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new file mode 100644
index 0000000..8fc5151
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10066_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10066_d.json
new file mode 100644
index 0000000..3d3af8d
--- /dev/null
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10066_d.json
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10164_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10164_d.json
new file mode 100644
index 0000000..93f4284
--- /dev/null
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10164_d.json
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new file mode 100644
index 0000000..c4481e4
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similarity index 87%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9728_2779_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_2779_d.json
index 7836211..2e9de79 100644
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@@ -1,11 +1,11 @@
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rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_2791_d.json
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9729_2816_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_2816_d.json
similarity index 86%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9729_2816_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_2816_d.json
index 90276b1..3bbedfe 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9729_2816_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_2816_d.json
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9729_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_d.json
similarity index 87%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9729_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10454_d.json
index 453c236..8455f21 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9729_d.json
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9729",
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rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10455_2791_d.json
index f55a90e..570c2ee 100644
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@@ -1,11 +1,11 @@
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-  "label":"Switch1",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9728:2791",
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@@ -798,12 +798,12 @@
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similarity index 86%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9721_2816_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10455_2816_d.json
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9728_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10455_d.json
similarity index 87%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9728_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10455_d.json
index 308e7cf..a5fb375 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9728_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10455_d.json
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+  "name":"Constant",
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@@ -601,8 +536,8 @@
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@@ -611,95 +546,148 @@
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@@ -713,12 +701,45 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10455:2845",
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+  "icon":"WebViewIcon3",
+  "name":"Goto4",
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   "name":"satMin",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9728",
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@@ -780,12 +801,12 @@
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   "icon":"WebViewIcon3",
-  "name":"Sum2",
-  "label":"Sum2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9728",
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@@ -809,7 +830,7 @@
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@@ -839,12 +860,12 @@
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@@ -906,187 +927,176 @@
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-  "label":"P",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9728",
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@@ -1108,7 +1118,7 @@
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@@ -1175,7 +1185,7 @@
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@@ -1215,12 +1225,12 @@
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@@ -1242,7 +1252,7 @@
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-  "label":"satMax",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9728",
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@@ -1344,17 +1344,17 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9728",
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@@ -1394,12 +1394,12 @@
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@@ -1445,12 +1445,12 @@
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@@ -1496,12 +1496,12 @@
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9133_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10507_d.json
similarity index 87%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9133_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10507_d.json
index d9353c0..12e7f43 100644
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@@ -1,11 +1,11 @@
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new file mode 100644
index 0000000..9c5fdc9
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8924_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10584_d.json
similarity index 86%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8924_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10584_d.json
index d1b7f58..e7ffb4f 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8924_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10584_d.json
@@ -1,31 +1,62 @@
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-  "name":"cf_iqKpLimProt",
-  "label":"cf_iqKpLimProt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8924",
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+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
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+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
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+    "OutputWhenUnConnected",
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+    "SignalObject",
+    "SourceOfInitialOutputValue",
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@@ -34,8 +65,8 @@
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@@ -44,47 +75,37 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8931",
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   "icon":"WebViewIcon3",
-  "name":"Sum3",
-  "label":"Sum3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8924",
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+  "label":"cf_iqKiLimProt",
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-    "Inputs",
-    "InputSameDT",
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@@ -93,8 +114,8 @@
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@@ -103,48 +124,56 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10587",
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-  "name":"iq_max",
-  "label":"iq_max",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8924",
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+  "label":"iq_min",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10584",
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@@ -166,7 +195,7 @@
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@@ -206,51 +235,12 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10586",
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   "icon":"WebViewIcon3",
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-  "label":"iq",
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+  "label":"iq_max",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10584",
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@@ -272,7 +262,7 @@
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@@ -312,17 +302,18 @@
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-  "name":"Divide4",
-  "label":"Divide4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8924",
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+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10584",
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     "Inputs",
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+    "AccumDataTypeStr",
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     "OutMax",
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@@ -334,15 +325,16 @@
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    ],
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10591",
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   "icon":"WebViewIcon3",
-  "name":"iq_limProt",
-  "label":"iq_limProt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8924",
+  "name":"Action Port",
+  "label":"Action Port",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10584",
+  "inspector":{
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+    "PropagateVarSize"
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+  "icon":"WebViewIcon3",
+  "name":"iq",
+  "label":"iq",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10584",
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@@ -389,17 +412,11 @@
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@@ -414,17 +431,10 @@
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@@ -444,55 +454,45 @@
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-  "label":"iq_min",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8924",
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+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10584",
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@@ -567,12 +567,12 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8924",
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@@ -618,12 +618,12 @@
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@@ -669,12 +669,12 @@
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@@ -720,12 +720,12 @@
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10745_2895_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10745_2895_d.json
new file mode 100644
index 0000000..2e9d3e0
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10745_2895_d.png b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10745_2895_d.png
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new file mode 100644
index 0000000..8fd2db3
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10746_2895_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10746_2895_d.json
new file mode 100644
index 0000000..c6f99ce
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10808_2877_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10808_2877_d.json
new file mode 100644
index 0000000..36a5222
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new file mode 100644
index 0000000..97d0d89
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similarity index 87%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9729_2791_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10828_2791_d.json
index b2fca38..5d1718e 100644
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rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10828_2816_d.json
index b40806a..cb9dfc5 100644
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9721_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10828_d.json
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rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10828_d.json
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2817",
+  "className":"Simulink.UnitDelay",
   "icon":"WebViewIcon3",
-  "name":"a_elecPeriod1",
-  "label":"a_elecPeriod1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "name":"UnitDelay1",
+  "label":"UnitDelay1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
    "params":[
-    "Value",
-    "VectorParams1D",
+    "InitialCondition",
+    "InputProcessing",
     "SampleTime",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "FramePeriod"
+    "StateName",
+    "CodeGenStateStorageTypeQualifier",
+    "StateMustResolveToSignalObject",
+    "StateSignalObject",
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     "0",
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-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
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-    "inf"
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+    "Auto"
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     "Main",
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+    "State Attributes",
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@@ -124,47 +125,45 @@
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+   "blocktype":"UnitDelay",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2783",
-  "className":"Simulink.Sum",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2814",
+  "className":"Simulink.Switch",
   "icon":"WebViewIcon3",
-  "name":"Sum1",
-  "label":"Sum1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "name":"Switch1",
+  "label":"Switch1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
    "params":[
-    "IconShape",
-    "Inputs",
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     "InputSameDT",
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     "OutDataTypeStr",
     "LockScale",
     "RndMeth",
     "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
+    "AllowDiffInputSizes",
+    "SampleTime",
+    "Threshold",
+    "ZeroCross"
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@@ -173,8 +172,8 @@
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@@ -183,17 +182,17 @@
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+   "blocktype":"Switch",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2781",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2781",
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   "icon":"WebViewIcon3",
   "name":"Sum2",
   "label":"Sum2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
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     "IconShape",
@@ -247,45 +246,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2845",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto4",
-  "label":"Goto4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
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-    "TagVisibility",
-    "IconDisplay"
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-   "values":[
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-   "blocktype":"Goto",
-   "masktype":""
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2779",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2779",
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   "icon":"WebViewIcon1",
   "name":"Integrator",
   "label":"Integrator",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
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@@ -377,76 +343,145 @@
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2814",
-  "className":"Simulink.Switch",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2795",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Switch1",
-  "label":"Switch1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "name":"Goto1",
+  "label":"Goto1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
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-    "InputSameDT",
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-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "AllowDiffInputSizes",
-    "SampleTime",
-    "Threshold",
-    "ZeroCross"
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
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    "values":[
-    "u2 ~= 0",
-    "off",
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
+    "b_hitMin",
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+    "Tag"
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+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon9",
+  "name":"Saturation_hit",
+  "label":"Saturation_hit",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
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+    "TreatAsAtomicUnit",
+    "MinAlgLoopOccurrences",
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+    "SystemSampleTime",
+    "RTWSystemCode",
+    "RTWFcnNameOpts",
+    "RTWFcnName",
+    "RTWFileNameOpts",
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+    "RTWMemSecFuncInitTerm",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
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+    "GeneratePreprocessorConditionals",
+    "AllowZeroVariantControls",
+    "PropagateVariantConditions",
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   },
   "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
+   "jshandler":"webview/handlers/ContainerHandler"
   },
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Switch",
+   "blocktype":"SubSystem",
    "masktype":""
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2833",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2846",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From1",
-  "label":"From1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "name":"From4",
+  "label":"From4",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
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     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "b_hitMin",
+    "b_hitSat",
     "Tag"
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@@ -465,19 +500,19 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2832",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2833",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From",
-  "label":"From",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "name":"From1",
+  "label":"From1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
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     "GotoTag",
     "IconDisplay"
    ],
    "values":[
-    "b_hitMax",
+    "b_hitMin",
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@@ -496,12 +531,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2776",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2776",
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   "icon":"WebViewIcon3",
   "name":"Divide2",
   "label":"Divide2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
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@@ -553,51 +588,27 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2778",
-  "className":"Simulink.Product",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2845",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Divide5",
-  "label":"Divide5",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "name":"Goto4",
+  "label":"Goto4",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
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-    "Multiplication",
-    "InputSameDT",
-    "OutMin",
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-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
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-    "Element-wise(.*)",
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-    "[]",
-    "fixdt(1,16,5)",
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-    "on",
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-    "All dimensions",
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-    "Signal Attributes",
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   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
@@ -605,91 +616,95 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Product",
+   "blocktype":"Goto",
    "masktype":""
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2791",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2816",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon9",
-  "name":"Saturation_hit",
-  "label":"Saturation_hit",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "icon":"WebViewIcon1",
+  "name":"Clamping_circuit",
+  "label":"Clamping_circuit",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
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-    "BlockChoice",
-    "TemplateBlock",
-    "MemberBlocks",
     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
     "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
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+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
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-    "FunctionWithSeparateData",
-    "RTWMemSecFuncInitTerm",
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-    "AllowZeroVariantControls",
-    "PropagateVariantConditions",
-    "ActiveVariant",
-    "ActiveVariantBlock",
-    "TreatAsGroupedWhenPropagatingVariantConditions"
+    "VariantControl"
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     "Auto",
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     "Inherit from model",
     "Inherit from model",
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@@ -703,12 +718,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2773",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2773",
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   "icon":"WebViewIcon3",
   "name":"ext_limProt",
   "label":"ext_limProt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
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     "Port",
@@ -770,12 +785,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2733",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2733",
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   "icon":"WebViewIcon3",
   "name":"satMin",
   "label":"satMin",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
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     "Port",
@@ -837,12 +852,79 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2795",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2732",
+  "className":"Simulink.Inport",
+  "icon":"WebViewIcon3",
+  "name":"satMax",
+  "label":"satMax",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
+  "inspector":{
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+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
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+    "Port number",
+    "[]",
+    "[]",
+    "Inherit: auto",
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+  "finder":{
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+ {
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   "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "name":"Goto6",
+  "label":"Goto6",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
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     "GotoTag",
@@ -850,7 +932,7 @@
     "IconDisplay"
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-    "b_hitMin",
+    "b_hitMax",
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     "Tag"
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@@ -870,12 +952,12 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2770",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2771",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"P",
-  "label":"P",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
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+  "label":"I",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
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     "Port",
@@ -897,7 +979,7 @@
     "OutputFunctionCall"
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@@ -937,178 +1019,91 @@
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-  "icon":"WebViewIcon1",
-  "name":"Clamping_circuit",
-  "label":"Clamping_circuit",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2815",
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+  "icon":"WebViewIcon3",
+  "name":"Constant",
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9040_2395_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10829_d.json
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rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9040_2395_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_10829_d.json
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index 5241f3b..6924cf8 100644
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+   "blocktype":"Outport",
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@@ -454,7 +534,7 @@
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-  "label":"Saturation",
+  "name":"Terminator",
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-  "label":"z_errCode",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9289",
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-  "name":"Goto28",
-  "label":"Goto28",
+  "name":"If4",
+  "label":"If4",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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-    "TagVisibility",
-    "IconDisplay"
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@@ -775,32 +926,42 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9287",
-  "className":"Simulink.Goto",
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-  "name":"Goto26",
-  "label":"Goto26",
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   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
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-    "TagVisibility",
-    "IconDisplay"
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@@ -888,16 +1002,16 @@
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-  "name":"Goto23",
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@@ -906,7 +1020,7 @@
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@@ -926,11 +1040,11 @@
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-  "name":"Goto2",
-  "label":"Goto2",
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@@ -939,7 +1053,7 @@
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@@ -959,11 +1073,11 @@
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-  "name":"Goto17",
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@@ -972,7 +1086,7 @@
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@@ -992,11 +1106,11 @@
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@@ -1005,7 +1119,7 @@
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@@ -1025,11 +1139,11 @@
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@@ -1038,7 +1152,7 @@
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@@ -1086,16 +1247,16 @@
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@@ -1104,7 +1265,7 @@
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@@ -1124,11 +1285,11 @@
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@@ -1341,11 +1514,11 @@
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@@ -1384,7 +1557,7 @@
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@@ -2266,26 +2230,30 @@
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-  "label":"Terminator",
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+  "label":"From5",
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+    "IconDisplay"
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@@ -2293,26 +2261,24 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9277",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10356",
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   "icon":"WebViewIcon3",
-  "name":"Goto16",
-  "label":"Goto16",
+  "name":"From38",
+  "label":"From38",
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     "GotoTag",
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     "IconDisplay"
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     "Tag"
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    "tabs":[
@@ -2326,113 +2292,47 @@
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+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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+   "jshandler":"webview/handlers/ElementHandler"
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9260",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9931",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From30",
-  "label":"From30",
+  "name":"From14",
+  "label":"From14",
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@@ -2440,7 +2340,7 @@
     "IconDisplay"
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+    "r_fieldWeak",
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@@ -2459,11 +2359,11 @@
   }
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9244",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From15",
-  "label":"From15",
+  "name":"From12",
+  "label":"From12",
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@@ -2471,7 +2371,7 @@
     "IconDisplay"
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-    "VqFinPrev",
+    "i_phaAB",
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@@ -2490,21 +2390,19 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9288",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9263",
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   "icon":"WebViewIcon3",
-  "name":"Goto27",
-  "label":"Goto27",
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+  "label":"From46",
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     "GotoTag",
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     "IconDisplay"
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-    "local",
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@@ -2518,16 +2416,109 @@
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+  "icon":"WebViewIcon3",
+  "name":"From36",
+  "label":"From36",
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+  "name":"From11",
+  "label":"From11",
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+    "IconDisplay"
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   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"F02_Diagnostics",
-  "label":"F02_Diagnostics",
+  "name":"F06_Control_Type_Management",
+  "label":"F06_Control_Type_Management",
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@@ -2579,7 +2570,7 @@
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@@ -2620,11 +2611,11 @@
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-  "label":"From4",
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@@ -2632,7 +2623,7 @@
     "IconDisplay"
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@@ -2651,21 +2642,19 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto24",
-  "label":"Goto24",
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     "IconDisplay"
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@@ -2679,24 +2668,26 @@
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-  "label":"From11",
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     "IconDisplay"
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@@ -2710,79 +2701,30 @@
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-  "className":"Simulink.Outport",
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-  "name":"DC_phaB",
-  "label":"DC_phaB",
+  "name":"From33",
+  "label":"From33",
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-    "IconDisplay",
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-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
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@@ -2790,73 +2732,121 @@
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-  "className":"Simulink.DataTypeConversion",
-  "icon":"WebViewIcon3",
-  "name":"Data Type Conversion8",
-  "label":"Data Type Conversion8",
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+  "label":"F04_Field_Weakening",
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9930",
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   "icon":"WebViewIcon3",
-  "name":"Goto8",
-  "label":"Goto8",
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+  "label":"From3",
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     "GotoTag",
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     "IconDisplay"
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@@ -2870,16 +2860,16 @@
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@@ -2887,7 +2877,7 @@
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@@ -2906,41 +2896,27 @@
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@@ -2948,46 +2924,30 @@
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   "icon":"WebViewIcon3",
-  "name":"Data Type Conversion4",
-  "label":"Data Type Conversion4",
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@@ -2995,79 +2955,145 @@
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@@ -3155,46 +3134,30 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8213",
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@@ -3202,130 +3165,16 @@
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     "IconDisplay"
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@@ -3444,16 +3342,16 @@
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@@ -3461,7 +3359,7 @@
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@@ -3480,60 +3378,40 @@
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@@ -3542,65 +3420,45 @@
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@@ -3609,65 +3467,41 @@
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@@ -3676,16 +3510,47 @@
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@@ -3694,7 +3559,7 @@
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@@ -3714,11 +3579,11 @@
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@@ -3726,7 +3591,7 @@
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@@ -3745,11 +3610,44 @@
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@@ -3765,11 +3663,17 @@
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@@ -4074,14 +3907,20 @@
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@@ -4116,66 +3962,32 @@
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@@ -4183,27 +3995,257 @@
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@@ -4215,33 +4257,1569 @@
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+    "ShowPropagatedSignal",
+    "DataLogging",
+    "TestPoint",
+    "SignalObjectPackage",
+    "StorageClass",
+    "Description",
+    "documentLink"
    ],
    "values":[
-    "z_ctrlModReq",
-    "Tag"
+    "",
+    "off",
+    "off",
+    "off",
+    "off",
+    "Simulink",
+    "Auto",
+    "",
+    ""
    ],
    "tabs":[
-    "Parameter Attributes"
+    "Parameter Attributes",
+    "Logging and Accessibility",
+    "Code Generation",
+    "Documentation"
    ],
-   "tabs_idx":0
+   "tabs_idx":[
+    0,
+    3,
+    5,
+    7
+   ]
   },
   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
   },
   "obj_viewer":[
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-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
+  "finder":[
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9268#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8210#out:1",
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@@ -4559,7 +6239,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8469#out:2",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9244#out:1",
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@@ -4610,7 +6290,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8215#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9245#out:1",
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@@ -4661,7 +6341,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8214#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9241#out:1",
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@@ -4712,7 +6392,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9290#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9267#out:1",
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@@ -4763,7 +6443,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8208#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9266#out:1",
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@@ -4814,7 +6494,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9251#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9198#out:2",
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@@ -4865,7 +6545,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9260#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8202#out:1",
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@@ -4916,7 +6596,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9294#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9198#out:1",
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   "name":"",
@@ -4967,7 +6647,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8220#out:5",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8220#out:4",
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   "icon":"WebViewIcon5",
   "name":"",
@@ -5018,7 +6698,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9242#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658#out:4",
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   "name":"",
@@ -5069,7 +6749,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9297#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8220#out:6",
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@@ -5120,7 +6800,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8211#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9259#out:1",
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   "name":"",
@@ -5171,7 +6851,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9258#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658#out:3",
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   "name":"",
@@ -5222,7 +6902,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9291#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8217#out:1",
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   "name":"",
@@ -5273,7 +6953,7 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9249#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9198#out:3",
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@@ -5324,7 +7004,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9257#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8205#out:1",
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@@ -5375,7 +7055,7 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9265#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8220#out:8",
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@@ -5426,7 +7106,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9250#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8469#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
@@ -5477,7 +7157,7 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9248#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8201#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
@@ -5528,7 +7208,7 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9240#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8206#out:1",
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   "name":"",
@@ -5579,7 +7259,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8210#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9253#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
@@ -5630,7 +7310,7 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8218#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9264#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
@@ -5681,7 +7361,7 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658#out:2",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8220#out:1",
   "className":"Simulink.Line",
   "icon":"WebViewIcon5",
   "name":"",
@@ -5732,7 +7412,7 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9244#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8535#out:1",
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   "icon":"WebViewIcon5",
   "name":"",
@@ -5783,7 +7463,7 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8207#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9252#out:1",
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@@ -5834,7 +7514,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8216#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8204#out:1",
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@@ -5885,7 +7565,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658#out:1",
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@@ -5936,7 +7616,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9245#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9298#out:1",
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   "name":"",
@@ -5987,7 +7667,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9241#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9261#out:1",
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@@ -6038,7 +7718,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9267#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9418#out:1",
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@@ -6089,7 +7769,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9266#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9436#out:1",
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@@ -6140,7 +7820,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9198#out:2",
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@@ -6191,7 +7871,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8202#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8209#out:1",
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@@ -6242,7 +7922,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9198#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9198#out:4",
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@@ -6293,7 +7973,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8220#out:4",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9448#out:1",
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@@ -6344,7 +8024,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658#out:3",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9263#out:1",
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@@ -6395,7 +8075,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658#out:6",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9262#out:1",
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@@ -6446,7 +8126,7 @@
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8220#out:6",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9720#out:1",
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@@ -6497,7 +8177,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9259#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658#out:2",
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@@ -6548,7 +8228,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658#out:5",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658#out:1",
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@@ -6599,7 +8279,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8217#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9930#out:1",
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@@ -6650,7 +8330,7 @@
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@@ -6701,7 +8381,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9295#out:1",
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@@ -6752,7 +8432,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8205#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9935#out:1",
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@@ -6803,7 +8483,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8212#out:1",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10025#out:1",
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@@ -6854,7 +8534,7 @@
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@@ -6905,7 +8585,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8469#out:1",
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@@ -6956,7 +8636,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8213#out:1",
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@@ -7007,7 +8687,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8201#out:1",
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@@ -7058,7 +8738,7 @@
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@@ -7109,7 +8789,7 @@
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@@ -7160,7 +8840,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9264#out:1",
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@@ -7211,7 +8891,7 @@
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@@ -7262,7 +8942,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8535#out:1",
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@@ -7313,7 +8993,7 @@
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@@ -7364,7 +9044,7 @@
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@@ -7415,7 +9095,7 @@
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@@ -7466,7 +9146,7 @@
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@@ -7517,7 +9197,7 @@
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@@ -7568,7 +9248,7 @@
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@@ -7619,7 +9299,7 @@
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@@ -7670,7 +9350,7 @@
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@@ -7721,7 +9401,7 @@
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@@ -7772,7 +9452,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9392#out:1",
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@@ -7823,7 +9503,7 @@
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@@ -7874,7 +9554,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9436#out:1",
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@@ -7925,7 +9605,7 @@
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@@ -7976,7 +9656,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8209#out:1",
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@@ -8027,7 +9707,7 @@
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@@ -1988,96 +1943,16 @@
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-  "label":"From25",
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@@ -2085,7 +1960,7 @@
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+    "b_enaAdvCtrl",
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@@ -2135,11 +2010,11 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8432",
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-  "name":"From20",
-  "label":"From20",
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@@ -2147,7 +2022,7 @@
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@@ -2166,21 +2041,19 @@
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@@ -2211,7 +2084,7 @@
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@@ -2242,7 +2115,7 @@
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@@ -2273,7 +2146,7 @@
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@@ -2515,11 +2262,11 @@
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-  "label":"From11",
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@@ -2527,7 +2274,7 @@
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@@ -2546,21 +2293,19 @@
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-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8429",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
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+  "label":"From14",
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     "GotoTag",
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     "IconDisplay"
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@@ -2574,16 +2319,16 @@
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@@ -2591,7 +2336,7 @@
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@@ -2610,19 +2355,21 @@
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-  "label":"From21",
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   "inspector":{
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     "IconDisplay"
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@@ -2636,30 +2383,79 @@
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@@ -2667,847 +2463,107 @@
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index 340428f..c8375ba 100644
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8263_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8263_d.json
index db2548f..f3ddefb 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8263_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8263_d.json
@@ -1,59 +1,10 @@
 [
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8380",
-  "className":"Simulink.Annotation",
-  "icon":"WebViewIcon2",
-  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize FOC only it is selected.</span></p></body></html>",
-  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize FOC only it is selected.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
-  "inspector":{
-   "params":[
-    "Text",
-    "DropShadow",
-    "Interpreter",
-    "FontName",
-    "FontWeight",
-    "FontSize",
-    "FontAngle",
-    "ForegroundColor",
-    "BackgroundColor",
-    "HorizontalAlignment",
-    "UseDisplayTextAsClickCallback",
-    "ClickFcn"
-   ],
-   "values":[
-    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize FOC only it is selected.</span></p></body></html>",
-    "off",
-    "rich",
-    "auto",
-    "auto",
-    -1,
-    "auto",
-    "black",
-    "white",
-    "left",
-    "off",
-    ""
-   ],
-   "tabs":[
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-   "tabs_idx":[
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
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-  "obj_viewer":[
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-  "finder":[
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- },
  {
   "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8381",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
-  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize FOC only if not in high transient detected.</span></p></body></html>",
-  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize FOC only if not in high transient detected.</span></p></body></html>",
+  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize advanced control only if not in high transient detected.</span></p></body></html>",
+  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize advanced control only if not in high transient detected.</span></p></body></html>",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
@@ -71,7 +22,7 @@
     "ClickFcn"
    ],
    "values":[
-    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize FOC only if not in high transient detected.</span></p></body></html>",
+    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize advanced control only if not in high transient detected.</span></p></body></html>",
     "off",
     "rich",
     "auto",
@@ -101,8 +52,8 @@
   "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8382",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
-  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize FOC only if speed is above a threshold.</span></p></body></html>",
-  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize FOC only if speed is above a threshold.</span></p></body></html>",
+  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize advance control only if speed is above a threshold.</span></p></body></html>",
+  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize advance control only if speed is above a threshold.</span></p></body></html>",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
@@ -120,7 +71,7 @@
     "ClickFcn"
    ],
    "values":[
-    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize FOC only if speed is above a threshold.</span></p></body></html>",
+    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Authorize advance control only if speed is above a threshold.</span></p></body></html>",
     "off",
     "rich",
     "auto",
@@ -150,8 +101,8 @@
   "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8383",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
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@@ -1577,7 +1480,7 @@
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@@ -1816,25 +1743,37 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8308",
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-  "label":"From28",
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-    "IconDisplay"
+    "NumInputs",
+    "IfExpression",
+    "ElseIfExpressions",
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+    "ZeroCross"
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@@ -1842,26 +1781,24 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8303",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8291",
+  "className":"Simulink.From",
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-  "name":"Goto3",
-  "label":"Goto3",
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+  "label":"From5",
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     "IconDisplay"
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-    "local",
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@@ -1875,16 +1812,16 @@
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+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8283",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8289",
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-  "name":"From2",
-  "label":"From2",
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@@ -1892,7 +1829,7 @@
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-    "n_motAbsPrev",
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@@ -1911,11 +1848,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8282",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8293",
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   "icon":"WebViewIcon3",
-  "name":"From19",
-  "label":"From19",
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@@ -1923,7 +1860,7 @@
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@@ -1942,43 +1879,27 @@
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-  "name":"z_maxCntRst2",
-  "label":"z_maxCntRst2",
+  "name":"Goto6",
+  "label":"Goto6",
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   "inspector":{
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-    "VectorParams1D",
-    "SampleTime",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "FramePeriod"
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
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-    "on",
-    "inf",
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
-    "off",
-    "inf"
+    "b_motStdStill",
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+    "Tag"
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-    "Signal Attributes",
-    "-Other"
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@@ -1986,42 +1907,30 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Constant",
+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8308",
-  "className":"Simulink.If",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8285",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"If2",
-  "label":"If2",
+  "name":"From28",
+  "label":"From28",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
-    "NumInputs",
-    "IfExpression",
-    "ElseIfExpressions",
-    "ShowElse",
-    "SampleTime",
-    "ZeroCross"
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+    "IconDisplay"
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-    "u1 ~= 0",
-    "",
-    "off",
-    "-1",
-    "on"
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-    "-Other"
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-    4
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@@ -2029,16 +1938,49 @@
   "obj_viewer":[
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+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8281",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8300",
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+  "icon":"WebViewIcon3",
+  "name":"Goto17",
+  "label":"Goto17",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "inspector":{
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+    "TagVisibility",
+    "IconDisplay"
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+    "local",
+    "Tag"
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+  "finder":{
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8284",
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   "icon":"WebViewIcon3",
-  "name":"From18",
-  "label":"From18",
+  "name":"From24",
+  "label":"From24",
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   "inspector":{
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@@ -2046,7 +1988,7 @@
     "IconDisplay"
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-    "b_enaFOC",
+    "b_enaAdvCtrl",
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@@ -2065,11 +2007,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8278",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8283",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From15",
-  "label":"From15",
+  "name":"From2",
+  "label":"From2",
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@@ -2077,7 +2019,7 @@
     "IconDisplay"
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-    "b_edge",
+    "n_motAbsPrev",
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@@ -2096,40 +2038,63 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8369",
-  "className":"Simulink.Switch",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8376",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"Switch2",
-  "label":"Switch2",
+  "name":"n_motAbs",
+  "label":"n_motAbs",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
   "inspector":{
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-    "Criteria",
-    "InputSameDT",
+    "Port",
+    "IconDisplay",
     "OutMin",
     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "AllowDiffInputSizes",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
     "SampleTime",
-    "Threshold",
-    "ZeroCross"
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
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     "off",
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+    "held",
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+    "Dialog",
+    "Auto",
+    "off"
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@@ -2138,8 +2103,8 @@
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+    2,
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@@ -2148,26 +2113,24 @@
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+   "blocktype":"Outport",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8298",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8282",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto11",
-  "label":"Goto11",
+  "name":"From19",
+  "label":"From19",
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   "inspector":{
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     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
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    "values":[
-    "n_motRaw",
-    "local",
+    "z_dir",
     "Tag"
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@@ -2181,24 +2144,26 @@
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+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8277",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8303",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From14",
-  "label":"From14",
+  "name":"Goto3",
+  "label":"Goto3",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
   "inspector":{
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     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
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+    "n_motAbsPrev",
+    "local",
     "Tag"
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@@ -2212,16 +2177,16 @@
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+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9426",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8280",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From11",
-  "label":"From11",
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@@ -2229,7 +2194,7 @@
     "IconDisplay"
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-    "b_motStdStill",
+    "z_counterRawPrev",
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@@ -2248,21 +2213,19 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8305",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8286",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
+  "name":"From29",
+  "label":"From29",
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-    "TagVisibility",
     "IconDisplay"
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-    "dz_trnsDet",
-    "local",
+    "n_motAbs",
     "Tag"
    ],
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@@ -2276,25 +2239,56 @@
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   "finder":{
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+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8312",
-  "className":"Simulink.Mux",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8292",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Mux2",
-  "label":"Mux2",
+  "name":"From6",
+  "label":"From6",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
   "inspector":{
    "params":[
-    "Inputs",
-    "DisplayOption"
+    "GotoTag",
+    "IconDisplay"
    ],
    "values":[
-    "2",
-    "bar"
+    "n_motAbs",
+    "Tag"
+   ],
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+  "className":"Simulink.Mux",
+  "icon":"WebViewIcon3",
+  "name":"Mux3",
+  "label":"Mux3",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
+  "inspector":{
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+    "DisplayOption"
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+   "values":[
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+    "bar"
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@@ -2312,11 +2306,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8286",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8278",
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   "icon":"WebViewIcon3",
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-  "label":"From29",
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@@ -2324,7 +2318,7 @@
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-    "n_motAbs",
+    "b_edge",
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@@ -2343,40 +2337,73 @@
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-  "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon4",
-  "name":"Counter",
-  "label":"Counter",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8277",
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+  "name":"From14",
+  "label":"From14",
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+    "GotoTag",
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+   "jshandler":"webview/handlers/ElementHandler"
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8284",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8276",
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   "icon":"WebViewIcon3",
-  "name":"From24",
-  "label":"From24",
+  "name":"From12",
+  "label":"From12",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
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   "inspector":{
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@@ -2384,7 +2411,7 @@
     "IconDisplay"
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    "values":[
-    "b_enaFOC",
+    "b_motStdStill",
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@@ -2434,11 +2461,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8280",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8281",
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-  "name":"From17",
-  "label":"From17",
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@@ -2446,7 +2473,7 @@
     "IconDisplay"
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-    "z_counterRawPrev",
+    "b_enaAdvCtrl",
     "Tag"
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@@ -2464,6 +2491,84 @@
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+  "icon":"WebViewIcon4",
+  "name":"Counter",
+  "label":"Counter",
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@@ -2562,38 +2667,50 @@
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@@ -3135,7 +2861,7 @@
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@@ -906,7 +865,7 @@
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@@ -925,11 +884,11 @@
