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hoverboard-firmware-hack-fo.../Inc/BLDC_controller.h

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Initial commit
2019-10-06 13:09:15 +00:00
/*
* File: BLDC_controller.h
*
* Code generated for Simulink model 'BLDC_controller'.
*
Implemented HOVERCAR variant Major: - created HOVERCAR variant (selectable via platformio.ini) for driving via 2 pedals: Brake (on cmd1) and Throttle (on cmd2) - implemented "Double tapping" on Brake pedal to engage Reverse driving - implemented that Brake pedal stops the vehicle but does not go to Reverse, to prevend unintended Reverse driving - implemented ADC Protection when GND and Vcc wire are disconnected. The functionality can be enabled/disabled via #define ADC_PROTECT_ENA - updated error handling: in case of major error the motors will be disabled for improved safety Minor: - fixed bug on low-pass filter for not reaching exact "0" value - calibrated the ADC Battery voltage reading - other minor visual updates
2019-12-31 12:35:01 +00:00
* Model version : 1.1256
Initial commit
2019-10-06 13:09:15 +00:00
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
Implemented HOVERCAR variant Major: - created HOVERCAR variant (selectable via platformio.ini) for driving via 2 pedals: Brake (on cmd1) and Throttle (on cmd2) - implemented "Double tapping" on Brake pedal to engage Reverse driving - implemented that Brake pedal stops the vehicle but does not go to Reverse, to prevend unintended Reverse driving - implemented ADC Protection when GND and Vcc wire are disconnected. The functionality can be enabled/disabled via #define ADC_PROTECT_ENA - updated error handling: in case of major error the motors will be disabled for improved safety Minor: - fixed bug on low-pass filter for not reaching exact "0" value - calibrated the ADC Battery voltage reading - other minor visual updates
2019-12-31 12:35:01 +00:00
* C/C++ source code generated on : Mon Dec 30 21:36:12 2019
Initial commit
2019-10-06 13:09:15 +00:00
*
* 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;
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
/* Block signals and states (auto storage) for system '<S12>/Counter' */
Initial commit
2019-10-06 13:09:15 +00:00
typedef struct {
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
int16_T UnitDelay_DSTATE; /* '<S16>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
} DW_Counter;
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
/* Block signals and states (auto storage) for system '<S54>/PI_clamp_fixdt' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
typedef struct {
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
int32_T UnitDelay_DSTATE; /* '<S68>/UnitDelay' */
boolean_T UnitDelay1_DSTATE; /* '<S65>/UnitDelay1' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
} DW_PI_clamp_fixdt;
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
/* Block signals and states (auto storage) for system '<S41>/Low_Pass_Filter' */
Initial commit
2019-10-06 13:09:15 +00:00
typedef struct {
Implemented HOVERCAR variant Major: - created HOVERCAR variant (selectable via platformio.ini) for driving via 2 pedals: Brake (on cmd1) and Throttle (on cmd2) - implemented "Double tapping" on Brake pedal to engage Reverse driving - implemented that Brake pedal stops the vehicle but does not go to Reverse, to prevend unintended Reverse driving - implemented ADC Protection when GND and Vcc wire are disconnected. The functionality can be enabled/disabled via #define ADC_PROTECT_ENA - updated error handling: in case of major error the motors will be disabled for improved safety Minor: - fixed bug on low-pass filter for not reaching exact "0" value - calibrated the ADC Battery voltage reading - other minor visual updates
2019-12-31 12:35:01 +00:00
int32_T UnitDelay1_DSTATE[2]; /* '<S50>/UnitDelay1' */
Initial commit
2019-10-06 13:09:15 +00:00
} DW_Low_Pass_Filter;
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
/* Block signals and states (auto storage) for system '<S73>/I_backCalc_fixdt' */
Initial commit
2019-10-06 13:09:15 +00:00
typedef struct {
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
int32_T UnitDelay_DSTATE; /* '<S78>/UnitDelay' */
int32_T UnitDelay_DSTATE_h; /* '<S80>/UnitDelay' */
} DW_I_backCalc_fixdt;
Initial commit
2019-10-06 13:09:15 +00:00
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
/* Block signals and states (auto storage) for system '<S21>/Counter' */
Initial commit
2019-10-06 13:09:15 +00:00
typedef struct {
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
uint16_T UnitDelay_DSTATE; /* '<S26>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
} DW_Counter_l;
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
/* Block signals and states (auto storage) for system '<S17>/either_edge' */
Initial commit
2019-10-06 13:09:15 +00:00
typedef struct {
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
boolean_T UnitDelay_DSTATE; /* '<S22>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
} DW_either_edge;
/* Block signals and states (auto storage) for system '<S3>/Debounce_Filter' */
typedef struct {
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
DW_either_edge either_edge_k; /* '<S17>/either_edge' */
DW_Counter_l Counter_h; /* '<S20>/Counter' */
DW_Counter_l Counter_i0; /* '<S21>/Counter' */
