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codegen: pwm scaled by Vcc when set as target in openloop - icub-fw-models: 1be8d979 #482

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Mar 13, 2024
Merged

codegen: pwm scaled by Vcc when set as target in openloop - icub-fw-models: 1be8d979 #482

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8 changes: 4 additions & 4 deletions emBODY/eBcode/arch-arm/mbd/amcbldc/amc-bldc/AMC_BLDC.cpp
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Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'AMC_BLDC'.
//
// Model version : 7.12
// Model version : 7.13
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:01:21 2024
// C/C++ source code generated on : Wed Mar 13 10:40:38 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down Expand Up @@ -257,7 +257,7 @@ void AMC_BLDC_step_FOC(void) // Sample time: [4.5E-5s, 0.0s]
AMC_BLDC_DW.RTBInsertedForAdapter_InsertedFor_Adapter2_at_outport_0_5_Bu[AMC_BLDC_DW.RTBInsertedForAdapter_InsertedFor_Adapter2_at_outport_0_5_RD];

// ModelReference: '<Root>/FOC' incorporates:
// Inport generated from: '<Root>/In Bus Element5'
// Inport generated from: '<Root>/In Bus Element6'
// Outport generated from: '<Root>/Out Bus Element'

control_foc(&AMC_BLDC_U.SensorsData_p,
Expand Down Expand Up @@ -310,7 +310,7 @@ void AMC_BLDC_step_FOC(void) // Sample time: [4.5E-5s, 0.0s]
// End of RateTransition generated from: '<Root>/Adapter1'

// RateTransition generated from: '<Root>/Adapter3' incorporates:
// Inport generated from: '<Root>/In Bus Element5'
// Inport generated from: '<Root>/In Bus Element6'

rtw_mutex_lock();
wrBufIdx = static_cast<int8_T>
Expand Down
4 changes: 2 additions & 2 deletions emBODY/eBcode/arch-arm/mbd/amcbldc/amc-bldc/AMC_BLDC.h
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Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'AMC_BLDC'.
//
// Model version : 7.12
// Model version : 7.13
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:01:21 2024
// C/C++ source code generated on : Wed Mar 13 10:40:38 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
4 changes: 2 additions & 2 deletions emBODY/eBcode/arch-arm/mbd/amcbldc/amc-bldc/AMC_BLDC_private.h
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Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'AMC_BLDC'.
//
// Model version : 7.12
// Model version : 7.13
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:01:21 2024
// C/C++ source code generated on : Wed Mar 13 10:40:38 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
4 changes: 2 additions & 2 deletions emBODY/eBcode/arch-arm/mbd/amcbldc/amc-bldc/AMC_BLDC_types.h
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Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'AMC_BLDC'.
//
// Model version : 7.12
// Model version : 7.13
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:01:21 2024
// C/C++ source code generated on : Wed Mar 13 10:40:38 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/mbd/amcbldc/can-decoder/can_decoder.cpp
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Expand Up @@ -9,7 +9,7 @@
//
// Model version : 6.3
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:25 2024
// C/C++ source code generated on : Wed Mar 13 10:35:32 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/mbd/amcbldc/can-decoder/can_decoder.h
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Expand Up @@ -9,7 +9,7 @@
//
// Model version : 6.3
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:25 2024
// C/C++ source code generated on : Wed Mar 13 10:35:32 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/mbd/amcbldc/can-decoder/can_decoder_private.h
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//
// Model version : 6.3
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:25 2024
// C/C++ source code generated on : Wed Mar 13 10:35:32 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/mbd/amcbldc/can-decoder/can_decoder_types.h
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//
// Model version : 6.3
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:25 2024
// C/C++ source code generated on : Wed Mar 13 10:35:32 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/mbd/amcbldc/can-encoder/can_encoder.cpp
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//
// Model version : 6.9
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:31 2024
// C/C++ source code generated on : Wed Mar 13 10:35:43 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/mbd/amcbldc/can-encoder/can_encoder.h
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Expand Up @@ -9,7 +9,7 @@
//
// Model version : 6.9
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:31 2024
// C/C++ source code generated on : Wed Mar 13 10:35:43 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/mbd/amcbldc/can-encoder/can_encoder_private.h
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Expand Up @@ -9,7 +9,7 @@
//
// Model version : 6.9
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:31 2024
// C/C++ source code generated on : Wed Mar 13 10:35:43 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/mbd/amcbldc/can-encoder/can_encoder_types.h
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Expand Up @@ -9,7 +9,7 @@
//
// Model version : 6.9
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:31 2024
// C/C++ source code generated on : Wed Mar 13 10:35:43 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
73 changes: 37 additions & 36 deletions emBODY/eBcode/arch-arm/mbd/amcbldc/control-foc/FOCInnerLoop.cpp
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Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'control_foc'.
//
// Model version : 6.18
// Model version : 6.19
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:37 2024
// C/C++ source code generated on : Wed Mar 13 10:35:55 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down Expand Up @@ -62,8 +62,8 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
real32_T rtb_IaIbIc0[2];
real32_T DProdOut;
real32_T rtb_Add;
real32_T rtb_Diff;
real32_T rtb_FilterDifferentiatorTF_f;
real32_T rtb_PProdOut_k;
real32_T rtb_Product;
real32_T rtb_SinCos_o1;
real32_T rtb_SinCos_o2;
Expand All @@ -87,16 +87,16 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
if ((rtu_ConfigurationParameters->motorconfig.Vmax <=
rtu_Sensors->supplyvoltagesensors.voltage) || rtIsNaNF
(rtu_Sensors->supplyvoltagesensors.voltage)) {
rtb_algDD_o2_l = rtu_ConfigurationParameters->motorconfig.Vmax;
rtb_Diff = rtu_ConfigurationParameters->motorconfig.Vmax;
} else {
rtb_algDD_o2_l = rtu_Sensors->supplyvoltagesensors.voltage;
rtb_Diff = rtu_Sensors->supplyvoltagesensors.voltage;
}

