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hoverboard-firmware-hack-fo.../Src/BLDC_controller.c

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Initial commit
2019-10-06 13:09:15 +00:00
/*
* File: BLDC_controller.c
*
* Code generated for Simulink model 'BLDC_controller'.
*
Variant_PWM implemented
2020-03-24 18:57:08 +00:00
* Model version : 1.1260
Initial commit
2019-10-06 13:09:15 +00:00
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
Variant_PWM implemented
2020-03-24 18:57:08 +00:00
* C/C++ source code generated on : Tue Mar 24 11:01:08 2020
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
*/
#include "BLDC_controller.h"
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
/* Named constants for Chart: '<S4>/F03_02_Control_Mode_Manager' */
Initial commit
2019-10-06 13:09:15 +00:00
#define IN_ACTIVE ((uint8_T)1U)
#define IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define IN_OPEN ((uint8_T)2U)
#define IN_SPEED_MODE ((uint8_T)1U)
#define IN_TORQUE_MODE ((uint8_T)2U)
#define IN_VOLTAGE_MODE ((uint8_T)3U)
#define OPEN_MODE ((uint8_T)0U)
#define SPD_MODE ((uint8_T)2U)
#define TRQ_MODE ((uint8_T)3U)
#define VLT_MODE ((uint8_T)1U)
#ifndef UCHAR_MAX
#include <limits.h>
#endif
#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
#error Code was generated for compiler with different sized uchar/char. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
#error Code was generated for compiler with different sized ushort/short. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized uint/int. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized ulong/long. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if 0
/* Skip this size verification because of preprocessor limitation */
#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
#error Code was generated for compiler with different sized ulong_long/long_long. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#endif
uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
maxIndex);
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
uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
maxIndex);
int32_T div_nde_s32_floor(int32_T numerator, int32_T denominator);
Initial commit
2019-10-06 13:09:15 +00:00
extern void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit);
extern int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst,
DW_Counter *localDW);
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
extern void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
int16_T rtu_satMax, int16_T rtu_satMin, int32_T rtu_ext_limProt, int16_T
*rty_out, DW_PI_clamp_fixdt *localDW);
Initial commit
2019-10-06 13:09:15 +00:00
extern void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW);
extern void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T
rty_y[2], DW_Low_Pass_Filter *localDW);
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
extern void I_backCalc_fixdt_Init(DW_I_backCalc_fixdt *localDW, int32_T
rtp_yInit);
extern void I_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_I, uint16_T rtu_Kb,
int16_T rtu_satMax, int16_T rtu_satMin, int16_T *rty_out, DW_I_backCalc_fixdt *
localDW);
Initial commit
2019-10-06 13:09:15 +00:00
extern void Counter_b_Init(DW_Counter_l *localDW, uint16_T rtp_z_cntInit);
extern uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
DW_Counter_l *localDW);
extern boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW);
extern void Debounce_Filter_Init(DW_Debounce_Filter *localDW);
extern void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T
rtu_tDeacv, boolean_T *rty_y, DW_Debounce_Filter *localDW);
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
uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
Initial commit
2019-10-06 13:09:15 +00:00
maxIndex)
{
uint8_T bpIndex;
uint16_T fbpIndex;
/* Prelookup - Index only
Index Search method: 'even'
Extrapolation method: 'Clip'
Use previous index: 'off'
Use last breakpoint for index at or above upper limit: 'on'
Remove protection against out-of-range input in generated code: 'off'
*/
if (u <= bp0) {
bpIndex = 0U;
} else {
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
fbpIndex = (uint16_T)((uint32_T)(uint16_T)(u - bp0) / bpSpace);
Initial commit
2019-10-06 13:09:15 +00:00
if (fbpIndex < maxIndex) {
bpIndex = (uint8_T)fbpIndex;
} else {
bpIndex = (uint8_T)maxIndex;
}
}
return bpIndex;
}
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
uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
Initial commit
2019-10-06 13:09:15 +00:00
maxIndex)
{
uint8_T bpIndex;
uint16_T fbpIndex;
/* Prelookup - Index only
Index Search method: 'even'
Extrapolation method: 'Clip'
Use previous index: 'off'
Use last breakpoint for index at or above upper limit: 'on'
Remove protection against out-of-range input in generated code: 'off'
*/
if (u <= bp0) {
bpIndex = 0U;
} else {
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
fbpIndex = (uint16_T)((uint32_T)(uint16_T)((uint32_T)u - bp0) / bpSpace);
Initial commit
2019-10-06 13:09:15 +00:00
if (fbpIndex < maxIndex) {
bpIndex = (uint8_T)fbpIndex;
} else {
bpIndex = (uint8_T)maxIndex;
}
}
return bpIndex;
}
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
int32_T div_nde_s32_floor(int32_T numerator, int32_T denominator)
{
return (((numerator < 0) != (denominator < 0)) && (numerator % denominator !=
0) ? -1 : 0) + numerator / denominator;
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
/* System initialize for atomic system: '<S12>/Counter' */
Initial commit
2019-10-06 13:09:15 +00:00
void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit)
{
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
/* InitializeConditions for UnitDelay: '<S16>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
localDW->UnitDelay_DSTATE = rtp_z_cntInit;
}
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
/* Output and update for atomic system: '<S12>/Counter' */
Initial commit
2019-10-06 13:09:15 +00:00
int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst, DW_Counter *
localDW)
{
int16_T rtu_rst_0;
int16_T rty_cnt_0;
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
/* Switch: '<S16>/Switch1' incorporates:
* Constant: '<S16>/Constant23'
* UnitDelay: '<S16>/UnitDelay'
Initial commit
2019-10-06 13:09:15 +00:00
*/
if (rtu_rst) {
rtu_rst_0 = 0;
} else {
rtu_rst_0 = localDW->UnitDelay_DSTATE;
}
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
/* End of Switch: '<S16>/Switch1' */
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
/* Sum: '<S14>/Sum1' */
Initial commit
2019-10-06 13:09:15 +00:00
rty_cnt_0 = (int16_T)(rtu_inc + rtu_rst_0);
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
/* MinMax: '<S14>/MinMax' */
Initial commit
2019-10-06 13:09:15 +00:00
if (rty_cnt_0 < rtu_max) {
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
/* Update for UnitDelay: '<S16>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
localDW->UnitDelay_DSTATE = rty_cnt_0;
} else {
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
/* Update for UnitDelay: '<S16>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
localDW->UnitDelay_DSTATE = rtu_max;
}
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
/* End of MinMax: '<S14>/MinMax' */
Initial commit
2019-10-06 13:09:15 +00:00
return rty_cnt_0;
}
/*
* Output and update for atomic system:
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
* '<S54>/PI_clamp_fixdt'
* '<S52>/PI_clamp_fixdt'
* '<S53>/PI_clamp_fixdt'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T
rtu_satMax, int16_T rtu_satMin, int32_T rtu_ext_limProt,
int16_T *rty_out, DW_PI_clamp_fixdt *localDW)
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
boolean_T rtb_LowerRelop1_c;
boolean_T rtb_UpperRelop_e;
int32_T rtb_Sum1_n;
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
int32_T q0;
Initial commit
2019-10-06 13:09:15 +00:00
int32_T tmp;
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
int16_T tmp_0;
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
/* Sum: '<S65>/Sum2' incorporates:
* Product: '<S65>/Divide2'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
q0 = rtu_err * rtu_I;
if ((q0 < 0) && (rtu_ext_limProt < MIN_int32_T - q0)) {
q0 = MIN_int32_T;
} else if ((q0 > 0) && (rtu_ext_limProt > MAX_int32_T - q0)) {
q0 = MAX_int32_T;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
q0 += rtu_ext_limProt;
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
/* Switch: '<S65>/Switch1' incorporates:
* Constant: '<S65>/Constant'
* Sum: '<S65>/Sum2'
* UnitDelay: '<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
*/
if (localDW->UnitDelay1_DSTATE) {
tmp = 0;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
tmp = q0;
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
/* End of Switch: '<S65>/Switch1' */
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
/* Sum: '<S68>/Sum1' incorporates:
* UnitDelay: '<S68>/UnitDelay'
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
rtb_Sum1_n = tmp + localDW->UnitDelay_DSTATE;
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
/* Product: '<S65>/Divide5' */
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
tmp = (rtu_err * rtu_P) >> 11;
Initial commit
2019-10-06 13:09:15 +00:00
if (tmp > 32767) {
tmp = 32767;
} else {
if (tmp < -32768) {
tmp = -32768;
}
}
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
/* Sum: '<S65>/Sum1' incorporates:
* DataTypeConversion: '<S68>/Data Type Conversion1'
* Product: '<S65>/Divide5'
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
tmp = (((rtb_Sum1_n >> 16) << 1) + tmp) >> 1;
Initial commit
2019-10-06 13:09:15 +00:00
if (tmp > 32767) {
tmp = 32767;
} else {
if (tmp < -32768) {
tmp = -32768;
}
}
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
/* RelationalOperator: '<S69>/LowerRelop1' incorporates:
* Sum: '<S65>/Sum1'
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
*/
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
rtb_LowerRelop1_c = ((int16_T)tmp > rtu_satMax);
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
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
/* RelationalOperator: '<S69>/UpperRelop' incorporates:
* Sum: '<S65>/Sum1'
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
rtb_UpperRelop_e = ((int16_T)tmp < rtu_satMin);
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
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
/* Switch: '<S69>/Switch1' incorporates:
* Sum: '<S65>/Sum1'
* Switch: '<S69>/Switch3'
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
*/
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
if (rtb_LowerRelop1_c) {
Initial commit
2019-10-06 13:09:15 +00:00
*rty_out = rtu_satMax;
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
} else if (rtb_UpperRelop_e) {
/* Switch: '<S69>/Switch3' */
Initial commit
2019-10-06 13:09:15 +00:00
*rty_out = rtu_satMin;
} else {
*rty_out = (int16_T)tmp;
}
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
/* End of Switch: '<S69>/Switch1' */
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
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
/* Signum: '<S67>/SignDeltaU2' incorporates:
* Sum: '<S65>/Sum2'
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
*/
if (q0 < 0) {
q0 = -1;
} else {
q0 = (q0 > 0);
}
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
/* End of Signum: '<S67>/SignDeltaU2' */
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
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
/* Signum: '<S67>/SignDeltaU3' incorporates:
* Sum: '<S65>/Sum1'
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
*/
if ((int16_T)tmp < 0) {
tmp_0 = -1;
} else {
tmp_0 = (int16_T)((int16_T)tmp > 0);
}
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
/* End of Signum: '<S67>/SignDeltaU3' */
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
/* Update for UnitDelay: '<S65>/UnitDelay1' incorporates:
* DataTypeConversion: '<S67>/DataTypeConv4'
* Logic: '<S65>/AND1'
* Logic: '<S67>/AND1'
* RelationalOperator: '<S67>/Equal1'
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
localDW->UnitDelay1_DSTATE = ((q0 == tmp_0) && (rtb_LowerRelop1_c ||
rtb_UpperRelop_e));
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
/* Update for UnitDelay: '<S68>/UnitDelay' */
localDW->UnitDelay_DSTATE = rtb_Sum1_n;
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
/* System reset for atomic system: '<S41>/Low_Pass_Filter' */
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
void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW)
Initial commit
2019-10-06 13:09:15 +00:00
{
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
/* InitializeConditions for UnitDelay: '<S50>/UnitDelay1' */
localDW->UnitDelay1_DSTATE[0] = 0;
localDW->UnitDelay1_DSTATE[1] = 0;
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
}
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
/* Output and update for atomic system: '<S41>/Low_Pass_Filter' */
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
void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T rty_y[2],
DW_Low_Pass_Filter *localDW)
{
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 rtb_Sum3_g;
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
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
/* Sum: '<S50>/Sum2' incorporates:
* UnitDelay: '<S50>/UnitDelay1'
*/
rtb_Sum3_g = rtu_u[0] - (localDW->UnitDelay1_DSTATE[0] >> 16);
if (rtb_Sum3_g > 32767) {
rtb_Sum3_g = 32767;
} else {
if (rtb_Sum3_g < -32768) {
rtb_Sum3_g = -32768;
}
}
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
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
/* Sum: '<S50>/Sum3' incorporates:
* Product: '<S50>/Divide3'
* Sum: '<S50>/Sum2'
* UnitDelay: '<S50>/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
*/
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
rtb_Sum3_g = rtu_coef * rtb_Sum3_g + localDW->UnitDelay1_DSTATE[0];