boolean_T UnitDelay_DSTATE; /* '<S17>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
} 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' */
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
DW_I_backCalc_fixdt I_backCalc_fixdt_g;/* '<S72>/I_backCalc_fixdt' */
DW_I_backCalc_fixdt I_backCalc_fixdt1;/* '<S73>/I_backCalc_fixdt1' */
DW_I_backCalc_fixdt I_backCalc_fixdt_i;/* '<S73>/I_backCalc_fixdt' */
DW_Low_Pass_Filter Low_Pass_Filter_m;/* '<S41>/Low_Pass_Filter' */
DW_PI_clamp_fixdt PI_clamp_fixdt_a; /* '<S53>/PI_clamp_fixdt' */
DW_PI_clamp_fixdt PI_clamp_fixdt_o; /* '<S52>/PI_clamp_fixdt' */
DW_PI_clamp_fixdt PI_clamp_fixdt_k; /* '<S54>/PI_clamp_fixdt' */
DW_Counter Counter_e; /* '<S12>/Counter' */
int32_T Divide1; /* '<S71>/Divide1' */
int32_T UnitDelay_DSTATE; /* '<S36>/UnitDelay' */
int16_T Gain4[3]; /* '<S43>/Gain4' */
Implemented HOVERCAR variant Major: - created HOVERCAR variant (selectable via platformio.ini) for driving via 2 pedals: Brake (on cmd1) and Throttle (on cmd2) - implemented "Double tapping" on Brake pedal to engage Reverse driving - implemented that Brake pedal stops the vehicle but does not go to Reverse, to prevend unintended Reverse driving - implemented ADC Protection when GND and Vcc wire are disconnected. The functionality can be enabled/disabled via #define ADC_PROTECT_ENA - updated error handling: in case of major error the motors will be disabled for improved safety Minor: - fixed bug on low-pass filter for not reaching exact "0" value - calibrated the ADC Battery voltage reading - other minor visual updates
2019-12-31 12:35:01 +00:00
int16_T DataTypeConversion[2]; /* '<S50>/Data Type Conversion' */
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
int16_T z_counterRawPrev; /* '<S15>/z_counterRawPrev' */
int16_T Merge1; /* '<S29>/Merge1' */
int16_T Divide3; /* '<S5>/Divide3' */
int16_T Vd_max1; /* '<S45>/Vd_max1' */
int16_T Gain3; /* '<S45>/Gain3' */
int16_T Vq_max_M1; /* '<S45>/Vq_max_M1' */
int16_T Gain5; /* '<S45>/Gain5' */
int16_T i_max; /* '<S45>/i_max' */
int16_T Divide1_a; /* '<S45>/Divide1' */
int16_T Gain1; /* '<S45>/Gain1' */
int16_T Gain4_c; /* '<S45>/Gain4' */
int16_T Switch2; /* '<S77>/Switch2' */
int16_T Switch2_l; /* '<S83>/Switch2' */
int16_T Switch2_c; /* '<S81>/Switch2' */
int16_T Merge; /* '<S42>/Merge' */
int16_T Switch1; /* '<S69>/Switch1' */
int16_T Divide11; /* '<S15>/Divide11' */
int16_T UnitDelay3_DSTATE; /* '<S12>/UnitDelay3' */
int16_T UnitDelay4_DSTATE; /* '<S15>/UnitDelay4' */
int16_T UnitDelay2_DSTATE; /* '<S15>/UnitDelay2' */
int16_T UnitDelay3_DSTATE_o; /* '<S15>/UnitDelay3' */
int16_T UnitDelay5_DSTATE; /* '<S15>/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' */
Initial commit
2019-10-06 13:09:15 +00:00
int8_T If1_ActiveSubsystem; /* '<S1>/If1' */
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
int8_T If2_ActiveSubsystem; /* '<S29>/If2' */
int8_T If2_ActiveSubsystem_a; /* '<S6>/If2' */
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' */
PI controller update and fixes Major: • all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations Minor: • fixed the ADC calibration for potetiometer input when ADCx_MIN > 0 • fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 21:07:52 +00:00
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' */
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
boolean_T Merge_n; /* '<S17>/Merge' */
boolean_T dz_cntTrnsDet; /* '<S15>/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_e; /* '<S35>/UnitDelay' */
boolean_T UnitDelay1_DSTATE_n; /* '<S15>/UnitDelay1' */
boolean_T n_commDeacv_Mode; /* '<S12>/n_commDeacv' */
boolean_T dz_cntTrnsDet_Mode; /* '<S15>/dz_cntTrnsDet' */
Initial commit
2019-10-06 13:09:15 +00:00
} DW;
/* Constant parameters (auto storage) */
typedef struct {
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
/* Computed Parameter: r_sin3PhaA_M1_Table
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S86>/r_sin3PhaA_M1'
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
*/
int16_T r_sin3PhaA_M1_Table[181];
/* Computed Parameter: r_sin3PhaB_M1_Table
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S86>/r_sin3PhaB_M1'
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
*/
int16_T r_sin3PhaB_M1_Table[181];
/* Computed Parameter: r_sin3PhaC_M1_Table
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S86>/r_sin3PhaC_M1'
Initial commit
2019-10-06 13:09:15 +00:00
*/
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
int16_T r_sin3PhaC_M1_Table[181];
Initial commit
2019-10-06 13:09:15 +00:00
/* Computed Parameter: r_sin_M1_Table
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S47>/r_sin_M1'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T r_sin_M1_Table[181];
/* Computed Parameter: r_cos_M1_Table
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S47>/r_cos_M1'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T r_cos_M1_Table[181];
Updated current limit The firmware allows now to set higher currents than 15 A/motor. NOTE: You can change this limit at your own risk. I do not take any responsability if your boards gets damaged.
2019-11-03 11:45:13 +00:00
/* Computed Parameter: iq_maxSca_M1_Table
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S45>/iq_maxSca_M1'
Updated current limit The firmware allows now to set higher currents than 15 A/motor. NOTE: You can change this limit at your own risk. I do not take any responsability if your boards gets damaged.
