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openpilot v0.9.6 release

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date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
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FrogAi
2024-01-12 22:39:28 -07:00
commit 08e9fb1edc
1881 changed files with 653708 additions and 0 deletions
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body/board/bldc/BLDC_controller.c Normal file
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/*
* File: BLDC_controller.h
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* 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 '<S13>/Counter' */
typedef struct {
int16_T UnitDelay_DSTATE; /* '<S18>/UnitDelay' */
} DW_Counter;
/* Block signals and states (auto storage) for system '<S50>/Low_Pass_Filter' */
typedef struct {
int32_T UnitDelay1_DSTATE[2]; /* '<S56>/UnitDelay1' */
} DW_Low_Pass_Filter;
/* Block signals and states (auto storage) for system '<S25>/Counter' */
typedef struct {
uint16_T UnitDelay_DSTATE; /* '<S30>/UnitDelay' */
} DW_Counter_b;
/* Block signals and states (auto storage) for system '<S21>/either_edge' */
typedef struct {
boolean_T UnitDelay_DSTATE; /* '<S26>/UnitDelay' */
} DW_either_edge;
/* Block signals and states (auto storage) for system '<S20>/Debounce_Filter' */
typedef struct {
DW_either_edge either_edge_p; /* '<S21>/either_edge' */
DW_Counter_b Counter_e; /* '<S24>/Counter' */
DW_Counter_b Counter_n1; /* '<S25>/Counter' */
boolean_T UnitDelay_DSTATE; /* '<S21>/UnitDelay' */
} DW_Debounce_Filter;
/* Block signals and states (auto storage) for system '<S83>/I_backCalc_fixdt' */
typedef struct {
int32_T UnitDelay_DSTATE; /* '<S88>/UnitDelay' */
int32_T UnitDelay_DSTATE_m; /* '<S90>/UnitDelay' */
} DW_I_backCalc_fixdt;
/* Block signals and states (auto storage) for system '<S63>/PI_clamp_fixdt' */
typedef struct {
int32_T ResettableDelay_DSTATE; /* '<S77>/Resettable Delay' */
uint8_T icLoad; /* '<S77>/Resettable Delay' */
boolean_T UnitDelay1_DSTATE; /* '<S74>/UnitDelay1' */
} DW_PI_clamp_fixdt;
/* Block signals and states (auto storage) for system '<S61>/PI_clamp_fixdt' */
typedef struct {
int32_T ResettableDelay_DSTATE; /* '<S67>/Resettable Delay' */
uint8_T icLoad; /* '<S67>/Resettable Delay' */
boolean_T UnitDelay1_DSTATE; /* '<S65>/UnitDelay1' */
} DW_PI_clamp_fixdt_m;
/* Block signals and states (auto storage) for system '<S62>/PI_clamp_fixdt' */
typedef struct {
int16_T ResettableDelay_DSTATE; /* '<S72>/Resettable Delay' */
uint8_T icLoad; /* '<S72>/Resettable Delay' */
boolean_T UnitDelay1_DSTATE; /* '<S69>/UnitDelay1' */
} DW_PI_clamp_fixdt_g;
/* Block signals and states (auto storage) for system '<Root>' */
typedef struct {
DW_PI_clamp_fixdt_g PI_clamp_fixdt_kh;/* '<S62>/PI_clamp_fixdt' */
DW_PI_clamp_fixdt_m PI_clamp_fixdt_l4;/* '<S61>/PI_clamp_fixdt' */
DW_PI_clamp_fixdt PI_clamp_fixdt_i; /* '<S63>/PI_clamp_fixdt' */
DW_I_backCalc_fixdt I_backCalc_fixdt_j;/* '<S82>/I_backCalc_fixdt' */
DW_I_backCalc_fixdt I_backCalc_fixdt1;/* '<S83>/I_backCalc_fixdt1' */
DW_I_backCalc_fixdt I_backCalc_fixdt_i;/* '<S83>/I_backCalc_fixdt' */
DW_either_edge either_edge_i; /* '<S20>/either_edge' */
DW_Debounce_Filter Debounce_Filter_k;/* '<S20>/Debounce_Filter' */
DW_Low_Pass_Filter Low_Pass_Filter_m;/* '<S50>/Low_Pass_Filter' */
DW_Counter Counter_e; /* '<S13>/Counter' */
int32_T Divide1; /* '<S81>/Divide1' */
int32_T UnitDelay_DSTATE; /* '<S40>/UnitDelay' */
int16_T Gain4_e[3]; /* '<S57>/Gain4' */
int16_T DataTypeConversion[2]; /* '<S56>/Data Type Conversion' */
int16_T z_counterRawPrev; /* '<S17>/z_counterRawPrev' */
int16_T Merge; /* '<S59>/Merge' */
int16_T Switch1; /* '<S78>/Switch1' */
int16_T Vd_max1; /* '<S80>/Vd_max1' */
int16_T Gain3; /* '<S80>/Gain3' */
int16_T Vq_max_M1; /* '<S80>/Vq_max_M1' */
int16_T Gain5; /* '<S80>/Gain5' */
int16_T i_max; /* '<S80>/i_max' */
int16_T Divide1_n; /* '<S80>/Divide1' */
int16_T Gain1; /* '<S80>/Gain1' */
int16_T Gain4; /* '<S80>/Gain4' */