/* DataTypeConversion: '<S50>/Data Type Conversion' */
rty_y[0] = (int16_T)(rtb_Sum3_g >> 16);
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
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
/* Update for UnitDelay: '<S50>/UnitDelay1' */
localDW->UnitDelay1_DSTATE[0] = rtb_Sum3_g;
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
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
/* Sum: '<S50>/Sum2' incorporates:
* UnitDelay: '<S50>/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
*/
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
rtb_Sum3_g = rtu_u[1] - (localDW->UnitDelay1_DSTATE[1] >> 16);
if (rtb_Sum3_g > 32767) {
rtb_Sum3_g = 32767;
} else {
if (rtb_Sum3_g < -32768) {
rtb_Sum3_g = -32768;
}
}
/* Sum: '<S50>/Sum3' incorporates:
* Product: '<S50>/Divide3'
* Sum: '<S50>/Sum2'
* UnitDelay: '<S50>/UnitDelay1'
*/
rtb_Sum3_g = rtu_coef * rtb_Sum3_g + localDW->UnitDelay1_DSTATE[1];
/* DataTypeConversion: '<S50>/Data Type Conversion' */
rty_y[1] = (int16_T)(rtb_Sum3_g >> 16);
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
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
/* Update for UnitDelay: '<S50>/UnitDelay1' */
localDW->UnitDelay1_DSTATE[1] = rtb_Sum3_g;
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
}
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
/*
* System initialize for atomic system:
* '<S73>/I_backCalc_fixdt'
* '<S73>/I_backCalc_fixdt1'
* '<S72>/I_backCalc_fixdt'
*/
void I_backCalc_fixdt_Init(DW_I_backCalc_fixdt *localDW, int32_T rtp_yInit)
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
{
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
/* InitializeConditions for UnitDelay: '<S80>/UnitDelay' */
localDW->UnitDelay_DSTATE_h = rtp_yInit;
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
/*
* Output and update for atomic system:
* '<S73>/I_backCalc_fixdt'
* '<S73>/I_backCalc_fixdt1'
* '<S72>/I_backCalc_fixdt'
*/
void I_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_I, uint16_T rtu_Kb, int16_T
rtu_satMax, int16_T rtu_satMin, int16_T *rty_out,
DW_I_backCalc_fixdt *localDW)
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
int32_T rtb_Sum1_e0;
int16_T rtb_DataTypeConversion1_no;
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
/* Sum: '<S78>/Sum2' incorporates:
* Product: '<S78>/Divide2'
* UnitDelay: '<S78>/UnitDelay'
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
*/
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
rtb_Sum1_e0 = (rtu_err * rtu_I) >> 4;
if ((rtb_Sum1_e0 < 0) && (localDW->UnitDelay_DSTATE < MIN_int32_T
- rtb_Sum1_e0)) {
rtb_Sum1_e0 = MIN_int32_T;
} else if ((rtb_Sum1_e0 > 0) && (localDW->UnitDelay_DSTATE > MAX_int32_T
- rtb_Sum1_e0)) {
rtb_Sum1_e0 = MAX_int32_T;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
rtb_Sum1_e0 += localDW->UnitDelay_DSTATE;
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
/* End of Sum: '<S78>/Sum2' */
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
/* Sum: '<S80>/Sum1' incorporates:
* UnitDelay: '<S80>/UnitDelay'
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
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rtb_Sum1_e0 += localDW->UnitDelay_DSTATE_h;
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
/* DataTypeConversion: '<S80>/Data Type Conversion1' */
rtb_DataTypeConversion1_no = (int16_T)(rtb_Sum1_e0 >> 12);
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
/* Switch: '<S81>/Switch2' incorporates:
* RelationalOperator: '<S81>/LowerRelop1'
* RelationalOperator: '<S81>/UpperRelop'
* Switch: '<S81>/Switch'
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
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if (rtb_DataTypeConversion1_no > rtu_satMax) {
*rty_out = rtu_satMax;
} else if (rtb_DataTypeConversion1_no < rtu_satMin) {
/* Switch: '<S81>/Switch' */
*rty_out = rtu_satMin;
Initial commit
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} else {
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
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*rty_out = rtb_DataTypeConversion1_no;
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
/* End of Switch: '<S81>/Switch2' */
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
/* Update for UnitDelay: '<S78>/UnitDelay' incorporates:
* Product: '<S78>/Divide1'
* Sum: '<S78>/Sum3'
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
*/
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
localDW->UnitDelay_DSTATE = (int16_T)(*rty_out - rtb_DataTypeConversion1_no) *
rtu_Kb;
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
/* Update for UnitDelay: '<S80>/UnitDelay' */
localDW->UnitDelay_DSTATE_h = rtb_Sum1_e0;
Initial commit
2019-10-06 13:09:15 +00:00
}
/*
* System initialize for atomic system:
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
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* '<S21>/Counter'
* '<S20>/Counter'
Initial commit
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*/
void Counter_b_Init(DW_Counter_l *localDW, uint16_T rtp_z_cntInit)
{
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
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/* InitializeConditions for UnitDelay: '<S26>/UnitDelay' */
Initial commit
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localDW->UnitDelay_DSTATE = rtp_z_cntInit;
}
/*
* Output and update for atomic system:
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
* '<S21>/Counter'
* '<S20>/Counter'
Initial commit
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*/
uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
DW_Counter_l *localDW)
{
uint16_T rtu_rst_0;
uint16_T rty_cnt_0;
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
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/* Switch: '<S26>/Switch1' incorporates:
* Constant: '<S26>/Constant23'
* UnitDelay: '<S26>/UnitDelay'
Initial commit
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*/
if (rtu_rst) {
rtu_rst_0 = 0U;
} else {
rtu_rst_0 = localDW->UnitDelay_DSTATE;
}
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
/* End of Switch: '<S26>/Switch1' */
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
/* Sum: '<S25>/Sum1' */
Initial commit
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rty_cnt_0 = (uint16_T)((uint32_T)rtu_inc + rtu_rst_0);
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
/* MinMax: '<S25>/MinMax' */
Initial commit
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if (rty_cnt_0 < rtu_max) {
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
/* Update for UnitDelay: '<S26>/UnitDelay' */
Initial commit
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localDW->UnitDelay_DSTATE = rty_cnt_0;
} else {
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
/* Update for UnitDelay: '<S26>/UnitDelay' */
Initial commit
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localDW->UnitDelay_DSTATE = rtu_max;
}
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
/* End of MinMax: '<S25>/MinMax' */
Initial commit
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return rty_cnt_0;
}
/*
* Output and update for atomic system:
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
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* '<S17>/either_edge'
Initial commit
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* '<S3>/either_edge'
*/
boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW)
{
boolean_T rty_y_0;
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
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/* RelationalOperator: '<S22>/Relational Operator' incorporates:
* UnitDelay: '<S22>/UnitDelay'
Initial commit
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*/
rty_y_0 = (rtu_u != localDW->UnitDelay_DSTATE);
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
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/* Update for UnitDelay: '<S22>/UnitDelay' */
Initial commit
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localDW->UnitDelay_DSTATE = rtu_u;
return rty_y_0;
}
/* System initialize for atomic system: '<S3>/Debounce_Filter' */
void Debounce_Filter_Init(DW_Debounce_Filter *localDW)
{
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
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/* SystemInitialize for IfAction SubSystem: '<S17>/Qualification' */
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
/* SystemInitialize for Atomic SubSystem: '<S21>/Counter' */
Initial commit
2019-10-06 13:09:15 +00:00
Counter_b_Init(&localDW->Counter_i0, 0U);
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
/* End of SystemInitialize for SubSystem: '<S21>/Counter' */
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
/* End of SystemInitialize for SubSystem: '<S17>/Qualification' */
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
/* SystemInitialize for IfAction SubSystem: '<S17>/Dequalification' */
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
/* SystemInitialize for Atomic SubSystem: '<S20>/Counter' */
Initial commit
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Counter_b_Init(&localDW->Counter_h, 0U);
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
/* End of SystemInitialize for SubSystem: '<S20>/Counter' */
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
/* End of SystemInitialize for SubSystem: '<S17>/Dequalification' */
Initial commit
2019-10-06 13:09:15 +00:00
}
/* Output and update for atomic system: '<S3>/Debounce_Filter' */
void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T rtu_tDeacv,
boolean_T *rty_y, DW_Debounce_Filter *localDW)
{
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
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boolean_T rtb_UnitDelay_o;
uint16_T rtb_Sum1_g3;
Initial commit
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boolean_T rtb_RelationalOperator_f;
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
/* UnitDelay: '<S17>/UnitDelay' */
rtb_UnitDelay_o = localDW->UnitDelay_DSTATE;
/* Outputs for Atomic SubSystem: '<S17>/either_edge' */
Initial commit
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rtb_RelationalOperator_f = either_edge(rtu_u, &localDW->either_edge_k);
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
/* End of Outputs for SubSystem: '<S17>/either_edge' */
/* If: '<S17>/If2' incorporates:
* Constant: '<S20>/Constant6'
* Constant: '<S21>/Constant6'
* Inport: '<S19>/yPrev'
* Logic: '<S17>/Logical Operator1'
* Logic: '<S17>/Logical Operator2'
* Logic: '<S17>/Logical Operator3'
* Logic: '<S17>/Logical Operator4'
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
if (rtu_u && (!rtb_UnitDelay_o)) {
/* Outputs for IfAction SubSystem: '<S17>/Qualification' incorporates:
* ActionPort: '<S21>/Action Port'
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
/* Outputs for Atomic SubSystem: '<S21>/Counter' */
rtb_Sum1_g3 = (uint16_T) Counter_i(1U, rtu_tAcv, rtb_RelationalOperator_f,
Initial commit
2019-10-06 13:09:15 +00:00
&localDW->Counter_i0);
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
/* End of Outputs for SubSystem: '<S21>/Counter' */
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
/* Switch: '<S21>/Switch2' incorporates:
* Constant: '<S21>/Constant6'
* RelationalOperator: '<S21>/Relational Operator2'
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
*rty_y = (rtb_Sum1_g3 > rtu_tAcv);
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
/* End of Outputs for SubSystem: '<S17>/Qualification' */
} else if ((!rtu_u) && rtb_UnitDelay_o) {
/* Outputs for IfAction SubSystem: '<S17>/Dequalification' incorporates:
* ActionPort: '<S20>/Action Port'
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
/* Outputs for Atomic SubSystem: '<S20>/Counter' */
rtb_Sum1_g3 = (uint16_T) Counter_i(1U, rtu_tDeacv, rtb_RelationalOperator_f,
Initial commit
2019-10-06 13:09:15 +00:00
&localDW->Counter_h);
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
/* End of Outputs for SubSystem: '<S20>/Counter' */
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
/* Switch: '<S20>/Switch2' incorporates:
* Constant: '<S20>/Constant6'
* RelationalOperator: '<S20>/Relational Operator2'
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
*rty_y = !(rtb_Sum1_g3 > rtu_tDeacv);
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
/* End of Outputs for SubSystem: '<S17>/Dequalification' */
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
/* Outputs for IfAction SubSystem: '<S17>/Default' incorporates:
* ActionPort: '<S19>/Action Port'
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
*rty_y = rtb_UnitDelay_o;
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
/* End of Outputs for SubSystem: '<S17>/Default' */
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
/* End of If: '<S17>/If2' */
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
/* Update for UnitDelay: '<S17>/UnitDelay' */
Initial commit
2019-10-06 13:09:15 +00:00
localDW->UnitDelay_DSTATE = *rty_y;
}
/* Model step function */
void BLDC_controller_step(RT_MODEL *const rtM)
{
P *rtP = ((P *) rtM->defaultParam);
DW *rtDW = ((DW *) rtM->dwork);
ExtU *rtU = (ExtU *) rtM->inputs;
ExtY *rtY = (ExtY *) rtM->outputs;
uint8_T rtb_Sum;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
boolean_T rtb_LogicalOperator;
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 rtb_RelationalOperator9;
Initial commit
2019-10-06 13:09:15 +00:00
int8_T rtb_Sum2_h;
boolean_T rtb_RelationalOperator4_d;
boolean_T rtb_RelationalOperator1_m;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
uint8_T rtb_Sum_l;
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 rtb_Switch2_k;
Initial commit
2019-10-06 13:09:15 +00:00
int16_T rtb_Abs5;
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 rtb_Switch2_fl;
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
