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matlab_23550/Inu/controller.c
Razvalyaev da2cd65e9a init
2024-12-27 10:50:32 +03:00

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/**************************************************************************
Description: Ïðîãðàììà ìîäåëèðóåò ðàáîòó ïðîöåññîðà - îñóùåñòâëÿåò
âûçîâ ôóíêöèé init28335, detcoeff, isr.
Òàêæå ìîäåëèðóåò ðàçëè÷íûå ïåðèôåðèéíûå óñòðîéñòâà ïðîöåññîðà
TMS320F28335/TMS320F28379D (ADC, PWM, QEP è ò.ä.).
Àâòîð: Óëèòîâñêèé Ä.È.
Äàòà ïîñëåäíåãî îáíîâëåíèÿ: 2021.11.08
**************************************************************************/
#include "simstruc.h"
#include "wrapper_inu.h"
#include "def.h"
#include "controller.h"
#include "pwm_vector_regul.h"
extern UMotorMeasure motor;
extern TimerSimHandle t1sim
extern TimerSimHandle t2sim;
extern TimerSimHandle t3sim;
extern TimerSimHandle t4sim;
extern TimerSimHandle t5sim;
extern TimerSimHandle t6sim;
extern TimerSimHandle t7sim;
extern TimerSimHandle t8sim;
extern TimerSimHandle t9sim;
extern TimerSimHandle t10sim;
extern TimerSimHandle t11sim;
extern TimerSimHandle t12sim;
extern DeadBandSimHandle dt1sim
extern DeadBandSimHandle dt2sim;
extern DeadBandSimHandle dt3sim;
extern DeadBandSimHandle dt4sim;
extern DeadBandSimHandle dt5sim;
extern DeadBandSimHandle dt6sim;
extern DeadBandSimHandle dt7sim;
extern DeadBandSimHandle dt8sim;
extern DeadBandSimHandle dt9sim;
extern DeadBandSimHandle dt10sim;
extern DeadBandSimHandle dt11sim;
extern DeadBandSimHandle dt12sim;
extern void init28335(void);
extern void detcoeff(void);
extern void isr(void);
extern void input_param(unsigned short num, unsigned short val);
// extern void init_DQ_pid();
int calcAlgUpr = 0;
int timers_adc = 0;
int timers_pwm = 0;
void readInputParameters(const real_T *u) {
// int t;
//// ÂÕÎÄÛ (begin)
//nn = 0;
//// àíàëîãîâûå âåëè÷èíû
//motor.udc1_ml = u[nn++];//Â
//motor.udc2_ml = u[nn++];//Â
//motor.ia1_ml = u[nn++];//À
//motor.ib1_ml = u[nn++];//À
//motor.ic1_ml = u[nn++];//À
//motor.ia2_ml = u[nn++];//À
//motor.ib2_ml = u[nn++];//À
//motor.ic2_ml = u[nn++];//À
//motor.wm_ml = u[nn++];//ðàä/ñ
//// óïðàâëåíèå (íàïðèìåð, ñ ÂÓ)
//mst.faultReset = (unsigned short)u[nn++];
//mst.start = (unsigned short)u[nn++];
//mst.pzMode = (unsigned short)u[nn++];
//mst.wmZz = u[nn++];//o.e. (îò N_BAZ)
//mst.pmZz = u[nn++]*(P_NOM/S_BAZ);//o.e. (îò S_BAZ)
//mst.wmLim = u[nn++];//o.e. (îò N_BAZ)
//mst.pmLim = u[nn++]*(P_NOM/S_BAZ);//o.e. (îò S_BAZ)
//mst.pIncrMaxTy = u[nn++]*TY*DECIM_PSI_WM_PM*(P_NOM/S_BAZ);//o.e. (îò S_BAZ)
//mst.pDecrMaxTy = u[nn++]*TY*DECIM_PSI_WM_PM*(P_NOM/S_BAZ);//o.e. (îò S_BAZ)
////
//mst.off_curr_pi = (unsigned short)u[nn++];
//mst.only_one_km = (unsigned short)u[nn++];
//mst.enable_compens_iq1_iq2 = (unsigned short)u[nn++];
//mst.pi_iq_ki = u[nn++];
//mst.pi_id_ki = u[nn++];
//t = (unsigned short)u[nn++];
//t = (unsigned short)u[nn++];
//t = (unsigned short)u[nn++];
//t = (unsigned short)u[nn++];
//t = (unsigned short)u[nn++];
//// ïàðàìåòðû (íàïðèìåð, ñ ÏÓ)
//paramNo = FIRST_WRITE_PAR_NUM;
//paramNew[paramNo++] = (unsigned short)u[nn++];
//paramNew[paramNo++] = (unsigned short)u[nn++];
//// ÂÕÎÄÛ (end)
}
void processSFunctionIfChanged(SimStruct *S, int_T *iW) {
// îáðàáàòûâàåì ïàðàìåòðû S-Function êàæäûé ðàç, êîãäà îíè èçìåíèëèñü
if ( iW[0] == 1 ) {
iW[0] = 0;
kkk = 0;
for ( lll = 0; lll < NPARAMS; lll++ ) {
// îïðåäåëÿåì êîë-âî ýëåìåíòîâ â ïàðàìåòðå
dimen = mxGetNumberOfElements(ssGetSFcnParam(S,lll));
// îáðàáàòûâàåì ïàðàìåòð â çàâèñèìîñòè îò åãî ðàçìåðà
if ( dimen > LEN_PARAM_MATR*2 ) {
ssSetErrorStatus(S,"Â ïàðàìåòðå-ìàññèâå ñëèøêîì ìíîãî ýëåìåíòîâ");
return;
}
else if ( dimen > 1 ) {
// çàïîìèíàåì êîë-âî ýëåìåíòîâ ïàðàìåòðà-ìàòðèöû
paramMatrDimen = dimen;
// çàïîìèíàåì çíà÷åíèÿ ýëåìåíòîâ ïàðàìåòðà-ìàòðèöû
for ( mmm = 0; mmm < dimen; mmm++ )
paramMatr[mmm] = mxGetPr(ssGetSFcnParam(S,lll))[mmm];
}
else {
// çàïîìèíàåì çíà÷åíèÿ ïàðàìåòðîâ-ñêàëÿðîâ
paramScal[kkk++] = mxGetPr(ssGetSFcnParam(S,lll))[0];
}
}
// ÏÀÐÀÌÅÒÐÛ (begin)
nn = 0;
dt = paramScal[nn++];//øàã äèñêðåòèçàöèè (âñåãäà äîëæåí ïåðåäàâàòüñÿ â S-function ïîñëåäíèì!)
