ],
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+    "[]"
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     "Parameter Attributes",
@@ -621,7 +549,7 @@
    ],
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     0,
-    4
+    3
    ]
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@@ -630,25 +558,58 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"If",
+   "blocktype":"Merge",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9988",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11244",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto1",
+  "label":"Goto1",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_ctrlModReq",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11215",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Default_Control_Type",
-  "label":"Default_Control_Type",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "name":"FOC_Control_Type",
+  "label":"FOC_Control_Type",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "inspector":{
    "params":[
     "ShowPortLabels",
     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
-    "PropExecContextOutsideSubsystem",
-    "RTWSystemCode",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
     "ActiveVariant",
     "ActiveVariantBlock",
     "AllowZeroVariantControls",
@@ -660,6 +621,7 @@
     "MemberBlocks",
     "MinAlgLoopOccurrences",
     "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
     "PropagateVariantConditions",
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     "RTWFcnNameOpts",
@@ -670,10 +632,9 @@
     "RTWMemSecDataParameters",
     "RTWMemSecFuncExecute",
     "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
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-    "TreatAsAtomicUnit",
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     "VariantControl"
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@@ -683,7 +644,7 @@
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-    "Auto",
+    "on",
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@@ -696,6 +657,7 @@
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     "",
     "off",
+    "off",
     "",
     "Auto",
     "",
@@ -705,21 +667,18 @@
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
+    "Auto",
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     "off",
-    "on",
-    "off",
     ""
    ],
    "tabs":[
     "Main",
-    "Code Generation",
     "-Other"
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     6
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@@ -734,12 +693,43 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9992",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11242",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From9",
+  "label":"From9",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_ctrlModReq",
+    "Tag"
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+   "tabs":[
+    "Parameter Attributes"
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+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
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+  "finder":{
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   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
   "name":"r_inpTgtSca",
   "label":"r_inpTgtSca",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
   "inspector":{
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     "Port",
@@ -814,85 +804,19 @@
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-  "icon":"WebViewIcon3",
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-  "icon":"WebViewIcon3",
-  "name":"Goto12",
-  "label":"Goto12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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   "icon":"WebViewIcon3",
-  "name":"From1",
-  "label":"From1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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     "IconDisplay"
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-    "VqFinPrev",
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@@ -911,12 +835,282 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9956",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11250",
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+  "name":"Goto2",
+  "label":"Goto2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
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   "name":"r_inpTgt",
   "label":"r_inpTgt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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@@ -978,142 +1172,12 @@
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   "name":"VqFinPrev",
   "label":"VqFinPrev",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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@@ -1175,12 +1239,12 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9998",
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   "icon":"WebViewIcon3",
   "name":"z_ctrlMod",
   "label":"z_ctrlMod",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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@@ -1242,210 +1306,136 @@
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-  "name":"FOC_Control_Type",
-  "label":"FOC_Control_Type",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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+  "label":"From19",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11201",
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   "className":"Simulink.Inport",
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   "name":"z_ctrlModReq",
   "label":"z_ctrlModReq",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
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@@ -1507,43 +1497,12 @@
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   "name":"z_ctrlTypSel",
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@@ -1605,12 +1564,45 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9988_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11207_d.json
similarity index 89%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9988_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11207_d.json
index 20ed587..09b2ded 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9988_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11207_d.json
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rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9988_d.png
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similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10007_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11211_d.json
index 18304b1..d17f60a 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10007_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11211_d.json
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11213",
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+  "icon":"WebViewIcon3",
+  "name":"Action Port",
+  "label":"Action Port",
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+    "PropagateVarSize"
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similarity index 100%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10007_d.png
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11211_d.png
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similarity index 93%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10007_d.svg
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9957_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11215_d.json
similarity index 84%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9957_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11215_d.json
index 4a13ad7..257140e 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9957_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11215_d.json
@@ -1,11 +1,11 @@
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@@ -129,12 +129,61 @@
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@@ -520,12 +276,304 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9937_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11254_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9937_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11254_d.json
index 33d77a4..b75a218 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9937_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11254_d.json
@@ -1,11 +1,11 @@
 [
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9952",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11269",
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   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">In case of OPEN_MODE request the input target command will be reduced to 0 with a predefined rate.</span></p></body></html>",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:11254",
   "inspector":{
    "params":[
     "Text",
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+    "ActiveVariant",
+    "ActiveVariantBlock",
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+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
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@@ -173,116 +383,185 @@
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@@ -370,12 +649,12 @@
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@@ -798,12 +747,61 @@
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@@ -1002,12 +1000,12 @@
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similarity index 89%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9948_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11265_d.json
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--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9948_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_11265_d.json
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_29_d.json
similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_29_d.json
index 0cd9134..3dc831a 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_29_d.json
@@ -1,11 +1,11 @@
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   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This is because the measured currents are flipped.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This is because the measured currents are flipped.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "Text",
@@ -49,12 +49,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9308",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9308",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <table border=\"1\" style=\" border-color:#7a7a7a; border-style:solid; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px;\" cellspacing=\"1\" cellpadding=\"4\"> <tr> <td width=\"21.2024%\"> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">Hall_A</span></p></td> <td width=\"21.2024%\"> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">Hall_B</span></p></td> <td width=\"21.4651%\"> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">Hall_C</span></p></td> <td width=\"36.1302%\"> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">vec_hallToPos</span></p></td></tr> <tr> <td> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p></td> <td> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p></td> <td> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p></td> <td> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">2</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">4</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">3</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">5</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p></td></tr></table></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <table border=\"1\" style=\" border-color:#7a7a7a; border-style:solid; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px;\" cellspacing=\"1\" cellpadding=\"4\"> <tr> <td width=\"21.2024%\"> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">Hall_A</span></p></td> <td width=\"21.2024%\"> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">Hall_B</span></p></td> <td width=\"21.4651%\"> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">Hall_C</span></p></td> <td width=\"36.1302%\"> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">vec_hallToPos</span></p></td></tr> <tr> <td> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p></td> <td> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p></td> <td> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p></td> <td> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">2</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">1</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">4</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">3</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">5</span></p> <p align=\"center\" style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px;\">0</span></p></td></tr></table></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "Text",
@@ -98,12 +98,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9307",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9307",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#000000;\">The rotor position is implemented based on the following table:</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#000000;\">The rotor position is implemented based on the following table:</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "Text",
@@ -147,12 +147,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10192",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10192",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#00aa00;\">Task1</span><span style=\" font-size:10px; color:#00aa00;\">: Diagnostics + Control_Manager</span><span style=\" font-size:10px; color:#ff0000;\"><br /></span><span style=\" font-size:10px; font-weight:600; color:#0000ff;\">Task2</span><span style=\" font-size:10px; color:#0000ff;\">: Field Weakening + Limitations</span><span style=\" font-size:10px; color:#ff0000;\"><br /></span><span style=\" font-size:10px; font-weight:600; color:#ff007f;\">Task3</span><span style=\" font-size:10px; color:#ff007f;\">: PI Controllers in FOC</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#00aa00;\">Task1</span><span style=\" font-size:10px; color:#00aa00;\">: Diagnostics + Control_Manager</span><span style=\" font-size:10px; color:#ff0000;\"><br /></span><span style=\" font-size:10px; font-weight:600; color:#0000ff;\">Task2</span><span style=\" font-size:10px; color:#0000ff;\">: Field Weakening + Limitations</span><span style=\" font-size:10px; color:#ff0000;\"><br /></span><span style=\" font-size:10px; font-weight:600; color:#ff007f;\">Task3</span><span style=\" font-size:10px; color:#ff007f;\">: PI Controllers in FOC</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "Text",
@@ -196,12 +196,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9303",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9305",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"n_mot",
-  "label":"n_mot",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"iq",
+  "label":"iq",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "Port",
@@ -229,7 +229,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "5",
+    "8",
     "Port number",
     "[]",
     "[]",
@@ -242,9 +242,9 @@
     "auto",
     "off",
     "off",
-    "[]",
+    "0",
     "off",
-    "held",
+    "reset",
     "off",
     "0",
     "",
@@ -276,12 +276,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9304",
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   "icon":"WebViewIcon3",
-  "name":"a_elecAngle",
-  "label":"a_elecAngle",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -309,7 +309,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
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@@ -322,9 +322,9 @@
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-    "held",
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@@ -356,12 +356,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9299",
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   "icon":"WebViewIcon3",
   "name":"DC_phaA",
   "label":"DC_phaA",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
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@@ -436,12 +436,61 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10064",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9298",
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+  "icon":"WebViewIcon3",
+  "name":"z_ctrlTypSel",
+  "label":"z_ctrlTypSel",
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   "name":"b_fieldWeakEna",
   "label":"b_fieldWeakEna",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
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     "Value",
@@ -485,12 +534,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9297",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11487",
   "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"b_diagEna",
-  "label":"b_diagEna",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"b_cruiseCtrlEna",
+  "label":"b_cruiseCtrlEna",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
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@@ -503,7 +552,7 @@
     "FramePeriod"
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-    "b_diagEna",
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@@ -534,39 +583,109 @@
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-  "icon":"WebViewIcon3",
-  "name":"Terminator",
-  "label":"Terminator",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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+  "className":"Simulink.SubSystem",
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+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
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+    "MinAlgLoopOccurrences",
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+    "Inherit from model",
+    "Inherit from model",
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   },
   "viewer":{
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+   "jshandler":"webview/handlers/ContainerHandler"
   },
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   "finder":{
-   "blocktype":"Terminator",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10751",
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   "icon":"WebViewIcon3",
   "name":"Saturation1",
   "label":"Saturation1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
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     "UpperLimit",
@@ -614,12 +733,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10749",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10749",
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   "icon":"WebViewIcon3",
   "name":"Saturation",
   "label":"Saturation",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
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@@ -667,12 +786,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10156",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10156",
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   "icon":"WebViewIcon3",
   "name":"Relational Operator1",
   "label":"Relational Operator1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
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     "Operator",
@@ -712,12 +831,269 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9292",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9293",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon4",
+  "name":"Model_Info",
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+  "icon":"WebViewIcon3",
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+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
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+  "className":"Simulink.Outport",
+  "icon":"WebViewIcon3",
+  "name":"a_elecAngle",
+  "label":"a_elecAngle",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
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   "icon":"WebViewIcon1",
   "name":"Implemented_control_methods",
   "label":"Implemented_control_methods",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
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@@ -805,98 +1181,12 @@
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-  "label":"If1",
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-  "label":"Goto8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -904,7 +1194,7 @@
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@@ -924,12 +1214,12 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto28",
-  "label":"Goto28",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -937,7 +1227,7 @@
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@@ -957,12 +1247,12 @@
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   "name":"Goto26",
   "label":"Goto26",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -990,12 +1280,12 @@
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   "name":"Goto25",
   "label":"Goto25",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -1023,12 +1313,12 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto23",
-  "label":"Goto23",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -1036,7 +1326,7 @@
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@@ -1056,12 +1346,12 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto2",
-  "label":"Goto2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -1069,7 +1359,7 @@
     "IconDisplay"
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@@ -1089,206 +1379,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9456",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto12",
-  "label":"Goto12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "VqFinPrev",
-    "local",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9252",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From8",
-  "label":"From8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "b_hallA",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9278",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto17",
-  "label":"Goto17",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "n_motAbs",
-    "local",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9250",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From6",
-  "label":"From6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "z_ctrlTypSel",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10189",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10189",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto20",
   "label":"Goto20",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
@@ -1316,74 +1412,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:11019",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From40",
-  "label":"From40",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "b_motEna",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9418",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From4",
-  "label":"From4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "b_motStdStill",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9276",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9272",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto15",
-  "label":"Goto15",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"Goto2",
+  "label":"Goto2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
@@ -1391,7 +1425,7 @@
     "IconDisplay"
    ],
    "values":[
-    "i_phaBC",
+    "id",
     "local",
     "Tag"
    ],
@@ -1411,175 +1445,86 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10692",
-  "className":"Simulink.From",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10188",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From39",
-  "label":"From39",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"Goto19",
+  "label":"Goto19",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "task1",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10187",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto18",
+  "label":"Goto18",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "task2",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9278",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto17",
+  "label":"Goto17",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
     "n_motAbs",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9262",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From45",
-  "label":"From45",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "r_devSignal2",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10355",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From37",
-  "label":"From37",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "task2",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10259",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From36",
-  "label":"From36",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "task2",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9268",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From35",
-  "label":"From35",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "n_mot",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9934",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto7",
-  "label":"Goto7",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "z_dir",
     "local",
     "Tag"
    ],
@@ -1599,43 +1544,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9266",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From33",
-  "label":"From33",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "DC_phaC",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9271",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9277",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto10",
-  "label":"Goto10",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"Goto16",
+  "label":"Goto16",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
@@ -1643,7 +1557,7 @@
     "IconDisplay"
    ],
    "values":[
-    "r_devSignal1",
+    "z_ctrlModReq",
     "local",
     "Tag"
    ],
@@ -1663,12 +1577,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9300",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9303",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"DC_phaB",
-  "label":"DC_phaB",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"n_mot",
+  "label":"n_mot",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "Port",
@@ -1696,7 +1610,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "2",
+    "5",
     "Port number",
     "[]",
     "[]",
@@ -1743,105 +1657,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9260",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From30",
-  "label":"From30",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "z_pos",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9930",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From3",
-  "label":"From3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "a_elecAngle",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9261",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From29",
-  "label":"From29",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "b_hallC",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10188",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9456",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto19",
-  "label":"Goto19",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"Goto12",
+  "label":"Goto12",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
@@ -1849,7 +1670,7 @@
     "IconDisplay"
    ],
    "values":[
-    "task1",
+    "VqFinPrev",
     "local",
     "Tag"
    ],
@@ -1869,19 +1690,52 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10161",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9271",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto10",
+  "label":"Goto10",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "iq",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9241",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From25",
-  "label":"From25",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"From5",
+  "label":"From5",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "n_motAbs",
+    "n_mot",
     "Tag"
    ],
    "tabs":[
@@ -1900,19 +1754,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10160",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9263",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From24",
-  "label":"From24",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"From46",
+  "label":"From46",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgt",
+    "iq",
     "Tag"
    ],
    "tabs":[
@@ -1931,19 +1785,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10027",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9262",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From23",
-  "label":"From23",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"From45",
+  "label":"From45",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "VqFinPrev",
+    "id",
     "Tag"
    ],
    "tabs":[
@@ -1962,12 +1816,179 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9285",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11489",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From42",
+  "label":"From42",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "b_cruiseCtrlEna",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11019",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From40",
+  "label":"From40",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "b_motEna",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10258",
+  "className":"Simulink.If",
+  "icon":"WebViewIcon3",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9244",
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   "icon":"WebViewIcon3",
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-  "label":"From12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -3879,435 +2078,12 @@
   }
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- {
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   "name":"From31",
   "label":"From31",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
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@@ -4333,61 +2109,25 @@
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   "icon":"WebViewIcon3",
-  "name":"b_hallB",
-  "label":"b_hallB",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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+  "label":"From30",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:29",
   "inspector":{
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-    "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
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@@ -4395,17 +2135,79 @@
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+   "blocktype":"From",
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@@ -4433,12 +2235,1906 @@
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EAlBWPA0iC5yH0i1oSskQdCWlRR0LWqCUhS9SSyokAGkrhgx/8oB566KH2+y94wQt000036cCBA7r33nv18MMP68Ybb9TU1FT7NsvLy3rXu941itPFCHz+85/X3//933d97Morr9R//Md/6N5779U3v/lNHThwQO973/u6ksmPPPKIPvaxj0Uem/VXbddcc43uvPPOvu9/11136dOf/nTXx9785jfrzjvvbK+RBx54QHv37tVf/MVfaNu2be3bPfTQQ/qbv/mbyOOz/spl0PV09OhRXXXVVV2/UJ933nn6zGc+o4cffljf+MY39MADD+gLX/hC17jf48eP6+1vf7ueeuqpyOOznoon78eQKPfdd9+Gr50G66mYHnjgAX3wgx/s+tjb3vY2fe1rX9O9996rb3zjGzpw4IBuuummrp/Nd7/73UTrKc+fO2uqePJeT/wODyBPPA4gDs9D6Ad1JGSNWhLSopaELFFHQpaoIwEoMx4HEIfnIfSLWhKyRB0JaVFHQtaoJSFL1JLKa9OpU6dOjfokgCgPPvigLr300vb75513nm6++eae412PHDmit73tbV27PNx4442q1+tDOVeMxlNPPaULL7ywvUvDxMSE/vEf/1GvfvWre97+4MGDuvTSS9sXU1u2bNFXv/pV/dIv/dKG27L+qmtlZUXveMc79LWvfW3D55KOJ3/22WdVq9W6LrA/+tGP6g1veEPofb7zne+o0Wh0Jern5+e7Ltwt1l95ZLGeJOlTn/pU1y+vv/7rv675+XmddtppPW//53/+5/ryl7/cfv/yyy/X+9///p63ZT0VT96PIVFWVlb0xje+UT/84Q83fC7JuHvWU3G94Q1v0GOPPdZ+/8Mf/rAuuuiinrddWVnRZZdd1nX7W265Rb/2a7/W8/Z5/txZU8WU53rid3gAeeJxAHF4HkJa1JGQNWpJ6Ae1JNZT1qgjIUvUkQCUFY8DiMPzEPpBLQlZoo6EflBHYj3lgVoSskQtqbyYgIbCu+GGG9pvb9myRR//+Md7/iOVpO3bt+uGG27QmWee2f7YjTfemPs5YrQ+9alPdY0Ifu973xv6JCFJL3zhC/Wnf/qn7fdPnDihz3/+8z1vy/qrpv379+uNb3xjzwvzNO68886ui7Qrrrgi8iJN8n/ZWH8xftttt/W8LeuvHLJaT5L0la98pf32li1b9H//7/8NLfRI0t/93d917b5w++236+TJkz1vy3oqnrwfQ6J84AMfaBd61o+SToL1VEz79u3rutD+7d/+7dALc8kfJ/6BD3yg62P/8i//Enr7PH/urKniyXs98Ts8gDzxOIA4PA8hDepIyBq1JPSLWhKyRB0JWaKOBKDMeBxAHJ6HkBa1JGSJOhL6RR0JWaOWhCxRSyo3AmgotB/96Efau3dv+/3Xvva12r17d+R9nvvc5+ryyy9vv//QQw/pe9/7Xm7niNF69tlndeutt7bfP//883XJJZfE3u+SSy7p+uU2OArTYv1Vz49+9CNdc801uuKKK7p22HjJS17S1/GWlpa63n/b296W6H6/93u/p507d7bfv+eee3qeK+uv2LJeTydPntR3v/vd9vvnn39+zx0UgrZv365ardZ+/+jRo12/mAfPlfVUPHk+hkT54he/qLvuukuSdPrpp+tP/uRPUt2f9VRcX/jCF7rebzQasfd5+ctfrtNPP739/n333dfzdnn+3FlTxZTneuJ3eAB54nEAcXgeQlLUkZA1akkYFLUk1lOWqCOxnrJEHYn1BJQVjwOIw/MQ0qCWhCxRR8KgqCOxnrJGLYk1lSVqSeVeTwTQUGhf//rXu96PS+BbF154Ydf7wd0bUC133323jh492n4/6S+sO3bs0NVXX613v/vduu6667rGYVqsv2rZt2+fXvOa1+hzn/tc18df97rX6ZZbbunrmPfff3/77Z07d8ZemAedf/757bePHTumEydOdH2e9VdseaynEydOdK2D5z73uYnuF9wdQZKefPLJDbdhPRVTno8hYf7rv/5LzWaz/f473/lOGWMSf12J9VRkz3/+8zU1NaUtW7ZoYmIidMz4ei972cvabwd3wArK8+fOmiqmPNcTv8MDyBOPA4jD8xCSoI6ErFFLQhaoJbGeskQdifWUJepIrCegrHgcQByeh5AUtSRkiToSskAdifWUNWpJrKksUUsq93raOuoTAKJ885vf7Hr/ggsuSHS/8847TxMTEzp+/Lik7l+mUC3BnRq2bdvWtetGnOC4zF5Yf9Xy5JNPanV1tf3+2Wefrfe+972JfwHo5XWve50OHz6so0eP6uyzzx7o/E6ePNmVnmf9FVse62nLli3asmVL+6L9pz/9aaL7HTt2rOv9bdu2bbgN66mY8nwMCfPXf/3XWllZkSS96lWv0lvf+tbQcdFhWE/FddVVV+mqq67SyZMnU+2U8uijj7bf/oVf+IWet8nz586aKqY81xO/wwPIE48DiMPzEJKgjoSsUUtCFqglsZ6yRB2J9ZQl6kisJ6CseBxAHJ6HkBS1JGSJOhKyQB2J9ZQ1akmsqSxRSyr3eiKAhkJ75JFH2m+fccYZmpycTHzf888/X/v375ckPfDAA5mfG4rhwIED7benp6e1eXN2gx1Zf9U0MTGhmZkZXXnlldq+fftAx3r/+9/f932DY823bNmi0047revzrL9yyHI9bd68Wb/yK7/SXhv333+/nnrqqdhdh4KjhLdu3dpzNwjWUzHl+RjSy0033dT+WU5OTuraa6/t62uznopv8+bNevGLX5zotgcPHuwqLv/mb/5mz9vl+XNnTRVbHuuJ3+EB5InHAcTheQhpUEdC1qglYRDUklhPeaCOhCxRRwJQNjwOIA7PQ0iLWhKyRB0Jg6COxHrKC7UkZIlaUjkRQEOhed7/z96dR0lVnvkDf6RZGtCWICji4SeuEBlFohJicA0aRB2Nu0ZRcYtbjEbFRJM4jsGNRHFX4oYaw2jiFokRlxAZg4giYVAURQmRRUUZFGhouv39wVDh0tVd1d1V1dXVn885fU6/t+72Vj11b93vOe+9H6b+32233Rq0bPfu3VP/r169OlauXBkdO3bM1a5RBGpqahI10qtXr1qvT5s2LRYuXBiffvppdOnSJbp27Rp77713VndkUH+lpaKiIk4//fQ45ZRTEp9Pc5g+fXp89NFHqfb6j61eR/0Vt3zV0+GHHx7XXnttRERUV1fHf/7nf8aYMWPqnP+uu+6KefPmpdqHHHJI2uObeiot2RxDNjRnzpz49a9/nWr/8pe/zBgk1kU9lY51x5n1HX300WnnzefnrqZKQ7b15Dc8kG+OA9THeYhsyZHUXq7JktRUc5IlkQtyJHJJjgQUC8cB6uM8REPIktRfLsmR1FNzkiORK7IkckmWVFwMQKNorVq1KvXI34iITTbZpEHLb7zxxon2zJkzY+DAgTnZN4rDhx9+mKiRvn37RkREVVVVjB07NsaNG5f2cdHl5eVx0kknxQ9+8INadbKO+is9++23X+y3337NvRsREXHTTTcl2sOGDUu01V/xy1c9nXzyyTFx4sTUI3afffbZOO+88+Lyyy+PLbfcMjXfihUr4vbbb4+xY8empm222WZxySWX1Fqneio9mY4hG6qqqooLLrgg1qxZExER//7v/x4HHnhgo7atnkrHrFmz4mc/+1nMmjUrNW3o0KExePDgWvPm83NXU6WhIfXkNzyQT44DZOI8RLbkSGov12RJaqo5yZJoKjkSuSRHAoqF4wCZOA/RELIk9ZdLciT11JzkSOSCLIlckiUVHwPQKFr/+Mc/Eu3y8vIGLd+jR49Ee+XKlU3eJ4rL+nfYiIjo2LFjLFy4MM4444yYM2dOnctVVlbG2LFj45lnnomxY8fG9ttvX2se9Ue+PPbYYzFlypRUu1u3bnHEEUck5lF/rVebNm3izjvvjJEjR8aLL74YERETJ06MF198Mfr06RNbbbVVfPHFFzFt2rTUhXtExHbbbRe333572rvHqKfSks0xZEPXX399vP/++xGx9vP8xS9+0ejtq6eW64033ogPPvggZsyYETNnzkw8Ejwi4oADDojrr78+7bL5/NzVVMvUlHryGx7IJ8cBMnEeoqWRI5GJLIlMZEk0hhyJXJIjAcXKcYBMnIdoiWRJ1EeORCZyJBpLlkQuyZKKnwFoFK1PPvkk0W7btmHluvnmmyfa6486pTSsWrUq0f7iiy/iuOOOi0WLFqWm9ejRI/r27RuVlZXxxhtvxOrVq1OvLViwIIYPHx7jx4+v9ZhN9Uc+TJ8+vdZjYH/yk59Ep06dEtPUX+tWUVERd9xxR0yaNCl++MMfRmVlZVRXV8dbb71V68d0RMSPfvSjOOuss6JNmzZp16eeSke2x5D1TZ48OcaNG5dqX3/99XXepSMb6qnleuihh+KZZ56pNb2srCyuuOKKOOGEE+pcNp+fu5pqmZpST37DA/nkOEAmzkO0JHIksiVLoi6yJBpLjkQuyZGAYuU4QCbOQ7Q0siSyIUeiLnIkmkKWRC7JkoqfAWgUraqqqkS7oV/UjTbaKNGuqalp8j5RXNa/00ZExHXXXZd6NOagQYPisssui69//eup12tqauLxxx+PG264ITXfkiVL4pxzzoknn3wycaGk/si1t99+O84888yorKxMTTviiCPikEMOqTWv+mvd1j3K/sEHH0zUS11uvfXW+Oyzz+L888+PioqKWq+rp9LQkGPIOkuXLo2RI0em2iNGjIhvfvObTdoP9dRyLVmyJO306urquPrqq2Py5MkxcuTI2HrrrWvNk8/PXU21TE2pJ7/hgXxyHCAT5yFaCjkSDSFLIh1ZEk0hRyKX5EhAsXIcIBPnIVoSWRLZkiORjhyJppIlkUuypOJnABolq667LlA6Nhz9u+7gf8QRR8Q111xTa/42bdrEkUceGQMHDoxjjz02dZJ6991347e//W2ceOKJOds39cf6Zs6cGSNGjIhly5alpg0aNCiuvvrqvGxP/bVcn3zySZx00knxwQcfpKZ17NgxDjnkkNhzzz2jffv2sXr16pg+fXo888wzsWTJklizZk2MGzcunn/++bjvvvuid+/eOd0n9dT8GnsM+elPfxqffvppRETssMMOcdFFF+V1P7OhnprPVlttFT/72c+ia9euUVVVFVOmTImJEyfGF198EdXV1fHCCy/EK6+8ErfcckvstddeOd12Pj93NdU8mlJPfsMDxcxxoPQ5D9ESyJFoCFkS6ciSaCo5ErkkRwJKleNA6XMeoqWQJZEtORLpyJHIBVkSuSRLKn6l0xNKTllZWZOW3/AgUkpfXOrWt2/ftCeJ9fXq1Suuu+66xLTx48cn2uqPXJk8eXKcfPLJiYu0AQMGxB133FFnnam/1qmqqipGjBiRCHoGDx4cf/nLX+Lqq6+OYcOGxZAhQ2LYsGFx+eWXx/PPPx9HHHFEat4FCxbEqaeeGkuXLk2sVz21bI05hkREPPbYY/HCCy9ExNoa+NWvfhXt2rVr8v6op5Zr1KhRceKJJ8awYcPisMMOi2uuuSZefPHFGDp0aGqelStXxvnnnx8ffvhhYtl8fu5qqmVqSj2l4zc8kCuOAzSG8xDFRI5EQ8iSSEeWRC7IkcglORJQrBwHaAznIYqNLIlsyZFIR45ErsiSyCVZUvFruXtOydt0000T7dWrVzdo+Q0fEdzULz7FJ91nev7552e17F577RV9+/ZNtd9999345JNPUm31Ry48+eSTceaZZ8by5ctT0wYNGhT33ntvdOrUqc7l1F/rdP/998e7776bag8cODDuvvvu6NKlS9r5O3XqFNdcc02twOfmm29OzKeeWq7GHkPmzZsXo0aNSrUvuOCC6NOnT072ST2VloqKihgzZkx897vfTU1buXJlrQvqfH7uaqp0ZFtPfsMD+eQ4QCbOQxQzORINJUtiQ7Ik8kmORC7JkYBi4DhAJs5DFDtZEg0hR2JDciTyTZZELsmSiosBaBSt7bbbLtFetWpVg5Z/7733Eu3y8vIm7xPFpX379ol227ZtY//99896+cGDByfaM2fOTP2v/miq0aNHx6WXXpoYtX7AAQfEb37zm3ov0iLUX2v16KOPpv4vKyuLUaNGZfUj88orr4zNN9881R4/fnysWLEi1VZPLVNjjyE1NTVx6aWXpgKiAQMGxFlnnZWz/VJPpenKK6+Mtm3bptqTJk1K3OEqn5+7mio9merJb3ggnxwHyMR5iGIlR6IxZEmsT5ZEociRyCU5EtCcHAfIxHmIYiZLoqHkSKxPjkQhyZLIJVlScWibeRZoHuXl5VFWVpb6kbNy5coGLb/h/F//+tdztm8Uh44dOybam266aYMeSblhTax/Nwf1R2OtWLEiLr744tRjptcZMWJEjBw5Mqt1qL/WZ/HixTFv3rxUe4899ohevXpltWyHDh3isMMOi7Fjx0ZExJo1a+KVV16JIUOGRIR6ammaegyZMGFCvPnmm6l2586d44orrqh3mfVrLyJi3LhxMXHixFT7+9//fupzV0+lqWvXrjFkyJB49tlnI2LtI7+nTp1akOOImio9merJb3ggnxwHyMR5iGIjR6KxZEmsI0ui0ORI5JIcCWhOjgNk4jxEMZIl0RhyJNaRI9EcZEnkkiypOBiARtFq06ZNdO/ePRYtWhQRtX+IZLLhiNaKioqc7h/Nb8CAAYn2xhtv3KDl1x8FHbH2Dg3rqD8a49NPP40zzzwzZs2alZh+1VVXxbHHHpv1etRf67P+Y+4jIrbZZpsGLb/rrrsm2kuWLEn9r55ajlwcQzZ8VPPkyZMbvB8bLrPvvvumLnjUU+nq06dP6uI8InkBnc/PXU2VpvrqyW94IJ8cB8jEeYhiIkeiKWRJRMiSaD5yJHJJjgQ0F8cBMnEeotjIkmgsORIRciSalyyJXJIlNb/sh/RBM+jfv3/q/w8//LBBy86YMSP1//bbb5+rXaKIbLzxxonRyp9++mmDlq+qqkq0O3TokGirPxpi8eLFccwxxyQu0ioqKuK+++5rUNCzjvprXdb/oRoRDbrrQkREu3btEu05c+Yk2uqp+OX6GJJP6ql41dTUxNy5c+Oll16qdRzIpEuXLvW+ns/PXU0Vp3zVk9/wQL45DlAf5yGKhRyJppIlIUuiqeRI6imX5EjqCVoqxwHq4zxEMZEl0RRyJORI5IIsSU3lkiypZdeTAWgUtfUfL7h69eqYOXNmVst9+umniTst7LzzzjnfN4rD4MGDU/8vX748Fi9enPWys2fPTrS32GKLRFv9ka1PPvkkjjnmmPjoo49S03r06BGPPPJI7Lnnno1ap/prXTp37pxo5/rxvOqpuOXyGNKjR4/Yd999G/TXt2/fxDp22WWXxOubbbZZ4nX1VJw+/PDD+Ld/+7c46KCD4gc/+EHccccdDVr+f/7nfxLtDR9Jns/PXU0Vn3zXk9/wQD45DpCJ8xDNTY5ELsiSWjdZEk0lR1JPuSRHUk/QkjkOkInzEMVAlkRTyZFaNzkSuSBLUlO5JEtq+fVkABpFbf2DQETEpEmTslpu4sSJifa+++6bq12iyHz7299OtCdMmJD1sn/7299S/5eXlydGJkeoP7Lz5Zdfxqmnnpp6rGpExI477hiPPfZYk0apq7/WpX///lFWVpZqv/baaw1afvr06Yl2165dE231VLxyfQwZPHhw3HXXXQ36GzFiRGId5513XuL1DR9NrZ6K0//7f/8vcRx54YUXat2VpT7Tpk1LtHfcccdEO5+fu5oqPvmuJ7/hgXxyHCAT5yGakxyJXJEltV6yJHJBjqSeckmOpJ6gJXMcIBPnIZqbLIlckCO1XnIkckWWpKZySZbU8uvJADSK2s477xzbbLNNqv3oo4/GqlWr6l2mpqYmHn744VT7a1/7Wov/olK3gw46KNq2bZtq33///RlrJGLtCWj9RwoffPDBtR4vrf7Ixk9/+tPEI2C32267eOCBB6J79+5NWq/6a13atWsXe+yxR6o9f/78eOmll7JadtmyZfGHP/wh1S4vL4+99947MY96Kl75Oobkk3oqTm3atIkDDjgg1a6srIxHHnkkq2UnTJgQ8+bNS7X79u0bvXv3TsyTz89dTRWffNeT3/BAPjkOkInzEM1JjkSuyJJaL1kSuSBHUk+5JEdST9CSOQ6QifMQzU2WRC7IkVovORK5IktSU7kkS2r59WQAGkXv+OOPT/2/aNGiuPLKK+udf8yYMYkfTcOHD691AKB0dOnSJU488cRUe9GiRXHFFVfUu8xnn30Wl112WWLaySefnHZe9Ud9nnvuufjzn/+caldUVMQ999xT604vjaX+WpeTTjop0f75z38en3zySb3L1NTUxCWXXBLLli1LTTvxxBMTd4hYRz0Vn3wfQ/JJPRWn9X8TRUTccsstsWDBgnqXmTt3blx11VWJaWeccUbaefP5uaup4pPPevIbHsg3xwHq4zxEc5EjkWuypNZHlqSeckmOpJ5ySY6knqAlcxygPs5DNCdZErkkR2p95EjqKddkSWoql2RJLbueNvrqq6++au6dgPrU1NTE0KFDEyNWjzzyyPjFL34RHTp0SE2rrq6O0aNHx7333pua1qNHj/jTn/4UnTp1Kug+U1jLli2LQw89NPGo4O985zvxi1/8IrbYYovEvHPmzInzzz8/Pvjgg9S0Y489ttZJaR3113r06dMn9f/hhx8e1113XcZlhg4dmqilnXbaqdZjobM1cuTIRE1FqL+WrDH1FBFx2mmnxeTJk1PtzTffPK666qrYb7/9as07f/78+OlPfxpTp05NTevRo0c8/fTTUVFRUWt+9VR88n0MydaTTz4Zl156aap99913xz777FPvMuqpeF1wwQXx7LPPptqbb755/OpXv4qBAwfWmnfChAlx1VVXxeeff56atv/++8cdd9yRdt35/NzVVHHKZz35DQ/kk+MAmTgP0VRyJHJNlkQ2ZEnqKdfkSOSSHAloqRwHyMR5iFyQJZFLciSyIUdST/kgSyKXZEktlwFotAhvv/12HHfccVFZWZmaVlFREfvuu29ssskmsXLlypg8eXJ8/PHHqdfbt28fDzzwQHzjG99ojl2mwGbNmhWnnHJK4o4bZWVlsc8++6ROFu+//37ioihi7Q/rhx9+uN6DufprHRp6cT5p0qQ488wzc7b96dOnp61D9dcyNTbsWbZsWZxwwgmJOx5ERPTq1St222236Ny5c6xevTrmzZsXr7/+elRXV6fm2WSTTeKBBx6Ifv361bl+9VQ8CnUMyUZjwp4I9VSsli1bFieddFLMnj07MX2XXXaJPn36RPv27WP58uXx2muvxUcffZSYZ9ddd4377ruv2X4Xqanik+968hseyCfHATJxHqIp5EjkmiyJTGRJ6ikf5EjkkhwJaMkcB8jEeYimkiWRS3IkMpEjqad8kSWRS7KklssANFqMqVOnxrnnnps4ENSlc+fOceONN2b1Q4XS8d5778U555yTGFVcn4EDB8Ztt92W9q4cG1J/pa+hF+dXXHFFPProoznbfn0Xauqv5Wls2BOx9of1hRdemLjrUCZbb7113HbbbbHDDjtknFc9FYdCHkMyaWzYE6GeitVnn30WF154YUyZMiXrZQ4++OC4+uqrs6qjfH7uaqr45Lue/IYH8slxgEych2gsORK5JksiE1kS+SJHIpfkSEBL5jhAJs5DNIUsiVySI5GJHIl8kiWRS7KklqlNc+8AZGvgwIExYcKEOPLII6Nt27Zp5ykrK4uhQ4fGk08+WTJfUrK3/fbbx9NPPx0XXHBBdOvWrc75evXqFb/85S/jwQcfzOokEaH+qG3p0qUF25b6a10qKirinnvuiTFjxtR756CIiJ49e8ZFF10UzzzzTFZBT4R6KhaFPIbkk3oqTl27do0HHnggfvnLX8Z2221X77y77bZb3H333fHrX/8668Awn5+7mio++a4nv+GBfHIcIBPnIQpFjkQ+yZJaB1kS+SJHIpfkSEBL5jhAJs5DFJ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+            <path d="M-860,1285 L-798,1285" fill-rule="evenodd" vector-effect="none"/>
+          </g>
+          <!--RAWSTRING-->
+        </g>
+        <!--RAWSTRING-->
+      </g>
+      <!--RAWSTRING-->
+      <g id="BLDCmotor_FOC_R2017b_fixdt:11489#out:1">
+        <!--RAWSTRING-->
+        <g data-tags="PathIntersectionsEnabledTag">
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+          <g clip-path="none" fill="none" opacity="1" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,0,0)">
+            <path d="M-1495,1340 L-1433,1340" fill-rule="evenodd" vector-effect="none"/>
+          </g>
+          <!--RAWSTRING-->
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+        <!--RAWSTRING-->
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+      <!--RAWSTRING-->
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+        <!--RAWSTRING-->
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+            <path d="M0,0 L-8,-4 L-8,4 L0,0 z" fill-rule="nonzero" vector-effect="none"/>
+          </g>
+          <g clip-path="none" fill="none" opacity="1" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,0,0)">
+            <path d="M-860,1300 L-798,1300" fill-rule="evenodd" vector-effect="none"/>
+          </g>
+          <!--RAWSTRING-->
+        </g>
+        <!--RAWSTRING-->
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+      <!--RAWSTRING-->
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@@ -8623,5 +8917,5 @@
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 </svg>
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_icons.css b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_29_icons.css
similarity index 83%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_icons.css
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_29_icons.css
index 8a091c8..ea0b352 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_icons.css
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_29_icons.css
@@ -7,7 +7,7 @@
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 .WebViewIcon7,
 .WebViewIcon8,
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+.WebViewIcon9 { background-image: url('BLDCmotor_FOC_R2017b_fixdt_29_icons.png'); width: 16px; height: 16px; }
 