// Product: '<S1>/Product' incorporates:
// Gain: '<S1>/Gain4'
// MinMax: '<S1>/Min'

rtb_Product = 0.5F * rtb_algDD_o2_l * localC->Sum5;
rtb_Product = 0.5F * rtb_Diff * localC->Sum5;

// Gain: '<S1>/Ia+Ib+Ic=0'
rtb_algDD_o1_g = rtu_Sensors->motorsensors.Iabc[1];
Expand All @@ -118,11 +118,11 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// End of Outputs for SubSystem: '<S12>/Two phase CRL wrap'

// Gain: '<S5>/Gain1'
rtb_PProdOut_k = 0.0174532924F * rtu_Sensors->motorsensors.angle;
rtb_Diff = 0.0174532924F * rtu_Sensors->motorsensors.angle;

// Trigonometry: '<S15>/SinCos'
rtb_SinCos_o1 = std::sin(rtb_PProdOut_k);
rtb_SinCos_o2 = std::cos(rtb_PProdOut_k);
rtb_SinCos_o1 = std::sin(rtb_Diff);
rtb_SinCos_o2 = std::cos(rtb_Diff);

// Outputs for Atomic SubSystem: '<S10>/Two inputs CRL'
// AlgorithmDescriptorDelegate generated from: '<S123>/a16'
Expand All @@ -132,13 +132,13 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// End of Outputs for SubSystem: '<S10>/Two inputs CRL'

// Sum: '<S1>/Sum'
rtb_PProdOut_k = rtu_OuterOutputs->motorcurrent.current - rtb_algDD_o2;
rtb_Diff = rtu_OuterOutputs->motorcurrent.current - rtb_algDD_o2;

// Product: '<S111>/PProd Out'
rtb_algDD_o1_g = rtb_PProdOut_k * rtu_ConfigurationParameters->CurLoopPID.P;
rtb_algDD_o1_g = rtb_Diff * rtu_ConfigurationParameters->CurLoopPID.P;

// Product: '<S103>/IProd Out'
rtb_algDD_o2_l = rtb_PProdOut_k * rtu_ConfigurationParameters->CurLoopPID.I;
rtb_algDD_o2_l = rtb_Diff * rtu_ConfigurationParameters->CurLoopPID.I;

// SampleTimeMath: '<S101>/Tsamp' incorporates:
// SampleTimeMath: '<S47>/Tsamp'
Expand Down Expand Up @@ -197,7 +197,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// Product: '<S98>/DProd Out'
// Product: '<S99>/Divide'

localDW->FilterDifferentiatorTF_tmp = rtb_PProdOut_k *
localDW->FilterDifferentiatorTF_tmp = rtb_Diff *
rtu_ConfigurationParameters->CurLoopPID.D - rtb_FilterDifferentiatorTF_f *
localDW->FilterDifferentiatorTF_states;