2019-11-03 11:45:13 +00:00
*/
uint16_T iq_maxSca_M1_Table[50];
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
/* Computed Parameter: z_commutMap_M1_table
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S84>/z_commutMap_M1'
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
*/
int8_T z_commutMap_M1_table[18];
Initial commit
2019-10-06 13:09:15 +00:00
/* Computed Parameter: vec_hallToPos_Value
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S10>/vec_hallToPos'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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' */
} 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 a_elecAngle; /* '<Root>/a_elecAngle' */
int16_T r_devSignal1; /* '<Root>/r_devSignal1' */
int16_T r_devSignal2; /* '<Root>/r_devSignal2' */
} ExtY;
/* Parameters (auto storage) */
struct P_ {
int32_T dV_openRate; /* Variable: dV_openRate
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S33>/dV_openRate'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T dz_cntTrnsDetHi; /* Variable: dz_cntTrnsDetHi
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S15>/dz_cntTrnsDet'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T dz_cntTrnsDetLo; /* Variable: dz_cntTrnsDetLo
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S15>/dz_cntTrnsDet'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T z_maxCntRst; /* Variable: z_maxCntRst
* Referenced by:
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* '<S12>/Counter'
* '<S12>/z_maxCntRst'
* '<S12>/z_maxCntRst2'
* '<S12>/UnitDelay3'
* '<S15>/z_counter'
Initial commit
2019-10-06 13:09:15 +00:00
*/
uint16_T cf_speedCoef; /* Variable: cf_speedCoef
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S15>/cf_speedCoef'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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:
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* '<S45>/Vd_max1'
* '<S32>/Vd_max'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T Vq_max_M1[46]; /* Variable: Vq_max_M1
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S45>/Vq_max_M1'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T Vq_max_XA[46]; /* Variable: Vq_max_XA
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S45>/Vq_max_XA'
*/
int16_T a_phaAdvMax; /* Variable: a_phaAdvMax
* Referenced by: '<S5>/a_phaAdvMax'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T i_max; /* Variable: i_max
* Referenced by:
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* '<S45>/i_max'
* '<S32>/i_max'
Initial commit
2019-10-06 13:09:15 +00:00
*/
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
int16_T id_fieldWeakMax; /* Variable: id_fieldWeakMax
* Referenced by: '<S5>/id_fieldWeakMax'
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
*/
Initial commit
2019-10-06 13:09:15 +00:00
int16_T n_commAcvLo; /* Variable: n_commAcvLo
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S12>/n_commDeacv'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T n_commDeacvHi; /* Variable: n_commDeacvHi
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S12>/n_commDeacv'
Initial commit
2019-10-06 13:09:15 +00:00
*/
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
int16_T n_fieldWeakAuthHi; /* Variable: n_fieldWeakAuthHi
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S5>/n_fieldWeakAuthHi'
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
*/
int16_T n_fieldWeakAuthLo; /* Variable: n_fieldWeakAuthLo
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S5>/n_fieldWeakAuthLo'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T n_max; /* Variable: n_max
* Referenced by:
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* '<S45>/n_max1'
* '<S32>/n_max'
Initial commit
2019-10-06 13:09:15 +00:00
*/
int16_T n_stdStillDet; /* Variable: n_stdStillDet
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S12>/n_stdStillDet'
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
*/
int16_T r_errInpTgtThres; /* Variable: r_errInpTgtThres
* Referenced by: '<S3>/r_errInpTgtThres'
Initial commit
2019-10-06 13:09:15 +00:00
*/
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
int16_T r_fieldWeakHi; /* Variable: r_fieldWeakHi
* Referenced by: '<S5>/r_fieldWeakHi'
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
*/
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
int16_T r_fieldWeakLo; /* Variable: r_fieldWeakLo
* Referenced by: '<S5>/r_fieldWeakLo'
*/
uint16_T cf_KbLimProt; /* Variable: cf_KbLimProt
* Referenced by:
* '<S72>/cf_KbLimProt'
* '<S73>/cf_KbLimProt'
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
*/
uint16_T cf_idKp; /* Variable: cf_idKp
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S54>/cf_idKp1'
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
*/
uint16_T cf_iqKp; /* Variable: cf_iqKp
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S53>/cf_iqKp'
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
*/
uint16_T cf_nKp; /* Variable: cf_nKp
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S52>/cf_nKp'
Improved Field Weakening The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 15:51:09 +00:00
*/
Initial commit
2019-10-06 13:09:15 +00:00
uint16_T cf_currFilt; /* Variable: cf_currFilt
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S41>/cf_currFilt'
Initial commit
