1/*



2 * File: rtwdemo_pmsmfoc.h



3 *



4 * Code generated for Simulink model 'rtwdemo_pmsmfoc'.



5 *



6 * Model version                  : 1.2949



7 * Simulink Coder version         : 8.7 (R2014b) 11-Aug-2014



8 * C/C++ source code generated on : Sat Oct 11 02:05:41 2014



9 *



10 * Target selection: ert.tlc



11 * Embedded hardware selection: ARM Compatible->ARM Cortex



12 * Code generation objective: Execution efficiency



13 * Validation result: Not run



14 */



15



16#ifndef RTW_HEADER_rtwdemo_pmsmfoc_h_



17#define RTW_HEADER_rtwdemo_pmsmfoc_h_



18#include "rtwtypes.h"



19#include <float.h>



20#include <math.h>



21#include <string.h>



22#include <stddef.h>



23#ifndef rtwdemo_pmsmfoc_COMMON_INCLUDES_



24# define rtwdemo_pmsmfoc_COMMON_INCLUDES_



25#include "rtwtypes.h"



26#endif                                 /* rtwdemo_pmsmfoc_COMMON_INCLUDES_ */



27



28#include "MW_target_hardware_resources.h"



29#include "mw_cmsis.h"



30



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



32



33/* Forward declaration for rtModel */



34typedef struct tag_RTM RT_MODEL;



35



36#ifndef _DEFINED_TYPEDEF_FOR_EnumErrorType_



37#define _DEFINED_TYPEDEF_FOR_EnumErrorType_



38



39typedef enum {



40  NoError = 0,                         /* Default value */



41  MeasuredVelocityError



42} EnumErrorType;



43



44#endif



45



46#ifndef _DEFINED_TYPEDEF_FOR_EnumCommandType_



47#define _DEFINED_TYPEDEF_FOR_EnumCommandType_



48



49typedef enum {



50  Torque = 0,                          /* Default value */



51  Velocity,



52  Position



53} EnumCommandType;



54



55#endif



56



57#ifndef _DEFINED_TYPEDEF_FOR_EnumControllerMode_



58#define _DEFINED_TYPEDEF_FOR_EnumControllerMode_



59



60typedef enum {



61  StandBy = 0,                         /* Default value */



62  Startup,



63  TorqueControl,



64  VelocityControl,



65  PositionControl



66} EnumControllerMode;



67



68#endif



69



70#ifndef _DEFINED_TYPEDEF_FOR_SENSORS_STRUCT_



71#define _DEFINED_TYPEDEF_FOR_SENSORS_STRUCT_



72



73typedef struct {



74  uint16_T adc_phase_currents[2];



75  uint16_T encoder_valid;



76  uint16_T encoder_counter;



77} SENSORS_STRUCT;



78



79#endif



80



81#ifndef _DEFINED_TYPEDEF_FOR_CTRLPARAMS_STRUCT_



82#define _DEFINED_TYPEDEF_FOR_CTRLPARAMS_STRUCT_



83



84typedef struct {



85  real32_T Current_P;



86  real32_T Current_I;



87  real32_T Velocity_P;



88  real32_T Velocity_I;



89  real32_T Position_P;



90  real32_T Position_I;



91  real32_T StartupAcceleration;



92  real32_T StartupCurrent;



93  real32_T RampToStopVelocity;



94  real32_T AdcZeroOffsetDriverUnits;



95  real32_T AdcDriverUnitsToAmps;



96  real32_T EncoderToMechanicalZeroOffsetRads;



97  real32_T PmsmPolePairs;



98} CTRLPARAMS_STRUCT;