Expand All @@ -209,8 +209,8 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// About '<S99>/Reciprocal':
// Operator: reciprocal

rtb_PProdOut_k = (localDW->FilterDifferentiatorTF_tmp -
localDW->FilterDifferentiatorTF_states) * DProdOut *
rtb_Diff = (localDW->FilterDifferentiatorTF_tmp -
localDW->FilterDifferentiatorTF_states) * DProdOut *
rtu_ConfigurationParameters->CurLoopPID.N;

// Sum: '<S118>/SumI1' incorporates:
Expand All @@ -219,7 +219,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// UnitDelay: '<S1>/Unit Delay'

localB->SumI1 = (localDW->UnitDelay_DSTATE - ((rtb_algDD_o1_g +
localDW->Integrator_DSTATE) + rtb_PProdOut_k)) + rtb_algDD_o2_l;
localDW->Integrator_DSTATE) + rtb_Diff)) + rtb_algDD_o2_l;

// DiscreteIntegrator: '<S106>/Integrator'
if (rtu_OuterOutputs->pid_reset && (localDW->Integrator_PrevResetState <= 0))
Expand All @@ -238,10 +238,11 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// Sum: '<S1>/Sum6'

if (rtu_OuterOutputs->cur_en) {
rtb_algDD_o1_g = ((rtb_algDD_o1_g + localB->Integrator) + rtb_PProdOut_k) +
rtb_algDD_o1_g = ((rtb_algDD_o1_g + localB->Integrator) + rtb_Diff) +
rtb_Add;
} else {
rtb_algDD_o1_g = rtu_Targets->motorvoltage.voltage * rtb_Product * 0.01F +
rtb_algDD_o1_g = rtu_Targets->motorvoltage.voltage *
rtu_Sensors->supplyvoltagesensors.voltage * 0.01F +
rtu_OuterOutputs->current_limiter;
}

Expand All @@ -267,7 +268,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// Product: '<S57>/PProd Out' incorporates:
// Gain: '<S1>/Gain'

rtb_PProdOut_k = -rtb_algDD_o1 * rtu_ConfigurationParameters->CurLoopPID.P;
rtb_algDD_o2_l = -rtb_algDD_o1 * rtu_ConfigurationParameters->CurLoopPID.P;

// DiscreteTransferFcn: '<S45>/Filter Differentiator TF' incorporates:
// DiscreteTransferFcn: '<S99>/Filter Differentiator TF'
Expand All @@ -293,7 +294,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
rtu_ConfigurationParameters->CurLoopPID.N;

// Sum: '<S63>/Sum Fdbk'
rtb_FilterDifferentiatorTF_f = (rtb_PProdOut_k + localDW->Integrator_DSTATE_o)
rtb_FilterDifferentiatorTF_f = (rtb_algDD_o2_l + localDW->Integrator_DSTATE_o)
+ DProdOut;

// Switch: '<S43>/Switch' incorporates:
Expand All @@ -303,18 +304,18 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// Switch: '<S43>/Switch1'

if (rtb_FilterDifferentiatorTF_f >= rtb_Product) {
rtb_algDD_o2_l = rtb_Product;
rtb_Diff = rtb_Product;
} else if (rtb_FilterDifferentiatorTF_f > -rtb_Product) {
// Switch: '<S43>/Switch1'
rtb_algDD_o2_l = rtb_FilterDifferentiatorTF_f;
rtb_Diff = rtb_FilterDifferentiatorTF_f;
} else {
rtb_algDD_o2_l = -rtb_Product;
rtb_Diff = -rtb_Product;
}

// Sum: '<S43>/Diff' incorporates:
// Switch: '<S43>/Switch'

rtb_algDD_o2_l = rtb_FilterDifferentiatorTF_f - rtb_algDD_o2_l;
rtb_Diff = rtb_FilterDifferentiatorTF_f - rtb_Diff;