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@@ -937,7 +896,7 @@
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@@ -956,11 +915,11 @@
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@@ -1006,11 +965,11 @@
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@@ -1165,7 +1070,7 @@
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@@ -1421,12 +1517,12 @@
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@@ -1709,7 +1781,7 @@
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@@ -1850,16 +1858,16 @@
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@@ -1879,7 +1887,7 @@
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@@ -1914,42 +1922,43 @@
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@@ -1958,30 +1967,49 @@
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@@ -1989,7 +2017,7 @@
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@@ -2061,11 +2089,11 @@
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@@ -2073,7 +2101,7 @@
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@@ -1684,46 +1713,110 @@
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   "icon":"WebViewIcon3",
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-  "label":"CTRL_COMM",
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+  "icon":"WebViewIcon3",
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     "OutMax",
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@@ -1733,57 +1826,109 @@
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-  "name":"g_Hb1",
-  "label":"g_Hb1",
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-    "Multiplication",
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+  "className":"Simulink.Constant",
+  "icon":"WebViewIcon3",
+  "name":"CTRL_COMM1",
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+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
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@@ -1792,7 +1937,7 @@
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@@ -1894,11 +2039,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9412",
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   "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"CTRL_COMM4",
-  "label":"CTRL_COMM4",
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+  "label":"CTRL_COMM",
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   "inspector":{
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@@ -1912,7 +2057,7 @@
     "FramePeriod"
    ],
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@@ -1943,148 +2088,21 @@
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-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9406",
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   "icon":"WebViewIcon3",
-  "name":"From16",
-  "label":"From16",
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@@ -2098,87 +2116,58 @@
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-  "className":"Simulink.Switch",
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   "icon":"WebViewIcon3",
-  "name":"Switch1",
-  "label":"Switch1",
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     "SaturateOnIntegerOverflow",
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@@ -2186,7 +2175,7 @@
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@@ -2238,25 +2227,43 @@
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   "icon":"WebViewIcon3",
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-  "label":"Action Port",
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+  "label":"CTRL_COMM4",
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@@ -2264,16 +2271,16 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9394",
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   "icon":"WebViewIcon3",
-  "name":"VqFinPrev",
-  "label":"VqFinPrev",
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@@ -2296,7 +2303,7 @@
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@@ -2336,25 +2343,61 @@
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@@ -2362,7 +2405,7 @@
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@@ -2398,60 +2441,43 @@
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   "icon":"WebViewIcon3",
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-  "label":"b_motStdStill",
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-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
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-    "Inherit: auto",
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-    "inherit",
-    "-1",
-    "Inherit",
+    "0",
+    "Inherited",
     "-1",
-    "auto",
-    "off",
     "",
-    "on",
-    "off",
+    "",
     "off",
-    "off"
+    [
+    ],
+    "Auto"
    ],
    "tabs":[
     "Main",
-    "Signal Attributes",
+    "State Attributes",
     "-Other"
    ],
    "tabs_idx":[
     0,
-    2,
-    11
+    3,
+    4
    ]
   },
   "viewer":{
@@ -2460,16 +2486,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Inport",
+   "blocktype":"UnitDelay",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9405",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8480",
   "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"r_errInpTgtThres",
-  "label":"r_errInpTgtThres",
+  "name":"CTRL_COMM2",
+  "label":"CTRL_COMM2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
@@ -2483,7 +2509,7 @@
     "FramePeriod"
    ],
    "values":[
-    "r_errInpTgtThres",
+    "0",
     "on",
     "inf",
     "[]",
@@ -2514,40 +2540,30 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8483",
-  "className":"Simulink.DataTypeConversion",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9410",
+  "className":"Simulink.SFunction",
   "icon":"WebViewIcon3",
-  "name":"Data Type Conversion1",
-  "label":"Data Type Conversion1",
+  "name":"Bitwise Operator1",
+  "label":"Bitwise Operator1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "ConvertRealWorld",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "SampleTime"
+    "logicop",
+    "UseBitMask",
+    "NumInputPorts",
+    "BitMask",
+    "BitMaskRealWorld"
    ],
    "values":[
-    "[]",
-    "[]",
-    "uint8",
-    "off",
-    "Real World Value (RWV)",
-    "Floor",
-    "off",
-    "-1"
+    "AND",
+    "on",
+    "1",
+    "bin2dec('100')",
+    "Stored Integer"
    ],
    "tabs":[
-    "Parameter Attributes",
-    "-Other"
    ],
    "tabs_idx":[
-    0,
-    7
    ]
   },
   "viewer":{
@@ -2556,46 +2572,30 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"DataTypeConversion",
-   "masktype":""
+   "blocktype":"S-Function",
+   "masktype":"Bitwise Operator"
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8482",
-  "className":"Simulink.DataTypeConversion",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8474",
+  "className":"Simulink.ActionPort",
   "icon":"WebViewIcon3",
-  "name":"Data Type Conversion",
-  "label":"Data Type Conversion",
+  "name":"Action Port",
+  "label":"Action Port",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
   "inspector":{
    "params":[
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "ConvertRealWorld",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "SampleTime"
+    "InitializeStates",
+    "PropagateVarSize"
    ],
    "values":[
-    "[]",
-    "[]",
-    "uint8",
-    "off",
-    "Real World Value (RWV)",
-    "Floor",
-    "off",
-    "-1"
+    "held",
+    "Only when execution is resumed"
    ],
    "tabs":[
-    "Parameter Attributes",
-    "-Other"
+    "Parameter Attributes"
    ],
-   "tabs_idx":[
-    0,
-    7
-   ]
+   "tabs_idx":0
   },
   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
@@ -2603,7 +2603,7 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"DataTypeConversion",
+   "blocktype":"ActionPort",
    "masktype":""
   }
  },
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.png b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.png
index e0edd0d..baeb30c 100644
Binary files a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.png and b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.png differ
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.svg b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.svg
index 47a5e39..204753c 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.svg
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8469_d.svg
@@ -1,10 +1,10 @@
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-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" display="inline" height="672.000000px" preserveAspectRatio="xMinYMin meet" viewBox="-676.39 344.00 1768.08 672.00" width="1768.078125px" x="0" y="0" zoomAndPan="disable">
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" display="inline" height="651.000000px" preserveAspectRatio="xMinYMin meet" viewBox="8.61 365.00 1778.08 651.00" width="1778.078125px" x="0" y="0" zoomAndPan="disable">
   <g fill="none" stroke="black" stroke-width="1" fill-rule="evenodd" stroke-linecap="square" stroke-linejoin="bevel">
     <!--RAWSTRING-->
     <g id="background" pointer-events="none">
       <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,0,0)">
-        <path d="M-675.391,345 L1090.69,345 L1090.69,1015 L-675.391,1015 L-675.391,345 z" fill-rule="evenodd" vector-effect="none"/>
+        <path d="M9.60938,366 L1785.69,366 L1785.69,1015 L9.60938,1015 L9.60938,366 z" fill-rule="evenodd" vector-effect="none"/>
       </g>
       <!--RAWSTRING-->
     </g>
@@ -14,7 +14,7 @@
       <g data-tags="Text">
         <!--RAWSTRING-->
         <g id="BLDCmotorControl_FOC_R2017b_fixdt:8529">
-          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,-446,707)">
+          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,249,707)">
             <path d="M0,0 L207,0 L207,104 L0,104 L0,0 z" fill-rule="evenodd" vector-effect="none"/>
           </g>
           <defs>
@@ -22,7 +22,7 @@
               <path d="M0,0 L217,0 L217,104 L0,104 L0,0 z"/>
             </clipPath>
           </defs>
-          <g clip-path="url(#clip5)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-446,707)">
+          <g clip-path="url(#clip5)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,249,707)">
             <text fill="#ff0000" fill-opacity="1" font-family="Arial" font-size="10" font-style="normal" font-weight="700" stroke="none" textLength="47.1562" x="1" xml:space="preserve" y="10">Error 004:</text>
             <text fill="#ff0000" fill-opacity="1" font-family="Arial" font-size="10" font-style="normal" font-weight="400" stroke="none" textLength="108.5" x="48.1562" xml:space="preserve" y="10"> Motor NOT able to spin.</text>
           </g>
@@ -31,7 +31,7 @@
               <path d="M0,0 L217,0 L217,104 L0,104 L0,0 z"/>
             </clipPath>
           </defs>
-          <g clip-path="url(#clip6)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-446,707)">
+          <g clip-path="url(#clip6)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,249,707)">
             <text fill="#ff0000" fill-opacity="1" font-family="Arial" font-size="10" font-style="normal" font-weight="400" stroke="none" textLength="74.9062" x="1" xml:space="preserve" y="34">Possible causes:</text>
           </g>
           <defs>
@@ -39,7 +39,7 @@
               <path d="M0,0 L217,0 L217,104 L0,104 L0,0 z"/>
             </clipPath>
           </defs>
-          <g clip-path="url(#clip7)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-446,707)">
+          <g clip-path="url(#clip7)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,249,707)">
             <text fill="#ff0000" fill-opacity="1" font-family="Arial" font-size="10" font-style="normal" font-weight="400" stroke="none" textLength="123.141" x="1" xml:space="preserve" y="46">- motor phase disconnected</text>
           </g>
           <defs>
@@ -47,7 +47,7 @@
               <path d="M0,0 L217,0 L217,104 L0,104 L0,0 z"/>
             </clipPath>
           </defs>
-          <g clip-path="url(#clip8)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-446,707)">
+          <g clip-path="url(#clip8)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,249,707)">
             <text fill="#ff0000" fill-opacity="1" font-family="Arial" font-size="10" font-style="normal" font-weight="400" stroke="none" textLength="90.2188" x="1" xml:space="preserve" y="58">- MOSFET defective</text>
           </g>
           <defs>
@@ -55,7 +55,7 @@
               <path d="M0,0 L217,0 L217,104 L0,104 L0,0 z"/>
             </clipPath>
           </defs>
-          <g clip-path="url(#clip9)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-446,707)">
+          <g clip-path="url(#clip9)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,249,707)">
             <text fill="#ff0000" fill-opacity="1" font-family="Arial" font-size="10" font-style="normal" font-weight="400" stroke="none" textLength="141.422" x="1" xml:space="preserve" y="70">- Operational Amplifier defective</text>
           </g>
           <defs>
@@ -63,7 +63,7 @@
               <path d="M0,0 L217,0 L217,104 L0,104 L0,0 z"/>
             </clipPath>
           </defs>
-          <g clip-path="url(#clip10)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-446,707)">
+          <g clip-path="url(#clip10)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,249,707)">
             <text fill="#ff0000" fill-opacity="1" font-family="Arial" font-size="10" font-style="normal" font-weight="400" stroke="none" textLength="68.7812" x="1" xml:space="preserve" y="82">- motor blocked</text>
           </g>
           <!--RAWSTRING-->
@@ -74,15 +74,15 @@
       <g data-tags="Text">
         <!--RAWSTRING-->
         <g id="BLDCmotorControl_FOC_R2017b_fixdt:8530">
-          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,475,607)">
+          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1170,607)">
             <path d="M0,0 L106.109,0 L106.109,18 L0,18 L0,0 z" fill-rule="evenodd" vector-effect="none"/>
           </g>
           <defs>
             <clipPath id="clip16">
-              <path d="M-1150.39,-264 L615.688,-264 L615.688,408 L-1150.39,408 L-1150.39,-264 z"/>
+              <path d="M-1160.39,-241 L615.688,-241 L615.688,408 L-1160.39,408 L-1160.39,-241 z"/>
             </clipPath>
           </defs>
-          <g clip-path="url(#clip16)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#0070c0" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,475,607)">
+          <g clip-path="url(#clip16)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#0070c0" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,1170,607)">
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           </g>
           <!--RAWSTRING-->
@@ -93,15 +93,15 @@
       <g data-tags="Text">
         <!--RAWSTRING-->
         <g id="BLDCmotorControl_FOC_R2017b_fixdt:8531">
-          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,-230,409)">
+          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,465,409)">
             <path d="M0,0 L103.797,0 L103.797,18 L0,18 L0,0 z" fill-rule="evenodd" vector-effect="none"/>
           </g>
           <defs>
             <clipPath id="clip18">
-              <path d="M-445.391,-66 L1320.69,-66 L1320.69,606 L-445.391,606 L-445.391,-66 z"/>
+              <path d="M-455.391,-43 L1320.69,-43 L1320.69,606 L-455.391,606 L-455.391,-43 z"/>
             </clipPath>
           </defs>
-          <g clip-path="url(#clip18)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#0070c0" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-230,409)">
+          <g clip-path="url(#clip18)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#0070c0" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,465,409)">
             <text fill="#0070c0" fill-opacity="1" font-family="Arial" font-size="14" font-style="normal" font-weight="700" stroke="none" textLength="101.797" x="1" xml:space="preserve" y="14">Error Detection</text>
           </g>
           <!--RAWSTRING-->
@@ -112,15 +112,15 @@
       <g data-tags="Text">
         <!--RAWSTRING-->
         <g id="BLDCmotorControl_FOC_R2017b_fixdt:8532">
-          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,473,423)">
+          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,1168,423)">
             <path d="M0,0 L124.734,0 L124.734,18 L0,18 L0,0 z" fill-rule="evenodd" vector-effect="none"/>
           </g>
           <defs>
             <clipPath id="clip20">
-              <path d="M-1148.39,-80 L617.688,-80 L617.688,592 L-1148.39,592 L-1148.39,-80 z"/>
+              <path d="M-1158.39,-57 L617.688,-57 L617.688,592 L-1158.39,592 L-1158.39,-57 z"/>
             </clipPath>
           </defs>
-          <g clip-path="url(#clip20)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#0070c0" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,473,423)">
+          <g clip-path="url(#clip20)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#0070c0" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,1168,423)">
             <text fill="#0070c0" fill-opacity="1" font-family="Arial" font-size="14" font-style="normal" font-weight="700" stroke="none" textLength="122.734" x="1" xml:space="preserve" y="14">Error Qualification</text>
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@@ -131,7 +131,7 @@
       <g data-tags="Text">
         <!--RAWSTRING-->
         <g id="BLDCmotorControl_FOC_R2017b_fixdt:8533">
-          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,-446,627)">
+          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,249,627)">
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@@ -139,7 +139,7 @@
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             </clipPath>
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-          <g clip-path="url(#clip25)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-446,627)">
+          <g clip-path="url(#clip25)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,249,627)">
             <text fill="#ff0000" fill-opacity="1" font-family="Arial" font-size="10" font-style="normal" font-weight="700" stroke="none" textLength="49" x="1" xml:space="preserve" y="10">Error 002:</text>
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@@ -151,7 +151,7 @@
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         <g id="BLDCmotorControl_FOC_R2017b_fixdt:8534">
-          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,-446,445)">
+          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,249,445)">
             <path d="M0,0 L197,0 L197,29 L0,29 L0,0 z" fill-rule="evenodd" vector-effect="none"/>
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           <defs>
@@ -159,7 +159,7 @@
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-          <g clip-path="url(#clip34)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-446,445)">
+          <g clip-path="url(#clip34)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,249,445)">
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@@ -171,7 +171,7 @@
       <g data-tags="Text">
         <!--RAWSTRING-->
         <g id="BLDCmotorControl_FOC_R2017b_fixdt:9415">
-          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,-66,981)">
+          <g clip-path="none" fill="#ffffff" fill-opacity="1" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,629,981)">
             <path d="M0,0 L232,0 L232,34 L0,34 L0,0 z" fill-rule="evenodd" vector-effect="none"/>
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           <defs>
@@ -179,7 +179,7 @@
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-          <g clip-path="url(#clip43)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-66,981)">
+          <g clip-path="url(#clip43)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,629,981)">
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@@ -187,7 +187,7 @@
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-    "Inherit",
-    "-1",
-    "auto",
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+    "Simplest",
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-   "blocktype":"Inport",
+   "blocktype":"Sum",
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-  "className":"Simulink.Sum",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8486:2435:2412",
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-  "label":"Sum1",
+  "name":"inc",
+  "label":"inc",
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-    "Inputs",
-    "InputSameDT",
-    "AccumDataTypeStr",
+    "Port",
+    "IconDisplay",
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-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
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+    "OutputFunctionCall"
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-    "-1"
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+   "blocktype":"Inport",
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8546_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8546_d.json
index 80b580a..e5773cb 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8546_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8546_d.json
@@ -98,11 +98,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8599",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8600",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"b_toSpdMod",
-  "label":"b_toSpdMod",
+  "name":"b_toTrqMod",
+  "label":"b_toTrqMod",
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@@ -131,7 +131,7 @@
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-    "3",
+    "4",
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@@ -178,32 +178,63 @@
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-  "className":"Simulink.Constant",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8598",
+  "className":"Simulink.Outport",
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-  "name":"constant7",
-  "label":"constant7",
+  "name":"b_toActive",
+  "label":"b_toActive",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
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-    "Value",
-    "VectorParams1D",
-    "SampleTime",
+    "Port",
+    "IconDisplay",
     "OutMin",
     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "FramePeriod"
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
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+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
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@@ -609,7 +605,7 @@
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@@ -796,11 +765,56 @@
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@@ -809,7 +823,7 @@
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@@ -829,39 +843,27 @@
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@@ -869,16 +871,80 @@
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@@ -890,7 +956,7 @@
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@@ -952,11 +1018,122 @@
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@@ -968,7 +1145,7 @@
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@@ -1028,19 +1205,21 @@
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@@ -1054,7 +1233,7 @@
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@@ -1090,11 +1269,11 @@
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@@ -1102,7 +1281,7 @@
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-  "label":"From3",
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@@ -1133,7 +1312,7 @@
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@@ -1152,11 +1331,11 @@
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   "icon":"WebViewIcon3",
-  "name":"Relational Operator5",
-  "label":"Relational Operator5",
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@@ -1197,19 +1376,21 @@
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+    "b_toSpdMod",
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@@ -1223,26 +1404,24 @@
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@@ -1256,56 +1435,7 @@
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@@ -1341,11 +1471,11 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8562",
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-  "name":"From9",
-  "label":"From9",
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@@ -1353,7 +1483,7 @@
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-    "z_ctrlModReq",
+    "b_toSpdMod",
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@@ -1372,21 +1502,19 @@
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-  "name":"Goto3",
-  "label":"Goto3",
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-    "TagVisibility",
     "IconDisplay"
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@@ -1400,24 +1528,26 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8553",
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-  "label":"From1",
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+    "z_ctrlModPrev",
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     "Tag"
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@@ -1431,16 +1561,16 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8598",
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8551",
+  "className":"Simulink.Inport",
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@@ -1456,20 +1586,14 @@
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-    "SignalObject",
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-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
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@@ -1481,17 +1605,10 @@
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@@ -1511,16 +1628,16 @@
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-  "label":"From12",
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@@ -1528,7 +1645,7 @@
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@@ -1547,11 +1664,11 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto1",
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@@ -1560,7 +1677,7 @@
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@@ -1580,42 +1697,11 @@
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@@ -1638,7 +1724,7 @@
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@@ -1646,59 +1732,26 @@
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-    "TagVisibility",
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+    "Inherit",
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@@ -1706,7 +1759,7 @@
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@@ -1778,21 +1831,19 @@
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-  "name":"Goto2",
-  "label":"Goto2",
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-    "local",
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     "Tag"
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@@ -1806,56 +1857,7 @@
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-  "finder":{
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@@ -1927,11 +1929,11 @@
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   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"z_ctrlModReq",
-  "label":"z_ctrlModReq",
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@@ -1954,7 +1956,7 @@
     "OutputFunctionCall"
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@@ -1994,11 +1996,11 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8597",
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   "icon":"WebViewIcon3",
-  "name":"b_motEna",
-  "label":"b_motEna",
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@@ -2014,11 +2016,17 @@
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@@ -2033,10 +2041,17 @@
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@@ -2056,63 +2071,48 @@
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-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8594",
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-  "label":"From2",
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+  "label":"constant7",
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@@ -2120,16 +2120,16 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8552",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From13",
-  "label":"From13",
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@@ -2137,7 +2137,7 @@
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@@ -2156,11 +2156,11 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8576",
   "className":"Simulink.Logic",
   "icon":"WebViewIcon3",
-  "name":"Logical Operator1",
-  "label":"Logical Operator1",
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@@ -2172,8 +2172,8 @@
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@@ -2201,11 +2201,11 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8577",
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-  "name":"Logical Operator3",
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@@ -2217,7 +2217,7 @@
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@@ -2246,11 +2246,11 @@
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@@ -1,10 +1,10 @@
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@@ -109,7 +109,7 @@
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@@ -272,25 +168,25 @@
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-            <linearGradient gradientUnits="objectBoundingBox" id="grad19" x1="0" x2="0" y1="0" y2="1">
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-    "Auto",
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-    2,
-    11
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   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"r_phaA",
-  "label":"r_phaA",
+  "name":"V_phaABC_FOC",
+  "label":"V_phaABC_FOC",
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   "inspector":{
    "params":[
@@ -302,73 +142,7 @@
     "IconDisplay"
    ],
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8829",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
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-  "viewer":{
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8840",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto2",
-  "label":"Goto2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "r_phaC",
+    "V_phaABC_FOC",
     "local",
     "Tag"
    ],
@@ -400,7 +174,7 @@
     "IconDisplay"
    ],
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-    "r_phaA",
+    "V_phaABC_FOC",
     "Tag"
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    "tabs":[
@@ -419,11 +193,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8828",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8769",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From9",
-  "label":"From9",
+  "name":"From12",
+  "label":"From12",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -431,7 +205,7 @@
     "IconDisplay"
    ],
    "values":[
-    "r_phaB",
+    "i_phaAB",
     "Tag"
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@@ -450,11 +224,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8767",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8778",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From10",
-  "label":"From10",
+  "name":"From22",
+  "label":"From22",
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   "inspector":{
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@@ -462,7 +236,7 @@
     "IconDisplay"
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-    "r_phaC",
+    "i_phaBC",
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@@ -481,73 +255,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8769",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From12",
-  "label":"From12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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-    "IconDisplay"
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8778",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From22",
-  "label":"From22",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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-    "IconDisplay"
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-  },
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-  "finder":{
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-  "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon1",
-  "name":"Inv_Park_Transform",
-  "label":"Inv_Park_Transform",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"Inv_Park_Transform",
+  "label":"Inv_Park_Transform",
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   "inspector":{
    "params":[
@@ -764,7 +476,7 @@
     "OutputFunctionCall"
    ],
    "values":[
-    "8",
+    "11",
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     "[]",
@@ -864,7 +576,7 @@
     "OutputFunctionCall"
    ],
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-    "9",
+    "12",
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     "[]",
@@ -1018,11 +730,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9196",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9197",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"r_devSignal1",
-  "label":"r_devSignal1",
+  "name":"r_devSignal2",
+  "label":"r_devSignal2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1051,7 +763,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
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-    "5",
+    "4",
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@@ -1098,72 +810,51 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9195",
-  "className":"Simulink.Outport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10173",
+  "className":"Simulink.Gain",
   "icon":"WebViewIcon3",
-  "name":"Vq",
-  "label":"Vq",
+  "name":"toNegative",
+  "label":"toNegative",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
-    "Port",
-    "IconDisplay",
+    "Gain",
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     "OutMax",
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-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
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-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "ParamMin",
+    "ParamMax",
+    "ParamDataTypeStr",
+    "SampleTime"
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-    "Port number",
+    "-1",
+    "Element-wise(K.*u)",
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     "Signal Attributes",
+    "Parameter Attributes",
     "-Other"
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     0,
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+    8,
     11
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@@ -1173,124 +864,16 @@
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9142",
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-  "icon":"WebViewIcon3",
-  "name":"UnitDelay4",
-  "label":"UnitDelay4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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-    "StateStorageClass"
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-  "className":"Simulink.SwitchCase",
-  "icon":"WebViewIcon3",
-  "name":"Switch Case",
-  "label":"Switch Case",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
-  "inspector":{
-   "params":[
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-    "ShowDefaultCase",
-    "SampleTime",
-    "ZeroCross"
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-  "icon":"WebViewIcon3",
-  "name":"Scope8",
-  "label":"Scope8",
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-   "jshandler":"webview/handlers/ElementHandler"
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-  "obj_viewer":[
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-  "finder":{
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+   "blocktype":"Gain",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9045",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Park_Transform",
-  "label":"Park_Transform",
+  "name":"Sine_Cosine_Approximation",
+  "label":"Sine_Cosine_Approximation",
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@@ -1383,11 +966,30 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9197",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9073",
+  "className":"Simulink.Scope",
+  "icon":"WebViewIcon3",
+  "name":"Scope9",
+  "label":"Scope9",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"r_devSignal2",
-  "label":"r_devSignal2",
+  "name":"Vq",
+  "label":"Vq",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1416,7 +1018,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
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+    "2",
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     "[]",
@@ -1431,7 +1033,7 @@
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     "0",
     "off",
-    "reset",
+    "held",
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     "0",
     "",
@@ -1463,11 +1065,30 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9072",
+  "className":"Simulink.Scope",
+  "icon":"WebViewIcon3",
+  "name":"Scope8",
+  "label":"Scope8",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "inspector":[
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+  "viewer":{
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9045",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Open_Mode",
-  "label":"Open_Mode",
+  "name":"Park_Transform",
+  "label":"Park_Transform",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1519,7 +1140,7 @@
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     "off",
-    "off",
+    "on",
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@@ -1591,32 +1212,104 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8912",
-  "className":"Simulink.Merge",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9023",
+  "className":"Simulink.Mux",
   "icon":"WebViewIcon3",
-  "name":"Merge",
-  "label":"Merge",
+  "name":"Mux1",
+  "label":"Mux1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "Inputs",
+    "DisplayOption"
+   ],
+   "values":[
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+  "className":"Simulink.Outport",
+  "icon":"WebViewIcon3",
+  "name":"r_devSignal1",
+  "label":"r_devSignal1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "inspector":{
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+    "OutMax",
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+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
     "InitialOutput",
-    "AllowUnequalInputPortWidths",
-    "InputPortOffsets"
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
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+    "3",
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     "[]",
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+    "Signal Attributes",
     "-Other"
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+    2,
+    11
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@@ -1625,16 +1318,113 @@
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   "finder":{
-   "blocktype":"Merge",
+   "blocktype":"Outport",
    "masktype":""
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9713",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
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+  "icon":"WebViewIcon1",
+  "name":"Motor_Limitations",
+  "label":"Motor_Limitations",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "inspector":{
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+    "Permissions",
+    "ErrorFcn",
+    "PermitHierarchicalResolution",
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+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
+    "PropagateVariantConditions",
+    "RTWFcnName",
+    "RTWFcnNameOpts",
+    "RTWFileName",
+    "RTWFileNameOpts",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
+    "RTWMemSecDataParameters",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
+    "SystemSampleTime",
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+  "finder":{
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+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10363",
   "className":"Simulink.If",
   "icon":"WebViewIcon3",
-  "name":"If2",
-  "label":"If2",
+  "name":"If3",
+  "label":"If3",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
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@@ -1673,27 +1463,37 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8862",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9713",
+  "className":"Simulink.If",
   "icon":"WebViewIcon3",
-  "name":"Goto7",
-  "label":"Goto7",
+  "name":"If2",
+  "label":"If2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
+    "NumInputs",
+    "IfExpression",
+    "ElseIfExpressions",
+    "ShowElse",
+    "SampleTime",
+    "ZeroCross"
    ],
    "values":[
-    "Vq_min",
-    "local",
-    "Tag"
+    "1",
+    "u1 ~= 0",
+    "",
+    "off",
+    "-1",
+    "on"
    ],
    "tabs":[
-    "Parameter Attributes"
+    "Parameter Attributes",
+    "-Other"
    ],
-   "tabs_idx":0
+   "tabs_idx":[
+    0,
+    4
+   ]
   },
   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
@@ -1701,16 +1501,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"If",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8857",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8864",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto35",
-  "label":"Goto35",
+  "name":"Goto9",
+  "label":"Goto9",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1719,7 +1519,7 @@
     "IconDisplay"
    ],
    "values":[
-    "r_sin",
+    "n_mot",
     "local",
     "Tag"
    ],
@@ -1739,11 +1539,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8853",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8861",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto31",
-  "label":"Goto31",
+  "name":"Goto6",
+  "label":"Goto6",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1752,7 +1552,7 @@
     "IconDisplay"
    ],
    "values":[
-    "iq_limPrott",
+    "Vq_max",
     "local",
     "Tag"
    ],
@@ -1772,11 +1572,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8848",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8858",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto27",
-  "label":"Goto27",
+  "name":"Goto36",
+  "label":"Goto36",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1785,7 +1585,7 @@
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgtSca",
+    "r_cos",
     "local",
     "Tag"
    ],
@@ -1805,11 +1605,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8847",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8849",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto26",
-  "label":"Goto26",
+  "name":"Goto28",
+  "label":"Goto28",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1818,7 +1618,7 @@
     "IconDisplay"
    ],
    "values":[
-    "id_Tgt",
+    "iq_min",
     "local",
     "Tag"
    ],
@@ -1838,11 +1638,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8845",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8848",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto24",
-  "label":"Goto24",
+  "name":"Goto27",
+  "label":"Goto27",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1851,7 +1651,7 @@
     "IconDisplay"
    ],
    "values":[
-    "id",
+    "r_inpTgtSca",
     "local",
     "Tag"
    ],
@@ -1871,11 +1671,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8842",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8844",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto21",
-  "label":"Goto21",
+  "name":"Goto23",
+  "label":"Goto23",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1884,7 +1684,7 @@
     "IconDisplay"
    ],
    "values":[
-    "a_elecAngle",
+    "iq",
     "local",
     "Tag"
    ],
@@ -1904,11 +1704,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8864",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10703",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto9",
-  "label":"Goto9",
+  "name":"Goto20",
+  "label":"Goto20",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1917,7 +1717,7 @@
     "IconDisplay"
    ],
    "values":[
-    "n_mot",
+    "r_inpTgtScaAbs",
     "local",
     "Tag"
    ],
@@ -1937,11 +1737,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8839",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10171",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto19",
-  "label":"Goto19",
+  "name":"Goto2",
+  "label":"Goto2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -1950,7 +1750,40 @@
     "IconDisplay"
    ],
    "values":[
-    "id_max",
+    "id_Tgt",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8850",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto29",
+  "label":"Goto29",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "id_min",
     "local",
     "Tag"
    ],
@@ -2003,11 +1836,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8836",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8837",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto16",
-  "label":"Goto16",
+  "name":"Goto17",
+  "label":"Goto17",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2016,7 +1849,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_prev",
+    "Vd_max",
     "local",
     "Tag"
    ],
@@ -2036,11 +1869,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8834",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10360",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto14",
-  "label":"Goto14",
+  "name":"Goto16",
+  "label":"Goto16",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2049,7 +1882,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_Vlt",
+    "task2",
     "local",
     "Tag"
    ],
@@ -2069,11 +1902,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8832",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10687",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto12",
-  "label":"Goto12",
+  "name":"Goto14",
+  "label":"Goto14",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2082,7 +1915,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_Spd",
+    "n_motAbs",
     "local",
     "Tag"
    ],
@@ -2102,11 +1935,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8831",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10686",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto11",
-  "label":"Goto11",
+  "name":"Goto12",
+  "label":"Goto12",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2115,7 +1948,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_Trq",
+    "iqAbs",
     "local",
     "Tag"
    ],
@@ -2135,11 +1968,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9717",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8843",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto32",
-  "label":"Goto32",
+  "name":"Goto22",
+  "label":"Goto22",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2148,7 +1981,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_motEna",
+    "r_fieldWeak",
     "local",
     "Tag"
    ],
@@ -2168,11 +2001,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8852",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10448",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto30",
-  "label":"Goto30",
+  "name":"Goto11",
+  "label":"Goto11",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2181,7 +2014,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq",
+    "VdPrev",
     "local",
     "Tag"
    ],
@@ -2201,11 +2034,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8851",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10172",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Goto1",
+  "label":"Goto1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2214,7 +2047,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlMod",
+    "id_TgtAbs",
     "local",
     "Tag"
    ],
@@ -2234,19 +2067,21 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8824",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10359",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From68",
-  "label":"From68",
+  "name":"Goto5",
+  "label":"Goto5",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "iq_limPrott",
+    "task3",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2260,24 +2095,26 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8820",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10394",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From64",
-  "label":"From64",
+  "name":"Goto",
+  "label":"Goto",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "n_limProt",
+    "Vd",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2291,16 +2128,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8819",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10428",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From63",
-  "label":"From63",
+  "name":"From7",
+  "label":"From7",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2308,7 +2145,7 @@
     "IconDisplay"
    ],
    "values":[
-    "n_mot",
+    "id",
     "Tag"
    ],
    "tabs":[
@@ -2327,11 +2164,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8846",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8862",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto25",
-  "label":"Goto25",
+  "name":"Goto7",
+  "label":"Goto7",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2340,7 +2177,7 @@
     "IconDisplay"
    ],
    "values":[
-    "iq_max",
+    "Vq_min",
     "local",
     "Tag"
    ],
@@ -2360,7 +2197,7 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8818",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10438",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
   "name":"From62",
@@ -2372,7 +2209,7 @@
     "IconDisplay"
    ],
    "values":[
-    "iq_limPrott",
+    "iq_limProtErr",
     "Tag"
    ],
    "tabs":[
@@ -2391,30 +2228,42 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9073",
-  "className":"Simulink.Scope",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8817",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Scope9",
-  "label":"Scope9",
+  "name":"From61",
+  "label":"From61",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
-  "inspector":[
-  ],
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "iq",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
   },
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Scope",
+   "blocktype":"From",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8813",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10433",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From58",
-  "label":"From58",
+  "name":"From57",
+  "label":"From57",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2422,7 +2271,7 @@
     "IconDisplay"
    ],
    "values":[
-    "id_min",
+    "id_max",
     "Tag"
    ],
    "tabs":[
@@ -2441,11 +2290,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8809",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8811",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From54",
-  "label":"From54",
+  "name":"From56",
+  "label":"From56",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2472,11 +2321,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8808",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8810",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From53",
-  "label":"From53",
+  "name":"From55",
+  "label":"From55",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2503,11 +2352,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8860",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10395",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto40",
-  "label":"Goto40",
+  "name":"Goto10",
+  "label":"Goto10",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2516,7 +2365,7 @@
     "IconDisplay"
    ],
    "values":[
-    "id_TgtAbs",
+    "Vq",
     "local",
     "Tag"
    ],
@@ -2536,11 +2385,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8805",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10440",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From5",
-  "label":"From5",
+  "name":"From59",
+  "label":"From59",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2548,7 +2397,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_prev",
+    "iq_max",
     "Tag"
    ],
    "tabs":[
@@ -2567,11 +2416,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9655",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10431",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From7",
-  "label":"From7",
+  "name":"From53",
+  "label":"From53",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2579,7 +2428,7 @@
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgtSca",
+    "Vd_max",
     "Tag"
    ],
    "tabs":[
@@ -2598,21 +2447,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8841",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8807",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto20",
-  "label":"Goto20",
+  "name":"From52",
+  "label":"From52",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "Vd",
-    "local",
+    "id_TgtAbs",
     "Tag"
    ],
    "tabs":[
@@ -2626,16 +2473,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8810",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10362",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From55",
-  "label":"From55",
+  "name":"From5",
+  "label":"From5",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2643,7 +2490,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vd_max",
+    "task2",
     "Tag"
    ],
    "tabs":[
@@ -2662,108 +2509,42 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9171",
-  "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon1",
-  "name":"Voltage_Mode",
-  "label":"Voltage_Mode",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10743",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From47",
+  "label":"From47",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
-    "ShowPortLabels",
-    "Permissions",
-    "ErrorFcn",
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+   "jshandler":"webview/handlers/ElementHandler"
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10439",
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   "icon":"WebViewIcon3",
-  "name":"From46",
-  "label":"From46",
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@@ -2771,7 +2552,7 @@
     "IconDisplay"
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@@ -2790,19 +2571,21 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8811",
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10728",
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   "icon":"WebViewIcon3",
-  "name":"From56",
-  "label":"From56",
+  "name":"Goto30",
+  "label":"Goto30",
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   "inspector":{
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     "IconDisplay"
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@@ -2816,16 +2599,16 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10726",
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-  "name":"From69",
-  "label":"From69",
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@@ -2833,7 +2616,7 @@
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@@ -2852,20 +2635,20 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10444",
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-  "name":"Mux1",
-  "label":"Mux1",
+  "name":"From45",
+  "label":"From45",
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   "inspector":{
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@@ -2878,16 +2661,16 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8802",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8796",
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   "icon":"WebViewIcon3",
-  "name":"From47",
-  "label":"From47",
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@@ -2895,7 +2678,7 @@
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@@ -2914,37 +2697,25 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9715",
-  "className":"Simulink.If",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10707",
+  "className":"Simulink.From",
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-  "name":"If1",
-  "label":"If1",
+  "name":"From39",
+  "label":"From39",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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-    "IfExpression",
-    "ElseIfExpressions",
-    "ShowElse",
-    "SampleTime",
-    "ZeroCross"
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@@ -2952,16 +2723,16 @@
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-  "name":"From59",
-  "label":"From59",
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@@ -2969,7 +2740,7 @@
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@@ -2988,11 +2759,11 @@
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@@ -3000,7 +2771,7 @@
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@@ -3019,11 +2790,11 @@
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@@ -3031,7 +2802,7 @@
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@@ -3050,11 +2821,11 @@
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   "icon":"WebViewIcon3",
-  "name":"From31",
-  "label":"From31",
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@@ -3062,7 +2833,7 @@
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@@ -3081,118 +2852,50 @@
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-  "label":"Speed_Mode",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8795",
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@@ -3206,16 +2909,16 @@
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@@ -3223,7 +2926,7 @@
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@@ -3242,11 +2945,11 @@
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@@ -3254,7 +2957,7 @@
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@@ -3273,11 +2976,11 @@
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@@ -3285,7 +2988,7 @@
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@@ -3304,11 +3007,11 @@
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@@ -3316,7 +3019,7 @@
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@@ -3335,11 +3038,11 @@
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@@ -3347,7 +3050,7 @@
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@@ -3366,11 +3069,11 @@
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@@ -3378,7 +3081,7 @@
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@@ -3397,11 +3100,11 @@
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@@ -3409,7 +3112,7 @@
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@@ -3428,42 +3131,11 @@
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@@ -3471,7 +3143,7 @@
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@@ -3490,11 +3162,11 @@
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@@ -3502,7 +3174,7 @@
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@@ -3521,11 +3193,11 @@
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@@ -3533,7 +3205,7 @@
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@@ -3552,21 +3224,19 @@
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@@ -3580,25 +3250,25 @@
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@@ -3987,27 +3805,25 @@
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@@ -4020,16 +3836,16 @@
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-  "label":"From15",
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@@ -4082,16 +3898,16 @@
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@@ -4100,7 +3916,7 @@
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@@ -4120,11 +3936,11 @@
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@@ -4133,7 +3949,7 @@
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@@ -4240,21 +4006,21 @@
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@@ -4262,7 +4028,7 @@
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@@ -4309,16 +4140,83 @@
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-  "name":"Current_Filtering",
-  "label":"Current_Filtering",
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@@ -4411,11 +4309,11 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto36",
-  "label":"Goto36",
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@@ -4424,7 +4322,7 @@
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@@ -4444,11 +4342,11 @@
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-  "label":"From50",
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@@ -4456,7 +4354,7 @@
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@@ -4475,11 +4373,11 @@
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-  "name":"From19",
-  "label":"From19",
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@@ -4487,7 +4385,7 @@
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@@ -4506,27 +4404,61 @@
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-  "label":"Goto29",
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@@ -4534,113 +4466,83 @@
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-  "name":"Torque_Mode",
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@@ -4648,7 +4550,7 @@
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@@ -4667,11 +4569,54 @@
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@@ -4694,7 +4639,7 @@
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@@ -4734,11 +4679,11 @@
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@@ -4746,7 +4691,7 @@
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@@ -4765,11 +4710,11 @@
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@@ -4777,7 +4722,7 @@
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@@ -4795,6 +4740,56 @@
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@@ -4823,7 +4818,7 @@
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@@ -4862,6 +4857,39 @@
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@@ -4890,7 +4918,7 @@
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@@ -4942,7 +4970,7 @@
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@@ -4987,24 +5017,26 @@
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@@ -5018,16 +5050,49 @@
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-  "name":"b_motEna",
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@@ -5050,7 +5115,7 @@
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@@ -5090,19 +5155,21 @@
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@@ -5116,144 +5183,83 @@
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8738_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8738_d.json
index 2c71ba1..84cf778 100644
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8743_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8743_d.json
index 893359d..45955ba 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8743_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8743_d.json
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
-  "inspector":{
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-    "RequireIndexFractionAsBus",
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-    "ValidIndexMayReachLast",
-    "NumSelectionDims",
-    "RemoveProtectionIndex",
-    "TableDataTypeStr",
-    "TableMin",
-    "TableMax",
-    "OutDataTypeStr",
-    "OutMin",
-    "OutMax",
-    "InternalRulePriority",
-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "ExtrapMethod",
-    "IntermediateResultsDataTypeStr",
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-    "SampleTime"
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-    "Inherit: Same as output",
-    "[]",
-    "[]",
-    "fixdt(1,16,14)",
-    "[]",
-    "[]",
-    "Speed",
+    "Speed",
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     "Simplest",
     "off",
@@ -657,11 +340,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8753",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8748",
   "className":"Simulink.PreLookup",
   "icon":"WebViewIcon3",
-  "name":"r_fieldWeak_XA",
-  "label":"r_fieldWeak_XA",
+  "name":"a_elecAngle_XA",
+  "label":"a_elecAngle_XA",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
   "inspector":{
    "params":[
@@ -671,48 +354,48 @@
     "OutputSelection",
     "IndexSearchMethod",
     "ExtrapMethod",
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     "DiagnosticForOutOfRangeInput",
     "RemoveProtectionInput",
     "BreakpointDataTypeStr",
     "BreakpointMin",
     "BreakpointMax",
     "IndexDataTypeStr",
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     "LockScale",
-    "RndMeth",
     "BeginIndexSearchUsingPreviousIndexResult",
     "BreakpointObject",
     "BreakpointsFirstPoint",
     "BreakpointsNumPoints",
     "BreakpointsSpacing",
+    "FractionDataTypeStr",
     "OutputBusDataTypeStr",
-    "SampleTime"
+    "RndMeth",
+    "SampleTime",
+    "UseLastBreakpoint"
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    "values":[
     "Explicit values",
     "Dialog",
