File content as of revision 2:bbc155b0b886:

/*
 * File: rtwdemo_pmsmfoc.h
 *
 * Code generated for Simulink model 'rtwdemo_pmsmfoc'.
 *
 * Model version                  : 1.2949
 * Simulink Coder version         : 8.7 (R2014b) 11-Aug-2014
 * C/C++ source code generated on : Sat Oct 11 00:06:05 2014
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Generic->32-bit Embedded Processor
 * Code generation objective: Execution efficiency
 * Validation result: Not run
 */

#ifndef RTW_HEADER_rtwdemo_pmsmfoc_h_
#define RTW_HEADER_rtwdemo_pmsmfoc_h_
#include "rtwtypes.h"
#include <float.h>
#include <math.h>
#include <string.h>
#ifndef rtwdemo_pmsmfoc_COMMON_INCLUDES_
# define rtwdemo_pmsmfoc_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif                                 /* rtwdemo_pmsmfoc_COMMON_INCLUDES_ */

/* Macros for accessing real-time model data structure */

/* Forward declaration for rtModel */
typedef struct tag_RTM RT_MODEL;

#ifndef _DEFINED_TYPEDEF_FOR_EnumErrorType_
#define _DEFINED_TYPEDEF_FOR_EnumErrorType_

typedef enum {
  NoError = 0,                         /* Default value */
  MeasuredVelocityError
} EnumErrorType;

#endif

#ifndef _DEFINED_TYPEDEF_FOR_EnumCommandType_
#define _DEFINED_TYPEDEF_FOR_EnumCommandType_

typedef enum {
  Torque = 0,                          /* Default value */
  Velocity,
  Position
} EnumCommandType;

#endif

#ifndef _DEFINED_TYPEDEF_FOR_EnumControllerMode_
#define _DEFINED_TYPEDEF_FOR_EnumControllerMode_

typedef enum {
  StandBy = 0,                         /* Default value */
  Startup,
  TorqueControl,
  VelocityControl,
  PositionControl
} EnumControllerMode;

#endif

#ifndef _DEFINED_TYPEDEF_FOR_SENSORS_STRUCT_
#define _DEFINED_TYPEDEF_FOR_SENSORS_STRUCT_

typedef struct {
  uint16_T adc_phase_currents[2];
  uint16_T encoder_valid;
  uint16_T encoder_counter;
} SENSORS_STRUCT;

#endif

#ifndef _DEFINED_TYPEDEF_FOR_CTRLPARAMS_STRUCT_
#define _DEFINED_TYPEDEF_FOR_CTRLPARAMS_STRUCT_

typedef struct {
  real32_T Current_P;
  real32_T Current_I;
  real32_T Velocity_P;
  real32_T Velocity_I;
  real32_T Position_P;
  real32_T Position_I;
  real32_T StartupAcceleration;
  real32_T StartupCurrent;
  real32_T RampToStopVelocity;
  real32_T AdcZeroOffsetDriverUnits;
  real32_T AdcDriverUnitsToAmps;
  real32_T EncoderToMechanicalZeroOffsetRads;
  real32_T PmsmPolePairs;
} CTRLPARAMS_STRUCT;