int16_T Switch2_i; /* '<S87>/Switch2' */
int16_T Switch2_o; /* '<S93>/Switch2' */
int16_T Switch2_a; /* '<S91>/Switch2' */
int16_T Divide3; /* '<S42>/Divide3' */
int16_T Merge1; /* '<S33>/Merge1' */
int16_T Abs1; /* '<S5>/Abs1' */
int16_T Abs5_h; /* '<S50>/Abs5' */
int16_T Divide11; /* '<S17>/Divide11' */
int16_T r_sin_M1; /* '<S52>/r_sin_M1' */
int16_T r_cos_M1; /* '<S52>/r_cos_M1' */
int16_T UnitDelay3_DSTATE; /* '<S13>/UnitDelay3' */
int16_T UnitDelay4_DSTATE; /* '<S17>/UnitDelay4' */
int16_T UnitDelay2_DSTATE; /* '<S17>/UnitDelay2' */
int16_T UnitDelay3_DSTATE_o; /* '<S17>/UnitDelay3' */
int16_T UnitDelay5_DSTATE; /* '<S17>/UnitDelay5' */
int16_T UnitDelay4_DSTATE_e; /* '<S13>/UnitDelay4' */
int16_T UnitDelay4_DSTATE_eu; /* '<S8>/UnitDelay4' */
int8_T Switch2_e; /* '<S12>/Switch2' */
int8_T UnitDelay2_DSTATE_b; /* '<S12>/UnitDelay2' */
int8_T If1_ActiveSubsystem; /* '<S7>/If1' */
int8_T If2_ActiveSubsystem; /* '<S7>/If2' */
int8_T If1_ActiveSubsystem_j; /* '<S47>/If1' */
int8_T SwitchCase_ActiveSubsystem; /* '<S59>/Switch Case' */
int8_T If1_ActiveSubsystem_a; /* '<S59>/If1' */
int8_T If1_ActiveSubsystem_o; /* '<S48>/If1' */
int8_T SwitchCase_ActiveSubsystem_d; /* '<S80>/Switch Case' */
int8_T If2_ActiveSubsystem_f; /* '<S33>/If2' */
int8_T If2_ActiveSubsystem_a; /* '<S45>/If2' */
uint8_T z_ctrlMod; /* '<S5>/F03_02_Control_Mode_Manager' */
uint8_T UnitDelay3_DSTATE_fy; /* '<S10>/UnitDelay3' */
uint8_T UnitDelay1_DSTATE; /* '<S10>/UnitDelay1' */
uint8_T UnitDelay2_DSTATE_f; /* '<S10>/UnitDelay2' */
uint8_T UnitDelay_DSTATE_e; /* '<S20>/UnitDelay' */
uint8_T is_active_c1_BLDC_controller;/* '<S5>/F03_02_Control_Mode_Manager' */
uint8_T is_c1_BLDC_controller; /* '<S5>/F03_02_Control_Mode_Manager' */
uint8_T is_ACTIVE; /* '<S5>/F03_02_Control_Mode_Manager' */
boolean_T Merge_p; /* '<S21>/Merge' */
boolean_T dz_cntTrnsDet; /* '<S17>/dz_cntTrnsDet' */
boolean_T UnitDelay2_DSTATE_c; /* '<S2>/UnitDelay2' */
boolean_T UnitDelay5_DSTATE_m; /* '<S2>/UnitDelay5' */
boolean_T UnitDelay6_DSTATE; /* '<S2>/UnitDelay6' */
boolean_T UnitDelay_DSTATE_b; /* '<S39>/UnitDelay' */
boolean_T UnitDelay1_DSTATE_n; /* '<S17>/UnitDelay1' */
boolean_T n_commDeacv_Mode; /* '<S13>/n_commDeacv' */
boolean_T dz_cntTrnsDet_Mode; /* '<S17>/dz_cntTrnsDet' */
} DW;
/* Constant parameters (auto storage) */
typedef struct {
/* Computed Parameter: r_sin_M1_Table
* Referenced by: '<S52>/r_sin_M1'
*/
int16_T r_sin_M1_Table[181];
/* Computed Parameter: r_cos_M1_Table
* Referenced by: '<S52>/r_cos_M1'
*/
int16_T r_cos_M1_Table[181];
/* Computed Parameter: r_sin3PhaA_M1_Table
* Referenced by: '<S96>/r_sin3PhaA_M1'
*/
int16_T r_sin3PhaA_M1_Table[181];
/* Computed Parameter: r_sin3PhaB_M1_Table
* Referenced by: '<S96>/r_sin3PhaB_M1'
*/
int16_T r_sin3PhaB_M1_Table[181];
/* Computed Parameter: r_sin3PhaC_M1_Table
* Referenced by: '<S96>/r_sin3PhaC_M1'
*/
int16_T r_sin3PhaC_M1_Table[181];
/* Computed Parameter: iq_maxSca_M1_Table
* Referenced by: '<S80>/iq_maxSca_M1'
*/
uint16_T iq_maxSca_M1_Table[50];
/* Computed Parameter: z_commutMap_M1_table
* Referenced by: '<S94>/z_commutMap_M1'
*/
int8_T z_commutMap_M1_table[18];
/* Computed Parameter: vec_hallToPos_Value
* Referenced by: '<S11>/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 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: '<S37>/dV_openRate'
*/
int16_T dz_cntTrnsDetHi; /* Variable: dz_cntTrnsDetHi
* Referenced by: '<S17>/dz_cntTrnsDet'
*/
int16_T dz_cntTrnsDetLo; /* Variable: dz_cntTrnsDetLo
* Referenced by: '<S17>/dz_cntTrnsDet'
*/
int16_T n_cruiseMotTgt; /* Variable: n_cruiseMotTgt
* Referenced by: '<S61>/n_cruiseMotTgt'
*/
int16_T z_maxCntRst; /* Variable: z_maxCntRst
* Referenced by:
* '<S13>/Counter'
* '<S13>/z_maxCntRst'
* '<S13>/z_maxCntRst2'
* '<S13>/UnitDelay3'
* '<S17>/z_counter'
*/
uint16_T cf_speedCoef; /* Variable: cf_speedCoef
* Referenced by: '<S17>/cf_speedCoef'
*/
uint16_T t_errDequal; /* Variable: t_errDequal
* Referenced by: '<S20>/t_errDequal'
*/