// ÏÀÐÀÌÅÒÐÛ (end)
} //if ( iW[0] == 1 )
}
void initialisationOnStart(int_T *iW) {
//// êîå-÷òî âûïîëíÿåì îäèí ðàç ïðè çàïóñêå ìîäåëè
// if ( iW[1] == 1 ) {
// iW[1] = 0;
//
// timers_adc = 0;
// timers_pwm = 0;
//
// // èíèöèàëèçàöèÿ ïðîöåññîðà
// init28335();
//
// init_DQ_pid();
//
// // èìèòàöèÿ ñ÷èòûâàíèÿ ïàðàìåòðîâ èç EEPROM
// // ... ïàðàìåòðû èç ìîäåëè (ñì. áëîê "Parameters")
// for ( j = FIRST_WRITE_PAR_NUM; j < paramNo; j++ ) {
// param[j] = paramNew[j];
// }
// // ... ïàðàìåòðû èç ôàéëà
// param[180] = 930;//rf.PsiZ, %*10 îò PSI_BAZ
//
// param[200] = 2048;//offset.Ia1, åä. ÀÖÏ
// param[201] = 2048;//offset.Ib1, åä. ÀÖÏ
// param[202] = 2048;//offset.Ic1, åä. ÀÖÏ
// param[203] = 2048;//offset.Udc1, åä. ÀÖÏ
// param[206] = 2048;//offset.Ia2, åä. ÀÖÏ
// param[207] = 2048;//offset.Ib2, åä. ÀÖÏ
// param[208] = 2048;//offset.Ic2, åä. ÀÖÏ
// param[209] = 2048;//offset.Udc2, åä. ÀÖÏ
//
// param[210] = 100;//cc.Kp, %
// param[211] = 100;//cc.Ki, %
// param[212] = 100;//cf.Kp, %
// param[213] = 100;//cf.Ki, %
// param[214] = 100;//csp.Kp, %
// param[215] = 100;//csp.Ki, %
//
// param[220] = 99;//protect.IacMax, % îò IAC_SENS_MAX
// param[221] = 130;//protect.UdcMax, % îò U_NOM
// param[222] = 110;//IzLim, % îò I_BAZ (ä.á. áîëüøå cf.IdLim)
// param[223] = 105;//cf.IdLim, % îò I_BAZ (ä.á. ìåíüøå IzLim)
// param[224] = 105;//csp.IqLim, % îò I_BAZ
// param[225] = 97;//protect.UdcMin, % îò U_NOM
// param[226] = 115;//protect.WmMax, % îò N_NOM
// param[228] = 103;//rf.WmNomPsi, % îò N_NOM
// param[229] = 97;//rf.YlimPsi, % îò Y_LIM
// param[231] = 300;//protect.TudcMin, ìñ
// param[233] = 1000;//protect.TwmMax, ìñ
//
// param[244] = 26000;//rs.WlimIncr, ìñ
// param[245] = 2000;//csp.IlimIncr, ìñ
// param[248] = 6000;//rp.PlimIncr, ìñ
//
// param[269] = 9964;//9700;//KmeCorr, %*100
//
// param[285] = 10;//Kudc, ìñ*10
// param[286] = 700;//Kwm, ìñ*10
// param[288] = 250;//rs.Kwmz, ìñ
// param[289] = 50;//rf.Kpsiz, ìñ
// param[290] = 40;//Kme, ìñ
// param[292] = 80;//rp.Kpmz, ìñ
//
// param[303] = (unsigned short)(19200.);//sgmPar.Rs, ìêÎì
// param[304] = (unsigned short)(19364.);//sgmPar.Lls, ìêÃí*10
// param[305] = (unsigned short)(8500.);//sgmPar.Rr, ìêÎì
// param[306] = (unsigned short)(10212.);//sgmPar.Llr, ìêÃí*10
// param[307] = (unsigned short)(35810.);//sgmPar.Lm, ìêÃí
//
// // èíèöèàëèçàöèÿ ïðîãðàììû
// detcoeff();
//
// // äëÿ ìîäåëèðîâàíèÿ òàéìåðîâ
// T1Pr = (double)EPwm1Regs.TBPRD;
// T2Pr = (double)EPwm2Regs.TBPRD;
// T3Pr = (double)EPwm3Regs.TBPRD;
// T4Pr = (double)EPwm4Regs.TBPRD;
// T5Pr = (double)EPwm5Regs.TBPRD;
// T6Pr = (double)EPwm6Regs.TBPRD;
// T7Pr = (double)EPwm7Regs.TBPRD;
// T8Pr = (double)EPwm8Regs.TBPRD;
// T9Pr = (double)EPwm9Regs.TBPRD;
// T10Pr = (double)EPwm10Regs.TBPRD;
// T11Pr = (double)EPwm11Regs.TBPRD;
// T12Pr = (double)EPwm12Regs.TBPRD;
// t1cntAux = (double)EPwm1Regs.TBCTR;
// t2cntAux = (double)EPwm2Regs.TBCTR;
// t3cntAux = (double)EPwm3Regs.TBCTR;
// t4cntAux = (double)EPwm4Regs.TBCTR;
// t5cntAux = (double)EPwm5Regs.TBCTR;
// t6cntAux = (double)EPwm6Regs.TBCTR;
// t7cntAux = (double)EPwm7Regs.TBCTR;
// t8cntAux = (double)EPwm8Regs.TBCTR;
// t9cntAux = (double)EPwm9Regs.TBCTR;
// t10cntAux = (double)EPwm10Regs.TBCTR;
// t11cntAux = (double)EPwm11Regs.TBCTR;
// t12cntAux = (double)EPwm12Regs.TBCTR;
// // ... ïðèðàùåíèå ñ÷¸ò÷èêîâ òàéìåðîâ çà øàã äèñêðåòèçàöèè
// TxCntPlus = FTBCLK*dt;
//
// // äëÿ ìîäåëèðîâàíèÿ eQEP
// Qposmax = (double)EQep2Regs.QPOSMAX;
// qposcnt = 1.;//(double)EQep2Regs.QPOSCNT;
//
// // äëÿ ìîäåëèðîâàíèÿ ÀÖÏ
// // (íà ñ÷¸ò 1e-6 ñì. SetupAdc(), õîòÿ òàì ñêîðåå íå 1.0 ìêñ, à 0.8 ìêñ)
//// Tadc = (int)(1e-6/dt);
// Tadc = (int)(1/FREQ_ADC_TIMER/dt);
//
// // ... íà âñÿêèé ñëó÷àé
// if ( Tadc < 1 )
// Tadc = 1;
// tAdc = 1;
// // ... ÷òîáû ÀÖÏ æäàë çàïóñêà
// nAdc = 0;
//
// // äëÿ ìîäåëèðîâàíèÿ Dead-Band Unit
// CntDt = (int)(DT/dt);
// stateDt1 = stateDt2 = stateDt3 = stateDt4 = stateDt5 = stateDt6 = 1;
// stateDt7 = stateDt8 = stateDt9 = stateDt10 = stateDt11 = stateDt12 = 1;
// cntDt1 = cntDt2 = cntDt3 = cntDt4 = cntDt5 = cntDt6 = 0;
// cntDt7 = cntDt8 = cntDt9 = cntDt10 = cntDt11 = cntDt12 = 0;
//
// // äëÿ çàùèò
// DI_24V_SOURCE_FAULT = 0;
//
// // äëÿ âûâîäà
// inuWork = 0;
// ivc.psi = 0;
// rf.psiZ = 0;
// rs.wmZ = 0;
// csp.wmLimZi = 0;
// pm = 0;
// rp.pmZ = 0;