99



100#endif



101



102/* Block signals and states (auto storage) for system '<Root>' */



103typedef struct {



104  real32_T Merge;                      /* '<S5>/Merge' */



105  real32_T position;                   /* '<S65>/Integrate_To_Position' */



106  real32_T velocity_command;           /* '<S1>/Controller_Mode_Scheduler' */



107  real32_T position_command;           /* '<S1>/Controller_Mode_Scheduler' */



108  real32_T torque_command;             /* '<S1>/Controller_Mode_Scheduler' */



109  real32_T Integrator_DSTATE;          /* '<S17>/Integrator' */



110  real32_T Integrator_DSTATE_l;        /* '<S18>/Integrator' */



111  real32_T Velocity_Delay_DSTATE;      /* '<S60>/Velocity_Delay' */



112  real32_T Integrate_To_Position_DSTATE;/* '<S65>/Integrate_To_Position' */



113  real32_T Integrate_To_Velocity_DSTATE;/* '<S65>/Integrate_To_Velocity' */



114  real32_T Integrator_DSTATE_lc;       /* '<S42>/Integrator' */



115  real32_T Integrator_DSTATE_f;        /* '<S45>/Integrator' */



116  int32_T Position_Delay_DSTATE;       /* '<S55>/Position_Delay' */



117  EnumErrorType error_l;               /* '<Root>/Data Store Memory' */



118  int16_T DelayInput1_DSTATE;          /* '<S13>/Delay Input1' */



119  uint16_T Position_Valid;             /* '<S49>/Wait_For_Valid_Position' */



120  int8_T Integrator_PrevResetState;    /* '<S17>/Integrator' */



121  int8_T SwitchCase_ActiveSubsystem;   /* '<S5>/Switch Case' */



122  int8_T Integrator_PrevResetState_c;  /* '<S18>/Integrator' */



123  uint8_T is_active_c2_rtwdemo_pmsmfoc;/* '<S49>/Wait_For_Valid_Position' */



124  uint8_T is_c2_rtwdemo_pmsmfoc;       /* '<S49>/Wait_For_Valid_Position' */



125  uint8_T temporalCounter_i1;          /* '<S49>/Wait_For_Valid_Position' */



126  uint8_T is_c1_rtwdemo_pmsmfoc;       /* '<S1>/Controller_Mode_Scheduler' */



127  uint8_T is_Motor_On;                 /* '<S1>/Controller_Mode_Scheduler' */



128  uint8_T is_Motor_Control;            /* '<S1>/Controller_Mode_Scheduler' */



129  boolean_T RelationalOperator_a;      /* '<S51>/Relational Operator' */



130  boolean_T Lo_to_Hi_Rate_Transition3_Buffe;/* '<S6>/Lo_to_Hi_Rate_Transition3' */



131  boolean_T OpenLoopPosition_MODE;     /* '<S51>/Open Loop Position' */



132} D_Work;



133



134/* Constant parameters (auto storage) */



135typedef struct {



136  /* Computed Parameter: Lookup_Table_table



137   * Referenced by: '<S28>/Lookup_Table'



138   */



139  uint16_T Lookup_Table_table[7];



140} ConstParam;



141



142/* Real-time Model Data Structure */



143struct tag_RTM {



144  /*



145   * Timing:



146   * The following substructure contains information regarding



147   * the timing information for the model.



148   */



149  struct {



150    struct {



151      uint8_T TID[2];



152    } TaskCounters;



153  } Timing;



154};



155



156/* Block signals and states (auto storage) */



157extern D_Work DWork;



158



159/* Constant parameters (auto storage) */



160extern const ConstParam ConstP;



161



162/*



163 * Exported Global Signals



164 *



165 * Note: Exported global signals are block signals with an exported global



166 * storage class designation.  Code generation will declare the memory for



167 * these signals and export their symbols.



168 *



169 */



170extern real32_T phase_currents[2];     /* '<S48>/Product' */



171extern real32_T rotor_position;        /* '<S49>/Add' */



172extern real32_T velocity_measured;     /* '<S55>/Scale_Output' */



173extern real32_T d_current_error;       /* '<S12>/Sum2' */



174extern real32_T q_current_command;     /* '<S5>/Lo_to_Hi_Rate_Transition1' */



175extern real32_T q_current_measured;    /* '<S22>/Add' */



176extern real32_T q_current_error;       /* '<S12>/Sum' */



177extern real32_T phase_voltages[3];     /* '<S27>/Select_Sector' */



178extern real32_T velocity_error;        /* '<S11>/Sum2' */



179extern EnumControllerMode controller_mode;/* '<S1>/Controller_Mode_Scheduler' */



180



181/*



182 * Exported Global Parameters



183 *



184 * Note: Exported global parameters are tunable parameters with an exported



185 * global storage class designation.  Code generation will declare the memory for



186 * these parameters and exports their symbols.



187 *



188 */



189extern CTRLPARAMS_STRUCT ctrlParams;   /* Variable: ctrlParams



190                                        * Referenced by:



191                                        *   '<S1>/Controller_Mode_Scheduler'



192                                        *   '<S48>/ADC_Driver_Units_To_Amps'



193                                        *   '<S48>/ADC_Zero_Offset'



194                                        *   '<S49>/Offset_Between_Encoder_Zero_And_Mechanical_Zero'



195                                        *   '<S14>/number_of_pole_pairs'



196                                        *   '<S42>/Integral Gain'



197                                        *   '<S42>/Proportional Gain'



198                                        *   '<S45>/Integral Gain'



199                                        *   '<S45>/Proportional Gain'



200                                        *   '<S65>/Startup_Acceleration_Constant'



201                                        *   '<S17>/Integral Gain'



202                                        *   '<S17>/Proportional Gain'



203                                        *   '<S18>/Integral Gain'



204                                        *   '<S18>/Proportional Gain'



205                                        */



206



207/* Model entry point functions */



208extern void Controller_Init(void);



209



210/* Customized model step function */



211extern EnumErrorType Controller(uint16_T motor_on, EnumCommandType command_type,



212  real32_T current_request, SENSORS_STRUCT *sensors, uint16_T pwm_compare[3]);



213



214/* Real-time Model object */



215extern RT_MODEL *const M;



216



217/*-



218 * The generated code includes comments that allow you to trace directly



219 * back to the appropriate location in the model.  The basic format



220 * is <system>/block_name, where system is the system number (uniquely



221 * assigned by Simulink) and block_name is the name of the block.