uint16_T t_errQual; /* Variable: t_errQual
* Referenced by: '<S20>/t_errQual'
*/
int16_T Vd_max; /* Variable: Vd_max
* Referenced by:
* '<S36>/Vd_max'
* '<S80>/Vd_max1'
*/
int16_T Vq_max_M1[46]; /* Variable: Vq_max_M1
* Referenced by: '<S80>/Vq_max_M1'
*/
int16_T Vq_max_XA[46]; /* Variable: Vq_max_XA
* Referenced by: '<S80>/Vq_max_XA'
*/
int16_T a_phaAdvMax; /* Variable: a_phaAdvMax
* Referenced by: '<S42>/a_phaAdvMax'
*/
int16_T i_max; /* Variable: i_max
* Referenced by:
* '<S36>/i_max'
* '<S80>/i_max'
*/
int16_T id_fieldWeakMax; /* Variable: id_fieldWeakMax
* Referenced by: '<S42>/id_fieldWeakMax'
*/
int16_T n_commAcvLo; /* Variable: n_commAcvLo
* Referenced by: '<S13>/n_commDeacv'
*/
int16_T n_commDeacvHi; /* Variable: n_commDeacvHi
* Referenced by: '<S13>/n_commDeacv'
*/
int16_T n_fieldWeakAuthHi; /* Variable: n_fieldWeakAuthHi
* Referenced by: '<S42>/n_fieldWeakAuthHi'
*/
int16_T n_fieldWeakAuthLo; /* Variable: n_fieldWeakAuthLo
* Referenced by: '<S42>/n_fieldWeakAuthLo'
*/
int16_T n_max; /* Variable: n_max
* Referenced by:
* '<S36>/n_max'
* '<S80>/n_max1'
*/
int16_T n_stdStillDet; /* Variable: n_stdStillDet
* Referenced by: '<S13>/n_stdStillDet'
*/
int16_T r_errInpTgtThres; /* Variable: r_errInpTgtThres
* Referenced by: '<S20>/r_errInpTgtThres'
*/
int16_T r_fieldWeakHi; /* Variable: r_fieldWeakHi
* Referenced by: '<S42>/r_fieldWeakHi'
*/
int16_T r_fieldWeakLo; /* Variable: r_fieldWeakLo
* Referenced by: '<S42>/r_fieldWeakLo'
*/
uint16_T cf_KbLimProt; /* Variable: cf_KbLimProt
* Referenced by:
* '<S82>/cf_KbLimProt'
* '<S83>/cf_KbLimProt'
*/
uint16_T cf_idKp; /* Variable: cf_idKp
* Referenced by: '<S63>/cf_idKp1'
*/
uint16_T cf_iqKp; /* Variable: cf_iqKp
* Referenced by: '<S62>/cf_iqKp'
*/
uint16_T cf_nKp; /* Variable: cf_nKp
* Referenced by: '<S61>/cf_nKp'
*/
uint16_T cf_currFilt; /* Variable: cf_currFilt
* Referenced by: '<S50>/cf_currFilt'
*/
uint16_T cf_idKi; /* Variable: cf_idKi
* Referenced by: '<S63>/cf_idKi1'
*/
uint16_T cf_iqKi; /* Variable: cf_iqKi
* Referenced by: '<S62>/cf_iqKi'
*/
uint16_T cf_iqKiLimProt; /* Variable: cf_iqKiLimProt
* Referenced by:
* '<S81>/cf_iqKiLimProt'
* '<S83>/cf_iqKiLimProt'
*/
uint16_T cf_nKi; /* Variable: cf_nKi
* Referenced by: '<S61>/cf_nKi'
*/
uint16_T cf_nKiLimProt; /* Variable: cf_nKiLimProt
* Referenced by:
* '<S82>/cf_nKiLimProt'
* '<S83>/cf_nKiLimProt'
*/
uint8_T n_polePairs; /* Variable: n_polePairs
* Referenced by: '<S15>/n_polePairs'
*/
uint8_T z_ctrlTypSel; /* Variable: z_ctrlTypSel
* Referenced by: '<S1>/z_ctrlTypSel'
*/
uint8_T z_selPhaCurMeasABC; /* Variable: z_selPhaCurMeasABC
* Referenced by: '<S49>/z_selPhaCurMeasABC'
*/
boolean_T b_angleMeasEna; /* Variable: b_angleMeasEna
* Referenced by:
* '<S3>/b_angleMeasEna'
* '<S13>/b_angleMeasEna'
*/
boolean_T b_cruiseCtrlEna; /* Variable: b_cruiseCtrlEna
* Referenced by: '<S1>/b_cruiseCtrlEna'
*/
boolean_T b_diagEna; /* Variable: b_diagEna
* Referenced by: '<S4>/b_diagEna'
*/
boolean_T b_fieldWeakEna; /* Variable: b_fieldWeakEna
* Referenced by:
* '<S6>/b_fieldWeakEna'
* '<S97>/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 '<S13>/Scope2' : Unused code path elimination
* Block '<S14>/Scope' : Unused code path elimination
* Block '<S41>/Data Type Duplicate' : Unused code path elimination
* Block '<S41>/Data Type Propagation' : Unused code path elimination
* Block '<S43>/Data Type Duplicate' : Unused code path elimination
* Block '<S43>/Data Type Propagation' : Unused code path elimination
* Block '<S44>/Data Type Duplicate' : Unused code path elimination
* Block '<S44>/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 '<S75>/Data Type Duplicate' : Unused code path elimination
* Block '<S75>/Data Type Propagation' : Unused code path elimination
* Block '<S79>/Data Type Duplicate' : Unused code path elimination
* Block '<S79>/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 '<S87>/Data Type Duplicate' : Unused code path elimination
* Block '<S87>/Data Type Propagation' : Unused code path elimination
