362 lines
20 KiB
C
362 lines
20 KiB
C
/*
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* Academic License - for use in teaching, academic research, and meeting
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* course requirements at degree granting institutions only. Not for
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* government, commercial, or other organizational use.
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*
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* File: Controller.h
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*
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* Code generated for Simulink model 'Controller'.
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*
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* Model version : 2.23
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* Simulink Coder version : 25.1 (R2025a) 21-Nov-2024
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* C/C++ source code generated on : Sat Jun 14 13:33:39 2025
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex-M
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* Code generation objectives:
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* 1. Execution efficiency
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* 2. RAM efficiency
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* Validation result: Not run
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*/
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#ifndef Controller_h_
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#define Controller_h_
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#ifndef Controller_COMMON_INCLUDES_
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#define Controller_COMMON_INCLUDES_
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#include "rtwtypes.h"
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#include "math.h"
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#endif /* Controller_COMMON_INCLUDES_ */
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#include <stddef.h>
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#include "MW_target_hardware_resources.h"
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/* Macros for accessing real-time model data structure */
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#ifndef rtmGetErrorStatus
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#define rtmGetErrorStatus(rtm) ((rtm)->errorStatus)
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#endif
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#ifndef rtmSetErrorStatus
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#define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val))
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#endif
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#define Controller_M (rtM)
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/* Forward declaration for rtModel */
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typedef struct tag_RTM RT_MODEL;
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/* Block signals and states (default storage) for system '<Root>' */
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typedef struct {
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real32_T UD_DSTATE; /* '<S3>/UD' */
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real32_T Integrator_DSTATE; /* '<S115>/Integrator' */
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real32_T Integrator_DSTATE_n; /* '<S167>/Integrator' */
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real32_T Integrator_DSTATE_h; /* '<S63>/Integrator' */
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} DW;
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/* Constant parameters (default storage) */
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typedef struct {
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/* Pooled Parameter (Expression: )
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* Referenced by:
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* '<S20>/sine_table_values'
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* '<S191>/sine_table_values'
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*/
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real32_T pooled1[1002];
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} ConstP;
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/* External inputs (root inport signals with default storage) */
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typedef struct {
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real32_T Speed_ref; /* '<Root>/Speed_ref' */
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real32_T Ia; /* '<Root>/Ia' */
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real32_T Ib; /* '<Root>/Ib' */
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real32_T Rotoranglethetamrad; /* '<Root>/theta' */
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real32_T Id_ref; /* '<Root>/Id_ref' */
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} ExtU;
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/* External outputs (root outports fed by signals with default storage) */
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typedef struct {
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real32_T CCR1; /* '<Root>/CCR1' */
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real32_T CCR2; /* '<Root>/CCR2' */
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real32_T CCR3; /* '<Root>/CCR3' */
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} ExtY;
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/* Real-time Model Data Structure */
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struct tag_RTM {
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const char_T * volatile errorStatus;
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};
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/* Block signals and states (default storage) */
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extern DW rtDW;