int16_T rtb_Switch1_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
int16_T rtb_DataTypeConversion2;
int16_T rtb_Saturation1;
int16_T rtb_Switch2_l;
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 rtb_Merge;
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 rtb_toNegative;
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
int32_T rtb_DataTypeConversion;
int32_T rtb_Switch1;
int32_T rtb_Sum1;
int32_T rtb_Gain3;
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
int16_T rtb_TmpSignalConversionAtLow_Pa[2];
int16_T tmp[4];
Initial commit
2019-10-06 13:09:15 +00:00
int8_T UnitDelay3;
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 rtb_Merge_f_idx_1;
Initial commit
2019-10-06 13:09:15 +00:00
/* Outputs for Atomic SubSystem: '<Root>/BLDC_controller' */
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
/* Sum: '<S10>/Sum' incorporates:
* Gain: '<S10>/g_Ha'
* Gain: '<S10>/g_Hb'
Initial commit
2019-10-06 13:09:15 +00:00
* Inport: '<Root>/b_hallA '
* Inport: '<Root>/b_hallB'
* Inport: '<Root>/b_hallC'
*/
rtb_Sum = (uint8_T)((uint32_T)(uint8_T)((uint32_T)(uint8_T)(rtU->b_hallA << 2)
+ (uint8_T)(rtU->b_hallB << 1)) + rtU->b_hallC);
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
/* Logic: '<S9>/Logical Operator' incorporates:
Initial commit
2019-10-06 13:09:15 +00:00
* Inport: '<Root>/b_hallA '
* Inport: '<Root>/b_hallB'
* Inport: '<Root>/b_hallC'
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
* UnitDelay: '<S9>/UnitDelay1'
* UnitDelay: '<S9>/UnitDelay2'
* UnitDelay: '<S9>/UnitDelay3'
Initial commit
2019-10-06 13:09:15 +00:00
*/
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
rtb_LogicalOperator = (boolean_T)((rtU->b_hallA != 0) ^ (rtU->b_hallB != 0) ^
(rtU->b_hallC != 0) ^ (rtDW->UnitDelay3_DSTATE_fy != 0) ^
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
(rtDW->UnitDelay1_DSTATE != 0)) ^ (rtDW->UnitDelay2_DSTATE_f != 0);
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
/* If: '<S12>/If2' incorporates:
Initial commit
2019-10-06 13:09:15 +00:00
* If: '<S2>/If2'
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
* Inport: '<S15>/z_counterRawPrev'
* UnitDelay: '<S12>/UnitDelay3'
Initial commit
2019-10-06 13:09:15 +00:00
*/
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
if (rtb_LogicalOperator) {
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
/* Outputs for IfAction SubSystem: '<S2>/F01_03_Direction_Detection' incorporates:
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
* ActionPort: '<S11>/Action Port'
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
/* UnitDelay: '<S11>/UnitDelay3' */
UnitDelay3 = rtDW->Switch2_e;
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
/* Sum: '<S11>/Sum2' incorporates:
* Constant: '<S10>/vec_hallToPos'
* Selector: '<S10>/Selector'
* UnitDelay: '<S11>/UnitDelay2'
Initial commit
2019-10-06 13:09:15 +00:00
*/
rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] -
rtDW->UnitDelay2_DSTATE_b);
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
/* Switch: '<S11>/Switch2' incorporates:
* Constant: '<S11>/Constant20'
* Constant: '<S11>/Constant23'
* Constant: '<S11>/Constant24'
* Constant: '<S11>/Constant8'
* Logic: '<S11>/Logical Operator3'
* RelationalOperator: '<S11>/Relational Operator1'
* RelationalOperator: '<S11>/Relational Operator6'
Initial commit
2019-10-06 13:09:15 +00:00
*/
if ((rtb_Sum2_h == 1) || (rtb_Sum2_h == -5)) {
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
rtDW->Switch2_e = 1;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
rtDW->Switch2_e = -1;
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
/* End of Switch: '<S11>/Switch2' */
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
/* Update for UnitDelay: '<S11>/UnitDelay2' incorporates:
* Constant: '<S10>/vec_hallToPos'
* Selector: '<S10>/Selector'
Initial commit
2019-10-06 13:09:15 +00:00
*/
rtDW->UnitDelay2_DSTATE_b = rtConstP.vec_hallToPos_Value[rtb_Sum];
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
/* End of Outputs for SubSystem: '<S2>/F01_03_Direction_Detection' */
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
/* Outputs for IfAction SubSystem: '<S12>/Raw_Motor_Speed_Estimation' incorporates:
* ActionPort: '<S15>/Action Port'
Initial commit
2019-10-06 13:09:15 +00:00
*/
rtDW->z_counterRawPrev = rtDW->UnitDelay3_DSTATE;
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
/* Sum: '<S15>/Sum7' incorporates:
* Inport: '<S15>/z_counterRawPrev'
* UnitDelay: '<S12>/UnitDelay3'
* UnitDelay: '<S15>/UnitDelay4'
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
rtb_Switch2_k = (int16_T)(rtDW->z_counterRawPrev - rtDW->UnitDelay4_DSTATE);
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
/* Abs: '<S15>/Abs2' */
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
if (rtb_Switch2_k < 0) {
rtb_Switch1_l = (int16_T)-rtb_Switch2_k;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
rtb_Switch1_l = rtb_Switch2_k;
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
/* End of Abs: '<S15>/Abs2' */
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
/* Relay: '<S15>/dz_cntTrnsDet' */
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
if (rtb_Switch1_l >= rtP->dz_cntTrnsDetHi) {
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->dz_cntTrnsDet_Mode = true;
} else {
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
if (rtb_Switch1_l <= rtP->dz_cntTrnsDetLo) {
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->dz_cntTrnsDet_Mode = false;
}
}
rtDW->dz_cntTrnsDet = rtDW->dz_cntTrnsDet_Mode;
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
/* End of Relay: '<S15>/dz_cntTrnsDet' */
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
/* RelationalOperator: '<S15>/Relational Operator4' */
rtb_RelationalOperator4_d = (rtDW->Switch2_e != UnitDelay3);
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
/* Switch: '<S15>/Switch3' incorporates:
* Constant: '<S15>/Constant4'
* Logic: '<S15>/Logical Operator1'
* Switch: '<S15>/Switch1'
* Switch: '<S15>/Switch2'
* UnitDelay: '<S15>/UnitDelay1'
Initial commit
2019-10-06 13:09:15 +00:00
*/
if (rtb_RelationalOperator4_d && rtDW->UnitDelay1_DSTATE_n) {
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
rtb_Switch1_l = 0;
Initial commit
2019-10-06 13:09:15 +00:00
} else if (rtb_RelationalOperator4_d) {
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
/* Switch: '<S15>/Switch2' incorporates:
* UnitDelay: '<S12>/UnitDelay4'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
rtb_Switch1_l = rtDW->UnitDelay4_DSTATE_e;
Initial commit
2019-10-06 13:09:15 +00:00
} else if (rtDW->dz_cntTrnsDet) {
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
/* Switch: '<S15>/Switch1' incorporates:
* Constant: '<S15>/cf_speedCoef'
* Product: '<S15>/Divide14'
* Switch: '<S15>/Switch2'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
rtb_Switch1_l = (int16_T)((rtP->cf_speedCoef << 4) /
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->z_counterRawPrev);
} else {
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
/* Switch: '<S15>/Switch1' incorporates:
* Constant: '<S15>/cf_speedCoef'
* Gain: '<S15>/g_Ha'
* Product: '<S15>/Divide13'
* Sum: '<S15>/Sum13'
* Switch: '<S15>/Switch2'
* UnitDelay: '<S15>/UnitDelay2'
* UnitDelay: '<S15>/UnitDelay3'
* UnitDelay: '<S15>/UnitDelay5'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
rtb_Switch1_l = (int16_T)(((uint16_T)(rtP->cf_speedCoef << 2) << 4) /
Initial commit
2019-10-06 13:09:15 +00:00
(int16_T)(((rtDW->UnitDelay2_DSTATE + rtDW->UnitDelay3_DSTATE_o) +
rtDW->UnitDelay5_DSTATE) + rtDW->z_counterRawPrev));
}
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
/* End of Switch: '<S15>/Switch3' */
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
/* Product: '<S15>/Divide11' */
rtDW->Divide11 = (int16_T)(rtb_Switch1_l * rtDW->Switch2_e);
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
/* Update for UnitDelay: '<S15>/UnitDelay4' */
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
rtDW->UnitDelay4_DSTATE = rtDW->z_counterRawPrev;
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
/* Update for UnitDelay: '<S15>/UnitDelay2' incorporates:
* UnitDelay: '<S15>/UnitDelay3'
Initial commit
2019-10-06 13:09:15 +00:00
*/
rtDW->UnitDelay2_DSTATE = rtDW->UnitDelay3_DSTATE_o;
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
/* Update for UnitDelay: '<S15>/UnitDelay3' incorporates:
* UnitDelay: '<S15>/UnitDelay5'
Initial commit
2019-10-06 13:09:15 +00:00
*/
rtDW->UnitDelay3_DSTATE_o = rtDW->UnitDelay5_DSTATE;
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
/* Update for UnitDelay: '<S15>/UnitDelay5' */
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->UnitDelay5_DSTATE = rtDW->z_counterRawPrev;
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
/* Update for UnitDelay: '<S15>/UnitDelay1' */
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->UnitDelay1_DSTATE_n = rtb_RelationalOperator4_d;
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
/* End of Outputs for SubSystem: '<S12>/Raw_Motor_Speed_Estimation' */
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
/* End of If: '<S12>/If2' */
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
/* Outputs for Atomic SubSystem: '<S12>/Counter' */
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
/* Constant: '<S12>/Constant6' incorporates:
* Constant: '<S12>/z_maxCntRst2'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
rtb_Switch1_l = (int16_T) Counter(1, rtP->z_maxCntRst, rtb_LogicalOperator,
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
&rtDW->Counter_e);
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
/* End of Outputs for SubSystem: '<S12>/Counter' */
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
/* Switch: '<S12>/Switch2' incorporates:
* Constant: '<S12>/Constant4'
* Constant: '<S12>/z_maxCntRst'
* RelationalOperator: '<S12>/Relational Operator2'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
if (rtb_Switch1_l > rtP->z_maxCntRst) {
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
rtb_Switch2_k = 0;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
rtb_Switch2_k = rtDW->Divide11;
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
/* End of Switch: '<S12>/Switch2' */
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
/* Abs: '<S12>/Abs5' */
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
if (rtb_Switch2_k < 0) {
rtb_Abs5 = (int16_T)-rtb_Switch2_k;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
rtb_Abs5 = rtb_Switch2_k;
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
/* End of Abs: '<S12>/Abs5' */
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
/* Relay: '<S12>/n_commDeacv' */
Initial commit
2019-10-06 13:09:15 +00:00
if (rtb_Abs5 >= rtP->n_commDeacvHi) {
rtDW->n_commDeacv_Mode = true;
} else {
if (rtb_Abs5 <= rtP->n_commAcvLo) {
rtDW->n_commDeacv_Mode = false;
}
}
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
/* Logic: '<S12>/Logical Operator2' incorporates:
* Logic: '<S12>/Logical Operator1'
* Relay: '<S12>/n_commDeacv'
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
rtb_LogicalOperator = (rtDW->n_commDeacv_Mode && (!rtDW->dz_cntTrnsDet));
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
/* Switch: '<S13>/Switch2' incorporates:
* Constant: '<S13>/Constant16'
* Product: '<S13>/Divide1'
* Product: '<S13>/Divide3'
* RelationalOperator: '<S13>/Relational Operator7'
* Sum: '<S13>/Sum3'
* Switch: '<S13>/Switch3'
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
*/
if (rtb_LogicalOperator) {
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
/* MinMax: '<S13>/MinMax' */
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
rtb_Switch2_fl = rtb_Switch1_l;
if (!(rtb_Switch2_fl < rtDW->z_counterRawPrev)) {
rtb_Switch2_fl = rtDW->z_counterRawPrev;
}
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
/* End of MinMax: '<S13>/MinMax' */
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
/* Switch: '<S13>/Switch3' incorporates:
* Constant: '<S10>/vec_hallToPos'
* Constant: '<S13>/Constant16'
* RelationalOperator: '<S13>/Relational Operator7'
* Selector: '<S10>/Selector'
* Sum: '<S13>/Sum1'
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
if (rtDW->Switch2_e == 1) {
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
rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
} else {
rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] + 1);
}
rtb_Switch2_fl = (int16_T)(((int16_T)((int16_T)((rtb_Switch2_fl << 14) /
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
rtDW->z_counterRawPrev) * rtDW->Switch2_e) + (rtb_Sum2_h << 14)) >> 2);
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
} else {
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
if (rtDW->Switch2_e == 1) {
/* Switch: '<S13>/Switch3' incorporates:
* Constant: '<S10>/vec_hallToPos'
* Selector: '<S10>/Selector'
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
*/
rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
} else {
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
/* Switch: '<S13>/Switch3' incorporates:
* Constant: '<S10>/vec_hallToPos'
* Selector: '<S10>/Selector'
* Sum: '<S13>/Sum1'
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
*/
rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] + 1);
}
rtb_Switch2_fl = (int16_T)(rtb_Sum2_h << 12);
}
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
/* End of Switch: '<S13>/Switch2' */
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
/* MinMax: '<S13>/MinMax1' incorporates:
* Constant: '<S13>/Constant1'
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
*/
if (!(rtb_Switch2_fl > 0)) {
rtb_Switch2_fl = 0;
}
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
/* End of MinMax: '<S13>/MinMax1' */
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
/* Product: '<S13>/Divide2' */
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
