paul cox
An example of importing Embedded Coder code into the mbed IDE. Currently doesn't connect IO to PWM, ADC, and Encoder, instead provides random inputs and measures execution time.
Dependencies: mbed-dsp mbed Nucleo_pmsmfoc
html/html/rtwdemo_pmsmfoc_h.html
- Committer:
- paulcox
- Date:
- 2014-11-25
- Revision:
- 2:bbc155b0b886
File content as of revision 2:bbc155b0b886:
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<html>
<head>
<script type="text/javascript" src="./js/coder_app.js"></script>
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<script type="text/javascript" src="./rtwreport_utils.js"></script>
<script type="text/javascript" src="./rtwannotate.js"></script>
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<pre id="code">
<table class="code" id="codeTbl">
<tr name="1" id="1">
<td>1</td><td><span class="ct">/*</span></td></tr>
<tr name="2" id="2">
<td>2</td><td><span class="ct"> * File: rtwdemo_pmsmfoc.h</span></td></tr>
<tr name="3" id="3">
<td>3</td><td><span class="ct"> *</span></td></tr>
<tr name="4" id="4">
<td>4</td><td><span class="ct"> * Code generated for Simulink model 'rtwdemo_pmsmfoc'.</span></td></tr>
<tr name="5" id="5">
<td>5</td><td><span class="ct"> *</span></td></tr>
<tr name="6" id="6">
<td>6</td><td><span class="ct"> * Model version : 1.2949</span></td></tr>
<tr name="7" id="7">
<td>7</td><td><span class="ct"> * Simulink Coder version : 8.7 (R2014b) 11-Aug-2014</span></td></tr>
<tr name="8" id="8">
<td>8</td><td><span class="ct"> * C/C++ source code generated on : Sat Oct 11 02:05:41 2014</span></td></tr>
<tr name="9" id="9">
<td>9</td><td><span class="ct"> *</span></td></tr>
<tr name="10" id="10">
<td>10</td><td><span class="ct"> * Target selection: ert.tlc</span></td></tr>
<tr name="11" id="11">
<td>11</td><td><span class="ct"> * Embedded hardware selection: ARM Compatible->ARM Cortex</span></td></tr>
<tr name="12" id="12">
<td>12</td><td><span class="ct"> * Code generation objective: Execution efficiency</span></td></tr>
<tr name="13" id="13">
<td>13</td><td><span class="ct"> * Validation result: Not run</span></td></tr>
<tr name="14" id="14">
<td>14</td><td><span class="ct"> */</span></td></tr>
<tr name="15" id="15">
<td>15</td><td></td></tr>
<tr name="16" id="16">
<td>16</td><td><span class="pp">#ifndef</span> <a id="16c9" class="tk">RTW_HEADER_rtwdemo_pmsmfoc_h_</a></td></tr>
<tr name="17" id="17">
<td>17</td><td><span class="pp">#define</span> <a id="17c9" class="tk">RTW_HEADER_rtwdemo_pmsmfoc_h_</a></td></tr>
<tr name="18" id="18">
<td>18</td><td><span class="pp">#include "rtwtypes.h"</span></td></tr>
<tr name="19" id="19">
<td>19</td><td><span class="pp">#include <float.h></span></td></tr>
<tr name="20" id="20">
<td>20</td><td><span class="pp">#include <math.h></span></td></tr>
<tr name="21" id="21">
<td>21</td><td><span class="pp">#include <string.h></span></td></tr>
<tr name="22" id="22">
<td>22</td><td><span class="pp">#include <stddef.h></span></td></tr>
<tr name="23" id="23">
<td>23</td><td><span class="pp">#ifndef</span> <a id="23c9" class="tk">rtwdemo_pmsmfoc_COMMON_INCLUDES_</a></td></tr>
<tr name="24" id="24">
<td>24</td><td><span class="pp"># define</span> <a id="24c10" class="tk">rtwdemo_pmsmfoc_COMMON_INCLUDES_</a></td></tr>
<tr name="25" id="25">
<td>25</td><td><span class="pp">#include "rtwtypes.h"</span></td></tr>
<tr name="26" id="26">
<td>26</td><td><span class="pp">#endif</span> <span class="ct">/* rtwdemo_pmsmfoc_COMMON_INCLUDES_ */</span></td></tr>
<tr name="27" id="27">
<td>27</td><td></td></tr>
<tr name="28" id="28">
<td>28</td><td><span class="pp">#include "MW_target_hardware_resources.h"</span></td></tr>
<tr name="29" id="29">
<td>29</td><td><span class="pp">#include "mw_cmsis.h"</span></td></tr>
<tr name="30" id="30">
<td>30</td><td></td></tr>
<tr name="31" id="31">
<td>31</td><td><span class="ct">/* Macros for accessing real-time model data structure */</span></td></tr>
<tr name="32" id="32">
<td>32</td><td></td></tr>
<tr name="33" id="33">
<td>33</td><td><span class="ct">/* Forward declaration for rtModel */</span></td></tr>
<tr name="34" id="34">
<td>34</td><td><span class="kw">typedef</span> <span class="kw">struct</span> <a id="34c16" class="tk">tag_RTM</a> <a id="34c24" class="tk">RT_MODEL</a>;</td></tr>
<tr name="35" id="35">
<td>35</td><td></td></tr>
<tr name="36" id="36">
<td>36</td><td><span class="pp">#ifndef</span> <a id="36c9" class="tk">_DEFINED_TYPEDEF_FOR_EnumErrorType_</a></td></tr>
<tr name="37" id="37">
<td>37</td><td><span class="pp">#define</span> <a id="37c9" class="tk">_DEFINED_TYPEDEF_FOR_EnumErrorType_</a></td></tr>
<tr name="38" id="38">
<td>38</td><td></td></tr>
<tr name="39" id="39">
<td>39</td><td><span class="kw">typedef</span> <span class="kw">enum</span> <span class="br">{</span></td></tr>
<tr name="40" id="40">
<td>40</td><td> <a id="40c3" class="tk">NoError</a> = 0, <span class="ct">/* Default value */</span></td></tr>
<tr name="41" id="41">
<td>41</td><td> <a id="41c3" class="tk">MeasuredVelocityError</a></td></tr>
<tr name="42" id="42">
<td>42</td><td><span class="br">}</span> <a id="42c3" class="tk">EnumErrorType</a>;</td></tr>
<tr name="43" id="43">
<td>43</td><td></td></tr>
<tr name="44" id="44">
<td>44</td><td><span class="pp">#endif</span></td></tr>
<tr name="45" id="45">
<td>45</td><td></td></tr>
<tr name="46" id="46">
<td>46</td><td><span class="pp">#ifndef</span> <a id="46c9" class="tk">_DEFINED_TYPEDEF_FOR_EnumCommandType_</a></td></tr>
<tr name="47" id="47">
<td>47</td><td><span class="pp">#define</span> <a id="47c9" class="tk">_DEFINED_TYPEDEF_FOR_EnumCommandType_</a></td></tr>
<tr name="48" id="48">