// csp.pmLimZi = 0;
// id1 = 0;
// iq1 = 0;
// id2 = 0;
// iq2 = 0;
// idZ = 0;
// iqZ = 0;
// cf.idP = 0;
// cf.idFF = 0;
// cf.idI = 0;
// csp.iqP = 0;
// csp.iqFF = 0;
// csp.iqI = 0;
// cc.yd1 = 0;
// cc.yq1 = 0;
// cc.y1 = 0;
// cc.y2 = 0;
// } //if ( iW[1] == 1 )
}
void simulatePWMcounterAndReadComarators(void) {
//// Ìîäåëèðóåì Time-Base Submodule, Counter-Compare Submodule è
//// Event-Trigger Submodule
//// ePWM1 (up-down-count mode)
//// -------------------------
//t1cntAuxPrev = t1cntAux;
//t1cntAux += TxCntPlus;
//if ( t1cntAux > T1Pr ) {
// t1cntAux -= T1Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp1A = (double)EPwm1Regs.CMPA.half.CMPA;
// // çàïóñê ÀÖÏ
// // tAdc = Tadc;
// // nAdc = 0;
// calcAlgUpr = 1; // ØÈÌ ïðåðûâàíèå
//}
//if ( (t1cntAuxPrev < 0) && (t1cntAux >= 0) ) {
// // active CMPA load from shadow when TBCTR == 0
// cmp1A = (double)EPwm1Regs.CMPA.half.CMPA;
// // çàïóñê ÀÖÏ
// // tAdc = Tadc;
// // nAdc = 0;
// calcAlgUpr = 1; // ØÈÌ ïðåðûâàíèå
//}
//t1cnt = fabs(t1cntAux);
//// ePWM2 (up-down-count mode)
//// -------------------------
//t2cntAuxPrev = t2cntAux;
//t2cntAux += TxCntPlus;
//if ( t2cntAux > T2Pr ) {
// t2cntAux -= T2Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp2A = (double)EPwm2Regs.CMPA.half.CMPA;
//}
//if ( (t2cntAuxPrev < 0) && (t2cntAux >= 0) ) {
// // active CMPA load from shadow when TBCTR == 0
// cmp2A = (double)EPwm2Regs.CMPA.half.CMPA;
//}
//t2cnt = fabs(t2cntAux);
//// ePWM3 (up-down-count mode)
//// -------------------------
//t3cntAuxPrev = t3cntAux;
//t3cntAux += TxCntPlus;
//if ( t3cntAux > T3Pr ) {
// t3cntAux -= T3Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp3A = (double)EPwm3Regs.CMPA.half.CMPA;
//}
//if ( (t3cntAuxPrev < 0) && (t3cntAux >= 0) ) {
// // active CMPA load from shadow when TBCTR == 0
// cmp3A = (double)EPwm3Regs.CMPA.half.CMPA;
//}
//t3cnt = fabs(t3cntAux);
//// ePWM4 (up-down-count mode)
//// -------------------------
//t4cntAuxPrev = t4cntAux;
//t4cntAux += TxCntPlus;
//if ( t4cntAux > T4Pr ) {
// t4cntAux -= T4Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp4A = (double)EPwm4Regs.CMPA.half.CMPA;
//}
//if ( (t4cntAuxPrev < 0) && (t4cntAux >= 0) ) {
// // active CMPA load from shadow when TBCTR == 0
// cmp4A = (double)EPwm4Regs.CMPA.half.CMPA;
//}
//t4cnt = fabs(t4cntAux);
//// ePWM5 (up-down-count mode)
//// -------------------------
//t5cntAuxPrev = t5cntAux;
//t5cntAux += TxCntPlus;
//if ( t5cntAux > T5Pr ) {
// t5cntAux -= T5Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp5A = (double)EPwm5Regs.CMPA.half.CMPA;
//}
//if ( (t5cntAuxPrev < 0) && (t5cntAux >= 0) ) {
// // active CMPA load from shadow when TBCTR == 0
// cmp5A = (double)EPwm5Regs.CMPA.half.CMPA;
//}
//t5cnt = fabs(t5cntAux);
//// ePWM6 (up-down-count mode)
//// -------------------------
//t6cntAuxPrev = t6cntAux;
//t6cntAux += TxCntPlus;
//if ( t6cntAux > T6Pr ) {
// t6cntAux -= T6Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp6A = (double)EPwm6Regs.CMPA.half.CMPA;
//}
//if ( (t6cntAuxPrev < 0) && (t6cntAux >= 0) ) {
// // active CMPA load from shadow when TBCTR == 0
// cmp6A = (double)EPwm6Regs.CMPA.half.CMPA;
//}
//t6cnt = fabs(t6cntAux);
//// ePWM7 (up-down-count mode)
//// -------------------------
//t7cntAuxPrev = t7cntAux;
//t7cntAux += TxCntPlus;
//if (t7cntAux > T7Pr) {
// t7cntAux -= T7Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp7A = (double)EPwm7Regs.CMPA.half.CMPA;
//}
//if ( (t7cntAuxPrev < 0) && (t7cntAux >= 0) ) {
// // active CMPA load from shadow when TBCTR == 0
// cmp7A = (double)EPwm7Regs.CMPA.half.CMPA;
//}
//t7cnt = fabs(t7cntAux);
//// ePWM8 (up-down-count mode)
//// -------------------------
//t8cntAuxPrev = t8cntAux;
//t8cntAux += TxCntPlus;
//if(t8cntAux > T8Pr) {
// t8cntAux -= T8Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp8A = (double)EPwm8Regs.CMPA.half.CMPA;
//}
//if((t8cntAuxPrev < 0) && (t8cntAux >= 0)) {
// // active CMPA load from shadow when TBCTR == 0
// cmp8A = (double)EPwm8Regs.CMPA.half.CMPA;
//}
//t8cnt = fabs(t8cntAux);
//// ePWM9 (up-down-count mode)
//// -------------------------
//t9cntAuxPrev = t9cntAux;
//t9cntAux += TxCntPlus;
//if(t9cntAux > T9Pr) {
// t9cntAux -= T9Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp9A = (double)EPwm9Regs.CMPA.half.CMPA;
//}
//if((t9cntAuxPrev < 0) && (t9cntAux >= 0)) {