rtb_Switch2_fl = (int16_T)((15 * rtb_Switch2_fl) >> 4);
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
/* DataTypeConversion: '<S1>/Data Type Conversion2' incorporates:
* Inport: '<Root>/r_inpTgt'
*/
if (rtU->r_inpTgt > 2047) {
rtb_DataTypeConversion2 = MAX_int16_T;
} else if (rtU->r_inpTgt <= -2048) {
rtb_DataTypeConversion2 = MIN_int16_T;
} else {
rtb_DataTypeConversion2 = (int16_T)(rtU->r_inpTgt << 4);
}
/* UnitDelay: '<S8>/UnitDelay2' */
rtb_RelationalOperator4_d = rtDW->UnitDelay2_DSTATE_g;
/* RelationalOperator: '<S12>/Relational Operator9' incorporates:
* Constant: '<S12>/n_stdStillDet'
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
rtb_RelationalOperator9 = (rtb_Abs5 < rtP->n_stdStillDet);
Initial commit
2019-10-06 13:09:15 +00:00
/* If: '<S1>/If2' incorporates:
* Constant: '<S1>/b_diagEna'
* Constant: '<S3>/CTRL_COMM2'
* Constant: '<S3>/t_errDequal'
* Constant: '<S3>/t_errQual'
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
* Logic: '<S1>/Logical Operator2'
Initial commit
2019-10-06 13:09:15 +00:00
* RelationalOperator: '<S3>/Relational Operator2'
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
* UnitDelay: '<S8>/UnitDelay2'
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
if (rtP->b_diagEna && rtDW->UnitDelay2_DSTATE_g) {
Initial commit
2019-10-06 13:09:15 +00:00
/* Outputs for IfAction SubSystem: '<S1>/F02_Diagnostics' incorporates:
* ActionPort: '<S3>/Action Port'
*/
/* Switch: '<S3>/Switch3' incorporates:
* Abs: '<S3>/Abs4'
* Constant: '<S3>/CTRL_COMM4'
* Constant: '<S3>/r_errInpTgtThres'
Variant_PWM implemented
2020-03-24 18:57:08 +00:00
* Inport: '<Root>/b_motEna'
Initial commit
2019-10-06 13:09:15 +00:00
* Logic: '<S3>/Logical Operator1'
* RelationalOperator: '<S3>/Relational Operator7'
* S-Function (sfix_bitop): '<S3>/Bitwise Operator1'
* UnitDelay: '<S3>/UnitDelay'
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
* UnitDelay: '<S7>/UnitDelay4'
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
if ((rtY->z_errCode & 4) != 0) {
Initial commit
2019-10-06 13:09:15 +00:00
rtb_RelationalOperator1_m = true;
} else {
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
if (rtDW->UnitDelay4_DSTATE_eu < 0) {
Initial commit
2019-10-06 13:09:15 +00:00
/* Abs: '<S3>/Abs4' incorporates:
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
* UnitDelay: '<S7>/UnitDelay4'
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
rtb_Merge_f_idx_1 = (int16_T)-rtDW->UnitDelay4_DSTATE_eu;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
/* Abs: '<S3>/Abs4' incorporates:
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
* UnitDelay: '<S7>/UnitDelay4'
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
rtb_Merge_f_idx_1 = rtDW->UnitDelay4_DSTATE_eu;
Initial commit
2019-10-06 13:09:15 +00:00
}
Variant_PWM implemented
2020-03-24 18:57:08 +00:00
rtb_RelationalOperator1_m = (rtU->b_motEna && rtb_RelationalOperator9 &&
(rtb_Merge_f_idx_1 > rtP->r_errInpTgtThres));
Initial commit
2019-10-06 13:09:15 +00:00
}
/* End of Switch: '<S3>/Switch3' */
/* Sum: '<S3>/Sum' incorporates:
* Constant: '<S3>/CTRL_COMM'
* Constant: '<S3>/CTRL_COMM1'
* DataTypeConversion: '<S3>/Data Type Conversion3'
* Gain: '<S3>/g_Hb'
* Gain: '<S3>/g_Hb1'
* RelationalOperator: '<S3>/Relational Operator1'
* RelationalOperator: '<S3>/Relational Operator3'
*/
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
rtb_Sum_l = (uint8_T)(((uint32_T)((rtb_Sum == 7) << 1) + (rtb_Sum == 0)) +
(rtb_RelationalOperator1_m << 2));
Initial commit
2019-10-06 13:09:15 +00:00
/* Outputs for Atomic SubSystem: '<S3>/Debounce_Filter' */
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
Debounce_Filter(rtb_Sum_l != 0, rtP->t_errQual, rtP->t_errDequal,
Initial commit
2019-10-06 13:09:15 +00:00
&rtDW->Merge_n, &rtDW->Debounce_Filter_f);
/* End of Outputs for SubSystem: '<S3>/Debounce_Filter' */
/* Outputs for Atomic SubSystem: '<S3>/either_edge' */
rtb_RelationalOperator1_m = either_edge(rtDW->Merge_n, &rtDW->either_edge_a);
/* End of Outputs for SubSystem: '<S3>/either_edge' */
/* Switch: '<S3>/Switch1' incorporates:
* Constant: '<S3>/CTRL_COMM2'
* Constant: '<S3>/t_errDequal'
* Constant: '<S3>/t_errQual'
* RelationalOperator: '<S3>/Relational Operator2'
*/
if (rtb_RelationalOperator1_m) {
/* Outport: '<Root>/z_errCode' */
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
rtY->z_errCode = rtb_Sum_l;
Initial commit
2019-10-06 13:09:15 +00:00
}
/* End of Switch: '<S3>/Switch1' */
/* End of Outputs for SubSystem: '<S1>/F02_Diagnostics' */
}
/* End of If: '<S1>/If2' */
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
/* If: '<S1>/If4' incorporates:
* UnitDelay: '<S8>/UnitDelay2'
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
rtb_Sum2_h = rtDW->If4_ActiveSubsystem;
UnitDelay3 = -1;
if (rtDW->UnitDelay2_DSTATE_g) {
UnitDelay3 = 0;
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
rtDW->If4_ActiveSubsystem = UnitDelay3;
if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
/* Disable for If: '<S29>/If2' */
rtDW->If2_ActiveSubsystem = -1;
}
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
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
if (UnitDelay3 == 0) {
/* Outputs for IfAction SubSystem: '<S1>/F03_Control_Mode_Manager' incorporates:
* ActionPort: '<S4>/Action Port'
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
*/
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
/* Logic: '<S27>/Logical Operator4' incorporates:
* Constant: '<S27>/constant2'
* Constant: '<S27>/constant8'
* Inport: '<Root>/b_motEna'
* Inport: '<Root>/z_ctrlModReq'
* Logic: '<S27>/Logical Operator1'
* Logic: '<S27>/Logical Operator7'
* RelationalOperator: '<S27>/Relational Operator10'
* RelationalOperator: '<S27>/Relational Operator11'
* RelationalOperator: '<S27>/Relational Operator2'
* UnitDelay: '<S4>/UnitDelay1'
*/
rtb_RelationalOperator1_m = ((!rtU->b_motEna) || rtDW->Merge_n ||
(rtU->z_ctrlModReq == 0) || ((rtU->z_ctrlModReq != rtDW->z_ctrlMod) &&
(rtDW->z_ctrlMod != 0)));
/* Chart: '<S4>/F03_02_Control_Mode_Manager' incorporates:
* Constant: '<S27>/constant'
* Constant: '<S27>/constant1'
* Constant: '<S27>/constant5'
* Constant: '<S27>/constant6'
* Constant: '<S27>/constant7'
* Inport: '<Root>/z_ctrlModReq'
* Logic: '<S27>/Logical Operator3'
* Logic: '<S27>/Logical Operator6'
* Logic: '<S27>/Logical Operator9'
* RelationalOperator: '<S27>/Relational Operator1'
* RelationalOperator: '<S27>/Relational Operator3'
* RelationalOperator: '<S27>/Relational Operator4'
* RelationalOperator: '<S27>/Relational Operator5'
* RelationalOperator: '<S27>/Relational Operator6'
*/
if (rtDW->is_active_c1_BLDC_controller == 0U) {
rtDW->is_active_c1_BLDC_controller = 1U;
rtDW->is_c1_BLDC_controller = IN_OPEN;
rtDW->z_ctrlMod = OPEN_MODE;
} else if (rtDW->is_c1_BLDC_controller == IN_ACTIVE) {
if (rtb_RelationalOperator1_m) {
rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD;
rtDW->is_c1_BLDC_controller = IN_OPEN;
rtDW->z_ctrlMod = OPEN_MODE;
} else {
switch (rtDW->is_ACTIVE) {
case IN_SPEED_MODE:
rtDW->z_ctrlMod = SPD_MODE;
break;
case IN_TORQUE_MODE:
rtDW->z_ctrlMod = TRQ_MODE;
break;
default:
rtDW->z_ctrlMod = VLT_MODE;
break;
}
}
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
rtDW->z_ctrlMod = OPEN_MODE;
if ((!rtb_RelationalOperator1_m) && ((rtU->z_ctrlModReq == 1) ||
(rtU->z_ctrlModReq == 2) || (rtU->z_ctrlModReq == 3)) &&
rtb_RelationalOperator9) {
rtDW->is_c1_BLDC_controller = IN_ACTIVE;
if (rtU->z_ctrlModReq == 3) {
rtDW->is_ACTIVE = IN_TORQUE_MODE;
rtDW->z_ctrlMod = TRQ_MODE;
} else if (rtU->z_ctrlModReq == 2) {
rtDW->is_ACTIVE = IN_SPEED_MODE;
rtDW->z_ctrlMod = SPD_MODE;
} else {
rtDW->is_ACTIVE = IN_VOLTAGE_MODE;
rtDW->z_ctrlMod = VLT_MODE;
}
}
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
/* End of Chart: '<S4>/F03_02_Control_Mode_Manager' */
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
/* If: '<S29>/If1' incorporates:
* Constant: '<S1>/z_ctrlTypSel1'
* DataTypeConversion: '<S1>/Data Type Conversion2'
* Inport: '<S30>/r_inpTgt'
* Saturate: '<S29>/Saturation'
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
if (rtP->z_ctrlTypSel == 2) {
/* Outputs for IfAction SubSystem: '<S29>/FOC_Control_Type' incorporates:
* ActionPort: '<S32>/Action Port'
*/
/* SignalConversion: '<S32>/TmpSignal ConversionAtSelectorInport1' incorporates:
* Constant: '<S32>/Vd_max'
* Constant: '<S32>/constant1'
* Constant: '<S32>/i_max'
* Constant: '<S32>/n_max'
*/
tmp[0] = 0;
tmp[1] = rtP->Vd_max;
tmp[2] = rtP->n_max;
tmp[3] = rtP->i_max;
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
/* End of Outputs for SubSystem: '<S29>/FOC_Control_Type' */
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
/* Saturate: '<S29>/Saturation' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion2'
*/
if (rtb_DataTypeConversion2 > 16000) {
rtb_Merge = 16000;
} else if (rtb_DataTypeConversion2 < -16000) {
rtb_Merge = -16000;
} else {
rtb_Merge = rtb_DataTypeConversion2;
}
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
/* Outputs for IfAction SubSystem: '<S29>/FOC_Control_Type' incorporates:
* ActionPort: '<S32>/Action Port'
*/
/* Product: '<S32>/Divide1' incorporates:
* Inport: '<Root>/z_ctrlModReq'
* Product: '<S32>/Divide4'
* Selector: '<S32>/Selector'
*/
rtb_Merge = (int16_T)(((uint16_T)((tmp[rtU->z_ctrlModReq] << 5) / 125) *
rtb_Merge) >> 12);
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
/* End of Outputs for SubSystem: '<S29>/FOC_Control_Type' */
} else if (rtb_DataTypeConversion2 > 16000) {
/* Outputs for IfAction SubSystem: '<S29>/Default_Control_Type' incorporates:
* ActionPort: '<S30>/Action Port'
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
*/
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
/* Saturate: '<S29>/Saturation' incorporates:
* Inport: '<S30>/r_inpTgt'
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
rtb_Merge = 16000;
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
/* End of Outputs for SubSystem: '<S29>/Default_Control_Type' */
} else if (rtb_DataTypeConversion2 < -16000) {
/* Outputs for IfAction SubSystem: '<S29>/Default_Control_Type' incorporates:
* ActionPort: '<S30>/Action Port'
*/
/* Saturate: '<S29>/Saturation' incorporates:
* Inport: '<S30>/r_inpTgt'
*/
rtb_Merge = -16000;
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
/* End of Outputs for SubSystem: '<S29>/Default_Control_Type' */
} else {
/* Outputs for IfAction SubSystem: '<S29>/Default_Control_Type' incorporates:
* ActionPort: '<S30>/Action Port'
*/
rtb_Merge = rtb_DataTypeConversion2;
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
/* End of Outputs for SubSystem: '<S29>/Default_Control_Type' */
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
/* End of If: '<S29>/If1' */
/* If: '<S29>/If2' incorporates:
* Inport: '<S31>/r_inpTgtScaRaw'
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
rtb_Sum2_h = rtDW->If2_ActiveSubsystem;
UnitDelay3 = (int8_T)!(rtDW->z_ctrlMod == 0);
rtDW->If2_ActiveSubsystem = UnitDelay3;
switch (UnitDelay3) {
case 0:
if (UnitDelay3 != rtb_Sum2_h) {
/* SystemReset for IfAction SubSystem: '<S29>/Open_Mode' incorporates:
* ActionPort: '<S33>/Action Port'
*/
/* SystemReset for Atomic SubSystem: '<S33>/rising_edge_init' */
/* SystemReset for If: '<S29>/If2' incorporates:
* UnitDelay: '<S35>/UnitDelay'
* UnitDelay: '<S36>/UnitDelay'
*/
rtDW->UnitDelay_DSTATE_e = true;
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
/* End of SystemReset for SubSystem: '<S33>/rising_edge_init' */
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
/* SystemReset for Atomic SubSystem: '<S33>/Rate_Limiter' */
rtDW->UnitDelay_DSTATE = 0;
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
/* End of SystemReset for SubSystem: '<S33>/Rate_Limiter' */
/* End of SystemReset for SubSystem: '<S29>/Open_Mode' */
}
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
/* Outputs for IfAction SubSystem: '<S29>/Open_Mode' incorporates:
* ActionPort: '<S33>/Action Port'
*/
/* DataTypeConversion: '<S33>/Data Type Conversion' incorporates:
* UnitDelay: '<S7>/UnitDelay4'
*/
rtb_Gain3 = rtDW->UnitDelay4_DSTATE_eu << 12;
rtb_DataTypeConversion = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 |
-134217728 : rtb_Gain3 & 134217727;
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
/* Outputs for Atomic SubSystem: '<S33>/rising_edge_init' */
/* UnitDelay: '<S35>/UnitDelay' */
rtb_RelationalOperator9 = rtDW->UnitDelay_DSTATE_e;
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
/* Update for UnitDelay: '<S35>/UnitDelay' incorporates:
* Constant: '<S35>/Constant'
*/
rtDW->UnitDelay_DSTATE_e = false;
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
/* End of Outputs for SubSystem: '<S33>/rising_edge_init' */
/* Outputs for Atomic SubSystem: '<S33>/Rate_Limiter' */
/* Switch: '<S36>/Switch1' incorporates:
* UnitDelay: '<S36>/UnitDelay'
*/
if (rtb_RelationalOperator9) {
rtb_Switch1 = rtb_DataTypeConversion;
} else {
rtb_Switch1 = rtDW->UnitDelay_DSTATE;
}
/* End of Switch: '<S36>/Switch1' */
/* Sum: '<S34>/Sum1' */
rtb_Gain3 = -rtb_Switch1;
rtb_Sum1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
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
rtb_Gain3 & 134217727;
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
/* Switch: '<S37>/Switch2' incorporates:
* Constant: '<S33>/dV_openRate'
* RelationalOperator: '<S37>/LowerRelop1'
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
*/
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
if (rtb_Sum1 > rtP->dV_openRate) {
rtb_Sum1 = rtP->dV_openRate;
} else {
/* Gain: '<S33>/Gain3' */
rtb_Gain3 = -rtP->dV_openRate;
rtb_Gain3 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
rtb_Gain3 & 134217727;
/* Switch: '<S37>/Switch' incorporates:
* RelationalOperator: '<S37>/UpperRelop'
*/
if (rtb_Sum1 < rtb_Gain3) {
rtb_Sum1 = rtb_Gain3;
}