-    "r_fieldWeak_XA",
-    "Index and fraction",
+    "a_elecAngle_XA",
+    "Index only",
     "Evenly spaced points",
     "Clip",
-    "off",
-    "Error",
+    "None",
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     "Inherit: Same as input",
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-    "fixdt(0,8,6)",
     "off",
-    "Simplest",
     "on",
     "",
     "10",
     "11",
     "10",
+    "fixdt(0,16,14)",
     "Inherit: auto",
-    "-1"
+    "Simplest",
+    "-1",
+    "off"
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     "Main",
@@ -721,8 +404,8 @@
    ],
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-    9,
-    16
+    8,
+    13
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@@ -736,122 +419,27 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8749",
-  "className":"Simulink.Constant",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9646",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"a_elecPeriod1",
-  "label":"a_elecPeriod1",
+  "name":"Goto1",
+  "label":"Goto1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
   "inspector":{
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-    "VectorParams1D",
-    "SampleTime",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "FramePeriod"
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
    ],
    "values":[
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-    "on",
-    "inf",
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
-    "off",
-    "inf"
+    "r_cos",
+    "local",
+    "Tag"
    ],
    "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
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-  "viewer":{
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-  "icon":"WebViewIcon3",
-  "name":"a_elecAngle_XA",
-  "label":"a_elecAngle_XA",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
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-    "BreakpointsDataSource",
-    "BreakpointsData",
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-    "DiagnosticForOutOfRangeInput",
-    "RemoveProtectionInput",
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-    "BreakpointMax",
-    "IndexDataTypeStr",
-    "FractionDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "BeginIndexSearchUsingPreviousIndexResult",
-    "BreakpointObject",
-    "BreakpointsFirstPoint",
-    "BreakpointsNumPoints",
-    "BreakpointsSpacing",
-    "OutputBusDataTypeStr",
-    "SampleTime"
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-    "10",
-    "Inherit: auto",
-    "-1"
-   ],
-   "tabs":[
-    "Main",
-    "Data Types",
-    "-Other"
+    "Parameter Attributes"
    ],
-   "tabs_idx":[
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-    9,
-    16
-   ]
+   "tabs_idx":0
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   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
@@ -859,56 +447,30 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"PreLookup",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8747",
-  "className":"Simulink.Switch",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9643",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Switch1",
-  "label":"Switch1",
+  "name":"From2",
+  "label":"From2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
   "inspector":{
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-    "InputSameDT",
-    "OutMin",
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-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "AllowDiffInputSizes",
-    "SampleTime",
-    "Threshold",
-    "ZeroCross"
+    "GotoTag",
+    "IconDisplay"
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    "values":[
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-    "off",
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
-    "off",
-    "Zero",
-    "off",
-    "off",
-    "-1",
-    "0",
-    "on"
+    "r_sin",
+    "Tag"
    ],
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-    "Signal Attributes",
-    "-Other"
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+   "tabs_idx":0
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    "jshandler":"webview/handlers/ElementHandler"
@@ -916,80 +478,30 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Switch",
+   "blocktype":"From",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8752",
-  "className":"Simulink.Interpolation_nD",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9640",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"id_fieldWeak_M1",
-  "label":"id_fieldWeak_M1",
+  "name":"From",
+  "label":"From",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
   "inspector":{
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-    "RequireIndexFractionAsBus",
-    "TableSpecification",
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-    "RemoveProtectionIndex",
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-    "TableMin",
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-    "OutMax",
-    "InternalRulePriority",
-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "ExtrapMethod",
-    "IntermediateResultsDataTypeStr",
-    "LookupTableObject",
-    "SampleTime"
+    "GotoTag",
+    "IconDisplay"
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-    "off",
-    "Simplest",
-    "off",
-    "Clip",
-    "Inherit: Same as output",
-    "",
-    "-1"
+    "a_elecAngle",
+    "Tag"
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-    "Data Types",
-    "-Other"
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-    20
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@@ -997,7 +509,7 @@
   "obj_viewer":[
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-   "blocktype":"Interpolation_n-D",
+   "blocktype":"From",
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@@ -1035,27 +547,43 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9650",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10676",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Constant",
+  "label":"Constant",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
   "inspector":{
    "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
+    "Value",
+    "VectorParams1D",
+    "SampleTime",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "FramePeriod"
    ],
    "values":[
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-    "local",
-    "Tag"
+    "0",
+    "on",
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+    "inf"
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+   "tabs_idx":[
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+    7
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@@ -1063,1673 +591,142 @@
   "obj_viewer":[
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-   "blocktype":"Goto",
+   "blocktype":"Constant",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8758",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"r_cos",
-  "label":"r_cos",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
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-    "BusOutputAsStruct",
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-    "SignalName",
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-    "SourceOfInitialOutputValue",
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-    "VectorParamsAs1DForOutWhenUnconnected"
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8913_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8913_d.json
index 6baee2f..dcf86c7 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8913_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8913_d.json
@@ -150,8 +150,8 @@
   "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9021",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
-  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current Circle limitations with priority on i_d (Flux current):</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_maxSca  = sqrt(1 - idSca^2)  (unit circle)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_max   = iq_maxSca * i_max</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where, </span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">idSca   = id / i_max,</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">The id_Tgt is used instead of measured id, because the target is a more clean signal.</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
-  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current Circle limitations with priority on i_d (Flux current):</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_maxSca  = sqrt(1 - idSca^2)  (unit circle)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_max   = iq_maxSca * i_max</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where, </span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">idSca   = id / i_max,</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">The id_Tgt is used instead of measured id, because the target is a more clean signal.</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
+  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current Circle limitations with priority on i_d (Flux current):</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_maxSca  = sqrt(1 - idSca^2)  (unit circle)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_max   = iq_maxSca * i_max</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where, idSca = id / i_max,</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">The id_Tgt is used instead of measured id, because the target is a more clean signal.</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
+  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current Circle limitations with priority on i_d (Flux current):</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_maxSca  = sqrt(1 - idSca^2)  (unit circle)</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_max   = iq_maxSca * i_max</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where, idSca = id / i_max,</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">The id_Tgt is used instead of measured id, because the target is a more clean signal.</span></p> <p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -169,7 +169,7 @@
     "ClickFcn"
    ],
    "values":[
-    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current Circle limitations with priority on i_d (Flux current):</span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_maxSca \t= sqrt(1 - idSca^2) \t(unit circle)</span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_max \t\t= iq_maxSca * i_max</span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where, </span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">idSca \t\t= id / i_max,</span></p>\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">The id_Tgt is used instead of measured id, because the target is a more clean signal.</span></p>\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
+    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Current Circle limitations with priority on i_d (Flux current):</span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_maxSca \t= sqrt(1 - idSca^2) \t(unit circle)</span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">iq_max \t\t= iq_maxSca * i_max</span></p>\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">where, idSca\t= id / i_max,</span></p>\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">The id_Tgt is used instead of measured id, because the target is a more clean signal.</span></p>\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#ff0000;\"><br /></p></body></html>",
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@@ -248,8 +248,8 @@
   "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9017",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"n_limProt",
-  "label":"n_limProt",
+  "name":"Vq_nLimProtMax",
+  "label":"Vq_nLimProtMax",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -278,7 +278,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "10",
+    "12",
     "Port number",
     "[]",
     "[]",
@@ -291,9 +291,9 @@
     "auto",
     "off",
     "off",
-    "V_min",
+    "[]",
     "off",
-    "reset",
+    "held",
     "off",
     "0",
     "",
@@ -325,11 +325,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9012",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9014",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"iq_max",
-  "label":"iq_max",
+  "name":"iq_limProtErr",
+  "label":"iq_limProtErr",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -358,7 +358,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "7",
+    "11",
     "Port number",
     "[]",
     "[]",
@@ -371,9 +371,9 @@
     "auto",
     "off",
     "off",
-    "V_max",
+    "[]",
     "off",
-    "reset",
+    "held",
     "off",
     "0",
     "",
@@ -405,11 +405,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9010",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10711",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"id_max",
-  "label":"id_max",
+  "name":"r_iqLimProtMax",
+  "label":"r_iqLimProtMax",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -438,7 +438,87 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "5",
+    "9",
+    "Port number",
+    "[]",
+    "[]",
+    "Inherit: auto",
+    "off",
+    "inherit",
+    "-1",
+    "Inherit",
+    "-1",
+    "auto",
+    "off",
+    "off",
+    "[]",
+    "off",
+    "held",
+    "off",
+    "0",
+    "",
+    [
+    ],
+    "Dialog",
+    "Auto",
+    "off"
+   ],
+   "tabs":[
+    "Main",
+    "Signal Attributes",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    2,
+    11
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+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Outport",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9012",
+  "className":"Simulink.Outport",
+  "icon":"WebViewIcon3",
+  "name":"iq_max",
+  "label":"iq_max",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "inspector":{
+   "params":[
+    "Port",
+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
+   ],
+   "values":[
+    "7",
     "Port number",
     "[]",
     "[]",
@@ -451,9 +531,9 @@
     "auto",
     "off",
     "off",
-    "V_max",
+    "750",
     "off",
-    "reset",
+    "held",
     "off",
     "0",
     "",
@@ -531,9 +611,9 @@
     "auto",
     "off",
     "off",
-    "V_min",
+    "-900",
     "off",
-    "reset",
+    "held",
     "off",
     "0",
     "",
@@ -565,32 +645,63 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9005",
-  "className":"Simulink.Constant",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10712",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"n_max1",
-  "label":"n_max1",
+  "name":"r_nLimProtMax",
+  "label":"r_nLimProtMax",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
-    "Value",
-    "VectorParams1D",
-    "SampleTime",
+    "Port",
+    "IconDisplay",
     "OutMin",
     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "FramePeriod"
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "n_max",
-    "on",
-    "inf",
+    "10",
+    "Port number",
     "[]",
     "[]",
-    "fixdt(1,16,4)",
+    "Inherit: auto",
     "off",
-    "inf"
+    "inherit",
+    "-1",
+    "Inherit",
+    "-1",
+    "auto",
+    "off",
+    "off",
+    "[]",
+    "off",
+    "held",
+    "off",
+    "0",
+    "",
+    [
+    ],
+    "Dialog",
+    "Auto",
+    "off"
    ],
    "tabs":[
     "Main",
@@ -599,8 +710,8 @@
    ],
    "tabs_idx":[
     0,
-    3,
-    7
+    2,
+    11
    ]
   },
   "viewer":{
@@ -609,7 +720,7 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Constant",
+   "blocktype":"Outport",
    "masktype":""
   }
  },
@@ -628,23 +739,23 @@
     "OutputSelection",
     "IndexSearchMethod",
     "ExtrapMethod",
-    "UseLastBreakpoint",
     "DiagnosticForOutOfRangeInput",
     "RemoveProtectionInput",
     "BreakpointDataTypeStr",
     "BreakpointMin",
     "BreakpointMax",
     "IndexDataTypeStr",
-    "FractionDataTypeStr",
     "LockScale",
-    "RndMeth",
     "BeginIndexSearchUsingPreviousIndexResult",
     "BreakpointObject",
     "BreakpointsFirstPoint",
     "BreakpointsNumPoints",
     "BreakpointsSpacing",
+    "FractionDataTypeStr",
     "OutputBusDataTypeStr",
-    "SampleTime"
+    "RndMeth",
+    "SampleTime",
+    "UseLastBreakpoint"
    ],
    "values":[
     "Explicit values",
@@ -653,23 +764,23 @@
     "Index only",
     "Evenly spaced points",
     "Clip",
-    "off",
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@@ -678,8 +789,8 @@
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@@ -773,55 +884,6 @@
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@@ -837,23 +899,23 @@
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-    "RndMeth",
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     "BreakpointsFirstPoint",
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+    "RndMeth",
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@@ -862,23 +924,23 @@
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@@ -887,8 +949,8 @@
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@@ -902,65 +964,16 @@
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   "icon":"WebViewIcon3",
-  "name":"Vd_max1",
-  "label":"Vd_max1",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
-  "inspector":{
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+    "Port",
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     "OutMax",
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@@ -984,7 +997,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
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@@ -997,9 +1010,9 @@
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-    "V_min",
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     "off",
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@@ -1031,11 +1044,141 @@
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+  "label":"Vq_max_M1",
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+    "TableMax",
+    "OutDataTypeStr",
+    "OutMin",
+    "OutMax",
+    "InternalRulePriority",
+    "LockScale",
+    "RndMeth",
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+  "name":"Vd_max1",
+  "label":"Vd_max1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
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   "icon":"WebViewIcon1",
-  "name":"Speed_Limit_Protection",
-  "label":"Speed_Limit_Protection",
+  "name":"Voltage_Mode_Protection",
+  "label":"Voltage_Mode_Protection",
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@@ -1128,38 +1271,73 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8986",
-  "className":"Simulink.RelationalOperator",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9011",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"Relational Operator4",
-  "label":"Relational Operator4",
+  "name":"id_min",
+  "label":"id_min",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
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-    "InputSameDT",
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+    "PortDimensions",
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     "SampleTime",
-    "ZeroCross"
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
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+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
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@@ -1168,183 +1346,32 @@
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+   "blocktype":"Outport",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9002",
-  "className":"Simulink.Constant",
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-    "VectorParams1D",
-    "SampleTime",
-    "OutMin",
-    "OutMax",
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@@ -1352,48 +1379,32 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9001",
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8973",
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   "icon":"WebViewIcon3",
-  "name":"a_elecPeriod2",
-  "label":"a_elecPeriod2",
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+  "label":"Goto5",
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-    "SampleTime",
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-    "OutDataTypeStr",
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@@ -1401,42 +1412,32 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8978",
-  "className":"Simulink.If",
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   "icon":"WebViewIcon3",
-  "name":"If1",
-  "label":"If1",
+  "name":"Goto3",
+  "label":"Goto3",
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@@ -1444,80 +1445,32 @@
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-  "label":"Vq_max_M1",
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@@ -1525,16 +1478,16 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto8",
-  "label":"Goto8",
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@@ -1543,7 +1496,7 @@
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@@ -1563,11 +1516,11 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8970",
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   "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
+  "name":"Goto2",
+  "label":"Goto2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -1576,7 +1529,7 @@
     "IconDisplay"
    ],
    "values":[
-    "iq_max",
+    "id_TgtAbs",
     "local",
     "Tag"
    ],
@@ -1596,11 +1549,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8972",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10705",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto4",
-  "label":"Goto4",
+  "name":"Goto19",
+  "label":"Goto19",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -1609,7 +1562,7 @@
     "IconDisplay"
    ],
    "values":[
-    "id_max",
+    "r_inpTgtScaAbs",
     "local",
     "Tag"
    ],
@@ -1629,27 +1582,74 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8971",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9008",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Vq_max",
+  "label":"Vq_max",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
+    "Port",
+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "Vd_min",
-    "local",
-    "Tag"
+    "3",
+    "Port number",
+    "[]",
+    "[]",
+    "Inherit: auto",
+    "off",
+    "inherit",
+    "-1",
+    "Inherit",
+    "-1",
+    "auto",
+    "off",
+    "off",
+    "900",
+    "off",
+    "held",
+    "off",
+    "0",
+    "",
+    [
+    ],
+    "Dialog",
+    "Auto",
+    "off"
    ],
    "tabs":[
-    "Parameter Attributes"
+    "Main",
+    "Signal Attributes",
+    "-Other"
    ],
-   "tabs_idx":0
+   "tabs_idx":[
+    0,
+    2,
+    11
+   ]
   },
   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
@@ -1657,16 +1657,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"Outport",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8969",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10694",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto16",
-  "label":"Goto16",
+  "name":"Goto17",
+  "label":"Goto17",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -1675,7 +1675,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlMod",
+    "n_motAbs",
     "local",
     "Tag"
    ],
@@ -1695,11 +1695,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8968",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8969",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto15",
-  "label":"Goto15",
+  "name":"Goto16",
+  "label":"Goto16",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -1708,7 +1708,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_min",
+    "z_ctrlMod",
     "local",
     "Tag"
    ],
@@ -1728,11 +1728,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8967",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8962",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto14",
-  "label":"Goto14",
+  "name":"Goto1",
+  "label":"Goto1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -1741,7 +1741,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_max",
+    "VdPrev",
     "local",
     "Tag"
    ],
@@ -1761,11 +1761,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8961",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8972",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto",
-  "label":"Goto",
+  "name":"Goto4",
+  "label":"Goto4",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -1774,7 +1774,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vd_max",
+    "id_max",
     "local",
     "Tag"
    ],
@@ -1794,11 +1794,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8960",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8959",
   "className":"Simulink.Gain",
   "icon":"WebViewIcon3",
-  "name":"Gain6",
-  "label":"Gain6",
+  "name":"Gain5",
+  "label":"Gain5",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -1853,11 +1853,44 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8959",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10715",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto21",
+  "label":"Goto21",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "Vq_nLimProtMax",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8957",
   "className":"Simulink.Gain",
   "icon":"WebViewIcon3",
-  "name":"Gain5",
-  "label":"Gain5",
+  "name":"Gain3",
+  "label":"Gain3",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -1912,11 +1945,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8958",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8956",
   "className":"Simulink.Gain",
   "icon":"WebViewIcon3",
-  "name":"Gain4",
-  "label":"Gain4",
+  "name":"Gain1",
+  "label":"Gain1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -1971,74 +2004,25 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9014",
-  "className":"Simulink.Outport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8955",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"iq_limProt",
-  "label":"iq_limProt",
+  "name":"From9",
+  "label":"From9",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
-    "Port",
-    "IconDisplay",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
+    "GotoTag",
+    "IconDisplay"
    ],
    "values":[
-    "9",
-    "Port number",
-    "[]",
-    "[]",
-    "Inherit: auto",
-    "off",
-    "inherit",
-    "-1",
-    "Inherit",
-    "-1",
-    "auto",
-    "off",
-    "off",
-    "V_min",
-    "off",
-    "reset",
-    "off",
-    "0",
-    "",
-    [
-    ],
-    "Dialog",
-    "Auto",
-    "off"
+    "iq_min",
+    "Tag"
    ],
    "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
+    "Parameter Attributes"
    ],
-   "tabs_idx":[
-    0,
-    2,
-    11
-   ]
+   "tabs_idx":0
   },
   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
@@ -2046,7 +2030,38 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Outport",
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8954",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From8",
+  "label":"From8",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "iq_max",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
    "masktype":""
   }
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@@ -2082,53 +2097,25 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8957",
-  "className":"Simulink.Gain",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8950",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Gain3",
-  "label":"Gain3",
+  "name":"From4",
+  "label":"From4",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
-    "Gain",
-    "Multiplication",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "ParamMin",
-    "ParamMax",
-    "ParamDataTypeStr",
-    "SampleTime"
+    "GotoTag",
+    "IconDisplay"
    ],
    "values":[
-    "-1",
-    "Element-wise(K.*u)",
-    "[]",
-    "[]",
-    "Inherit: Same as input",
-    "off",
-    "Zero",
-    "off",
-    "[]",
-    "[]",
-    "Inherit: Same as input",
-    "-1"
+    "Vd_min",
+    "Tag"
    ],
    "tabs":[
-    "Main",
-    "Signal Attributes",
-    "Parameter Attributes",
-    "-Other"
+    "Parameter Attributes"
    ],
-   "tabs_idx":[
-    0,
-    2,
-    8,
-    11
-   ]
+   "tabs_idx":0
   },
   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
@@ -2136,16 +2123,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Gain",
+   "blocktype":"From",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8952",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10710",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From6",
-  "label":"From6",
+  "name":"From31",
+  "label":"From31",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -2153,7 +2140,7 @@
     "IconDisplay"
    ],
    "values":[
-    "id_TgtAbs",
+    "r_nLimProtMax",
     "Tag"
    ],
    "tabs":[
@@ -2172,11 +2159,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8951",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10709",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From5",
-  "label":"From5",
+  "name":"From30",
+  "label":"From30",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -2184,7 +2171,7 @@
     "IconDisplay"
    ],
    "values":[
-    "id_max",
+    "r_iqLimProtMax",
     "Tag"
    ],
    "tabs":[
@@ -2203,11 +2190,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8947",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10700",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From3",
-  "label":"From3",
+  "name":"From28",
+  "label":"From28",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
@@ -2215,7 +2202,69 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_min",
+    "n_motAbs",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10684",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From25",
+  "label":"From25",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "n_max",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10683",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From24",
+  "label":"From24",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "iq",
     "Tag"
    ],
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@@ -2265,21 +2314,50 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8966",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8939",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From13",
+  "label":"From13",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "iq_limProtErr",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
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+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10816",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto13",
-  "label":"Goto13",
+  "name":"From11",
+  "label":"From11",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "n_limProt",
-    "local",
+    "Vq_max",
     "Tag"
    ],
    "tabs":[
@@ -2293,16 +2371,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8944",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10699",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From18",
-  "label":"From18",
+  "name":"From27",
+  "label":"From27",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
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@@ -2310,7 +2388,7 @@
     "IconDisplay"
    ],
    "values":[
-    "n_limProt",
+    "iqAbs",
     "Tag"
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@@ -2329,11 +2407,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8948",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8952",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From36",
-  "label":"From36",
+  "name":"From6",
+  "label":"From6",
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   "inspector":{
    "params":[
@@ -2341,7 +2419,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlMod",
+    "id_TgtAbs",
     "Tag"
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@@ -2360,11 +2438,11 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8949",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8935",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From37",
-  "label":"From37",
+  "name":"From1",
+  "label":"From1",
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   "inspector":{
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@@ -2372,7 +2450,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlMod",
+    "Vq_max",
     "Tag"
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@@ -2391,11 +2469,11 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8943",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8944",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From17",
-  "label":"From17",
+  "name":"From18",
+  "label":"From18",
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   "inspector":{
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@@ -2403,7 +2481,7 @@
     "IconDisplay"
    ],
    "values":[
-    "n_min",
+    "Vq_nLimProtMax",
     "Tag"
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    "tabs":[
@@ -2422,11 +2500,11 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8942",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8934",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From16",
-  "label":"From16",
+  "name":"From",
+  "label":"From",
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   "inspector":{
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@@ -2434,7 +2512,7 @@
     "IconDisplay"
    ],
    "values":[
-    "n_mot",
+    "VdPrev",
     "Tag"
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@@ -2453,11 +2531,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8955",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10780",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From9",
-  "label":"From9",
+  "name":"From10",
+  "label":"From10",
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@@ -2465,7 +2543,7 @@
     "IconDisplay"
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    "values":[
-    "iq_min",
+    "n_motAbs",
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@@ -2484,25 +2562,51 @@
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@@ -3180,7 +3327,7 @@
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@@ -3199,50 +3346,32 @@
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@@ -3251,8 +3380,8 @@
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@@ -3261,7 +3390,7 @@
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@@ -3313,21 +3442,19 @@
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@@ -3341,48 +3468,32 @@
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-  "label":"CTRL_COMM",
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@@ -3422,7 +3533,7 @@
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@@ -3462,44 +3573,11 @@
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-  "name":"iq_min",
-  "label":"iq_min",
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@@ -3528,7 +3606,7 @@
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@@ -3541,9 +3619,9 @@
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@@ -3554,15 +3632,77 @@
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@@ -3570,16 +3710,16 @@
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-  "name":"id_TgtAbs",
-  "label":"id_TgtAbs",
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@@ -3602,7 +3742,7 @@
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@@ -3670,7 +3808,7 @@
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@@ -3708,11 +3846,42 @@
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-  "label":"From19",
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@@ -3720,7 +3889,7 @@
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@@ -3739,11 +3908,11 @@
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-  "label":"Vd",
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@@ -3766,7 +3935,7 @@
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@@ -3806,25 +3975,61 @@
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-  "label":"From10",
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@@ -3832,16 +4037,16 @@
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@@ -3857,20 +4062,14 @@
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@@ -3882,17 +4081,10 @@
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@@ -3912,48 +4104,129 @@
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-  "label":"CTRL_COMM2",
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@@ -3961,77 +4234,56 @@
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+          <g clip-path="url(#clip17)" fill="#ffffff" fill-opacity="1" opacity="1" stroke="#ff0000" stroke-linecap="square" stroke-linejoin="bevel" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,-30,912)">
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Binary files a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8987_d.png and /dev/null differ
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.json
index 4ab90af..c45d5d1 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9029_d.json
@@ -3,8 +3,8 @@
   "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9044",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
-  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This will reduce the control command to 0 with a predefined rate.</span></p></body></html>",
-  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This will reduce the control command to 0 with a predefined rate.</span></p></body></html>",
+  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Just copy the target which will be reduced to 0 in the Input_Target_Sythesis function. </span></p></body></html>",
+  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Just copy the target which will be reduced to 0 in the Input_Target_Sythesis function. </span></p></body></html>",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
   "inspector":{
    "params":[
@@ -22,7 +22,7 @@
     "ClickFcn"
    ],
    "values":[
-    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This will reduce the control command to 0 with a predefined rate.</span></p></body></html>",
+    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Just copy the target which will be reduced to 0 in the Input_Target_Sythesis function. </span></p></body></html>",
     "off",
     "rich",
     "auto",
@@ -48,6 +48,37 @@
   "finder":[
   ]
  },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9031",
+  "className":"Simulink.ActionPort",
+  "icon":"WebViewIcon3",
+  "name":"Action Port",
+  "label":"Action Port",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "inspector":{
+   "params":[
+    "InitializeStates",
+    "PropagateVarSize"
+   ],
+   "values":[
+    "held",
+    "Only when execution is resumed"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"ActionPort",
+   "masktype":""
+  }
+ },
  {
   "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9043",
   "className":"Simulink.Outport",
@@ -129,369 +160,60 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
-  "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon9",
-  "name":"Rate_Limiter",
-  "label":"Rate_Limiter",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "ShowPortLabels",
-    "BlockChoice",
-    "TemplateBlock",
-    "MemberBlocks",
-    "Permissions",
-    "ErrorFcn",
-    "PermitHierarchicalResolution",
-    "TreatAsAtomicUnit",
-    "MinAlgLoopOccurrences",
-    "PropExecContextOutsideSubsystem",
-    "SystemSampleTime",
-    "RTWSystemCode",
-    "RTWFcnNameOpts",
-    "RTWFcnName",
-    "RTWFileNameOpts",
-    "RTWFileName",
-    "FunctionInterfaceSpec",
-    "FunctionWithSeparateData",
-    "RTWMemSecFuncInitTerm",
-    "RTWMemSecFuncExecute",
-    "RTWMemSecDataConstants",
-    "RTWMemSecDataInternal",
-    "RTWMemSecDataParameters",
-    "IsSubsystemVirtual",
-    "Variant",
-    "VariantControl",
-    "OverrideUsingVariant",
-    "GeneratePreprocessorConditionals",
-    "AllowZeroVariantControls",
-    "PropagateVariantConditions",
-    "ActiveVariant",
-    "ActiveVariantBlock",
-    "TreatAsGroupedWhenPropagatingVariantConditions"
-   ],
-   "values":[
-    "FromPortIcon",
-    "",
-    "",
-    "",
-    "ReadWrite",
-    "",
-    "All",
-    "on",
-    "off",
-    "off",
-    "-1",
-    "Auto",
-    "Use subsystem name",
-    "",
-    "Auto",
-    "",
-    "void_void",
-    "off",
-    "Inherit from model",
-    "Inherit from model",
-    "Inherit from model",
-    "Inherit from model",
-    "Inherit from model",
-    "off",
-    "off",
-    "",
-    "",
-    "off",
-    "off",
-    "off",
-    "",
-    "",
-    "on"
-   ],
-   "tabs":[
-   ],
-   "tabs_idx":[
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ContainerHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"SubSystem",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9041",
-  "className":"Simulink.Constant",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9030",
+  "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"dV_openRate",
-  "label":"dV_openRate",
+  "name":"r_inpTgtSca",
+  "label":"r_inpTgtSca",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
   "inspector":{
    "params":[
-    "Value",
-    "VectorParams1D",
-    "SampleTime",
+    "Port",
+    "IconDisplay",
     "OutMin",
     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "FramePeriod"
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
    ],
    "values":[
-    "dV_openRate",
-    "on",
-    "inf",
+    "1",
+    "Port number",
     "[]",
     "[]",
-    "fixdt(1,28,16)",
+    "Inherit: auto",
     "off",
-    "inf"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    3,
-    7
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Constant",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9037",
-  "className":"Simulink.Gain",
-  "icon":"WebViewIcon3",
-  "name":"Gain3",
-  "label":"Gain3",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "Gain",
-    "Multiplication",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "ParamMin",
-    "ParamMax",
-    "ParamDataTypeStr",
-    "SampleTime"
-   ],
-   "values":[
+    "inherit",
     "-1",
-    "Element-wise(K.*u)",
-    "[]",
-    "[]",
-    "Inherit: Same as input",
-    "off",
-    "Zero",
+    "Inherit",
+    "-1",
+    "auto",
     "off",
-    "[]",
-    "[]",
-    "Inherit: Inherit via internal rule",
-    "-1"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "Parameter Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    2,
-    8,
-    11
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Gain",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9036",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From1",
-  "label":"From1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "Vq_Open",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9042",
-  "className":"Rising edge init",
-  "icon":"WebViewIcon4",
-  "name":"rising_edge_init",
-  "label":"rising_edge_init",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "ShowPortLabels",
-    "Permissions",
-    "ErrorFcn",
-    "PermitHierarchicalResolution",
-    "TreatAsAtomicUnit",
-    "TreatAsGroupedWhenPropagatingVariantConditions",
-    "ActiveVariant",
-    "ActiveVariantBlock",
-    "AllowZeroVariantControls",
-    "BlockChoice",
-    "FunctionInterfaceSpec",
-    "FunctionWithSeparateData",
-    "GeneratePreprocessorConditionals",
-    "IsSubsystemVirtual",
-    "MemberBlocks",
-    "MinAlgLoopOccurrences",
-    "OverrideUsingVariant",
-    "PropExecContextOutsideSubsystem",
-    "PropagateVariantConditions",
-    "RTWFcnName",
-    "RTWFcnNameOpts",
-    "RTWFileName",
-    "RTWFileNameOpts",
-    "RTWMemSecDataConstants",
-    "RTWMemSecDataInternal",
-    "RTWMemSecDataParameters",
-    "RTWMemSecFuncExecute",
-    "RTWMemSecFuncInitTerm",
-    "RTWSystemCode",
-    "SystemSampleTime",
-    "TemplateBlock",
-    "Variant",
-    "VariantControl"
-   ],
-   "values":[
-    "FromPortIcon",
-    "ReadWrite",
     "",
-    "All",
     "on",
-    "on",
-    "",
-    "",
-    "off",
-    "",
-    "void_void",
-    "off",
-    "off",
-    "off",
-    "",
-    "off",
-    "",
-    "off",
     "off",
-    "",
-    "Auto",
-    "",
-    "Auto",
-    "Inherit from model",
-    "Inherit from model",
-    "Inherit from model",
-    "Inherit from model",
-    "Inherit from model",
-    "Auto",
-    "-1",
-    "",
     "off",
-    ""
+    "off"
    ],
    "tabs":[
     "Main",
+    "Signal Attributes",
     "-Other"
    ],
    "tabs_idx":[
     0,
-    6
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ContainerHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"SubSystem",
-   "masktype":"Rising edge init"
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9034",
-  "className":"Simulink.DataTypeConversion",
-  "icon":"WebViewIcon3",
-  "name":"Data Type Conversion1",
-  "label":"Data Type Conversion1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "ConvertRealWorld",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "SampleTime"
-   ],
-   "values":[
-    "[]",
-    "[]",
-    "fixdt(1,16,4)",
-    "off",
-    "Real World Value (RWV)",
-    "Floor",
-    "off",
-    "-1"
-   ],
-   "tabs":[
-    "Parameter Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    7
+    2,
+    11
    ]
   },
   "viewer":{
@@ -500,298 +222,7 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"DataTypeConversion",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9035",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From",
-  "label":"From",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "Vq_prev",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"From",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9039",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto13",
-  "label":"Goto13",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "Vq_prev",
-    "local",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9033",
-  "className":"Simulink.DataTypeConversion",
-  "icon":"WebViewIcon3",
-  "name":"Data Type Conversion",
-  "label":"Data Type Conversion",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "ConvertRealWorld",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "SampleTime"
-   ],
-   "values":[
-    "[]",
-    "[]",
-    "fixdt(1,28,16)",
-    "off",
-    "Real World Value (RWV)",
-    "Floor",
-    "off",
-    "-1"
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-   "tabs":[
-    "Parameter Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
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-    7
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"DataTypeConversion",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9032",
-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon3",
-  "name":"Constant23",
-  "label":"Constant23",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "Value",
-    "VectorParams1D",
-    "SampleTime",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "FramePeriod"
-   ],
-   "values":[
-    "0",
-    "on",
-    "inf",
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
-    "off",
-    "inf"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
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-   "tabs_idx":[
-    0,
-    3,
-    7
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
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-  "finder":{
-   "blocktype":"Constant",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9031",
-  "className":"Simulink.ActionPort",
-  "icon":"WebViewIcon3",
-  "name":"Action Port",
-  "label":"Action Port",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "InitializeStates",
-    "PropagateVarSize"
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-   "values":[
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-    "Only when execution is resumed"
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-   "tabs":[
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-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
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-  "obj_viewer":[
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-  "finder":{
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-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9030",
-  "className":"Simulink.Inport",
-  "icon":"WebViewIcon3",
-  "name":"Vq_prev",
-  "label":"Vq_prev",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "Port",
-    "IconDisplay",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
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-    "LatchByDelayingOutsideSignal",
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-    "OutputFunctionCall"
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-   "values":[
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- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9038",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto",
-  "label":"Goto",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "Vq_Open",
-    "local",
-    "Tag"
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-   "tabs":[
-    "Parameter Attributes"
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9074_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9074_d.json
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9109_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9109_d.json
index 00bf9b2..870e392 100644
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9136",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10831",
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   "name":"Sum2",
@@ -152,8 +103,8 @@
     "SampleTime"
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@@ -188,11 +139,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9138",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10834",
   "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"cf_iqKi",
-  "label":"cf_iqKi",
+  "name":"constant2",
+  "label":"constant2",
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   "inspector":{
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@@ -206,12 +157,12 @@
     "FramePeriod"
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@@ -237,11 +188,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9133",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10829",
   "className":"Saturation Dynamic",
   "icon":"WebViewIcon3",
-  "name":"Saturation Dynamic",
-  "label":"Saturation Dynamic",
+  "name":"Saturation Dynamic1",
+  "label":"Saturation Dynamic1",
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@@ -276,95 +227,35 @@
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-  "icon":"WebViewIcon9",
-  "name":"PI_clamp_fixdt_iq",
-  "label":"PI_clamp_fixdt_iq",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10844",
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+  "icon":"WebViewIcon3",
+  "name":"Goto5",
+  "label":"Goto5",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
   "inspector":{
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-    "AllowZeroVariantControls",
-    "PropagateVariantConditions",
-    "ActiveVariant",
-    "ActiveVariantBlock",
-    "TreatAsGroupedWhenPropagatingVariantConditions"
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-    "off",
-    "",
-    "",
-    "on"
+    "Vq_minTrq",
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+   "tabs_idx":0
   },
   "viewer":{
-   "jshandler":"webview/handlers/ContainerHandler"
+   "jshandler":"webview/handlers/ElementHandler"
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   "finder":{
-   "blocktype":"SubSystem",
+   "blocktype":"Goto",
    "masktype":""
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@@ -382,7 +273,7 @@
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-    "n_limProt",
+    "Vq_nLimProtMax",
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     "Tag"
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@@ -402,11 +293,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9128",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9130",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto2",
-  "label":"Goto2",
+  "name":"Goto3",
+  "label":"Goto3",
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   "inspector":{
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@@ -415,7 +306,7 @@
     "IconDisplay"
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-    "Vq_min",
+    "iq",
     "local",
     "Tag"
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@@ -435,11 +326,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9126",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9127",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto13",
-  "label":"Goto13",
+  "name":"Goto19",
+  "label":"Goto19",
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   "inspector":{
    "params":[
@@ -448,7 +339,7 @@
     "IconDisplay"
    ],
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-    "r_inpTgtSca",
+    "iq_max",
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     "Tag"
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@@ -468,25 +359,47 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9121",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10841",
+  "className":"Simulink.MinMax",
   "icon":"WebViewIcon3",
-  "name":"From34",
-  "label":"From34",
+  "name":"MinMax2",
+  "label":"MinMax2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
   "inspector":{
    "params":[
-    "GotoTag",
-    "IconDisplay"
+    "OutDataTypeStr",
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+    "InputSameDT",
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+    "OutMin",
+    "RndMeth",
+    "SampleTime",
+    "SaturateOnIntegerOverflow",
+    "ZeroCross"
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-    "Tag"
+    "Inherit: Inherit via internal rule",
+    "max",
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+    "off",
+    "[]",
+    "[]",
+    "Floor",
+    "-1",
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+    "on"
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    "tabs":[
-    "Parameter Attributes"
+    "Signal Attributes",
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@@ -494,16 +407,16 @@
   "obj_viewer":[
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+   "blocktype":"MinMax",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9130",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9126",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Goto13",
+  "label":"Goto13",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
   "inspector":{
    "params":[
@@ -512,7 +425,7 @@
     "IconDisplay"
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+    "r_inpTgtSca",
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@@ -532,19 +445,21 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9120",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9125",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From3",
-  "label":"From3",
+  "name":"Goto1",
+  "label":"Goto1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
   "inspector":{
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     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
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     "Tag"
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@@ -558,30 +473,48 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9119",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9138",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"From2",
-  "label":"From2",
+  "name":"cf_iqKi",
+  "label":"cf_iqKi",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
   "inspector":{
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-    "GotoTag",
-    "IconDisplay"
+    "Value",
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+    "LockScale",
+    "FramePeriod"
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+    "inf"
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+   "tabs_idx":[
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@@ -589,26 +522,83 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9129",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10840",
+  "className":"Simulink.Gain",
   "icon":"WebViewIcon3",
-  "name":"Goto29",
-  "label":"Goto29",
+  "name":"Gain4",
+  "label":"Gain4",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
   "inspector":{
    "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
+    "Gain",
+    "Multiplication",
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+    "LockScale",
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "ParamMin",
+    "ParamMax",
+    "ParamDataTypeStr",
+    "SampleTime"
+   ],
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+    "Element-wise(K.*u)",
+    "[]",
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+    "off",
+    "Zero",
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+    "[]",
+    "Inherit: Same as input",
+    "-1"
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+  "icon":"WebViewIcon3",
+  "name":"From9",
+  "label":"From9",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
+  "inspector":{
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+    "IconDisplay"
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     "iq_min",
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     "Tag"
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    "tabs":[
@@ -622,12 +612,229 @@
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+   "blocktype":"From",
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+  "className":"Simulink.From",
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+  "name":"From5",
+  "label":"From5",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
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@@ -639,7 +846,7 @@
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@@ -658,11 +865,60 @@
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@@ -685,33 +941,219 @@
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index e10f6af..517d4ba 100644
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9199",
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   "icon":"WebViewIcon3",
-  "name":"r_phaB",
-  "label":"r_phaB",
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@@ -957,7 +823,7 @@
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@@ -997,11 +863,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9229",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9223",
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   "icon":"WebViewIcon3",
-  "name":"Goto7",
-  "label":"Goto7",
+  "name":"Goto10",
+  "label":"Goto10",
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@@ -1010,7 +876,7 @@
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@@ -1030,11 +896,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9204",
-  "className":"Simulink.Inport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9455",
+  "className":"Simulink.Outport",
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-  "name":"r_phaC",
-  "label":"r_phaC",
+  "name":"VqFinPrev",
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@@ -1050,14 +916,20 @@
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@@ -1069,10 +941,17 @@
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@@ -1092,65 +971,44 @@
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-  "className":"Simulink.Goto",
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-  "name":"Goto9",
-  "label":"Goto9",
+  "name":"Relational Operator6",
+  "label":"Relational Operator6",
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-    "GotoTag",
-    "TagVisibility",
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@@ -1158,65 +1016,43 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9205",
-  "className":"Simulink.Inport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9840",
+  "className":"Simulink.RelationalOperator",
   "icon":"WebViewIcon3",
-  "name":"Vq",
-  "label":"Vq",
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+  "label":"Relational Operator2",
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   "inspector":{
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-    "IconDisplay",
-    "OutMin",
-    "OutMax",
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-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
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-    "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
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+    "ZeroCross"
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@@ -1225,30 +1061,38 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9213",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9914",
+  "className":"Simulink.Merge",
   "icon":"WebViewIcon3",
-  "name":"From2",
-  "label":"From2",
+  "name":"Merge",
+  "label":"Merge",
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-    "IconDisplay"
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@@ -1256,21 +1100,20 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9209",
-  "className":"Simulink.Product",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9235",
+  "className":"Simulink.Switch",
   "icon":"WebViewIcon3",
-  "name":"Divide2",
-  "label":"Divide2",
+  "name":"Switch2",
+  "label":"Switch2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9198",
   "inspector":{
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-    "Multiplication",
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@@ -1278,23 +1121,24 @@
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-    "CollapseDim",
-    "CollapseMode",
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@@ -1303,7 +1147,7 @@
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@@ -1313,66 +1157,32 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9199",
-  "className":"Simulink.Inport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9924",
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-  "name":"b_enaFOC",
-  "label":"b_enaFOC",
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-    "InputConnect",
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@@ -1380,16 +1190,16 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9223",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9227",
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   "icon":"WebViewIcon3",
-  "name":"Goto10",
-  "label":"Goto10",
+  "name":"Goto5",
+  "label":"Goto5",
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@@ -1398,7 +1208,7 @@
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@@ -1418,74 +1228,27 @@
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@@ -1493,49 +1256,32 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9449",
-  "className":"Simulink.UnitDelay",
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+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"UnitDelay4",
-  "label":"UnitDelay4",
+  "name":"Goto11",
+  "label":"Goto11",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9198",
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-    "SampleTime",
-    "StateName",
-    "CodeGenStateStorageTypeQualifier",
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@@ -1543,55 +1289,43 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9235",
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   "icon":"WebViewIcon3",
-  "name":"Switch2",
-  "label":"Switch2",
+  "name":"Relational Operator1",
+  "label":"Relational Operator1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9198",
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     "InputSameDT",
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@@ -1600,26 +1334,24 @@
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-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9917",
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   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
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+  "label":"From4",
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@@ -1633,61 +1365,113 @@
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-  "icon":"WebViewIcon3",
-  "name":"Relational Operator6",
-  "label":"Relational Operator6",
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+  "name":"SIN_Method",
+  "label":"SIN_Method",
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@@ -1695,7 +1479,7 @@
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-  "name":"Goto12",
-  "label":"Goto12",
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@@ -1742,16 +1524,16 @@
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   "icon":"WebViewIcon3",
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@@ -1759,7 +1541,7 @@
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@@ -1778,11 +1560,11 @@
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   "icon":"WebViewIcon3",
-  "name":"From25",
-  "label":"From25",