 .WebViewIcon0 { background-position: -0px; }
 .WebViewIcon1 { background-position: -16px; }
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_29_icons.png b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_29_icons.png
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8220_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8220_d.json
similarity index 76%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8220_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8220_d.json
index 39bc366..3cefe27 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8220_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8220_d.json
@@ -1,11 +1,11 @@
 [
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8221",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8221",
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   "icon":"WebViewIcon3",
   "name":"b_hallA",
   "label":"b_hallA",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
     "Port",
@@ -67,12 +67,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8222",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8222",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"b_hallB",
   "label":"b_hallB",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8220",
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    "params":[
     "Port",
@@ -134,12 +134,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8223",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8223",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"b_hallC",
   "label":"b_hallC",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
     "Port",
@@ -201,12 +201,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8465",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8465",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
   "name":"n_mot ",
   "label":"n_mot ",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
     "Port",
@@ -281,20 +281,20 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8225",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
   "name":"F01_01_Edge_Detector",
   "label":"F01_01_Edge_Detector",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
     "ShowPortLabels",
     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
-    "PropExecContextOutsideSubsystem",
-    "RTWSystemCode",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
     "ActiveVariant",
     "ActiveVariantBlock",
     "AllowZeroVariantControls",
@@ -306,6 +306,7 @@
     "MemberBlocks",
     "MinAlgLoopOccurrences",
     "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
     "PropagateVariantConditions",
     "RTWFcnName",
     "RTWFcnNameOpts",
@@ -316,10 +317,9 @@
     "RTWMemSecDataParameters",
     "RTWMemSecFuncExecute",
     "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
     "SystemSampleTime",
     "TemplateBlock",
-    "TreatAsAtomicUnit",
-    "TreatAsGroupedWhenPropagatingVariantConditions",
     "Variant",
     "VariantControl"
    ],
@@ -329,7 +329,7 @@
     "",
     "All",
     "off",
-    "Auto",
+    "on",
     "",
     "",
     "off",
@@ -342,6 +342,7 @@
     "off",
     "",
     "off",
+    "off",
     "",
     "Auto",
     "",
@@ -351,21 +352,18 @@
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
+    "Auto",
     "-1",
     "",
     "off",
-    "on",
-    "off",
     ""
    ],
    "tabs":[
     "Main",
-    "Code Generation",
     "-Other"
    ],
    "tabs_idx":[
     0,
-    5,
     6
    ]
   },
@@ -380,12 +378,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8433",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8433",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From2",
   "label":"From2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
     "GotoTag",
@@ -411,12 +409,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8438",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8438",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From3",
   "label":"From3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
     "GotoTag",
@@ -442,12 +440,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8441",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8441",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From4",
   "label":"From4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
     "GotoTag",
@@ -473,12 +471,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8442",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8442",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From5",
   "label":"From5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8220",
   "inspector":{
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8225_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8225_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8225_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8225_d.json
index c8375ba..9282d12 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8225_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8225_d.json
@@ -1,11 +1,11 @@
 [
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8226",
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   "name":"b_hallA",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8227",
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   "icon":"WebViewIcon3",
   "name":"b_hallB",
   "label":"b_hallB",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
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   "icon":"WebViewIcon3",
   "name":"b_hallC",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
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   "icon":"WebViewIcon3",
   "name":"b_edge ",
   "label":"b_edge ",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
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   "label":"UnitDelay3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
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   "icon":"WebViewIcon3",
   "name":"UnitDelay2",
   "label":"UnitDelay2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8231",
   "className":"Simulink.UnitDelay",
   "icon":"WebViewIcon3",
   "name":"UnitDelay1",
   "label":"UnitDelay1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
   "inspector":{
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@@ -431,12 +431,12 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9634",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9634",
   "className":"Simulink.Logic",
   "icon":"WebViewIcon3",
   "name":"Logical Operator",
   "label":"Logical Operator",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
   "inspector":{
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@@ -476,12 +476,12 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8226#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8226#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
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@@ -527,12 +527,12 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8228#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8228#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
   "inspector":{
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     "SignalNameFromLabel",
@@ -578,12 +578,12 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8227#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8227#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
   "inspector":{
    "params":[
     "SignalNameFromLabel",
@@ -629,12 +629,12 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8232#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8232#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
   "inspector":{
    "params":[
     "SignalNameFromLabel",
@@ -680,12 +680,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8233#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8233#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
   "inspector":{
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@@ -731,12 +731,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8231#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8231#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
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@@ -782,12 +782,12 @@
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   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8225",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8225",
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8225_d.png b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8225_d.png
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8235_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8235_d.json
similarity index 86%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8235_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8235_d.json
index d325fbf..15f5a91 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8235_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8235_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8246",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8246",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" color:#ff0000;\">This calculates the low resolution position based on Hall sensors.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" color:#ff0000;\">This calculates the low resolution position based on Hall sensors.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8235",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8235",
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    "params":[
     "Text",
@@ -49,12 +49,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8236",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8236",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"b_hallA",
   "label":"b_hallA",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8235",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8235",
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    "params":[
     "Port",
@@ -116,12 +116,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8237",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8237",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"b_hallB",
   "label":"b_hallB",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8235",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8235",
   "inspector":{
    "params":[
     "Port",
@@ -183,12 +183,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8238",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8238",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"b_hallC",
   "label":"b_hallC",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8235",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8235",
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    "params":[
     "Port",
@@ -250,12 +250,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8245",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8245",
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   "icon":"WebViewIcon3",
   "name":"z_pos ",
   "label":"z_pos ",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8235",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8235",
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@@ -330,12 +330,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8240",
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   "icon":"WebViewIcon3",
   "name":"Sum",
   "label":"Sum",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8235",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8235",
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@@ -389,12 +389,12 @@
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  {
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8241",
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   "icon":"WebViewIcon3",
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8247_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8247_d.json
similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8247_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8247_d.json
index a26d20f..b384dfc 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8247_d.json
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8263_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8263_d.json
similarity index 83%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8263_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8263_d.json
index 4fea7fc..681f645 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8263_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8263_d.json
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 [
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8381",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8381",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
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  {
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   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize advance control only if speed is above a threshold.</span></p></body></html>",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8383",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8383",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Advanced Control Enable Flag Determination</span></p></body></html>",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8368",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11463",
+  "className":"Simulink.Annotation",
+  "icon":"WebViewIcon2",
+  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Always authorize advance control if the motor angle is measured (e.g. using an encoder).</span></p></body></html>",
+  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Always authorize advance control if the motor angle is measured (e.g. using an encoder).</span></p></body></html>",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
+  "inspector":{
+   "params":[
+    "Text",
+    "DropShadow",
+    "Interpreter",
+    "FontName",
+    "FontWeight",
+    "FontSize",
+    "FontAngle",
+    "ForegroundColor",
+    "BackgroundColor",
+    "HorizontalAlignment",
+    "UseDisplayTextAsClickCallback",
+    "ClickFcn"
+   ],
+   "values":[
+    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Always authorize advance control if the motor angle is measured (e.g. using an encoder).</span></p></body></html>",
+    "off",
+    "rich",
+    "auto",
+    "auto",
+    -1,
+    "auto",
+    "black",
+    "white",
+    "left",
+    "off",
+    ""
+   ],
+   "tabs":[
+   ],
+   "tabs_idx":[
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":[
+  ]
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8368",
   "className":"Simulink.Scope",
   "icon":"WebViewIcon3",
   "name":"Scope2",
   "label":"Scope2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":[
   ],
   "viewer":{
@@ -166,12 +215,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8271",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8271",
   "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
   "name":"Constant6",
   "label":"Constant6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "Value",
@@ -215,12 +264,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8307",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8307",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto8",
   "label":"Goto8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "GotoTag",
@@ -248,12 +297,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8279",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8279",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From16",
   "label":"From16",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "GotoTag",
@@ -279,12 +328,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8273",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8273",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From",
   "label":"From",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "GotoTag",
@@ -310,12 +359,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8302",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8302",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto22",
   "label":"Goto22",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "GotoTag",
@@ -343,12 +392,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8265",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8265",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"b_edge",
   "label":"b_edge",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "Port",
@@ -410,12 +459,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8295",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8295",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto",
   "label":"Goto",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "GotoTag",
@@ -443,12 +492,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8375",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8375",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
   "name":"n_mot",
   "label":"n_mot",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "Port",
@@ -523,12 +572,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8274",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8274",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From1",
   "label":"From1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "GotoTag",
@@ -554,12 +603,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8290",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8290",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From4",
   "label":"From4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "GotoTag",
@@ -585,12 +634,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8266",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8266",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"z_dir",
   "label":"z_dir",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "Port",
@@ -652,12 +701,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8296",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8296",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto1",
   "label":"Goto1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
     "GotoTag",
@@ -685,1263 +734,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9430",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"b_motStdStill",
-  "label":"b_motStdStill",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
-  "inspector":{
-   "params":[
-    "Port",
-    "IconDisplay",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
-   ],
-   "values":[
-    "5",
-    "Port number",
-    "[]",
-    "[]",
-    "Inherit: auto",
-    "off",
-    "inherit",
-    "-1",
-    "Inherit",
-    "-1",
-    "auto",
-    "off",
-    "off",
-    "0",
-    "off",
-    "reset",
-    "off",
-    "0",
-    "",
-    [
-    ],
-    "Dialog",
-    "Auto",
-    "off"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    2,
-    11
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Outport",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8376",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"n_motAbs",
-  "label":"n_motAbs",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
-  "inspector":{
-   "params":[
-    "Port",
-    "IconDisplay",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
-   ],
-   "values":[
-    "2",
-    "Port number",
-    "[]",
-    "[]",
-    "Inherit: auto",
-    "off",
-    "inherit",
-    "-1",
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-    "-1",
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-    "off",
-    "off",
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-    "off",
-    "held",
-    "off",
-    "0",
-    "",
-    [
-    ],
-    "Dialog",
-    "Auto",
-    "off"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    2,
-    11
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Outport",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8374",
-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon3",
-  "name":"z_maxCntRst2",
-  "label":"z_maxCntRst2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
-  "inspector":{
-   "params":[
-    "Value",
-    "VectorParams1D",
-    "SampleTime",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "FramePeriod"
-   ],
-   "values":[
-    "z_maxCntRst",
-    "on",
-    "inf",
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
-    "off",
-    "inf"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
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-    3,
-    7
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Constant",
-   "masktype":""
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9429",
-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon3",
-  "name":"n_stdStillDet",
-  "label":"n_stdStillDet",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
-  "inspector":{
-   "params":[
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-    "VectorParams1D",
-    "SampleTime",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "FramePeriod"
-   ],
-   "values":[
-    "n_stdStillDet",
-    "on",
-    "inf",
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
-    "off",
-    "inf"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
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-    3,
-    7
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Constant",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8372",
-  "className":"Simulink.Relay",
-  "icon":"WebViewIcon3",
-  "name":"n_commDeacv",
-  "label":"n_commDeacv",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
-  "inspector":{
-   "params":[
-    "OnSwitchValue",
-    "OffSwitchValue",
-    "OnOutputValue",
-    "OffOutputValue",
-    "InputProcessing",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "SampleTime",
-    "ZeroCross"
-   ],
-   "values":[
-    "n_commDeacvHi",
-    "n_commAcvLo",
-    "1",
-    "0",
-    "Elements as channels (sample based)",
-    "[]",
-    "[]",
-    "boolean",
-    "off",
-    "-1",
-    "on"
-   ],
-   "tabs":[
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-    "Signal Attributes",
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-   ],
-   "tabs_idx":[
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-    5,
-    9
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
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-  "finder":{
-   "blocktype":"Relay",
-   "masktype":""
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8377",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"z_counter",
-  "label":"z_counter",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
-  "inspector":{
-   "params":[
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-    "IconDisplay",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
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-    "VectorParamsAs1DForOutWhenUnconnected"
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-   "tabs":[
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-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
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-  "obj_viewer":[
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-  "finder":{
-   "blocktype":"Outport",
-   "masktype":""
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8370",
-  "className":"Simulink.UnitDelay",
-  "icon":"WebViewIcon3",
-  "name":"UnitDelay3",
-  "label":"UnitDelay3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
-  "inspector":{
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-   "tabs":[
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-  "viewer":{
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-  "finder":{
-   "blocktype":"UnitDelay",
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8308",
-  "className":"Simulink.If",
-  "icon":"WebViewIcon3",
-  "name":"If2",
-  "label":"If2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
-  "inspector":{
-   "params":[
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-    "IfExpression",
-    "ElseIfExpressions",
-    "ShowElse",
-    "SampleTime",
-    "ZeroCross"
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-   "values":[
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-  "name":"Goto7",
-  "label":"Goto7",
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-    "IconDisplay"
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-   "values":[
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-   "tabs":[
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-  "viewer":{
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-  "obj_viewer":[
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-  "icon":"WebViewIcon3",
-  "name":"Goto6",
-  "label":"Goto6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
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-   "values":[
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-   "tabs":[
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-  "name":"z_dirPrev",
-  "label":"z_dirPrev",
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@@ -2456,14 +834,20 @@
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@@ -2475,10 +859,17 @@
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@@ -2498,219 +889,17 @@
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   "name":"z_counterRaw",
   "label":"z_counterRaw",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
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@@ -2785,25 +974,74 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8377",
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   "icon":"WebViewIcon3",
-  "name":"From28",
-  "label":"From28",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
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+    "Unit",
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+    "VarSizeSig",
+    "SampleTime",
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+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
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+    "3",
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+    "inherit",
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+    "Inherit",
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+    "reset",
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@@ -2811,17 +1049,321 @@
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+    "inf"
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+  "label":"n_stdStillDet",
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@@ -2847,12 +1389,1566 @@
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similarity index 81%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8263_d.svg
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8263_d.svg
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index 5449ec4..03c31f7 100644
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rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8272_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8272_d.json
index 240de17..259e1b3 100644
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8314_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8314_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8314_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8314_d.json
index 4d70ee2..c9fee35 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8314_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8314_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8361",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8361",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">At stand-still the Hall sensor toggles if the motor is stoped at the edge of Hall change. This switch is to manage this situation and avoid unexpected behavior.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">At stand-still the Hall sensor toggles if the motor is stoped at the edge of Hall change. This switch is to manage this situation and avoid unexpected behavior.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8314",
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   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This switch is to manage when direction changes. In this case, the counter measures both the time to go and return (so twice the time) within the Hall change. However, the angle to stand-still is not known. As a work around just use the previous motor speed in absolute value.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8314",
   "inspector":{
    "params":[
     "Text",
@@ -98,12 +98,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8363",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8363",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">• In steady state, switch to 4 interval speed calculation for better accuracy.</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">• In transient, switch to 1 interval interval spped calculation for fast detection of the speed change.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">• In steady state, switch to 4 interval speed calculation for better accuracy.</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">• In transient, switch to 1 interval interval spped calculation for fast detection of the speed change.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8314",
   "inspector":{
    "params":[
     "Text",
@@ -147,12 +147,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8364",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8364",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Counter hold</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Counter hold</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8314",
   "inspector":{
    "params":[
     "Text",
@@ -196,12 +196,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8365",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8365",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Speed calculations:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Speed_radps = (f_ctrl_Hz * Mechanical_angle_radps)  / z_counter</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">cf_spd_coef</span><span style=\" font-size:10px; color:#ff0000;\"> = f_ctrl_Hz * Mechanical_angle_deg * pi/180 * 30/pi </span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Speed_radps = cf_spd_coef / z_counter</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Speed calculations:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Speed_radps = (f_ctrl_Hz * Mechanical_angle_radps)  / z_counter</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">cf_spd_coef</span><span style=\" font-size:10px; color:#ff0000;\"> = f_ctrl_Hz * Mechanical_angle_deg * pi/180 * 30/pi </span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Speed_radps = cf_spd_coef / z_counter</span></p></body></html>",
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+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8314",
   "inspector":{
    "params":[
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@@ -3554,7 +3554,7 @@
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-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8357#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8357#out:1">
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@@ -3568,7 +3568,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8328#out:1">
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@@ -3582,7 +3582,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8331#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8331#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,990,720)">
@@ -3596,7 +3596,7 @@
         <!--RAWSTRING-->
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8353#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8353#out:1">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,860,465)">
@@ -3610,7 +3610,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8335#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8335#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="none" opacity="1" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,0,0)">
@@ -3644,7 +3644,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8320#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8320#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,980,450)">
@@ -3658,7 +3658,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8355#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8355#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,450,505)">
@@ -3672,7 +3672,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8351#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8351#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,920,955)">
@@ -3686,7 +3686,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8332#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8332#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1280,585)">
@@ -3700,7 +3700,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8329#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8329#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1280,610)">
@@ -3714,7 +3714,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8350#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8350#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1415,635)">
@@ -3728,7 +3728,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8344#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8344#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="none" opacity="1" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,0,0)">
@@ -3782,7 +3782,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8343#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8343#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1470,620)">
@@ -3796,7 +3796,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8348#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8348#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1470,680)">
@@ -3810,7 +3810,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8321#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8321#out:1">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1470,560)">
@@ -3824,7 +3824,7 @@
         <!--RAWSTRING-->
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8349#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8349#out:1">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1680,620)">
@@ -3838,7 +3838,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8318#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8318#out:1">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,450,465)">
@@ -3852,7 +3852,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8333#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8333#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1365,715)">
@@ -3866,7 +3866,7 @@
         <!--RAWSTRING-->
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8326#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8326#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
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@@ -3900,7 +3900,7 @@
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-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8356#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8356#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1090,420)">
@@ -3934,7 +3934,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8323#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8323#out:1">