222 *



223 * Use the MATLAB hilite_system command to trace the generated code back



224 * to the model.  For example,



225 *



226 * hilite_system('<S3>')    - opens system 3



227 * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3



228 *



229 * Here is the system hierarchy for this model



230 *



231 * '<Root>' : 'rtwdemo_pmsmfoc'



232 * '<S1>'   : 'rtwdemo_pmsmfoc/Mode_Scheduler'



233 * '<S2>'   : 'rtwdemo_pmsmfoc/Model Info'



234 * '<S3>'   : 'rtwdemo_pmsmfoc/Motor_Control'



235 * '<S4>'   : 'rtwdemo_pmsmfoc/Mode_Scheduler/Controller_Mode_Scheduler'



236 * '<S5>'   : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller'



237 * '<S6>'   : 'rtwdemo_pmsmfoc/Motor_Control/Phase_Voltages_to_PWM_Compare_Values'



238 * '<S7>'   : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units'



239 * '<S8>'   : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control'



240 * '<S9>'   : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control'



241 * '<S10>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Torque_Control'



242 * '<S11>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Velocity_Control'



243 * '<S12>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers'



244 * '<S13>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Detect_Change'



245 * '<S14>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Rotation_Coefficients_Sin_Cos'



246 * '<S15>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_ABC_to_dq'



247 * '<S16>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC'



248 * '<S17>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Direct_Current_Control'



249 * '<S18>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Quadrature_Current_Control'



250 * '<S19>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Direct_Current_Control/Clamping circuit'



251 * '<S20>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Current_Controllers/Quadrature_Current_Control/Clamping circuit'



252 * '<S21>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_ABC_to_dq/Clarke_Transform'



253 * '<S22>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_ABC_to_dq/Park_Transform'



254 * '<S23>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC'



255 * '<S24>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Inverse_Park_Transform'



256 * '<S25>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Inverse_Clarke_Transform'



257 * '<S26>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation'



258 * '<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'



259 * '<S28>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Current_Control/Transform_Coordinates_dq_to_ABC/Alpha_Beta_to_ABC/Space_Vector_Modulation/Determine_Sector'



260 * '<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'



261 * '<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'



262 * '<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'



263 * '<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'



264 * '<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'



265 * '<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'



266 * '<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'



267 * '<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'



268 * '<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'



269 * '<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'



270 * '<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'



271 * '<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'



272 * '<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'



273 * '<S42>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control/Position_Control'



274 * '<S43>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control/Wrap_Error_pi'



275 * '<S44>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Position_Control/Position_Control/Clamping circuit'



276 * '<S45>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Velocity_Control/Rotor_Speed_Control'



277 * '<S46>'  : 'rtwdemo_pmsmfoc/Motor_Control/Field_Oriented_Controller/Velocity_Control/Rotor_Speed_Control/Clamping circuit'



278 * '<S47>'  : 'rtwdemo_pmsmfoc/Motor_Control/Phase_Voltages_to_PWM_Compare_Values/Enumerated_Constant'



279 * '<S48>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/ADC_Level_to_Phase_Current'



280 * '<S49>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position'



281 * '<S50>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity'



282 * '<S51>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Startup_Open_Loop_Control'



283 * '<S52>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Encoder_To_Position/Wait_For_Valid_Position'



284 * '<S53>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap'



285 * '<S54>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error'



286 * '<S55>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error'



287 * '<S56>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error'



288 * '<S57>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error/Enumerated_Constant'



289 * '<S58>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error/Generate_Error'



290 * '<S59>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Explicit_Angle_Wrap_With_Error/Detect_Velocity_Error/Generate_Error/Enumerated_Constant'



291 * '<S60>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error'



292 * '<S61>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error/Enumerated_Constant'



293 * '<S62>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error/Generate_Error'



294 * '<S63>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Position_To_Velocity/Implicit_Integer_Wrap_With_Error/Detect_Velocity_Error/Generate_Error/Enumerated_Constant'



295 * '<S64>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Startup_Open_Loop_Control/Enumerated Constant'



296 * '<S65>'  : 'rtwdemo_pmsmfoc/Motor_Control/Sensors_To_Engineering_Units/Startup_Open_Loop_Control/Open Loop Position'



297 */



298



299/*-



300 * Requirements for '<Root>': rtwdemo_pmsmfoc



301 */



302#endif                                 /* RTW_HEADER_rtwdemo_pmsmfoc_h_ */



303



304/*



305 * File trailer for generated code.



306 *



307 * [EOF]



308 */



309