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@@ -1790,7 +1572,7 @@
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@@ -1809,11 +1591,11 @@
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   "icon":"WebViewIcon3",
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-  "label":"From4",
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@@ -1821,7 +1603,7 @@
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@@ -1923,8 +1905,8 @@
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@@ -1933,79 +1915,1668 @@
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new file mode 100644
index 0000000..4c0c8ed
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8987_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9904_d.json
similarity index 69%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8987_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9904_d.json
index 089e87f..70b40f1 100644
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@@ -1,11 +1,11 @@
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   "icon":"WebViewIcon3",
-  "name":"n_limProt",
-  "label":"n_limProt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8987",
+  "name":"V_phaABC_COM",
+  "label":"V_phaABC_COM",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9904",
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-  "name":"cf_nKpLimProt",
-  "label":"cf_nKpLimProt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8987",
+  "name":"Action Port",
+  "label":"Action Port",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9904",
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-    "VectorParams1D",
-    "SampleTime",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "FramePeriod"
+    "InitializeStates",
+    "PropagateVarSize"
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-    "inf",
-    "[]",
-    "[]",
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-    "inf"
+    "held",
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-    "Signal Attributes",
-    "-Other"
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-    3,
-    7
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-  "name":"Sum1",
-  "label":"Sum1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8987",
+  "name":"Goto1",
+  "label":"Goto1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9904",
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-    "Inputs",
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-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
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-    "Inherit: Inherit via internal rule",
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-    "[]",
-    "Inherit: Inherit via internal rule",
-    "off",
-    "Simplest",
-    "off",
-    "1",
-    "All dimensions",
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-  "label":"Divide1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8987",
+  "name":"From1",
+  "label":"From1",
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-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9333_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9937_d.json
similarity index 65%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9333_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9937_d.json
index eb9ab2d..ebac8db 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9333_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9937_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9373",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9952",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
-  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Input Scaling [-1000,1000] → [min,max]</span></p></body></html>",
-  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Input Scaling [-1000,1000] → [min,max]</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">In case of OPEN_MODE request the input target command will be reduced to 0 with a predefined rate.</span></p></body></html>",
+  "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">In case of OPEN_MODE request the input target command will be reduced to 0 with a predefined rate.</span></p></body></html>",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
    "params":[
     "Text",
@@ -22,7 +22,7 @@
     "ClickFcn"
    ],
    "values":[
-    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Arial'; font-size:14px; font-weight:600; color:#0070c0;\">Input Scaling [-1000,1000] → [min,max]</span></p></body></html>",
+    "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\">\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">In case of OPEN_MODE request the input target command will be reduced to 0 with a predefined rate.</span></p></body></html>",
     "off",
     "rich",
     "auto",
@@ -49,116 +49,139 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9372",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon3",
-  "name":"r_inpTgtSca",
-  "label":"r_inpTgtSca",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9950",
+  "className":"Rising edge init",
+  "icon":"WebViewIcon4",
+  "name":"rising_edge_init",
+  "label":"rising_edge_init",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
    "params":[
-    "Port",
-    "IconDisplay",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
+    "ShowPortLabels",
+    "Permissions",
+    "ErrorFcn",
+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
+    "PropagateVariantConditions",
+    "RTWFcnName",
+    "RTWFcnNameOpts",
+    "RTWFileName",
+    "RTWFileNameOpts",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
+    "RTWMemSecDataParameters",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
+    "SystemSampleTime",
+    "TemplateBlock",
+    "Variant",
+    "VariantControl"
    ],
    "values":[
-    "1",
-    "Port number",
-    "[]",
-    "[]",
-    "Inherit: auto",
+    "FromPortIcon",
+    "ReadWrite",
+    "",
+    "All",
+    "on",
+    "on",
+    "",
+    "",
     "off",
-    "inherit",
-    "-1",
-    "Inherit",
-    "-1",
-    "auto",
+    "",
+    "void_void",
     "off",
     "off",
-    "0",
     "off",
-    "reset",
+    "",
+    "off",
+    "",
+    "off",
     "off",
-    "0",
     "",
-    [
-    ],
-    "Dialog",
     "Auto",
-    "off"
+    "",
+    "Auto",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Auto",
+    "-1",
+    "",
+    "off",
+    ""
    ],
    "tabs":[
     "Main",
-    "Signal Attributes",
     "-Other"
    ],
    "tabs_idx":[
     0,
-    2,
-    11
+    6
    ]
   },
   "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
+   "jshandler":"webview/handlers/ContainerHandler"
   },
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Outport",
-   "masktype":""
+   "blocktype":"SubSystem",
+   "masktype":"Rising edge init"
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9370",
-  "className":"Simulink.If",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9949",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"If1",
-  "label":"If1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"dV_openRate",
+  "label":"dV_openRate",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
    "params":[
-    "NumInputs",
-    "IfExpression",
-    "ElseIfExpressions",
-    "ShowElse",
+    "Value",
+    "VectorParams1D",
     "SampleTime",
-    "ZeroCross"
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "FramePeriod"
    ],
    "values":[
-    "1",
-    "u1 == CTRL_FOC",
-    "",
+    "dV_openRate",
     "on",
-    "-1",
-    "on"
+    "inf",
+    "[]",
+    "[]",
+    "fixdt(1,28,16)",
+    "off",
+    "inf"
    ],
    "tabs":[
-    "Parameter Attributes",
+    "Main",
+    "Signal Attributes",
     "-Other"
    ],
    "tabs_idx":[
     0,
-    4
+    3,
+    7
    ]
   },
   "viewer":{
@@ -167,17 +190,17 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"If",
+   "blocktype":"Constant",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9368",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9947",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto6",
-  "label":"Goto6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"Goto13",
+  "label":"Goto13",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
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@@ -185,7 +208,7 @@
     "IconDisplay"
    ],
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-    "r_inpTgtSca",
+    "VqFinPrev",
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     "Tag"
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@@ -205,50 +228,112 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9365",
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-  "icon":"WebViewIcon3",
-  "name":"From9",
-  "label":"From9",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
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+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon9",
+  "name":"Rate_Limiter",
+  "label":"Rate_Limiter",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
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-    "IconDisplay"
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+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "MinAlgLoopOccurrences",
+    "PropExecContextOutsideSubsystem",
+    "SystemSampleTime",
+    "RTWSystemCode",
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+    "RTWFcnName",
+    "RTWFileNameOpts",
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+    "FunctionWithSeparateData",
+    "RTWMemSecFuncInitTerm",
+    "RTWMemSecFuncExecute",
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+    "Variant",
+    "VariantControl",
+    "OverrideUsingVariant",
+    "GeneratePreprocessorConditionals",
+    "AllowZeroVariantControls",
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+    "Inherit from model",
+    "Inherit from model",
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-    "Parameter Attributes"
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   "viewer":{
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+   "jshandler":"webview/handlers/ContainerHandler"
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9364",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9944",
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   "icon":"WebViewIcon3",
-  "name":"From22",
-  "label":"From22",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
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+  "label":"From1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
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     "IconDisplay"
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-    "r_inpTgt",
+    "r_inpTgtScaOpen",
     "Tag"
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@@ -267,51 +352,12 @@
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-  "icon":"WebViewIcon3",
-  "name":"Merge",
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
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-   "blocktype":"Merge",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9369",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10006",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto7",
-  "label":"Goto7",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"Goto1",
+  "label":"Goto1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
    "params":[
     "GotoTag",
@@ -319,7 +365,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlTypSel",
+    "r_inpTgtScaOpen",
     "local",
     "Tag"
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@@ -339,25 +385,41 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9362",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9941",
+  "className":"Simulink.DataTypeConversion",
   "icon":"WebViewIcon3",
-  "name":"From11",
-  "label":"From11",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"Data Type Conversion",
+  "label":"Data Type Conversion",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
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-    "GotoTag",
-    "IconDisplay"
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "ConvertRealWorld",
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+    "SaturateOnIntegerOverflow",
+    "SampleTime"
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@@ -365,24 +427,24 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9361",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9943",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From10",
-  "label":"From10",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
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+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
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     "GotoTag",
     "IconDisplay"
    ],
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-    "r_inpTgt",
+    "VqFinPrev",
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@@ -401,155 +463,102 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9363",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9945",
+  "className":"Simulink.Gain",
   "icon":"WebViewIcon3",
-  "name":"From19",
-  "label":"From19",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"Gain3",
+  "label":"Gain3",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
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+   "jshandler":"webview/handlers/ElementHandler"
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-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9940",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"Constant23",
+  "label":"Constant23",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
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@@ -557,65 +566,45 @@
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-  "className":"Simulink.Inport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9942",
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   "icon":"WebViewIcon3",
-  "name":"r_inpTgt",
-  "label":"r_inpTgt",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"Data Type Conversion1",
+  "label":"Data Type Conversion1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
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-    "IconDisplay",
     "OutMin",
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-    "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
+    "ConvertRealWorld",
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
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+    7
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@@ -624,27 +613,25 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9367",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9939",
+  "className":"Simulink.ActionPort",
   "icon":"WebViewIcon3",
-  "name":"Goto13",
-  "label":"Goto13",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"Action Port",
+  "label":"Action Port",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
    "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
+    "InitializeStates",
+    "PropagateVarSize"
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    "values":[
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-    "local",
-    "Tag"
+    "reset",
+    "Only when execution is resumed"
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    "tabs":[
     "Parameter Attributes"
@@ -657,17 +644,17 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9336",
-  "className":"Simulink.Inport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9951",
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   "icon":"WebViewIcon3",
-  "name":"z_ctrlModReq",
-  "label":"z_ctrlModReq",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"r_inpTgtScaOpen",
+  "label":"r_inpTgtScaOpen",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
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@@ -682,14 +669,20 @@
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     "BusOutputAsStruct",
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-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
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+    "InitialOutput",
+    "MustResolveToSignalObject",
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+    "SignalObject",
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+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
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     "[]",
@@ -701,10 +694,17 @@
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@@ -724,114 +724,17 @@
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-  "label":"Commutation_Control_Type",
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-  "finder":{
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+   "blocktype":"Outport",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9334",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9938",
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-  "name":"z_ctrlTypSel",
-  "label":"z_ctrlTypSel",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
+  "name":"VqFinPrev",
+  "label":"VqFinPrev",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
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@@ -893,165 +796,12 @@
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rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9040_2342_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9948_2342_d.json
index f74ff9c..41db5b6 100644
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9040_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9948_d.json
similarity index 89%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9040_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9948_d.json
index 3e1e3b8..cc5b14a 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9040_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9948_d.json
@@ -1,11 +1,11 @@
 [
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2353",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2353",
   "className":"Simulink.Annotation",
   "icon":"WebViewIcon2",
   "name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Rate Limiter</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Note: The sample time must be included in the Increment and Decrement values.</span></p></body></html>",
   "label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; font-weight:600; color:#ff0000;\">Rate Limiter</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Note: The sample time must be included in the Increment and Decrement values.</span></p></body></html>",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
   "inspector":{
    "params":[
     "Text",
@@ -49,12 +49,12 @@
   ]
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2343",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2343",
   "className":"Simulink.Sum",
   "icon":"WebViewIcon3",
   "name":"Sum2",
   "label":"Sum2",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
   "inspector":{
    "params":[
     "IconShape",
@@ -108,63 +108,42 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2360",
-  "className":"Simulink.Outport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2346",
+  "className":"Simulink.Sum",
   "icon":"WebViewIcon3",
-  "name":"y",
-  "label":"y",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "name":"Sum1",
+  "label":"Sum1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
   "inspector":{
    "params":[
-    "Port",
-    "IconDisplay",
+    "IconShape",
+    "Inputs",
+    "InputSameDT",
+    "AccumDataTypeStr",
     "OutMin",
     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "CollapseDim",
+    "CollapseMode",
+    "SampleTime"
    ],
    "values":[
-    "1",
-    "Port number",
-    "[]",
-    "[]",
-    "Inherit: auto",
-    "off",
-    "inherit",
-    "-1",
-    "Inherit",
-    "-1",
-    "auto",
-    "off",
+    "rectangular",
+    "+-",
     "off",
+    "Inherit: Inherit via internal rule",
     "[]",
+    "[]",
+    "Inherit: Same as first input",
     "off",
-    "held",
+    "Zero",
     "off",
-    "0",
-    "",
-    [
-    ],
-    "Dialog",
-    "Auto",
-    "off"
+    "1",
+    "All dimensions",
+    "-1"
    ],
    "tabs":[
     "Main",
@@ -174,7 +153,7 @@
    "tabs_idx":[
     0,
     2,
-    11
+    10
    ]
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@@ -183,56 +162,17 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Outport",
+   "blocktype":"Sum",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2395",
-  "className":"Saturation Dynamic",
-  "icon":"WebViewIcon3",
-  "name":"Saturation Dynamic",
-  "label":"Saturation Dynamic",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
-  "inspector":{
-   "params":[
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "DoSatur"
-   ],
-   "values":[
-    "[]",
-    "[]",
-    "Inherit: Same as second input",
-    "off",
-    "Floor",
-    "off"
-   ],
-   "tabs":[
-   ],
-   "tabs_idx":[
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ContainerHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"SubSystem",
-   "masktype":"Saturation Dynamic"
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2342",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2342",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon4",
   "name":"Delay_Init1",
   "label":"Delay_Init1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
   "inspector":{
    "params":[
     "initVal"
@@ -256,12 +196,12 @@
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  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2358",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2358",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
   "name":"dec",
   "label":"dec",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
   "inspector":{
    "params":[
     "Port",
@@ -323,12 +263,51 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2356",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2395",
+  "className":"Saturation Dynamic",
+  "icon":"WebViewIcon3",
+  "name":"Saturation Dynamic",
+  "label":"Saturation Dynamic",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
+  "inspector":{
+   "params":[
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "DoSatur"
+   ],
+   "values":[
+    "[]",
+    "[]",
+    "Inherit: Same as second input",
+    "off",
+    "Floor",
+    "off"
+   ],
+   "tabs":[
+   ],
+   "tabs_idx":[
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ContainerHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":"Saturation Dynamic"
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2357",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"init",
-  "label":"init",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "name":"inc",
+  "label":"inc",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
   "inspector":{
    "params":[
     "Port",
@@ -350,7 +329,7 @@
     "OutputFunctionCall"
    ],
    "values":[
-    "3",
+    "4",
     "Port number",
     "[]",
     "[]",
@@ -390,12 +369,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2355",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2356",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"initVal",
-  "label":"initVal",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "name":"init",
+  "label":"init",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
   "inspector":{
    "params":[
     "Port",
@@ -417,7 +396,7 @@
     "OutputFunctionCall"
    ],
    "values":[
-    "2",
+    "3",
     "Port number",
     "[]",
     "[]",
@@ -457,42 +436,50 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2346",
-  "className":"Simulink.Sum",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2355",
+  "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"Sum1",
-  "label":"Sum1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "name":"initVal",
+  "label":"initVal",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
   "inspector":{
    "params":[
-    "IconShape",
-    "Inputs",
-    "InputSameDT",
-    "AccumDataTypeStr",
+    "Port",
+    "IconDisplay",
     "OutMin",
     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
    ],
    "values":[
-    "rectangular",
-    "+-",
-    "off",
-    "Inherit: Inherit via internal rule",
+    "2",
+    "Port number",
     "[]",
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-    "Inherit: Same as first input",
+    "Inherit: auto",
     "off",
-    "Zero",
+    "inherit",
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9341_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9957_d.json
similarity index 86%
rename from 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9341_d.json
rename to 01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9957_d.json
index ded4197..7eff028 100644
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@@ -1,11 +1,109 @@
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@@ -98,12 +196,12 @@
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@@ -129,43 +227,27 @@
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-  "name":"i_max",
-  "label":"i_max",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9341",
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-  "label":"Selector",
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9965",
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@@ -359,51 +441,25 @@
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-  "label":"Divide4",
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@@ -434,12 +490,12 @@
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@@ -465,12 +521,12 @@
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-  "label":"Raw_Motor_Speed_Estimation",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
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-  "label":"F02_Diagnostics",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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-  "label":"Debounce_Filter",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
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-  "name":"Default",
-  "label":"Default",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8486",
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-  "label":"Dequalification",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8486",
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-  "name":"either_edge",
-  "label":"either_edge",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8486",
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@@ -1819,94 +1819,58 @@
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-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
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@@ -1914,18 +1878,16 @@
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-  "label":"F03_Control_Mode_Manager",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
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@@ -2017,12 +1979,12 @@
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-  "label":"F03_01_Mode_Transition_Calculation",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
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@@ -2073,7 +2035,7 @@
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@@ -2114,71 +2076,12 @@
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-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":[
-  ]
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10007",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"F04_Field_Oriented_Control",
-  "label":"F04_Field_Oriented_Control",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"Default_Mode",
+  "label":"Default_Mode",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -2270,12 +2173,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8668",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9957",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Clarke_Transform",
-  "label":"Clarke_Transform",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"FOC_Control_Type",
+  "label":"FOC_Control_Type",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -2326,7 +2229,7 @@
     "void_void",
     "off",
     "off",
-    "on",
+    "off",
     "",
     "off",
     "",
@@ -2367,12 +2270,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8671",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Clarke_PhasesAB",
-  "label":"Clarke_PhasesAB",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8668",
+  "name":"Open_Mode",
+  "label":"Open_Mode",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9953",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -2464,90 +2367,86 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8686",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon1",
-  "name":"Clarke_PhasesBC",
-  "label":"Clarke_PhasesBC",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8668",
+  "icon":"WebViewIcon9",
+  "name":"Rate_Limiter",
+  "label":"Rate_Limiter",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
    "params":[
     "ShowPortLabels",
+    "BlockChoice",
+    "TemplateBlock",
+    "MemberBlocks",
     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
     "TreatAsAtomicUnit",
-    "TreatAsGroupedWhenPropagatingVariantConditions",
-    "ActiveVariant",
-    "ActiveVariantBlock",
-    "AllowZeroVariantControls",
-    "BlockChoice",
-    "FunctionInterfaceSpec",
-    "FunctionWithSeparateData",
-    "GeneratePreprocessorConditionals",
-    "IsSubsystemVirtual",
-    "MemberBlocks",
     "MinAlgLoopOccurrences",
-    "OverrideUsingVariant",
     "PropExecContextOutsideSubsystem",
-    "PropagateVariantConditions",
-    "RTWFcnName",
+    "SystemSampleTime",
+    "RTWSystemCode",
     "RTWFcnNameOpts",
-    "RTWFileName",
+    "RTWFcnName",
     "RTWFileNameOpts",
+    "RTWFileName",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "RTWMemSecFuncInitTerm",
+    "RTWMemSecFuncExecute",
     "RTWMemSecDataConstants",
     "RTWMemSecDataInternal",
     "RTWMemSecDataParameters",
-    "RTWMemSecFuncExecute",
-    "RTWMemSecFuncInitTerm",
-    "RTWSystemCode",
-    "SystemSampleTime",
-    "TemplateBlock",
+    "IsSubsystemVirtual",
     "Variant",
-    "VariantControl"
+    "VariantControl",
+    "OverrideUsingVariant",
+    "GeneratePreprocessorConditionals",
+    "AllowZeroVariantControls",
+    "PropagateVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "TreatAsGroupedWhenPropagatingVariantConditions"
    ],
    "values":[
     "FromPortIcon",
-    "ReadWrite",
-    "",
-    "All",
-    "off",
-    "on",
     "",
     "",
-    "off",
-    "",
-    "void_void",
-    "off",
-    "off",
-    "off",
     "",
-    "off",
+    "ReadWrite",
     "",
+    "All",
+    "on",
     "off",
     "off",
-    "",
+    "-1",
     "Auto",
+    "Use subsystem name",
     "",
     "Auto",
+    "",
+    "void_void",
+    "off",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
-    "Auto",
-    "-1",
+    "off",
+    "off",
+    "",
     "",
     "off",
-    ""
+    "off",
+    "off",
+    "",
+    "",
+    "on"
    ],
    "tabs":[
-    "Main",
-    "-Other"
    ],
    "tabs_idx":[
-    0,
-    6
    ]
   },
   "viewer":{
@@ -2561,12 +2460,80 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2342",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon1",
-  "name":"Current_Filtering",
-  "label":"Current_Filtering",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "icon":"WebViewIcon4",
+  "name":"Delay_Init1",
+  "label":"Delay_Init1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
+  "inspector":{
+   "params":[
+    "initVal"
+   ],
+   "values":[
+    "0"
+   ],
+   "tabs":[
+   ],
+   "tabs_idx":[
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9948:2395",
+  "className":"Saturation Dynamic",
+  "icon":"WebViewIcon3",
+  "name":"Saturation Dynamic",
+  "label":"Saturation Dynamic",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9948",
+  "inspector":{
+   "params":[
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "DoSatur"
+   ],
+   "values":[
+    "[]",
+    "[]",
+    "Inherit: Same as second input",
+    "off",
+    "Floor",
+    "off"
+   ],
+   "tabs":[
+   ],
+   "tabs_idx":[
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":"Saturation Dynamic"
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9950",
+  "className":"Rising edge init",
+  "icon":"WebViewIcon4",
+  "name":"rising_edge_init",
+  "label":"rising_edge_init",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9937",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -2608,7 +2575,7 @@
     "ReadWrite",
     "",
     "All",
-    "off",
+    "on",
     "on",
     "",
     "",
@@ -2654,86 +2621,168 @@
   ],
   "finder":{
    "blocktype":"SubSystem",
-   "masktype":""
+   "masktype":"Rising edge init"
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8738",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon9",
-  "name":"Low_Pass_Filter",
-  "label":"Low_Pass_Filter",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
+  "icon":"WebViewIcon1",
+  "name":"F04_Field_Weakening",
+  "label":"F04_Field_Weakening",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "ShowPortLabels",
-    "BlockChoice",
-    "TemplateBlock",
-    "MemberBlocks",
     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
     "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
     "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
     "PropExecContextOutsideSubsystem",
-    "SystemSampleTime",
-    "RTWSystemCode",
-    "RTWFcnNameOpts",
+    "PropagateVariantConditions",
     "RTWFcnName",
-    "RTWFileNameOpts",
+    "RTWFcnNameOpts",
     "RTWFileName",
-    "FunctionInterfaceSpec",
-    "FunctionWithSeparateData",
-    "RTWMemSecFuncInitTerm",
-    "RTWMemSecFuncExecute",
+    "RTWFileNameOpts",
     "RTWMemSecDataConstants",
     "RTWMemSecDataInternal",
     "RTWMemSecDataParameters",
-    "IsSubsystemVirtual",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
+    "SystemSampleTime",
+    "TemplateBlock",
     "Variant",
-    "VariantControl",
-    "OverrideUsingVariant",
-    "GeneratePreprocessorConditionals",
-    "AllowZeroVariantControls",
-    "PropagateVariantConditions",
-    "ActiveVariant",
-    "ActiveVariantBlock",
-    "TreatAsGroupedWhenPropagatingVariantConditions"
+    "VariantControl"
    ],
    "values":[
     "FromPortIcon",
-    "",
-    "",
-    "",
     "ReadWrite",
     "",
     "All",
+    "off",
     "on",
+    "",
+    "",
+    "off",
+    "",
+    "void_void",
+    "off",
     "off",
     "off",
-    "-1",
-    "Reusable function",
-    "Use subsystem name",
     "",
-    "Auto",
+    "off",
     "",
-    "void_void",
     "off",
+    "off",
+    "",
+    "Auto",
+    "",
+    "Auto",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
-    "off",
-    "off",
-    "",
+    "Auto",
+    "-1",
     "",
     "off",
+    ""
+   ],
+   "tabs":[
+    "Main",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    6
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10507",
+  "className":"Saturation Dynamic",
+  "icon":"WebViewIcon3",
+  "name":"Saturation Dynamic",
+  "label":"Saturation Dynamic",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "inspector":{
+   "params":[
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "DoSatur"
+   ],
+   "values":[
+    "[]",
+    "[]",
+    "Inherit: Same as second input",
     "off",
+    "Floor",
+    "off"
+   ],
+   "tabs":[
+   ],
+   "tabs_idx":[
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":"Saturation Dynamic"
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10508",
+  "className":"Saturation Dynamic",
+  "icon":"WebViewIcon3",
+  "name":"Saturation Dynamic1",
+  "label":"Saturation Dynamic1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10066",
+  "inspector":{
+   "params":[
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "DoSatur"
+   ],
+   "values":[
+    "[]",
+    "[]",
+    "Inherit: Same as second input",
     "off",
-    "",
-    "",
-    "on"
+    "Floor",
+    "off"
    ],
    "tabs":[
    ],
@@ -2747,16 +2796,16 @@
   ],
   "finder":{
    "blocktype":"SubSystem",
-   "masktype":""
+   "masktype":"Saturation Dynamic"
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Field_Weakening",
-  "label":"Field_Weakening",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"F05_Field_Oriented_Control",
+  "label":"F05_Field_Oriented_Control",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -2807,7 +2856,7 @@
     "void_void",
     "off",
     "off",
-    "on",
+    "off",
     "",
     "off",
     "",
@@ -2848,11 +2897,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8866",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8668",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Inv_Clarke_Transform",
-  "label":"Inv_Clarke_Transform",
+  "name":"Clarke_Transform",
+  "label":"Clarke_Transform",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2945,12 +2994,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8671",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Inv_Park_Transform",
-  "label":"Inv_Park_Transform",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"Clarke_PhasesAB",
+  "label":"Clarke_PhasesAB",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8668",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -3001,7 +3050,7 @@
     "void_void",
     "off",
     "off",
-    "on",
+    "off",
     "",
     "off",
     "",
@@ -3042,13 +3091,13 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8686",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Motor_Limitations",
-  "label":"Motor_Limitations",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
-  "inspector":{
+  "name":"Clarke_PhasesBC",
+  "label":"Clarke_PhasesBC",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8668",
+  "inspector":{
    "params":[
     "ShowPortLabels",
     "Permissions",
@@ -3098,7 +3147,7 @@
     "void_void",
     "off",
     "off",
-    "on",
+    "off",
     "",
     "off",
     "",
@@ -3139,12 +3188,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8924",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Current_Limit_Protection",
-  "label":"Current_Limit_Protection",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"Current_Filtering",
+  "label":"Current_Filtering",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -3236,28 +3285,82 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8930",
-  "className":"Saturation Dynamic",
-  "icon":"WebViewIcon3",
-  "name":"Saturation Dynamic",
-  "label":"Saturation Dynamic",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8924",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8738",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon9",
+  "name":"Low_Pass_Filter",
+  "label":"Low_Pass_Filter",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
   "inspector":{
    "params":[
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "DoSatur"
+    "ShowPortLabels",
+    "BlockChoice",
+    "TemplateBlock",
+    "MemberBlocks",
+    "Permissions",
+    "ErrorFcn",
+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "MinAlgLoopOccurrences",
+    "PropExecContextOutsideSubsystem",
+    "SystemSampleTime",
+    "RTWSystemCode",
+    "RTWFcnNameOpts",
+    "RTWFcnName",
+    "RTWFileNameOpts",
+    "RTWFileName",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "RTWMemSecFuncInitTerm",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
+    "RTWMemSecDataParameters",
+    "IsSubsystemVirtual",
+    "Variant",
+    "VariantControl",
+    "OverrideUsingVariant",
+    "GeneratePreprocessorConditionals",
+    "AllowZeroVariantControls",
+    "PropagateVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "TreatAsGroupedWhenPropagatingVariantConditions"
    ],
    "values":[
-    "[]",
-    "[]",
-    "Inherit: Same as second input",
+    "FromPortIcon",
+    "",
+    "",
+    "",
+    "ReadWrite",
+    "",
+    "All",
+    "on",
     "off",
-    "Floor",
-    "off"
+    "off",
+    "-1",
+    "Reusable function",
+    "Use subsystem name",
+    "",
+    "Auto",
+    "",
+    "void_void",
+    "off",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "off",
+    "off",
+    "",
+    "",
+    "off",
+    "off",
+    "off",
+    "",
+    "",
+    "on"
    ],
    "tabs":[
    ],
@@ -3271,16 +3374,16 @@
   ],
   "finder":{
    "blocktype":"SubSystem",
-   "masktype":"Saturation Dynamic"
+   "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8987",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Speed_Limit_Protection",
-  "label":"Speed_Limit_Protection",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"FOC",
+  "label":"FOC",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -3372,32 +3475,90 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8993",
-  "className":"Saturation Dynamic",
-  "icon":"WebViewIcon3",
-  "name":"Saturation Dynamic1",
-  "label":"Saturation Dynamic1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8987",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"Open_Mode",
+  "label":"Open_Mode",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
   "inspector":{
    "params":[
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "DoSatur"
+    "ShowPortLabels",
+    "Permissions",
+    "ErrorFcn",
+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
+    "PropagateVariantConditions",
+    "RTWFcnName",
+    "RTWFcnNameOpts",
+    "RTWFileName",
+    "RTWFileNameOpts",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
+    "RTWMemSecDataParameters",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
+    "SystemSampleTime",
+    "TemplateBlock",
+    "Variant",
+    "VariantControl"
    ],
    "values":[
-    "[]",
-    "[]",
-    "Inherit: Same as second input",
+    "FromPortIcon",
+    "ReadWrite",
+    "",
+    "All",
     "off",
-    "Floor",
-    "off"
+    "on",
+    "",
+    "",
+    "off",
+    "",
+    "void_void",
+    "off",
+    "off",
+    "off",
+    "",
+    "off",
+    "",
+    "off",
+    "off",
+    "",
+    "Auto",
+    "",
+    "Auto",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Auto",
+    "-1",
+    "",
+    "off",
+    ""
    ],
    "tabs":[
+    "Main",
+    "-Other"
    ],
    "tabs_idx":[
+    0,
+    6
    ]
   },
   "viewer":{
@@ -3407,16 +3568,16 @@
   ],
   "finder":{
    "blocktype":"SubSystem",
-   "masktype":"Saturation Dynamic"
+   "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9074",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Open_Mode",
-  "label":"Open_Mode",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"Speed_Mode",
+  "label":"Speed_Mode",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -3508,12 +3669,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10455",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon9",
-  "name":"Rate_Limiter",
-  "label":"Rate_Limiter",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "name":"PI_clamp_fixdt",
+  "label":"PI_clamp_fixdt",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9074",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -3562,7 +3723,7 @@
     "off",
     "off",
     "-1",
-    "Auto",
+    "Reusable function",
     "Use subsystem name",
     "",
     "Auto",
@@ -3601,61 +3762,90 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2342",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10455:2816",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon4",
-  "name":"Delay_Init1",
-  "label":"Delay_Init1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
+  "icon":"WebViewIcon1",
+  "name":"Clamping_circuit",
+  "label":"Clamping_circuit",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10455",
   "inspector":{
    "params":[
-    "initVal"
+    "ShowPortLabels",
+    "Permissions",
+    "ErrorFcn",
+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
+    "IsSubsystemVirtual",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
+    "PropExecContextOutsideSubsystem",
+    "PropagateVariantConditions",
+    "RTWFcnName",
+    "RTWFcnNameOpts",
+    "RTWFileName",
+    "RTWFileNameOpts",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
+    "RTWMemSecDataParameters",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
+    "SystemSampleTime",
+    "TemplateBlock",
+    "Variant",
+    "VariantControl"
    ],
    "values":[
-    "0"
-   ],
-   "tabs":[
-   ],
-   "tabs_idx":[
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"SubSystem",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2395",
-  "className":"Saturation Dynamic",
-  "icon":"WebViewIcon3",
-  "name":"Saturation Dynamic",
-  "label":"Saturation Dynamic",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9040",
-  "inspector":{
-   "params":[
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "DoSatur"
-   ],
-   "values":[
-    "[]",
-    "[]",
-    "Inherit: Same as second input",
+    "FromPortIcon",
+    "ReadWrite",
+    "",
+    "All",
     "off",
-    "Floor",
-    "off"
+    "on",
+    "",
+    "",
+    "off",
+    "",
+    "void_void",
+    "off",
+    "off",
+    "on",
+    "",
+    "off",
+    "",
+    "off",
+    "off",
+    "",
+    "Auto",
+    "",
+    "Auto",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Auto",
+    "-1",
+    "",
+    "off",
+    ""
    ],
    "tabs":[
+    "Main",
+    "-Other"
    ],
    "tabs_idx":[
+    0,
+    6
    ]
   },
   "viewer":{
@@ -3665,16 +3855,16 @@
   ],
   "finder":{
    "blocktype":"SubSystem",
-   "masktype":"Saturation Dynamic"
+   "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9042",
-  "className":"Rising edge init",
-  "icon":"WebViewIcon4",
-  "name":"rising_edge_init",
-  "label":"rising_edge_init",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9029",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10455:2779",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"Integrator",
+  "label":"Integrator",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10455",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -3716,7 +3906,7 @@
     "ReadWrite",
     "",
     "All",
-    "on",
+    "off",
     "on",
     "",
     "",
@@ -3725,7 +3915,7 @@
     "void_void",
     "off",
     "off",
-    "off",
+    "on",
     "",
     "off",
     "",
@@ -3762,94 +3952,90 @@
   ],
   "finder":{
    "blocktype":"SubSystem",
-   "masktype":"Rising edge init"
+   "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9045",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10455:2791",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon1",
-  "name":"Park_Transform",
-  "label":"Park_Transform",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "icon":"WebViewIcon9",
+  "name":"Saturation_hit",
+  "label":"Saturation_hit",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10455",
   "inspector":{
    "params":[
     "ShowPortLabels",
+    "BlockChoice",
+    "TemplateBlock",
+    "MemberBlocks",
     "Permissions",
     "ErrorFcn",
     "PermitHierarchicalResolution",
     "TreatAsAtomicUnit",
-    "TreatAsGroupedWhenPropagatingVariantConditions",
-    "ActiveVariant",
-    "ActiveVariantBlock",
-    "AllowZeroVariantControls",
-    "BlockChoice",
-    "FunctionInterfaceSpec",
-    "FunctionWithSeparateData",
-    "GeneratePreprocessorConditionals",
-    "IsSubsystemVirtual",
-    "MemberBlocks",
     "MinAlgLoopOccurrences",
-    "OverrideUsingVariant",
     "PropExecContextOutsideSubsystem",
-    "PropagateVariantConditions",
-    "RTWFcnName",
+    "SystemSampleTime",
+    "RTWSystemCode",
     "RTWFcnNameOpts",
-    "RTWFileName",
+    "RTWFcnName",
     "RTWFileNameOpts",
+    "RTWFileName",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "RTWMemSecFuncInitTerm",
+    "RTWMemSecFuncExecute",
     "RTWMemSecDataConstants",
     "RTWMemSecDataInternal",
     "RTWMemSecDataParameters",
-    "RTWMemSecFuncExecute",
-    "RTWMemSecFuncInitTerm",
-    "RTWSystemCode",
-    "SystemSampleTime",
-    "TemplateBlock",
+    "IsSubsystemVirtual",
     "Variant",
-    "VariantControl"
+    "VariantControl",
+    "OverrideUsingVariant",
+    "GeneratePreprocessorConditionals",
+    "AllowZeroVariantControls",
+    "PropagateVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "TreatAsGroupedWhenPropagatingVariantConditions"
    ],
    "values":[
     "FromPortIcon",
-    "ReadWrite",
-    "",
-    "All",
-    "off",
-    "on",
     "",
     "",
-    "off",
     "",
-    "void_void",
-    "off",
-    "off",
-    "on",
+    "ReadWrite",
     "",
+    "All",
     "off",
-    "",
     "off",
     "off",
-    "",
+    "-1",
+    "Auto",
     "Auto",
     "",
     "Auto",
+    "",
+    "void_void",
+    "off",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
-    "Auto",
-    "-1",
+    "on",
+    "off",
+    "",
     "",
     "off",
-    ""
+    "off",
+    "off",
+    "",
+    "",
+    "on"
    ],
    "tabs":[
-    "Main",
-    "-Other"
    ],
    "tabs_idx":[
-    0,
-    6
    ]
   },
   "viewer":{
@@ -3863,12 +4049,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9074",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Speed_Mode",
-  "label":"Speed_Mode",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"Torque_Mode",
+  "label":"Torque_Mode",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -3960,12 +4146,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9728",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon9",
-  "name":"PI_clamp_fixdt_n",
-  "label":"PI_clamp_fixdt_n",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9074",
+  "name":"PI_clamp_fixdt",
+  "label":"PI_clamp_fixdt",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4053,12 +4239,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9728:2816",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2816",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
   "name":"Clamping_circuit",
   "label":"Clamping_circuit",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9728",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4150,12 +4336,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9728:2779",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2779",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
   "name":"Integrator",
   "label":"Integrator",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9728",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4247,12 +4433,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9728:2791",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10828:2791",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon9",
   "name":"Saturation_hit",
   "label":"Saturation_hit",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9728",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10828",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4340,12 +4526,51 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10829",
+  "className":"Saturation Dynamic",
+  "icon":"WebViewIcon3",
+  "name":"Saturation Dynamic1",
+  "label":"Saturation Dynamic1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
+  "inspector":{
+   "params":[
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "DoSatur"
+   ],
+   "values":[
+    "[]",
+    "[]",
+    "Inherit: Same as second input",
+    "off",
+    "Floor",
+    "off"
+   ],
+   "tabs":[
+   ],
+   "tabs_idx":[
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":"Saturation Dynamic"
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9143",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Torque_Mode",
-  "label":"Torque_Mode",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"Vd_Calculation",
+  "label":"Vd_Calculation",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4437,12 +4662,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9729",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon9",
-  "name":"PI_clamp_fixdt_iq",
-  "label":"PI_clamp_fixdt_iq",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
+  "name":"PI_clamp_fixdt",
+  "label":"PI_clamp_fixdt",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9143",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4530,12 +4755,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9729:2816",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10454:2816",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
   "name":"Clamping_circuit",
   "label":"Clamping_circuit",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9729",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4627,12 +4852,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9729:2779",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10454:2779",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
   "name":"Integrator",
   "label":"Integrator",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9729",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4724,12 +4949,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9729:2791",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10454:2791",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon9",
   "name":"Saturation_hit",
   "label":"Saturation_hit",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9729",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10454",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4817,12 +5042,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9133",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9164",
   "className":"Saturation Dynamic",
   "icon":"WebViewIcon3",
   "name":"Saturation Dynamic",
   "label":"Saturation Dynamic",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9109",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9143",
   "inspector":{
    "params":[
     "OutMin",
@@ -4856,12 +5081,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9143",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9171",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Vd_Calculation",
-  "label":"Vd_Calculation",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"Voltage_Mode",
+  "label":"Voltage_Mode",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10364",
   "inspector":{
    "params":[
     "ShowPortLabels",
@@ -4953,86 +5178,129 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
-  "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon9",
-  "name":"PI_clamp_fixdt_id",
-  "label":"PI_clamp_fixdt_id",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9143",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9188",
+  "className":"Saturation Dynamic",
+  "icon":"WebViewIcon3",
+  "name":"Saturation Dynamic1",
+  "label":"Saturation Dynamic1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9171",
   "inspector":{
    "params":[
-    "ShowPortLabels",
-    "BlockChoice",
-    "TemplateBlock",
-    "MemberBlocks",
-    "Permissions",
-    "ErrorFcn",
-    "PermitHierarchicalResolution",
-    "TreatAsAtomicUnit",
-    "MinAlgLoopOccurrences",
-    "PropExecContextOutsideSubsystem",
-    "SystemSampleTime",
-    "RTWSystemCode",
-    "RTWFcnNameOpts",
-    "RTWFcnName",
-    "RTWFileNameOpts",
-    "RTWFileName",
-    "FunctionInterfaceSpec",
-    "FunctionWithSeparateData",
-    "RTWMemSecFuncInitTerm",
-    "RTWMemSecFuncExecute",
-    "RTWMemSecDataConstants",
-    "RTWMemSecDataInternal",
-    "RTWMemSecDataParameters",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
+    "DoSatur"
+   ],
+   "values":[
+    "[]",
+    "[]",
+    "Inherit: Same as second input",
+    "off",
+    "Floor",
+    "off"
+   ],
+   "tabs":[
+   ],
+   "tabs_idx":[
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":"Saturation Dynamic"
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8866",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"Inv_Clarke_Transform",
+  "label":"Inv_Clarke_Transform",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "inspector":{
+   "params":[
+    "ShowPortLabels",
+    "Permissions",
+    "ErrorFcn",
+    "PermitHierarchicalResolution",
+    "TreatAsAtomicUnit",
+    "TreatAsGroupedWhenPropagatingVariantConditions",
+    "ActiveVariant",
+    "ActiveVariantBlock",
+    "AllowZeroVariantControls",
+    "BlockChoice",
+    "FunctionInterfaceSpec",
+    "FunctionWithSeparateData",
+    "GeneratePreprocessorConditionals",
     "IsSubsystemVirtual",
-    "Variant",
-    "VariantControl",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
     "OverrideUsingVariant",
-    "GeneratePreprocessorConditionals",
-    "AllowZeroVariantControls",
+    "PropExecContextOutsideSubsystem",
     "PropagateVariantConditions",
-    "ActiveVariant",
-    "ActiveVariantBlock",
-    "TreatAsGroupedWhenPropagatingVariantConditions"
+    "RTWFcnName",
+    "RTWFcnNameOpts",
+    "RTWFileName",
+    "RTWFileNameOpts",
+    "RTWMemSecDataConstants",
+    "RTWMemSecDataInternal",
+    "RTWMemSecDataParameters",
+    "RTWMemSecFuncExecute",
+    "RTWMemSecFuncInitTerm",
+    "RTWSystemCode",
+    "SystemSampleTime",
+    "TemplateBlock",
+    "Variant",
+    "VariantControl"
    ],
    "values":[
     "FromPortIcon",
+    "ReadWrite",
     "",
+    "All",
+    "off",
+    "on",
     "",
     "",
-    "ReadWrite",
+    "off",
     "",
-    "All",
+    "void_void",
+    "off",
+    "off",
     "on",
+    "",
+    "off",
+    "",
     "off",
     "off",
-    "-1",
-    "Reusable function",
-    "Use subsystem name",
     "",
     "Auto",
     "",
-    "void_void",
-    "off",
+    "Auto",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
-    "off",
-    "off",
-    "",
+    "Auto",
+    "-1",
     "",
     "off",
-    "off",
-    "off",
-    "",
-    "",
-    "on"
+    ""
    ],
    "tabs":[
+    "Main",
+    "-Other"
    ],
    "tabs_idx":[
+    0,
+    6
    ]
   },
   "viewer":{
@@ -5046,12 +5314,12 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2816",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8886",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Clamping_circuit",
-  "label":"Clamping_circuit",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "name":"Inv_Park_Transform",
+  "label":"Inv_Park_Transform",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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     "ShowPortLabels",
@@ -5143,12 +5411,12 @@
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2779",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
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   "icon":"WebViewIcon1",
-  "name":"Integrator",
-  "label":"Integrator",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "name":"Motor_Limitations",
+  "label":"Motor_Limitations",
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@@ -5199,7 +5467,7 @@
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     "off",
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@@ -5240,86 +5508,90 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9721:2791",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10584",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon9",
-  "name":"Saturation_hit",
-  "label":"Saturation_hit",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9721",
+  "icon":"WebViewIcon1",
+  "name":"Speed_Mode_Protection",
+  "label":"Speed_Mode_Protection",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
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+    "IsSubsystemVirtual",
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-    "AllowZeroVariantControls",
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-    "TreatAsGroupedWhenPropagatingVariantConditions"
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+    "Auto",
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     "Inherit from model",
     "Inherit from model",
     "Inherit from model",
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@@ -5333,12 +5605,12 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9164",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10594",
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   "icon":"WebViewIcon3",
   "name":"Saturation Dynamic",
   "label":"Saturation Dynamic",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9143",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10584",
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@@ -5372,12 +5644,12 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9171",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Voltage_Mode",
-  "label":"Voltage_Mode",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "name":"Torque_Mode_Protection",
+  "label":"Torque_Mode_Protection",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
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     "ShowPortLabels",
@@ -5469,28 +5741,18 @@
   }
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-  "icon":"WebViewIcon3",
-  "name":"Saturation Dynamic1",
-  "label":"Saturation Dynamic1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9171",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon4",
+  "name":"I_backCalc_fixdt",
+  "label":"I_backCalc_fixdt",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10602",
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@@ -5504,16 +5766,16 @@
   ],
   "finder":{
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9198",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2877",
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   "icon":"WebViewIcon1",
-  "name":"F05_Control_Type_Management",
-  "label":"F05_Control_Type_Management",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "name":"Integrator",
+  "label":"Integrator",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:10808",
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@@ -5605,22 +5867,1264 @@
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-  "name":"Implemented_control_methods",
-  "label":"Implemented_control_methods",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10808:2895",
+  "className":"Saturation Dynamic",
+  "icon":"WebViewIcon3",
+  "name":"Saturation Dynamic1",
+  "label":"Saturation Dynamic1",
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-    "TemplateBlock",
-    "MemberBlocks",
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-    "ErrorFcn",
-    "PermitHierarchicalResolution",
-    "TreatAsAtomicUnit",
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+    "RndMeth",
+    "DoSatur"
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+  "label":"Voltage_Mode_Protection",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
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+   "params":[
+    "ShowPortLabels",
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+    "Inherit from model",
+    "Inherit from model",
+    "Auto",
+    "-1",
+    "",
+    "off",
+    ""
+   ],
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+  },
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+  ],
+  "finder":{
+   "blocktype":"SubSystem",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9292",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"Implemented_control_methods",
+  "label":"Implemented_control_methods",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "inspector":{
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+    "ShowPortLabels",
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+    "TreatAsAtomicUnit",
     "MinAlgLoopOccurrences",
     "PropExecContextOutsideSubsystem",
     "SystemSampleTime",
@@ -5793,5 +7297,102 @@
    "blocktype":"SubSystem",
    "masktype":""
   }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:10164",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
+  "name":"Task_Scheduler",
+  "label":"Task_Scheduler",
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+    "IsSubsystemVirtual",
+    "MemberBlocks",
+    "MinAlgLoopOccurrences",
+    "OverrideUsingVariant",
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+    "RTWFcnName",
+    "RTWFcnNameOpts",
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+    "Auto",
+    "Inherit from model",
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  }
 ]
\ No newline at end of file
diff --git a/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx b/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx
index 95cd909..a7b9dee 100644
Binary files a/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx and b/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx differ
diff --git a/01_Matlab/init_model.m b/01_Matlab/init_model.m
index 183ff24..18832d6 100644
--- a/01_Matlab/init_model.m
+++ b/01_Matlab/init_model.m
@@ -10,7 +10,7 @@
 % >> improved motor efficiency -> lower energy consumption
 %
 % Author: Emanuel FERU
-% Copyright © 2019 Emanuel FERU <aerdronix@gmail.com>
+% Copyright © 2019-2020 Emanuel FERU <aerdronix@gmail.com>
 %
 % This program is free software: you can redistribute it and/or modify
 % it under the terms of the GNU General Public License as published by
@@ -56,10 +56,11 @@ r_cos_M1            = cos((a_elecAngle_XA + 30)*(pi/180));
 % stairs(a_elecAngle_XA, r_cos_M1);
 % legend('sin','cos');
 