<td>48</td><td></td></tr>
<tr name="49" id="49">
<td>49</td><td><span class="kw">typedef</span> <span class="kw">enum</span> <span class="br">{</span></td></tr>
<tr name="50" id="50">
<td>50</td><td> <a id="50c3" class="tk">Torque</a> = 0, <span class="ct">/* Default value */</span></td></tr>
<tr name="51" id="51">
<td>51</td><td> <a id="51c3" class="tk">Velocity</a>,</td></tr>
<tr name="52" id="52">
<td>52</td><td> <a id="52c3" class="tk">Position</a></td></tr>
<tr name="53" id="53">
<td>53</td><td><span class="br">}</span> <a id="53c3" class="tk">EnumCommandType</a>;</td></tr>
<tr name="54" id="54">
<td>54</td><td></td></tr>
<tr name="55" id="55">
<td>55</td><td><span class="pp">#endif</span></td></tr>
<tr name="56" id="56">
<td>56</td><td></td></tr>
<tr name="57" id="57">
<td>57</td><td><span class="pp">#ifndef</span> <a id="57c9" class="tk">_DEFINED_TYPEDEF_FOR_EnumControllerMode_</a></td></tr>
<tr name="58" id="58">
<td>58</td><td><span class="pp">#define</span> <a id="58c9" class="tk">_DEFINED_TYPEDEF_FOR_EnumControllerMode_</a></td></tr>
<tr name="59" id="59">
<td>59</td><td></td></tr>
<tr name="60" id="60">
<td>60</td><td><span class="kw">typedef</span> <span class="kw">enum</span> <span class="br">{</span></td></tr>
<tr name="61" id="61">
<td>61</td><td> <a id="61c3" class="tk">StandBy</a> = 0, <span class="ct">/* Default value */</span></td></tr>
<tr name="62" id="62">
<td>62</td><td> <a id="62c3" class="tk">Startup</a>,</td></tr>
<tr name="63" id="63">
<td>63</td><td> <a id="63c3" class="tk">TorqueControl</a>,</td></tr>
<tr name="64" id="64">
<td>64</td><td> <a id="64c3" class="tk">VelocityControl</a>,</td></tr>
<tr name="65" id="65">
<td>65</td><td> <a id="65c3" class="tk">PositionControl</a></td></tr>
<tr name="66" id="66">
<td>66</td><td><span class="br">}</span> <a id="66c3" class="tk">EnumControllerMode</a>;</td></tr>
<tr name="67" id="67">
<td>67</td><td></td></tr>
<tr name="68" id="68">
<td>68</td><td><span class="pp">#endif</span></td></tr>
<tr name="69" id="69">
<td>69</td><td></td></tr>
<tr name="70" id="70">
<td>70</td><td><span class="pp">#ifndef</span> <a id="70c9" class="tk">_DEFINED_TYPEDEF_FOR_SENSORS_STRUCT_</a></td></tr>
<tr name="71" id="71">
<td>71</td><td><span class="pp">#define</span> <a id="71c9" class="tk">_DEFINED_TYPEDEF_FOR_SENSORS_STRUCT_</a></td></tr>
<tr name="72" id="72">
<td>72</td><td></td></tr>
<tr name="73" id="73">
<td>73</td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
<tr name="74" id="74">
<td>74</td><td> <a id="74c3" class="tk">uint16_T</a> <a id="74c12" class="tk">adc_phase_currents</a>[2];</td></tr>
<tr name="75" id="75">
<td>75</td><td> <a id="75c3" class="tk">uint16_T</a> <a id="75c12" class="tk">encoder_valid</a>;</td></tr>
<tr name="76" id="76">
<td>76</td><td> <a id="76c3" class="tk">uint16_T</a> <a id="76c12" class="tk">encoder_counter</a>;</td></tr>
<tr name="77" id="77">
<td>77</td><td><span class="br">}</span> <a id="77c3" class="tk">SENSORS_STRUCT</a>;</td></tr>
<tr name="78" id="78">
<td>78</td><td></td></tr>
<tr name="79" id="79">
<td>79</td><td><span class="pp">#endif</span></td></tr>
<tr name="80" id="80">
<td>80</td><td></td></tr>
<tr name="81" id="81">
<td>81</td><td><span class="pp">#ifndef</span> <a id="81c9" class="tk">_DEFINED_TYPEDEF_FOR_CTRLPARAMS_STRUCT_</a></td></tr>
<tr name="82" id="82">
<td>82</td><td><span class="pp">#define</span> <a id="82c9" class="tk">_DEFINED_TYPEDEF_FOR_CTRLPARAMS_STRUCT_</a></td></tr>
<tr name="83" id="83">
<td>83</td><td></td></tr>
<tr name="84" id="84">
<td>84</td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
<tr name="85" id="85">
<td>85</td><td> <a id="85c3" class="tk">real32_T</a> <a id="85c12" class="tk">Current_P</a>;</td></tr>
<tr name="86" id="86">
<td>86</td><td> <a id="86c3" class="tk">real32_T</a> <a id="86c12" class="tk">Current_I</a>;</td></tr>
<tr name="87" id="87">
<td>87</td><td> <a id="87c3" class="tk">real32_T</a> <a id="87c12" class="tk">Velocity_P</a>;</td></tr>
<tr name="88" id="88">
<td>88</td><td> <a id="88c3" class="tk">real32_T</a> <a id="88c12" class="tk">Velocity_I</a>;</td></tr>
<tr name="89" id="89">
<td>89</td><td> <a id="89c3" class="tk">real32_T</a> <a id="89c12" class="tk">Position_P</a>;</td></tr>
<tr name="90" id="90">
<td>90</td><td> <a id="90c3" class="tk">real32_T</a> <a id="90c12" class="tk">Position_I</a>;</td></tr>
<tr name="91" id="91">
<td>91</td><td> <a id="91c3" class="tk">real32_T</a> <a id="91c12" class="tk">StartupAcceleration</a>;</td></tr>
<tr name="92" id="92">
<td>92</td><td> <a id="92c3" class="tk">real32_T</a> <a id="92c12" class="tk">StartupCurrent</a>;</td></tr>
<tr name="93" id="93">
<td>93</td><td> <a id="93c3" class="tk">real32_T</a> <a id="93c12" class="tk">RampToStopVelocity</a>;</td></tr>
<tr name="94" id="94">
<td>94</td><td> <a id="94c3" class="tk">real32_T</a> <a id="94c12" class="tk">AdcZeroOffsetDriverUnits</a>;</td></tr>
<tr name="95" id="95">
<td>95</td><td> <a id="95c3" class="tk">real32_T</a> <a id="95c12" class="tk">AdcDriverUnitsToAmps</a>;</td></tr>
<tr name="96" id="96">
<td>96</td><td> <a id="96c3" class="tk">real32_T</a> <a id="96c12" class="tk">EncoderToMechanicalZeroOffsetRads</a>;</td></tr>
<tr name="97" id="97">
<td>97</td><td> <a id="97c3" class="tk">real32_T</a> <a id="97c12" class="tk">PmsmPolePairs</a>;</td></tr>
<tr name="98" id="98">
<td>98</td><td><span class="br">}</span> <a id="98c3" class="tk">CTRLPARAMS_STRUCT</a>;</td></tr>
<tr name="99" id="99">
<td>99</td><td></td></tr>
<tr name="100" id="100">
<td>100</td><td><span class="pp">#endif</span></td></tr>
<tr name="101" id="101">
<td>101</td><td></td></tr>
<tr name="102" id="102">