/* End of Switch: '<S37>/Switch' */
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
/* End of Switch: '<S37>/Switch2' */
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
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
/* Sum: '<S34>/Sum2' */
rtb_Gain3 = rtb_Sum1 + rtb_Switch1;
rtb_Switch1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
rtb_Gain3 & 134217727;
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
/* Switch: '<S36>/Switch2' */
if (rtb_RelationalOperator9) {
/* Update for UnitDelay: '<S36>/UnitDelay' */
rtDW->UnitDelay_DSTATE = rtb_DataTypeConversion;
} else {
/* Update for UnitDelay: '<S36>/UnitDelay' */
rtDW->UnitDelay_DSTATE = rtb_Switch1;
}
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
/* End of Switch: '<S36>/Switch2' */
/* End of Outputs for SubSystem: '<S33>/Rate_Limiter' */
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
/* DataTypeConversion: '<S33>/Data Type Conversion1' */
rtDW->Merge1 = (int16_T)(rtb_Switch1 >> 12);
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
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
/* End of Outputs for SubSystem: '<S29>/Open_Mode' */
break;
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
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
case 1:
/* Outputs for IfAction SubSystem: '<S29>/Default_Mode' incorporates:
* ActionPort: '<S31>/Action Port'
*/
rtDW->Merge1 = rtb_Merge;
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
/* End of Outputs for SubSystem: '<S29>/Default_Mode' */
break;
}
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
/* End of If: '<S29>/If2' */
/* End of Outputs for SubSystem: '<S1>/F03_Control_Mode_Manager' */
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
/* End of If: '<S1>/If4' */
/* UnitDelay: '<S8>/UnitDelay5' */
rtb_RelationalOperator9 = rtDW->UnitDelay5_DSTATE_l;
Initial commit
2019-10-06 13:09:15 +00:00
/* Saturate: '<S1>/Saturation' incorporates:
* Inport: '<Root>/i_phaAB'
*/
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
rtb_Gain3 = rtU->i_phaAB << 4;
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
if (rtb_Gain3 >= 27200) {
rtb_Merge = 27200;
} else if (rtb_Gain3 <= -27200) {
rtb_Merge = -27200;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
rtb_Merge = (int16_T)(rtU->i_phaAB << 4);
Initial commit
2019-10-06 13:09:15 +00:00
}
/* End of Saturate: '<S1>/Saturation' */
/* Saturate: '<S1>/Saturation1' incorporates:
* Inport: '<Root>/i_phaBC'
*/
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
rtb_Gain3 = rtU->i_phaBC << 4;
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
if (rtb_Gain3 >= 27200) {
rtb_Saturation1 = 27200;
} else if (rtb_Gain3 <= -27200) {
rtb_Saturation1 = -27200;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
rtb_Saturation1 = (int16_T)(rtU->i_phaBC << 4);
Initial commit
2019-10-06 13:09:15 +00:00
}
/* End of Saturate: '<S1>/Saturation1' */
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
/* If: '<S1>/If3' incorporates:
* Constant: '<S1>/CTRL_COMM2'
* Constant: '<S1>/b_fieldWeakEna'
Initial commit
2019-10-06 13:09:15 +00:00
* Constant: '<S1>/z_ctrlTypSel1'
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
* Logic: '<S1>/Logical Operator1'
* RelationalOperator: '<S1>/Relational Operator1'
* UnitDelay: '<S8>/UnitDelay5'
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
if (rtP->b_fieldWeakEna && rtDW->UnitDelay5_DSTATE_l && (rtP->z_ctrlTypSel !=
0)) {
/* Outputs for IfAction SubSystem: '<S1>/F04_Field_Weakening' incorporates:
* ActionPort: '<S5>/Action Port'
*/
/* Abs: '<S5>/Abs5' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion2'
*/
if (rtb_DataTypeConversion2 < 0) {
rtb_DataTypeConversion2 = (int16_T)-rtb_DataTypeConversion2;
}
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
/* End of Abs: '<S5>/Abs5' */
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
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
/* Switch: '<S39>/Switch2' incorporates:
* Constant: '<S5>/r_fieldWeakHi'
* Constant: '<S5>/r_fieldWeakLo'
* RelationalOperator: '<S39>/LowerRelop1'
* RelationalOperator: '<S39>/UpperRelop'
* Switch: '<S39>/Switch'
*/
if (rtb_DataTypeConversion2 > rtP->r_fieldWeakHi) {
rtb_DataTypeConversion2 = rtP->r_fieldWeakHi;
} else {
if (rtb_DataTypeConversion2 < rtP->r_fieldWeakLo) {
/* Switch: '<S39>/Switch' incorporates:
* Constant: '<S5>/r_fieldWeakLo'
*/
rtb_DataTypeConversion2 = rtP->r_fieldWeakLo;
}
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
}
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
/* End of Switch: '<S39>/Switch2' */
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
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
/* Switch: '<S5>/Switch2' incorporates:
* Constant: '<S5>/CTRL_COMM2'
* Constant: '<S5>/a_phaAdvMax'
* Constant: '<S5>/id_fieldWeakMax'
* RelationalOperator: '<S5>/Relational Operator1'
*/
if (rtP->z_ctrlTypSel == 2) {
rtb_Merge_f_idx_1 = rtP->id_fieldWeakMax;
} else {
rtb_Merge_f_idx_1 = rtP->a_phaAdvMax;
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
/* End of Switch: '<S5>/Switch2' */
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
/* Switch: '<S38>/Switch2' incorporates:
* Constant: '<S5>/n_fieldWeakAuthHi'
* Constant: '<S5>/n_fieldWeakAuthLo'
* RelationalOperator: '<S38>/LowerRelop1'
* RelationalOperator: '<S38>/UpperRelop'
* Switch: '<S38>/Switch'
*/
if (rtb_Abs5 > rtP->n_fieldWeakAuthHi) {
rtb_Switch2_l = rtP->n_fieldWeakAuthHi;
} else if (rtb_Abs5 < rtP->n_fieldWeakAuthLo) {
/* Switch: '<S38>/Switch' incorporates:
* Constant: '<S5>/n_fieldWeakAuthLo'
*/
rtb_Switch2_l = rtP->n_fieldWeakAuthLo;
} else {
rtb_Switch2_l = rtb_Abs5;
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
/* End of Switch: '<S38>/Switch2' */
/* Product: '<S5>/Divide3' incorporates:
* Constant: '<S5>/n_fieldWeakAuthHi'
* Constant: '<S5>/n_fieldWeakAuthLo'
* Constant: '<S5>/r_fieldWeakHi'
* Constant: '<S5>/r_fieldWeakLo'
* Product: '<S5>/Divide1'
* Product: '<S5>/Divide14'
* Product: '<S5>/Divide2'
* Sum: '<S5>/Sum1'
* Sum: '<S5>/Sum2'
* Sum: '<S5>/Sum3'
* Sum: '<S5>/Sum4'
*/
rtDW->Divide3 = (int16_T)(((uint16_T)(((uint32_T)(uint16_T)(((int16_T)
(rtb_DataTypeConversion2 - rtP->r_fieldWeakLo) << 15) / (int16_T)
(rtP->r_fieldWeakHi - rtP->r_fieldWeakLo)) * (uint16_T)(((int16_T)
(rtb_Switch2_l - rtP->n_fieldWeakAuthLo) << 15) / (int16_T)
(rtP->n_fieldWeakAuthHi - rtP->n_fieldWeakAuthLo))) >> 15) *
rtb_Merge_f_idx_1) >> 15);
/* End of Outputs for SubSystem: '<S1>/F04_Field_Weakening' */
}
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
/* End of If: '<S1>/If3' */
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
/* If: '<S1>/If1' incorporates:
* Constant: '<S1>/z_ctrlTypSel1'
*/
rtb_Sum2_h = rtDW->If1_ActiveSubsystem;
UnitDelay3 = -1;
if (rtP->z_ctrlTypSel == 2) {
UnitDelay3 = 0;
}
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
rtDW->If1_ActiveSubsystem = UnitDelay3;
if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
/* Disable for If: '<S6>/If2' */
if (rtDW->If2_ActiveSubsystem_a == 0) {
/* Disable for Outport: '<S41>/iq' */
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
rtDW->DataTypeConversion[0] = 0;
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
/* Disable for Outport: '<S41>/id' */
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
rtDW->DataTypeConversion[1] = 0;
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
}
rtDW->If2_ActiveSubsystem_a = -1;
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
/* End of Disable for If: '<S6>/If2' */
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
/* Disable for Outport: '<S6>/V_phaABC_FOC' */
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->Gain4[0] = 0;
rtDW->Gain4[1] = 0;
rtDW->Gain4[2] = 0;
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
/* Disable for Outport: '<S6>/r_devSignal1' */
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
rtDW->DataTypeConversion[0] = 0;
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
/* Disable for Outport: '<S6>/r_devSignal2' */
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
rtDW->DataTypeConversion[1] = 0;
Initial commit
2019-10-06 13:09:15 +00:00
}
if (UnitDelay3 == 0) {
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
if (0 != rtb_Sum2_h) {
/* InitializeConditions for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' incorporates:
* ActionPort: '<S6>/Action Port'
*/
/* InitializeConditions for If: '<S1>/If1' incorporates:
* UnitDelay: '<S6>/UnitDelay4'
*/
rtDW->UnitDelay4_DSTATE_h = 0;
/* End of InitializeConditions for SubSystem: '<S1>/F05_Field_Oriented_Control' */
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
}
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
/* Outputs for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' incorporates:
* ActionPort: '<S6>/Action Port'
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
*/
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
/* Abs: '<S6>/Abs1' */
if (rtDW->Merge1 < 0) {
rtb_Switch2_l = (int16_T)-rtDW->Merge1;
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
} else {
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
rtb_Switch2_l = rtDW->Merge1;
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
/* End of Abs: '<S6>/Abs1' */
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
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
/* Gain: '<S6>/toNegative' */
rtb_toNegative = (int16_T)-rtDW->Divide3;
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
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
/* If: '<S40>/If1' incorporates:
* Constant: '<S40>/b_selPhaABCurrMeas'
Initial commit
2019-10-06 13:09:15 +00:00
*/
if (rtP->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
/* Outputs for IfAction SubSystem: '<S40>/Clarke_PhasesAB' incorporates:
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
* ActionPort: '<S48>/Action Port'
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
/* Gain: '<S48>/Gain4' */
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
rtb_Gain3 = 18919 * rtb_Merge;
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
/* Gain: '<S48>/Gain2' */
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
rtb_DataTypeConversion = 18919 * rtb_Saturation1;
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
/* Sum: '<S48>/Sum1' incorporates:
* Gain: '<S48>/Gain2'
* Gain: '<S48>/Gain4'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
rtb_Gain3 = (((rtb_Gain3 < 0 ? 32767 : 0) + rtb_Gain3) >> 15) + (int16_T)
(((rtb_DataTypeConversion < 0 ? 16383 : 0) + rtb_DataTypeConversion) >>
14);
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
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
rtb_DataTypeConversion2 = (int16_T)rtb_Gain3;
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
/* End of Sum: '<S48>/Sum1' */
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
/* End of Outputs for SubSystem: '<S40>/Clarke_PhasesAB' */
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
/* Outputs for IfAction SubSystem: '<S40>/Clarke_PhasesBC' incorporates:
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
* ActionPort: '<S49>/Action Port'
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
/* Sum: '<S49>/Sum3' */
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
rtb_Gain3 = rtb_Merge - rtb_Saturation1;
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
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
/* Gain: '<S49>/Gain2' incorporates:
* Sum: '<S49>/Sum3'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
rtb_Gain3 *= 18919;
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
rtb_DataTypeConversion2 = (int16_T)(((rtb_Gain3 < 0 ? 32767 : 0) +
rtb_Gain3) >> 15);
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
/* Sum: '<S49>/Sum1' */
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
rtb_Gain3 = -rtb_Merge - rtb_Saturation1;
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
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
rtb_Merge = (int16_T)rtb_Gain3;
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
/* End of Sum: '<S49>/Sum1' */
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
/* End of Outputs for SubSystem: '<S40>/Clarke_PhasesBC' */
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
/* End of If: '<S40>/If1' */
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
/* PreLookup: '<S47>/a_elecAngle_XA' */
rtb_Sum_l = plook_u8s16_evencka(rtb_Switch2_fl, 0, 128U, 180U);
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
/* If: '<S6>/If2' incorporates:
* Constant: '<S41>/cf_currFilt'
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
* Inport: '<Root>/b_motEna'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
rtb_Sum2_h = rtDW->If2_ActiveSubsystem_a;
UnitDelay3 = -1;
if (rtU->b_motEna) {
UnitDelay3 = 0;
Initial commit
2019-10-06 13:09:15 +00:00
}
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
rtDW->If2_ActiveSubsystem_a = UnitDelay3;
if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
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
/* Disable for Outport: '<S41>/iq' */
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
rtDW->DataTypeConversion[0] = 0;
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
/* Disable for Outport: '<S41>/id' */
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
rtDW->DataTypeConversion[1] = 0;
Initial commit
2019-10-06 13:09:15 +00:00
}
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
if (UnitDelay3 == 0) {
if (0 != rtb_Sum2_h) {
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
/* SystemReset for IfAction SubSystem: '<S6>/Current_Filtering' incorporates:
* ActionPort: '<S41>/Action Port'
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
*/
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
/* SystemReset for Atomic SubSystem: '<S41>/Low_Pass_Filter' */