-%% Control Manager
+%% Control selection
 % Control type selection
 CTRL_COM            = 0;        % [-] Commutation Control
-CTRL_FOC            = 1;        % [-] Field Oriented Control (FOC)
+CTRL_SIN            = 1;        % [-] Sinusoidal Control
+CTRL_FOC            = 2;        % [-] Field Oriented Control (FOC)
 z_ctrlTypSel        = CTRL_FOC; % [-] Control Type Selection (default)
 
 % Control model request
@@ -69,6 +70,7 @@ SPD_MODE            = 2;        % [-] Speed mode
 TRQ_MODE            = 3;        % [-] Torque mode
 z_ctrlModReq        = VLT_MODE; % [-] Control Mode Request (default)
 
+
 %% F01_Estimations
 % Position Estimation Parameters
 % Hall              = 4*hA + 2*hB + hC
@@ -86,41 +88,36 @@ n_stdStillDet       = 3;        % [rpm] Speed threshold for Stand still detectio
 cf_currFilt         = 0.12;     % [%] Current filter coefficient [0, 1]. Lower values mean softer filter
 
 %% F02_Diagnostics
-b_diagEna           = 1;            % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
-t_errQual           = 0.6 * f_ctrl; % [s] Error qualification time
-t_errDequal         = 2.0 * f_ctrl; % [s] Error dequalification time
-r_errInpTgtThres    = 200;          % [-] Error input target threshold (for "Blocked motor" detection)
-
-%% F04_Field_Oriented_Control
+b_diagEna           = 1;                % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
+t_errQual           = 0.6 * f_ctrl/3;   % [s] Error qualification time
+t_errDequal         = 2.0 * f_ctrl/3;   % [s] Error dequalification time
+r_errInpTgtThres    = 400;              % [-] Error input target threshold (for "Blocked motor" detection)
 
