Skip to content

Commit

Permalink
AMCBLDC: v1.2.12 codegen alignement (#364)
Browse files Browse the repository at this point in the history
  • Loading branch information
@sgiraz
sgiraz authored Apr 7, 2023
1 parent 5cf9dd1 commit 37ed3f6
Show file tree
Hide file tree
Showing 56 changed files with 1,032 additions and 964 deletions.
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/amcbldc/application/src/amcbldc-main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ constexpr uint8_t minor =

constexpr embot::app::theCANboardInfo::applicationInfo applInfo
{
embot::prot::can::versionOfAPPLICATION {1, minor, 11},
embot::prot::can::versionOfAPPLICATION {1, minor, 12},
embot::prot::can::versionOfCANPROTOCOL {2, 0}
};

Expand Down
55 changes: 22 additions & 33 deletions ...DY/eBcode/arch-arm/board/amcbldc/application/src/model-based-design/amc-bldc/AMC_BLDC.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'AMC_BLDC'.
//
// Model version : 5.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Mon Mar 13 14:26:47 2023
// Model version : 6.1
// Simulink Coder version : 9.9 (R2023a) 19-Nov-2022
// C/C++ source code generated on : Thu Apr 6 14:47:14 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand All @@ -18,8 +18,8 @@
//
#include "AMC_BLDC.h"
#include "rtw_mutex.h"
#include "AMC_BLDC_types.h"
#include "rtwtypes.h"
#include "AMC_BLDC_types.h"
#define estimation_velocity_MDLREF_HIDE_CHILD_
#include "estimation_velocity.h"
#define filter_current_MDLREF_HIDE_CHILD_
Expand Down Expand Up @@ -168,74 +168,54 @@ void AMC_BLDC_step0(void) // Sample time: [1.1428571428571438E-6s, 0.0s]
// Model step function for TID1
void AMC_BLDC_step_FOC(void) // Sample time: [3.65714285714286E-5s, 0.0s]
{
FOCSlowInputs rtb_BusConversion_InsertedFor_F;
int8_T wrBufIdx;

// RateTransition generated from: '<Root>/Adapter2'
rtw_mutex_lock();
AMC_BLDC_DW.RTBInsertedForAdapter_Inserte_p =
AMC_BLDC_DW.RTBInsertedForAdapter_Insert_hj;
rtw_mutex_unlock();

// BusCreator generated from: '<Root>/FOC' incorporates:
// RateTransition generated from: '<Root>/Adapter2'

rtb_BusConversion_InsertedFor_F.flags =
AMC_BLDC_B.BusConversion_InsertedFor_FOC_a.flags =
AMC_BLDC_DW.RTBInsertedForAdapter_Inserte_l[AMC_BLDC_DW.RTBInsertedForAdapter_Inserte_p];

// RateTransition generated from: '<Root>/Adapter2'
rtw_mutex_lock();
AMC_BLDC_DW.RTBInsertedForAdapter_Insert_m3 =
AMC_BLDC_DW.RTBInsertedForAdapter_Insert_mp;
rtw_mutex_unlock();

// BusCreator generated from: '<Root>/FOC' incorporates:
// RateTransition generated from: '<Root>/Adapter2'

rtb_BusConversion_InsertedFor_F.configurationparameters =
AMC_BLDC_B.BusConversion_InsertedFor_FOC_a.configurationparameters =
AMC_BLDC_DW.RTBInsertedForAdapter_InsertedF[AMC_BLDC_DW.RTBInsertedForAdapter_Insert_m3];

// RateTransition generated from: '<Root>/Adapter2'
rtw_mutex_lock();
AMC_BLDC_DW.RTBInsertedForAdapter_Insert_ko =
AMC_BLDC_DW.RTBInsertedForAdapter_Insert_b2;
rtw_mutex_unlock();

// BusCreator generated from: '<Root>/FOC' incorporates:
// RateTransition generated from: '<Root>/Adapter2'

rtb_BusConversion_InsertedFor_F.estimateddata =
AMC_BLDC_B.BusConversion_InsertedFor_FOC_a.estimateddata =
AMC_BLDC_DW.RTBInsertedForAdapter_Inserte_k[AMC_BLDC_DW.RTBInsertedForAdapter_Insert_ko];

