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MBD FOC code optimized with CMSIS-DSP (#184)
* added cmsis/dsp version 1.6.0 * added matlab-generated code for foc algorithm details: use of single precision, CMSIS-DSP, efficient Park Transform algorithm the tick function takes 2.5 usec on the amcbldc w/ -Ofast optimization * amcbldc-application01: added test duration of the foc algorithm
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.../board/amcbldc/application01/src/FOCode/BLDC_FOC_Code/Current_FOC_ert_rtw/Current_FOC.cpp
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| // | ||
| // Non-Degree Granting Education License -- for use at non-degree | ||
| // granting, nonprofit, educational organizations only. Not for | ||
| // government, commercial, or other organizational use. | ||
| // | ||
| // File: Current_FOC.cpp | ||
| // | ||
| // Code generated for Simulink model 'Current_FOC'. | ||
| // | ||
| // Model version : 2.15 | ||
| // Simulink Coder version : 9.5 (R2021a) 14-Nov-2020 | ||
| // C/C++ source code generated on : Sun May 16 18:18:18 2021 | ||
| // | ||
| // Target selection: ert.tlc | ||
| // Embedded hardware selection: ARM Compatible->ARM Cortex-M | ||
| // Code generation objectives: Unspecified | ||
| // Validation result: Not run | ||
| // | ||
| #include "Current_FOC.h" | ||
| #include "Current_FOC_private.h" | ||
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| // Model step function | ||
| void Current_FOCModelClass::step() | ||
| { | ||
| real32_T rtb_Cos; | ||
| real32_T rtb_Gain1; | ||
| real32_T rtb_Sin; | ||
| real32_T rtb_algDD_o1; | ||
| real32_T rtb_algDD_o2; | ||
| real32_T rtb_algDD_o2_o; | ||
| real32_T u0; | ||
| real32_T u0_0; | ||
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| // Outputs for Atomic SubSystem: '<Root>/Current_FOC' | ||
| // Product: '<S1>/Product' incorporates: | ||
| // Constant: '<S1>/Constant' | ||
| // Inport: '<Root>/Angle_fbk' | ||
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| rtb_Gain1 = Current_FOC_U.Angle_fbk * 7.0F; | ||
|
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| // Trigonometry: '<S1>/Cos' | ||
| rtb_Cos = arm_cos_f32(rtb_Gain1); | ||
|
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| // Trigonometry: '<S1>/Sin' | ||
| rtb_Sin = arm_sin_f32(rtb_Gain1); | ||
|
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| // Outputs for Atomic SubSystem: '<S1>/Clarke Transform' | ||
| // AlgorithmDescriptorDelegate generated from: '<S2>/a16' incorporates: | ||
| // Inport: '<Root>/Iabc_fbk' | ||
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| arm_clarke_f32(Current_FOC_U.Iabc_fbk[0], Current_FOC_U.Iabc_fbk[1], | ||
| &rtb_Gain1, &rtb_algDD_o2_o); | ||
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| // End of Outputs for SubSystem: '<S1>/Clarke Transform' | ||
|
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| // Outputs for Atomic SubSystem: '<S1>/Park Transform' | ||
| // AlgorithmDescriptorDelegate generated from: '<S7>/a16' | ||
| arm_park_f32(rtb_Gain1, rtb_algDD_o2_o, &rtb_algDD_o1, &rtb_algDD_o2, rtb_Sin, | ||
| rtb_Cos); | ||
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| // End of Outputs for SubSystem: '<S1>/Park Transform' | ||
|
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| // Gain: '<S1>/Gain1' | ||
| rtb_Gain1 = -rtb_algDD_o1; | ||
|
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| // Sum: '<S1>/Subtract' incorporates: | ||
| // Inport: '<Root>/I_ref' | ||
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| rtb_algDD_o2 = Current_FOC_U.I_ref - rtb_algDD_o2; | ||
|
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| // Sum: '<S48>/Sum' incorporates: | ||
| // Constant: '<S1>/P' | ||
| // DiscreteIntegrator: '<S39>/Integrator' | ||
| // Gain: '<S1>/Gain1' | ||
| // Product: '<S44>/PProd Out' | ||
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| u0 = -rtb_algDD_o1 * 20.0F + Current_FOC_DW.Integrator_DSTATE; | ||
|
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| // Sum: '<S97>/Sum' incorporates: | ||
| // Constant: '<S1>/P' | ||
| // DiscreteIntegrator: '<S88>/Integrator' | ||
| // Product: '<S93>/PProd Out' | ||
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| u0_0 = rtb_algDD_o2 * 20.0F + Current_FOC_DW.Integrator_DSTATE_o; | ||
|
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| // Saturate: '<S95>/Saturation' | ||
| if (u0_0 > 12.0F) { | ||