#endif

/* Block signals and states (auto storage) for system '<Root>' */
typedef struct {
  real32_T Merge;                      /* '<S5>/Merge' */
  real32_T position;                   /* '<S63>/Integrate_To_Position' */
  real32_T velocity_command;           /* '<S1>/Controller_Mode_Scheduler' */
  real32_T position_command;           /* '<S1>/Controller_Mode_Scheduler' */
  real32_T torque_command;             /* '<S1>/Controller_Mode_Scheduler' */
  real32_T Integrator_DSTATE;          /* '<S17>/Integrator' */
  real32_T Integrator_DSTATE_l;        /* '<S18>/Integrator' */
  real32_T Velocity_Delay_DSTATE;      /* '<S58>/Velocity_Delay' */
  real32_T Integrate_To_Position_DSTATE;/* '<S63>/Integrate_To_Position' */
  real32_T Integrate_To_Velocity_DSTATE;/* '<S63>/Integrate_To_Velocity' */
  real32_T Integrator_DSTATE_lc;       /* '<S42>/Integrator' */
  real32_T Integrator_DSTATE_f;        /* '<S45>/Integrator' */
  int32_T Position_Delay_DSTATE;       /* '<S55>/Position_Delay' */
  EnumErrorType error_l;               /* '<Root>/Data Store Memory' */
  int16_T DelayInput1_DSTATE;          /* '<S13>/Delay Input1' */
  uint16_T Position_Valid;             /* '<S49>/Wait_For_Valid_Position' */
  int8_T Integrator_PrevResetState;    /* '<S17>/Integrator' */
  int8_T SwitchCase_ActiveSubsystem;   /* '<S5>/Switch Case' */
  int8_T Integrator_PrevResetState_c;  /* '<S18>/Integrator' */
  uint8_T is_active_c2_rtwdemo_pmsmfoc;/* '<S49>/Wait_For_Valid_Position' */
  uint8_T is_c2_rtwdemo_pmsmfoc;       /* '<S49>/Wait_For_Valid_Position' */
  uint8_T temporalCounter_i1;          /* '<S49>/Wait_For_Valid_Position' */
  uint8_T is_c1_rtwdemo_pmsmfoc;       /* '<S1>/Controller_Mode_Scheduler' */
  uint8_T is_Motor_On;                 /* '<S1>/Controller_Mode_Scheduler' */
  uint8_T is_Motor_Control;            /* '<S1>/Controller_Mode_Scheduler' */
  boolean_T RelationalOperator_a;      /* '<S51>/Relational Operator' */
  boolean_T Lo_to_Hi_Rate_Transition3_Buffe;/* '<S6>/Lo_to_Hi_Rate_Transition3' */
  boolean_T OpenLoopPosition_MODE;     /* '<S51>/Open Loop Position' */
} D_Work;

/* Constant parameters (auto storage) */
typedef struct {
  /* Computed Parameter: Lookup_Table_table
   * Referenced by: '<S28>/Lookup_Table'
   */
  uint16_T Lookup_Table_table[7];
} ConstParam;

/* Real-time Model Data Structure */
struct tag_RTM {
  /*
   * Timing:
   * The following substructure contains information regarding
   * the timing information for the model.
   */
  struct {
    struct {
      uint8_T TID[2];
    } TaskCounters;
  } Timing;
};

/* Block signals and states (auto storage) */
extern D_Work DWork;

/* Constant parameters (auto storage) */
extern const ConstParam ConstP;

/*
 * Exported Global Signals
 *
 * Note: Exported global signals are block signals with an exported global
 * storage class designation.  Code generation will declare the memory for
 * these signals and export their symbols.
 *
 */
extern real32_T phase_currents[2];     /* '<S48>/Product' */
extern real32_T rotor_position;        /* '<S49>/Add' */
extern real32_T velocity_measured;     /* '<S55>/Scale_Output' */
extern real32_T d_current_error;       /* '<S12>/Sum2' */
extern real32_T q_current_command;     /* '<S5>/Lo_to_Hi_Rate_Transition1' */
extern real32_T q_current_measured;    /* '<S22>/Add' */
extern real32_T q_current_error;       /* '<S12>/Sum' */
extern real32_T phase_voltages[3];     /* '<S27>/Select_Sector' */
extern real32_T velocity_error;        /* '<S11>/Sum2' */
extern EnumControllerMode controller_mode;/* '<S1>/Controller_Mode_Scheduler' */

/*
 * Exported Global Parameters
 *
 * Note: Exported global parameters are tunable parameters with an exported
 * global storage class designation.  Code generation will declare the memory for
 * these parameters and exports their symbols.
 *
 */
extern CTRLPARAMS_STRUCT ctrlParams;   /* Variable: ctrlParams
                                        * Referenced by:
                                        *   '<S1>/Controller_Mode_Scheduler'
                                        *   '<S48>/ADC_Driver_Units_To_Amps'
                                        *   '<S48>/ADC_Zero_Offset'
                                        *   '<S49>/Offset_Between_Encoder_Zero_And_Mechanical_Zero'
                                        *   '<S14>/number_of_pole_pairs'
                                        *   '<S42>/Integral Gain'
                                        *   '<S42>/Proportional Gain'
                                        *   '<S45>/Integral Gain'
                                        *   '<S45>/Proportional Gain'
                                        *   '<S63>/Startup_Acceleration_Constant'
                                        *   '<S17>/Integral Gain'
                                        *   '<S17>/Proportional Gain'
                                        *   '<S18>/Integral Gain'
                                        *   '<S18>/Proportional Gain'
                                        */

/* Model entry point functions */
extern "C"  void Controller_Init(void);