-% Current measurement
-b_selPhaABCurrMeas  = 1;                % [-] Measured phase currents selection: {iA,iB} = 1 (default); {iB,iC} = 0
-dV_openRate         = 1000 / f_ctrl;    % [V/s] Rate for voltage cut-off in Open Mode (Sample Time included in the rate)
+%% F03_Control_Mode_Manager
+dV_openRate         = 1000 / (f_ctrl/3);% [V/s] Rate for voltage cut-off in Open Mode (Sample Time included in the rate)
 
-% Field Weakening
+%% F04_Field_Weakening
 b_fieldWeakEna      = 0;                % [-] Field weakening enable flag: 0 = disable (default), 1 = enable
-n_fieldWeakAuthHi   = 200;              % [rpm] Motor speed High for field weakening authorization
-n_fieldWeakAuthLo   = 140;              % [rpm] Motor speed Low for field weakening authorization
-id_fieldWeak_M1     = [0   0.1   0.3   0.7  1.3  2.1    3  3.8  4.4  4.8   5    5] * i_sca;  % [-] Field weakening current map
-r_fieldWeak_XA      = [570 600   630   660  690  720  750  780  810  840 870  900];          % [-] Scaled input target grid
-% figure
-% plot(r_fieldWeak_XA, id_fieldWeak_M1, '.-'); hold on
-% grid
+r_fieldWeakHi       = 1500;             % [-] Input target High threshold for reaching maximum Field Weakening / Phase Advance
+r_fieldWeakLo       = 1000;             % [-] Input target Low threshold for starting Field Weakening / Phase Advance
+n_fieldWeakAuthHi   = 400;              % [rpm] Motor speed High for field weakening authorization
+n_fieldWeakAuthLo   = 300;              % [rpm] Motor speed Low for field weakening authorization
 
-% Q axis control gains
-cf_iqKp             = 0.5;              % [-] P gain
-cf_iqKi             = 100 / f_ctrl;     % [-] I gain
+% FOC method
+id_fieldWeakMax     = 5 * i_sca;        % [A] Field weakening maximum current
 
-% D axis control gains
-cf_idKp             = 0.2;              % [-] P gain
-cf_idKi             = 60 / f_ctrl;      % [-] I gain
+% SIN method
+a_phaAdvMax         = 25;               % [deg] Maximum phase advance angle
 
-% Speed control gains
-cf_nKp              = 1.18;             % [-] P gain
-cf_nKi              = 20.4 / f_ctrl;    % [-] I gain
 
-% Limitations
-%-------------------------------
+%% F05_Field_Oriented_Control
+b_selPhaABCurrMeas  = 1;                % [-] Select measured current phases: {iA,iB} = 1 (default); {iB,iC} = 0
+
+% Motor Limitations Calibratables
+cf_iqKiLimProt      = 60 / (f_ctrl/3);  % [-] Current limit protection integral gain (only used in VLT_MODE and SPD_MODE)
+cf_nKiLimProt       = 20 / (f_ctrl/3);  % [-] Speed limit protection integral gain (only used in VLT_MODE and TRQ_MODE)
+cf_KbLimProt        = 1000 / (f_ctrl/3);% [-] Back calculation gain for integral anti-windup
+
 % Voltage Limitations
 V_margin            = 100;              % [-] Voltage margin to make sure that there is a sufficiently wide pulse for a good phase current measurement
 Vd_max              = 1000 - V_margin;
@@ -130,12 +127,9 @@ Vq_max_M1           = sqrt(Vd_max^2 - Vq_max_XA.^2);  % Circle limitations look-
 % stairs(Vq_max_XA, Vq_max_M1); legend('V_{max}');
 
 % Speed limitations
-cf_nKpLimProt       = 5;                % [-] Speed limit protection gain (only used in VLT_MODE and TRQ_MODE)
-n_max               = 800;              % [rpm] Maximum motor speed
+n_max               = 1000;             % [rpm] Maximum motor speed
 
 % Current Limitations
-cf_iqKpLimProt      = 7.2;              % [-] Current limit protection gain (only used in VLT_MODE and SPD_MODE)
-cf_iqKiLimProt      = 40.7 / f_ctrl;    % [-] Current limit protection integral gain (only used in SPD_MODE)
 i_max               = 15;               % [A] Maximum allowed motor current (continuous)
 i_max               = i_max * i_sca;
 iq_maxSca_XA        = 0:0.02:0.99;
@@ -145,11 +139,38 @@ iq_maxSca_M1        = sqrt(1 - iq_maxSca_XA.^2);
 % stairs(iq_maxSca_XA, iq_maxSca_M1); legend('i_{maxSca}');
 %-------------------------------
 
-%% F05_Control_Type_Management
+% Q axis control gains
+cf_iqKp             = 0.3;              % [-] P gain
+cf_iqKi             = 100 / (f_ctrl/3); % [-] I gain
+
+% D axis control gains
+cf_idKp             = 0.2;              % [-] P gain
+cf_idKi             = 60 / (f_ctrl/3);  % [-] I gain
+
+% Speed control gains
+cf_nKp              = 1.18;             % [-] P gain
+cf_nKi              = 20.4 / (f_ctrl/3);% [-] I gain
+%-------------------------------
+
+%% F06_Control_Type_Management
+
 % Commutation method
 z_commutMap_M1      = [-1 -1  0  1  1  0;   % Phase A
                         1  0 -1 -1  0  1;   % Phase B
-                        0  1  1  0 -1 -1];  % Phase C  [-] Commutation method map
+                        0  1  1  0 -1 -1];  % Phase C  [-] Commutation method map                   
+
+omega               = a_elecAngle_XA*(pi/180);
+pha_adv             = 30;       % [deg] Phase advance to mach commands with the Hall position
+r_sinPhaA_M1        = -sin(omega + pha_adv*(pi/180));
+r_sinPhaB_M1        = -sin(omega - 120*(pi/180) + pha_adv*(pi/180));
+r_sinPhaC_M1        = -sin(omega + 120*(pi/180) + pha_adv*(pi/180));
+
+% Sinusoidal 3rd harmonic method
+A                   = 1.15;     % Sine amplitude (tunable to get the Saddle sin maximum to value 1000)
+sin3Arm             = -0.224*sin(3*(omega + pha_adv*(pi/180)));     % 3rd armonic
+r_sin3PhaA_M1       = sin3Arm + A*r_sinPhaA_M1;
+r_sin3PhaB_M1       = sin3Arm + A*r_sinPhaB_M1;
+r_sin3PhaC_M1       = sin3Arm + A*r_sinPhaC_M1;
 
 disp('---- BLDC_controller: Initialization OK ----');
 
@@ -158,64 +179,70 @@ show_fig            = 0;
 
 if show_fig
     
+    % Apply scaling
     sca_factor          = 1000;     % [-] scalling factor (to avoid truncation approximations on integer data type)
+    r_sinPhaA_M1sca     = sca_factor * r_sinPhaA_M1;
+    r_sinPhaB_M1sca     = sca_factor * r_sinPhaB_M1;
+    r_sinPhaC_M1sca     = sca_factor * r_sinPhaC_M1;
+    r_sin3PhaA_M1sca    = sca_factor * r_sin3PhaA_M1;
+    r_sin3PhaB_M1sca    = sca_factor * r_sin3PhaB_M1;
+    r_sin3PhaC_M1sca    = sca_factor * r_sin3PhaC_M1;
     
-    % Trapezoidal method
-    a_trapElecAngle_XA  = [0 60 120 180 240 300 360];  % [deg] Electrical angle grid
-    r_trapPhaA_M1       = sca_factor*[ 1  1  1 -1 -1 -1  1];
-    r_trapPhaB_M1       = sca_factor*[-1 -1  1  1  1 -1 -1];
-    r_trapPhaC_M1       = sca_factor*[ 1 -1 -1 -1  1  1  1];
-    
-    % Sinusoidal method
-    a_sinElecAngle_XA   = 0:10:360;
-    omega               = a_sinElecAngle_XA*(pi/180);
-    pha_adv             = 30;       % [deg] Phase advance to mach commands with the Hall position
-    r_sinPhaA_M1        = -sca_factor*sin(omega + pha_adv*(pi/180));
-    r_sinPhaB_M1        = -sca_factor*sin(omega - 120*(pi/180) + pha_adv*(pi/180));
-    r_sinPhaC_M1        = -sca_factor*sin(omega + 120*(pi/180) + pha_adv*(pi/180));
+    % Commutation method
+    a_commElecAngle_XA  = [0 60 120 180 240 300 360];  % [deg] Electrical angle grid
+    hall_A              = [0 0 0 1 1 1 1] + 4;
+    hall_B              = [1 1 0 0 0 1 1] + 2;
+    hall_C              = [0 1 1 1 0 0 0];    
     
     % SVM (Space Vector Modulation) calculation
-    SVM_vec             = [r_sinPhaA_M1; r_sinPhaB_M1; r_sinPhaC_M1];
+    SVM_vec             = [r_sinPhaA_M1sca; r_sinPhaB_M1sca; r_sinPhaC_M1sca];
     SVM_min             = min(SVM_vec);
     SVM_max             = max(SVM_vec);
     SVM_sum             = SVM_min + SVM_max;
     SVM_vec             = SVM_vec - 0.5*SVM_sum;
     SVM_vec             = (2/sqrt(3))*SVM_vec;
-    
-    hall_A = [0 0 0 1 1 1 1] + 4;
-    hall_B = [1 1 0 0 0 1 1] + 2;
-    hall_C = [0 1 1 1 0 0 0];
-    
+        
     color = ['m' 'g' 'b'];
     lw = 1.5;
     figure
-    s1 = subplot(221); hold on
-    stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
-    stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
-    stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
-    xticks(a_trapElecAngle_XA);
+    s1 = subplot(231); hold on
+    stairs(a_commElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
+    stairs(a_commElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
+    stairs(a_commElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
+    xticks(a_commElecAngle_XA);
+    grid
+    yticks(0:5);
+    yticklabels({'0','1','0','1','0','1'});
+    title('Hall sensors');
+    legend('Phase A','Phase B','Phase C','Location','NorthEast');
+    
+    s2 = subplot(232); hold on
+    stairs(a_commElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
+    stairs(a_commElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
+    stairs(a_commElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
+    xticks(a_commElecAngle_XA);
     grid
     yticks(0:5);
     yticklabels({'0','1','0','1','0','1'});
     title('Hall sensors');
     legend('Phase A','Phase B','Phase C','Location','NorthEast');
     
-    s2 = subplot(222); hold on
-    stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
-    stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
-    stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
-    xticks(a_trapElecAngle_XA);
+    s3 = subplot(233); hold on
+    stairs(a_commElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
+    stairs(a_commElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
+    stairs(a_commElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
+    xticks(a_commElecAngle_XA);
     grid
     yticks(0:5);
     yticklabels({'0','1','0','1','0','1'});
     title('Hall sensors');
     legend('Phase A','Phase B','Phase C','Location','NorthEast');
     
-    s3 = subplot(223); hold on
-    stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(1,:) z_commutMap_M1(1,1)] + 6000, color(1), 'Linewidth', lw);
-    stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(2,:) z_commutMap_M1(2,1)] + 3000, color(2), 'Linewidth', lw);
-    stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(3,:) z_commutMap_M1(3,1)], color(3), 'Linewidth', lw);
-    xticks(a_trapElecAngle_XA);
+    s4 = subplot(234); hold on
+    stairs(a_commElecAngle_XA, sca_factor*[z_commutMap_M1(1,:) z_commutMap_M1(1,1)] + 6000, color(1), 'Linewidth', lw);
+    stairs(a_commElecAngle_XA, sca_factor*[z_commutMap_M1(2,:) z_commutMap_M1(2,1)] + 3000, color(2), 'Linewidth', lw);
+    stairs(a_commElecAngle_XA, sca_factor*[z_commutMap_M1(3,:) z_commutMap_M1(3,1)], color(3), 'Linewidth', lw);
+    xticks(a_commElecAngle_XA);
     yticks(-1000:1000:7000);
     yticklabels({'-1000','0','1000','-1000','0','1000','-1000','0','1000'});
     ylim([-1000 7000]);
@@ -223,16 +250,27 @@ if show_fig
     title('Commutation method [0]');
     xlabel('Electrical angle [deg]');
     
-    s4 = subplot(224); hold on
-    plot(a_sinElecAngle_XA, SVM_vec(1,:), color(1), 'Linewidth', lw);
-    plot(a_sinElecAngle_XA, SVM_vec(2,:), color(2), 'Linewidth', lw);
-    plot(a_sinElecAngle_XA, SVM_vec(3,:), color(3), 'Linewidth', lw);
-    xticks(a_trapElecAngle_XA);
+    s5 = subplot(235); hold on
+    plot(a_elecAngle_XA, r_sin3PhaA_M1sca, color(1), 'Linewidth', lw);
+    plot(a_elecAngle_XA, r_sin3PhaB_M1sca, color(2), 'Linewidth', lw);
+    plot(a_elecAngle_XA, r_sin3PhaC_M1sca, color(3), 'Linewidth', lw);
+    xticks(a_commElecAngle_XA);
     ylim([-1000 1000])
     grid
-    title('FOC method [1]');
+    title('SIN method [1]');
     xlabel('Electrical angle [deg]');
-    linkaxes([s1 s2 s3 s4],'x');
+    
+    s6 = subplot(236); hold on
+    plot(a_elecAngle_XA, SVM_vec(1,:), color(1), 'Linewidth', lw);
+    plot(a_elecAngle_XA, SVM_vec(2,:), color(2), 'Linewidth', lw);
+    plot(a_elecAngle_XA, SVM_vec(3,:), color(3), 'Linewidth', lw);
+    xticks(a_commElecAngle_XA);
+    ylim([-1000 1000])
+    grid
+    title('FOC method [2]');    
+    xlabel('Electrical angle [deg]');
+    
+    linkaxes([s1 s2 s3 s4 s5 s6],'x');
     xlim([0 360]);
     
 end
diff --git a/02_Arduino/hoverserial/hoverserial.ino b/02_Arduino/hoverserial/hoverserial.ino
new file mode 100644
index 0000000..d6908c3
--- /dev/null
+++ b/02_Arduino/hoverserial/hoverserial.ino
@@ -0,0 +1,174 @@
+// *******************************************************************
+//  Arduino Nano 3.3V example code
+//  for   https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC
+//
+//  Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
+//
+// *******************************************************************
+// INFO:
+// • This sketch uses the the Serial Software interface to communicate and send commands to the hoverboard
+// • The built-in (HW) Serial interface is used for debugging and visualization. In case the debugging is not needed,
+//   it is recommended to use the built-in Serial interface for full speed perfomace.
+// • The data packaging includes a Start Frame, checksum, and re-syncronization capability for reliable communication
+// 
+// CONFIGURATION on the hoverboard side in config.h:
+// • Option 1: Serial on Left Sensor cable (long wired cable)
+//   #define CONTROL_SERIAL_USART2
+//   #define FEEDBACK_SERIAL_USART2
+//   // #define DEBUG_SERIAL_USART2
+// • Option 2: Serial on Right Sensor cable (short wired cable) - recommended, so the ADCs on the other cable are still available
+//   #define CONTROL_SERIAL_USART3
+//   #define FEEDBACK_SERIAL_USART3
+//   // #define DEBUG_SERIAL_USART3
+// *******************************************************************
+
+// ########################## DEFINES ##########################
+#define HOVER_SERIAL_BAUD   38400       // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
+#define SERIAL_BAUD         115200      // [-] Baud rate for built-in Serial (used for the Serial Monitor)
+#define START_FRAME         0xAAAA     	// [-] Start frme definition for reliable serial communication
+#define TIME_SEND           100         // [ms] Sending time interval
+#define SPEED_MAX_TEST      300         // [-] Maximum speed for testing
+//#define DEBUG_RX                        // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
+
+#include <SoftwareSerial.h>
+SoftwareSerial HoverSerial(2,3); 		    // RX, TX
+
+// Global variables
+uint8_t idx = 0;                        // Index for new data pointer
+uint16_t bufStartFrame;                 // Buffer Start Frame
+byte *p;                                // Pointer declaration for the new received data
+byte incomingByte;
+byte incomingBytePrev;
+
+typedef struct{
+   uint16_t	start;
+   int16_t  steer;
+   int16_t  speed;
+   uint16_t checksum;
+} SerialCommand;
+SerialCommand Command;
+
+typedef struct{
+   uint16_t start;
+   int16_t 	cmd1;
+   int16_t 	cmd2;
+   int16_t 	speedR;
+   int16_t 	speedL;
+   int16_t 	speedR_meas;
+   int16_t 	speedL_meas;
+   int16_t 	batVoltage;
+   int16_t 	boardTemp;
+   int16_t  checksum;
+} SerialFeedback;
+SerialFeedback Feedback;
+SerialFeedback NewFeedback;
+
+// ########################## SETUP ##########################
+void setup() 
+{
+  Serial.begin(SERIAL_BAUD);
+  Serial.println("Hoverboard Serial v1.0");
+    
+  HoverSerial.begin(HOVER_SERIAL_BAUD);
+  pinMode(LED_BUILTIN, OUTPUT);
+}
+
+// ########################## SEND ##########################
+void Send(int16_t uSteer, int16_t uSpeed)
+{
+  // Create command
+  Command.start    = (uint16_t)START_FRAME;
+  Command.steer    = (int16_t)uSteer;
+  Command.speed    = (int16_t)uSpeed;
+  Command.checksum = (uint16_t)(Command.start ^ Command.steer ^ Command.speed);
+
+  // Write to Serial
+  HoverSerial.write((uint8_t *) &Command, sizeof(Command)); 
+}
+
+// ########################## RECEIVE ##########################
+void Receive()
+{
+	// Check for new data availability in the Serial buffer
+	if (HoverSerial.available()) {
+		incomingByte 	  = HoverSerial.read();		                              // Read the incoming byte
+		bufStartFrame	= ((uint16_t)(incomingBytePrev) << 8) +  incomingByte;	// Construct the start frame		
+	}
+	else {
+		return;
+	}
+
+  // If DEBUG_RX is defined print all incoming bytes
+  #ifdef DEBUG_RX
+		Serial.print(incomingByte);
+		return;
+	#endif    	
+	
+	// Copy received data
+	if (bufStartFrame == START_FRAME) {	                    // Initialize if new data is detected
+		p 		= (byte *)&NewFeedback;
+		*p++ 	= incomingBytePrev;
+		*p++ 	= incomingByte;		
+		idx 	= 2;		
+	} else if (idx >= 2 && idx < sizeof(SerialFeedback)) {	// Save the new received data
+		*p++ 	= incomingByte; 
+		idx++;
+	}	
+	
+	// Check if we reached the end of the package
+	if (idx == sizeof(SerialFeedback)) {  	
+		uint16_t checksum;
+		checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
+					^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
+	
+		// Check validity of the new data
+		if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
+			// Copy the new data
+			memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
+		  
+			// Print data to built-in Serial
+			Serial.print("1: ");   Serial.print(Feedback.cmd1);
+			Serial.print(" 2: ");  Serial.print(Feedback.cmd2);
+			Serial.print(" 3: ");  Serial.print(Feedback.speedR);
+			Serial.print(" 4: ");  Serial.print(Feedback.speedL);
+			Serial.print(" 5: ");  Serial.print(Feedback.speedR_meas);
+			Serial.print(" 6: ");  Serial.print(Feedback.speedL_meas);
+			Serial.print(" 7: ");  Serial.print(Feedback.batVoltage);
+			Serial.print(" 8: ");  Serial.println(Feedback.boardTemp);
+		} else {
+		  Serial.println("Non-valid data skipped");
+		}
+		idx = 0;	// Reset the index (it prevents to enter in this if condition in the next cycle)
+	}
+ 	
+	// Update previous states
+	incomingBytePrev 	= incomingByte;
+}
+
+// ########################## LOOP ##########################
+
+unsigned long iTimeSend = 0;
+int iTestMax = SPEED_MAX_TEST;
+int iTest = 0;
+
+void loop(void)
+{ 
+  unsigned long timeNow = millis();
+
+  // Check for new received data
+  Receive();
+
+  // Send commands
+  if (iTimeSend > timeNow) return;
+  iTimeSend = timeNow + TIME_SEND;
+  Send(0, abs(iTest));
+
+  // Calculate test command signal
+  iTest += 10;
+  if (iTest > iTestMax) iTest = -iTestMax;
+
+  // Blink the LED
+  digitalWrite(LED_BUILTIN, (timeNow%2000)<1000);
+}
+
+// ########################## END ##########################
diff --git a/Inc/BLDC_controller.h b/Inc/BLDC_controller.h
index 6583d08..acfba7a 100644
--- a/Inc/BLDC_controller.h
+++ b/Inc/BLDC_controller.h
@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1199
+ * Model version                  : 1.1249
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Sun Nov  3 12:28:16 2019
+ * C/C++ source code generated on : Thu Dec 12 20:22:31 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -30,122 +30,150 @@
 /* Forward declaration for rtModel */
 typedef struct tag_RTM RT_MODEL;
 
-/* Block signals and states (auto storage) for system '<S11>/Counter' */
+/* Block signals and states (auto storage) for system '<S12>/Counter' */
 typedef struct {
-  int16_T UnitDelay_DSTATE;            /* '<S17>/UnitDelay' */
+  int16_T UnitDelay_DSTATE;            /* '<S16>/UnitDelay' */
 } DW_Counter;
 
-/* Block signals and states (auto storage) for system '<S40>/PI_clamp_fixdt_id' */
+/* Block signals and states (auto storage) for system '<S54>/PI_clamp_fixdt' */
 typedef struct {
-  int32_T UnitDelay_DSTATE;            /* '<S65>/UnitDelay' */
-  boolean_T UnitDelay1_DSTATE;         /* '<S62>/UnitDelay1' */
+  int32_T UnitDelay_DSTATE;            /* '<S68>/UnitDelay' */
+  boolean_T UnitDelay1_DSTATE;         /* '<S65>/UnitDelay1' */
 } DW_PI_clamp_fixdt;
 
-/* Block signals and states (auto storage) for system '<S31>/Low_Pass_Filter' */
+/* Block signals and states (auto storage) for system '<S41>/Low_Pass_Filter' */
 typedef struct {
-  int16_T UnitDelay3_DSTATE[2];        /* '<S44>/UnitDelay3' */
+  int16_T UnitDelay3_DSTATE[2];        /* '<S50>/UnitDelay3' */
 } DW_Low_Pass_Filter;
 
-/* Block signals and states (auto storage) for system '<S38>/PI_clamp_fixdt_n' */
+/* Block signals and states (auto storage) for system '<S73>/I_backCalc_fixdt' */
 typedef struct {
-  int32_T UnitDelay_DSTATE;            /* '<S55>/UnitDelay' */
-  boolean_T UnitDelay1_DSTATE;         /* '<S53>/UnitDelay1' */
-} DW_PI_clamp_fixdt_c;
+  int32_T UnitDelay_DSTATE;            /* '<S78>/UnitDelay' */
+  int32_T UnitDelay_DSTATE_h;          /* '<S80>/UnitDelay' */
+} DW_I_backCalc_fixdt;
 
-/* Block signals and states (auto storage) for system '<S22>/Counter' */
+/* Block signals and states (auto storage) for system '<S21>/Counter' */
 typedef struct {
-  uint16_T UnitDelay_DSTATE;           /* '<S27>/UnitDelay' */
+  uint16_T UnitDelay_DSTATE;           /* '<S26>/UnitDelay' */
 } DW_Counter_l;
 
-/* Block signals and states (auto storage) for system '<S18>/either_edge' */
+/* Block signals and states (auto storage) for system '<S17>/either_edge' */
 typedef struct {
-  boolean_T UnitDelay_DSTATE;          /* '<S23>/UnitDelay' */
+  boolean_T UnitDelay_DSTATE;          /* '<S22>/UnitDelay' */
 } DW_either_edge;
 
 /* Block signals and states (auto storage) for system '<S3>/Debounce_Filter' */
 typedef struct {
-  DW_either_edge either_edge_k;        /* '<S18>/either_edge' */
-  DW_Counter_l Counter_h;              /* '<S21>/Counter' */
-  DW_Counter_l Counter_i0;             /* '<S22>/Counter' */
-  boolean_T UnitDelay_DSTATE;          /* '<S18>/UnitDelay' */
+  DW_either_edge either_edge_k;        /* '<S17>/either_edge' */
+  DW_Counter_l Counter_h;              /* '<S20>/Counter' */
+  DW_Counter_l Counter_i0;             /* '<S21>/Counter' */
+  boolean_T UnitDelay_DSTATE;          /* '<S17>/UnitDelay' */
 } DW_Debounce_Filter;
 
 /* Block signals and states (auto storage) for system '<Root>' */
 typedef struct {
   DW_either_edge either_edge_a;        /* '<S3>/either_edge' */
   DW_Debounce_Filter Debounce_Filter_f;/* '<S3>/Debounce_Filter' */
-  DW_PI_clamp_fixdt PI_clamp_fixdt_iq; /* '<S39>/PI_clamp_fixdt_iq' */
-  DW_PI_clamp_fixdt_c PI_clamp_fixdt_n_o;/* '<S38>/PI_clamp_fixdt_n' */
-  DW_Low_Pass_Filter Low_Pass_Filter_m;/* '<S31>/Low_Pass_Filter' */
-  DW_PI_clamp_fixdt PI_clamp_fixdt_id; /* '<S40>/PI_clamp_fixdt_id' */
-  DW_Counter Counter_e;                /* '<S11>/Counter' */
-  int32_T UnitDelay_DSTATE;            /* '<S51>/UnitDelay' */
-  int16_T Gain4[3];                    /* '<S33>/Gain4' */
-  int16_T Sum1[2];                     /* '<S44>/Sum1' */
-  int16_T z_counterRawPrev;            /* '<S16>/z_counterRawPrev' */
-  int16_T Merge;                       /* '<S5>/Merge' */
-  int16_T Divide1;                     /* '<S46>/Divide1' */
-  int16_T Divide4;                     /* '<S45>/Divide4' */
-  int16_T Switch1;                     /* '<S66>/Switch1' */
-  int16_T Divide11;                    /* '<S16>/Divide11' */
-  int16_T UnitDelay3_DSTATE;           /* '<S11>/UnitDelay3' */
-  int16_T UnitDelay4_DSTATE;           /* '<S6>/UnitDelay4' */
-  int16_T UnitDelay4_DSTATE_p;         /* '<S16>/UnitDelay4' */
-  int16_T UnitDelay2_DSTATE;           /* '<S16>/UnitDelay2' */
-  int16_T UnitDelay3_DSTATE_o;         /* '<S16>/UnitDelay3' */
-  int16_T UnitDelay5_DSTATE;           /* '<S16>/UnitDelay5' */
-  int16_T UnitDelay4_DSTATE_e;         /* '<S11>/UnitDelay4' */
-  int16_T UnitDelay4_DSTATE_er;        /* '<S5>/UnitDelay4' */
-  int8_T Switch2;                      /* '<S10>/Switch2' */
-  int8_T UnitDelay2_DSTATE_b;          /* '<S10>/UnitDelay2' */
-  int8_T If2_ActiveSubsystem;          /* '<S1>/If2' */
+  DW_I_backCalc_fixdt I_backCalc_fixdt_g;/* '<S72>/I_backCalc_fixdt' */
+  DW_I_backCalc_fixdt I_backCalc_fixdt1;/* '<S73>/I_backCalc_fixdt1' */
+  DW_I_backCalc_fixdt I_backCalc_fixdt_i;/* '<S73>/I_backCalc_fixdt' */
+  DW_Low_Pass_Filter Low_Pass_Filter_m;/* '<S41>/Low_Pass_Filter' */
+  DW_PI_clamp_fixdt PI_clamp_fixdt_a;  /* '<S53>/PI_clamp_fixdt' */
+  DW_PI_clamp_fixdt PI_clamp_fixdt_o;  /* '<S52>/PI_clamp_fixdt' */
+  DW_PI_clamp_fixdt PI_clamp_fixdt_k;  /* '<S54>/PI_clamp_fixdt' */
+  DW_Counter Counter_e;                /* '<S12>/Counter' */
+  int32_T Divide1;                     /* '<S71>/Divide1' */
+  int32_T UnitDelay_DSTATE;            /* '<S36>/UnitDelay' */
+  int16_T Gain4[3];                    /* '<S43>/Gain4' */
+  int16_T Sum1[2];                     /* '<S50>/Sum1' */
+  int16_T z_counterRawPrev;            /* '<S15>/z_counterRawPrev' */
+  int16_T Merge1;                      /* '<S29>/Merge1' */
+  int16_T Divide3;                     /* '<S5>/Divide3' */
+  int16_T Vd_max1;                     /* '<S45>/Vd_max1' */
+  int16_T Gain3;                       /* '<S45>/Gain3' */
+  int16_T Vq_max_M1;                   /* '<S45>/Vq_max_M1' */
+  int16_T Gain5;                       /* '<S45>/Gain5' */
+  int16_T i_max;                       /* '<S45>/i_max' */
+  int16_T Divide1_a;                   /* '<S45>/Divide1' */
+  int16_T Gain1;                       /* '<S45>/Gain1' */
+  int16_T Gain4_c;                     /* '<S45>/Gain4' */
+  int16_T Switch2;                     /* '<S77>/Switch2' */
+  int16_T Switch2_l;                   /* '<S83>/Switch2' */
+  int16_T Switch2_c;                   /* '<S81>/Switch2' */
+  int16_T Merge;                       /* '<S42>/Merge' */
+  int16_T Switch1;                     /* '<S69>/Switch1' */
+  int16_T Divide11;                    /* '<S15>/Divide11' */
+  int16_T UnitDelay3_DSTATE;           /* '<S12>/UnitDelay3' */
+  int16_T UnitDelay4_DSTATE;           /* '<S15>/UnitDelay4' */
+  int16_T UnitDelay2_DSTATE;           /* '<S15>/UnitDelay2' */
+  int16_T UnitDelay3_DSTATE_o;         /* '<S15>/UnitDelay3' */
+  int16_T UnitDelay5_DSTATE;           /* '<S15>/UnitDelay5' */
+  int16_T UnitDelay4_DSTATE_e;         /* '<S12>/UnitDelay4' */
+  int16_T UnitDelay4_DSTATE_eu;        /* '<S7>/UnitDelay4' */
+  int16_T UnitDelay4_DSTATE_h;         /* '<S6>/UnitDelay4' */
+  int8_T Switch2_e;                    /* '<S11>/Switch2' */
+  int8_T UnitDelay2_DSTATE_b;          /* '<S11>/UnitDelay2' */
+  int8_T If4_ActiveSubsystem;          /* '<S1>/If4' */
   int8_T If1_ActiveSubsystem;          /* '<S1>/If1' */
-  int8_T If2_ActiveSubsystem_a;        /* '<S5>/If2' */
-  int8_T If1_ActiveSubsystem_e;        /* '<S5>/If1' */
-  int8_T If1_ActiveSubsystem_f;        /* '<S35>/If1' */
-  int8_T If2_ActiveSubsystem_c;        /* '<S35>/If2' */
-  int8_T SwitchCase_ActiveSubsystem;   /* '<S5>/Switch Case' */
-  uint8_T UnitDelay3_DSTATE_fy;        /* '<S8>/UnitDelay3' */
-  uint8_T UnitDelay1_DSTATE;           /* '<S8>/UnitDelay1' */
-  uint8_T UnitDelay2_DSTATE_f;         /* '<S8>/UnitDelay2' */
-  uint8_T UnitDelay1_DSTATE_p;         /* '<S4>/UnitDelay1' */
-  uint8_T UnitDelay_DSTATE_c;          /* '<S3>/UnitDelay' */
+  int8_T If2_ActiveSubsystem;          /* '<S29>/If2' */
+  int8_T If2_ActiveSubsystem_a;        /* '<S6>/If2' */
+  uint8_T z_ctrlMod;                   /* '<S4>/F03_02_Control_Mode_Manager' */
+  uint8_T UnitDelay3_DSTATE_fy;        /* '<S9>/UnitDelay3' */
+  uint8_T UnitDelay1_DSTATE;           /* '<S9>/UnitDelay1' */
+  uint8_T UnitDelay2_DSTATE_f;         /* '<S9>/UnitDelay2' */
   uint8_T is_active_c1_BLDC_controller;/* '<S4>/F03_02_Control_Mode_Manager' */
   uint8_T is_c1_BLDC_controller;       /* '<S4>/F03_02_Control_Mode_Manager' */
   uint8_T is_ACTIVE;                   /* '<S4>/F03_02_Control_Mode_Manager' */
-  boolean_T Merge_n;                   /* '<S18>/Merge' */
-  boolean_T dz_cntTrnsDet;             /* '<S16>/dz_cntTrnsDet' */
-  boolean_T UnitDelay_DSTATE_g;        /* '<S50>/UnitDelay' */
-  boolean_T UnitDelay1_DSTATE_n;       /* '<S16>/UnitDelay1' */
-  boolean_T n_commDeacv_Mode;          /* '<S11>/n_commDeacv' */
-  boolean_T n_fieldWeakAuth_Mode;      /* '<S32>/n_fieldWeakAuth' */
-  boolean_T dz_cntTrnsDet_Mode;        /* '<S16>/dz_cntTrnsDet' */
+  boolean_T Merge_n;                   /* '<S17>/Merge' */
+  boolean_T dz_cntTrnsDet;             /* '<S15>/dz_cntTrnsDet' */
+  boolean_T UnitDelay2_DSTATE_g;       /* '<S8>/UnitDelay2' */
+  boolean_T UnitDelay5_DSTATE_l;       /* '<S8>/UnitDelay5' */
+  boolean_T UnitDelay6_DSTATE;         /* '<S8>/UnitDelay6' */
+  boolean_T UnitDelay_DSTATE_e;        /* '<S35>/UnitDelay' */
+  boolean_T UnitDelay1_DSTATE_n;       /* '<S15>/UnitDelay1' */
+  boolean_T n_commDeacv_Mode;          /* '<S12>/n_commDeacv' */
+  boolean_T dz_cntTrnsDet_Mode;        /* '<S15>/dz_cntTrnsDet' */
 } DW;
 