<td>102</td><td><span class="ct">/* Block signals and states (auto storage) for system '<a class="ct blk" blk_line="102"><Root></a>' */</span></td></tr>
<tr name="103" id="103">
<td>103</td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
<tr name="104" id="104">
<td>104</td><td> <a id="104c3" class="tk">real32_T</a> <a id="104c12" class="tk">Merge</a>; <span class="ct">/* '<a class="ct blk" blk_line="104"><S5>/Merge</a>' */</span></td></tr>
<tr name="105" id="105">
<td>105</td><td> <a id="105c3" class="tk">real32_T</a> <a id="105c12" class="tk">position</a>; <span class="ct">/* '<a class="ct blk" blk_line="105"><S65>/Integrate_To_Position</a>' */</span></td></tr>
<tr name="106" id="106">
<td>106</td><td> <a id="106c3" class="tk">real32_T</a> <a id="106c12" class="tk">velocity_command</a>; <span class="ct">/* '<a class="ct blk" blk_line="106"><S1>/Controller_Mode_Scheduler</a>' */</span></td></tr>
<tr name="107" id="107">
<td>107</td><td> <a id="107c3" class="tk">real32_T</a> <a id="107c12" class="tk">position_command</a>; <span class="ct">/* '<a class="ct blk" blk_line="107"><S1>/Controller_Mode_Scheduler</a>' */</span></td></tr>
<tr name="108" id="108">
<td>108</td><td> <a id="108c3" class="tk">real32_T</a> <a id="108c12" class="tk">torque_command</a>; <span class="ct">/* '<a class="ct blk" blk_line="108"><S1>/Controller_Mode_Scheduler</a>' */</span></td></tr>
<tr name="109" id="109">
<td>109</td><td> <a id="109c3" class="tk">real32_T</a> <a id="109c12" class="tk">Integrator_DSTATE</a>; <span class="ct">/* '<a class="ct blk" blk_line="109"><S17>/Integrator</a>' */</span></td></tr>
<tr name="110" id="110">
<td>110</td><td> <a id="110c3" class="tk">real32_T</a> <a id="110c12" class="tk">Integrator_DSTATE_l</a>; <span class="ct">/* '<a class="ct blk" blk_line="110"><S18>/Integrator</a>' */</span></td></tr>
<tr name="111" id="111">
<td>111</td><td> <a id="111c3" class="tk">real32_T</a> <a id="111c12" class="tk">Velocity_Delay_DSTATE</a>; <span class="ct">/* '<a class="ct blk" blk_line="111"><S60>/Velocity_Delay</a>' */</span></td></tr>
<tr name="112" id="112">
<td>112</td><td> <a id="112c3" class="tk">real32_T</a> <a id="112c12" class="tk">Integrate_To_Position_DSTATE</a>;<span class="ct">/* '<a class="ct blk" blk_line="112"><S65>/Integrate_To_Position</a>' */</span></td></tr>
<tr name="113" id="113">
<td>113</td><td> <a id="113c3" class="tk">real32_T</a> <a id="113c12" class="tk">Integrate_To_Velocity_DSTATE</a>;<span class="ct">/* '<a class="ct blk" blk_line="113"><S65>/Integrate_To_Velocity</a>' */</span></td></tr>
<tr name="114" id="114">
<td>114</td><td> <a id="114c3" class="tk">real32_T</a> <a id="114c12" class="tk">Integrator_DSTATE_lc</a>; <span class="ct">/* '<a class="ct blk" blk_line="114"><S42>/Integrator</a>' */</span></td></tr>
<tr name="115" id="115">
<td>115</td><td> <a id="115c3" class="tk">real32_T</a> <a id="115c12" class="tk">Integrator_DSTATE_f</a>; <span class="ct">/* '<a class="ct blk" blk_line="115"><S45>/Integrator</a>' */</span></td></tr>
<tr name="116" id="116">
<td>116</td><td> <a id="116c3" class="tk">int32_T</a> <a id="116c11" class="tk">Position_Delay_DSTATE</a>; <span class="ct">/* '<a class="ct blk" blk_line="116"><S55>/Position_Delay</a>' */</span></td></tr>
<tr name="117" id="117">
<td>117</td><td> <a id="117c3" class="tk">EnumErrorType</a> <a id="117c17" class="tk">error_l</a>; <span class="ct">/* '<a class="ct blk" blk_line="117"><Root>/Data Store Memory</a>' */</span></td></tr>
<tr name="118" id="118">
<td>118</td><td> <a id="118c3" class="tk">int16_T</a> <a id="118c11" class="tk">DelayInput1_DSTATE</a>; <span class="ct">/* '<a class="ct blk" blk_line="118"><S13>/Delay Input1</a>' */</span></td></tr>
<tr name="119" id="119">
<td>119</td><td> <a id="119c3" class="tk">uint16_T</a> <a id="119c12" class="tk">Position_Valid</a>; <span class="ct">/* '<a class="ct blk" blk_line="119"><S49>/Wait_For_Valid_Position</a>' */</span></td></tr>
<tr name="120" id="120">
<td>120</td><td> <a id="120c3" class="tk">int8_T</a> <a id="120c10" class="tk">Integrator_PrevResetState</a>; <span class="ct">/* '<a class="ct blk" blk_line="120"><S17>/Integrator</a>' */</span></td></tr>
<tr name="121" id="121">
<td>121</td><td> <a id="121c3" class="tk">int8_T</a> <a id="121c10" class="tk">SwitchCase_ActiveSubsystem</a>; <span class="ct">/* '<a class="ct blk" blk_line="121"><S5>/Switch Case</a>' */</span></td></tr>
<tr name="122" id="122">
<td>122</td><td> <a id="122c3" class="tk">int8_T</a> <a id="122c10" class="tk">Integrator_PrevResetState_c</a>; <span class="ct">/* '<a class="ct blk" blk_line="122"><S18>/Integrator</a>' */</span></td></tr>
<tr name="123" id="123">
<td>123</td><td> <a id="123c3" class="tk">uint8_T</a> <a id="123c11" class="tk">is_active_c2_rtwdemo_pmsmfoc</a>;<span class="ct">/* '<a class="ct blk" blk_line="123"><S49>/Wait_For_Valid_Position</a>' */</span></td></tr>
<tr name="124" id="124">
<td>124</td><td> <a id="124c3" class="tk">uint8_T</a> <a id="124c11" class="tk">is_c2_rtwdemo_pmsmfoc</a>; <span class="ct">/* '<a class="ct blk" blk_line="124"><S49>/Wait_For_Valid_Position</a>' */</span></td></tr>
<tr name="125" id="125">
<td>125</td><td> <a id="125c3" class="tk">uint8_T</a> <a id="125c11" class="tk">temporalCounter_i1</a>; <span class="ct">/* '<a class="ct blk" blk_line="125"><S49>/Wait_For_Valid_Position</a>' */</span></td></tr>
<tr name="126" id="126">
<td>126</td><td> <a id="126c3" class="tk">uint8_T</a> <a id="126c11" class="tk">is_c1_rtwdemo_pmsmfoc</a>; <span class="ct">/* '<a class="ct blk" blk_line="126"><S1>/Controller_Mode_Scheduler</a>' */</span></td></tr>
<tr name="127" id="127">