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-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8322#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:8322#out:1">
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-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8324#out:1">
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-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:8334#out:1">
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-  <!--generated on windows @ 2020-03-24 11:01:39 W. Europe Standard Time-->
+  <!--generated on windows @ 2020-10-11 20:20:34 W. Europe Daylight Time-->
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8384_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8384_d.json
similarity index 86%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8384_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8384_d.json
index 533db72..8fd8fd3 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8384_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8384_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8422",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8422",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This switch is to manage the situation when FOC control method is not enabled.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This switch is to manage the situation when FOC control method is not enabled.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8384",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8384",
   "inspector":{
    "params":[
     "Text",
@@ -49,12 +49,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8423",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8423",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Electrical angle calculation</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Electrical angle calculation</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8384",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8384",
   "inspector":{
    "params":[
     "Text",
@@ -98,12 +98,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9635",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9635",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Electrical angle calculation:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">a_elecAngle = a_elecAngle_C * (z_posLowRes + z_dir * (z_counterRaw / z_counter))</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where a_elecAngle_C = 60</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-style:italic; color:#ff0000;\">The min, max are for protection against angle overflow.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Electrical angle calculation:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">a_elecAngle = a_elecAngle_C * (z_posLowRes + z_dir * (z_counterRaw / z_counter))</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where a_elecAngle_C = 60</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-style:italic; color:#ff0000;\">The min, max are for protection against angle overflow.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8384",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8384",
   "inspector":{
    "params":[
     "Text",
@@ -147,12 +147,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8385",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8385",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"z_pos",
   "label":"z_pos",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8384",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8384",
   "inspector":{
    "params":[
     "Port",
@@ -214,12 +214,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8386",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8386",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"z_dir",
   "label":"z_dir",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8384",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8384",
   "inspector":{
    "params":[
     "Port",
@@ -281,12 +281,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8406",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8406",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto",
   "label":"Goto",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8384",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8384",
   "inspector":{
    "params":[
     "GotoTag",
@@ -314,12 +314,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8407",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8407",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto1",
   "label":"Goto1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8384",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8384",
   "inspector":{
    "params":[
     "GotoTag",
@@ -347,12 +347,12 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8415",
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similarity index 84%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8384_d.svg
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8384_d.svg
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@@ -2909,7 +3133,21 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8469_d.json
similarity index 89%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8469_d.json
index 67ecafd..ffcd1a9 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8469_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8529",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8529",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Error 004:</span><span style=\" font-size:10px; color:#ff0000;\"> Motor NOT able to spin.</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Possible causes:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- motor phase disconnected</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- MOSFET defective</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- Operational Amplifier defective</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- motor blocked</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Error 004:</span><span style=\" font-size:10px; color:#ff0000;\"> Motor NOT able to spin.</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Possible causes:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- motor phase disconnected</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- MOSFET defective</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- Operational Amplifier defective</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- motor blocked</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Text",
@@ -49,12 +49,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8530",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8530",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Error Reporting</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Error Reporting</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Text",
@@ -98,12 +98,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8531",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8531",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Error Detection</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Error Detection</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Text",
@@ -147,12 +147,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8532",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8532",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Error Qualification</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Error Qualification</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Text",
@@ -196,12 +196,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8533",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8533",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Error 002: </span><span style=\" font-size:10px; color:#ff0000;\">Hall sensor short circuit</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Error 002: </span><span style=\" font-size:10px; color:#ff0000;\">Hall sensor short circuit</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Text",
@@ -245,12 +245,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8534",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8534",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Error 001:</span><span style=\" font-size:10px; color:#ff0000;\"> Hall sensor not connected</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Error 001:</span><span style=\" font-size:10px; color:#ff0000;\"> Hall sensor not connected</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Text",
@@ -294,12 +294,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9415",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9415",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This switch makes sure that once this error is SET, it can only be erased by a board restart cycle.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This switch makes sure that once this error is SET, it can only be erased by a board restart cycle.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Text",
@@ -343,12 +343,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9416",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9416",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">If the Voltage applied to the motor is above a threshold but the motor does NOT spin, then there is an error.<br />Note: The error is checked only if the motor is Enabled. If it is Disabled it will not spin anyway.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">If the Voltage applied to the motor is above a threshold but the motor does NOT spin, then there is an error.<br />Note: The error is checked only if the motor is Enabled. If it is Disabled it will not spin anyway.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Text",
@@ -392,12 +392,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8470",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8470",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"z_posRaw",
   "label":"z_posRaw",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Port",
@@ -459,12 +459,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8526",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8526",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
   "name":"z_errCode ",
   "label":"z_errCode ",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "Port",
@@ -539,12 +539,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8499",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8499",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto",
   "label":"Goto",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "GotoTag",
@@ -572,12 +572,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8497",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8497",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From8",
   "label":"From8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
     "GotoTag",
@@ -603,190 +603,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8527",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"b_errFlag",
-  "label":"b_errFlag",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
-  "inspector":{
-   "params":[
-    "Port",
-    "IconDisplay",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
-   ],
-   "values":[
-    "2",
-    "Port number",
-    "[]",
-    "[]",
-    "Inherit: auto",
-    "off",
-    "inherit",
-    "-1",
-    "Inherit",
-    "-1",
-    "auto",
-    "off",
-    "off",
-    "[]",
-    "off",
-    "held",
-    "off",
-    "0",
-    "",
-    [
-    ],
-    "Dialog",
-    "Auto",
-    "off"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    2,
-    11
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Outport",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8524",
-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon3",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8521",
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   "icon":"WebViewIcon3",
   "name":"g_Hb1",
   "label":"g_Hb1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
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@@ -840,43 +662,198 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8517",
-  "className":"Simulink.UnitDelay",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8520",
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   "icon":"WebViewIcon3",
-  "name":"UnitDelay",
-  "label":"UnitDelay",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "name":"g_Hb",
+  "label":"g_Hb",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
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-    "SampleTime",
-    "StateName",
-    "CodeGenStateStorageTypeQualifier",
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+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
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+    "ParamMax",
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+    8,
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+  "className":"Either edge detection",
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+  "name":"either_edge",
+  "label":"either_edge",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
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+    "ActiveVariant",
+    "ActiveVariantBlock",
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+    "GeneratePreprocessorConditionals",
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+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
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+  "className":"Simulink.Constant",
+  "icon":"WebViewIcon3",
+  "name":"r_errInpTgtThres",
+  "label":"r_errInpTgtThres",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8469",
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+    "OutMin",
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@@ -885,74 +862,17 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8515",
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   "icon":"WebViewIcon3",
   "name":"Switch1",
   "label":"Switch1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
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@@ -1004,12 +924,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8514",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8514",
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   "icon":"WebViewIcon3",
   "name":"Sum",
   "label":"Sum",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
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@@ -1408,327 +1028,38 @@
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similarity index 90%
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similarity index 85%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8486_2428_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8486_2428_d.json
index 9b37cd4..9201218 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8486_2428_d.json
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8486_2473_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8486_2473_d.json
similarity index 85%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8486_2473_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8486_2473_d.json
index 541ec53..7c8758e 100644
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rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8486_2480_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8486_2480_d.json
index 94c8001..abf24ff 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8486_2480_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8486_2480_d.json
@@ -1,11 +1,40 @@
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+  "icon":"WebViewIcon4",
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   "label":"rst",
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rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8486_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8486_d.json
index f792b61..b785714 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8486_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8486_d.json
@@ -1,11 +1,11 @@
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@@ -80,20 +80,218 @@
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   "label":"either_edge",
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@@ -105,6 +303,7 @@
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@@ -115,10 +314,9 @@
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@@ -127,8 +325,8 @@
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@@ -141,6 +339,7 @@
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@@ -150,21 +349,18 @@
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@@ -179,12 +375,812 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8486",
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@@ -1947,12 +1939,12 @@
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@@ -1998,12 +1990,12 @@
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@@ -2049,12 +2041,12 @@
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@@ -2100,12 +2092,12 @@
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similarity index 87%
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8658_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8658_d.json
similarity index 85%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8658_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8658_d.json
index fdde0c9..95194d2 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8658_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8658_d.json
@@ -1,11 +1,11 @@
 [
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9719",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9719",
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   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Start filtering only when motor is enabled (circuit closed).</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Start filtering only when motor is enabled (circuit closed).</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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    "params":[
     "Text",
@@ -49,12 +49,12 @@
   ]
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9192",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9192",
   "className":"Simulink.Outport",
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   "name":"V_phaABC_FOC",
   "label":"V_phaABC_FOC",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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    "params":[
     "Port",
@@ -129,12 +129,12 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8859",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8859",
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   "icon":"WebViewIcon3",
   "name":"Goto4",
   "label":"Goto4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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@@ -162,12 +162,12 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8827",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8827",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From8",
   "label":"From8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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@@ -193,12 +193,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8769",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8769",
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   "icon":"WebViewIcon3",
   "name":"From12",
   "label":"From12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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@@ -224,12 +224,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8778",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8778",
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   "icon":"WebViewIcon3",
   "name":"From22",
   "label":"From22",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8886",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
   "name":"Inv_Park_Transform",
   "label":"Inv_Park_Transform",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
   "inspector":{
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     "ShowPortLabels",
     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
-    "PropExecContextOutsideSubsystem",
-    "RTWSystemCode",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
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@@ -280,6 +280,7 @@
     "MemberBlocks",
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+    "PropExecContextOutsideSubsystem",
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     "Inherit from model",
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+    "Auto",
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@@ -354,20 +352,20 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8866",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8866",
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   "name":"Inv_Clarke_Transform",
   "label":"Inv_Clarke_Transform",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
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+    "TreatAsGroupedWhenPropagatingVariantConditions",
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     "ActiveVariantBlock",
     "AllowZeroVariantControls",
@@ -379,6 +377,7 @@
     "MemberBlocks",
     "MinAlgLoopOccurrences",
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+    "PropExecContextOutsideSubsystem",
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     "RTWFcnNameOpts",
@@ -389,10 +388,9 @@
     "RTWMemSecDataParameters",
     "RTWMemSecFuncExecute",
     "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
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@@ -402,7 +400,7 @@
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+    "on",
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+    "off",
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@@ -424,21 +423,18 @@
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+    "Auto",
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-    "off",
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@@ -453,12 +449,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8665",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8665",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"i_phaAB",
   "label":"i_phaAB",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "Port",
@@ -520,12 +516,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8833",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8833",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto13",
   "label":"Goto13",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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    "params":[
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@@ -553,12 +549,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8666",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8666",
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   "icon":"WebViewIcon3",
   "name":"i_phaBC",
   "label":"i_phaBC",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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@@ -620,12 +616,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8835",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8835",
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   "icon":"WebViewIcon3",
   "name":"Goto15",
   "label":"Goto15",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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@@ -653,12 +649,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9024",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9024",
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   "icon":"WebViewIcon3",
   "name":"Mux12",
   "label":"Mux12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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@@ -684,12 +680,12 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9071",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9071",
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   "icon":"WebViewIcon3",
   "name":"Scope12",
   "label":"Scope12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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@@ -703,12 +699,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9025",
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   "icon":"WebViewIcon3",
   "name":"Mux13",
   "label":"Mux13",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9197",
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   "icon":"WebViewIcon3",
-  "name":"r_devSignal2",
-  "label":"r_devSignal2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"id",
+  "label":"id",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9045",
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-  "label":"From28",
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-  "label":"From27",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9072",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9072",
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   "icon":"WebViewIcon3",
   "name":"Scope8",
   "label":"Scope8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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@@ -2924,20 +1184,20 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10446",
-  "className":"Simulink.From",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9027",
+  "className":"Simulink.Mux",
   "icon":"WebViewIcon3",
-  "name":"From23",
-  "label":"From23",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"Mux7",
+  "label":"Mux7",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
-    "GotoTag",
-    "IconDisplay"
+    "Inputs",
+    "DisplayOption"
    ],
    "values":[
-    "z_ctrlMod",
-    "Tag"
+    "3",
+    "bar"
    ],
    "tabs":[
     "Parameter Attributes"
@@ -2950,591 +1210,25 @@
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Current_Filtering",
-  "label":"Current_Filtering",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"Motor_Limitations",
+  "label":"Motor_Limitations",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "ShowPortLabels",
     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
-    "PropExecContextOutsideSubsystem",
-    "RTWSystemCode",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
     "ActiveVariant",
     "ActiveVariantBlock",
     "AllowZeroVariantControls",
@@ -3546,6 +1240,7 @@
     "MemberBlocks",
     "MinAlgLoopOccurrences",
     "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
     "PropagateVariantConditions",
     "RTWFcnName",
     "RTWFcnNameOpts",
@@ -3556,10 +1251,9 @@
     "RTWMemSecDataParameters",
     "RTWMemSecFuncExecute",
     "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
     "SystemSampleTime",
     "TemplateBlock",
-    "TreatAsAtomicUnit",
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@@ -3569,7 +1263,7 @@
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+    "on",
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@@ -3582,6 +1276,7 @@
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     "off",
+    "off",
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     "Auto",
     "",
@@ -3591,21 +1286,18 @@
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
+    "Auto",
     "-1",
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     "off",
-    "on",
-    "off",
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     6
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@@ -3620,1206 +1312,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8788",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10365",
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   "icon":"WebViewIcon3",
   "name":"If1",
   "label":"If1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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@@ -4857,12 +1355,12 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8838",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8862",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto18",
-  "label":"Goto18",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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+  "label":"Goto7",
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@@ -4870,7 +1368,7 @@
     "IconDisplay"
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    "values":[
-    "Vd_min",
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     "local",
     "Tag"
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@@ -4890,79 +1388,12 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10360",
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   "icon":"WebViewIcon3",
-  "name":"Goto16",
-  "label":"Goto16",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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     "GotoTag",
@@ -4970,7 +1401,7 @@
     "IconDisplay"
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-    "task2",
+    "task3",
     "local",
     "Tag"
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@@ -4990,19 +1421,21 @@
   }
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-  "className":"Simulink.From",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8858",
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   "icon":"WebViewIcon3",
-  "name":"From45",
-  "label":"From45",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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-    "iq",
+    "r_cos",
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     "Tag"
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@@ -5016,17 +1449,50 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8853",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8857",
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+  "name":"Goto35",
+  "label":"Goto35",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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   "icon":"WebViewIcon3",
   "name":"Goto31",
   "label":"Goto31",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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@@ -5054,60 +1520,135 @@
   }
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-  "className":"Simulink.Inport",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9717",
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   "icon":"WebViewIcon3",
-  "name":"n_mot",
-  "label":"n_mot",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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+  "label":"Goto32",
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-    "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
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+    "GotoTag",
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+    "b_motEna",
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+  "icon":"WebViewIcon3",
+  "name":"Goto3",
+  "label":"Goto3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
+  "inspector":{
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+    "TagVisibility",
+    "IconDisplay"
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+    "z_ctrlMod",
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+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto28",
+  "label":"Goto28",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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+    "IconDisplay"
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+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10363",
+  "className":"Simulink.If",
+  "icon":"WebViewIcon3",
+  "name":"If3",
+  "label":"If3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
+  "inspector":{
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+    "ElseIfExpressions",
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@@ -5116,66 +1657,32 @@
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-   "blocktype":"Inport",
+   "blocktype":"If",
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   "icon":"WebViewIcon3",
-  "name":"z_ctrlMod",
-  "label":"z_ctrlMod",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"Goto24",
+  "label":"Goto24",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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-    "OutMin",
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-    "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
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-    "[]",
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-    "-1",
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-    11
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@@ -5183,24 +1690,321 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Inport",
+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10437",
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+  "icon":"WebViewIcon3",
+  "name":"Goto23",
+  "label":"Goto23",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8658",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8843",
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@@ -5219,19 +2023,209 @@
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@@ -5245,17 +2239,17 @@
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similarity index 85%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8658_d.svg
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8658_d.svg
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8726_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8726_d.json
similarity index 86%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8726_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8726_d.json
index 2902d24..88881b7 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8726_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8726_d.json
@@ -1,42 +1,24 @@
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-  "label":"cf_currFilt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
+  "name":"Mux2",
+  "label":"Mux2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8726",
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   "name":"id",
   "label":"id",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8726",
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@@ -209,12 +111,12 @@
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-  "icon":"WebViewIcon9",
+  "icon":"WebViewIcon6",
   "name":"Low_Pass_Filter",
   "label":"Low_Pass_Filter",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8726",
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   "label":"Goto6",
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@@ -335,25 +237,74 @@
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   "icon":"WebViewIcon3",
-  "name":"Mux2",
-  "label":"Mux2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
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+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
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@@ -361,145 +312,17 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8734",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8734",
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   "icon":"WebViewIcon3",
   "name":"Goto",
   "label":"Goto",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
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@@ -527,12 +350,140 @@
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+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From3",
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+  "icon":"WebViewIcon3",