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/* External inputs (root inport signals with default storage) */
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extern ExtU rtU;
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/* External outputs (root outports fed by signals with default storage) */
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extern ExtY rtY;
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/* Constant parameters (default storage) */
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extern const ConstP rtConstP;
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/* Model entry point functions */
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extern void Controller_initialize(void);
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extern void Controller_step(void);
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/* Real-time Model object */
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extern RT_MODEL *const rtM;
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extern volatile boolean_T stopRequested;
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extern volatile boolean_T runModel;
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/*-
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* These blocks were eliminated from the model due to optimizations:
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*
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* Block '<S14>/Data Type Duplicate' : Unused code path elimination
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* Block '<S3>/Data Type Duplicate' : Unused code path elimination
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* Block '<S4>/D' : Unused code path elimination
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* Block '<S20>/Data Type Duplicate' : Unused code path elimination
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* Block '<S20>/Data Type Propagation' : Unused code path elimination
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* Block '<S25>/Data Type Duplicate' : Unused code path elimination
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* Block '<S26>/Data Type Duplicate' : Unused code path elimination
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* Block '<S19>/Data Type Duplicate' : Unused code path elimination
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* Block '<S19>/Data Type Duplicate1' : Unused code path elimination
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* Block '<S8>/D' : Unused code path elimination
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* Block '<S191>/Data Type Duplicate' : Unused code path elimination
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* Block '<S191>/Data Type Propagation' : Unused code path elimination
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* Block '<S196>/Data Type Duplicate' : Unused code path elimination
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* Block '<S197>/Data Type Duplicate' : Unused code path elimination
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* Block '<S189>/Data Type Duplicate' : Unused code path elimination
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* Block '<S189>/Data Type Duplicate1' : Unused code path elimination
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* Block '<S9>/Scope' : Unused code path elimination
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* Block '<S20>/Get_FractionVal' : Eliminate redundant data type conversion
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* Block '<S191>/Get_FractionVal' : Eliminate redundant data type conversion
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* Block '<S28>/Offset' : Unused code path elimination
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* Block '<S28>/Unary_Minus' : Unused code path elimination
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* Block '<S199>/Offset' : Unused code path elimination
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* Block '<S199>/Unary_Minus' : Unused code path elimination
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*/
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/*-
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* The generated code includes comments that allow you to trace directly
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* back to the appropriate location in the model. The basic format
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* is <system>/block_name, where system is the system number (uniquely
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* assigned by Simulink) and block_name is the name of the block.
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*
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* Note that this particular code originates from a subsystem build,
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* and has its own system numbers different from the parent model.
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* Refer to the system hierarchy for this subsystem below, and use the
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* MATLAB hilite_system command to trace the generated code back
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* to the parent model. For example,
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*
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* hilite_system('foc/Controller') - opens subsystem foc/Controller
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* hilite_system('foc/Controller/Kp') - opens and selects block Kp
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*
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* Here is the system hierarchy for this model
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*
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* '<Root>' : 'foc'
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* '<S1>' : 'foc/Controller'
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* '<S2>' : 'foc/Controller/Clarke Transform'