// // active CMPA load from shadow when TBCTR == 0
// cmp9A = (double)EPwm9Regs.CMPA.half.CMPA;
//}
//t9cnt = fabs(t9cntAux);
//// ePWM10 (up-down-count mode)
//// -------------------------
//t10cntAuxPrev = t10cntAux;
//t10cntAux += TxCntPlus;
//if(t10cntAux > T10Pr) {
// t10cntAux -= T10Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp10A = (double)EPwm10Regs.CMPA.half.CMPA;
//}
//if((t10cntAuxPrev < 0) && (t10cntAux >= 0)) {
// // active CMPA load from shadow when TBCTR == 0
// cmp10A = (double)EPwm10Regs.CMPA.half.CMPA;
//}
//t10cnt = fabs(t10cntAux);
//// ePWM11 (up-down-count mode)
//// -------------------------
//t11cntAuxPrev = t11cntAux;
//t11cntAux += TxCntPlus;
//if(t11cntAux > T11Pr) {
// t11cntAux -= T11Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp11A = (double)EPwm11Regs.CMPA.half.CMPA;
//}
//if((t11cntAuxPrev < 0) && (t11cntAux >= 0)) {
// // active CMPA load from shadow when TBCTR == 0
// cmp11A = (double)EPwm11Regs.CMPA.half.CMPA;
//}
//t11cnt = fabs(t11cntAux);
//// ePWM12 (up-down-count mode)
//// -------------------------
//t12cntAuxPrev = t12cntAux;
//t12cntAux += TxCntPlus;
//if(t12cntAux > T12Pr) {
// t12cntAux -= T12Pr*2.;
// // active CMPA load from shadow when TBCTR == TBPRD
// cmp12A = (double)EPwm12Regs.CMPA.half.CMPA;
//}
//if((t12cntAuxPrev < 0) && (t12cntAux >= 0)) {
// // active CMPA load from shadow when TBCTR == 0
// cmp12A = (double)EPwm12Regs.CMPA.half.CMPA;
//}
//t12cnt = fabs(t12cntAux);
//// Ìîäåëèðóåì ðàáîòó ñ÷¸ò÷èêà â eQEP
//qposcnt += wm_ml/PI2*NOP*4.*dt;
//if ( qposcnt >= (Qposmax + 1.) )
// qposcnt -= (Qposmax + 1.);
//else if ( qposcnt < 0 )
// qposcnt += (Qposmax + 1.);
//EQep2Regs.QPOSCNT = (short)qposcnt;
}
void update_norm_ADC_array()
{
//// Udc1
//if ( udc1_ml > UDC_SENS_MAX )
// udc1_ml = UDC_SENS_MAX;
//else if ( udc1_ml < -UDC_SENS_MAX )
// udc1_ml = -UDC_SENS_MAX;
//iq_norm_ADC[0] = _IQ(udc1_ml/NORMA_ACP);
//// Udc2
//if ( udc2_ml > UDC_SENS_MAX )
// udc2_ml = UDC_SENS_MAX;
//else if ( udc2_ml < -UDC_SENS_MAX )
// udc2_ml = -UDC_SENS_MAX;
//iq_norm_ADC[1] = _IQ(udc2_ml/NORMA_ACP);
//// Udc3
//if ( udc3_ml > UDC_SENS_MAX )
// udc3_ml = UDC_SENS_MAX;
//else if ( udc3_ml < -UDC_SENS_MAX )
// udc3_ml = -UDC_SENS_MAX;
//iq_norm_ADC[7] = _IQ(udc3_ml/NORMA_ACP);
//// Udc4
//if ( udc4_ml > UDC_SENS_MAX )
// udc4_ml = UDC_SENS_MAX;
//else if ( udc4_ml < -UDC_SENS_MAX )
// udc4_ml = -UDC_SENS_MAX;
//iq_norm_ADC[8] = _IQ(udc4_ml/NORMA_ACP);
//// Idc1
//if ( idc1_ml > IDC_SENS_MAX )
// idc1_ml = IDC_SENS_MAX;
//else if ( idc1_ml < -IDC_SENS_MAX )
// idc1_ml = -IDC_SENS_MAX;
//iq_norm_ADC[2] = _IQ(idc1_ml/NORMA_ACP);
//// Idc2
//if ( idc2_ml > IDC_SENS_MAX )
// idc2_ml = IDC_SENS_MAX;
//else if ( idc2_ml < -IDC_SENS_MAX )
// idc2_ml = -IDC_SENS_MAX;
//iq_norm_ADC[3] = _IQ(idc2_ml/NORMA_ACP);
//// Idc3
//if ( idc3_ml > IDC_SENS_MAX )
// idc3_ml = IDC_SENS_MAX;
//else if ( idc3_ml < -IDC_SENS_MAX )
// idc3_ml = -IDC_SENS_MAX;
//iq_norm_ADC[9] = _IQ(idc3_ml/NORMA_ACP);
//// Idc4
//if ( idc4_ml > IDC_SENS_MAX )
// idc4_ml = IDC_SENS_MAX;
//else if ( idc4_ml < -IDC_SENS_MAX )
// idc4_ml = -IDC_SENS_MAX;
//iq_norm_ADC[10] = _IQ(idc4_ml/NORMA_ACP);
//// Ia1
//if ( ia1_ml > IAC_SENS_MAX )
// ia1_ml = IAC_SENS_MAX;
//else if ( ia1_ml < -IAC_SENS_MAX )
// ia1_ml = -IAC_SENS_MAX;
//iq_norm_ADC[4] = _IQ(ia1_ml/NORMA_ACP);
//// Ib1
//if ( ib1_ml > IAC_SENS_MAX )
// ib1_ml = IAC_SENS_MAX;
//else if ( ib1_ml < -IAC_SENS_MAX )
// ib1_ml = -IAC_SENS_MAX;
//iq_norm_ADC[5] = _IQ(ib1_ml/NORMA_ACP);
//// Ic1
//if ( ic1_ml > IAC_SENS_MAX )
// ic1_ml = IAC_SENS_MAX;
//else if ( ic1_ml < -IAC_SENS_MAX )
// ic1_ml = -IAC_SENS_MAX;
//iq_norm_ADC[6] = _IQ(ic1_ml/NORMA_ACP);
//// Ia2
//if ( ia2_ml > IAC_SENS_MAX )
// ia2_ml = IAC_SENS_MAX;
//else if ( ia2_ml < -IAC_SENS_MAX )
// ia2_ml = -IAC_SENS_MAX;
//iq_norm_ADC[11] = _IQ(ia2_ml/NORMA_ACP);
//// Ib2
//if ( ib2_ml > IAC_SENS_MAX )
// ib2_ml = IAC_SENS_MAX;
//else if ( ib2_ml < -IAC_SENS_MAX )
// ib2_ml = -IAC_SENS_MAX;
//iq_norm_ADC[12] = _IQ(ib2_ml/NORMA_ACP);
//// Ic2
//if ( ic2_ml > IAC_SENS_MAX )
// ic2_ml = IAC_SENS_MAX;
//else if ( ic2_ml < -IAC_SENS_MAX )
// ic2_ml = -IAC_SENS_MAX;
//iq_norm_ADC[13] = _IQ(ic2_ml/NORMA_ACP);
//vect_control.off_curr_pi = mst.off_curr_pi;
//vect_control.only_one_km = mst.only_one_km;