// RateTransition generated from: '<Root>/Adapter2'
rtw_mutex_lock();
AMC_BLDC_DW.RTBInsertedForAdapter_Insert_mb =
AMC_BLDC_DW.RTBInsertedForAdapter_Insert_jj;
rtw_mutex_unlock();

// BusCreator generated from: '<Root>/FOC' incorporates:
// RateTransition generated from: '<Root>/Adapter2'

rtb_BusConversion_InsertedFor_F.targets =
AMC_BLDC_B.BusConversion_InsertedFor_FOC_a.targets =
AMC_BLDC_DW.RTBInsertedForAdapter_Inserte_m[AMC_BLDC_DW.RTBInsertedForAdapter_Insert_mb];

// RateTransition generated from: '<Root>/Adapter2'
rtw_mutex_lock();
AMC_BLDC_DW.RTBInsertedForAdapter_Insert_bw =
AMC_BLDC_DW.RTBInsertedForAdapter_Insert_p5;
rtw_mutex_unlock();

// BusCreator generated from: '<Root>/FOC' incorporates:
// RateTransition generated from: '<Root>/Adapter2'

rtb_BusConversion_InsertedFor_F.controlouteroutputs =
AMC_BLDC_B.BusConversion_InsertedFor_FOC_a.controlouteroutputs =
AMC_BLDC_DW.RTBInsertedForAdapter_Inserte_i[AMC_BLDC_DW.RTBInsertedForAdapter_Insert_bw];

// ModelReference: '<Root>/FOC' incorporates:
// Inport generated from: '<Root>/In Bus Element5'
// Outport generated from: '<Root>/Out Bus Element'

control_foc(&AMC_BLDC_U.SensorsData_p, &rtb_BusConversion_InsertedFor_F,
control_foc(&AMC_BLDC_U.SensorsData_p,
&AMC_BLDC_B.BusConversion_InsertedFor_FOC_a,
&AMC_BLDC_Y.ControlOutputs_p);

// RateTransition generated from: '<Root>/Adapter1' incorporates:
Expand Down Expand Up @@ -317,6 +297,7 @@ void AMC_BLDC_step_Time(void) // Sample time: [0.001s, 0.0s]
ControlOuterOutputs rtb_OuterControl;
BUS_STATUS_TX rtb_SupervisorFSM_TX_o2;
ControlOutputs rtb_BusConversion_InsertedFor_F;
MotorCurrent rtb_Filter_Current;
int8_T wrBufIdx;

// RateTransition generated from: '<Root>/Adapter1'
Expand Down Expand Up @@ -346,13 +327,17 @@ void AMC_BLDC_step_Time(void) // Sample time: [0.001s, 0.0s]

// End of RateTransition generated from: '<Root>/Adapter1'

// BusCreator generated from: '<S5>/Filter_Current'
rtb_Filter_Current.current = 0.0F;

// BusCreator generated from: '<S5>/Filter_Current'
rtb_BusConversion_InsertedFor_F.Vq = 0.0F;
rtb_BusConversion_InsertedFor_F.Vabc[0] = 0.0F;
rtb_BusConversion_InsertedFor_F.Vabc[1] = 0.0F;
rtb_BusConversion_InsertedFor_F.Vabc[2] = 0.0F;
rtb_BusConversion_InsertedFor_F.Iq_fbk =
AMC_BLDC_B.RTBInsertedForAdapter_Inserte_a.Iq_fbk;
rtb_BusConversion_InsertedFor_F.Id_fbk = rtb_Filter_Current;

// RateTransition generated from: '<Root>/Adapter3'
rtw_mutex_lock();
Expand Down Expand Up @@ -391,8 +376,12 @@ void AMC_BLDC_step_Time(void) // Sample time: [0.001s, 0.0s]
&AMC_BLDC_Y.EstimatedData_p.jointvelocities);

// ModelReference: '<S5>/Filter_Current'
filter_current(&rtb_BusConversion_InsertedFor_F,
&AMC_BLDC_Y.EstimatedData_p.Iq_filtered);
filter_current(&rtb_BusConversion_InsertedFor_F, &rtb_Filter_Current);

// BusCreator: '<S9>/Bus Creator' incorporates:
// Outport generated from: '<Root>/Out Bus Element2'

AMC_BLDC_Y.EstimatedData_p.Iq_filtered = rtb_Filter_Current;