/* Customized model step function */
extern "C"  EnumErrorType Controller(uint16_T motor_on, EnumCommandType command_type,
  real32_T current_request, SENSORS_STRUCT *sensors, uint16_T pwm_compare[3]);

/* Real-time Model object */
extern RT_MODEL *const M;

/*-
 * The generated code includes comments that allow you to trace directly
 * back to the appropriate location in the model.  The basic format
 * is <system>/block_name, where system is the system number (uniquely
 * assigned by Simulink) and block_name is the name of the block.
 *
 * Use the MATLAB hilite_system command to trace the generated code back
 * to the model.  For example,
 *
 * hilite_system('<S3>')    - opens system 3
 * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
 *
 * Here is the system hierarchy for this model
 *
 * '<Root>' : 'rtwdemo_pmsmfoc'
 * '<S1>'   : 'rtwdemo_pmsmfoc/Mode_Scheduler'
 * '<S2>'   : 'rtwdemo_pmsmfoc/Model Info'
 * '<S3>'   : 'rtwdemo_pmsmfoc/Motor_Control'
 * '<S4>'   : 'rtwdemo_pmsmfoc/Mode_Scheduler/Controller_Mode_Scheduler'
 * '<S5>'   : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller'
 * '<S6>'   : 'rtwdemo_pmsmfoc/Motor_Control/Phase_Voltages_to_PWM_Compare_Values'
 * '<S7>'   : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units'
 * '<S8>'   : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control'
 * '<S9>'   : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control'
 * '<S10>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Torque_Control'
 * '<S11>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Velocity_Control'
 * '<S12>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers'
 * '<S13>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Detect_Change'
 * '<S14>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Rotation_Coefficients_Sin_Cos'
 * '<S15>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_ABC_to_dq'
 * '<S16>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC'
 * '<S17>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Direct_Current_Control'
 * '<S18>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Quadrature_Current_Control'
 * '<S19>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Direct_Current_Control/Clamping circuit'
 * '<S20>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Quadrature_Current_Control/Clamping circuit'
 * '<S21>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_ABC_to_dq/Clarke_Transform'
 * '<S22>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_ABC_to_dq/Park_Transform'
 * '<S23>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC'
 * '<S24>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Inverse_Park_Transform'
 * '<S25>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Inverse_Clarke_Transform'
 * '<S26>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation'
 * '<S27>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Calculate_Phase_Voltages'
 * '<S28>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Determine_Sector'
 * '<S29>'  : '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'
 * '<S30>'  : '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'
 * '<S31>'  : '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'
 * '<S32>'  : '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'
 * '<S33>'  : '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'
 * '<S34>'  : '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'
 * '<S35>'  : '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'
 * '<S36>'  : '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'
 * '<S37>'  : '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'
 * '<S38>'  : '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'
 * '<S39>'  : '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'
 * '<S40>'  : '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'
 * '<S41>'  : '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'
 * '<S42>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control/Position_Control'
 * '<S43>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control/Wrap_Error_pi'
 * '<S44>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control/Position_Control/Clamping circuit'
 * '<S45>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Velocity_Control/Rotor_Speed_Control'
 * '<S46>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Velocity_Control/Rotor_Speed_Control/Clamping circuit'
 * '<S47>'  : 'rtwdemo_pmsmfoc/Motor_Control/Phase_Voltages_to_PWM_Compare_Values/Enumerated_Constant'
 * '<S48>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/ADC_Level_to_Phase_Current'
 * '<S49>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position'
 * '<S50>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity'
 * '<S51>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Startup_Open_Loop_Control'
 * '<S52>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position/Wait_For_Valid_Position'
 * '<S53>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap'
 * '<S54>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error'
 * '<S55>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error'
 * '<S56>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error'
 * '<S57>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error/Generate_Error'
 * '<S58>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error'
 * '<S59>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error/Enumerated_Constant'
 * '<S60>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error/Generate_Error'
 * '<S61>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error/Generate_Error/Enumerated_Constant'
 * '<S62>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Startup_Open_Loop_Control/Enumerated Constant'
 * '<S63>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Startup_Open_Loop_Control/Open Loop Position'
 */

/*-
 * Requirements for '<Root>': rtwdemo_pmsmfoc
 */
#endif                                 /* RTW_HEADER_rtwdemo_pmsmfoc_h_ */

/*
 * File trailer for generated code.
 *
 * [EOF]
 */