//vect_control.enable_compens_iq1_iq2 = mst.enable_compens_iq1_iq2;
}
void simulateAdcAndCallIsr() {
///* Ìîäåëèðóåì ïðåîáðàçîâàíèÿ èçìåðÿåìûõ âåëè÷èí äàò÷èêàìè,
//îïåðàöèîííèêàìè è ÀÖÏ (ñ ïîìîùüþ nAdc ó÷èòûâàåì ñäâèã ïî âðåìåíè
//ìåæäó ÀÖÏ ðàçíûõ ñèãíàëîâ) */
//if ( tAdc < Tadc ) {
// tAdc++;
//}
//else {
// tAdc = 1;
// timers_adc++;
// if (timers_adc>=FREQ_ADC_TIMER)
// timers_adc = 0;
// update_norm_ADC_array();
// // ïîñëå çàâåðøåíèÿ ñåðèè ÀÖÏ âûçûâàåì isr()
// acp_Handler();
// //isr();
// // nAdc++;
// // switch ( nAdc ) {
// // case 5:
//
// // break;
// // case 6:
// // break;
// // case 7:
// // // êàê áû ñ ÏÓ
// // for ( j = FIRST_WRITE_PAR_NUM; j < paramNo; j++ ) {
// // if ( paramNew[j] != param[j] ) {
// // input_param((short)j, paramNew[j]);
// // break;
// // }
// // }
// // // ïîñëå çàâåðøåíèÿ ñåðèè ÀÖÏ âûçûâàåì isr()
// // isr();
// // break;
// // } //switch ( nAdc )
//} //tAdc
// if (calcAlgUpr) {
// // ðåàëèçóåò àëãîðèòì óïðàâëåíèÿ
// upr();
// calcAlgUpr = 0;
// timers_pwm++;
// if (timers_pwm>=FREQ_PWM_TIMER)
// timers_pwm = 0;
// }
}
void simulateActionActionQualifierSubmodule(void) {
//// Ìîäåëèðóåì Action-Qualifier Submodule
//// ... ePWM1
//if ( cmp1A > t1cnt ) {
// ci1A = 0;
// ci1B = 1;
//}
//else if ( cmp1A < t1cnt ) {
// ci1A = 1;
// ci1B = 0;
//}
//// ... ePWM2
//if ( cmp2A > t2cnt ) {
// ci2A = 0;
// ci2B = 1;
//}
//else if ( cmp2A < t2cnt ) {
// ci2A = 1;
// ci2B = 0;
//}
//// ... ePWM3
//if ( cmp3A > t3cnt ) {
// ci3A = 0;
// ci3B = 1;
//}
//else if ( cmp3A < t3cnt ) {
// ci3A = 1;
// ci3B = 0;
//}
//// ... ePWM4
//if ( cmp4A > t4cnt ) {
// ci4A = 0;
// ci4B = 1;
//}
//else if ( cmp4A < t4cnt ) {
// ci4A = 1;
// ci4B = 0;
//}
//// ... ePWM5
//if ( cmp5A > t5cnt ) {
// ci5A = 0;
// ci5B = 1;
//}
//else if ( cmp5A < t5cnt ) {
// ci5A = 1;
// ci5B = 0;
//}
//// ... ePWM6
//if ( cmp6A > t6cnt ) {
// ci6A = 0;
// ci6B = 1;
//}
//else if ( cmp6A < t6cnt ) {
// ci6A = 1;
// ci6B = 0;
//}
//// ... ePWM7
//if ( cmp7A > t7cnt ) {
// ci7A = 0;
// ci7B = 1;
//}
//else if ( cmp7A < t7cnt ) {
// ci7A = 1;
// ci7B = 0;
//}
//// ... ePWM8
//if ( cmp8A > t8cnt ) {
// ci8A = 0;
// ci8B = 1;
//}
//else if ( cmp8A < t8cnt ) {
// ci8A = 1;
// ci8B = 0;
//}
//// ... ePWM9
//if ( cmp9A > t9cnt ) {
// ci9A = 0;
// ci9B = 1;
//}
//else if ( cmp9A < t9cnt ) {
// ci9A = 1;
// ci9B = 0;
//}
//// ... ePWM10
//if ( cmp10A > t10cnt ) {
// ci10A = 0;
// ci10B = 1;
//}
//else if ( cmp10A < t10cnt ) {
// ci10A = 1;
// ci10B = 0;
//}
//// ... ePWM11
//if ( cmp11A > t11cnt ) {
// ci11A = 0;
// ci11B = 1;
//}
//else if ( cmp11A < t11cnt ) {
// ci11A = 1;
// ci11B = 0;
//}
//// ... ePWM12
//if ( cmp12A > t12cnt ) {
// ci12A = 0;
// ci12B = 1;
//}
//else if ( cmp12A < t12cnt ) {
// ci12A = 1;
// ci12B = 0;
//}
}
void simulateDeadBendSubmodule(void) {
//// Ìîäåëèðóåì Dead-Band Submodule
//// ... ePWM1
//if ( stateDt1 == 1 ) {
// ci1A_DT = ci1A;
// ci1B_DT = 0;
// if ( ci1A == 1 )
// cntDt1 = CntDt;
// if ( cntDt1 > 0 )
// cntDt1--;
// else
// stateDt1 = 2;
//}
//else if ( stateDt1 == 2 ) {
// ci1A_DT = 0;
// ci1B_DT = ci1B;
// if ( ci1B == 1 )
// cntDt1 = CntDt;
// if ( cntDt1 > 0 )
// cntDt1--;
// else
// stateDt1 = 1;
//}
//// ... ePWM2
//if ( stateDt2 == 1 ) {
// ci2A_DT = ci2A;
// ci2B_DT = 0;
// if ( ci2A == 1 )
// cntDt2 = CntDt;
// if ( cntDt2 > 0 )
// cntDt2--;
// else
// stateDt2 = 2;
//}
//else if ( stateDt2 == 2 ) {
// ci2A_DT = 0;
// ci2B_DT = ci2B;
// if ( ci2B == 1 )
// cntDt2 = CntDt;
// if ( cntDt2 > 0 )
// cntDt2--;
// else
// stateDt2 = 1;
//}
//// ... ePWM3
//if ( stateDt3 == 1 ) {
// ci3A_DT = ci3A;
// ci3B_DT = 0;
// if ( ci3A == 1 )
// cntDt3 = CntDt;
// if ( cntDt3 > 0 )
// cntDt3--;
// else
// stateDt3 = 2;
//}
//else if ( stateDt3 == 2 ) {
// ci3A_DT = 0;
// ci3B_DT = ci3B;
// if ( ci3B == 1 )
// cntDt3 = CntDt;
// if ( cntDt3 > 0 )
// cntDt3--;
// else
// stateDt3 = 1;
//}
//// ... ePWM4
//if ( stateDt4 == 1 ) {
// ci4A_DT = ci4A;
// ci4B_DT = 0;
// if ( ci4A == 1 )
// cntDt4 = CntDt;
// if ( cntDt4 > 0 )
// cntDt4--;
// else
// stateDt4 = 2;
//}
//else if ( stateDt4 == 2 ) {
// ci4A_DT = 0;
// ci4B_DT = ci4B;
// if ( ci4B == 1 )
// cntDt4 = CntDt;
// if ( cntDt4 > 0 )
// cntDt4--;
// else
// stateDt4 = 1;
//}
//// ... ePWM5
//if ( stateDt5 == 1 ) {
// ci5A_DT = ci5A;
// ci5B_DT = 0;
// if ( ci5A == 1 )
// cntDt5 = CntDt;