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
/* SystemReset for If: '<S6>/If2' */
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
Low_Pass_Filter_Reset(&rtDW->Low_Pass_Filter_m);
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
/* End of SystemReset for SubSystem: '<S41>/Low_Pass_Filter' */
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
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
/* End of SystemReset for SubSystem: '<S6>/Current_Filtering' */
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
}
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
/* Sum: '<S46>/Sum6' incorporates:
* Interpolation_n-D: '<S47>/r_cos_M1'
* Interpolation_n-D: '<S47>/r_sin_M1'
* Product: '<S46>/Divide1'
* Product: '<S46>/Divide4'
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
*/
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
rtb_Gain3 = (int16_T)((rtb_DataTypeConversion2 *
rtConstP.r_cos_M1_Table[rtb_Sum_l]) >> 14) - (int16_T)((rtb_Merge *
rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14);
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
} else {
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
}
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
}
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
/* Outputs for IfAction SubSystem: '<S6>/Current_Filtering' incorporates:
* ActionPort: '<S41>/Action Port'
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
*/
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
/* SignalConversion: '<S41>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
* Sum: '<S46>/Sum6'
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
*/
rtb_TmpSignalConversionAtLow_Pa[0] = (int16_T)rtb_Gain3;
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
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
/* End of Outputs for SubSystem: '<S6>/Current_Filtering' */
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
/* Sum: '<S46>/Sum1' incorporates:
* Interpolation_n-D: '<S47>/r_cos_M1'
* Interpolation_n-D: '<S47>/r_sin_M1'
* Product: '<S46>/Divide2'
* Product: '<S46>/Divide3'
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
*/
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
rtb_Gain3 = (int16_T)((rtb_Merge * rtConstP.r_cos_M1_Table[rtb_Sum_l]) >>
14) + (int16_T)((rtb_DataTypeConversion2 *
rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14);
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
} else {
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
}
}
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
/* Outputs for IfAction SubSystem: '<S6>/Current_Filtering' incorporates:
* ActionPort: '<S41>/Action Port'
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
*/
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
/* SignalConversion: '<S41>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
* Sum: '<S46>/Sum1'
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
*/
rtb_TmpSignalConversionAtLow_Pa[1] = (int16_T)rtb_Gain3;
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
/* Outputs for Atomic SubSystem: '<S41>/Low_Pass_Filter' */
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
Low_Pass_Filter(rtb_TmpSignalConversionAtLow_Pa, rtP->cf_currFilt,
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
rtDW->DataTypeConversion, &rtDW->Low_Pass_Filter_m);
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
/* End of Outputs for SubSystem: '<S41>/Low_Pass_Filter' */
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
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
/* End of Outputs for SubSystem: '<S6>/Current_Filtering' */
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
}
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
/* End of If: '<S6>/If2' */
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
/* If: '<S6>/If3' incorporates:
* Constant: '<S45>/Vd_max1'
* Constant: '<S45>/i_max'
* UnitDelay: '<S8>/UnitDelay5'
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
if (rtDW->UnitDelay5_DSTATE_l) {
/* Outputs for IfAction SubSystem: '<S6>/Motor_Limitations' incorporates:
* ActionPort: '<S45>/Action Port'
*/
rtDW->Vd_max1 = rtP->Vd_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
/* Gain: '<S45>/Gain3' incorporates:
* Constant: '<S45>/Vd_max1'
*/
rtDW->Gain3 = (int16_T)-rtDW->Vd_max1;
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
/* Interpolation_n-D: '<S45>/Vq_max_M1' incorporates:
* Abs: '<S45>/Abs5'
* PreLookup: '<S45>/Vq_max_XA'
* UnitDelay: '<S6>/UnitDelay4'
*/
if (rtDW->UnitDelay4_DSTATE_h < 0) {
rtb_Merge_f_idx_1 = (int16_T)-rtDW->UnitDelay4_DSTATE_h;
} else {
rtb_Merge_f_idx_1 = rtDW->UnitDelay4_DSTATE_h;
}
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
rtDW->Vq_max_M1 = rtP->Vq_max_M1[plook_u8s16_evencka(rtb_Merge_f_idx_1,
rtP->Vq_max_XA[0], (uint16_T)(rtP->Vq_max_XA[1] - rtP->Vq_max_XA[0]),
45U)];
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
/* End of Interpolation_n-D: '<S45>/Vq_max_M1' */
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
/* Gain: '<S45>/Gain5' */
rtDW->Gain5 = (int16_T)-rtDW->Vq_max_M1;
rtDW->i_max = rtP->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
/* Interpolation_n-D: '<S45>/iq_maxSca_M1' incorporates:
* Constant: '<S45>/i_max'
* Product: '<S45>/Divide4'
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
rtb_Gain3 = rtDW->Divide3 << 16;
rtb_Gain3 = (rtb_Gain3 == MIN_int32_T) && (rtDW->i_max == -1) ?
MAX_int32_T : rtb_Gain3 / rtDW->i_max;
if (rtb_Gain3 < 0) {
rtb_Gain3 = 0;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
if (rtb_Gain3 > 65535) {
rtb_Gain3 = 65535;
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
/* Product: '<S45>/Divide1' incorporates:
* Interpolation_n-D: '<S45>/iq_maxSca_M1'
* PreLookup: '<S45>/iq_maxSca_XA'
* Product: '<S45>/Divide4'
*/
rtDW->Divide1_a = (int16_T)
((rtConstP.iq_maxSca_M1_Table[plook_u8u16_evencka((uint16_T)rtb_Gain3,
0U, 1311U, 49U)] * rtDW->i_max) >> 16);
/* Gain: '<S45>/Gain1' */
rtDW->Gain1 = (int16_T)-rtDW->Divide1_a;
/* SwitchCase: '<S45>/Switch Case' incorporates:
* Constant: '<S45>/n_max1'
* Constant: '<S72>/Constant1'
* Constant: '<S72>/cf_KbLimProt'
* Constant: '<S72>/cf_nKiLimProt'
* Constant: '<S73>/Constant'
* Constant: '<S73>/Constant1'
* Constant: '<S73>/cf_KbLimProt'
* Constant: '<S73>/cf_iqKiLimProt'
* Constant: '<S73>/cf_nKiLimProt'
* Sum: '<S72>/Sum1'
* Sum: '<S73>/Sum1'
* Sum: '<S73>/Sum2'
*/
switch (rtDW->z_ctrlMod) {
case 1:
/* Abs: '<S6>/Abs5' */
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
if (rtDW->DataTypeConversion[0] < 0) {
rtb_Merge_f_idx_1 = (int16_T)-rtDW->DataTypeConversion[0];
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
} else {
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
rtb_Merge_f_idx_1 = rtDW->DataTypeConversion[0];
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* End of Abs: '<S6>/Abs5' */
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
/* Outputs for IfAction SubSystem: '<S45>/Voltage_Mode_Protection' incorporates:
* ActionPort: '<S73>/Action Port'
*/
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
/* Outputs for Atomic SubSystem: '<S73>/I_backCalc_fixdt' */
I_backCalc_fixdt((int16_T)(rtDW->Divide1_a - rtb_Merge_f_idx_1),
rtP->cf_iqKiLimProt, rtP->cf_KbLimProt, rtb_Switch2_l,
0, &rtDW->Switch2_c, &rtDW->I_backCalc_fixdt_i);
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
/* End of Outputs for SubSystem: '<S73>/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
/* Outputs for Atomic SubSystem: '<S73>/I_backCalc_fixdt1' */
I_backCalc_fixdt((int16_T)(rtP->n_max - rtb_Abs5), rtP->cf_nKiLimProt,
rtP->cf_KbLimProt, rtb_Switch2_l, 0, &rtDW->Switch2_l,
&rtDW->I_backCalc_fixdt1);
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
/* End of Outputs for SubSystem: '<S73>/I_backCalc_fixdt1' */
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
/* End of Outputs for SubSystem: '<S45>/Voltage_Mode_Protection' */
break;
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
case 2:
/* Outputs for IfAction SubSystem: '<S45>/Speed_Mode_Protection' incorporates:
* ActionPort: '<S71>/Action Port'
*/
/* Switch: '<S74>/Switch2' incorporates:
* RelationalOperator: '<S74>/LowerRelop1'
* RelationalOperator: '<S74>/UpperRelop'
* Switch: '<S74>/Switch'
*/
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
if (rtDW->DataTypeConversion[0] > rtDW->Divide1_a) {
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
rtb_Merge_f_idx_1 = rtDW->Divide1_a;
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
} else if (rtDW->DataTypeConversion[0] < rtDW->Gain1) {
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
/* Switch: '<S74>/Switch' */
rtb_Merge_f_idx_1 = rtDW->Gain1;
} else {
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
rtb_Merge_f_idx_1 = rtDW->DataTypeConversion[0];
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
}
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
/* End of Switch: '<S74>/Switch2' */
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
/* Product: '<S71>/Divide1' incorporates:
* Constant: '<S71>/cf_iqKiLimProt'
* Sum: '<S71>/Sum3'
*/
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
rtDW->Divide1 = (int16_T)(rtb_Merge_f_idx_1 - rtDW->DataTypeConversion[0])
* rtP->cf_iqKiLimProt;
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
/* End of Outputs for SubSystem: '<S45>/Speed_Mode_Protection' */
break;
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
case 3:
/* Outputs for IfAction SubSystem: '<S45>/Torque_Mode_Protection' incorporates:
* ActionPort: '<S72>/Action Port'
*/
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
/* Outputs for Atomic SubSystem: '<S72>/I_backCalc_fixdt' */
I_backCalc_fixdt((int16_T)(rtP->n_max - rtb_Abs5), rtP->cf_nKiLimProt,
rtP->cf_KbLimProt, rtDW->Vq_max_M1, 0, &rtDW->Switch2,
&rtDW->I_backCalc_fixdt_g);
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
/* End of Outputs for SubSystem: '<S72>/I_backCalc_fixdt' */
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* End of Outputs for SubSystem: '<S45>/Torque_Mode_Protection' */
break;
}
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
/* End of SwitchCase: '<S45>/Switch Case' */
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
/* Gain: '<S45>/Gain4' */
rtDW->Gain4_c = (int16_T)-rtDW->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
/* End of Outputs for SubSystem: '<S6>/Motor_Limitations' */
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
/* End of If: '<S6>/If3' */
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
/* If: '<S6>/If1' incorporates:
* UnitDelay: '<S8>/UnitDelay6'
*/
if (rtDW->UnitDelay6_DSTATE) {
/* Outputs for IfAction SubSystem: '<S6>/FOC' incorporates:
* ActionPort: '<S42>/Action Port'
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
/* If: '<S42>/If1' incorporates:
* Constant: '<S54>/cf_idKi1'
* Constant: '<S54>/cf_idKp1'
* Constant: '<S54>/constant1'
* Sum: '<S54>/Sum3'
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
if (rtb_LogicalOperator) {
/* Outputs for IfAction SubSystem: '<S42>/Vd_Calculation' incorporates:
* ActionPort: '<S54>/Action Port'
*/
/* Switch: '<S66>/Switch2' incorporates:
* RelationalOperator: '<S66>/LowerRelop1'
* RelationalOperator: '<S66>/UpperRelop'
* Switch: '<S66>/Switch'
*/
if (rtb_toNegative > rtDW->i_max) {
rtb_toNegative = rtDW->i_max;
} else {
if (rtb_toNegative < rtDW->Gain4_c) {
/* Switch: '<S66>/Switch' */
rtb_toNegative = rtDW->Gain4_c;
}
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
}
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
/* End of Switch: '<S66>/Switch2' */
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
/* Sum: '<S54>/Sum3' */
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
rtb_Gain3 = rtb_toNegative - rtDW->DataTypeConversion[1];
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
} else {
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
}
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* Outputs for Atomic SubSystem: '<S54>/PI_clamp_fixdt' */
PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_idKp, rtP->cf_idKi,
rtDW->Vd_max1, rtDW->Gain3, 0, &rtDW->Switch1,
&rtDW->PI_clamp_fixdt_k);
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
/* End of Outputs for SubSystem: '<S54>/PI_clamp_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
/* End of Outputs for SubSystem: '<S42>/Vd_Calculation' */
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
}
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
/* End of If: '<S42>/If1' */
/* SwitchCase: '<S42>/Switch Case' incorporates:
* Constant: '<S52>/cf_nKi'
* Constant: '<S52>/cf_nKp'
* Constant: '<S53>/cf_iqKi'
* Constant: '<S53>/cf_iqKp'
* Constant: '<S53>/constant2'
* Inport: '<S51>/r_inpTgtSca'
* Sum: '<S52>/Sum3'
* Sum: '<S53>/Sum2'
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
switch (rtDW->z_ctrlMod) {
case 1:
/* Outputs for IfAction SubSystem: '<S42>/Voltage_Mode' incorporates:
* ActionPort: '<S55>/Action Port'
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
/* MinMax: '<S55>/MinMax' */
if (!(rtb_Switch2_l < rtDW->Switch2_c)) {
rtb_Switch2_l = rtDW->Switch2_c;
}
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
if (!(rtb_Switch2_l < rtDW->Switch2_l)) {
rtb_Switch2_l = rtDW->Switch2_l;
}
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
/* End of MinMax: '<S55>/MinMax' */
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
/* Signum: '<S55>/SignDeltaU2' */
if (rtDW->Merge1 < 0) {
rtb_Merge_f_idx_1 = -1;
} else {
rtb_Merge_f_idx_1 = (int16_T)(rtDW->Merge1 > 0);
}
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
/* End of Signum: '<S55>/SignDeltaU2' */
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
/* Product: '<S55>/Divide1' */
rtb_Merge = (int16_T)(rtb_Switch2_l * rtb_Merge_f_idx_1);
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