<td>127</td><td> <a id="127c3" class="tk">uint8_T</a> <a id="127c11" class="tk">is_Motor_On</a>; <span class="ct">/* '<a class="ct blk" blk_line="127"><S1>/Controller_Mode_Scheduler</a>' */</span></td></tr>
<tr name="128" id="128">
<td>128</td><td> <a id="128c3" class="tk">uint8_T</a> <a id="128c11" class="tk">is_Motor_Control</a>; <span class="ct">/* '<a class="ct blk" blk_line="128"><S1>/Controller_Mode_Scheduler</a>' */</span></td></tr>
<tr name="129" id="129">
<td>129</td><td> <a id="129c3" class="tk">boolean_T</a> <a id="129c13" class="tk">RelationalOperator_a</a>; <span class="ct">/* '<a class="ct blk" blk_line="129"><S51>/Relational Operator</a>' */</span></td></tr>
<tr name="130" id="130">
<td>130</td><td> <a id="130c3" class="tk">boolean_T</a> <a id="130c13" class="tk">Lo_to_Hi_Rate_Transition3_Buffe</a>;<span class="ct">/* '<a class="ct blk" blk_line="130"><S6>/Lo_to_Hi_Rate_Transition3</a>' */</span></td></tr>
<tr name="131" id="131">
<td>131</td><td> <a id="131c3" class="tk">boolean_T</a> <a id="131c13" class="tk">OpenLoopPosition_MODE</a>; <span class="ct">/* '<a class="ct blk" blk_line="131"><S51>/Open Loop Position</a>' */</span></td></tr>
<tr name="132" id="132">
<td>132</td><td><span class="br">}</span> <a id="132c3" class="tk">D_Work</a>;</td></tr>
<tr name="133" id="133">
<td>133</td><td></td></tr>
<tr name="134" id="134">
<td>134</td><td><span class="ct">/* Constant parameters (auto storage) */</span></td></tr>
<tr name="135" id="135">
<td>135</td><td><span class="kw">typedef</span> <span class="kw">struct</span> <span class="br">{</span></td></tr>
<tr name="136" id="136">
<td>136</td><td> <span class="ct">/* Computed Parameter: Lookup_Table_table</span></td></tr>
<tr name="137" id="137">
<td>137</td><td><span class="ct"> * Referenced by: '<a class="ct blk" blk_line="137"><S28>/Lookup_Table</a>'</span></td></tr>
<tr name="138" id="138">
<td>138</td><td><span class="ct"> */</span></td></tr>
<tr name="139" id="139">
<td>139</td><td> <a id="139c3" class="tk">uint16_T</a> <a id="139c12" class="tk">Lookup_Table_table</a>[7];</td></tr>
<tr name="140" id="140">
<td>140</td><td><span class="br">}</span> <a id="140c3" class="tk">ConstParam</a>;</td></tr>
<tr name="141" id="141">
<td>141</td><td></td></tr>
<tr name="142" id="142">
<td>142</td><td><span class="ct">/* Real-time Model Data Structure */</span></td></tr>
<tr name="143" id="143">
<td>143</td><td><span class="kw">struct</span> <a id="143c8" class="tk">tag_RTM</a> <span class="br">{</span></td></tr>
<tr name="144" id="144">
<td>144</td><td> <span class="ct">/*</span></td></tr>
<tr name="145" id="145">
<td>145</td><td><span class="ct"> * Timing:</span></td></tr>
<tr name="146" id="146">
<td>146</td><td><span class="ct"> * The following substructure contains information regarding</span></td></tr>
<tr name="147" id="147">
<td>147</td><td><span class="ct"> * the timing information for the model.</span></td></tr>
<tr name="148" id="148">
<td>148</td><td><span class="ct"> */</span></td></tr>
<tr name="149" id="149">
<td>149</td><td> <span class="kw">struct</span> <span class="br">{</span></td></tr>
<tr name="150" id="150">
<td>150</td><td> <span class="kw">struct</span> <span class="br">{</span></td></tr>
<tr name="151" id="151">
<td>151</td><td> <a id="151c7" class="tk">uint8_T</a> <a id="151c15" class="tk">TID</a>[2];</td></tr>
<tr name="152" id="152">
<td>152</td><td> <span class="br">}</span> <a id="152c7" class="tk">TaskCounters</a>;</td></tr>
<tr name="153" id="153">
<td>153</td><td> <span class="br">}</span> <a id="153c5" class="tk">Timing</a>;</td></tr>
<tr name="154" id="154">
<td>154</td><td><span class="br">}</span>;</td></tr>
<tr name="155" id="155">
<td>155</td><td></td></tr>
<tr name="156" id="156">
<td>156</td><td><span class="ct">/* Block signals and states (auto storage) */</span></td></tr>
<tr name="157" id="157">
<td>157</td><td><span class="kw">extern</span> <a id="157c8" class="tk">D_Work</a> <a id="157c15" class="tk">DWork</a>;</td></tr>
<tr name="158" id="158">
<td>158</td><td></td></tr>
<tr name="159" id="159">
<td>159</td><td><span class="ct">/* Constant parameters (auto storage) */</span></td></tr>
<tr name="160" id="160">
<td>160</td><td><span class="kw">extern</span> <span class="kw">const</span> <a id="160c14" class="tk">ConstParam</a> <a id="160c25" class="tk">ConstP</a>;</td></tr>
<tr name="161" id="161">
<td>161</td><td></td></tr>
<tr name="162" id="162">
<td>162</td><td><span class="ct">/*</span></td></tr>
<tr name="163" id="163">
<td>163</td><td><span class="ct"> * Exported Global Signals</span></td></tr>
<tr name="164" id="164">
<td>164</td><td><span class="ct"> *</span></td></tr>
<tr name="165" id="165">
<td>165</td><td><span class="ct"> * Note: Exported global signals are block signals with an exported global</span></td></tr>
<tr name="166" id="166">
<td>166</td><td><span class="ct"> * storage class designation. Code generation will declare the memory for</span></td></tr>
<tr name="167" id="167">
<td>167</td><td><span class="ct"> * these signals and export their symbols.</span></td></tr>
<tr name="168" id="168">
<td>168</td><td><span class="ct"> *</span></td></tr>
<tr name="169" id="169">
<td>169</td><td><span class="ct"> */</span></td></tr>
<tr name="170" id="170">
<td>170</td><td><span class="kw">extern</span> <a id="170c8" class="tk">real32_T</a> <a id="170c17" class="tk">phase_currents</a>[2]; <span class="ct">/* '<a class="ct blk" blk_line="170"><S48>/Product</a>' */</span></td></tr>
<tr name="171" id="171">
<td>171</td><td><span class="kw">extern</span> <a id="171c8" class="tk">real32_T</a> <a id="171c17" class="tk">rotor_position</a>; <span class="ct">/* '<a class="ct blk" blk_line="171"><S49>/Add</a>' */</span></td></tr>