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+  "label":"Goto2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8726",
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+    "TagVisibility",
+    "IconDisplay"
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   "icon":"WebViewIcon3",
   "name":"Demux1",
   "label":"Demux1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
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@@ -560,12 +511,74 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9714",
+  "className":"Simulink.ActionPort",
+  "icon":"WebViewIcon3",
+  "name":"Action Port",
+  "label":"Action Port",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8726",
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+    "PropagateVarSize"
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+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8726",
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+    "IconDisplay"
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   "icon":"WebViewIcon3",
   "name":"id_raw",
   "label":"id_raw",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8726",
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     "Port",
@@ -627,43 +640,12 @@
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-  "icon":"WebViewIcon3",
-  "name":"From3",
-  "label":"From3",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8727",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8727",
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   "icon":"WebViewIcon3",
   "name":"iq_raw",
   "label":"iq_raw",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8726",
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     "Port",
@@ -725,12 +707,12 @@
   }
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   "icon":"WebViewIcon3",
   "name":"From",
   "label":"From",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
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@@ -756,25 +738,43 @@
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-  "className":"Simulink.ActionPort",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8740",
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   "icon":"WebViewIcon3",
-  "name":"Action Port",
-  "label":"Action Port",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
+  "name":"cf_currFilt",
+  "label":"cf_currFilt",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8726",
   "inspector":{
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-    "PropagateVarSize"
+    "Value",
+    "VectorParams1D",
+    "SampleTime",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "FramePeriod"
    ],
    "values":[
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-    "Only when execution is resumed"
+    "cf_currFilt",
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+    "inf",
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+    "fixdt(0,16,16)",
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@@ -782,17 +782,17 @@
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   "icon":"WebViewIcon5",
   "name":"",
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@@ -838,12 +838,12 @@
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@@ -889,12 +889,12 @@
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   "icon":"WebViewIcon5",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
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@@ -940,12 +940,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
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@@ -991,12 +991,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
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   "icon":"WebViewIcon5",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
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@@ -1093,12 +1093,12 @@
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   "icon":"WebViewIcon5",
   "name":"",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
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@@ -1144,12 +1144,12 @@
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@@ -1195,12 +1195,12 @@
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@@ -1246,12 +1246,12 @@
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@@ -1297,12 +1297,12 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8743_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8743_d.json
similarity index 89%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8743_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8743_d.json
index 66d30e2..48461ca 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8743_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8743_d.json
@@ -1,11 +1,11 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8743",
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     "Text",
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  {
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@@ -1011,12 +1011,12 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8866_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8866_d.json
similarity index 90%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8866_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8866_d.json
index 8e7d536..3ca23a1 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8866_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8866_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8884",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8884",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8866",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8866",
   "inspector":{
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     "Text",
@@ -49,12 +49,12 @@
   ]
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8885",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8885",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Inverse Clarke Transform:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">V_phaA  = V_alpha</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">V_phaB  = -(1/2)*V_alpha + (sqrt(3)/2)*V_beta</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">V_phaC = -VphaA - V_phaB</span></p></body></html>",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8866",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8866",
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   "label":"V_beta",
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@@ -165,12 +165,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8866",
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@@ -232,12 +232,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8881",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8881",
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   "name":"V_phaABC_FOC",
   "label":"V_phaABC_FOC",
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@@ -312,12 +312,71 @@
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+  "className":"Simulink.Sum",
+  "icon":"WebViewIcon3",
+  "name":"Sum6",
+  "label":"Sum6",
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+    "RndMeth",
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   "name":"Sum2",
   "label":"Sum2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8866",
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@@ -371,65 +430,12 @@
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-  "name":"MinMax2",
-  "label":"MinMax2",
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-    "SampleTime",
-    "SaturateOnIntegerOverflow",
-    "ZeroCross"
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-   "values":[
-    "Inherit: Inherit via internal rule",
-    "max",
-    "on",
-    "1",
-    "off",
-    "[]",
-    "[]",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8876",
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   "icon":"WebViewIcon3",
   "name":"MinMax1",
   "label":"MinMax1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8866",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8866",
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@@ -477,319 +483,46 @@
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-  "className":"Simulink.Gain",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8877",
+  "className":"Simulink.MinMax",
   "icon":"WebViewIcon3",
-  "name":"Gain4",
-  "label":"Gain4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8866",
+  "name":"MinMax2",
+  "label":"MinMax2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8866",
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-    "ParamMax",
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8886_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8886_d.json
similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8886_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8886_d.json
index dca784c..b63f5b9 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8886_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8886_d.json
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8911",
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   "icon":"WebViewIcon3",
   "name":"r_sin",
   "label":"r_sin",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
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@@ -410,12 +410,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8890",
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   "icon":"WebViewIcon3",
   "name":"r_cos",
   "label":"r_cos",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
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@@ -477,387 +477,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8907",
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   "icon":"WebViewIcon3",
   "name":"Sum1",
   "label":"Sum1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8886",
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@@ -911,51 +536,27 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8891",
-  "className":"Simulink.Product",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8906",
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   "icon":"WebViewIcon3",
-  "name":"Divide1",
-  "label":"Divide1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
+  "name":"Goto3",
+  "label":"Goto3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8886",
   "inspector":{
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-    "Multiplication",
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-    "OutMin",
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-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
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@@ -963,17 +564,17 @@
   "obj_viewer":[
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8898",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8902",
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   "icon":"WebViewIcon3",
-  "name":"From4",
-  "label":"From4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
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@@ -999,12 +600,290 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8900",
+  "className":"Simulink.From",
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+  "name":"From5",
+  "label":"From5",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8886",
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   "name":"Divide2",
   "label":"Divide2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
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@@ -1056,69 +935,12 @@
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8908",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8908",
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   "icon":"WebViewIcon3",
   "name":"Sum6",
   "label":"Sum6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
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@@ -1172,19 +994,76 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8900",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8893",
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8913_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8913_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8913_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8913_d.json
index dc07f14..02088f1 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8913_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_8913_d.json
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 [
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9018",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9018",
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   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Speed protection</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">for cases in which the speed is not directly controlled, i.e., VOLTAGE_MODE and TORQUE_MODE</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9019",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9019",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current protection</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">for cases in which the current is not directly controlled, i.e., VOLTAGE_MODE and SPEED_MODE</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current protection</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">for cases in which the current is not directly controlled, i.e., VOLTAGE_MODE and SPEED_MODE</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
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    "params":[
     "Text",
@@ -98,12 +98,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9020",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9020",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Speed limitations</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Speed limitations</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "Text",
@@ -147,12 +147,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9021",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9021",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current Circle limitations with priority on i_d (Flux current):</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_maxSca  = sqrt(1 - idSca^2)  (unit circle)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_max   = iq_maxSca * i_max</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where, idSca = id / i_max,</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">The id_Tgt is used instead of measured id, because the target is a more clean signal.</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current Circle limitations with priority on i_d (Flux current):</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_maxSca  = sqrt(1 - idSca^2)  (unit circle)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_max   = iq_maxSca * i_max</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where, idSca = id / i_max,</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">The id_Tgt is used instead of measured id, because the target is a more clean signal.</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "Text",
@@ -196,12 +196,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9022",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9022",
   "className":"Simulink.Annotation",
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   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Voltage Circle limitations with priority on i_d (Flux current):</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Vq_max  = sqrt(Vd_max^2 - Vd^2)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Vq_min  = -Vq_max</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "Text",
@@ -245,12 +245,12 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9014",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9014",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
   "name":"iq_limProtErr",
   "label":"iq_limProtErr",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "Port",
@@ -325,12 +325,252 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9010",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10711",
+  "className":"Simulink.Outport",
+  "icon":"WebViewIcon3",
+  "name":"r_iqLimProtMax",
+  "label":"r_iqLimProtMax",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
+  "inspector":{
+   "params":[
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+    "IconDisplay",
+    "OutMin",
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+    "LockScale",
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+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
+   ],
+   "values":[
+    "9",
+    "Port number",
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+    "[]",
+    "Inherit: auto",
+    "off",
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+   ],
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+   ],
+   "tabs_idx":[
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+  "viewer":{
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+  "finder":{
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9012",
+  "className":"Simulink.Outport",
+  "icon":"WebViewIcon3",
+  "name":"iq_max",
+  "label":"iq_max",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
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+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
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+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
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+  "finder":{
+   "blocktype":"Outport",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9011",
+  "className":"Simulink.Outport",
+  "icon":"WebViewIcon3",
+  "name":"id_min",
+  "label":"id_min",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
+  "inspector":{
+   "params":[
+    "Port",
+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
+   ],
+   "values":[
+    "6",
+    "Port number",
+    "[]",
+    "[]",
+    "Inherit: auto",
+    "off",
+    "inherit",
+    "-1",
+    "Inherit",
+    "-1",
+    "auto",
+    "off",
+    "off",
+    "-750",
+    "off",
+    "held",
+    "off",
+    "0",
+    "",
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+    ],
+    "Dialog",
+    "Auto",
+    "off"
+   ],
+   "tabs":[
+    "Main",
+    "Signal Attributes",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    2,
+    11
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Outport",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9010",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
   "name":"id_max",
   "label":"id_max",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "Port",
@@ -405,12 +645,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9008",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9007",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"Vq_max",
-  "label":"Vq_max",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"Vd_min",
+  "label":"Vd_min",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "Port",
@@ -438,7 +678,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "3",
+    "2",
     "Port number",
     "[]",
     "[]",
@@ -451,7 +691,7 @@
     "auto",
     "off",
     "off",
-    "900",
+    "-900",
     "off",
     "held",
     "off",
@@ -485,220 +725,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9006",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"Vd_max",
-  "label":"Vd_max",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
-  "inspector":{
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-    "IconDisplay",
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-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
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-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
-   ],
-   "values":[
-    "1",
-    "Port number",
-    "[]",
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-    "Inherit: auto",
-    "off",
-    "inherit",
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-    "Inherit",
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-    "Dialog",
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-   "tabs":[
-    "Main",
-    "Signal Attributes",
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-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
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-  "finder":{
-   "blocktype":"Outport",
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9005",
-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon3",
-  "name":"n_max1",
-  "label":"n_max1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
-  "inspector":{
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-    "VectorParams1D",
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-    "FramePeriod"
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-   "values":[
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-  "finder":{
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-  "className":"Simulink.PreLookup",
-  "icon":"WebViewIcon3",
-  "name":"Vq_max_XA",
-  "label":"Vq_max_XA",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
-  "inspector":{
-   "params":[
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-    "BreakpointsDataSource",
-    "BreakpointsData",
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-    "BreakpointMin",
-    "BreakpointMax",
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-    "BreakpointObject",
-    "BreakpointsFirstPoint",
-    "BreakpointsNumPoints",
-    "BreakpointsSpacing",
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-    "RndMeth",
-    "SampleTime",
-    "UseLastBreakpoint"
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   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"Goto17",
+  "label":"Goto17",
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     "GotoTag",
@@ -1786,7 +3415,7 @@
     "IconDisplay"
    ],
    "values":[
-    "VdPrev",
+    "n_motAbs",
     "local",
     "Tag"
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@@ -1806,163 +3435,109 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8961",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto",
-  "label":"Goto",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10566",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"Voltage_Mode_Protection",
+  "label":"Voltage_Mode_Protection",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
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-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
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-   "values":[
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-    "local",
-    "Tag"
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-   "tabs":[
-    "Parameter Attributes"
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-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
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-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
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-  "className":"Simulink.Gain",
-  "icon":"WebViewIcon3",
-  "name":"Gain5",
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-    "OutMin",
-    "OutMax",
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-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "ParamMin",
-    "ParamMax",
-    "ParamDataTypeStr",
-    "SampleTime"
+    "ShowPortLabels",
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+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
+    "PropagateVariantConditions",
+    "RTWFcnName",
+    "RTWFcnNameOpts",
+    "RTWFileName",
+    "RTWFileNameOpts",
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+    "RTWMemSecFuncExecute",
+    "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
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-    "[]",
-    "[]",
-    "Inherit: Same as input",
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     "Main",
-    "Signal Attributes",
-    "Parameter Attributes",
     "-Other"
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     0,
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-    8,
-    11
+    6
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   },
   "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
+   "jshandler":"webview/handlers/ContainerHandler"
   },
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Gain",
+   "blocktype":"SubSystem",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8958",
-  "className":"Simulink.Gain",
-  "icon":"WebViewIcon3",
-  "name":"Gain4",
-  "label":"Gain4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
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-    "Multiplication",
-    "OutMin",
-    "OutMax",
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-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "ParamMin",
-    "ParamMax",
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-    "off",
-    "[]",
-    "[]",
-    "Inherit: Same as input",
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-    11
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-   "masktype":""
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8955",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10682",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From9",
-  "label":"From9",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"From22",
+  "label":"From22",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
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     "GotoTag",
@@ -1988,19 +3563,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8954",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8946",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From8",
-  "label":"From8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"From2",
+  "label":"From2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "iq_max",
+    "Vd_max",
     "Tag"
    ],
    "tabs":[
@@ -2019,12 +3594,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9017",
-  "className":"Simulink.Outport",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8915",
+  "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"Vq_nLimProtMax",
-  "label":"Vq_nLimProtMax",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"VdPrev",
+  "label":"VdPrev",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "Port",
@@ -2039,20 +3614,14 @@
     "SampleTime",
     "SignalType",
     "BusOutputAsStruct",
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-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
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    "values":[
-    "12",
+    "3",
     "Port number",
     "[]",
     "[]",
@@ -2064,17 +3633,10 @@
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     "auto",
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-    "off",
-    "held",
-    "off",
-    "0",
     "",
-    [
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-    "Dialog",
-    "Auto",
+    "on",
+    "off",
+    "off",
     "off"
    ],
    "tabs":[
@@ -2094,48 +3656,17 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Outport",
+   "blocktype":"Inport",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8953",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From7",
-  "label":"From7",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "id_min",
-    "Tag"
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-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
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-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9004",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8999",
   "className":"Simulink.PreLookup",
   "icon":"WebViewIcon3",
-  "name":"iq_maxSca_XA",
-  "label":"iq_maxSca_XA",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"Vq_max_XA",
+  "label":"Vq_max_XA",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "BreakpointsSpecification",
@@ -2165,11 +3696,11 @@
    "values":[
     "Explicit values",
     "Dialog",
-    "iq_maxSca_XA",
+    "Vq_max_XA",
     "Index only",
     "Evenly spaced points",
     "Clip",
-    "Error",
+    "None",
     "off",
     "Inherit: Same as input",
     "[]",
@@ -2209,78 +3740,19 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8957",
-  "className":"Simulink.Gain",
-  "icon":"WebViewIcon3",
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-    "Zero",
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-    11
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-   "blocktype":"Gain",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8952",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8934",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From6",
-  "label":"From6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"From",
+  "label":"From",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "id_TgtAbs",
+    "VdPrev",
     "Tag"
    ],
    "tabs":[
@@ -2299,173 +3771,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10584",
-  "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon1",
-  "name":"Speed_Mode_Protection",
-  "label":"Speed_Mode_Protection",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
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-    "FunctionWithSeparateData",
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-    "MemberBlocks",
-    "MinAlgLoopOccurrences",
-    "OverrideUsingVariant",
-    "PropagateVariantConditions",
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-    "on",
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-    "Code Generation",
-    "-Other"
-   ],
-   "tabs_idx":[
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-    5,
-    6
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ContainerHandler"
-  },
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-  "finder":{
-   "blocktype":"SubSystem",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8951",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From5",
-  "label":"From5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
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-    "Tag"
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-   "tabs":[
-    "Parameter Attributes"
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-  },
-  "obj_viewer":[
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-  "finder":{
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8950",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From4",
-  "label":"From4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
-  "inspector":{
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-    "IconDisplay"
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-  },
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-  "finder":{
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-   "masktype":""
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8947",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8947",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From3",
   "label":"From3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
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     "GotoTag",
@@ -2491,21 +3802,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10705",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10683",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto19",
-  "label":"Goto19",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"From24",
+  "label":"From24",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgtScaAbs",
-    "local",
+    "iq",
     "Tag"
    ],
    "tabs":[
@@ -2519,17 +3828,48 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9003",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10361",
+  "className":"Simulink.ActionPort",
+  "icon":"WebViewIcon3",
+  "name":"Action Port",
+  "label":"Action Port",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
+  "inspector":{
+   "params":[
+    "InitializeStates",
+    "PropagateVarSize"
+   ],
+   "values":[
+    "held",
+    "Only when execution is resumed"
+   ],
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+    "Parameter Attributes"
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+  "finder":{
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+   "masktype":""
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   "className":"Simulink.Interpolation_nD",
   "icon":"WebViewIcon3",
   "name":"iq_maxSca_M1",
   "label":"iq_maxSca_M1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
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     "NumberOfTableDimensions",
@@ -2605,19 +3945,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10683",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10710",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From24",
-  "label":"From24",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"From31",
+  "label":"From31",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "iq",
+    "r_nLimProtMax",
     "Tag"
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@@ -2636,25 +3976,61 @@
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-  "className":"Simulink.From",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:8914",
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   "icon":"WebViewIcon3",
-  "name":"From23",
-  "label":"From23",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"z_ctrlMod",
+  "label":"z_ctrlMod",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
-    "GotoTag",
-    "IconDisplay"
+    "Port",
+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
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-    "z_ctrlMod",
-    "Tag"
+    "1",
+    "Port number",
+    "[]",
+    "[]",
+    "Inherit: auto",
+    "off",
+    "inherit",
+    "-1",
+    "Inherit",
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+    "off"
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+   "tabs_idx":[
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+    11
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@@ -2662,141 +4038,17 @@
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,260,1165)">
@@ -6007,7 +6007,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10565#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10565#out:1">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(6.12323e-17,1,-1,6.12323e-17,630,1019)">
@@ -6021,7 +6021,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10565#out:2">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10565#out:2">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(6.12323e-17,1,-1,6.12323e-17,630,1205)">
@@ -6035,7 +6035,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10565#out:3">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10565#out:3">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(6.12323e-17,1,-1,6.12323e-17,630,1401)">
@@ -6049,7 +6049,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10674#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10674#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,480,730)">
@@ -6063,7 +6063,7 @@
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       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10675#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10675#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,555,530)">
@@ -6077,7 +6077,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10680#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10680#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1455)">