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* '<S3>' : 'foc/Controller/Discrete Derivative'
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* '<S4>' : 'foc/Controller/Inverse Park Transform'
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* '<S5>' : 'foc/Controller/PID Controller'
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* '<S6>' : 'foc/Controller/PID Controller1'
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* '<S7>' : 'foc/Controller/PID Controller2'
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* '<S8>' : 'foc/Controller/Park Transform'
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* '<S9>' : 'foc/Controller/Subsystem1'
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* '<S10>' : 'foc/Controller/Clarke Transform/Variant'
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* '<S11>' : 'foc/Controller/Clarke Transform/Variant/mcb'
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* '<S12>' : 'foc/Controller/Clarke Transform/Variant/mcb/Clarke Transform'
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* '<S13>' : 'foc/Controller/Clarke Transform/Variant/mcb/Clarke Transform/Two phase input'
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* '<S14>' : 'foc/Controller/Clarke Transform/Variant/mcb/Clarke Transform/Two phase input/Two phase CRL wrap'
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* '<S15>' : 'foc/Controller/Inverse Park Transform/Variant'
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* '<S16>' : 'foc/Controller/Inverse Park Transform/Variant/mcb'
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* '<S17>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform'
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* '<S18>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Sine Cosine'
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* '<S19>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Two inputs CRL'
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* '<S20>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Sine Cosine/Sine-Cosine Lookup'
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* '<S21>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Sine Cosine/Sine-Cosine Lookup/Interpolation'
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* '<S22>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Sine Cosine/Sine-Cosine Lookup/WrapUp'
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* '<S23>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Sine Cosine/Sine-Cosine Lookup/datatype'
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* '<S24>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Sine Cosine/Sine-Cosine Lookup/WrapUp/Compare To Zero'
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* '<S25>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Sine Cosine/Sine-Cosine Lookup/WrapUp/If Action Subsystem'
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* '<S26>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Sine Cosine/Sine-Cosine Lookup/WrapUp/If Action Subsystem1'
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* '<S27>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Sine Cosine/Sine-Cosine Lookup/datatype/datatype no change'
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* '<S28>' : 'foc/Controller/Inverse Park Transform/Variant/mcb/Inverse Park Transform/Two inputs CRL/Switch_Axis'
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* '<S29>' : 'foc/Controller/PID Controller/Anti-windup'
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* '<S30>' : 'foc/Controller/PID Controller/D Gain'
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* '<S31>' : 'foc/Controller/PID Controller/External Derivative'
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* '<S32>' : 'foc/Controller/PID Controller/Filter'
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* '<S33>' : 'foc/Controller/PID Controller/Filter ICs'
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* '<S34>' : 'foc/Controller/PID Controller/I Gain'
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* '<S35>' : 'foc/Controller/PID Controller/Ideal P Gain'
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* '<S36>' : 'foc/Controller/PID Controller/Ideal P Gain Fdbk'
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* '<S37>' : 'foc/Controller/PID Controller/Integrator'
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* '<S38>' : 'foc/Controller/PID Controller/Integrator ICs'
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* '<S39>' : 'foc/Controller/PID Controller/N Copy'
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* '<S40>' : 'foc/Controller/PID Controller/N Gain'
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* '<S41>' : 'foc/Controller/PID Controller/P Copy'
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* '<S42>' : 'foc/Controller/PID Controller/Parallel P Gain'
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* '<S43>' : 'foc/Controller/PID Controller/Reset Signal'
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* '<S44>' : 'foc/Controller/PID Controller/Saturation'
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* '<S45>' : 'foc/Controller/PID Controller/Saturation Fdbk'
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* '<S46>' : 'foc/Controller/PID Controller/Sum'
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* '<S47>' : 'foc/Controller/PID Controller/Sum Fdbk'
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* '<S48>' : 'foc/Controller/PID Controller/Tracking Mode'
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* '<S49>' : 'foc/Controller/PID Controller/Tracking Mode Sum'
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* '<S50>' : 'foc/Controller/PID Controller/Tsamp - Integral'
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* '<S51>' : 'foc/Controller/PID Controller/Tsamp - Ngain'
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* '<S52>' : 'foc/Controller/PID Controller/postSat Signal'