* Block '<S91>/Data Type Duplicate' : Unused code path elimination
* Block '<S91>/Data Type Propagation' : Unused code path elimination
* Block '<S93>/Data Type Duplicate' : Unused code path elimination
* Block '<S93>/Data Type Propagation' : Unused code path elimination
* Block '<S7>/Scope12' : Unused code path elimination
* Block '<S7>/Scope8' : Unused code path elimination
* Block '<S7>/toNegative' : Unused code path elimination
* Block '<S97>/Scope' : Unused code path elimination
* Block '<S2>/Data Type Conversion' : Eliminate redundant data type conversion
* Block '<S72>/Data Type Conversion1' : 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/Call_Scheduler'
* '<S3>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations'
* '<S4>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics'
* '<S5>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager'
* '<S6>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening'
* '<S7>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control'
* '<S8>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management'
* '<S9>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Task_Scheduler'
* '<S10>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Edge_Detector'
* '<S11>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_02_Position_Calculation'
* '<S12>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_03_Direction_Detection'
* '<S13>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation'
* '<S14>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Electrical_Angle_Estimation'
* '<S15>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement'
* '<S16>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter'
* '<S17>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Raw_Motor_Speed_Estimation'
* '<S18>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter/rst_Delay'
* '<S19>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement/Modulo_fixdt'
* '<S20>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled'
* '<S21>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter'
* '<S22>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/either_edge'
* '<S23>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Default'
* '<S24>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification'
* '<S25>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification'
* '<S26>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/either_edge'
* '<S27>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter'
* '<S28>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter/rst_Delay'
* '<S29>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter'
* '<S30>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter/rst_Delay'
* '<S31>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_01_Mode_Transition_Calculation'
* '<S32>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_02_Control_Mode_Manager'
* '<S33>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis'
* '<S34>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Control_Type'
* '<S35>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Mode'
* '<S36>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/FOC_Control_Type'
* '<S37>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode'
* '<S38>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter'
* '<S39>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/rising_edge_init'
* '<S40>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Delay_Init1'
* '<S41>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Saturation Dynamic'
* '<S42>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled'
* '<S43>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled/Saturation Dynamic'
* '<S44>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled/Saturation Dynamic1'
* '<S45>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward'
* '<S46>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse'
* '<S47>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC'