@@ -6091,7 +6091,7 @@
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       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10683#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10683#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1220)">
@@ -6105,7 +6105,7 @@
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       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10682#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10682#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1290)">
@@ -6119,7 +6119,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10681#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10681#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1255)">
@@ -6133,7 +6133,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10684#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10684#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1110)">
@@ -6147,7 +6147,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10685#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10685#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1070)">
@@ -6161,7 +6161,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10693#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10693#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,-80,625)">
@@ -6175,7 +6175,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10695#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10695#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,-80,590)">
@@ -6189,7 +6189,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10699#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10699#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1050)">
@@ -6203,7 +6203,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10700#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10700#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1090)">
@@ -6217,7 +6217,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10704#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10704#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,-80,450)">
@@ -6231,7 +6231,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10708#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10708#out:1">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1030)">
@@ -6245,7 +6245,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10710#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10710#out:1">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1065,720)">
@@ -6259,7 +6259,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10709#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10709#out:1">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1065,685)">
@@ -6273,7 +6273,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10584#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10584#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,770,1255)">
@@ -6287,7 +6287,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10602#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10602#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,770,1455)">
@@ -6301,7 +6301,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10566#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10566#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,770,1045)">
@@ -6315,7 +6315,7 @@
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       <!--RAWSTRING-->
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+      <g id="BLDCmotor_FOC_R2017b_fixdt:10566#out:2">
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10780#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10780#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1420)">
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:10816#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:10816#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,540,1490)">
@@ -6359,5 +6359,5 @@
       <!--RAWSTRING-->
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   </g>
-  <!--generated on windows @ 2020-03-24 11:02:03 W. Europe Standard Time-->
+  <!--generated on windows @ 2020-10-11 20:20:55 W. Europe Daylight Time-->
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9029_d.json
similarity index 91%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9029_d.json
index 249070d..d3bc21c 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9029_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9044",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9044",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Just copy the target which will be reduced to 0 in the Input_Target_Sythesis function. </span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Just copy the target which will be reduced to 0 in the Input_Target_Sythesis function. </span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9029",
   "inspector":{
    "params":[
     "Text",
@@ -49,12 +49,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9043",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9043",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
   "name":"Vq_Open",
   "label":"Vq_Open",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9029",
   "inspector":{
    "params":[
     "Port",
@@ -129,43 +129,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9031",
-  "className":"Simulink.ActionPort",
-  "icon":"WebViewIcon3",
-  "name":"Action Port",
-  "label":"Action Port",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "InitializeStates",
-    "PropagateVarSize"
-   ],
-   "values":[
-    "held",
-    "Only when execution is resumed"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"ActionPort",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9030",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9030",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"r_inpTgtSca",
   "label":"r_inpTgtSca",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9029",
   "inspector":{
    "params":[
     "Port",
@@ -227,12 +196,43 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9030#out:1",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9031",
+  "className":"Simulink.ActionPort",
+  "icon":"WebViewIcon3",
+  "name":"Action Port",
+  "label":"Action Port",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9029",
+  "inspector":{
+   "params":[
+    "InitializeStates",
+    "PropagateVarSize"
+   ],
+   "values":[
+    "reset",
+    "Only when execution is resumed"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"ActionPort",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9030#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9029",
   "inspector":{
    "params":[
     "SignalNameFromLabel",
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.png b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9029_d.png
similarity index 100%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.png
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9029_d.png
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.svg b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9029_d.svg
similarity index 96%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.svg
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9029_d.svg
index 91ba486..274b207 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.svg
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9029_d.svg
@@ -9,11 +9,11 @@
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     </g>
     <!--RAWSTRING-->
-    <g id="BLDCmotorControl_FOC_R2017b_fixdt:9029">
+    <g id="BLDCmotor_FOC_R2017b_fixdt:9029">
       <!--RAWSTRING-->
       <g data-tags="Text">
         <!--RAWSTRING-->
-        <g id="BLDCmotorControl_FOC_R2017b_fixdt:9044">
+        <g id="BLDCmotor_FOC_R2017b_fixdt:9044">
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           </g>
@@ -40,7 +40,7 @@
       <!--RAWSTRING-->
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         <!--RAWSTRING-->
-        <g id="BLDCmotorControl_FOC_R2017b_fixdt:9043">
+        <g id="BLDCmotor_FOC_R2017b_fixdt:9043">
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@@ -88,55 +88,7 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9045_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9045_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9045_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9045_d.json
index 9c6a929..8d1b48b 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9045_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9045_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9070",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9070",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Park Transform:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq  = -i_alpha*sin(angle) + i_beta*cos(angle)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">id  = i_alpha*cos(angle) + i_beta*sin(angle)</span></p></body></html>",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9045",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9045",
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   "icon":"WebViewIcon3",
   "name":"i_beta",
   "label":"i_beta",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9045",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9045",
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   "icon":"WebViewIcon3",
   "name":"iq_Raw",
   "label":"iq_Raw",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9045",
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   "name":"i_apha",
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   "label":"id_Raw",
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   "label":"r_cos",
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+            <image height="20" preserveAspectRatio="none" width="128" x="0" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAIAAAAAUCAYAAABFyTWeAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABaUlEQVRoge2Zy27CMBBFD2AoJH38/+d1w6ZZBKmkEWlRFzMWxnIgC3sRmCNdOQErSJnrO05YcJ+lygFr1YtqO3J86zt/DRdc28jLF9DoGKqJJ7roPHexU+cbvb4DVsBCZeSjRu4zwAB0wCE10SEFKlHsse/8b61UlgD5Wet4Ao5AG3x2hTdAhbjmVVUDO5UvXC4jhAngE8cSID8DUvwDEv+jBgjx8b8F3oAPHWtVxbUprNgzJzZAiiXinh1ihncdfVJUXApvxZ4Z1n+fnCkJ8If0kx9kRf8iu8oWawGzJzbAGSlwWGy/i7RN4APigB5Z5T3wTdnHwI3KHgPL8gnskd1/iyT2kJroDdDrub0Iegz2qgZ5DLxpgJAzlzZQyhT2Krg84avgFmnjp9TEKZvAnKbwCRC2AEuA/LTIym+50wJy3vipprAEKE+nOkZjF08svfJSpoj/C7AEyM+gOgXHXoZhGIZhGMaz8w/7glXF59GMEgAAAABJRU5ErkJggg==" y="0"/>
+          </g>
+          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,150,129)">
+            <path d="M30,0 L120,0 L120,12 L30,12 L0,6 L30,0 z" fill-rule="nonzero" vector-effect="none"/>
+          </g>
+          <!--RAWSTRING-->
+          <g data-tags="blk">
+            <defs>
+              <clipPath id="clip87">
+                <path d="M-74,-5 L46,-5 L46,7 L-74,7 L-74,-5 z"/>
+              </clipPath>
+            </defs>
+            <g clip-path="url(#clip87)" fill="none" opacity="1" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,224,134)">
+              <text fill="#000000" fill-opacity="1" font-family="Arial" font-size="10" font-style="normal" font-weight="400" stroke="none" textLength="35.4844" x="-17.7344" xml:space="preserve" y="3.5">[i_apha]</text>
+            </g>
+            <!--RAWSTRING-->
+          </g>
+          <!--RAWSTRING-->
+          <g data-tags="blk frame">
+            <g clip-path="none" fill="none" opacity="1" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,150,129)">
+              <path d="M30,0 L120,0 L120,12 L30,12 L0,6 L30,0 z" fill-rule="nonzero" vector-effect="none"/>
+            </g>
+            <!--RAWSTRING-->
+          </g>
+          <!--RAWSTRING-->
+        </g>
+        <!--RAWSTRING-->
+      </g>
+      <!--RAWSTRING-->
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9048#out:1">
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         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,150,205)">
@@ -1300,7 +1300,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9047#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9047#out:1">
         <!--RAWSTRING-->
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,150,170)">
@@ -1314,7 +1314,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9046#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9046#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,150,135)">
@@ -1328,7 +1328,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9049#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9049#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,150,240)">
@@ -1342,7 +1342,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9054#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9054#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,485,160)">
@@ -1356,7 +1356,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9056#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9056#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,485,135)">
@@ -1370,7 +1370,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9053#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9053#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,585,150)">
@@ -1384,7 +1384,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9050#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9050#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,585,215)">
@@ -1398,7 +1398,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9057#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9057#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,485,200)">
@@ -1412,7 +1412,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9055#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9055#out:1">
         <!--RAWSTRING-->
         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,485,225)">
@@ -1426,7 +1426,7 @@
         <!--RAWSTRING-->
       </g>
       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9067#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9067#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,665,185)">
@@ -1440,7 +1440,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9051#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9051#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,585,305)">
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9058#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9058#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,485,290)">
@@ -1468,7 +1468,7 @@
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9059#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9059#out:1">
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         <g data-tags="PathIntersectionsEnabledTag">
           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,485,315)">
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9052#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9052#out:1">
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9060#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9060#out:1">
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9061#out:1">
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       <!--RAWSTRING-->
-      <g id="BLDCmotorControl_FOC_R2017b_fixdt:9066#out:1">
+      <g id="BLDCmotor_FOC_R2017b_fixdt:9066#out:1">
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           <g clip-path="none" fill="#000000" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,665,340)">
@@ -1540,5 +1540,5 @@
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-  <!--generated on windows @ 2020-03-24 11:02:07 W. Europe Standard Time-->
+  <!--generated on windows @ 2020-10-11 20:21:00 W. Europe Daylight Time-->
 </svg>
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8546_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9074_d.json
similarity index 71%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8546_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9074_d.json
index 582afc2..91238d0 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8546_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9074_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8601",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9709",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
-  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Activate mode only if the motor is at stand-still</span></p></body></html>",
-  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Activate mode only if the motor is at stand-still</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" color:#ff0000;\">The input is scaled, so already between [n_min, n_max]</span></p></body></html>",
+  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" color:#ff0000;\">The input is scaled, so already between [n_min, n_max]</span></p></body></html>",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "Text",
@@ -22,7 +22,7 @@
     "ClickFcn"
    ],
    "values":[
-    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Activate mode only if the motor is at stand-still</span></p></body></html>",
+    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" color:#ff0000;\">The input is scaled, so already between [n_min, n_max]</span></p></body></html>",
     "off",
     "rich",
     "auto",
@@ -49,12 +49,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8602",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11681",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
-  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This condition handles the mode change. The mode change from one to another is done via OPEN_MODE as follows:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- afte new mode is requested, activate OPEN_MODE</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- wait for the motor to stop</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- activate the new mode</span></p></body></html>",
-  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This condition handles the mode change. The mode change from one to another is done via OPEN_MODE as follows:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- afte new mode is requested, activate OPEN_MODE</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- wait for the motor to stop</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- activate the new mode</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">If Cruise Control is enabled, the input request can still be used to accelerate, but once the input is released, the controller will resume to the set speed. This is managed using the MIN and MAX limits.</span></p></body></html>",
+  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">If Cruise Control is enabled, the input request can still be used to accelerate, but once the input is released, the controller will resume to the set speed. This is managed using the MIN and MAX limits.</span></p></body></html>",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "Text",
@@ -71,7 +71,7 @@
     "ClickFcn"
    ],
    "values":[
-    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This condition handles the mode change. The mode change from one to another is done via OPEN_MODE as follows:</span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- afte new mode is requested, activate OPEN_MODE</span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- wait for the motor to stop</span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">- activate the new mode</span></p></body></html>",
+    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">If Cruise Control is enabled, the input request can still be used to accelerate, but once the input is released, the controller will resume to the set speed. This is managed using the MIN and MAX limits.</span></p></body></html>",
     "off",
     "rich",
     "auto",
@@ -98,172 +98,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8600",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9106",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"b_toTrqMod",
-  "label":"b_toTrqMod",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
-  "inspector":{
-   "params":[
-    "Port",
-    "IconDisplay",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
-   ],
-   "values":[
-    "4",
-    "Port number",
-    "[]",
-    "[]",
-    "Inherit: auto",
-    "off",
-    "inherit",
-    "-1",
-    "Inherit",
-    "-1",
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-    "off",
-    "off",
-    "0",
-    "off",
-    "reset",
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-    ],
-    "Dialog",
-    "Auto",
-    "off"
-   ],
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-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
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-    2,
-    11
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Outport",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8599",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"b_toSpdMod",
-  "label":"b_toSpdMod",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
-  "inspector":{
-   "params":[
-    "Port",
-    "IconDisplay",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
-   ],
-   "values":[
-    "3",
-    "Port number",
-    "[]",
-    "[]",
-    "Inherit: auto",
-    "off",
-    "inherit",
-    "-1",
-    "Inherit",
-    "-1",
-    "auto",
-    "off",
-    "off",
-    "0",
-    "off",
-    "reset",
-    "off",
-    "0",
-    "",
-    [
-    ],
-    "Dialog",
-    "Auto",
-    "off"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    2,
-    11
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Outport",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8597",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"b_toOpen",
-  "label":"b_toOpen",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"Vq_Spd",
+  "label":"Vq_Spd",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "Port",
@@ -304,9 +144,9 @@
     "auto",
     "off",
     "off",
-    "0",
+    "[]",
     "off",
-    "reset",
+    "held",
     "off",
     "0",
     "",
@@ -338,12 +178,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8593",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11534",
   "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"constant6",
-  "label":"constant6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"n_cruiseMotTgt",
+  "label":"n_cruiseMotTgt",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "Value",
@@ -356,7 +196,56 @@
     "FramePeriod"
    ],
    "values":[
-    "SPD_MODE",
+    "n_cruiseMotTgt",
+    "on",
+    "inf",
+    "[]",
+    "[]",
+    "int16",
+    "off",
+    "inf"
+   ],
+   "tabs":[
+    "Main",
+    "Signal Attributes",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    3,
+    7
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Constant",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11677",
+  "className":"Simulink.Constant",
+  "icon":"WebViewIcon3",
+  "name":"constant3",
+  "label":"constant3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
+   "params":[
+    "Value",
+    "VectorParams1D",
+    "SampleTime",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "FramePeriod"
+   ],
+   "values":[
+    "0",
     "on",
     "inf",
     "[]",
@@ -387,12 +276,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8592",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9105",
   "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"constant5",
-  "label":"constant5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"cf_nKp",
+  "label":"cf_nKp",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "Value",
@@ -405,12 +294,12 @@
     "FramePeriod"
    ],
    "values":[
-    "VLT_MODE",
+    "cf_nKp",
     "on",
     "inf",
     "[]",
     "[]",
-    "Inherit: Inherit via back propagation",
+    "fixdt(0,16,12)",
     "off",
     "inf"
    ],
@@ -436,38 +325,99 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8586",
-  "className":"Simulink.RelationalOperator",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9104",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"Relational Operator5",
-  "label":"Relational Operator5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"cf_nKi",
+  "label":"cf_nKi",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
-    "Operator",
+    "Value",
+    "VectorParams1D",
+    "SampleTime",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "FramePeriod"
+   ],
+   "values":[
+    "cf_nKi",
+    "off",
+    "inf",
+    "[]",
+    "[]",
+    "fixdt(0,16,16)",
+    "off",
+    "inf"
+   ],
+   "tabs":[
+    "Main",
+    "Signal Attributes",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    3,
+    7
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Constant",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11675",
+  "className":"Simulink.Switch",
+  "icon":"WebViewIcon3",
+  "name":"Switch3",
+  "label":"Switch3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
+   "params":[
+    "Criteria",
     "InputSameDT",
+    "OutMin",
+    "OutMax",
     "OutDataTypeStr",
+    "LockScale",
     "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "AllowDiffInputSizes",
     "SampleTime",
+    "Threshold",
     "ZeroCross"
    ],
    "values":[
-    "==",
+    "u2 > Threshold",
+    "off",
+    "[]",
+    "[]",
+    "Inherit: Inherit via back propagation",
+    "off",
+    "Zero",
+    "off",
     "off",
-    "boolean",
-    "Simplest",
     "-1",
+    "0",
     "on"
    ],
    "tabs":[
     "Main",
-    "Data Type",
+    "Signal Attributes",
     "-Other"
    ],
    "tabs_idx":[
     0,
     1,
-    4
+    9
    ]
   },
   "viewer":{
@@ -476,62 +426,76 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"RelationalOperator",
+   "blocktype":"Switch",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8584",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9101",
+  "className":"Simulink.Sum",
+  "icon":"WebViewIcon3",
+  "name":"Sum3",
+  "label":"Sum3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
+   "params":[
+    "IconShape",
+    "Inputs",
+    "InputSameDT",
+    "AccumDataTypeStr",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "CollapseDim",
+    "CollapseMode",
+    "SampleTime"
+   ],
+   "values":[
+    "round",
+    "|+-",
+    "off",
+    "Inherit: Inherit via internal rule",
+    "[]",
+    "[]",
+    "Inherit: Inherit via internal rule",
+    "off",
+    "Simplest",
+    "on",
+    "1",
+    "All dimensions",
+    "-1"
+   ],
+   "tabs":[
+    "Main",
+    "Signal Attributes",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    2,
+    10
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Sum",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11674",
   "className":"Simulink.RelationalOperator",
   "icon":"WebViewIcon3",
   "name":"Relational Operator3",
   "label":"Relational Operator3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
-  "inspector":{
-   "params":[
-    "Operator",
-    "InputSameDT",
-    "OutDataTypeStr",
-    "RndMeth",
-    "SampleTime",
-    "ZeroCross"
-   ],
-   "values":[
-    "==",
-    "off",
-    "boolean",
-    "Simplest",
-    "-1",
-    "on"
-   ],
-   "tabs":[
-    "Main",
-    "Data Type",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    1,
-    4
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"RelationalOperator",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8583",
-  "className":"Simulink.RelationalOperator",
-  "icon":"WebViewIcon3",
-  "name":"Relational Operator2",
-  "label":"Relational Operator2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "Operator",
@@ -571,132 +535,170 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8581",
-  "className":"Simulink.RelationalOperator",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11672",
+  "className":"Simulink.Mux",
   "icon":"WebViewIcon3",
-  "name":"Relational Operator10",
-  "label":"Relational Operator10",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"Mux1",
+  "label":"Mux1",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
-    "Operator",
-    "InputSameDT",
-    "OutDataTypeStr",
-    "RndMeth",
-    "SampleTime",
-    "ZeroCross"
+    "Inputs",
+    "DisplayOption"
    ],
    "values":[
-    "==",
+    "2",
+    "bar"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Mux",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10455",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon6",
+  "name":"PI_clamp_fixdt",
+  "label":"PI_clamp_fixdt",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
+   "params":[
+    "ShowPortLabels",
+    "BlockChoice",
+    "TemplateBlock",
+    "MemberBlocks",
+    "Permissions",
+    "ErrorFcn",
+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "MinAlgLoopOccurrences",
+    "PropExecContextOutsideSubsystem",
+    "SystemSampleTime",
+    "RTWSystemCode",
+    "RTWFcnNameOpts",
+    "RTWFcnName",
+    "RTWFileNameOpts",
+    "RTWFileName",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "RTWMemSecFuncInitTerm",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
+    "RTWMemSecDataParameters",
+    "IsSubsystemVirtual",
+    "Variant",
+    "VariantControl",
+    "OverrideUsingVariant",
+    "GeneratePreprocessorConditionals",
+    "AllowZeroVariantControls",
+    "PropagateVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "TreatAsGroupedWhenPropagatingVariantConditions"
+   ],
+   "values":[
+    "FromPortIcon",
+    "",
+    "",
+    "",
+    "ReadWrite",
+    "",
+    "All",
+    "on",
+    "off",
     "off",
-    "boolean",
-    "Simplest",
     "-1",
+    "Reusable function",
+    "Use subsystem name",
+    "",
+    "Auto",
+    "",
+    "void_void",
+    "off",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "off",
+    "off",
+    "",
+    "",
+    "off",
+    "off",
+    "off",
+    "",
+    "",
     "on"
    ],
    "tabs":[
-    "Main",
-    "Data Type",
-    "-Other"
    ],
    "tabs_idx":[
-    0,
-    1,
-    4
    ]
   },
   "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
+   "jshandler":"webview/handlers/ContainerHandler"
   },
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"RelationalOperator",
+   "blocktype":"SubSystem",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8580",
-  "className":"Simulink.RelationalOperator",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11670",
+  "className":"Simulink.MinMax",
   "icon":"WebViewIcon3",
-  "name":"Relational Operator1",
-  "label":"Relational Operator1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"MinMax4",
+  "label":"MinMax4",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
-    "Operator",
-    "InputSameDT",
     "OutDataTypeStr",
+    "Function",
+    "InputSameDT",
+    "Inputs",
+    "LockScale",
+    "OutMax",
+    "OutMin",
     "RndMeth",
     "SampleTime",
+    "SaturateOnIntegerOverflow",
     "ZeroCross"
    ],
    "values":[
-    "==",
+    "Inherit: Inherit via internal rule",
+    "min",
     "off",
-    "boolean",
-    "Simplest",
+    "2",
+    "off",
+    "[]",
+    "[]",
+    "Floor",
     "-1",
+    "off",
     "on"
    ],
    "tabs":[
-    "Main",
-    "Data Type",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    1,
-    4
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"RelationalOperator",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8589",
-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon3",
-  "name":"constant",
-  "label":"constant",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
-  "inspector":{
-   "params":[
-    "Value",
-    "VectorParams1D",
-    "SampleTime",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "FramePeriod"
-   ],
-   "values":[
-    "TRQ_MODE",
-    "on",
-    "inf",
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
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-    "inf"
-   ],
-   "tabs":[
-    "Main",
     "Signal Attributes",
     "-Other"
    ],
    "tabs_idx":[
     0,
-    3,
-    7
+    1
    ]
   },
   "viewer":{
@@ -705,214 +707,17 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Constant",
+   "blocktype":"MinMax",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8595",
-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon3",
-  "name":"constant8",
-  "label":"constant8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
-  "inspector":{
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-    "VectorParams1D",
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-    "OutMin",
-    "OutMax",
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-    "FramePeriod"
-   ],
-   "values":[
-    "OPEN_MODE",
-    "on",
-    "inf",
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
-    "off",
-    "inf"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    3,
-    7
-   ]
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8571",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto6",
-  "label":"Goto6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8568",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
-  "inspector":{
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-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8572",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11680",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto8",
   "label":"Goto8",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "GotoTag",
@@ -920,7 +725,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_errFlag",
+    "Vq_minSpd",
     "local",
     "Tag"
    ],
@@ -940,12 +745,144 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8566",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11564",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto5",
+  "label":"Goto5",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
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+    "TagVisibility",
+    "IconDisplay"
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+    "Tag"
+   ],
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+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11511",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto4",
+  "label":"Goto4",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
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+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "b_cruiseCtrlEna",
+    "local",
+    "Tag"
+   ],
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+    "Parameter Attributes"
+   ],
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+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9095",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto31",
+  "label":"Goto31",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "iq_limProtErr",
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+    "Tag"
+   ],
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+    "Parameter Attributes"
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+   "tabs_idx":0
+  },
+  "viewer":{
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+  },
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+  "finder":{
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+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9094",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto3",
+  "label":"Goto3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "n_mot",
+    "local",