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* '<S53>' : 'foc/Controller/PID Controller/preInt Signal'
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* '<S54>' : 'foc/Controller/PID Controller/preSat Signal'
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* '<S55>' : 'foc/Controller/PID Controller/Anti-windup/Passthrough'
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* '<S56>' : 'foc/Controller/PID Controller/D Gain/Disabled'
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* '<S57>' : 'foc/Controller/PID Controller/External Derivative/Disabled'
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* '<S58>' : 'foc/Controller/PID Controller/Filter/Disabled'
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* '<S59>' : 'foc/Controller/PID Controller/Filter ICs/Disabled'
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* '<S60>' : 'foc/Controller/PID Controller/I Gain/Internal Parameters'
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* '<S61>' : 'foc/Controller/PID Controller/Ideal P Gain/Passthrough'
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* '<S62>' : 'foc/Controller/PID Controller/Ideal P Gain Fdbk/Disabled'
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* '<S63>' : 'foc/Controller/PID Controller/Integrator/Discrete'
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* '<S64>' : 'foc/Controller/PID Controller/Integrator ICs/Internal IC'
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* '<S65>' : 'foc/Controller/PID Controller/N Copy/Disabled wSignal Specification'
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* '<S66>' : 'foc/Controller/PID Controller/N Gain/Disabled'
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* '<S67>' : 'foc/Controller/PID Controller/P Copy/Disabled'
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* '<S68>' : 'foc/Controller/PID Controller/Parallel P Gain/Internal Parameters'
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* '<S69>' : 'foc/Controller/PID Controller/Reset Signal/Disabled'
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* '<S70>' : 'foc/Controller/PID Controller/Saturation/Enabled'
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* '<S71>' : 'foc/Controller/PID Controller/Saturation Fdbk/Disabled'
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* '<S72>' : 'foc/Controller/PID Controller/Sum/Sum_PI'
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* '<S73>' : 'foc/Controller/PID Controller/Sum Fdbk/Disabled'
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* '<S74>' : 'foc/Controller/PID Controller/Tracking Mode/Disabled'
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* '<S75>' : 'foc/Controller/PID Controller/Tracking Mode Sum/Passthrough'
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* '<S76>' : 'foc/Controller/PID Controller/Tsamp - Integral/TsSignalSpecification'
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* '<S77>' : 'foc/Controller/PID Controller/Tsamp - Ngain/Passthrough'
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* '<S78>' : 'foc/Controller/PID Controller/postSat Signal/Forward_Path'
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* '<S79>' : 'foc/Controller/PID Controller/preInt Signal/Internal PreInt'
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* '<S80>' : 'foc/Controller/PID Controller/preSat Signal/Forward_Path'
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* '<S81>' : 'foc/Controller/PID Controller1/Anti-windup'
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* '<S82>' : 'foc/Controller/PID Controller1/D Gain'
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* '<S83>' : 'foc/Controller/PID Controller1/External Derivative'
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* '<S84>' : 'foc/Controller/PID Controller1/Filter'
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* '<S85>' : 'foc/Controller/PID Controller1/Filter ICs'
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* '<S86>' : 'foc/Controller/PID Controller1/I Gain'
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* '<S87>' : 'foc/Controller/PID Controller1/Ideal P Gain'
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* '<S88>' : 'foc/Controller/PID Controller1/Ideal P Gain Fdbk'
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* '<S89>' : 'foc/Controller/PID Controller1/Integrator'
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* '<S90>' : 'foc/Controller/PID Controller1/Integrator ICs'
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* '<S91>' : 'foc/Controller/PID Controller1/N Copy'
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* '<S92>' : 'foc/Controller/PID Controller1/N Gain'
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* '<S93>' : 'foc/Controller/PID Controller1/P Copy'
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* '<S94>' : 'foc/Controller/PID Controller1/Parallel P Gain'
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* '<S95>' : 'foc/Controller/PID Controller1/Reset Signal'
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* '<S96>' : 'foc/Controller/PID Controller1/Saturation'
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* '<S97>' : 'foc/Controller/PID Controller1/Saturation Fdbk'
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* '<S98>' : 'foc/Controller/PID Controller1/Sum'
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* '<S99>' : 'foc/Controller/PID Controller1/Sum Fdbk'
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* '<S100>' : 'foc/Controller/PID Controller1/Tracking Mode'
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* '<S101>' : 'foc/Controller/PID Controller1/Tracking Mode Sum'
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* '<S102>' : 'foc/Controller/PID Controller1/Tsamp - Integral'
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* '<S103>' : 'foc/Controller/PID Controller1/Tsamp - Ngain'
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* '<S104>' : 'foc/Controller/PID Controller1/postSat Signal'
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* '<S105>' : 'foc/Controller/PID Controller1/preInt Signal'