* '<S48>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations'
* '<S49>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform'
* '<S50>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Current_Filtering'
* '<S51>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Park_Transform'
* '<S52>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Sine_Cosine_Approximation'
* '<S53>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesAB'
* '<S54>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesAC'
* '<S55>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesBC'
* '<S56>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Current_Filtering/Low_Pass_Filter'
* '<S57>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse/Inv_Clarke_Transform'
* '<S58>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse/Inv_Park_Transform'
* '<S59>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled'
* '<S60>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Open_Mode'
* '<S61>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode'
* '<S62>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode'
* '<S63>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation'
* '<S64>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Voltage_Mode'
* '<S65>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt'
* '<S66>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Clamping_circuit'
* '<S67>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Integrator'
* '<S68>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Saturation_hit'
* '<S69>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt'
* '<S70>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/Saturation Dynamic1'
* '<S71>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Clamping_circuit'
* '<S72>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Integrator'
* '<S73>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Saturation_hit'
* '<S74>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt'
* '<S75>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/Saturation Dynamic'
* '<S76>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Clamping_circuit'
* '<S77>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Integrator'
* '<S78>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Saturation_hit'
* '<S79>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Voltage_Mode/Saturation Dynamic1'
* '<S80>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled'
* '<S81>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Speed_Mode_Protection'
* '<S82>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection'
* '<S83>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection'
* '<S84>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Speed_Mode_Protection/Saturation Dynamic'
* '<S85>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt'
* '<S86>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt/Integrator'
* '<S87>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
* '<S88>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt'
* '<S89>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1'
* '<S90>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt/Integrator'
* '<S91>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
* '<S92>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1/Integrator'
* '<S93>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1/Saturation Dynamic1'
* '<S94>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/COM_Method'
* '<S95>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/FOC_Method'
* '<S96>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method'
* '<S97>' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation'
* '<S98>' : '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]
*/

386
body/board/bldc/BLDC_controller_data.c Normal file
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/*
* File: BLDC_controller_data.c