+    "Tag"
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+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
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+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9093",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto2",
   "label":"Goto2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "GotoTag",
@@ -953,7 +890,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_toTrqMod",
+    "Vq_min",
     "local",
     "Tag"
    ],
@@ -973,38 +910,136 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8585",
-  "className":"Simulink.RelationalOperator",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9092",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Relational Operator4",
-  "label":"Relational Operator4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"Goto13",
+  "label":"Goto13",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
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+   "values":[
+    "r_inpTgtSca",
+    "local",
+    "Tag"
+   ],
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+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
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+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11669",
+  "className":"Simulink.MinMax",
+  "icon":"WebViewIcon3",
+  "name":"MinMax3",
+  "label":"MinMax3",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
-    "Operator",
-    "InputSameDT",
     "OutDataTypeStr",
+    "Function",
+    "InputSameDT",
+    "Inputs",
+    "LockScale",
+    "OutMax",
+    "OutMin",
     "RndMeth",
     "SampleTime",
+    "SaturateOnIntegerOverflow",
     "ZeroCross"
    ],
    "values":[
-    "==",
+    "Inherit: Inherit via internal rule",
+    "max",
     "off",
-    "boolean",
-    "Simplest",
+    "2",
+    "off",
+    "[]",
+    "[]",
+    "Floor",
     "-1",
+    "off",
+    "on"
+   ],
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+    "Signal Attributes",
+    "-Other"
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+    1
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"MinMax",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11676",
+  "className":"Simulink.Switch",
+  "icon":"WebViewIcon3",
+  "name":"Switch4",
+  "label":"Switch4",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
+  "inspector":{
+   "params":[
+    "Criteria",
+    "InputSameDT",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "AllowDiffInputSizes",
+    "SampleTime",
+    "Threshold",
+    "ZeroCross"
+   ],
+   "values":[
+    "u2 ~= 0",
+    "off",
+    "[]",
+    "[]",
+    "Inherit: Inherit via back propagation",
+    "off",
+    "Zero",
+    "off",
+    "off",
+    "-1",
+    "0",
     "on"
    ],
    "tabs":[
     "Main",
-    "Data Type",
+    "Signal Attributes",
     "-Other"
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     0,
     1,
-    4
+    9
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   },
   "viewer":{
@@ -1013,17 +1048,17 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"RelationalOperator",
+   "blocktype":"Switch",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8565",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9091",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
   "name":"Goto1",
   "label":"Goto1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "GotoTag",
@@ -1031,7 +1066,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlModPrev",
+    "Vq_max",
     "local",
     "Tag"
    ],
@@ -1051,19 +1086,21 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8564",
-  "className":"Simulink.From",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11679",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From9",
-  "label":"From9",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"Goto",
+  "label":"Goto",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
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-    "z_ctrlModReq",
+    "Vq_maxSpd",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -1077,135 +1114,24 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8594",
-  "className":"Simulink.Constant",
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-  "name":"constant7",
-  "label":"constant7",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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-  "icon":"WebViewIcon3",
-  "name":"From8",
-  "label":"From8",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9419",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From7",
-  "label":"From7",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
-  "inspector":{
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-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8561",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11665",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From5",
   "label":"From5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
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     "GotoTag",
     "IconDisplay"
    ],
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-    "b_toOpen",
+    "n_cruiseMotTgt",
     "Tag"
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@@ -1224,19 +1150,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8559",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9090",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From3",
-  "label":"From3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "name":"From45",
+  "label":"From45",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
   "inspector":{
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     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlModReq",
+    "Vq_minSpd",
     "Tag"
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@@ -1255,436 +1181,19 @@
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-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"b_toActive",
-  "label":"b_toActive",
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-    "VarSizeSig",
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-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
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-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8560",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:11565",
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   "icon":"WebViewIcon3",
   "name":"From4",
   "label":"From4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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   "inspector":{
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     "GotoTag",
     "IconDisplay"
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-    "z_ctrlModReq",
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@@ -1703,12 +1212,414 @@
   }
  },
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+  "label":"From1",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9074",
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   "icon":"WebViewIcon3",
-  "name":"b_motStdStill",
-  "label":"b_motStdStill",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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@@ -1730,7 +1641,7 @@
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@@ -1770,12 +1681,234 @@
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@@ -1837,12 +1970,188 @@
   }
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@@ -1904,19 +2213,86 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8553",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9077",
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+  "icon":"WebViewIcon3",
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   "icon":"WebViewIcon3",
-  "name":"From1",
-  "label":"From1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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@@ -1935,12 +2311,74 @@
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-  "label":"b_motEna",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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@@ -2381,57 +2485,12 @@
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@@ -2477,12 +2536,12 @@
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@@ -2528,12 +2587,12 @@
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@@ -2579,12 +2638,12 @@
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@@ -2630,12 +2689,12 @@
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@@ -2681,12 +2740,12 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9109_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9109_d.json
similarity index 81%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9109_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9109_d.json
index 4cb7aa8..e68d49d 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9109_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9109_d.json
@@ -1,700 +1,11 @@
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10828",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon9",
+  "icon":"WebViewIcon6",
   "name":"PI_clamp_fixdt",
   "label":"PI_clamp_fixdt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9109",
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@@ -782,25 +93,47 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10841",
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   "icon":"WebViewIcon3",
-  "name":"From12",
-  "label":"From12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
+  "name":"MinMax2",
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@@ -808,17 +141,70 @@
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-  "name":"Goto5",
-  "label":"Goto5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
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+  "label":"Goto19",
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@@ -826,7 +212,7 @@
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@@ -846,12 +232,311 @@
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@@ -1037,12 +717,224 @@
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@@ -1070,12 +962,45 @@
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@@ -1097,7 +1022,7 @@
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@@ -1362,7 +1205,7 @@
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@@ -1402,104 +1245,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
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@@ -1514,11 +1265,17 @@
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@@ -1533,6 +1290,80 @@
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@@ -1561,12 +1392,79 @@
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   "icon":"WebViewIcon3",
   "name":"Vq_min",
   "label":"Vq_min",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
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@@ -1628,19 +1526,252 @@
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-  "label":"From11",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
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@@ -1659,12 +1790,12 @@
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@@ -1710,12 +1841,12 @@
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@@ -1761,12 +1892,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
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@@ -1812,12 +1943,12 @@
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@@ -1863,12 +1994,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
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@@ -1914,12 +2045,12 @@
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@@ -1965,12 +2096,12 @@
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@@ -2016,12 +2147,12 @@
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@@ -2067,12 +2198,12 @@
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@@ -2118,12 +2249,12 @@
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@@ -2169,12 +2300,12 @@
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@@ -2220,12 +2351,12 @@
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@@ -2271,12 +2402,12 @@
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@@ -2322,12 +2453,12 @@
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@@ -2373,12 +2504,12 @@
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@@ -2424,12 +2555,12 @@
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@@ -2475,12 +2606,12 @@
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similarity index 82%
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9143_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9143_d.json
similarity index 84%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9143_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9143_d.json
index 6c9c5da..ce55d7c 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9143_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9143_d.json
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similarity index 86%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9171_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9171_d.json
index 5f819b1..a296859 100644
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   "name":"r_iqLimProtMax",
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   "name":"Vq_min",
   "label":"Vq_min",
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   "name":"Vq_max",
   "label":"Vq_max",
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+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9171",
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@@ -1004,51 +1012,12 @@
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   "name":"r_inpTgtSca",
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@@ -1110,12 +1079,43 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9177",
+  "className":"Simulink.ActionPort",
+  "icon":"WebViewIcon3",
+  "name":"Action Port",
+  "label":"Action Port",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9171",
+  "inspector":{
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+    "PropagateVarSize"
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+   "values":[
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+   "tabs_idx":0
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@@ -1161,12 +1161,12 @@
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@@ -1212,12 +1212,12 @@
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@@ -1263,12 +1263,12 @@
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@@ -1314,12 +1314,12 @@
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@@ -1365,12 +1365,12 @@
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@@ -1416,12 +1416,12 @@
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@@ -1467,12 +1467,12 @@
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@@ -1671,12 +1671,12 @@
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similarity index 68%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9171_d.png
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similarity index 86%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9198_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9198_d.json
index d07e98e..a2b6f58 100644
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@@ -976,838 +2079,20 @@
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   "name":"Logical Operator2",
   "label":"Logical Operator2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9198",
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@@ -2836,12 +2830,12 @@
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   "icon":"WebViewIcon3",
   "name":"Logical Operator1",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9198",
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@@ -2932,12 +2926,12 @@
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@@ -2983,12 +2977,12 @@
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@@ -3034,12 +3028,12 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9198_d.png b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9198_d.png
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+          <!--RAWSTRING-->
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+        <!--RAWSTRING-->
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+      <!--RAWSTRING-->
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-  <!--generated on windows @ 2020-03-24 11:02:08 W. Europe Standard Time-->
+  <!--generated on windows @ 2020-10-11 20:21:00 W. Europe Daylight Time-->
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9292_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9292_d.json
similarity index 100%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9292_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9292_d.json
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9292_d.png b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9292_d.png
similarity index 100%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9292_d.png
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9292_d.png
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9292_d.svg b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9292_d.svg
similarity index 81%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9292_d.svg
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9292_d.svg
index 3a2d57b..579bfae 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9292_d.svg
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9292_d.svg
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-  <!--generated on windows @ 2020-03-24 11:02:10 W. Europe Standard Time-->
+  <!--generated on windows @ 2020-10-11 20:21:02 W. Europe Daylight Time-->
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9293_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9293_d.json
similarity index 100%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9293_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9293_d.json
diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9293_d.png b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9293_d.png
similarity index 100%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9293_d.png
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similarity index 81%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9293_d.svg
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--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9293_d.svg
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-  <!--generated on windows @ 2020-03-24 11:02:10 W. Europe Standard Time-->
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9741_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9741_d.json
similarity index 88%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9741_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9741_d.json
index 1ff9b19..2f1983f 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9741_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9741_d.json
@@ -1,11 +1,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9786",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9786",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9741",
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@@ -49,12 +49,12 @@
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   "name":"V_phaABC_SIN",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9741",
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@@ -129,12 +129,12 @@
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   "name":"r_sin3PhaA_M1",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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@@ -210,12 +210,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9781",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9781",
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   "name":"r_sin3PhaB_M1",
   "label":"r_sin3PhaB_M1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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@@ -291,12 +291,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9782",
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   "icon":"WebViewIcon3",
   "name":"r_sin3PhaC_M1",
   "label":"r_sin3PhaC_M1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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@@ -372,12 +372,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9779",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9779",
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   "name":"a_elecAngle_XA",
   "label":"a_elecAngle_XA",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9741",
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@@ -451,12 +451,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9742",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9742",
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   "icon":"WebViewIcon3",
   "name":"Action Port",
   "label":"Action Port",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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@@ -482,20 +482,20 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9743",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9743",
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   "name":"Final_Phase_Advance_Calculation",
   "label":"Final_Phase_Advance_Calculation",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9741",
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+    "TreatAsGroupedWhenPropagatingVariantConditions",
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@@ -507,6 +507,7 @@
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@@ -517,10 +518,9 @@
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@@ -552,21 +553,18 @@
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@@ -581,12 +579,43 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9819",
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+  "icon":"WebViewIcon3",
+  "name":"Mux2",
+  "label":"Mux2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9741",
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@@ -594,7 +623,7 @@
     "IconDisplay"
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@@ -614,12 +643,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9800",
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   "icon":"WebViewIcon3",
   "name":"Goto4",
   "label":"Goto4",
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@@ -647,12 +676,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9799",
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   "icon":"WebViewIcon3",
   "name":"Goto1",
   "label":"Goto1",
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@@ -680,12 +709,12 @@
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   "icon":"WebViewIcon3",
   "name":"From3",
   "label":"From3",
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@@ -711,12 +740,43 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9803",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9818",
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+  "icon":"WebViewIcon3",
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@@ -742,12 +802,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9820",
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   "icon":"WebViewIcon3",
   "name":"Goto",
   "label":"Goto",
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@@ -775,19 +835,21 @@
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   "icon":"WebViewIcon3",
-  "name":"From4",
-  "label":"From4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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+  "label":"Goto7",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9741",
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     "IconDisplay"
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@@ -801,37 +863,45 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10677",
-  "className":"Simulink.Constant",
+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9816",
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   "icon":"WebViewIcon3",
-  "name":"Constant",
-  "label":"Constant",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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+  "label":"Divide2",
+  "parent":"BLDCmotor_FOC_R2017b_fixdt:9741",
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+    "RndMeth",
+    "SaturateOnIntegerOverflow",
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@@ -840,8 +910,8 @@
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@@ -886,12 +956,43 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9810",
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+  "icon":"WebViewIcon3",
+  "name":"From4",
+  "label":"From4",
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   "name":"r_fieldWeak",
   "label":"r_fieldWeak",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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@@ -953,12 +1054,12 @@
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9797",
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   "icon":"WebViewIcon3",
   "name":"z_dir",
   "label":"z_dir",
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@@ -1020,25 +1121,43 @@
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   "icon":"WebViewIcon3",
-  "name":"Mux2",
-  "label":"Mux2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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@@ -1046,50 +1165,17 @@
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   "name":"a_elecAngle",
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-  "name":"r_inpTgtSca",
-  "label":"r_inpTgtSca",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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@@ -1306,12 +1304,12 @@
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@@ -1357,12 +1355,12 @@
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@@ -1408,12 +1406,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9741",
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@@ -1459,12 +1457,12 @@
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@@ -1510,12 +1508,12 @@
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@@ -1561,12 +1559,12 @@
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9743_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9743_d.json
similarity index 87%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9743_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9743_d.json
index ee94706..cc4d007 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9743_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9743_d.json
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9778",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:9772",
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   "name":"a_elecPeriod2",
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   "name":"Sum3",
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@@ -632,12 +632,12 @@
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@@ -720,12 +720,12 @@
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   "icon":"WebViewIcon3",
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   "name":"b_fieldWeakEna",
   "label":"b_fieldWeakEna",
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+  "sid":"BLDCmotor_FOC_R2017b_fixdt:10175",
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   "name":"Goto4",
   "label":"Goto4",
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@@ -835,12 +963,12 @@
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   "icon":"WebViewIcon3",
   "name":"From1",
   "label":"From1",
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@@ -866,12 +994,12 @@
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   "icon":"WebViewIcon3",
   "name":"r_fieldWeak",
   "label":"r_fieldWeak",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9743",
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   "icon":"WebViewIcon3",
   "name":"a_elecAngle",
   "label":"a_elecAngle",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9743",
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@@ -1099,43 +1128,12 @@
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@@ -1181,12 +1179,12 @@
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9743",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9743",
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   "icon":"WebViewIcon5",
   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9743",
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   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9743",
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   "name":"",
   "label":"",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9743",
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   "label":"",
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   "name":"",
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diff --git a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9842_d.json b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9842_d.json
similarity index 89%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9842_d.json
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9842_d.json
index 14bc7bb..017bf61 100644
--- a/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9842_d.json
+++ b/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9842_d.json
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similarity index 100%
rename from BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9842_d.png
rename to BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotor_FOC_R2017b_fixdt_9842_d.png
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   "name":"F06_Control_Type_Management",
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   "label":"COM_Method",
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   "name":"FOC_Method",
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   "name":"Final_Phase_Advance_Calculation",
   "label":"Final_Phase_Advance_Calculation",
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+  "icon":"WebViewIcon6",
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   "label":"Modulo_fixdt",
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@@ -7196,21 +7374,18 @@
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@@ -7225,12 +7400,12 @@
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@@ -7318,20 +7493,20 @@
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   "name":"Model_Info",
   "label":"Model_Info",
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@@ -7343,6 +7518,7 @@
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@@ -7417,20 +7590,20 @@
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   "icon":"WebViewIcon1",
   "name":"Task_Scheduler",
   "label":"Task_Scheduler",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -7442,6 +7615,7 @@
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@@ -7452,10 +7626,9 @@
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@@ -7465,7 +7638,7 @@
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@@ -7478,6 +7651,7 @@
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@@ -7487,21 +7661,18 @@
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diff --git a/BLDC_controller_ert_rtw/rtwtypes.h b/BLDC_controller_ert_rtw/rtwtypes.h
new file mode 100644
index 0000000..0ecb78e
--- /dev/null
+++ b/BLDC_controller_ert_rtw/rtwtypes.h
@@ -0,0 +1,104 @@
+/*
+ * File: rtwtypes.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 RTWTYPES_H
+#define RTWTYPES_H
+
+/* Logical type definitions */
+#if (!defined(__cplusplus))
+#  ifndef false
+#   define false                       (0U)
+#  endif
+
+#  ifndef true
+#   define true                        (1U)
+#  endif
+#endif
+
+/*=======================================================================*
+ * Target hardware information
+ *   Device type: MATLAB Host
+ *   Number of bits:     char:   8    short:   16    int:  32
+ *                       long:  32    long long:  64
+ *                       native word size:  64
+ *   Byte ordering: LittleEndian
+ *   Signed integer division rounds to: Zero
+ *   Shift right on a signed integer as arithmetic shift: on
+ *=======================================================================*/
+
+/*=======================================================================*
+ * Fixed width word size data types:                                     *
+ *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+ *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+ *   real32_T, real64_T           - 32 and 64 bit floating point numbers *
+ *=======================================================================*/
+typedef signed char int8_T;
+typedef unsigned char uint8_T;
+typedef short int16_T;
+typedef unsigned short uint16_T;
+typedef int int32_T;
+typedef unsigned int uint32_T;
+typedef long long int64_T;
+typedef unsigned long long uint64_T;
+typedef float real32_T;
+typedef double real64_T;
+
+/*===========================================================================*
+ * Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T,       *
+ *                           real_T, time_T, ulong_T, ulonglong_T.           *
+ *===========================================================================*/
+typedef double real_T;
+typedef double time_T;
+typedef unsigned char boolean_T;
+typedef int int_T;
+typedef unsigned int uint_T;
+typedef unsigned long ulong_T;
+typedef unsigned long long ulonglong_T;
+typedef char char_T;
+typedef unsigned char uchar_T;
+typedef char_T byte_T;
+
+/*=======================================================================*
+ * Min and Max:                                                          *
+ *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+ *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+ *=======================================================================*/
+#define MAX_int8_T                     ((int8_T)(127))
+#define MIN_int8_T                     ((int8_T)(-128))
+#define MAX_uint8_T                    ((uint8_T)(255U))
+#define MAX_int16_T                    ((int16_T)(32767))
+#define MIN_int16_T                    ((int16_T)(-32768))
+#define MAX_uint16_T                   ((uint16_T)(65535U))
+#define MAX_int32_T                    ((int32_T)(2147483647))
+#define MIN_int32_T                    ((int32_T)(-2147483647-1))
+#define MAX_uint32_T                   ((uint32_T)(0xFFFFFFFFU))
+#define MAX_int64_T                    ((int64_T)(9223372036854775807LL))
+#define MIN_int64_T                    ((int64_T)(-9223372036854775807LL-1LL))
+#define MAX_uint64_T                   ((uint64_T)(0xFFFFFFFFFFFFFFFFULL))
+
+/* Block D-Work pointer type */
+typedef void * pointer_T;
+
+#endif                                 /* RTWTYPES_H */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/BLDCmotor_FOC_R2017b_fixdt.slx b/BLDCmotor_FOC_R2017b_fixdt.slx
index 1b0b016063aade6199a01c6f52d35e55b46eb36e..4b76b20f8f4e8912fb3746885961d1480a03f79f 100644
GIT binary patch
delta 140820
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diff --git a/README.md b/README.md
index 462d416..f73346d 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,8 @@
 [![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
 [![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_SM.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY&currency_code=EUR&source=url)
 