// if ( cntDt5 > 0 )
// cntDt5--;
// else
// stateDt5 = 2;
//}
//else if ( stateDt5 == 2 ) {
// ci5A_DT = 0;
// ci5B_DT = ci5B;
// if ( ci5B == 1 )
// cntDt5 = CntDt;
// if ( cntDt5 > 0 )
// cntDt5--;
// else
// stateDt5 = 1;
//}
//// ... ePWM6
//if ( stateDt6 == 1 ) {
// ci6A_DT = ci6A;
// ci6B_DT = 0;
// if ( ci6A == 1 )
// cntDt6 = CntDt;
// if ( cntDt6 > 0 )
// cntDt6--;
// else
// stateDt6 = 2;
//}
//else if ( stateDt6 == 2 ) {
// ci6A_DT = 0;
// ci6B_DT = ci6B;
// if ( ci6B == 1 )
// cntDt6 = CntDt;
// if ( cntDt6 > 0 )
// cntDt6--;
// else
// stateDt6 = 1;
//}
//// ... ePWM7
//if ( stateDt7 == 1 ) {
// ci7A_DT = ci7A;
// ci7B_DT = 0;
// if ( ci7A == 1 )
// cntDt7 = CntDt;
// if ( cntDt7 > 0 )
// cntDt7--;
// else
// stateDt7 = 2;
//}
//else if ( stateDt7 == 2 ) {
// ci7A_DT = 0;
// ci7B_DT = ci7B;
// if ( ci7B == 1 )
// cntDt7 = CntDt;
// if ( cntDt7 > 0 )
// cntDt7--;
// else
// stateDt7 = 1;
//}
//// ... ePWM8
//if ( stateDt8 == 1 ) {
// ci8A_DT = ci8A;
// ci8B_DT = 0;
// if ( ci8A == 1 )
// cntDt8 = CntDt;
// if ( cntDt8 > 0 )
// cntDt8--;
// else
// stateDt8 = 2;
//}
//else if ( stateDt8 == 2 ) {
// ci8A_DT = 0;
// ci8B_DT = ci8B;
// if ( ci8B == 1 )
// cntDt8 = CntDt;
// if ( cntDt8 > 0 )
// cntDt8--;
// else
// stateDt8 = 1;
//}
//// ... ePWM9
//if ( stateDt9 == 1 ) {
// ci9A_DT = ci9A;
// ci9B_DT = 0;
// if ( ci9A == 1 )
// cntDt9 = CntDt;
// if ( cntDt9 > 0 )
// cntDt9--;
// else
// stateDt9 = 2;
//}
//else if ( stateDt9 == 2 ) {
// ci9A_DT = 0;
// ci9B_DT = ci9B;
// if ( ci9B == 1 )
// cntDt9 = CntDt;
// if ( cntDt9 > 0 )
// cntDt9--;
// else
// stateDt9 = 1;
//}
//// ... ePWM10
//if ( stateDt10 == 1 ) {
// ci10A_DT = ci10A;
// ci10B_DT = 0;
// if ( ci10A == 1 )
// cntDt10 = CntDt;
// if ( cntDt10 > 0 )
// cntDt10--;
// else
// stateDt10 = 2;
//}
//else if ( stateDt10 == 2 ) {
// ci10A_DT = 0;
// ci10B_DT = ci10B;
// if ( ci10B == 1 )
// cntDt10 = CntDt;
// if ( cntDt10 > 0 )
// cntDt10--;
// else
// stateDt10 = 1;
//}
//// ... ePWM11
//if ( stateDt11 == 1 ) {
// ci11A_DT = ci11A;
// ci11B_DT = 0;
// if ( ci11A == 1 )
// cntDt11 = CntDt;
// if ( cntDt11 > 0 )
// cntDt11--;
// else
// stateDt11 = 2;
//}
//else if ( stateDt11 == 2 ) {
// ci11A_DT = 0;
// ci11B_DT = ci11B;
// if ( ci11B == 1 )
// cntDt11 = CntDt;
// if ( cntDt11 > 0 )
// cntDt11--;
// else
// stateDt11 = 1;
//}
//// ... ePWM12
//if ( stateDt12 == 1 ) {
// ci12A_DT = ci12A;
// ci12B_DT = 0;
// if ( ci12A == 1 )
// cntDt12 = CntDt;
// if ( cntDt12 > 0 )
// cntDt12--;
// else
// stateDt12 = 2;
//}
//else if ( stateDt12 == 2 ) {
// ci12A_DT = 0;
// ci12B_DT = ci12B;
// if ( ci12B == 1 )
// cntDt12 = CntDt;
// if ( cntDt12 > 0 )
// cntDt12--;
// else
// stateDt12 = 1;
//}
}
void simulateTripZoneSubmodule(void) {
//// Ìîäåëèðóåì Trip-Zone Submodule
// // ... clear flag for one-shot trip latch
// if ( EPwm1Regs.TZCLR.all == 0x0004 ) {
// EPwm1Regs.TZCLR.all = 0x0000;
// EPwm1Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm2Regs.TZCLR.all == 0x0004 ) {
// EPwm2Regs.TZCLR.all = 0x0000;
// EPwm2Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm3Regs.TZCLR.all == 0x0004 ) {
// EPwm3Regs.TZCLR.all = 0x0000;
// EPwm3Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm4Regs.TZCLR.all == 0x0004 ) {
// EPwm4Regs.TZCLR.all = 0x0000;
// EPwm4Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm5Regs.TZCLR.all == 0x0004 ) {
// EPwm5Regs.TZCLR.all = 0x0000;
// EPwm5Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm6Regs.TZCLR.all == 0x0004 ) {
// EPwm6Regs.TZCLR.all = 0x0000;
// EPwm6Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm7Regs.TZCLR.all == 0x0004 ) {
// EPwm7Regs.TZCLR.all = 0x0000;
// EPwm7Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm8Regs.TZCLR.all == 0x0004 ) {
// EPwm8Regs.TZCLR.all = 0x0000;
// EPwm8Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm9Regs.TZCLR.all == 0x0004 ) {
// EPwm9Regs.TZCLR.all = 0x0000;
// EPwm9Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm10Regs.TZCLR.all == 0x0004 ) {
// EPwm10Regs.TZCLR.all = 0x0000;
// EPwm10Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm11Regs.TZCLR.all == 0x0004 ) {
// EPwm11Regs.TZCLR.all = 0x0000;
// EPwm11Regs.TZFRC.all = 0x0000;
// }
// if ( EPwm12Regs.TZCLR.all == 0x0004 ) {
// EPwm12Regs.TZCLR.all = 0x0000;
// EPwm12Regs.TZFRC.all = 0x0000;
// }