 /* Constant parameters (auto storage) */
 typedef struct {
-  /* Computed Parameter: z_commutMap_M1_table
-   * Referenced by: '<S6>/z_commutMap_M1'
+  /* Computed Parameter: r_sin3PhaA_M1_Table
+   * Referenced by: '<S86>/r_sin3PhaA_M1'
+   */
+  int16_T r_sin3PhaA_M1_Table[181];
+
+  /* Computed Parameter: r_sin3PhaB_M1_Table
+   * Referenced by: '<S86>/r_sin3PhaB_M1'
+   */
+  int16_T r_sin3PhaB_M1_Table[181];
+
+  /* Computed Parameter: r_sin3PhaC_M1_Table
+   * Referenced by: '<S86>/r_sin3PhaC_M1'
    */
-  int16_T z_commutMap_M1_table[18];
+  int16_T r_sin3PhaC_M1_Table[181];
 
   /* Computed Parameter: r_sin_M1_Table
-   * Referenced by: '<S32>/r_sin_M1'
+   * Referenced by: '<S47>/r_sin_M1'
    */
   int16_T r_sin_M1_Table[181];
 
   /* Computed Parameter: r_cos_M1_Table
-   * Referenced by: '<S32>/r_cos_M1'
+   * Referenced by: '<S47>/r_cos_M1'
    */
   int16_T r_cos_M1_Table[181];
 
   /* Computed Parameter: iq_maxSca_M1_Table
-   * Referenced by: '<S35>/iq_maxSca_M1'
+   * Referenced by: '<S45>/iq_maxSca_M1'
    */
   uint16_T iq_maxSca_M1_Table[50];
 
+  /* Computed Parameter: z_commutMap_M1_table
+   * Referenced by: '<S84>/z_commutMap_M1'
+   */
+  int8_T z_commutMap_M1_table[18];
+
   /* Computed Parameter: vec_hallToPos_Value
-   * Referenced by: '<S9>/vec_hallToPos'
+   * Referenced by: '<S10>/vec_hallToPos'
    */
   int8_T vec_hallToPos_Value[8];
 } ConstP;
@@ -178,27 +206,24 @@ typedef struct {
 /* Parameters (auto storage) */
 struct P_ {
   int32_T dV_openRate;                 /* Variable: dV_openRate
-                                        * Referenced by: '<S36>/dV_openRate'
+                                        * Referenced by: '<S33>/dV_openRate'
                                         */
   int16_T dz_cntTrnsDetHi;             /* Variable: dz_cntTrnsDetHi
-                                        * Referenced by: '<S16>/dz_cntTrnsDet'
+                                        * Referenced by: '<S15>/dz_cntTrnsDet'
                                         */
   int16_T dz_cntTrnsDetLo;             /* Variable: dz_cntTrnsDetLo
-                                        * Referenced by: '<S16>/dz_cntTrnsDet'
-                                        */
-  int16_T r_errInpTgtThres;            /* Variable: r_errInpTgtThres
-                                        * Referenced by: '<S3>/r_errInpTgtThres'
+                                        * Referenced by: '<S15>/dz_cntTrnsDet'
                                         */
   int16_T z_maxCntRst;                 /* Variable: z_maxCntRst
                                         * Referenced by:
-                                        *   '<S11>/Counter'
-                                        *   '<S11>/z_maxCntRst'
-                                        *   '<S11>/z_maxCntRst2'
-                                        *   '<S11>/UnitDelay3'
-                                        *   '<S16>/z_counter'
+                                        *   '<S12>/Counter'
+                                        *   '<S12>/z_maxCntRst'
+                                        *   '<S12>/z_maxCntRst2'
+                                        *   '<S12>/UnitDelay3'
+                                        *   '<S15>/z_counter'
                                         */
   uint16_T cf_speedCoef;               /* Variable: cf_speedCoef
-                                        * Referenced by: '<S16>/cf_speedCoef'
+                                        * Referenced by: '<S15>/cf_speedCoef'
                                         */
   uint16_T t_errDequal;                /* Variable: t_errDequal
                                         * Referenced by: '<S3>/t_errDequal'
@@ -206,77 +231,92 @@ struct P_ {
   uint16_T t_errQual;                  /* Variable: t_errQual
                                         * Referenced by: '<S3>/t_errQual'
                                         */
-  uint16_T cf_idKp;                    /* Variable: cf_idKp
-                                        * Referenced by: '<S40>/cf_idKp1'
-                                        */
-  uint16_T cf_iqKp;                    /* Variable: cf_iqKp
-                                        * Referenced by: '<S39>/cf_iqKp'
-                                        */
-  uint16_T cf_nKp;                     /* Variable: cf_nKp
-                                        * Referenced by: '<S38>/cf_nKp'
-                                        */
   int16_T Vd_max;                      /* Variable: Vd_max
                                         * Referenced by:
-                                        *   '<S35>/Vd_max1'
-                                        *   '<S14>/Vd_max'
+                                        *   '<S45>/Vd_max1'
+                                        *   '<S32>/Vd_max'
                                         */
   int16_T Vq_max_M1[46];               /* Variable: Vq_max_M1
-                                        * Referenced by: '<S35>/Vq_max_M1'
+                                        * Referenced by: '<S45>/Vq_max_M1'
                                         */
   int16_T Vq_max_XA[46];               /* Variable: Vq_max_XA
-                                        * Referenced by: '<S35>/Vq_max_XA'
+                                        * Referenced by: '<S45>/Vq_max_XA'
+                                        */
+  int16_T a_phaAdvMax;                 /* Variable: a_phaAdvMax
+                                        * Referenced by: '<S5>/a_phaAdvMax'
                                         */
   int16_T i_max;                       /* Variable: i_max
                                         * Referenced by:
-                                        *   '<S35>/i_max'
-                                        *   '<S14>/i_max'
+                                        *   '<S45>/i_max'
+                                        *   '<S32>/i_max'
                                         */
-  int16_T id_fieldWeak_M1[12];         /* Variable: id_fieldWeak_M1
-                                        * Referenced by: '<S32>/id_fieldWeak_M1'
+  int16_T id_fieldWeakMax;             /* Variable: id_fieldWeakMax
+                                        * Referenced by: '<S5>/id_fieldWeakMax'
                                         */
   int16_T n_commAcvLo;                 /* Variable: n_commAcvLo
-                                        * Referenced by: '<S11>/n_commDeacv'
+                                        * Referenced by: '<S12>/n_commDeacv'
                                         */
   int16_T n_commDeacvHi;               /* Variable: n_commDeacvHi
-                                        * Referenced by: '<S11>/n_commDeacv'
+                                        * Referenced by: '<S12>/n_commDeacv'
                                         */
   int16_T n_fieldWeakAuthHi;           /* Variable: n_fieldWeakAuthHi
-                                        * Referenced by: '<S32>/n_fieldWeakAuth'
+                                        * Referenced by: '<S5>/n_fieldWeakAuthHi'
                                         */
   int16_T n_fieldWeakAuthLo;           /* Variable: n_fieldWeakAuthLo
-                                        * Referenced by: '<S32>/n_fieldWeakAuth'
+                                        * Referenced by: '<S5>/n_fieldWeakAuthLo'
                                         */
   int16_T n_max;                       /* Variable: n_max
                                         * Referenced by:
-                                        *   '<S35>/n_max1'
-                                        *   '<S14>/n_max'
+                                        *   '<S45>/n_max1'
+                                        *   '<S32>/n_max'
                                         */
   int16_T n_stdStillDet;               /* Variable: n_stdStillDet
-                                        * Referenced by: '<S11>/n_stdStillDet'
+                                        * Referenced by: '<S12>/n_stdStillDet'
+                                        */
+  int16_T r_errInpTgtThres;            /* Variable: r_errInpTgtThres
+                                        * Referenced by: '<S3>/r_errInpTgtThres'
+                                        */
+  int16_T r_fieldWeakHi;               /* Variable: r_fieldWeakHi
+                                        * Referenced by: '<S5>/r_fieldWeakHi'
                                         */
-  int16_T r_fieldWeak_XA[12];          /* Variable: r_fieldWeak_XA
-                                        * Referenced by: '<S32>/r_fieldWeak_XA'
+  int16_T r_fieldWeakLo;               /* Variable: r_fieldWeakLo
+                                        * Referenced by: '<S5>/r_fieldWeakLo'
+                                        */
+  uint16_T cf_KbLimProt;               /* Variable: cf_KbLimProt
+                                        * Referenced by:
+                                        *   '<S72>/cf_KbLimProt'
+                                        *   '<S73>/cf_KbLimProt'
+                                        */
+  uint16_T cf_idKp;                    /* Variable: cf_idKp
+                                        * Referenced by: '<S54>/cf_idKp1'
+                                        */
+  uint16_T cf_iqKp;                    /* Variable: cf_iqKp
+                                        * Referenced by: '<S53>/cf_iqKp'
+                                        */
+  uint16_T cf_nKp;                     /* Variable: cf_nKp
+                                        * Referenced by: '<S52>/cf_nKp'
                                         */
   uint16_T cf_currFilt;                /* Variable: cf_currFilt
-                                        * Referenced by: '<S31>/cf_currFilt'
+                                        * Referenced by: '<S41>/cf_currFilt'
                                         */
   uint16_T cf_idKi;                    /* Variable: cf_idKi
-                                        * Referenced by: '<S40>/cf_idKi1'
+                                        * Referenced by: '<S54>/cf_idKi1'
                                         */
   uint16_T cf_iqKi;                    /* Variable: cf_iqKi
-                                        * Referenced by: '<S39>/cf_iqKi'
+                                        * Referenced by: '<S53>/cf_iqKi'
                                         */
   uint16_T cf_iqKiLimProt;             /* Variable: cf_iqKiLimProt
-                                        * Referenced by: '<S38>/cf_iqKiLimProt'
+                                        * Referenced by:
+                                        *   '<S71>/cf_iqKiLimProt'
+                                        *   '<S73>/cf_iqKiLimProt'
                                         */
   uint16_T cf_nKi;                     /* Variable: cf_nKi
-                                        * Referenced by: '<S38>/cf_nKi'
-                                        */
-  uint16_T cf_iqKpLimProt;             /* Variable: cf_iqKpLimProt
-                                        * Referenced by: '<S45>/cf_iqKpLimProt'
+                                        * Referenced by: '<S52>/cf_nKi'
                                         */
-  uint16_T cf_nKpLimProt;              /* Variable: cf_nKpLimProt
-                                        * Referenced by: '<S46>/cf_nKpLimProt'
+  uint16_T cf_nKiLimProt;              /* Variable: cf_nKiLimProt
+                                        * Referenced by:
+                                        *   '<S72>/cf_nKiLimProt'
+                                        *   '<S73>/cf_nKiLimProt'
                                         */
   uint8_T z_ctrlTypSel;                /* Variable: z_ctrlTypSel
                                         * Referenced by: '<S1>/z_ctrlTypSel1'
@@ -285,10 +325,12 @@ struct P_ {
                                         * Referenced by: '<S1>/b_diagEna'
                                         */
   boolean_T b_fieldWeakEna;            /* Variable: b_fieldWeakEna
-                                        * Referenced by: '<S32>/b_fieldWeakEna'
+                                        * Referenced by:
+                                        *   '<S1>/b_fieldWeakEna'
+                                        *   '<S87>/b_fieldWeakEna'
                                         */
   boolean_T b_selPhaABCurrMeas;        /* Variable: b_selPhaABCurrMeas
-                                        * Referenced by: '<S30>/b_selPhaABCurrMeas'
+                                        * Referenced by: '<S40>/b_selPhaABCurrMeas'
                                         */
 };
 
@@ -313,26 +355,33 @@ extern void BLDC_controller_step(RT_MODEL *const rtM);
 /*-
  * These blocks were eliminated from the model due to optimizations:
  *
- * Block '<S11>/Scope2' : Unused code path elimination
- * Block '<S12>/Scope' : Unused code path elimination
- * Block '<S47>/Data Type Duplicate' : Unused code path elimination
- * Block '<S47>/Data Type Propagation' : Unused code path elimination
- * Block '<S48>/Data Type Duplicate' : Unused code path elimination
- * Block '<S48>/Data Type Propagation' : Unused code path elimination
- * Block '<S52>/Data Type Duplicate' : Unused code path elimination
- * Block '<S52>/Data Type Propagation' : Unused code path elimination
- * Block '<S5>/Scope12' : Unused code path elimination
- * Block '<S5>/Scope8' : Unused code path elimination
- * Block '<S5>/Scope9' : Unused code path elimination
- * Block '<S58>/Data Type Duplicate' : Unused code path elimination
- * Block '<S58>/Data Type Propagation' : Unused code path elimination
- * Block '<S63>/Data Type Duplicate' : Unused code path elimination
- * Block '<S63>/Data Type Propagation' : Unused code path elimination
- * Block '<S67>/Data Type Duplicate' : Unused code path elimination
- * Block '<S67>/Data Type Propagation' : Unused code path elimination
- * Block '<S1>/Data Type Conversion2' : Eliminate redundant data type conversion
- * Block '<S1>/Data Type Conversion3' : Eliminate redundant data type conversion
- * Block '<S1>/Data Type Conversion6' : Eliminate redundant data type conversion
+ * Block '<S12>/Scope2' : Unused code path elimination
+ * Block '<S13>/Scope' : Unused code path elimination
+ * Block '<S37>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S37>/Data Type Propagation' : Unused code path elimination
+ * Block '<S38>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S38>/Data Type Propagation' : Unused code path elimination
+ * Block '<S39>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S39>/Data Type Propagation' : Unused code path elimination
+ * Block '<S61>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S61>/Data Type Propagation' : Unused code path elimination
+ * Block '<S66>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S66>/Data Type Propagation' : Unused code path elimination
+ * Block '<S70>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S70>/Data Type Propagation' : Unused code path elimination
+ * Block '<S74>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S74>/Data Type Propagation' : Unused code path elimination
+ * Block '<S77>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S77>/Data Type Propagation' : Unused code path elimination
+ * Block '<S81>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S81>/Data Type Propagation' : Unused code path elimination
+ * Block '<S83>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S83>/Data Type Propagation' : Unused code path elimination
+ * Block '<S6>/Scope12' : Unused code path elimination
+ * Block '<S6>/Scope8' : Unused code path elimination
+ * Block '<S6>/Scope9' : Unused code path elimination
+ * Block '<S87>/Scope' : Unused code path elimination
+ * Block '<S8>/Data Type Conversion' : Eliminate redundant data type conversion
  */
 
 /*-
@@ -357,69 +406,90 @@ extern void BLDC_controller_step(RT_MODEL *const rtM);
  * '<S2>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations'
  * '<S3>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics'
  * '<S4>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager'
- * '<S5>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control'
- * '<S6>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Control_Type_Management'
- * '<S7>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Input_Scaling'
- * '<S8>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_02_Edge_Detector'
- * '<S9>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_03_Position_Calculation'
- * '<S10>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Direction_Detection'
- * '<S11>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Speed_Estimation'
- * '<S12>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Estimation'
- * '<S13>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Input_Scaling/Commutation_Control_Type'
- * '<S14>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Input_Scaling/FOC_Control_Type'
- * '<S15>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Speed_Estimation/Counter'
- * '<S16>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Speed_Estimation/Raw_Motor_Speed_Estimation'
- * '<S17>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Speed_Estimation/Counter/rst_Delay'
- * '<S18>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter'
- * '<S19>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/either_edge'
- * '<S20>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Default'
- * '<S21>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification'
- * '<S22>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification'
- * '<S23>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/either_edge'
- * '<S24>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter'
- * '<S25>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter/rst_Delay'
- * '<S26>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter'
- * '<S27>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter/rst_Delay'
- * '<S28>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_01_Mode_Transition_Calculation'
- * '<S29>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_02_Control_Mode_Manager'
- * '<S30>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Clarke_Transform'
- * '<S31>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Current_Filtering'
- * '<S32>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Field_Weakening'
- * '<S33>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Inv_Clarke_Transform'
- * '<S34>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Inv_Park_Transform'
- * '<S35>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations'
- * '<S36>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode'
- * '<S37>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Park_Transform'
- * '<S38>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode'
- * '<S39>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode'
- * '<S40>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation'
- * '<S41>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Voltage_Mode'
- * '<S42>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesAB'
- * '<S43>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesBC'
- * '<S44>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Current_Filtering/Low_Pass_Filter'
- * '<S45>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations/Current_Limit_Protection'
- * '<S46>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations/Speed_Limit_Protection'
- * '<S47>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations/Current_Limit_Protection/Saturation Dynamic'
- * '<S48>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Motor_Limitations/Speed_Limit_Protection/Saturation Dynamic1'
- * '<S49>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode/Rate_Limiter'
- * '<S50>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode/rising_edge_init'
- * '<S51>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode/Rate_Limiter/Delay_Init1'
- * '<S52>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Open_Mode/Rate_Limiter/Saturation Dynamic'
- * '<S53>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode/PI_clamp_fixdt_n'
- * '<S54>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode/PI_clamp_fixdt_n/Clamping_circuit'
- * '<S55>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode/PI_clamp_fixdt_n/Integrator'
- * '<S56>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Speed_Mode/PI_clamp_fixdt_n/Saturation_hit'
- * '<S57>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/PI_clamp_fixdt_iq'
- * '<S58>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/Saturation Dynamic'
- * '<S59>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/PI_clamp_fixdt_iq/Clamping_circuit'
- * '<S60>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/PI_clamp_fixdt_iq/Integrator'
- * '<S61>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Torque_Mode/PI_clamp_fixdt_iq/Saturation_hit'
- * '<S62>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/PI_clamp_fixdt_id'
- * '<S63>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/Saturation Dynamic'
- * '<S64>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/PI_clamp_fixdt_id/Clamping_circuit'
- * '<S65>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/PI_clamp_fixdt_id/Integrator'
- * '<S66>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Vd_Calculation/PI_clamp_fixdt_id/Saturation_hit'
- * '<S67>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Oriented_Control/Voltage_Mode/Saturation Dynamic1'
+ * '<S5>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening'
+ * '<S6>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control'
+ * '<S7>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management'
+ * '<S8>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/Task_Scheduler'
+ * '<S9>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Edge_Detector'
+ * '<S10>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_02_Position_Calculation'
+ * '<S11>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_03_Direction_Detection'
+ * '<S12>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation'
+ * '<S13>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Electrical_Angle_Estimation'
+ * '<S14>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter'
+ * '<S15>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Raw_Motor_Speed_Estimation'
+ * '<S16>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter/rst_Delay'
+ * '<S17>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter'
+ * '<S18>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/either_edge'
+ * '<S19>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Default'
+ * '<S20>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification'
+ * '<S21>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification'
+ * '<S22>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/either_edge'
+ * '<S23>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter'
+ * '<S24>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Dequalification/Counter/rst_Delay'
+ * '<S25>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter'
+ * '<S26>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Debounce_Filter/Qualification/Counter/rst_Delay'
+ * '<S27>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_01_Mode_Transition_Calculation'
+ * '<S28>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_02_Control_Mode_Manager'
+ * '<S29>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis'
+ * '<S30>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Control_Type'
+ * '<S31>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Mode'
+ * '<S32>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/FOC_Control_Type'
+ * '<S33>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode'
+ * '<S34>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter'
+ * '<S35>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/rising_edge_init'
+ * '<S36>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Delay_Init1'
+ * '<S37>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Saturation Dynamic'
+ * '<S38>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Saturation Dynamic'
+ * '<S39>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Saturation Dynamic1'
+ * '<S40>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform'
+ * '<S41>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Current_Filtering'
+ * '<S42>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC'
+ * '<S43>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Inv_Clarke_Transform'
+ * '<S44>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Inv_Park_Transform'
+ * '<S45>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations'
+ * '<S46>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Park_Transform'
+ * '<S47>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Sine_Cosine_Approximation'
+ * '<S48>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesAB'
+ * '<S49>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Transform/Clarke_PhasesBC'
+ * '<S50>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Current_Filtering/Low_Pass_Filter'
+ * '<S51>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Open_Mode'
+ * '<S52>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode'
+ * '<S53>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode'
+ * '<S54>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation'
+ * '<S55>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Voltage_Mode'
+ * '<S56>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt'
+ * '<S57>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt/Clamping_circuit'
+ * '<S58>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt/Integrator'
+ * '<S59>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Speed_Mode/PI_clamp_fixdt/Saturation_hit'
+ * '<S60>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt'
+ * '<S61>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/Saturation Dynamic1'
+ * '<S62>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt/Clamping_circuit'
+ * '<S63>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt/Integrator'
+ * '<S64>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Torque_Mode/PI_clamp_fixdt/Saturation_hit'
+ * '<S65>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt'
+ * '<S66>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/Saturation Dynamic'
+ * '<S67>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt/Clamping_circuit'
+ * '<S68>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt/Integrator'
+ * '<S69>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Vd_Calculation/PI_clamp_fixdt/Saturation_hit'
+ * '<S70>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/Voltage_Mode/Saturation Dynamic1'
+ * '<S71>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Speed_Mode_Protection'
+ * '<S72>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection'
+ * '<S73>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection'
+ * '<S74>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Speed_Mode_Protection/Saturation Dynamic'
+ * '<S75>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection/I_backCalc_fixdt'
+ * '<S76>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection/I_backCalc_fixdt/Integrator'
+ * '<S77>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Torque_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
+ * '<S78>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt'
+ * '<S79>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt1'
+ * '<S80>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt/Integrator'
+ * '<S81>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1'
+ * '<S82>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt1/Integrator'
+ * '<S83>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Voltage_Mode_Protection/I_backCalc_fixdt1/Saturation Dynamic1'
+ * '<S84>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/COM_Method'
+ * '<S85>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/FOC_Method'
+ * '<S86>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method'
+ * '<S87>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation'
+ * '<S88>'  : 'BLDCmotorControl_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation/Modulo_fixdt'
  */
 #endif                                 /* RTW_HEADER_BLDC_controller_h_ */
 
diff --git a/Inc/config.h b/Inc/config.h
index 8b62f4a..58e320c 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -1,7 +1,8 @@
 #pragma once
 #include "stm32f1xx_hal.h"
 
-#define TRANSPOTTER
+// ############################### DEFINE FIRMWARE VARIANT ###############################
+#define TRANSPOTTER                   // Uncomment this line for TRANSPORTER configuration
 
 // ############################### DO-NOT-TOUCH SETTINGS ###############################
 
@@ -82,21 +83,42 @@
 
 //#define DEBUG_I2C_LCD             // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
 
+
 // ############################### SERIAL DEBUG ###############################
 
 #ifndef TRANSPOTTER
-  #define DEBUG_SERIAL_USART3       // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
-  #define DEBUG_BAUD       115200   // UART baud rate
   //#define DEBUG_SERIAL_SERVOTERM
-  #define DEBUG_SERIAL_ASCII        // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
+  #define DEBUG_SERIAL_ASCII          // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
 #endif
 
+
 // ############################### INPUT ###############################
 
 // ###### CONTROL VIA UART (serial) ######
-//#define CONTROL_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used!
-#define CONTROL_BAUD       19200      // control via usart from eg an Arduino or raspberry
-// for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); }
+#define START_FRAME             0xAAAA                  // [-] Start frame definition for serial commands
+#define SERIAL_TIMEOUT          160                     // [-] Serial timeout duration for the received data. 160 ~= 0.8 sec. Calculation: 0.8 sec / 0.005 sec
+
+#define USART2_BAUD             38400                   // UART2 baud rate (long wired cable)
+#define USART2_WORDLENGTH       UART_WORDLENGTH_8B      // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
+// #define CONTROL_SERIAL_USART2                           // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
+// #define FEEDBACK_SERIAL_USART2                          // left sensor board cable, disable if ADC or PPM is used!
+// #define DEBUG_SERIAL_USART2                             // left sensor board cable, disable if ADC or PPM is used!
+
+#ifndef TRANSPOTTER
+  #define USART3_BAUD             38400                   // UART3 baud rate (short wired cable)
+  #define USART3_WORDLENGTH       UART_WORDLENGTH_8B      // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
+  // #define CONTROL_SERIAL_USART3                           // right sensor board cable, disable if I2C (nunchuck or lcd) is used! For Arduino control check the hoverSerial.ino
+  // #define FEEDBACK_SERIAL_USART3                          // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
+  #define DEBUG_SERIAL_USART3                             // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
+#endif
+
+#if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
+#define UART_DMA_CHANNEL DMA1_Channel7
+#endif
+
+#if defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
+#define UART_DMA_CHANNEL DMA1_Channel2
+#endif
 
 // ###### CONTROL VIA RC REMOTE ######
 // left sensor board cable. Channel 1: steering, Channel 2: speed.
@@ -112,15 +134,15 @@
  * Make, flash and test it.
  */
 #ifndef TRANSPOTTER
-  #define CONTROL_ADC         // use ADC as input. disable CONTROL_SERIAL_USART2!
-  #define ADC1_MID_POT        // ADC1 middle resting poti: comment-out if NOT a middle resting poti
-  #define ADC2_MID_POT        // ADC2 middle resting poti: comment-out if NOT a middle resting poti
-  #define ADC1_MIN 0          // min ADC1-value while poti at minimum-position (0 - 4095)
-  #define ADC1_MID 1963       // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
-  #define ADC1_MAX 4095       // max ADC1-value while poti at maximum-position (0 - 4095)
-  #define ADC2_MIN 0          // min ADC2-value while poti at minimum-position (0 - 4095)
-  #define ADC2_MID 2006       // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
-  #define ADC2_MAX 4095       // max ADC2-value while poti at maximum-position (0 - 4095)
+  #define CONTROL_ADC           // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
+  // #define ADC1_MID_POT          // ADC1 middle resting poti: comment-out if NOT a middle resting poti
+  #define ADC1_MIN 0            // min ADC1-value while poti at minimum-position (0 - 4095)
+  #define ADC1_MID 1963         // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
+  #define ADC1_MAX 4095         // max ADC1-value while poti at maximum-position (0 - 4095)
+  // #define ADC2_MID_POT          // ADC2 middle resting poti: comment-out if NOT a middle resting poti
+  #define ADC2_MIN 0            // min ADC2-value while poti at minimum-position (0 - 4095)
+  #define ADC2_MID 2006         // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
+  #define ADC2_MAX 4095         // max ADC2-value while poti at maximum-position (0 - 4095)
 #endif
 
 // ###### CONTROL VIA NINTENDO NUNCHUCK ######
@@ -129,72 +151,71 @@
  * use the right one of the 2 types of nunchucks, add i2c pullups.
  * use original nunchuck. most clones does not work very well.
  */
-// #define CONTROL_NUNCHUCK            // use nunchuck as input. disable DEBUG_SERIAL_USART3!
+// #define CONTROL_NUNCHUCK            // use nunchuck as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
 
 
-// ################################# TRANSPOTTER SETTINGS ############################
-#ifdef TRANSPOTTER
-  #define CONTROL_GAMETRAK
-  #define SUPPORT_LCD
-  #define SUPPORT_NUNCHUCK
-
-  #define GAMETRAK_CONNECTION_NORMAL    // for normal wiring according to the wiki instructions
-  //#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering)
-
-  #define ROT_P          1.2  // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
-  #define FILTER         6553 // 0.1f - lower value == softer filter. do not use values <0.01, you will get float precision issues.
-
-  //#define INVERT_R_DIRECTION  // Invert right motor
-  #define INVERT_L_DIRECTION  // Invert left motor
-
-  // during nunchuck control (only relevant when activated)
-  #define SPEED_COEFFICIENT   14746  // 0.9f - higher value == stronger. 0.0 to ~2.0?
-  #define STEER_COEFFICIENT   8192   // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
-#endif
-
-
-// ############################### MOTOR CONTROL (overwrite) #########################
-#define CTRL_TYP_SEL    1                       // [-] Control type selection: 0 = Commutation , 1 = FOC Field Oriented Control (default)
-#define CTRL_MOD_REQ    1                       // [-] Control mode request: 0 = Open mode, 1 = Voltage mode (default), 2 = Speed mode, 3 = Torque mode
+// ############################### MOTOR CONTROL #########################
+// Control selections
+#define CTRL_TYP_SEL    2                       // [-] Control type selection: 0 = Commutation , 1 = Sinusoidal, 2 = FOC Field Oriented Control (default)
+#define CTRL_MOD_REQ    1                       // [-] Control mode request: 0 = Open mode, 1 = VOLTAGE mode (default), 2 = SPEED mode, 3 = TORQUE mode. Note: SPEED and TORQUE modes are only available for FOC!
 #define DIAG_ENA        1                       // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
-#define FIELD_WEAK_ENA  0                       // [-] Field Weakening enable flag: 0 = Disabled (default), 1 = Enabled
-#define I_MOT_MAX       (15 * A2BIT_CONV) << 4  // [A] Maximum motor current limit (Change only the first number, the rest is needed for fixed-point conversion, fixdt(1,16,4))
-#define I_DC_MAX        (17 * A2BIT_CONV)       // [A] Maximum DC Link current limit (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A )
-#define N_MOT_MAX       800 << 4                // [rpm] Maximum motor speed (change only the first number, the rest is needed for fixed-point conversion, fixdt(1,16,4))
 
+// Limitation settings
+#define I_MOT_MAX       15                      // [A] Maximum motor current limit
+#define I_DC_MAX        17                      // [A] Maximum DC Link current limit (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A)
+#define N_MOT_MAX       1000                    // [rpm] Maximum motor speed limit
+
+// Field Weakening / Phase Advance
+#define FIELD_WEAK_ENA  0                       // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
+#define FIELD_WEAK_MAX  5                       // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed.
+#define PHASE_ADV_MAX   25                      // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
+#define FIELD_WEAK_HI   1500                    // [-] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500.
+#define FIELD_WEAK_LO   1000                    // [-] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.
+
+// Data checks - Do NOT touch
+#if (FIELD_WEAK_ENA == 0)
+  #undef  FIELD_WEAK_HI                       
+  #define FIELD_WEAK_HI 1000                    // [-] This prevents the input target going beyond 1000 when Field Weakening is not enabled
+#endif
+#define INPUT_MAX   MAX( 1000, FIELD_WEAK_HI)   // [-] Defines the Input target maximum limitation        
+#define INPUT_MIN   MIN(-1000,-FIELD_WEAK_HI)   // [-] Defines the Input target minimum limitation 
+#define INPUT_MID   INPUT_MAX / 2      
 
 /* GENERAL NOTES:
  * 1. The above parameters are over-writing the default motor parameters. For all the available parameters check BLDC_controller_data.c
  * 2. The parameters are represented in fixed point data type for a more efficient code execution
  * 3. For calibrating the fixed-point parameters use the Fixed-Point Viewer tool (see <https://github.com/EmanuelFeru/FixedPointViewer>)
  * 4. For more details regarding the parameters and the working principle of the controller please consult the Simulink model
- * 5. A webview was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code
+ * 5. A webview was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code. The webview is an html page that can be opened with browsers like: Microsoft Internet Explorer or Microsoft Edge
  *
- * NOTES Field weakening:
- * 1. In BLDC_controller_data.c you can find the field weakening Map as a function of input target: MAP = id_fieldWeak_M1, XAXIS = r_fieldWeak_XA
- * 2. The default calibration was experimentally calibrated to my particular needs
- * 3. If you re-calibrate the field weakening map please take all the safety measures! The motors can spin very fast!
- * 4. During the recalibration make sure the values in XAXIS are equally spaced for a correct Map interpolation.
+ * NOTES Field Weakening / Phase Advance:
+ * 1. The Field Weakening is a linear interpolation from 0 to FIELD_WEAK_MAX or PHASE_ADV_MAX (depeding if FOC or SIN is selected, respectively)
+ * 2. The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
+ * 3. If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
  */
 