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* '<S106>' : 'foc/Controller/PID Controller1/preSat Signal'
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* '<S107>' : 'foc/Controller/PID Controller1/Anti-windup/Passthrough'
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* '<S108>' : 'foc/Controller/PID Controller1/D Gain/Disabled'
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* '<S109>' : 'foc/Controller/PID Controller1/External Derivative/Disabled'
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* '<S110>' : 'foc/Controller/PID Controller1/Filter/Disabled'
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* '<S111>' : 'foc/Controller/PID Controller1/Filter ICs/Disabled'
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* '<S112>' : 'foc/Controller/PID Controller1/I Gain/Internal Parameters'
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* '<S113>' : 'foc/Controller/PID Controller1/Ideal P Gain/Passthrough'
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* '<S114>' : 'foc/Controller/PID Controller1/Ideal P Gain Fdbk/Disabled'
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* '<S115>' : 'foc/Controller/PID Controller1/Integrator/Discrete'
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* '<S116>' : 'foc/Controller/PID Controller1/Integrator ICs/Internal IC'
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* '<S117>' : 'foc/Controller/PID Controller1/N Copy/Disabled wSignal Specification'
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* '<S118>' : 'foc/Controller/PID Controller1/N Gain/Disabled'
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* '<S119>' : 'foc/Controller/PID Controller1/P Copy/Disabled'
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* '<S120>' : 'foc/Controller/PID Controller1/Parallel P Gain/Internal Parameters'
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* '<S121>' : 'foc/Controller/PID Controller1/Reset Signal/Disabled'
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* '<S122>' : 'foc/Controller/PID Controller1/Saturation/Enabled'
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* '<S123>' : 'foc/Controller/PID Controller1/Saturation Fdbk/Disabled'
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* '<S124>' : 'foc/Controller/PID Controller1/Sum/Sum_PI'
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* '<S125>' : 'foc/Controller/PID Controller1/Sum Fdbk/Disabled'
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* '<S126>' : 'foc/Controller/PID Controller1/Tracking Mode/Disabled'
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* '<S127>' : 'foc/Controller/PID Controller1/Tracking Mode Sum/Passthrough'
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* '<S128>' : 'foc/Controller/PID Controller1/Tsamp - Integral/TsSignalSpecification'
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* '<S129>' : 'foc/Controller/PID Controller1/Tsamp - Ngain/Passthrough'
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* '<S130>' : 'foc/Controller/PID Controller1/postSat Signal/Forward_Path'
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* '<S131>' : 'foc/Controller/PID Controller1/preInt Signal/Internal PreInt'
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* '<S132>' : 'foc/Controller/PID Controller1/preSat Signal/Forward_Path'
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* '<S133>' : 'foc/Controller/PID Controller2/Anti-windup'
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* '<S134>' : 'foc/Controller/PID Controller2/D Gain'
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* '<S135>' : 'foc/Controller/PID Controller2/External Derivative'
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* '<S136>' : 'foc/Controller/PID Controller2/Filter'
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* '<S137>' : 'foc/Controller/PID Controller2/Filter ICs'
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* '<S138>' : 'foc/Controller/PID Controller2/I Gain'
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* '<S139>' : 'foc/Controller/PID Controller2/Ideal P Gain'
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* '<S140>' : 'foc/Controller/PID Controller2/Ideal P Gain Fdbk'
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* '<S141>' : 'foc/Controller/PID Controller2/Integrator'
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* '<S142>' : 'foc/Controller/PID Controller2/Integrator ICs'
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* '<S143>' : 'foc/Controller/PID Controller2/N Copy'
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* '<S144>' : 'foc/Controller/PID Controller2/N Gain'
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* '<S145>' : 'foc/Controller/PID Controller2/P Copy'
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* '<S146>' : 'foc/Controller/PID Controller2/Parallel P Gain'
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* '<S147>' : 'foc/Controller/PID Controller2/Reset Signal'
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* '<S148>' : 'foc/Controller/PID Controller2/Saturation'
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* '<S149>' : 'foc/Controller/PID Controller2/Saturation Fdbk'
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* '<S150>' : 'foc/Controller/PID Controller2/Sum'
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* '<S151>' : 'foc/Controller/PID Controller2/Sum Fdbk'
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* '<S152>' : 'foc/Controller/PID Controller2/Tracking Mode'
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* '<S153>' : 'foc/Controller/PID Controller2/Tracking Mode Sum'
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* '<S154>' : 'foc/Controller/PID Controller2/Tsamp - Integral'
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* '<S155>' : 'foc/Controller/PID Controller2/Tsamp - Ngain'
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* '<S156>' : 'foc/Controller/PID Controller2/postSat Signal'
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* '<S157>' : 'foc/Controller/PID Controller2/preInt Signal'