// // ... forces a one-shot trip event
// if ( EPwm1Regs.TZFRC.all == 0x0004 )
// ci1A_DT = ci1B_DT = 0;
// if ( EPwm2Regs.TZFRC.all == 0x0004 )
// ci2A_DT = ci2B_DT = 0;
// if ( EPwm3Regs.TZFRC.all == 0x0004 )
// ci3A_DT = ci3B_DT = 0;
// if ( EPwm4Regs.TZFRC.all == 0x0004 )
// ci4A_DT = ci4B_DT = 0;
// if ( EPwm5Regs.TZFRC.all == 0x0004 )
// ci5A_DT = ci5B_DT = 0;
// if ( EPwm6Regs.TZFRC.all == 0x0004 )
// ci6A_DT = ci6B_DT = 0;
// if ( EPwm7Regs.TZFRC.all == 0x0004 )
// ci7A_DT = ci7B_DT = 0;
// if ( EPwm8Regs.TZFRC.all == 0x0004 )
// ci8A_DT = ci8B_DT = 0;
// if ( EPwm9Regs.TZFRC.all == 0x0004 )
// ci9A_DT = ci9B_DT = 0;
// if ( EPwm10Regs.TZFRC.all == 0x0004 )
// ci10A_DT = ci10B_DT = 0;
// if ( EPwm11Regs.TZFRC.all == 0x0004 )
// ci11A_DT = ci11B_DT = 0;
// if ( EPwm12Regs.TZFRC.all == 0x0004 )
// ci12A_DT = ci12B_DT = 0;
}
void writeOutputParameters(real_T *xD) {
// // ÂÛÕÎÄÛ (begin)
// nn = 0;
// // Óïðàâëåíèå
// // ... INU1
// xD[nn++] = ci1A_DT;
// xD[nn++] = ci2A_DT;
// xD[nn++] = ci1B_DT;
// xD[nn++] = ci2B_DT;
//
// xD[nn++] = ci3A_DT;
// xD[nn++] = ci4A_DT;
// xD[nn++] = ci3B_DT;
// xD[nn++] = ci4B_DT;
//
// xD[nn++] = ci5A_DT;
// xD[nn++] = ci6A_DT;
// xD[nn++] = ci5B_DT;
// xD[nn++] = ci6B_DT;
// // ... INU2
// xD[nn++] = ci7A_DT;
// xD[nn++] = ci8A_DT;
// xD[nn++] = ci7B_DT;
// xD[nn++] = ci8B_DT;
//
// xD[nn++] = ci9A_DT;
// xD[nn++] = ci10A_DT;
// xD[nn++] = ci9B_DT;
// xD[nn++] = ci10B_DT;
//
// xD[nn++] = ci11A_DT;
// xD[nn++] = ci12A_DT;
// xD[nn++] = ci11B_DT;
// xD[nn++] = ci12B_DT;
//
//
//// âûõîäû àöï äëÿ êîíòðîëÿ
// xD[nn++] = udc1_ml;
// xD[nn++] = udc2_ml;
// xD[nn++] = udc3_ml;
// xD[nn++] = udc4_ml;
//
// xD[nn++] = idc1_ml;
// xD[nn++] = idc2_ml;
// xD[nn++] = idc3_ml;
// xD[nn++] = idc4_ml;
//
// xD[nn++] = _IQtoF(analog.iqIa1_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(analog.iqIb1_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(analog.iqIc1_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(analog.iqIa2_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(analog.iqIb2_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(analog.iqIc2_1) * NORMA_ACP;
//
//// timers out
//
// xD[nn++] = timers_adc;
// xD[nn++] = timers_pwm;
// xD[nn++] = Tadc;
// xD[nn++] = dt;
//
// // Òîëüêî äëÿ ïðîñìîòðà
// xD[nn++] = _IQtoF(rp.pmZ);
// xD[nn++] = _IQtoF(rs.wmZ);
//
// xD[nn++] = mst.start;
// xD[nn++] = inuWork;
// xD[nn++] = mst.pzMode;
//
// xD[nn++] = psi;
// xD[nn++] = rf.psiZ;
//
// xD[nn++] = wm;
// xD[nn++] = _IQtoF(vect_control.koeff_correct_Id);//rs.wmZ;
// xD[nn++] = _IQtoF(vect_control.iqFrot) * NORMA_FROTOR * 60.0 / N_BAZ;//csp.wmLimZi;
//
// xD[nn++] = pm*S_BAZ;///P_NOM;
// xD[nn++] = rp.pmZ*S_BAZ;///P_NOM;
// xD[nn++] = csp.pmLimZi*S_BAZ;///P_NOM;
//
// xD[nn++] = _IQtoF(analog.iqId1)* NORMA_ACP;//_IQtoF(vect_control.iqPzad);
// xD[nn++] = _IQtoF(analog.iqIq1)* NORMA_ACP;// * NORMA_ACP;
// xD[nn++] = _IQtoF(analog.iqId2)* NORMA_ACP;//_IQtoF(vect_control.iqUqCompensation1);//
// xD[nn++] = _IQtoF(analog.iqIq2)* NORMA_ACP;
// xD[nn++] = _IQtoF(vect_control.iqId_zad)* NORMA_ACP;
// xD[nn++] = _IQtoF(vect_control.iqIq_zad)* NORMA_ACP;//iqZ;
//
// xD[nn++] = me*M_BAZ/M_NOM;
//
// xD[nn++] = _IQtoF(vect_control.iqPzad) * NORMA_ACP * NORMA_ACP / 1000.0;;
// xD[nn++] = _IQtoF(vect_control.iqPizm) * NORMA_ACP * NORMA_ACP / 1000.0;;
// // xD[nn++] = sqrt(idZ*idZ + iqZ*iqZ);
// // xD[nn++] = IzLim;
//
// // xD[nn++] = EPwm2Regs.CMPA.half.CMPA;//xpwm_time.Ta0_0;//cc.yd1;
// // xD[nn++] = xpwm_time.Ta0_0;
// // xD[nn++] = xpwm_time.Ta0_1;
// // xD[nn++] = _IQtoF(cos_fi.cos_fi_nom);//cc.yd1;
// // xD[nn++] = _IQtoF(cos_fi.cos_fi_nom_squared);//cc.yq1;
// // xD[nn++] = _IQtoF(tetta_calc.k_t);
// xD[nn++] = _IQtoF(vect_control.iqUzad1);//cc.yd1;
// xD[nn++] = _IQtoF(vect_control.iqUzad2);//cc.yd1;
//// xD[nn++] = _IQtoF(vect_control.iqUdKm1Out);//cc.yq1;
//// xD[nn++] = _IQtoF(vect_control.iqUqKm1Out);
//
// xD[nn++] = _IQtoF(vect_control.iqUdKm1);//sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
// xD[nn++] = _IQtoF(vect_control.iqUqKm1);//sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
// xD[nn++] = _IQtoF(vect_control.iqUdKm2);//Y_LIM;
// xD[nn++] = _IQtoF(vect_control.iqUqKm2);//Y_LIM;
//
//
// xD[nn++] = _IQtoF(vect_control.iqUdKm1Out);//sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