<tr name="172" id="172">
<td>172</td><td><span class="kw">extern</span> <a id="172c8" class="tk">real32_T</a> <a id="172c17" class="tk">velocity_measured</a>; <span class="ct">/* '<a class="ct blk" blk_line="172"><S55>/Scale_Output</a>' */</span></td></tr>
<tr name="173" id="173">
<td>173</td><td><span class="kw">extern</span> <a id="173c8" class="tk">real32_T</a> <a id="173c17" class="tk">d_current_error</a>; <span class="ct">/* '<a class="ct blk" blk_line="173"><S12>/Sum2</a>' */</span></td></tr>
<tr name="174" id="174">
<td>174</td><td><span class="kw">extern</span> <a id="174c8" class="tk">real32_T</a> <a id="174c17" class="tk">q_current_command</a>; <span class="ct">/* '<a class="ct blk" blk_line="174"><S5>/Lo_to_Hi_Rate_Transition1</a>' */</span></td></tr>
<tr name="175" id="175">
<td>175</td><td><span class="kw">extern</span> <a id="175c8" class="tk">real32_T</a> <a id="175c17" class="tk">q_current_measured</a>; <span class="ct">/* '<a class="ct blk" blk_line="175"><S22>/Add</a>' */</span></td></tr>
<tr name="176" id="176">
<td>176</td><td><span class="kw">extern</span> <a id="176c8" class="tk">real32_T</a> <a id="176c17" class="tk">q_current_error</a>; <span class="ct">/* '<a class="ct blk" blk_line="176"><S12>/Sum</a>' */</span></td></tr>
<tr name="177" id="177">
<td>177</td><td><span class="kw">extern</span> <a id="177c8" class="tk">real32_T</a> <a id="177c17" class="tk">phase_voltages</a>[3]; <span class="ct">/* '<a class="ct blk" blk_line="177"><S27>/Select_Sector</a>' */</span></td></tr>
<tr name="178" id="178">
<td>178</td><td><span class="kw">extern</span> <a id="178c8" class="tk">real32_T</a> <a id="178c17" class="tk">velocity_error</a>; <span class="ct">/* '<a class="ct blk" blk_line="178"><S11>/Sum2</a>' */</span></td></tr>
<tr name="179" id="179">
<td>179</td><td><span class="kw">extern</span> <a id="179c8" class="tk">EnumControllerMode</a> <a id="179c27" class="tk">controller_mode</a>;<span class="ct">/* '<a class="ct blk" blk_line="179"><S1>/Controller_Mode_Scheduler</a>' */</span></td></tr>
<tr name="180" id="180">
<td>180</td><td></td></tr>
<tr name="181" id="181">
<td>181</td><td><span class="ct">/*</span></td></tr>
<tr name="182" id="182">
<td>182</td><td><span class="ct"> * Exported Global Parameters</span></td></tr>
<tr name="183" id="183">
<td>183</td><td><span class="ct"> *</span></td></tr>
<tr name="184" id="184">
<td>184</td><td><span class="ct"> * Note: Exported global parameters are tunable parameters with an exported</span></td></tr>
<tr name="185" id="185">
<td>185</td><td><span class="ct"> * global storage class designation. Code generation will declare the memory for</span></td></tr>
<tr name="186" id="186">
<td>186</td><td><span class="ct"> * these parameters and exports their symbols.</span></td></tr>
<tr name="187" id="187">
<td>187</td><td><span class="ct"> *</span></td></tr>
<tr name="188" id="188">
<td>188</td><td><span class="ct"> */</span></td></tr>
<tr name="189" id="189">
<td>189</td><td><span class="kw">extern</span> <a id="189c8" class="tk">CTRLPARAMS_STRUCT</a> <a id="189c26" class="tk">ctrlParams</a>; <span class="ct">/* Variable: ctrlParams</span></td></tr>
<tr name="190" id="190">
<td>190</td><td><span class="ct"> * Referenced by:</span></td></tr>
<tr name="191" id="191">
<td>191</td><td><span class="ct"> * '<a class="ct blk" blk_line="191"><S1>/Controller_Mode_Scheduler</a>'</span></td></tr>
<tr name="192" id="192">
<td>192</td><td><span class="ct"> * '<a class="ct blk" blk_line="192"><S48>/ADC_Driver_Units_To_Amps</a>'</span></td></tr>
<tr name="193" id="193">
<td>193</td><td><span class="ct"> * '<a class="ct blk" blk_line="193"><S48>/ADC_Zero_Offset</a>'</span></td></tr>
<tr name="194" id="194">
<td>194</td><td><span class="ct"> * '<a class="ct blk" blk_line="194"><S49>/Offset_Between_Encoder_Zero_And_Mechanical_Zero</a>'</span></td></tr>
<tr name="195" id="195">
<td>195</td><td><span class="ct"> * '<a class="ct blk" blk_line="195"><S14>/number_of_pole_pairs</a>'</span></td></tr>
<tr name="196" id="196">
<td>196</td><td><span class="ct"> * '<a class="ct blk" blk_line="196"><S42>/Integral Gain</a>'</span></td></tr>
<tr name="197" id="197">
<td>197</td><td><span class="ct"> * '<a class="ct blk" blk_line="197"><S42>/Proportional Gain</a>'</span></td></tr>
<tr name="198" id="198">
<td>198</td><td><span class="ct"> * '<a class="ct blk" blk_line="198"><S45>/Integral Gain</a>'</span></td></tr>
<tr name="199" id="199">
<td>199</td><td><span class="ct"> * '<a class="ct blk" blk_line="199"><S45>/Proportional Gain</a>'</span></td></tr>
<tr name="200" id="200">
<td>200</td><td><span class="ct"> * '<a class="ct blk" blk_line="200"><S65>/Startup_Acceleration_Constant</a>'</span></td></tr>
<tr name="201" id="201">
<td>201</td><td><span class="ct"> * '<a class="ct blk" blk_line="201"><S17>/Integral Gain</a>'</span></td></tr>
<tr name="202" id="202">
<td>202</td><td><span class="ct"> * '<a class="ct blk" blk_line="202"><S17>/Proportional Gain</a>'</span></td></tr>
<tr name="203" id="203">
<td>203</td><td><span class="ct"> * '<a class="ct blk" blk_line="203"><S18>/Integral Gain</a>'</span></td></tr>
<tr name="204" id="204">
<td>204</td><td><span class="ct"> * '<a class="ct blk" blk_line="204"><S18>/Proportional Gain</a>'</span></td></tr>
<tr name="205" id="205">
<td>205</td><td><span class="ct"> */</span></td></tr>
<tr name="206" id="206">
<td>206</td><td></td></tr>
<tr name="207" id="207">
<td>207</td><td><span class="ct">/* Model entry point functions */</span></td></tr>
<tr name="208" id="208">