| u0_0 = 12.0F; | ||
| } else if (u0_0 < -12.0F) { | ||
| u0_0 = -12.0F; | ||
| } | ||
|
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| // End of Saturate: '<S95>/Saturation' | ||
|
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| // Sum: '<S1>/Sum' incorporates: | ||
| // Gain: '<S1>/Gain2' | ||
| // Gain: '<S1>/Gain3' | ||
| // Inport: '<Root>/I_ref' | ||
| // Inport: '<Root>/Speed_fbk' | ||
| // Sum: '<S1>/Add' | ||
|
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| u0_0 += 12.95F * Current_FOC_U.I_ref + 0.0022466667F * Current_FOC_U.Speed_fbk; | ||
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| // Saturate: '<S46>/Saturation' | ||
| if (u0 > 12.0F) { | ||
| u0 = 12.0F; | ||
| } else if (u0 < -12.0F) { | ||
| u0 = -12.0F; | ||
| } | ||
|
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| // End of Saturate: '<S46>/Saturation' | ||
|
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| // Saturate: '<S1>/Saturation' | ||
| if (u0_0 > 12.0F) { | ||
| u0_0 = 12.0F; | ||
| } else if (u0_0 < -12.0F) { | ||
| u0_0 = -12.0F; | ||
| } | ||
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| // End of Saturate: '<S1>/Saturation' | ||
|
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| // Outputs for Atomic SubSystem: '<S1>/Inverse Park Transform' | ||
| // AlgorithmDescriptorDelegate generated from: '<S5>/a16' | ||
| arm_inv_park_f32(u0, u0_0, &rtb_algDD_o2_o, &rtb_algDD_o1, rtb_Sin, rtb_Cos); | ||
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| // End of Outputs for SubSystem: '<S1>/Inverse Park Transform' | ||
|
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| // Gain: '<S4>/one_by_two' | ||
| rtb_Cos = 0.5F * rtb_algDD_o2_o; | ||
|
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| // Gain: '<S4>/sqrt3_by_two' | ||
| rtb_Sin = 0.866025388F * rtb_algDD_o1; | ||
|
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| // Update for DiscreteIntegrator: '<S39>/Integrator' incorporates: | ||
| // Constant: '<S1>/I' | ||
| // Product: '<S36>/IProd Out' | ||
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| Current_FOC_DW.Integrator_DSTATE += rtb_Gain1 * 10000.0F * 3.75E-5F; | ||
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| // Update for DiscreteIntegrator: '<S88>/Integrator' incorporates: | ||
| // Constant: '<S1>/I' | ||
| // Product: '<S85>/IProd Out' | ||
|
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| Current_FOC_DW.Integrator_DSTATE_o += rtb_algDD_o2 * 10000.0F * 3.75E-5F; | ||
|
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| // Outport: '<Root>/PWMabc_out' incorporates: | ||
| // Gain: '<S1>/Gain5' | ||
| // Sum: '<S4>/add_b' | ||
| // Sum: '<S4>/add_c' | ||
|
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| Current_FOC_Y.PWMabc_out[0] = 0.0416666679F * rtb_algDD_o2_o; | ||
| Current_FOC_Y.PWMabc_out[1] = (rtb_Sin - rtb_Cos) * 0.0416666679F; | ||
| Current_FOC_Y.PWMabc_out[2] = ((0.0F - rtb_Cos) - rtb_Sin) * 0.0416666679F; | ||
|
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||
| // End of Outputs for SubSystem: '<Root>/Current_FOC' | ||
| } | ||
|
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||
| // Model initialize function | ||
| void Current_FOCModelClass::initialize() | ||
| { | ||
| // (no initialization code required) | ||
| } | ||
|
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||
| // Model terminate function | ||
| void Current_FOCModelClass::terminate() | ||
| { | ||
| // (no terminate code required) | ||
| } | ||
|
|
||
| // Constructor | ||
| Current_FOCModelClass::Current_FOCModelClass() : | ||
| Current_FOC_DW(), | ||
| Current_FOC_U(), | ||
| Current_FOC_Y(), | ||
| Current_FOC_M() | ||
| { | ||
| // Currently there is no constructor body generated. | ||
| } | ||
|
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||
| // Destructor | ||
| Current_FOCModelClass::~Current_FOCModelClass() | ||
| { | ||
| // Currently there is no destructor body generated. | ||
| } | ||
|
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||
| // Real-Time Model get method | ||
| Current_FOCModelClass::RT_MODEL_Current_FOC_T * Current_FOCModelClass::getRTM() | ||
| { | ||
| return (&Current_FOC_M); | ||
| } | ||
|
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||
| // | ||
| // File trailer for generated code. | ||
| // | ||
| // [EOF] | ||
| // |
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