// xD[nn++] = _IQtoF(vect_control.iqUqKm1Out);//sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
// xD[nn++] = _IQtoF(vect_control.iqUdKm2Out);//Y_LIM;
// xD[nn++] = _IQtoF(vect_control.iqUqKm2Out);//Y_LIM;
//
// xD[nn++] = _IQtoF(vect_control.k_modul_max);//Y_LIM;
//
// xD[nn++] = _IQtoF(vect_control.k_modul_max_def);
// xD[nn++] = _IQtoF(vect_control.maxUq1);
// xD[nn++] = _IQtoF(vect_control.maxUq2);
// xD[nn++] = _IQtoF(vect_control.Uq1Out);
// xD[nn++] = _IQtoF(vect_control.Uq2Out);
//// xD[nn++] = _IQtoF(vect_control.K_MODUL_MAX);
//// xD[nn++] = _IQtoF(vect_control.K_MODUL_MAX);
//// xD[nn++] = _IQtoF(vect_control.K_MODUL_MAX);
//
//
// // xD[nn++] = sqrt(cc.yd1*cc.yd1 + cc.yq1*cc.yq1);
// // xD[nn++] = sqrt(cc.yd2*cc.yd2 + cc.yq2*cc.yq2);
// // xD[nn++] = Y_LIM;
// // ÂÛÕÎÄÛ (end)
//
//
///////////////// new
// xD[nn++] = _IQtoF(f.iq_mzz_zad) * NORMA_ACP;//
// xD[nn++] = _IQtoF(pidPvect.OutMax) * NORMA_ACP;
// xD[nn++] = _IQtoF(pidPvect.OutMin) * NORMA_ACP;
// xD[nn++] = _IQtoF(pidPvect.Out) * NORMA_ACP;
// xD[nn++] = _IQtoF(vect_control.mzz_zad_int) * NORMA_ACP ;
// xD[nn++] = _IQtoF(filter.iqIm_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(filter.iqIm_2) * NORMA_ACP;
//
// xD[nn++] = _IQtoF(vect_control.Pzad_rmp) * NORMA_ACP * NORMA_ACP / 1000.0;
// xD[nn++] = _IQtoF(f.iq_p_rampa) * NORMA_ACP * NORMA_ACP / 1000.0;
// xD[nn++] = _IQtoF(analog.iqPvsi1) * NORMA_ACP * NORMA_ACP / 1000.0;
// xD[nn++] = _IQtoF(analog.iqPvsi1) * NORMA_ACP * NORMA_ACP / 1000.0;
//
// xD[nn++] = _IQtoF(analog.iqW1) * NORMA_ACP * NORMA_ACP / 1000.0;
// xD[nn++] = _IQtoF(analog.iqW2) * NORMA_ACP * NORMA_ACP / 1000.0;
// xD[nn++] = _IQtoF(analog.iqW) * NORMA_ACP * NORMA_ACP / 1000.0;
// xD[nn++] = _IQtoF(filter.iqW1) * NORMA_ACP * NORMA_ACP / 1000.0;
// xD[nn++] = _IQtoF(filter.iqW2) * NORMA_ACP * NORMA_ACP / 1000.0;
// xD[nn++] = _IQtoF(filter.iqW) * NORMA_ACP * NORMA_ACP / 1000.0;
//
//
//
// xD[nn++] = _IQtoF(vect_control.iqFrot) * NORMA_FROTOR * 60.0;
// xD[nn++] = vect_control.flag_reverse;//_IQtoF(0);
//
// xD[nn++] = _IQtoF(vect_control.koeff_correct_Id);
// xD[nn++] = _IQtoF(cos_fi.cos_fi_nom);
//
// xD[nn++] = _IQtoF(filter.Fsl) * NORMA_FROTOR;
//
// xD[nn++] = _IQtoF(filter.iqIa1_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(filter.iqIb1_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(filter.iqIc1_1) * NORMA_ACP;
//
// xD[nn++] = _IQtoF(filter.iqIa2_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(filter.iqIb2_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(filter.iqIc2_1) * NORMA_ACP;
//
// xD[nn++] = _IQtoF(tetta_calc.Imds);
// xD[nn++] = _IQtoF(tetta_calc.tetta);
//
// xD[nn++] = _IQtoF(vect_control.Is) * NORMA_ACP;
// xD[nn++] = _IQtoF(vect_control.Ids) * NORMA_ACP;
// xD[nn++] = _IQtoF(vect_control.Id_ref_fw) * NORMA_ACP;
// xD[nn++] = _IQtoF(vect_control.Id_ref_1) * NORMA_ACP;
// xD[nn++] = _IQtoF(vect_control.Is_max) * NORMA_ACP;
//
// xD[nn++] = vect_control.flag_fw;
//
// xD[nn++] = _IQtoF(vect_control.ws_Iq1) * NORMA_ACP;
// xD[nn++] = _IQtoF(vect_control.ws_Id_filter1) * NORMA_ACP;
// xD[nn++] = _IQtoF(vect_control.ws_Id_filter2) * NORMA_ACP;
//
// xD[nn++] = _IQtoF(vect_control.ws_ws_t1) * NORMA_FROTOR;
//
// xD[nn++] = _IQtoF(analog.Fsl) * NORMA_FROTOR;
// xD[nn++] = _IQtoF(filter.Fsl) * NORMA_FROTOR;
//
// xD[nn++] = vect_control.tmp1;
// xD[nn++] = vect_control.tmp2;
// xD[nn++] = vect_control.tmp3;
// //xD[nn++] = _IQtoF(0) * NORMA_ACP;
// //xD[nn++] = _IQtoF(0) * NORMA_ACP;
// xD[nn++] = _IQtoF(0) * NORMA_ACP;
//
//
//
// xD[nn++] = _IQtoF(svgen_dq_1.Ta)*1000.0;
// xD[nn++] = _IQtoF(svgen_dq_1.Tb)*1000.0;
// xD[nn++] = _IQtoF(svgen_dq_1.Tc)*1000.0;
//
// xD[nn++] = _IQtoF(svgen_dq_2.Ta)*1000.0;
// xD[nn++] = _IQtoF(svgen_dq_2.Tb)*1000.0;
// xD[nn++] = _IQtoF(svgen_dq_2.Tc)*1000.0;
//
}
void controller(SimStruct *S, const real_T *u, real_T *xD, real_T *rW, int_T *iW) {
readInputParameters(u);
processSFunctionIfChanged(S, iW);
initialisationOnStart(iW);
simulatePWMcounterAndReadComarators();
simulateAdcAndCallIsr();
simulateActionActionQualifierSubmodule();
// convertSVGenTimesToTkLines();
simulateDeadBendSubmodule();
// xilinxPwm3LevelSimulation();
simulateTripZoneSubmodule();
writeOutputParameters(xD);
} //void controller(SimStruct ...
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