1/*



2 * File: ert_main.c



3 *



4 * Code generated for Simulink model 'PMSM_Controller'.



5 *



6 * Model version                  : 1.885



7 * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020



8 * C/C++ source code generated on : Sat Jan  8 15:44:11 2022



9 *



10 * Target selection: ert.tlc



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



12 * Code generation objectives:



13 *    1. Execution efficiency



14 *    2. RAM efficiency



15 * Validation result: Not run



16 */



17



18#include <stddef.h>



19#include <stdio.h>              /* This ert_main.c example uses printf/fflush */



20#include "PMSM_Controller.h"           /* Model's header file */



21#include "rtwtypes.h"



22



23static RT_MODEL rtM_;



24static RT_MODEL *const rtMPtr = &rtM_; /* Real-time model */



25static DW rtDW;                        /* Observable states */



26



27/* '<Root>/Vdc' */



28static int16_T rtU_Vdc;



29



30/* '<Root>/Ts' */



31static uint16_T rtU_Ts;



32



33/* '<Root>/adc_a' */



34static int16_T rtU_adc_a;



35



36/* '<Root>/adc_b' */



37static int16_T rtU_adc_b;



38



39/* '<Root>/rotor_angle' */



40static real_T rtU_rotor_angle;



41



42/* '<Root>/rotor_speed' */



43static int16_T rtU_rotor_speed;



44



45/* '<Root>/input_target' */



46static int16_T rtU_input_target;



47



48/* '<Root>/hall_a' */



49static uint8_T rtU_hall_a;



50



51/* '<Root>/hall_b' */



52static uint8_T rtU_hall_b;



53



54/* '<Root>/hall_c' */



55static uint8_T rtU_hall_c;



56



57/* '<Root>/hw_count' */



58static uint32_T rtU_hw_count;



59



60/* '<Root>/b_motor_enable' */



61static boolean_T rtU_b_motor_enable;



62



63/* '<Root>/b_cruise_enable' */



64static boolean_T rtU_b_cruise_enable;



65



66/* '<Root>/n_ctrl_type' */



67static uint8_T rtU_n_ctrl_type;



68



69/* '<Root>/pwm_counts' */



70static uint16_T rtY_pwm_counts[8];



71



72/* '<Root>/sector' */



73static uint8_T rtY_sector;



74



75/*



76 * Associating rt_OneStep with a real-time clock or interrupt service routine



77 * is what makes the generated code "real-time".  The function rt_OneStep is



78 * always associated with the base rate of the model.  Subrates are managed



79 * by the base rate from inside the generated code.  Enabling/disabling



80 * interrupts and floating point context switches are target specific.  This



81 * example code indicates where these should take place relative to executing



82 * the generated code step function.  Overrun behavior should be tailored to



83 * your application needs.  This example simply sets an error status in the



84 * real-time model and returns from rt_OneStep.



85 */



86void rt_OneStep(RT_MODEL *const rtM);



87void rt_OneStep(RT_MODEL *const rtM)



88{



89  static boolean_T OverrunFlag = false;



90



91  /* Disable interrupts here */



92



93  /* Check for overrun */



94  if (OverrunFlag) {



95    rtmSetErrorStatus(rtM, "Overrun");



96    return;



97  }



98



99  OverrunFlag = true;



100



101  /* Save FPU context here (if necessary) */



102  /* Re-enable timer or interrupt here */



103  /* Set model inputs here */



104



105  /* Step the model for base rate */



106  PMSM_Controller_step(rtM, rtU_Vdc, rtU_Ts, rtU_adc_a, rtU_adc_b,



107                       rtU_rotor_angle, rtU_rotor_speed, rtU_input_target,



108                       rtY_pwm_counts, &rtY_sector);



109



110  /* Get model outputs here */



111



112  /* Indicate task complete */



113  OverrunFlag = false;



114



115  /* Disable interrupts here */



116  /* Restore FPU context here (if necessary) */



117  /* Enable interrupts here */



118}



119



120/*



121 * The example "main" function illustrates what is required by your



122 * application code to initialize, execute, and terminate the generated code.



123 * Attaching rt_OneStep to a real-time clock is target specific.  This example



124 * illustrates how you do this relative to initializing the model.



125 */



126int_T main(int_T argc, const char *argv[])



127{



128  RT_MODEL *const rtM = rtMPtr;



129



130  /* Unused arguments */



131  (void)(argc);



132  (void)(argv);



133



134  /* Pack model data into RTM */



135  rtM->dwork = &rtDW;



136



137  /* Initialize model */



138  PMSM_Controller_initialize(rtM);



139



140  /* Attach rt_OneStep to a timer or interrupt service routine with



141   * period 6.2E-6 seconds (the model's base sample time) here.  The



142   * call syntax for rt_OneStep is



143   *



144   *  rt_OneStep(rtM);



145   */



146  printf("Warning: The simulation will run forever. "



147         "Generated ERT main won't simulate model step behavior. "



148         "To change this behavior select the 'MAT-file logging' option.\n");



149  fflush((NULL));



150  while (rtmGetErrorStatus(rtM) == (NULL)) {



151    /*  Perform other application tasks here */



152  }



153



154  /* Disable rt_OneStep() here */



155  return 0;



156}



157



158/*



159 * File trailer for generated code.



160 *



161 * [EOF]



162 */



163