-This repository implements Field Oriented Control (FOC) for BLDC motors in Matlab/Simulink. The controller was deployed and tested on a real-time hoverboard embedded platform (see [hoverboard-firmware-hack-FOC](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC)).
+This repository implements Field Oriented Control (FOC) for BLDC motors in Matlab/Simulink. The controller was deployed and tested on a real-time hoverboard embedded platform:
+ - [hoverboard-firmware-hack-FOC](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC)
 
 ---
 ## FOC Architecture
@@ -34,6 +35,12 @@ The C code for the controller is capable for auto-code generated using [Matlab/S
 
 To explore the controller without a Matlab/Simulink installation a [webview](/BLDC_controller_ert_rtw/html/webview) was created. The webview allows to visualize the controller with browsers like: Microsoft Internet Explorer or Microsoft Edgeview.
 
+### Parameters 
+
+The controller parameters are given in the following table:
+
+![Parameters table](/02_Figures/paramTable.png)
+
 ---
 ## Contributions
 
diff --git a/init_model.m b/init_model.m
index 0e45046..2b80aa3 100644
--- a/init_model.m
+++ b/init_model.m
@@ -10,7 +10,7 @@
 % >> improved motor efficiency -> lower energy consumption
 %
 % Author: Emanuel FERU
-% Copyright © 2019-2020 Emanuel FERU <aerdronix@gmail.com>
+% Copyright © 2019-2021 Emanuel FERU <aerdronix@gmail.com>
 %
 % This program is free software: you can redistribute it and/or modify
 % it under the terms of the GNU General Public License as published by
@@ -39,7 +39,7 @@ f_ctrl              = 16e3;                         % [Hz] Controller frequency
 % Ts_ctrl             = 12e-5;                      % [s] Controller sampling time (~8 kHz)
 