<td>208</td><td><span class="kw">extern</span> <span class="kw">void</span> <a id="208c13" class="tk">Controller_Init</a>(<span class="kw">void</span>);</td></tr>
<tr name="209" id="209">
<td>209</td><td></td></tr>
<tr name="210" id="210">
<td>210</td><td><span class="ct">/* Customized model step function */</span></td></tr>
<tr name="211" id="211">
<td>211</td><td><span class="kw">extern</span> <a id="211c8" class="tk">EnumErrorType</a> <a id="211c22" class="tk">Controller</a>(<a id="211c33" class="tk">uint16_T</a> <a id="211c42" class="tk">motor_on</a>, <a id="211c52" class="tk">EnumCommandType</a> <a id="211c68" class="tk">command_type</a>,</td></tr>
<tr name="212" id="212">
<td>212</td><td> <a id="212c3" class="tk">real32_T</a> <a id="212c12" class="tk">current_request</a>, <a id="212c29" class="tk">SENSORS_STRUCT</a> *<a id="212c45" class="tk">sensors</a>, <a id="212c54" class="tk">uint16_T</a> <a id="212c63" class="tk">pwm_compare</a>[3]);</td></tr>
<tr name="213" id="213">
<td>213</td><td></td></tr>
<tr name="214" id="214">
<td>214</td><td><span class="ct">/* Real-time Model object */</span></td></tr>
<tr name="215" id="215">
<td>215</td><td><span class="kw">extern</span> <a id="215c8" class="tk">RT_MODEL</a> *<span class="kw">const</span> <a id="215c24" class="tk">M</a>;</td></tr>
<tr name="216" id="216">
<td>216</td><td></td></tr>
<tr name="217" id="217">
<td>217</td><td><span class="ct">/*-</span></td></tr>
<tr name="218" id="218">
<td>218</td><td><span class="ct"> * The generated code includes comments that allow you to trace directly</span></td></tr>
<tr name="219" id="219">
<td>219</td><td><span class="ct"> * back to the appropriate location in the model. The basic format</span></td></tr>
<tr name="220" id="220">
<td>220</td><td><span class="ct"> * is <system>/block_name, where system is the system number (uniquely</span></td></tr>
<tr name="221" id="221">
<td>221</td><td><span class="ct"> * assigned by Simulink) and block_name is the name of the block.</span></td></tr>
<tr name="222" id="222">
<td>222</td><td><span class="ct"> *</span></td></tr>
<tr name="223" id="223">
<td>223</td><td><span class="ct"> * Use the MATLAB hilite_system command to trace the generated code back</span></td></tr>
<tr name="224" id="224">
<td>224</td><td><span class="ct"> * to the model. For example,</span></td></tr>
<tr name="225" id="225">
<td>225</td><td><span class="ct"> *</span></td></tr>
<tr name="226" id="226">
<td>226</td><td><span class="ct"> * hilite_system('<a class="ct blk" blk_line="226"><S3></a>') - opens system 3</span></td></tr>
<tr name="227" id="227">
<td>227</td><td><span class="ct"> * hilite_system('<a class="ct blk" blk_line="227"><S3>/Kp</a>') - opens and selects block Kp which resides in S3</span></td></tr>
<tr name="228" id="228">
<td>228</td><td><span class="ct"> *</span></td></tr>
<tr name="229" id="229">
<td>229</td><td><span class="ct"> * Here is the system hierarchy for this model</span></td></tr>
<tr name="230" id="230">
<td>230</td><td><span class="ct"> *</span></td></tr>
<tr name="231" id="231">
<td>231</td><td><span class="ct"> * '<a class="ct blk" blk_line="231"><Root></a>' : 'rtwdemo_pmsmfoc'</span></td></tr>
<tr name="232" id="232">
<td>232</td><td><span class="ct"> * '<a class="ct blk" blk_line="232"><S1></a>' : 'rtwdemo_pmsmfoc/Mode_Scheduler'</span></td></tr>
<tr name="233" id="233">
<td>233</td><td><span class="ct"> * '<a class="ct blk" blk_line="233"><S2></a>' : 'rtwdemo_pmsmfoc/Model Info'</span></td></tr>
<tr name="234" id="234">
<td>234</td><td><span class="ct"> * '<a class="ct blk" blk_line="234"><S3></a>' : 'rtwdemo_pmsmfoc/Motor_Control'</span></td></tr>
<tr name="235" id="235">
<td>235</td><td><span class="ct"> * '<a class="ct blk" blk_line="235"><S4></a>' : 'rtwdemo_pmsmfoc/Mode_Scheduler/Controller_Mode_Scheduler'</span></td></tr>
<tr name="236" id="236">
<td>236</td><td><span class="ct"> * '<a class="ct blk" blk_line="236"><S5></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller'</span></td></tr>
<tr name="237" id="237">
<td>237</td><td><span class="ct"> * '<a class="ct blk" blk_line="237"><S6></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Phase_Voltages_to_PWM_Compare_Values'</span></td></tr>
<tr name="238" id="238">
<td>238</td><td><span class="ct"> * '<a class="ct blk" blk_line="238"><S7></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units'</span></td></tr>
<tr name="239" id="239">
<td>239</td><td><span class="ct"> * '<a class="ct blk" blk_line="239"><S8></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control'</span></td></tr>
<tr name="240" id="240">
<td>240</td><td><span class="ct"> * '<a class="ct blk" blk_line="240"><S9></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control'</span></td></tr>
<tr name="241" id="241">
<td>241</td><td><span class="ct"> * '<a class="ct blk" blk_line="241"><S10></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Torque_Control'</span></td></tr>
<tr name="242" id="242">
<td>242</td><td><span class="ct"> * '<a class="ct blk" blk_line="242"><S11></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Velocity_Control'</span></td></tr>
<tr name="243" id="243">
<td>243</td><td><span class="ct"> * '<a class="ct blk" blk_line="243"><S12></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers'</span></td></tr>
<tr name="244" id="244">
<td>244</td><td><span class="ct"> * '<a class="ct blk" blk_line="244"><S13></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Detect_Change'</span></td></tr>
<tr name="245" id="245">
<td>245</td><td><span class="ct"> * '<a class="ct blk" blk_line="245"><S14></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Rotation_Coefficients_Sin_Cos'</span></td></tr>