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* '<S158>' : 'foc/Controller/PID Controller2/preSat Signal'
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* '<S159>' : 'foc/Controller/PID Controller2/Anti-windup/Passthrough'
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* '<S160>' : 'foc/Controller/PID Controller2/D Gain/Disabled'
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* '<S161>' : 'foc/Controller/PID Controller2/External Derivative/Disabled'
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* '<S162>' : 'foc/Controller/PID Controller2/Filter/Disabled'
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* '<S163>' : 'foc/Controller/PID Controller2/Filter ICs/Disabled'
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* '<S164>' : 'foc/Controller/PID Controller2/I Gain/Internal Parameters'
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* '<S165>' : 'foc/Controller/PID Controller2/Ideal P Gain/Passthrough'
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* '<S166>' : 'foc/Controller/PID Controller2/Ideal P Gain Fdbk/Disabled'
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* '<S167>' : 'foc/Controller/PID Controller2/Integrator/Discrete'
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* '<S168>' : 'foc/Controller/PID Controller2/Integrator ICs/Internal IC'
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* '<S169>' : 'foc/Controller/PID Controller2/N Copy/Disabled wSignal Specification'
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* '<S170>' : 'foc/Controller/PID Controller2/N Gain/Disabled'
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* '<S171>' : 'foc/Controller/PID Controller2/P Copy/Disabled'
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* '<S172>' : 'foc/Controller/PID Controller2/Parallel P Gain/Internal Parameters'
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* '<S173>' : 'foc/Controller/PID Controller2/Reset Signal/Disabled'
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* '<S174>' : 'foc/Controller/PID Controller2/Saturation/Passthrough'
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* '<S175>' : 'foc/Controller/PID Controller2/Saturation Fdbk/Disabled'
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* '<S176>' : 'foc/Controller/PID Controller2/Sum/Sum_PI'
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* '<S177>' : 'foc/Controller/PID Controller2/Sum Fdbk/Disabled'
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* '<S178>' : 'foc/Controller/PID Controller2/Tracking Mode/Disabled'
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* '<S179>' : 'foc/Controller/PID Controller2/Tracking Mode Sum/Passthrough'
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* '<S180>' : 'foc/Controller/PID Controller2/Tsamp - Integral/TsSignalSpecification'
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* '<S181>' : 'foc/Controller/PID Controller2/Tsamp - Ngain/Passthrough'
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* '<S182>' : 'foc/Controller/PID Controller2/postSat Signal/Forward_Path'
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* '<S183>' : 'foc/Controller/PID Controller2/preInt Signal/Internal PreInt'
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* '<S184>' : 'foc/Controller/PID Controller2/preSat Signal/Forward_Path'
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* '<S185>' : 'foc/Controller/Park Transform/Variant'
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* '<S186>' : 'foc/Controller/Park Transform/Variant/mcb'
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* '<S187>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform'
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* '<S188>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine'
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* '<S189>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Two inputs CRL'
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* '<S190>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine/Sine-Cosine Lookup'
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* '<S191>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine/Sine-Cosine Lookup/Sine-Cosine Lookup'
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* '<S192>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine/Sine-Cosine Lookup/Sine-Cosine Lookup/Interpolation'
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* '<S193>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine/Sine-Cosine Lookup/Sine-Cosine Lookup/WrapUp'
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|
* '<S194>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine/Sine-Cosine Lookup/Sine-Cosine Lookup/datatype'
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* '<S195>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine/Sine-Cosine Lookup/Sine-Cosine Lookup/WrapUp/Compare To Zero'
|
|
* '<S196>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine/Sine-Cosine Lookup/Sine-Cosine Lookup/WrapUp/If Action Subsystem'
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|
* '<S197>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine/Sine-Cosine Lookup/Sine-Cosine Lookup/WrapUp/If Action Subsystem1'
|
|
* '<S198>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Sine Cosine/Sine-Cosine Lookup/Sine-Cosine Lookup/datatype/datatype no change'
|
|
* '<S199>' : 'foc/Controller/Park Transform/Variant/mcb/Park Transform/Two inputs CRL/Switch_Axis'
|
|
* '<S200>' : 'foc/Controller/Subsystem1/MATLAB Function1'
|
|
* '<S201>' : 'foc/Controller/Subsystem1/MATLAB Function2'
|
|
*/
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#endif /* Controller_h_ */
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|
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/*
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* File trailer for generated code.
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|
*
|
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* [EOF]
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|
*/
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