 % Motor parameters
-n_polePairs         = 15;                           % [-] Number of pole pairs
+n_polePairs         = 15;                           % [-] Number of motor pole pairs
 a_elecPeriod        = 360;                          % [deg] Electrical angle period
 a_elecAngle         = 60;                           % [deg] Electrical angle between two Hall sensor changing events
 a_mechAngle         = a_elecAngle / n_polePairs;    % [deg] Mechanical angle between two Hall sensor changing events
@@ -58,17 +58,21 @@ r_cos_M1            = cos((a_elecAngle_XA + 30)*(pi/180));
 
 %% Control selection
 % Control type selection
-CTRL_COM            = 0;        % [-] Commutation Control
-CTRL_SIN            = 1;        % [-] Sinusoidal Control
-CTRL_FOC            = 2;        % [-] Field Oriented Control (FOC)
-z_ctrlTypSel        = CTRL_FOC; % [-] Control Type Selection (default)
+CTRL_COM            = 0;                % [-] Commutation Control
+CTRL_SIN            = 1;                % [-] Sinusoidal Control
+CTRL_FOC            = 2;                % [-] Field Oriented Control (FOC)
+z_ctrlTypSel        = CTRL_FOC;         % [-] Control Type Selection (default)
 
 % Control model request
-OPEN_MODE           = 0;        % [-] Open mode
-VLT_MODE            = 1;        % [-] Voltage mode
-SPD_MODE            = 2;        % [-] Speed mode
-TRQ_MODE            = 3;        % [-] Torque mode
-z_ctrlModReq        = VLT_MODE; % [-] Control Mode Request (default)
+OPEN_MODE           = 0;                % [-] Open mode
+VLT_MODE            = 1;                % [-] Voltage mode
+SPD_MODE            = 2;                % [-] Speed mode
+TRQ_MODE            = 3;                % [-] Torque mode
+z_ctrlModReq        = VLT_MODE;         % [-] Control Mode Request (default)
+
+% Cruise control
+b_cruiseCtrlEna     = 0;                % [-] Cruise control enable flag: 0 = disable (default), 1 = enable
+n_cruiseMotTgt      = 0;                % [-] Cruise control motor speed target
 
 
 %% F01_Estimations
@@ -79,13 +83,16 @@ vec_hallToPos       = [0 2 0 1 4 3 5 0];  % [-] Mapping Hall signal to position
 
 % Speed Calculation Parameters
 cf_speedCoef        = round(f_ctrl * a_mechAngle * (pi/180) * (30/pi));     % [-] Speed calculation coefficient (factors are due to conversions rpm <-> rad/s)
-z_maxCntRst         = 2000;     % [-] Maximum counter value for reset (works also as time-out to detect standing still)
-n_commDeacvHi       = 30;       % [rpm] Commutation method deactivation speed high
-n_commAcvLo         = 15;       % [rpm] Commutation method activation speed low
-dz_cntTrnsDetHi     = 40;       % [-] Counter gradient High for transient behavior detection (used for speed estimation)
-dz_cntTrnsDetLo     = 20;       % [-] Counter gradient Low for steady state detection (used for speed estimation)
-n_stdStillDet       = 3;        % [rpm] Speed threshold for Stand still detection
-cf_currFilt         = 0.12;     % [%] Current filter coefficient [0, 1]. Lower values mean softer filter
+z_maxCntRst         = 2000;             % [-] Maximum counter value for reset (works also as time-out to detect standing still)
+n_commDeacvHi       = 30;               % [rpm] Commutation method deactivation speed high
+n_commAcvLo         = 15;               % [rpm] Commutation method activation speed low
+dz_cntTrnsDetHi     = 40;               % [-] Counter gradient High for transient behavior detection (used for speed estimation)
+dz_cntTrnsDetLo     = 20;               % [-] Counter gradient Low for steady state detection (used for speed estimation)
+n_stdStillDet       = 3;                % [rpm] Speed threshold for Stand still detection
+cf_currFilt         = 0.12;             % [%] Current filter coefficient [0, 1]. Lower values mean softer filter
+
+% Motor Angle Measurement (e.g. using an encoder)
+b_angleMeasEna      = 0;                % [-] Enable flag for external mechanical motor angle sensor: 0 = estimated (default), 1 = measured
 
 %% F02_Diagnostics
 b_diagEna           = 1;                % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
@@ -98,8 +105,8 @@ dV_openRate         = 1000 / (f_ctrl/3);% [V/s] Rate for voltage cut-off in Open
 
 %% F04_Field_Weakening
 b_fieldWeakEna      = 0;                % [-] Field weakening enable flag: 0 = disable (default), 1 = enable
-r_fieldWeakHi       = 1500;             % [-] Input target High threshold for reaching maximum Field Weakening / Phase Advance
-r_fieldWeakLo       = 1000;             % [-] Input target Low threshold for starting Field Weakening / Phase Advance
+r_fieldWeakHi       = 1000;             % [1000, 1500] Input target High threshold for reaching maximum Field Weakening / Phase Advance
+r_fieldWeakLo       = 750;              % [ 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance
 n_fieldWeakAuthHi   = 400;              % [rpm] Motor speed High for field weakening authorization
 n_fieldWeakAuthLo   = 300;              % [rpm] Motor speed Low for field weakening authorization
 
@@ -111,7 +118,7 @@ a_phaAdvMax         = 25;               % [deg] Maximum phase advance angle
 
 
 %% F05_Field_Oriented_Control
-b_selPhaABCurrMeas  = 1;                % [-] Select measured current phases: {iA,iB} = 1 (default); {iB,iC} = 0
+z_selPhaCurMeasABC  = 0;                % [-] Select measured current phases: {iA,iB} = 0; {iB,iC} = 1; {iA,iC} = 2
 
 % Motor Limitations Calibratables
 cf_iqKiLimProt      = 60 / (f_ctrl/3);  % [-] Current limit protection integral gain (only used in VLT_MODE and SPD_MODE)
@@ -127,7 +134,7 @@ Vq_max_M1           = sqrt(Vd_max^2 - Vq_max_XA.^2);  % Circle limitations look-
 % stairs(Vq_max_XA, Vq_max_M1); legend('V_{max}');
 
 % Speed limitations
-n_max               = 1000;             % [rpm] Maximum motor speed
+n_max               = 1500;             % [rpm] Maximum motor speed: [-1500, 1500]
 
 % Current Limitations
 i_max               = 15;               % [A] Maximum allowed motor current (continuous)