<tr name="246" id="246">
<td>246</td><td><span class="ct"> * '<a class="ct blk" blk_line="246"><S15></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_ABC_to_dq'</span></td></tr>
<tr name="247" id="247">
<td>247</td><td><span class="ct"> * '<a class="ct blk" blk_line="247"><S16></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC'</span></td></tr>
<tr name="248" id="248">
<td>248</td><td><span class="ct"> * '<a class="ct blk" blk_line="248"><S17></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Direct_Current_Control'</span></td></tr>
<tr name="249" id="249">
<td>249</td><td><span class="ct"> * '<a class="ct blk" blk_line="249"><S18></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Quadrature_Current_Control'</span></td></tr>
<tr name="250" id="250">
<td>250</td><td><span class="ct"> * '<a class="ct blk" blk_line="250"><S19></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Direct_Current_Control/Clamping circuit'</span></td></tr>
<tr name="251" id="251">
<td>251</td><td><span class="ct"> * '<a class="ct blk" blk_line="251"><S20></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Quadrature_Current_Control/Clamping circuit'</span></td></tr>
<tr name="252" id="252">
<td>252</td><td><span class="ct"> * '<a class="ct blk" blk_line="252"><S21></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_ABC_to_dq/Clarke_Transform'</span></td></tr>
<tr name="253" id="253">
<td>253</td><td><span class="ct"> * '<a class="ct blk" blk_line="253"><S22></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_ABC_to_dq/Park_Transform'</span></td></tr>
<tr name="254" id="254">
<td>254</td><td><span class="ct"> * '<a class="ct blk" blk_line="254"><S23></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC'</span></td></tr>
<tr name="255" id="255">
<td>255</td><td><span class="ct"> * '<a class="ct blk" blk_line="255"><S24></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Inverse_Park_Transform'</span></td></tr>
<tr name="256" id="256">
<td>256</td><td><span class="ct"> * '<a class="ct blk" blk_line="256"><S25></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Inverse_Clarke_Transform'</span></td></tr>
<tr name="257" id="257">
<td>257</td><td><span class="ct"> * '<a class="ct blk" blk_line="257"><S26></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation'</span></td></tr>
<tr name="258" id="258">
<td>258</td><td><span class="ct"> * '<a class="ct blk" blk_line="258"><S27></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages'</span></td></tr>
<tr name="259" id="259">
<td>259</td><td><span class="ct"> * '<a class="ct blk" blk_line="259"><S28></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Determine_Sector'</span></td></tr>
<tr name="260" id="260">
<td>260</td><td><span class="ct"> * '<a class="ct blk" blk_line="260"><S29></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Phase_Advanced_Inverse_Clarke'</span></td></tr>
<tr name="261" id="261">
<td>261</td><td><span class="ct"> * '<a class="ct blk" blk_line="261"><S30></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages/Va_Sectors_1_and_4'</span></td></tr>
<tr name="262" id="262">
<td>262</td><td><span class="ct"> * '<a class="ct blk" blk_line="262"><S31></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages/Va_Sectors_2_and_5'</span></td></tr>
<tr name="263" id="263">
<td>263</td><td><span class="ct"> * '<a class="ct blk" blk_line="263"><S32></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages/Va_Sectors_3_and_6'</span></td></tr>
<tr name="264" id="264">
<td>264</td><td><span class="ct"> * '<a class="ct blk" blk_line="264"><S33></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages/Vb_Sectors_1_and_4'</span></td></tr>
<tr name="265" id="265">
<td>265</td><td><span class="ct"> * '<a class="ct blk" blk_line="265"><S34></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages/Vb_Sectors_2_and_5'</span></td></tr>
<tr name="266" id="266">
<td>266</td><td><span class="ct"> * '<a class="ct blk" blk_line="266"><S35></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages/Vb_Sectors_3_and_6'</span></td></tr>
<tr name="267" id="267">
<td>267</td><td><span class="ct"> * '<a class="ct blk" blk_line="267"><S36></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages/Vc_Sectors_1_and_4'</span></td></tr>
<tr name="268" id="268">
<td>268</td><td><span class="ct"> * '<a class="ct blk" blk_line="268"><S37></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages/Vc_Sectors_2_and_5'</span></td></tr>
<tr name="269" id="269">
<td>269</td><td><span class="ct"> * '<a class="ct blk" blk_line="269"><S38></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages/Vc_Sectors_3_and_6'</span></td></tr>
<tr name="270" id="270">
<td>270</td><td><span class="ct"> * '<a class="ct blk" blk_line="270"><S39></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Determine_Sector/Compare_VA_To_Zero'</span></td></tr>
<tr name="271" id="271">
<td>271</td><td><span class="ct"> * '<a class="ct blk" blk_line="271"><S40></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Determine_Sector/Compare_VB_To_Zero'</span></td></tr>
<tr name="272" id="272">
<td>272</td><td><span class="ct"> * '<a class="ct blk" blk_line="272"><S41></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Determine_Sector/Compare_VC_To_Zero'</span></td></tr>
<tr name="273" id="273">
<td>273</td><td><span class="ct"> * '<a class="ct blk" blk_line="273"><S42></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control/Position_Control'</span></td></tr>
<tr name="274" id="274">
<td>274</td><td><span class="ct"> * '<a class="ct blk" blk_line="274"><S43></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control/Wrap_Error_pi'</span></td></tr>