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* 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_sin_M1_Table
* Referenced by: '<S52>/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: '<S52>/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: r_sin3PhaA_M1_Table
* Referenced by: '<S96>/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: '<S96>/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: '<S96>/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: iq_maxSca_M1_Table
* Referenced by: '<S80>/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: '<S94>/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: '<S11>/vec_hallToPos'
*/
{ 0, 2, 0, 1, 4, 3, 5, 0 }
};
P rtP_Left = {
/* Variable: dV_openRate
* Referenced by: '<S37>/dV_openRate'
*/
12288,
/* Variable: dz_cntTrnsDetHi
* Referenced by: '<S17>/dz_cntTrnsDet'
*/
40,
/* Variable: dz_cntTrnsDetLo
* Referenced by: '<S17>/dz_cntTrnsDet'
*/
20,
/* Variable: n_cruiseMotTgt
* Referenced by: '<S61>/n_cruiseMotTgt'
*/
0,
/* Variable: z_maxCntRst
* Referenced by:
* '<S13>/Counter'
* '<S13>/z_maxCntRst'
* '<S13>/z_maxCntRst2'
* '<S13>/UnitDelay3'
* '<S17>/z_counter'
*/
2000,
/* Variable: cf_speedCoef
* Referenced by: '<S17>/cf_speedCoef'
*/
10667U,
/* Variable: t_errDequal
* Referenced by: '<S20>/t_errDequal'
*/
9600U,
/* Variable: t_errQual
* Referenced by: '<S20>/t_errQual'
*/
1280U,
/* Variable: Vd_max
* Referenced by:
* '<S36>/Vd_max'
* '<S80>/Vd_max1'
*/
14400,
/* Variable: Vq_max_M1
* Referenced by: '<S80>/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: '<S80>/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: '<S42>/a_phaAdvMax'
*/
400,
/* Variable: i_max
* Referenced by:
* '<S36>/i_max'
* '<S80>/i_max'
*/
12000,
/* Variable: id_fieldWeakMax
* Referenced by: '<S42>/id_fieldWeakMax'
*/
4000,
/* Variable: n_commAcvLo
* Referenced by: '<S13>/n_commDeacv'
*/
240,
/* Variable: n_commDeacvHi
* Referenced by: '<S13>/n_commDeacv'
*/
480,
/* Variable: n_fieldWeakAuthHi
* Referenced by: '<S42>/n_fieldWeakAuthHi'
*/
6400,
/* Variable: n_fieldWeakAuthLo
* Referenced by: '<S42>/n_fieldWeakAuthLo'
*/
4800,
/* Variable: n_max
* Referenced by:
* '<S36>/n_max'
* '<S80>/n_max1'
*/
16000,
/* Variable: n_stdStillDet
* Referenced by: '<S13>/n_stdStillDet'
*/
48,
/* Variable: r_errInpTgtThres
* Referenced by: '<S20>/r_errInpTgtThres'
*/
9600,
/* Variable: r_fieldWeakHi
* Referenced by: '<S42>/r_fieldWeakHi'
*/
16000,
/* Variable: r_fieldWeakLo
* Referenced by: '<S42>/r_fieldWeakLo'
*/
12000,
/* Variable: cf_KbLimProt
* Referenced by:
* '<S82>/cf_KbLimProt'
* '<S83>/cf_KbLimProt'
*/
768U,
/* Variable: cf_idKp
* Referenced by: '<S63>/cf_idKp1'
*/
819U,
/* Variable: cf_iqKp
* Referenced by: '<S62>/cf_iqKp'
*/
1229U,
/* Variable: cf_nKp
* Referenced by: '<S61>/cf_nKp'
*/
4833U,
/* Variable: cf_currFilt
* Referenced by: '<S50>/cf_currFilt'
*/
7864U,
/* Variable: cf_idKi
* Referenced by: '<S63>/cf_idKi1'
*/
737U,
/* Variable: cf_iqKi
* Referenced by: '<S62>/cf_iqKi'
*/
1229U,
/* Variable: cf_iqKiLimProt
* Referenced by:
* '<S81>/cf_iqKiLimProt'
* '<S83>/cf_iqKiLimProt'
*/
737U,
/* Variable: cf_nKi
* Referenced by: '<S61>/cf_nKi'
*/
251U,
/* Variable: cf_nKiLimProt
* Referenced by:
* '<S82>/cf_nKiLimProt'
* '<S83>/cf_nKiLimProt'
*/
246U,
/* Variable: n_polePairs
* Referenced by: '<S15>/n_polePairs'
*/
15U,
/* Variable: z_ctrlTypSel
* Referenced by: '<S1>/z_ctrlTypSel'
*/
2U,
/* Variable: z_selPhaCurMeasABC
* Referenced by: '<S49>/z_selPhaCurMeasABC'
*/
0U,
/* Variable: b_angleMeasEna
* Referenced by:
* '<S3>/b_angleMeasEna'
* '<S13>/b_angleMeasEna'
*/
0,
/* Variable: b_cruiseCtrlEna
* Referenced by: '<S1>/b_cruiseCtrlEna'
*/
0,
/* Variable: b_diagEna
* Referenced by: '<S4>/b_diagEna'
*/
1,
/* Variable: b_fieldWeakEna
* Referenced by:
* '<S6>/b_fieldWeakEna'
* '<S97>/b_fieldWeakEna'
*/
0
}; /* Modifiable parameters */
/*
* File trailer for generated code.
*
* [EOF]
*/

270
body/board/bldc/bldc.c Normal file
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/*
* This file implements FOC motor control.