// Product: '<S49>/IProd Out' incorporates:
// Gain: '<S1>/Gain'
Expand All @@ -328,7 +329,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// Constant: '<S40>/Constant2'
// RelationalOperator: '<S40>/fix for DT propagation issue'

if (rtb_algDD_o2_l > 0.0F) {
if (rtb_Diff > 0.0F) {
tmp = 1;
} else {
tmp = -1;
Expand All @@ -354,7 +355,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// Switch: '<S40>/Switch1'
// Switch: '<S40>/Switch2'

if ((rtb_algDD_o2_l != 0.0F) && (tmp == tmp_0)) {
if ((rtb_Diff != 0.0F) && (tmp == tmp_0)) {
// Switch: '<S40>/Switch' incorporates:
// Constant: '<S40>/Constant1'

Expand All @@ -377,7 +378,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
localDW->Integrator_DSTATE_o;

// Sum: '<S62>/Sum'
rtb_FilterDifferentiatorTF_f = (rtb_PProdOut_k + localB->Integrator_j) +
rtb_FilterDifferentiatorTF_f = (rtb_algDD_o2_l + localB->Integrator_j) +
DProdOut;

// Switch: '<S60>/Switch2' incorporates:
Expand All @@ -402,7 +403,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// Outputs for Atomic SubSystem: '<S8>/Two inputs CRL'
// AlgorithmDescriptorDelegate generated from: '<S71>/a16'
arm_inv_park_f32(rtb_Product, rtb_algDD_o1_g, &rtb_FilterDifferentiatorTF_f,
&rtb_PProdOut_k, rtb_SinCos_o1, rtb_SinCos_o2);
&rtb_Diff, rtb_SinCos_o1, rtb_SinCos_o2);

// End of Outputs for SubSystem: '<S8>/Two inputs CRL'

Expand All @@ -411,7 +412,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,

if (rtu_OuterOutputs->out_en) {
// Gain: '<S70>/sqrt3_by_two'
rtb_SinCos_o2 = 0.866025388F * rtb_PProdOut_k;
rtb_SinCos_o2 = 0.866025388F * rtb_Diff;

// Gain: '<S70>/one_by_two'
rtb_Product = 0.5F * rtb_FilterDifferentiatorTF_f;
Expand All @@ -437,14 +438,14 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
// Gain: '<S1>/Gain3' incorporates:
// Product: '<S1>/Divide1'

rtb_algDD_o2_l = rtb_algDD_o1_g / rtu_Sensors->supplyvoltagesensors.voltage *
rtb_Diff = rtb_algDD_o1_g / rtu_Sensors->supplyvoltagesensors.voltage *
100.0F;

// Saturate: '<S1>/Saturation1'
if (rtb_algDD_o2_l > 100.0F) {
rtb_algDD_o2_l = 100.0F;
} else if (rtb_algDD_o2_l < -100.0F) {
rtb_algDD_o2_l = -100.0F;
if (rtb_Diff > 100.0F) {
rtb_Diff = 100.0F;
} else if (rtb_Diff < -100.0F) {
rtb_Diff = -100.0F;
}

// End of Saturate: '<S1>/Saturation1'
Expand Down Expand Up @@ -500,7 +501,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
rtb_SinCos_o1 = 0.0F;
}
} else {
rtb_algDD_o2_l = 0.0F;
rtb_Diff = 0.0F;
rtb_FilterDifferentiatorTF_f = 0.0F;
rtb_Product = 0.0F;
rtb_SinCos_o1 = 0.0F;
Expand All @@ -525,7 +526,7 @@ void FOCInnerLoop(const ConfigurationParameters *rtu_ConfigurationParameters,
rty_FOCOutputs->Id_rms.current = 0.0F;

// BusCreator: '<S1>/Bus Creator'
rty_FOCOutputs->Vq = rtb_algDD_o2_l;
rty_FOCOutputs->Vq = rtb_Diff;
rty_FOCOutputs->Vabc[0] = rtb_FilterDifferentiatorTF_f;
rty_FOCOutputs->Vabc[1] = rtb_Product;
rty_FOCOutputs->Vabc[2] = rtb_SinCos_o1;
Expand Down
4 changes: 2 additions & 2 deletions emBODY/eBcode/arch-arm/mbd/amcbldc/control-foc/FOCInnerLoop.h
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Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'control_foc'.
//
// Model version : 6.18
// Model version : 6.19
// Simulink Coder version : 23.2 (R2023b) 01-Aug-2023
// C/C++ source code generated on : Wed Mar 6 15:00:37 2024
// C/C++ source code generated on : Wed Mar 13 10:35:55 2024
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
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