<tr name="275" id="275">
<td>275</td><td><span class="ct"> * '<a class="ct blk" blk_line="275"><S44></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control/Position_Control/Clamping circuit'</span></td></tr>
<tr name="276" id="276">
<td>276</td><td><span class="ct"> * '<a class="ct blk" blk_line="276"><S45></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Velocity_Control/Rotor_Speed_Control'</span></td></tr>
<tr name="277" id="277">
<td>277</td><td><span class="ct"> * '<a class="ct blk" blk_line="277"><S46></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Velocity_Control/Rotor_Speed_Control/Clamping circuit'</span></td></tr>
<tr name="278" id="278">
<td>278</td><td><span class="ct"> * '<a class="ct blk" blk_line="278"><S47></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Phase_Voltages_to_PWM_Compare_Values/Enumerated_Constant'</span></td></tr>
<tr name="279" id="279">
<td>279</td><td><span class="ct"> * '<a class="ct blk" blk_line="279"><S48></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/ADC_Level_to_Phase_Current'</span></td></tr>
<tr name="280" id="280">
<td>280</td><td><span class="ct"> * '<a class="ct blk" blk_line="280"><S49></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position'</span></td></tr>
<tr name="281" id="281">
<td>281</td><td><span class="ct"> * '<a class="ct blk" blk_line="281"><S50></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity'</span></td></tr>
<tr name="282" id="282">
<td>282</td><td><span class="ct"> * '<a class="ct blk" blk_line="282"><S51></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Startup_Open_Loop_Control'</span></td></tr>
<tr name="283" id="283">
<td>283</td><td><span class="ct"> * '<a class="ct blk" blk_line="283"><S52></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position/Wait_For_Valid_Position'</span></td></tr>
<tr name="284" id="284">
<td>284</td><td><span class="ct"> * '<a class="ct blk" blk_line="284"><S53></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap'</span></td></tr>
<tr name="285" id="285">
<td>285</td><td><span class="ct"> * '<a class="ct blk" blk_line="285"><S54></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error'</span></td></tr>
<tr name="286" id="286">
<td>286</td><td><span class="ct"> * '<a class="ct blk" blk_line="286"><S55></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error'</span></td></tr>
<tr name="287" id="287">
<td>287</td><td><span class="ct"> * '<a class="ct blk" blk_line="287"><S56></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error'</span></td></tr>
<tr name="288" id="288">
<td>288</td><td><span class="ct"> * '<a class="ct blk" blk_line="288"><S57></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error/Enumerated_Constant'</span></td></tr>
<tr name="289" id="289">
<td>289</td><td><span class="ct"> * '<a class="ct blk" blk_line="289"><S58></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error/Generate_Error'</span></td></tr>
<tr name="290" id="290">
<td>290</td><td><span class="ct"> * '<a class="ct blk" blk_line="290"><S59></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error/Generate_Error/Enumerated_Constant'</span></td></tr>
<tr name="291" id="291">
<td>291</td><td><span class="ct"> * '<a class="ct blk" blk_line="291"><S60></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error'</span></td></tr>
<tr name="292" id="292">
<td>292</td><td><span class="ct"> * '<a class="ct blk" blk_line="292"><S61></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error/Enumerated_Constant'</span></td></tr>
<tr name="293" id="293">
<td>293</td><td><span class="ct"> * '<a class="ct blk" blk_line="293"><S62></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error/Generate_Error'</span></td></tr>
<tr name="294" id="294">
<td>294</td><td><span class="ct"> * '<a class="ct blk" blk_line="294"><S63></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error/Generate_Error/Enumerated_Constant'</span></td></tr>
<tr name="295" id="295">
<td>295</td><td><span class="ct"> * '<a class="ct blk" blk_line="295"><S64></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Startup_Open_Loop_Control/Enumerated Constant'</span></td></tr>
<tr name="296" id="296">
<td>296</td><td><span class="ct"> * '<a class="ct blk" blk_line="296"><S65></a>' : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Startup_Open_Loop_Control/Open Loop Position'</span></td></tr>
<tr name="297" id="297">
<td>297</td><td><span class="ct"> */</span></td></tr>
<tr name="298" id="298">
<td>298</td><td></td></tr>
<tr name="299" id="299">
<td>299</td><td><span class="ct">/*-</span></td></tr>
<tr name="300" id="300">
<td>300</td><td><span class="ct"> * Requirements for '<a class="ct blk" blk_line="300"><Root></a>': rtwdemo_pmsmfoc</span></td></tr>
<tr name="301" id="301">
<td>301</td><td><span class="ct"> */</span></td></tr>
<tr name="302" id="302">
<td>302</td><td><span class="pp">#endif</span> <span class="ct">/* RTW_HEADER_rtwdemo_pmsmfoc_h_ */</span></td></tr>
<tr name="303" id="303">
<td>303</td><td></td></tr>
<tr name="304" id="304">
<td>304</td><td><span class="ct">/*</span></td></tr>
<tr name="305" id="305">
<td>305</td><td><span class="ct"> * File trailer for generated code.</span></td></tr>
<tr name="306" id="306">
<td>306</td><td><span class="ct"> *</span></td></tr>
<tr name="307" id="307">
<td>307</td><td><span class="ct"> * [EOF]</span></td></tr>
<tr name="308" id="308">
<td>308</td><td><span class="ct"> */</span></td></tr>
<tr name="309" id="309">
<td>309</td><td></td></tr>
</table>
</pre>
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