* This control method offers superior performanace
* compared to previous cummutation method. The new method features:
* ► reduced noise and vibrations
* ► smooth torque output
* ► improved motor efficiency -> lower energy consumption
*
* Copyright (C) 2019-2020 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
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "stm32f4xx_hal.h"
#include "defines.h"
#include "config.h"
#include "util.h"
// Matlab includes and defines - from auto-code generation
// ###############################################################################
#include "BLDC_controller.h" /* Model's header file */
#include "rtwtypes.h"
extern board_t board;
extern RT_MODEL *const rtM_Left;
extern RT_MODEL *const rtM_Right;
extern DW rtDW_Left; /* Observable states */
extern ExtU rtU_Left; /* External inputs */
extern ExtY rtY_Left; /* External outputs */
extern P rtP_Left;
extern DW rtDW_Right; /* Observable states */
extern ExtU rtU_Right; /* External inputs */
extern ExtY rtY_Right; /* External outputs */
// ###############################################################################
static int16_t pwm_margin; /* This margin allows to have a window in the PWM signal for proper FOC Phase currents measurement */
extern uint8_t ctrlModReq;
static int16_t curDC_max = (I_DC_MAX * A2BIT_CONV);
int16_t curL_phaA = 0, curL_phaB = 0, curL_DC = 0;
int16_t curR_phaB = 0, curR_phaC = 0, curR_DC = 0;
volatile int pwml = 0;
volatile int pwmr = 0;
extern volatile adc_buf_t adc_buffer;
uint8_t buzzerFreq = 0;
uint8_t buzzerPattern = 0;
uint8_t buzzerCount = 0;
volatile uint32_t buzzerTimer = 0;
static uint8_t buzzerPrev = 0;
static uint8_t buzzerIdx = 0;
uint8_t enable_motors = 0; // initially motors are disabled for SAFETY
static uint8_t enableFin = 0;
static const uint16_t pwm_res = CORE_FREQ / 2 / PWM_FREQ;
static uint16_t offsetcount = 0;
static int16_t offsetrlA = 2000;
static int16_t offsetrlB = 2000;
static int16_t offsetrrB = 2000;
static int16_t offsetrrC = 2000;
static int16_t offsetdcl = 2000;
static int16_t offsetdcr = 2000;
int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
static int32_t batVoltageFixdt = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 16; // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
int32_t motPosL = 0;
int32_t motPosR = 0;
// DMA interrupt frequency =~ 16 kHz
void DMA2_Stream0_IRQHandler(void) {
DMA2->LIFCR = DMA_LIFCR_CTCIF0;
if(offsetcount < 2000) { // calibrate ADC offsets
offsetcount++;
offsetrlA = (adc_buffer.rlA + offsetrlA) / 2;
offsetrlB = (adc_buffer.rlB + offsetrlB) / 2;
offsetrrB = (adc_buffer.rrB + offsetrrB) / 2;
offsetrrC = (adc_buffer.rrC + offsetrrC) / 2;
offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
return;
}
if (buzzerTimer % 1000 == 0) { // Filter battery voltage at a slower sampling rate
filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt);
batVoltage = (int16_t)(batVoltageFixdt >> 16); // convert fixed-point to integer
}
// Get Left motor currents
curL_phaA = (int16_t)(offsetrlA - adc_buffer.rlA);
curL_phaB = (int16_t)(offsetrlB - adc_buffer.rlB);
curL_DC = (int16_t)(offsetdcl - adc_buffer.dcl);
// Get Right motor currents
curR_phaB = (int16_t)(offsetrrB - adc_buffer.rrB);
curR_phaC = (int16_t)(offsetrrC - adc_buffer.rrC);
curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr);
// Disable PWM when current limit is reached (current chopping)
// This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
if(ABS(curL_DC) > curDC_max || enable_motors == 0) {
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
} else {
LEFT_TIM->BDTR |= TIM_BDTR_MOE;
}
if(ABS(curR_DC) > curDC_max || enable_motors == 0) {
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
} else {
RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
}
// Create square wave for buzzer
buzzerTimer++;
if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0) {
if (buzzerPrev == 0) {
buzzerPrev = 1;
if (++buzzerIdx > (buzzerCount + 2)) { // pause 2 periods
buzzerIdx = 1;
}
}
if (buzzerTimer % buzzerFreq == 0 && (buzzerIdx <= buzzerCount || buzzerCount == 0)) {
HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
}
} else if (buzzerPrev) {
HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, GPIO_PIN_RESET);
buzzerPrev = 0;
}
// Adjust pwm_margin depending on the selected Control Type
if (rtP_Left.z_ctrlTypSel == FOC_CTRL) {
pwm_margin = 110;
} else {
pwm_margin = 0;
}
// ############################### MOTOR CONTROL ###############################
int ul, vl, wl;
int ur, vr, wr;
static boolean_T OverrunFlag = false;
if (OverrunFlag) {
return;
}
OverrunFlag = true;
/* Make sure to stop BOTH motors in case of an error */
enableFin = enable_motors && !rtY_Left.z_errCode && !rtY_Right.z_errCode;
// ========================= LEFT MOTOR ============================
uint8_t hall_ul = !(board.hall_left.hall_portA->IDR & board.hall_left.hall_pinA);
uint8_t hall_vl = !(board.hall_left.hall_portB->IDR & board.hall_left.hall_pinB);
uint8_t hall_wl = !(board.hall_left.hall_portC->IDR & board.hall_left.hall_pinC);
rtU_Left.b_motEna = enableFin;
rtU_Left.z_ctrlModReq = ctrlModReq;
rtU_Left.r_inpTgt = pwml;
rtU_Left.b_hallA = hall_wl;
rtU_Left.b_hallB = hall_vl;
rtU_Left.b_hallC = hall_ul;
rtU_Left.i_phaAB = curL_phaA;
rtU_Left.i_phaBC = curL_phaB;
rtU_Left.i_DCLink = curL_DC;
#ifdef MOTOR_LEFT_ENA
BLDC_controller_step(rtM_Left);
#endif
ul = rtY_Left.DC_phaA;
vl = rtY_Left.DC_phaB;
wl = rtY_Left.DC_phaC;
/* Apply commands */
LEFT_TIM->LEFT_TIM_U = (uint16_t)CLAMP(ul + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
LEFT_TIM->LEFT_TIM_V = (uint16_t)CLAMP(vl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
LEFT_TIM->LEFT_TIM_W = (uint16_t)CLAMP(wl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
// =================================================================
// ========================= RIGHT MOTOR ===========================
uint8_t hall_ur = !(board.hall_right.hall_portA->IDR & board.hall_right.hall_pinA);
uint8_t hall_vr = !(board.hall_right.hall_portB->IDR & board.hall_right.hall_pinB);
uint8_t hall_wr = !(board.hall_right.hall_portC->IDR & board.hall_right.hall_pinC);
rtU_Right.b_motEna = enableFin;
rtU_Right.z_ctrlModReq = ctrlModReq;
rtU_Right.r_inpTgt = pwmr;
rtU_Right.b_hallA = hall_ur;
rtU_Right.b_hallB = hall_vr;
rtU_Right.b_hallC = hall_wr;
rtU_Right.i_phaAB = curR_phaB;
rtU_Right.i_phaBC = curR_phaC;
rtU_Right.i_DCLink = curR_DC;
#ifdef MOTOR_RIGHT_ENA
BLDC_controller_step(rtM_Right);
#endif
ur = rtY_Right.DC_phaA;
vr = rtY_Right.DC_phaB;
wr = rtY_Right.DC_phaC;
/* Apply commands */
RIGHT_TIM->RIGHT_TIM_U = (uint16_t)CLAMP(ur + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
RIGHT_TIM->RIGHT_TIM_V = (uint16_t)CLAMP(vr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
RIGHT_TIM->RIGHT_TIM_W = (uint16_t)CLAMP(wr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
// =================================================================
OverrunFlag = false;
static int16_t motAngleLeftLast = 0;
static int16_t motAngleRightLast = 0;
static int32_t cycleDegsL = 0; // wheel encoder roll over count in deg
static int32_t cycleDegsR = 0; // wheel encoder roll over count in deg
int16_t diffL = 0;
int16_t diffR = 0;
static int16_t cnt = 0;
if (enable_motors == 0) { // Reset everything if motors are disabled
cycleDegsL = 0;
cycleDegsR = 0;
diffL = 0;
diffR = 0;
cnt = 0;
}
if (cnt == 0) {
motAngleLeftLast = rtY_Left.a_elecAngle;
motAngleRightLast = rtY_Right.a_elecAngle;
}
diffL = rtY_Left.a_elecAngle - motAngleLeftLast;
if (diffL < -180) {
cycleDegsL = cycleDegsL - 360;
} else if (diffL > 180) {
cycleDegsL = cycleDegsL + 360;
}
motPosL = cycleDegsL + (360 - rtY_Left.a_elecAngle);
diffR = rtY_Right.a_elecAngle - motAngleRightLast;
if (diffR < -180) {
cycleDegsR = cycleDegsR - 360;
} else if (diffR > 180) {
cycleDegsR = cycleDegsR + 360;
}
motPosR = cycleDegsR + (360 - rtY_Right.a_elecAngle);
motAngleLeftLast = rtY_Left.a_elecAngle;
motAngleRightLast = rtY_Right.a_elecAngle;
cnt++;
}

104
body/board/bldc/rtwtypes.h Normal file
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/*
* File: rtwtypes.h
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* 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]
*/