2019-10-06 13:09:15 +00:00
*/
uint16_T cf_idKi; /* Variable: cf_idKi
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S54>/cf_idKi1'
Initial commit
2019-10-06 13:09:15 +00:00
*/
uint16_T cf_iqKi; /* Variable: cf_iqKi
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S53>/cf_iqKi'
Initial commit
2019-10-06 13:09:15 +00:00
*/
uint16_T cf_iqKiLimProt; /* Variable: cf_iqKiLimProt
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by:
* '<S71>/cf_iqKiLimProt'
* '<S73>/cf_iqKiLimProt'
Initial commit
2019-10-06 13:09:15 +00:00
*/
uint16_T cf_nKi; /* Variable: cf_nKi
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S52>/cf_nKi'
Initial commit
2019-10-06 13:09:15 +00:00
*/
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
uint16_T cf_nKiLimProt; /* Variable: cf_nKiLimProt
* Referenced by:
* '<S72>/cf_nKiLimProt'
* '<S73>/cf_nKiLimProt'
Initial commit
2019-10-06 13:09:15 +00:00
*/
uint8_T z_ctrlTypSel; /* Variable: z_ctrlTypSel
* Referenced by: '<S1>/z_ctrlTypSel1'
*/
boolean_T b_diagEna; /* Variable: b_diagEna
* Referenced by: '<S1>/b_diagEna'
*/
boolean_T b_fieldWeakEna; /* Variable: b_fieldWeakEna
Added Sinusoidal Control Type Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted. Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 10:30:12 +00:00
* Referenced by:
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* '<S1>/b_fieldWeakEna'
* '<S87>/b_fieldWeakEna'
Initial commit
2019-10-06 13:09:15 +00:00
*/
boolean_T b_selPhaABCurrMeas; /* Variable: b_selPhaABCurrMeas
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Referenced by: '<S40>/b_selPhaABCurrMeas'
Initial commit
2019-10-06 13:09:15 +00:00
*/
};
/* 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:
*
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* Block '<S12>/Scope2' : Unused code path elimination
* Block '<S13>/Scope' : Unused code path elimination
* Block '<S37>/Data Type Duplicate' : Unused code path elimination
* Block '<S37>/Data Type Propagation' : Unused code path elimination
* Block '<S38>/Data Type Duplicate' : Unused code path elimination
* Block '<S38>/Data Type Propagation' : Unused code path elimination
* Block '<S39>/Data Type Duplicate' : Unused code path elimination
* Block '<S39>/Data Type Propagation' : Unused code path elimination
* Block '<S61>/Data Type Duplicate' : Unused code path elimination
* Block '<S61>/Data Type Propagation' : Unused code path elimination
* Block '<S66>/Data Type Duplicate' : Unused code path elimination
* Block '<S66>/Data Type Propagation' : Unused code path elimination
* Block '<S70>/Data Type Duplicate' : Unused code path elimination
* Block '<S70>/Data Type Propagation' : Unused code path elimination
* Block '<S74>/Data Type Duplicate' : Unused code path elimination
* Block '<S74>/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 '<S81>/Data Type Duplicate' : Unused code path elimination
* Block '<S81>/Data Type Propagation' : Unused code path elimination
* Block '<S83>/Data Type Duplicate' : Unused code path elimination
* Block '<S83>/Data Type Propagation' : Unused code path elimination
* Block '<S6>/Scope12' : Unused code path elimination
* Block '<S6>/Scope8' : Unused code path elimination
* Block '<S6>/Scope9' : Unused code path elimination
* Block '<S87>/Scope' : Unused code path elimination
* Block '<S8>/Data Type Conversion' : Eliminate redundant data type conversion
Initial commit
2019-10-06 13:09:15 +00:00
*/
/*-
* 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('BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller') - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller
* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/Kp') - opens and selects block Kp
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt'
* '<S1>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller'
* '<S2>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations'
* '<S3>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics'
* '<S4>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager'
Major improvements - reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new) - updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range - major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 22:44:33 +00:00
* '<S5>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening'
* '<S6>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control'
* '<S7>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management'
* '<S8>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/Task_Scheduler'
* '<S9>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Edge_Detector'
* '<S10>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_02_Position_Calculation'
* '<S11>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_03_Direction_Detection'
* '<S12>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation'
* '<S13>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Electrical_Angle_Estimation'
* '<S14>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter'
* '<S15>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Raw_Motor_Speed_Estimation'
* '<S16>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter/rst_Delay'
* '<S17>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter'
* '<S18>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/either_edge'
* '<S19>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Default'