/* Switch: '<S70>/Switch2' incorporates:
* RelationalOperator: '<S70>/LowerRelop1'
* RelationalOperator: '<S70>/UpperRelop'
* Switch: '<S70>/Switch'
*/
if (rtb_Merge > rtDW->Vq_max_M1) {
/* SignalConversion: '<S55>/Signal Conversion2' */
rtDW->Merge = rtDW->Vq_max_M1;
} else if (rtb_Merge < rtDW->Gain5) {
/* Switch: '<S70>/Switch' incorporates:
* SignalConversion: '<S55>/Signal Conversion2'
*/
rtDW->Merge = rtDW->Gain5;
} else {
/* SignalConversion: '<S55>/Signal Conversion2' incorporates:
* Switch: '<S70>/Switch'
*/
rtDW->Merge = rtb_Merge;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
}
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
/* End of Switch: '<S70>/Switch2' */
/* End of Outputs for SubSystem: '<S42>/Voltage_Mode' */
break;
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
case 2:
/* Outputs for IfAction SubSystem: '<S42>/Speed_Mode' incorporates:
* ActionPort: '<S52>/Action Port'
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
/* Sum: '<S52>/Sum3' */
rtb_Gain3 = rtDW->Merge1 - rtb_Switch2_k;
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
} else {
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
}
}
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
/* Outputs for Atomic SubSystem: '<S52>/PI_clamp_fixdt' */
PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_nKp, rtP->cf_nKi,
rtDW->Vq_max_M1, rtDW->Gain5, rtDW->Divide1, &rtDW->Merge,
&rtDW->PI_clamp_fixdt_o);
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
/* End of Outputs for SubSystem: '<S52>/PI_clamp_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
/* End of Outputs for SubSystem: '<S42>/Speed_Mode' */
break;
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
case 3:
/* Outputs for IfAction SubSystem: '<S42>/Torque_Mode' incorporates:
* ActionPort: '<S53>/Action Port'
*/
/* Gain: '<S53>/Gain4' */
rtb_Merge = (int16_T)-rtDW->Switch2;
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
/* Switch: '<S61>/Switch2' incorporates:
* RelationalOperator: '<S61>/LowerRelop1'
* RelationalOperator: '<S61>/UpperRelop'
* Switch: '<S61>/Switch'
*/
if (rtDW->Merge1 > rtDW->Divide1_a) {
rtb_Merge_f_idx_1 = rtDW->Divide1_a;
} else if (rtDW->Merge1 < rtDW->Gain1) {
/* Switch: '<S61>/Switch' */
rtb_Merge_f_idx_1 = rtDW->Gain1;
} else {
rtb_Merge_f_idx_1 = rtDW->Merge1;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
}
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
/* End of Switch: '<S61>/Switch2' */
/* Sum: '<S53>/Sum2' */
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
rtb_Gain3 = rtb_Merge_f_idx_1 - rtDW->DataTypeConversion[0];
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
}
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
/* MinMax: '<S53>/MinMax1' */
if (rtDW->Vq_max_M1 < rtDW->Switch2) {
rtb_Merge_f_idx_1 = rtDW->Vq_max_M1;
} else {
rtb_Merge_f_idx_1 = rtDW->Switch2;
}
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
/* End of MinMax: '<S53>/MinMax1' */
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
/* MinMax: '<S53>/MinMax2' */
if (!(rtb_Merge > rtDW->Gain5)) {
rtb_Merge = rtDW->Gain5;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* End of MinMax: '<S53>/MinMax2' */
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
/* Outputs for Atomic SubSystem: '<S53>/PI_clamp_fixdt' */
PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_iqKp, rtP->cf_iqKi,
rtb_Merge_f_idx_1, rtb_Merge, 0, &rtDW->Merge,
&rtDW->PI_clamp_fixdt_a);
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
/* End of Outputs for SubSystem: '<S53>/PI_clamp_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
/* End of Outputs for SubSystem: '<S42>/Torque_Mode' */
break;
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
default:
/* Outputs for IfAction SubSystem: '<S42>/Open_Mode' incorporates:
* ActionPort: '<S51>/Action Port'
*/
rtDW->Merge = rtDW->Merge1;
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
/* End of Outputs for SubSystem: '<S42>/Open_Mode' */
break;
}
/* End of SwitchCase: '<S42>/Switch Case' */
/* End of Outputs for SubSystem: '<S6>/FOC' */
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
/* End of If: '<S6>/If1' */
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
/* Sum: '<S44>/Sum6' incorporates:
* Interpolation_n-D: '<S47>/r_cos_M1'
* Interpolation_n-D: '<S47>/r_sin_M1'
* Product: '<S44>/Divide1'
* Product: '<S44>/Divide4'
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
rtb_Gain3 = (int16_T)((rtDW->Switch1 * rtConstP.r_cos_M1_Table[rtb_Sum_l]) >>
14) - (int16_T)((rtDW->Merge *
rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14);
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
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
} else {
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
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
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
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
/* Sum: '<S44>/Sum1' incorporates:
* Interpolation_n-D: '<S47>/r_cos_M1'
* Interpolation_n-D: '<S47>/r_sin_M1'
* Product: '<S44>/Divide2'
* Product: '<S44>/Divide3'
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
rtb_DataTypeConversion = (int16_T)((rtDW->Switch1 *
rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14) + (int16_T)((rtDW->Merge *
rtConstP.r_cos_M1_Table[rtb_Sum_l]) >> 14);
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
if (rtb_DataTypeConversion > 32767) {
rtb_DataTypeConversion = 32767;
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
} else {
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
if (rtb_DataTypeConversion < -32768) {
rtb_DataTypeConversion = -32768;
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
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
/* Gain: '<S43>/Gain1' incorporates:
* Sum: '<S44>/Sum1'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
rtb_DataTypeConversion *= 14189;
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
/* Sum: '<S43>/Sum6' incorporates:
* Gain: '<S43>/Gain1'
* Gain: '<S43>/Gain3'
* Sum: '<S44>/Sum6'
Initial commit
2019-10-06 13:09:15 +00:00
*/
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
rtb_DataTypeConversion = (((rtb_DataTypeConversion < 0 ? 16383 : 0) +
rtb_DataTypeConversion) >> 14) - ((int16_T)(((int16_T)rtb_Gain3 < 0) +
(int16_T)rtb_Gain3) >> 1);
if (rtb_DataTypeConversion > 32767) {
rtb_DataTypeConversion = 32767;
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
} else {
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
if (rtb_DataTypeConversion < -32768) {
rtb_DataTypeConversion = -32768;
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
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
/* Sum: '<S43>/Sum2' incorporates:
* Sum: '<S43>/Sum6'
* Sum: '<S44>/Sum6'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
*/
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
rtb_Switch1 = -(int16_T)rtb_Gain3 - (int16_T)rtb_DataTypeConversion;
if (rtb_Switch1 > 32767) {
rtb_Switch1 = 32767;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
} else {
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
if (rtb_Switch1 < -32768) {
rtb_Switch1 = -32768;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
}
}
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
/* MinMax: '<S43>/MinMax1' incorporates:
* Sum: '<S43>/Sum2'
* Sum: '<S43>/Sum6'
* Sum: '<S44>/Sum6'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
rtb_Switch2_l = (int16_T)rtb_Gain3;
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
if (!((int16_T)rtb_Gain3 < (int16_T)rtb_DataTypeConversion)) {
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
rtb_Switch2_l = (int16_T)rtb_DataTypeConversion;
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
if (!(rtb_Switch2_l < (int16_T)rtb_Switch1)) {
rtb_Switch2_l = (int16_T)rtb_Switch1;
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
/* MinMax: '<S43>/MinMax2' incorporates:
* Sum: '<S43>/Sum2'
* Sum: '<S43>/Sum6'
* Sum: '<S44>/Sum6'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
rtb_Merge = (int16_T)rtb_Gain3;
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
if (!((int16_T)rtb_Gain3 > (int16_T)rtb_DataTypeConversion)) {
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
rtb_Merge = (int16_T)rtb_DataTypeConversion;
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
if (!(rtb_Merge > (int16_T)rtb_Switch1)) {
rtb_Merge = (int16_T)rtb_Switch1;
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
/* Sum: '<S43>/Add' incorporates:
* MinMax: '<S43>/MinMax1'
* MinMax: '<S43>/MinMax2'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
rtb_Sum1 = rtb_Switch2_l + rtb_Merge;
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
if (rtb_Sum1 > 32767) {
rtb_Sum1 = 32767;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
} else {
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
if (rtb_Sum1 < -32768) {
rtb_Sum1 = -32768;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* Gain: '<S43>/Gain2' incorporates:
* Sum: '<S43>/Add'
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
rtb_DataTypeConversion2 = (int16_T)(rtb_Sum1 >> 1);
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* Sum: '<S43>/Add1' incorporates:
* Sum: '<S44>/Sum6'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
rtb_Gain3 = (int16_T)rtb_Gain3 - rtb_DataTypeConversion2;
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
} else {
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
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* Gain: '<S43>/Gain4' incorporates:
* Sum: '<S43>/Add1'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
rtDW->Gain4[0] = (int16_T)((18919 * rtb_Gain3) >> 14);
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* Sum: '<S43>/Add1' incorporates:
* Sum: '<S43>/Sum6'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
rtb_Gain3 = (int16_T)rtb_DataTypeConversion - rtb_DataTypeConversion2;
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
} else {
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
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* Gain: '<S43>/Gain4' incorporates:
* Sum: '<S43>/Add1'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
rtDW->Gain4[1] = (int16_T)((18919 * rtb_Gain3) >> 14);
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
/* Sum: '<S43>/Add1' incorporates:
* Sum: '<S43>/Sum2'
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +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
rtb_Gain3 = (int16_T)rtb_Switch1 - rtb_DataTypeConversion2;
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
if (rtb_Gain3 > 32767) {
rtb_Gain3 = 32767;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
} else {
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
if (rtb_Gain3 < -32768) {
rtb_Gain3 = -32768;
Added overflow protection - added aditional protection for fixed-point overflow - no other functional change
2019-10-20 17:59:16 +00:00
}
}
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
/* Gain: '<S43>/Gain4' incorporates:
* Sum: '<S43>/Add1'
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
rtDW->Gain4[2] = (int16_T)((18919 * rtb_Gain3) >> 14);
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
/* Update for UnitDelay: '<S6>/UnitDelay4' */
rtDW->UnitDelay4_DSTATE_h = rtDW->Switch1;
/* End of Outputs for SubSystem: '<S1>/F05_Field_Oriented_Control' */
Initial commit
2019-10-06 13:09:15 +00:00
}
/* End of If: '<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
/* Switch: '<S7>/Switch2' incorporates:
Initial commit
2019-10-06 13:09:15 +00:00
* Constant: '<S1>/z_ctrlTypSel1'
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
* Constant: '<S7>/CTRL_COMM1'
* RelationalOperator: '<S7>/Relational Operator6'
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
if (rtP->z_ctrlTypSel == 2) {
rtb_Merge = rtDW->Merge;
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
} else {
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
rtb_Merge = rtDW->Merge1;
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
/* End of Switch: '<S7>/Switch2' */
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
/* If: '<S7>/If' incorporates:
* Constant: '<S10>/vec_hallToPos'
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
* Constant: '<S1>/z_ctrlTypSel1'
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
* Constant: '<S7>/CTRL_COMM2'
* Constant: '<S7>/CTRL_COMM3'
* Inport: '<S85>/V_phaABC_FOC_in'
* Logic: '<S7>/Logical Operator1'
* Logic: '<S7>/Logical Operator2'
* LookupNDDirect: '<S84>/z_commutMap_M1'
* RelationalOperator: '<S7>/Relational Operator1'
* RelationalOperator: '<S7>/Relational Operator2'
* Selector: '<S10>/Selector'
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
* About '<S84>/z_commutMap_M1':
Initial commit
2019-10-06 13:09:15 +00:00
* 2-dimensional Direct Look-Up returning a Column
*/
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
if (rtb_LogicalOperator && (rtP->z_ctrlTypSel == 2)) {
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
/* Outputs for IfAction SubSystem: '<S7>/FOC_Method' incorporates:
* ActionPort: '<S85>/Action Port'
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
rtb_DataTypeConversion2 = rtDW->Gain4[0];
rtb_Merge_f_idx_1 = rtDW->Gain4[1];
rtb_Saturation1 = rtDW->Gain4[2];
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
/* End of Outputs for SubSystem: '<S7>/FOC_Method' */
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
} else if (rtb_LogicalOperator && (rtP->z_ctrlTypSel == 1)) {
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
/* Outputs for IfAction SubSystem: '<S7>/SIN_Method' incorporates:
* ActionPort: '<S86>/Action Port'
*/
/* Switch: '<S87>/Switch_PhaAdv' incorporates:
* Constant: '<S87>/b_fieldWeakEna'
* Product: '<S88>/Divide2'
* Product: '<S88>/Divide3'
* Sum: '<S88>/Sum3'
*/
if (rtP->b_fieldWeakEna) {
/* Sum: '<S87>/Sum3' incorporates:
* Product: '<S87>/Product2'
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
rtb_Saturation1 = (int16_T)((int16_T)((int16_T)(rtDW->Divide3 *
rtDW->Switch2_e) << 2) + rtb_Switch2_fl);
rtb_Saturation1 -= (int16_T)(23040 * (int16_T)div_nde_s32_floor
(rtb_Saturation1, 23040));
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
} else {
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
rtb_Saturation1 = rtb_Switch2_fl;
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
/* End of Switch: '<S87>/Switch_PhaAdv' */
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
/* PreLookup: '<S86>/a_elecAngle_XA' */
rtb_Sum = plook_u8s16_evencka(rtb_Saturation1, 0, 128U, 180U);
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
/* Product: '<S86>/Divide2' incorporates:
* Interpolation_n-D: '<S86>/r_sin3PhaA_M1'
* Interpolation_n-D: '<S86>/r_sin3PhaB_M1'
* Interpolation_n-D: '<S86>/r_sin3PhaC_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
*/
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
rtb_DataTypeConversion2 = (int16_T)((rtDW->Merge1 *
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
rtConstP.r_sin3PhaA_M1_Table[rtb_Sum]) >> 14);
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
rtb_Merge_f_idx_1 = (int16_T)((rtDW->Merge1 *
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
rtConstP.r_sin3PhaB_M1_Table[rtb_Sum]) >> 14);
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
rtb_Saturation1 = (int16_T)((rtDW->Merge1 *
rtConstP.r_sin3PhaC_M1_Table[rtb_Sum]) >> 14);
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
/* End of Outputs for SubSystem: '<S7>/SIN_Method' */
Initial commit
2019-10-06 13:09:15 +00:00
} else {
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
/* Outputs for IfAction SubSystem: '<S7>/COM_Method' incorporates:
* ActionPort: '<S84>/Action Port'
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
*/
Initial commit
2019-10-06 13:09:15 +00:00
if (rtConstP.vec_hallToPos_Value[rtb_Sum] > 5) {
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
/* LookupNDDirect: '<S84>/z_commutMap_M1'
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
* About '<S84>/z_commutMap_M1':
Initial commit
2019-10-06 13:09:15 +00:00
* 2-dimensional Direct Look-Up returning a Column
*/
rtb_Sum2_h = 5;
} else if (rtConstP.vec_hallToPos_Value[rtb_Sum] < 0) {
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
/* LookupNDDirect: '<S84>/z_commutMap_M1'
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
* About '<S84>/z_commutMap_M1':
Initial commit
2019-10-06 13:09:15 +00:00
* 2-dimensional Direct Look-Up returning a Column
*/
rtb_Sum2_h = 0;
} else {
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
/* LookupNDDirect: '<S84>/z_commutMap_M1' incorporates:
* Constant: '<S10>/vec_hallToPos'
* Selector: '<S10>/Selector'
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
* About '<S84>/z_commutMap_M1':
Initial commit
2019-10-06 13:09:15 +00:00
* 2-dimensional Direct Look-Up returning a Column
*/
rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
}
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
/* LookupNDDirect: '<S84>/z_commutMap_M1' incorporates:
* Constant: '<S10>/vec_hallToPos'
* Selector: '<S10>/Selector'
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
* About '<S84>/z_commutMap_M1':
Initial commit
2019-10-06 13:09:15 +00:00
* 2-dimensional Direct Look-Up returning a Column
*/
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
rtb_DataTypeConversion = rtb_Sum2_h * 3;
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
/* Product: '<S84>/Divide2' incorporates:
* LookupNDDirect: '<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
*
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
* About '<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
* 2-dimensional Direct Look-Up returning a Column
*/
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
rtb_DataTypeConversion2 = (int16_T)(rtb_Merge *
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
rtConstP.z_commutMap_M1_table[rtb_DataTypeConversion]);
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
rtb_Merge_f_idx_1 = (int16_T)(rtConstP.z_commutMap_M1_table[1 +
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
rtb_DataTypeConversion] * rtb_Merge);
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
rtb_Saturation1 = (int16_T)(rtConstP.z_commutMap_M1_table[2 +
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
rtb_DataTypeConversion] * rtb_Merge);
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
/* End of Outputs for SubSystem: '<S7>/COM_Method' */
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
/* End of If: '<S7>/If' */
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
/* Outport: '<Root>/DC_phaA' incorporates:
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
* DataTypeConversion: '<S7>/Data Type Conversion6'
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
rtY->DC_phaA = (int16_T)(rtb_DataTypeConversion2 >> 4);
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
/* Outport: '<Root>/DC_phaB' incorporates:
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
* DataTypeConversion: '<S7>/Data Type Conversion6'
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
rtY->DC_phaB = (int16_T)(rtb_Merge_f_idx_1 >> 4);
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
/* Update for UnitDelay: '<S9>/UnitDelay3' incorporates:
Initial commit
2019-10-06 13:09:15 +00:00
* Inport: '<Root>/b_hallA '
*/
rtDW->UnitDelay3_DSTATE_fy = rtU->b_hallA;
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
/* Update for UnitDelay: '<S9>/UnitDelay1' incorporates:
Initial commit
2019-10-06 13:09:15 +00:00
* Inport: '<Root>/b_hallB'
*/
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
rtDW->UnitDelay1_DSTATE = rtU->b_hallB;
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
/* Update for UnitDelay: '<S9>/UnitDelay2' incorporates:
Initial commit
2019-10-06 13:09:15 +00:00
* Inport: '<Root>/b_hallC'
*/
rtDW->UnitDelay2_DSTATE_f = rtU->b_hallC;
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
/* Update for UnitDelay: '<S12>/UnitDelay3' */
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
rtDW->UnitDelay3_DSTATE = rtb_Switch1_l;
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
/* Update for UnitDelay: '<S12>/UnitDelay4' */
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->UnitDelay4_DSTATE_e = rtb_Abs5;
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
/* Update for UnitDelay: '<S8>/UnitDelay2' incorporates:
* UnitDelay: '<S8>/UnitDelay6'
*/
rtDW->UnitDelay2_DSTATE_g = rtDW->UnitDelay6_DSTATE;
/* Update for UnitDelay: '<S7>/UnitDelay4' */
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
rtDW->UnitDelay4_DSTATE_eu = rtb_Merge;
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
/* Update for UnitDelay: '<S8>/UnitDelay5' */
rtDW->UnitDelay5_DSTATE_l = rtb_RelationalOperator4_d;
/* Update for UnitDelay: '<S8>/UnitDelay6' */
rtDW->UnitDelay6_DSTATE = rtb_RelationalOperator9;
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
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
/* Outport: '<Root>/DC_phaC' incorporates:
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
* DataTypeConversion: '<S7>/Data Type Conversion6'
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
rtY->DC_phaC = (int16_T)(rtb_Saturation1 >> 4);
Initial commit
2019-10-06 13:09:15 +00:00
/* Outport: '<Root>/n_mot' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion1'
*/
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
rtY->n_mot = (int16_T)(rtb_Switch2_k >> 4);
Initial commit
2019-10-06 13:09:15 +00:00
/* Outport: '<Root>/a_elecAngle' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion7'
*/
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
rtY->a_elecAngle = (int16_T)(rtb_Switch2_fl >> 6);
Initial commit
2019-10-06 13:09:15 +00:00
/* Outport: '<Root>/r_devSignal1' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion4'
*/
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
rtY->r_devSignal1 = (int16_T)(rtDW->DataTypeConversion[0] >> 4);
Initial commit
2019-10-06 13:09:15 +00:00
/* Outport: '<Root>/r_devSignal2' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion5'
*/
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
rtY->r_devSignal2 = (int16_T)(rtDW->DataTypeConversion[1] >> 4);
Initial commit
2019-10-06 13:09:15 +00:00
/* End of Outputs for SubSystem: '<Root>/BLDC_controller' */
}
/* Model initialize function */
void BLDC_controller_initialize(RT_MODEL *const rtM)
{
P *rtP = ((P *) rtM->defaultParam);
DW *rtDW = ((DW *) rtM->dwork);
/* Start for Atomic SubSystem: '<Root>/BLDC_controller' */
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
/* Start for If: '<S1>/If4' */
rtDW->If4_ActiveSubsystem = -1;
/* Start for IfAction SubSystem: '<S1>/F03_Control_Mode_Manager' */
/* Start for If: '<S29>/If2' */
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->If2_ActiveSubsystem = -1;
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
/* End of Start for SubSystem: '<S1>/F03_Control_Mode_Manager' */
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
Initial commit
2019-10-06 13:09:15 +00:00
/* Start for If: '<S1>/If1' */
rtDW->If1_ActiveSubsystem = -1;
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
/* Start for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' */
/* Start for If: '<S6>/If2' */
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
rtDW->If2_ActiveSubsystem_a = -1;
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
/* End of Start for SubSystem: '<S1>/F05_Field_Oriented_Control' */
Initial commit
2019-10-06 13:09:15 +00:00
/* End of Start for SubSystem: '<Root>/BLDC_controller' */
/* SystemInitialize for Atomic SubSystem: '<Root>/BLDC_controller' */
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
/* InitializeConditions for UnitDelay: '<S12>/UnitDelay3' */
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->UnitDelay3_DSTATE = rtP->z_maxCntRst;
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
/* InitializeConditions for UnitDelay: '<S8>/UnitDelay2' */
rtDW->UnitDelay2_DSTATE_g = true;
/* SystemInitialize for IfAction SubSystem: '<S12>/Raw_Motor_Speed_Estimation' */
/* SystemInitialize for Outport: '<S15>/z_counter' */
Initial commit
2019-10-06 13:09:15 +00:00
rtDW->z_counterRawPrev = rtP->z_maxCntRst;
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
/* End of SystemInitialize for SubSystem: '<S12>/Raw_Motor_Speed_Estimation' */
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
/* SystemInitialize for Atomic SubSystem: '<S12>/Counter' */
Initial commit
2019-10-06 13:09:15 +00:00
Counter_Init(&rtDW->Counter_e, rtP->z_maxCntRst);
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
/* End of SystemInitialize for SubSystem: '<S12>/Counter' */
Initial commit
2019-10-06 13:09:15 +00:00
/* SystemInitialize for IfAction SubSystem: '<S1>/F02_Diagnostics' */
/* SystemInitialize for Atomic SubSystem: '<S3>/Debounce_Filter' */
Debounce_Filter_Init(&rtDW->Debounce_Filter_f);
/* End of SystemInitialize for SubSystem: '<S3>/Debounce_Filter' */
/* End of SystemInitialize for SubSystem: '<S1>/F02_Diagnostics' */
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
/* SystemInitialize for IfAction SubSystem: '<S1>/F03_Control_Mode_Manager' */
/* SystemInitialize for IfAction SubSystem: '<S29>/Open_Mode' */
/* SystemInitialize for Atomic SubSystem: '<S33>/rising_edge_init' */
/* InitializeConditions for UnitDelay: '<S35>/UnitDelay' */
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
rtDW->UnitDelay_DSTATE_e = true;
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
/* End of SystemInitialize for SubSystem: '<S33>/rising_edge_init' */
/* End of SystemInitialize for SubSystem: '<S29>/Open_Mode' */
/* End of SystemInitialize for SubSystem: '<S1>/F03_Control_Mode_Manager' */
/* SystemInitialize for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' */
/* SystemInitialize for IfAction SubSystem: '<S6>/Motor_Limitations' */
/* SystemInitialize for IfAction SubSystem: '<S45>/Voltage_Mode_Protection' */
/* SystemInitialize for Atomic SubSystem: '<S73>/I_backCalc_fixdt' */
I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt_i, 0);
/* End of SystemInitialize for SubSystem: '<S73>/I_backCalc_fixdt' */
/* SystemInitialize for Atomic SubSystem: '<S73>/I_backCalc_fixdt1' */
I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt1, 0);
/* End of SystemInitialize for SubSystem: '<S73>/I_backCalc_fixdt1' */
/* End of SystemInitialize for SubSystem: '<S45>/Voltage_Mode_Protection' */
/* SystemInitialize for IfAction SubSystem: '<S45>/Torque_Mode_Protection' */
/* SystemInitialize for Atomic SubSystem: '<S72>/I_backCalc_fixdt' */
I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt_g, 0);
/* End of SystemInitialize for SubSystem: '<S72>/I_backCalc_fixdt' */
/* End of SystemInitialize for SubSystem: '<S45>/Torque_Mode_Protection' */
/* SystemInitialize for Outport: '<S45>/Vd_max' */
rtDW->Vd_max1 = 14400;
/* SystemInitialize for Outport: '<S45>/Vd_min' */
rtDW->Gain3 = -14400;
/* SystemInitialize for Outport: '<S45>/Vq_max' */
rtDW->Vq_max_M1 = 14400;
/* SystemInitialize for Outport: '<S45>/Vq_min' */
rtDW->Gain5 = -14400;
/* SystemInitialize for Outport: '<S45>/id_max' */
rtDW->i_max = 12000;
/* SystemInitialize for Outport: '<S45>/id_min' */
rtDW->Gain4_c = -12000;
/* SystemInitialize for Outport: '<S45>/iq_max' */
rtDW->Divide1_a = 12000;
/* SystemInitialize for Outport: '<S45>/iq_min' */
rtDW->Gain1 = -12000;
/* End of SystemInitialize for SubSystem: '<S6>/Motor_Limitations' */
/* End of SystemInitialize for SubSystem: '<S1>/F05_Field_Oriented_Control' */
Initial commit
2019-10-06 13:09:15 +00:00
/* End of SystemInitialize for SubSystem: '<Root>/BLDC_controller' */
}
/*
* File trailer for generated code.
*
* [EOF]
*/