// ModelReference: '<S6>/CAN_Decoder' incorporates:
// Inport generated from: '<Root>/In Bus Element2'
Expand Down
11 changes: 6 additions & 5 deletions emBODY/eBcode/arch-arm/board/amcbldc/application/src/model-based-design/amc-bldc/AMC_BLDC.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'AMC_BLDC'.
//
// Model version : 5.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Mon Mar 13 14:26:47 2023
// Model version : 6.1
// Simulink Coder version : 9.9 (R2023a) 19-Nov-2022
// C/C++ source code generated on : Thu Apr 6 14:47:14 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down Expand Up @@ -46,13 +46,14 @@

// Block signals (default storage)
struct B_AMC_BLDC_T {
FOCSlowInputs BusConversion_InsertedFor_FOC_a;
BUS_MESSAGES_RX_MULTIPLE CAN_Decoder_o1;// '<S6>/CAN_Decoder'
ConfigurationParameters ZOHBlockInsertedForAdapter_Inse;// '<Root>/Adapter4'
BUS_MESSAGES_TX MessagesTx; // '<S7>/SupervisorFSM_TX'
SensorsData RTBInsertedForAdapter_InsertedF;// '<Root>/Adapter3'
ControlOutputs RTBInsertedForAdapter_Inserte_a;// '<Root>/Adapter1'
BUS_STATUS_RX_MULTIPLE CAN_Decoder_o2;// '<S6>/CAN_Decoder'
BUS_CAN_RX_ERRORS_MULTIPLE CAN_Decoder_o3;// '<S6>/CAN_Decoder'
ControlOutputs RTBInsertedForAdapter_Inserte_a;// '<Root>/Adapter1'
};

// Block states (default storage) for system '<Root>'
Expand All @@ -63,10 +64,10 @@ struct DW_AMC_BLDC_T {
SensorsData RTBInsertedForAdapter_Inserte_c;// synthesized block
SensorsData RTBInsertedForAdapter_Inserte_j;// synthesized block
Targets RTBInsertedForAdapter_Inserte_m[3];// synthesized block
ControlOuterOutputs RTBInsertedForAdapter_Inserte_i[3];// synthesized block
ControlOutputs RTBInsertedForAdapter_Inserte_d;// synthesized block
ControlOutputs RTBInsertedForAdapter_Insert_j2;// synthesized block
ControlOutputs RTBInsertedForAdapter_Inserte_o;// synthesized block
ControlOuterOutputs RTBInsertedForAdapter_Inserte_i[3];// synthesized block
EstimatedData RTBInsertedForAdapter_Inserte_k[3];// synthesized block
Flags RTBInsertedForAdapter_Inserte_l[3];// synthesized block
void* RTBInsertedForAdapter_Insert_mf;// synthesized block
Expand Down
6 changes: 3 additions & 3 deletions ...ode/arch-arm/board/amcbldc/application/src/model-based-design/amc-bldc/AMC_BLDC_private.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'AMC_BLDC'.
//
// Model version : 5.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Mon Mar 13 14:26:47 2023
// Model version : 6.1
// Simulink Coder version : 9.9 (R2023a) 19-Nov-2022
// C/C++ source code generated on : Thu Apr 6 14:47:14 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
12 changes: 9 additions & 3 deletions ...Bcode/arch-arm/board/amcbldc/application/src/model-based-design/amc-bldc/AMC_BLDC_types.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'AMC_BLDC'.
//
// Model version : 5.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Mon Mar 13 14:26:47 2023
// Model version : 6.1
// Simulink Coder version : 9.9 (R2023a) 19-Nov-2022
// C/C++ source code generated on : Thu Apr 6 14:47:14 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down Expand Up @@ -303,6 +303,7 @@ struct ControlOuterOutputs
boolean_T vel_en;
boolean_T cur_en;
boolean_T out_en;
boolean_T pid_reset;
MotorCurrent motorcurrent;
real32_T current_limiter;
};
Expand Down Expand Up @@ -336,6 +337,9 @@ struct ControlOutputs

// quadrature current
MotorCurrent Iq_fbk;

// direct current
MotorCurrent Id_fbk;
};

#endif
Expand Down Expand Up @@ -628,6 +632,8 @@ struct BUS_FLAGS_TX
struct BUS_MSG_STATUS
{
MCControlModes control_mode;

// control effort (quadrature)
real32_T pwm_fbk;
BUS_FLAGS_TX flags;
};
Expand Down
Loading

0 comments on commit 37ed3f6

Please sign in to comment.