* '<S20>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification'
* '<S21>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification'
* '<S22>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/either_edge'
* '<S23>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter'
* '<S24>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter/rst_Delay'
* '<S25>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter'
* '<S26>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter/rst_Delay'
* '<S27>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_01_Mode_Transition_Calculation'
* '<S28>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_02_Control_Mode_Manager'
* '<S29>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis'
* '<S30>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Control_Type'
* '<S31>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Mode'
* '<S32>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/FOC_Control_Type'
* '<S33>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode'
* '<S34>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter'
* '<S35>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/rising_edge_init'
* '<S36>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Delay_Init1'
* '<S37>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Saturation Dynamic'
* '<S38>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Saturation Dynamic'
* '<S39>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Saturation Dynamic1'
* '<S40>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform'
* '<S41>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Current_Filtering'
* '<S42>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC'
* '<S43>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Inv_Clarke_Transform'
* '<S44>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Inv_Park_Transform'
* '<S45>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations'
* '<S46>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Park_Transform'
* '<S47>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Sine_Cosine_Approximation'
* '<S48>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesAB'
* '<S49>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesBC'
* '<S50>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Current_Filtering/Low_Pass_Filter'
* '<S51>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Open_Mode'
* '<S52>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode'
* '<S53>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode'
* '<S54>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation'
* '<S55>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Voltage_Mode'
* '<S56>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt'
* '<S57>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt/Clamping_circuit'
* '<S58>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt/Integrator'
* '<S59>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt/Saturation_hit'
* '<S60>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt'
* '<S61>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/Saturation Dynamic1'
* '<S62>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt/Clamping_circuit'
* '<S63>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt/Integrator'
* '<S64>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt/Saturation_hit'
* '<S65>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt'
* '<S66>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/Saturation Dynamic'
* '<S67>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt/Clamping_circuit'
* '<S68>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt/Integrator'
* '<S69>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt/Saturation_hit'
* '<S70>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Voltage_Mode/Saturation Dynamic1'
* '<S71>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Speed_Mode_Protection'
* '<S72>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection'
* '<S73>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection'
* '<S74>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Speed_Mode_Protection/Saturation Dynamic'
* '<S75>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection/I_backCalc_fixdt'
* '<S76>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection/I_backCalc_fixdt/Integrator'
* '<S77>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
* '<S78>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt'
* '<S79>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt1'
* '<S80>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt/Integrator'
* '<S81>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
* '<S82>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt1/Integrator'
* '<S83>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt1/Saturation Dynamic1'
* '<S84>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/COM_Method'
* '<S85>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/FOC_Method'
* '<S86>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method'
* '<S87>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation'
* '<S88>' : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation/Modulo_fixdt'
Initial commit
2019-10-06 13:09:15 +00:00
*/
#endif /* RTW_HEADER_BLDC_controller_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/