 
 // ############################### DRIVING BEHAVIOR ###############################
 
 /* Inputs:
- * - cmd1 and cmd2: analog normalized input values. -1000 to 1000
+ * - cmd1 and cmd2: analog normalized input values. INPUT_MIN to INPUT_MAX
  * - button1 and button2: digital input values. 0 or 1
  * - adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
  * Outputs:
- * - speedR and speedL: normal driving -1000 to 1000 
+ * - speedR and speedL: normal driving INPUT_MIN to INPUT_MAX 
  */
 
+// Beep in Reverse
+#define BEEPS_BACKWARD      0     // 0 or 1
+
 // Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4
-#define RATE                480   // 30.0f [-] lower value == slower rate [0, 32767] = [0.0 - 2047.9375]. Do NOT make rate negative (>32767)
+#define RATE                480   // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767)
 
-#ifndef TRANSPOTTER
-  // Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
-  #define FILTER              6553  // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
+// Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
+#define FILTER              6553  // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
 
+// ################################# DEFAULT SETTINGS ############################
+#ifndef TRANSPOTTER
   // Value of COEFFICIENT is in fixdt(1,16,14)
   // If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
   // If VAL_floatingPoint < 0,  VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
@@ -205,37 +226,74 @@
   #define INVERT_L_DIRECTION
 #endif
 
-#define BEEPS_BACKWARD      0     // 0 or 1
+// ################################# TRANSPOTTER SETTINGS ############################
+#ifdef TRANSPOTTER
+  #define CONTROL_GAMETRAK
+  #define SUPPORT_LCD
+  #define SUPPORT_NUNCHUCK
+
+  #define GAMETRAK_CONNECTION_NORMAL    // for normal wiring according to the wiki instructions
+  //#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering)
 
-// ###### SIMPLE BOBBYCAR ######
+  #define ROT_P          1.2          // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.  
+
+  //#define INVERT_R_DIRECTION        // Invert right motor
+  #define INVERT_L_DIRECTION          // Invert left motor
+
+  // during nunchuck control (only relevant when activated)
+  #define SPEED_COEFFICIENT   14746  // 0.9f - higher value == stronger. 0.0 to ~2.0?
+  #define STEER_COEFFICIENT   8192   // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
+#endif
+
+// ################################# SIMPLE BOBBYCAR #################################
 // for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar
 // #define FILTER             6553    //  0.1f 
 // #define SPEED_COEFFICIENT  49152   // -1.0f
 // #define STEER_COEFFICIENT  0       //  0.0f
 
-// ###### ARMCHAIR ######
+// ################################# ARMCHAIR #################################
 // #define FILTER             3276    //  0.05f
 // #define SPEED_COEFFICIENT  8192    //  0.5f
 // #define STEER_COEFFICIENT  62259   // -0.2f
 
 // ############################### VALIDATE SETTINGS ###############################
 
-#if defined CONTROL_SERIAL_USART2 && defined CONTROL_ADC
-  #error CONTROL_ADC and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
+#if defined(CONTROL_SERIAL_USART2) && defined(CONTROL_SERIAL_USART3)
+  #error CONTROL_SERIAL_USART2 and CONTROL_SERIAL_USART3 not allowed, choose one.
+#endif
+
+#if defined(FEEDBACK_SERIAL_USART2) && defined(FEEDBACK_SERIAL_USART3)
+  #error FEEDBACK_SERIAL_USART2 and FEEDBACK_SERIAL_USART3 not allowed, choose one.
+#endif
+
+#if defined(DEBUG_SERIAL_USART2) && defined(FEEDBACK_SERIAL_USART2)
+  #error DEBUG_SERIAL_USART2 and FEEDBACK_SERIAL_USART2 not allowed, choose one.
+#endif
+
+#if defined(DEBUG_SERIAL_USART3) && defined(FEEDBACK_SERIAL_USART3)
+  #error DEBUG_SERIAL_USART3 and FEEDBACK_SERIAL_USART3 not allowed, choose one.
+#endif
+
+#if defined(DEBUG_SERIAL_USART2) && defined(DEBUG_SERIAL_USART3)
+  #error DEBUG_SERIAL_USART2 and DEBUG_SERIAL_USART3 not allowed, choose one.
+#endif
+
+#if defined(CONTROL_ADC) && (defined(CONTROL_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2))
+  #error CONTROL_ADC and SERIAL_USART2 not allowed. It is on the same cable.
 #endif
 
-#if defined CONTROL_SERIAL_USART2 && defined CONTROL_PPM
-  #error CONTROL_PPM and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
+#if (defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2)) && defined(CONTROL_PPM)
+  #error CONTROL_PPM and SERIAL_USART2 not allowed. It is on the same cable.
 #endif
 
-#if defined DEBUG_SERIAL_USART3 && defined CONTROL_NUNCHUCK
-  #error CONTROL_NUNCHUCK and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
+#if (defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3)) && defined(CONTROL_NUNCHUCK)
+  #error CONTROL_NUNCHUCK and SERIAL_USART3 not allowed. It is on the same cable.
 #endif
 
-#if defined DEBUG_SERIAL_USART3 && defined DEBUG_I2C_LCD
-  #error DEBUG_I2C_LCD and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
+#if (defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3)) && defined(DEBUG_I2C_LCD)
+  #error DEBUG_I2C_LCD and SERIAL_USART3 not allowed. It is on the same cable.
 #endif
 
-#if defined CONTROL_PPM && defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_ADC || defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_NUNCHUCK
+#if defined(CONTROL_PPM) && defined(CONTROL_ADC) && defined(CONTROL_NUNCHUCK) || defined(CONTROL_PPM) && defined(CONTROL_ADC) || defined(CONTROL_ADC) && defined(CONTROL_NUNCHUCK) || defined(CONTROL_PPM) && defined(CONTROL_NUNCHUCK)
   #error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK.
 #endif
diff --git a/Inc/rtwtypes.h b/Inc/rtwtypes.h
index 2ffd35b..0731f04 100644
--- a/Inc/rtwtypes.h
+++ b/Inc/rtwtypes.h
@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1197
+ * Model version                  : 1.1249
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Thu Oct 31 21:29:42 2019
+ * C/C++ source code generated on : Thu Dec 12 20:22:31 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
diff --git a/Inc/setup.h b/Inc/setup.h
index a024fe6..e6c31b4 100644
--- a/Inc/setup.h
+++ b/Inc/setup.h
@@ -27,4 +27,5 @@ void MX_GPIO_Init(void);
 void MX_TIM_Init(void);
 void MX_ADC1_Init(void);
 void MX_ADC2_Init(void);
-void UART_Init(void);
+void UART2_Init(void);
+void UART3_Init(void);
diff --git a/README.md b/README.md
index cfc50cf..9b4c5b0 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,8 @@
 # hoverboard-firmware-hack-FOC
 ## with Field Oriented Control (FOC)
 [![Build Status](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC.svg?branch=master)](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC)
+[![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_SM.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=feru_emanuel%40yahoo.com&currency_code=EUR&source=url)
+***If you like this project, you can give me a cup of coffee. Thanks!*** 
 
 This repository implements Field Oriented Control (FOC) for stock hoverboards. Compared to the commutation method, this new FOC control method offers superior performance featuring:
  - reduced noise and vibrations 	
@@ -21,7 +23,7 @@ The main firmware architecture includes:
 - **Diagnostics**: implements error detection such as unconnected Hall sensor, motor blocked, MOSFET defective
 - **Control Manager**: manages the transitions between control modes (Voltage, Speed, Torque)
 - **FOC Algorithm**: implements the FOC strategy
-- **Control Type Manager**: Manages the transition between Commutation and FOC Algorithm
+- **Control Type Manager**: Manages the transition between Commutation, Sinusoidal, and FOC control type
 
 ![Firmware architecture](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FW_architecture.png)
 
@@ -29,15 +31,20 @@ The FOC algorithm architecture is illustrated in the figure below:
 
 ![FOC algorithm](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FOC_algorithm.png)
 
-In this firmware two control methods are available:
-- Commutation method
-- FOC method
+In this firmware 3 control types are available:
+- Commutation
+- SIN (Sinusoidal)
+- FOC (Field Oriented Control)
 ![Schematic representation of the available control methods](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/01_Matlab/02_Figures/control_methods.png)
 
 
-A short video showing the noise performance of the Commutation method vs Advanced control method:
+Demo videos:
 
-[â–ºVideo: Commutation method vs Advanced control](https://drive.google.com/file/d/1vC_kEkp2LE2lAaMCJcmK4z2m3jrPUoBD/view)
+[â–ºVideo: Commutation vs Advanced control (constant speed)](https://drive.google.com/open?id=1vC_kEkp2LE2lAaMCJcmK4z2m3jrPUoBD)
+
+[â–ºVideo: Commutation vs Advanced control (variable speed)](https://drive.google.com/open?id=1rrQ4k5VLhhAWXQzDSCar_SmEdsbM-hq2)
+
+[â–ºVideo: Reliable Serial Communication demo](https://drive.google.com/open?id=1mUM-p7SE6gmyTH7zhDHy5DUyczXvmy5d)
 
 ![Hoverboard wheel](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/hoverboard_wheel.JPG)
 
@@ -45,15 +52,16 @@ A short video showing the noise performance of the Commutation method vs Advance
 ---
 ## General Notes
  - The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab).
- - A [webview](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab/BLDC_controller_ert_rtw/html/webview) was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code
+ - A [webview](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab/BLDC_controller_ert_rtw/html/webview) was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code. The webview is an html page that can be opened with browsers like: Microsoft Internet Explorer or Microsoft Edge.
 
-### Field weakening
+### Field Weakening / Phase Advance
 
  - By default the Field weakening is disabled. You can enable it in config.h file by setting the FIELD_WEAK_ENA = 1 
- - In BLDC_controller_data.c you can find the field weakening Map as a function of Input target: MAP = id_fieldWeak_M1, XAXIS = r_fieldWeak_XA
- - The default calibration was experimentally calibrated to my particular needs
- - If you re-calibrate the field weakening map please take all the safety measures! The motors can spin very fast!
- - During the recalibration make sure the values in XAXIS are equally spaced for a correct Map interpolation.
+ - The Field Weakening is a linear interpolation from 0 to FIELD_WEAK_MAX or PHASE_ADV_MAX (depeding if FOC or SIN is selected, respectively)
+ - The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
+ - The figure below shows different possible calibrations for Field Weakening / Phase Advance
+ ![Field Weakening](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FieldWeakening.png) 
+ - If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
 
 
 ### Parameters 
@@ -71,7 +79,7 @@ Each motor is constantly monitored for errors. These errors are:
 - **Error 002**: Hall sensor short circuit
 - **Error 004**: Motor NOT able to spin (Possible causes: motor phase disconnected, MOSFET defective, operational Amplifier defective, motor blocked)
 
-The error codes above are reported for each motor in the variables **errCode_Left** and **errCode_Right** for Left motor (long wired motor) and Right motor (short wired motor), respectively.
+The error codes above are reported for each motor in the variables **errCode_Left** and **errCode_Right** for Left motor (long wired motor) and Right motor (short wired motor), respectively. In case of error, the motor power is reduced to 0, while an audible (fast beep) can be heard to notify the user.
 
 
 ---
@@ -146,9 +154,6 @@ Currently supported: Wii Nunchuck, analog potentiometer and PPM-Sum signal from
 A good example of control via UART, eg. from an Arduino or raspberryPi, can be found here:
 https://github.com/p-h-a-i-l/hoverboard-firmware-hack
 
-### Future work
- - convert all calculations and remaining filters (for the battery voltage, current, and temperature) from floating point to fixed-point. This will reduce further the SMT32 computational load -> **DONE**
-
 ---
 ## Acknowledgements
 
diff --git a/Src/BLDC_controller.c b/Src/BLDC_controller.c
index ba768e5..54551bf 100644
--- a/Src/BLDC_controller.c
+++ b/Src/BLDC_controller.c
@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1199
+ * Model version                  : 1.1249
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Sun Nov  3 12:28:16 2019
+ * C/C++ source code generated on : Thu Dec 12 20:22:31 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -93,38 +93,33 @@ preprocessor word size checks.
 #endif
 #endif
 
-uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
-  maxIndex);
 uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
   maxIndex);
-uint8_T plook_u8s16u8n6_evenc_s(int16_T u, int16_T bp0, uint16_T bpSpace,
-  uint32_T maxIndex, uint8_T *fraction);
-int16_T intrp1d_s16s32s32u8u8n6l_s(uint8_T bpIndex, uint8_T frac, const int16_T
-  table[]);
+uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
+  maxIndex);
+int32_T div_nde_s32_floor(int32_T numerator, int32_T denominator);
 extern void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit);
 extern int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst,
   DW_Counter *localDW);
-extern void PI_clamp_fixdt_Reset(DW_PI_clamp_fixdt *localDW);
 extern void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
   int16_T rtu_satMax, int16_T rtu_satMin, int32_T rtu_ext_limProt, int16_T
   *rty_out, DW_PI_clamp_fixdt *localDW);
 extern void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW);
 extern void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T
   rty_y[2], DW_Low_Pass_Filter *localDW);
-extern void PI_clamp_fixdt_n_Reset(DW_PI_clamp_fixdt_c *localDW);
-extern int16_T PI_clamp_fixdt_n(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
-  int16_T rtu_satMax, int16_T rtu_satMin, int16_T rtu_ext_limProt,
-  DW_PI_clamp_fixdt_c *localDW);
+extern void I_backCalc_fixdt_Init(DW_I_backCalc_fixdt *localDW, int32_T
+  rtp_yInit);
+extern void I_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_I, uint16_T rtu_Kb,
+  int16_T rtu_satMax, int16_T rtu_satMin, int16_T *rty_out, DW_I_backCalc_fixdt *
+  localDW);
 extern void Counter_b_Init(DW_Counter_l *localDW, uint16_T rtp_z_cntInit);
 extern uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
   DW_Counter_l *localDW);
-extern void either_edge_Reset(DW_either_edge *localDW);
 extern boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW);
 extern void Debounce_Filter_Init(DW_Debounce_Filter *localDW);
-extern void Debounce_Filter_Reset(DW_Debounce_Filter *localDW);
 extern void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T
   rtu_tDeacv, boolean_T *rty_y, DW_Debounce_Filter *localDW);
-uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
+uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
   maxIndex)
 {
   uint8_T bpIndex;
@@ -140,7 +135,7 @@ uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
   if (u <= bp0) {
     bpIndex = 0U;
   } else {
-    fbpIndex = (uint16_T)((uint32_T)(uint16_T)((uint32_T)u - bp0) / bpSpace);
+    fbpIndex = (uint16_T)((uint32_T)(uint16_T)(u - bp0) / bpSpace);
     if (fbpIndex < maxIndex) {
       bpIndex = (uint8_T)fbpIndex;
     } else {
@@ -151,7 +146,7 @@ uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
   return bpIndex;
 }
 
-uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
+uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T
   maxIndex)
 {
   uint8_T bpIndex;
@@ -167,7 +162,7 @@ uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
   if (u <= bp0) {
     bpIndex = 0U;
   } else {
-    fbpIndex = (uint16_T)((uint32_T)(uint16_T)(u - bp0) / bpSpace);
+    fbpIndex = (uint16_T)((uint32_T)(uint16_T)((uint32_T)u - bp0) / bpSpace);
     if (fbpIndex < maxIndex) {
       bpIndex = (uint8_T)fbpIndex;
     } else {
@@ -178,73 +173,29 @@ uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T
   return bpIndex;
 }
 
-uint8_T plook_u8s16u8n6_evenc_s(int16_T u, int16_T bp0, uint16_T bpSpace,
-  uint32_T maxIndex, uint8_T *fraction)
-{
-  uint8_T bpIndex;
-  uint16_T uAdjust;
-  uint16_T fbpIndex;
-
-  /* Prelookup - Index and Fraction
-     Index Search method: 'even'
-     Extrapolation method: 'Clip'
-     Use previous index: 'off'
-     Use last breakpoint for index at or above upper limit: 'off'
-     Remove protection against out-of-range input in generated code: 'off'
-     Rounding mode: 'simplest'
-   */
-  if (u <= bp0) {
-    bpIndex = 0U;
-    *fraction = 0U;
-  } else {
-    uAdjust = (uint16_T)(u - bp0);
-    fbpIndex = (uint16_T)((uint32_T)uAdjust / bpSpace);
-    if (fbpIndex < maxIndex) {
-      bpIndex = (uint8_T)fbpIndex;
-      *fraction = (uint8_T)(((uint32_T)(uint16_T)((uint32_T)uAdjust - (uint16_T)
-        ((uint32_T)bpIndex * bpSpace)) << 6) / bpSpace);
-    } else {
-      bpIndex = (uint8_T)(maxIndex - 1U);
-      *fraction = 64U;
-    }
-  }
-
-  return bpIndex;
-}
-
-int16_T intrp1d_s16s32s32u8u8n6l_s(uint8_T bpIndex, uint8_T frac, const int16_T
-  table[])
+int32_T div_nde_s32_floor(int32_T numerator, int32_T denominator)
 {
-  uint32_T offset_0d;
-
-  /* Interpolation 1-D
-     Interpolation method: 'Linear'
-     Use last breakpoint for index at or above upper limit: 'off'
-     Rounding mode: 'simplest'
-     Overflow mode: 'wrapping'
-   */
-  offset_0d = bpIndex;
-  return (int16_T)((int16_T)(((table[offset_0d + 1U] - table[offset_0d]) * frac)
-    >> 6) + table[offset_0d]);
+  return (((numerator < 0) != (denominator < 0)) && (numerator % denominator !=
+           0) ? -1 : 0) + numerator / denominator;
 }
 
-/* System initialize for atomic system: '<S11>/Counter' */
+/* System initialize for atomic system: '<S12>/Counter' */
 void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit)
 {
-  /* InitializeConditions for UnitDelay: '<S17>/UnitDelay' */
+  /* InitializeConditions for UnitDelay: '<S16>/UnitDelay' */
   localDW->UnitDelay_DSTATE = rtp_z_cntInit;
 }
 
-/* Output and update for atomic system: '<S11>/Counter' */
+/* Output and update for atomic system: '<S12>/Counter' */
 int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst, DW_Counter *
                 localDW)
 {
   int16_T rtu_rst_0;
   int16_T rty_cnt_0;
 
-  /* Switch: '<S17>/Switch1' incorporates:
-   *  Constant: '<S17>/Constant23'
-   *  UnitDelay: '<S17>/UnitDelay'
+  /* Switch: '<S16>/Switch1' incorporates:
+   *  Constant: '<S16>/Constant23'
+   *  UnitDelay: '<S16>/UnitDelay'
    */
   if (rtu_rst) {
     rtu_rst_0 = 0;
@@ -252,56 +203,43 @@ int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst, DW_Counter
     rtu_rst_0 = localDW->UnitDelay_DSTATE;
   }
 
-  /* End of Switch: '<S17>/Switch1' */
+  /* End of Switch: '<S16>/Switch1' */
 
-  /* Sum: '<S15>/Sum1' */
+  /* Sum: '<S14>/Sum1' */
   rty_cnt_0 = (int16_T)(rtu_inc + rtu_rst_0);
 
-  /* MinMax: '<S15>/MinMax' */
+  /* MinMax: '<S14>/MinMax' */
   if (rty_cnt_0 < rtu_max) {
-    /* Update for UnitDelay: '<S17>/UnitDelay' */
+    /* Update for UnitDelay: '<S16>/UnitDelay' */
     localDW->UnitDelay_DSTATE = rty_cnt_0;
   } else {
-    /* Update for UnitDelay: '<S17>/UnitDelay' */
+    /* Update for UnitDelay: '<S16>/UnitDelay' */
     localDW->UnitDelay_DSTATE = rtu_max;
   }
 
-  /* End of MinMax: '<S15>/MinMax' */
+  /* End of MinMax: '<S14>/MinMax' */
   return rty_cnt_0;
 }
 
-/*
- * System reset for atomic system:
- *    '<S40>/PI_clamp_fixdt_id'
- *    '<S39>/PI_clamp_fixdt_iq'
- */
-void PI_clamp_fixdt_Reset(DW_PI_clamp_fixdt *localDW)
-{
-  /* InitializeConditions for UnitDelay: '<S62>/UnitDelay1' */
-  localDW->UnitDelay1_DSTATE = false;
-
-  /* InitializeConditions for UnitDelay: '<S65>/UnitDelay' */
-  localDW->UnitDelay_DSTATE = 0;
-}
-
 /*
  * Output and update for atomic system:
- *    '<S40>/PI_clamp_fixdt_id'
- *    '<S39>/PI_clamp_fixdt_iq'
+ *    '<S54>/PI_clamp_fixdt'
+ *    '<S52>/PI_clamp_fixdt'
+ *    '<S53>/PI_clamp_fixdt'
  */
 void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T
                     rtu_satMax, int16_T rtu_satMin, int32_T rtu_ext_limProt,
                     int16_T *rty_out, DW_PI_clamp_fixdt *localDW)
 {
-  boolean_T rtb_LowerRelop1_e;
-  boolean_T rtb_UpperRelop_f;
-  int32_T rtb_Sum1_b4;
+  boolean_T rtb_LowerRelop1_c;
+  boolean_T rtb_UpperRelop_e;
+  int32_T rtb_Sum1_n;
   int32_T q0;
   int32_T tmp;
   int16_T tmp_0;
 
-  /* Sum: '<S62>/Sum2' incorporates:
-   *  Product: '<S62>/Divide2'
+  /* Sum: '<S65>/Sum2' incorporates:
+   *  Product: '<S65>/Divide2'
    */
   q0 = rtu_err * rtu_I;
   if ((q0 < 0) && (rtu_ext_limProt < MIN_int32_T - q0)) {
@@ -312,10 +250,10 @@ void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T
     q0 += rtu_ext_limProt;
   }
 
-  /* Switch: '<S62>/Switch1' incorporates:
-   *  Constant: '<S62>/a_elecPeriod1'
-   *  Sum: '<S62>/Sum2'
-   *  UnitDelay: '<S62>/UnitDelay1'
+  /* Switch: '<S65>/Switch1' incorporates:
+   *  Constant: '<S65>/Constant'
+   *  Sum: '<S65>/Sum2'
+   *  UnitDelay: '<S65>/UnitDelay1'
    */
   if (localDW->UnitDelay1_DSTATE) {
     tmp = 0;
@@ -323,14 +261,14 @@ void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T
     tmp = q0;
   }
 
-  /* End of Switch: '<S62>/Switch1' */
+  /* End of Switch: '<S65>/Switch1' */
 
-  /* Sum: '<S65>/Sum1' incorporates:
-   *  UnitDelay: '<S65>/UnitDelay'
+  /* Sum: '<S68>/Sum1' incorporates:
+   *  UnitDelay: '<S68>/UnitDelay'
    */
-  rtb_Sum1_b4 = tmp + localDW->UnitDelay_DSTATE;
+  rtb_Sum1_n = tmp + localDW->UnitDelay_DSTATE;
 
-  /* Product: '<S62>/Divide5' */
+  /* Product: '<S65>/Divide5' */
   tmp = (rtu_err * rtu_P) >> 11;
   if (tmp > 32767) {
     tmp = 32767;
@@ -340,11 +278,11 @@ void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T
     }
   }
 
-  /* Sum: '<S62>/Sum1' incorporates:
-   *  DataTypeConversion: '<S65>/Data Type Conversion1'
-   *  Product: '<S62>/Divide5'
+  /* Sum: '<S65>/Sum1' incorporates:
+   *  DataTypeConversion: '<S68>/Data Type Conversion1'
+   *  Product: '<S65>/Divide5'
    */
-  tmp = (((rtb_Sum1_b4 >> 16) << 1) + tmp) >> 1;
+  tmp = (((rtb_Sum1_n >> 16) << 1) + tmp) >> 1;
   if (tmp > 32767) {
     tmp = 32767;
   } else {
@@ -353,33 +291,33 @@ void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T
     }
   }
 
-  /* RelationalOperator: '<S66>/LowerRelop1' incorporates:
-   *  Sum: '<S62>/Sum1'
+  /* RelationalOperator: '<S69>/LowerRelop1' incorporates:
+   *  Sum: '<S65>/Sum1'
    */
-  rtb_LowerRelop1_e = ((int16_T)tmp > rtu_satMax);
+  rtb_LowerRelop1_c = ((int16_T)tmp > rtu_satMax);
 
-  /* RelationalOperator: '<S66>/UpperRelop' incorporates:
-   *  Sum: '<S62>/Sum1'
+  /* RelationalOperator: '<S69>/UpperRelop' incorporates:
+   *  Sum: '<S65>/Sum1'
    */
-  rtb_UpperRelop_f = ((int16_T)tmp < rtu_satMin);
+  rtb_UpperRelop_e = ((int16_T)tmp < rtu_satMin);
 
-  /* Switch: '<S66>/Switch1' incorporates:
-   *  Sum: '<S62>/Sum1'
-   *  Switch: '<S66>/Switch3'
+  /* Switch: '<S69>/Switch1' incorporates:
+   *  Sum: '<S65>/Sum1'
+   *  Switch: '<S69>/Switch3'
    */
-  if (rtb_LowerRelop1_e) {
+  if (rtb_LowerRelop1_c) {
     *rty_out = rtu_satMax;
-  } else if (rtb_UpperRelop_f) {
-    /* Switch: '<S66>/Switch3' */
+  } else if (rtb_UpperRelop_e) {
+    /* Switch: '<S69>/Switch3' */
     *rty_out = rtu_satMin;
   } else {
     *rty_out = (int16_T)tmp;
   }
 
-  /* End of Switch: '<S66>/Switch1' */
+  /* End of Switch: '<S69>/Switch1' */
 
-  /* Signum: '<S64>/SignDeltaU2' incorporates:
-   *  Sum: '<S62>/Sum2'
+  /* Signum: '<S67>/SignDeltaU2' incorporates:
+   *  Sum: '<S65>/Sum2'
    */
   if (q0 < 0) {
     q0 = -1;
@@ -387,10 +325,10 @@ void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T
     q0 = (q0 > 0);
   }
 
-  /* End of Signum: '<S64>/SignDeltaU2' */
+  /* End of Signum: '<S67>/SignDeltaU2' */
 
-  /* Signum: '<S64>/SignDeltaU3' incorporates:
-   *  Sum: '<S62>/Sum1'
+  /* Signum: '<S67>/SignDeltaU3' incorporates:
+   *  Sum: '<S65>/Sum1'
    */
   if ((int16_T)tmp < 0) {
     tmp_0 = -1;
@@ -398,214 +336,153 @@ void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T
     tmp_0 = (int16_T)((int16_T)tmp > 0);
   }
 
-  /* End of Signum: '<S64>/SignDeltaU3' */
+  /* End of Signum: '<S67>/SignDeltaU3' */
 
-  /* Update for UnitDelay: '<S62>/UnitDelay1' incorporates:
-   *  DataTypeConversion: '<S64>/DataTypeConv4'
-   *  Logic: '<S62>/AND1'
-   *  Logic: '<S64>/AND1'
-   *  RelationalOperator: '<S64>/Equal1'
+  /* Update for UnitDelay: '<S65>/UnitDelay1' incorporates:
+   *  DataTypeConversion: '<S67>/DataTypeConv4'
+   *  Logic: '<S65>/AND1'
+   *  Logic: '<S67>/AND1'
+   *  RelationalOperator: '<S67>/Equal1'
    */
-  localDW->UnitDelay1_DSTATE = ((q0 == tmp_0) && (rtb_LowerRelop1_e ||
-    rtb_UpperRelop_f));
+  localDW->UnitDelay1_DSTATE = ((q0 == tmp_0) && (rtb_LowerRelop1_c ||
+    rtb_UpperRelop_e));
 
-  /* Update for UnitDelay: '<S65>/UnitDelay' */
-  localDW->UnitDelay_DSTATE = rtb_Sum1_b4;
+  /* Update for UnitDelay: '<S68>/UnitDelay' */
+  localDW->UnitDelay_DSTATE = rtb_Sum1_n;
 }
 
-/* System reset for atomic system: '<S31>/Low_Pass_Filter' */
+/* System reset for atomic system: '<S41>/Low_Pass_Filter' */
 void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW)
 {
-  /* InitializeConditions for UnitDelay: '<S44>/UnitDelay3' */
+  /* InitializeConditions for UnitDelay: '<S50>/UnitDelay3' */
   localDW->UnitDelay3_DSTATE[0] = 0;
   localDW->UnitDelay3_DSTATE[1] = 0;
 }
 
-/* Output and update for atomic system: '<S31>/Low_Pass_Filter' */
+/* Output and update for atomic system: '<S41>/Low_Pass_Filter' */
 void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T rty_y[2],
                      DW_Low_Pass_Filter *localDW)
 {
   uint16_T rtb_Sum5;
 
-  /* Sum: '<S44>/Sum5' */
+  /* Sum: '<S50>/Sum5' */
   rtb_Sum5 = (uint16_T)(65535U - rtu_coef);
 
-  /* Sum: '<S44>/Sum1' incorporates:
-   *  Product: '<S44>/Divide1'
-   *  Product: '<S44>/Divide2'
-   *  UnitDelay: '<S44>/UnitDelay3'
+  /* Sum: '<S50>/Sum1' incorporates:
+   *  Product: '<S50>/Divide1'
+   *  Product: '<S50>/Divide2'
+   *  UnitDelay: '<S50>/UnitDelay3'
    */
   rty_y[0] = (int16_T)(((rtu_u[0] * rtu_coef) >> 16) +
                        ((localDW->UnitDelay3_DSTATE[0] * rtb_Sum5) >> 16));
 
-  /* Update for UnitDelay: '<S44>/UnitDelay3' */
+  /* Update for UnitDelay: '<S50>/UnitDelay3' */
   localDW->UnitDelay3_DSTATE[0] = rty_y[0];
 
-  /* Sum: '<S44>/Sum1' incorporates:
-   *  Product: '<S44>/Divide1'
-   *  Product: '<S44>/Divide2'
-   *  UnitDelay: '<S44>/UnitDelay3'
+  /* Sum: '<S50>/Sum1' incorporates:
+   *  Product: '<S50>/Divide1'
+   *  Product: '<S50>/Divide2'
+   *  UnitDelay: '<S50>/UnitDelay3'
    */
   rty_y[1] = (int16_T)(((rtu_u[1] * rtu_coef) >> 16) +
                        ((localDW->UnitDelay3_DSTATE[1] * rtb_Sum5) >> 16));
 
-  /* Update for UnitDelay: '<S44>/UnitDelay3' */
+  /* Update for UnitDelay: '<S50>/UnitDelay3' */
   localDW->UnitDelay3_DSTATE[1] = rty_y[1];
 }
 
-/* System reset for atomic system: '<S38>/PI_clamp_fixdt_n' */
-void PI_clamp_fixdt_n_Reset(DW_PI_clamp_fixdt_c *localDW)
+/*
+ * System initialize for atomic system:
+ *    '<S73>/I_backCalc_fixdt'
+ *    '<S73>/I_backCalc_fixdt1'
+ *    '<S72>/I_backCalc_fixdt'
+ */
+void I_backCalc_fixdt_Init(DW_I_backCalc_fixdt *localDW, int32_T rtp_yInit)
 {
-  /* InitializeConditions for UnitDelay: '<S53>/UnitDelay1' */
-  localDW->UnitDelay1_DSTATE = false;
-
-  /* InitializeConditions for UnitDelay: '<S55>/UnitDelay' */
-  localDW->UnitDelay_DSTATE = 0;
+  /* InitializeConditions for UnitDelay: '<S80>/UnitDelay' */
+  localDW->UnitDelay_DSTATE_h = rtp_yInit;
 }
 
-/* Output and update for atomic system: '<S38>/PI_clamp_fixdt_n' */
-int16_T PI_clamp_fixdt_n(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I,
-  int16_T rtu_satMax, int16_T rtu_satMin, int16_T rtu_ext_limProt,
-  DW_PI_clamp_fixdt_c *localDW)
+/*
+ * Output and update for atomic system:
+ *    '<S73>/I_backCalc_fixdt'
+ *    '<S73>/I_backCalc_fixdt1'
+ *    '<S72>/I_backCalc_fixdt'
+ */
+void I_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_I, uint16_T rtu_Kb, int16_T
+                      rtu_satMax, int16_T rtu_satMin, int16_T *rty_out,
+                      DW_I_backCalc_fixdt *localDW)
 {
-  boolean_T rtb_LowerRelop1_ge;
-  boolean_T rtb_UpperRelop_cm;
-  int32_T rtb_Sum1_mz;
-  int32_T q0;
-  int32_T q1;
-  int16_T tmp;
-  int16_T rty_out_0;
-
-  /* Sum: '<S53>/Sum2' incorporates:
-   *  Product: '<S53>/Divide2'
-   */
-  q0 = rtu_err * rtu_I;
-  q1 = rtu_ext_limProt << 10;
-  if ((q0 < 0) && (q1 < MIN_int32_T - q0)) {
-    q0 = MIN_int32_T;
-  } else if ((q0 > 0) && (q1 > MAX_int32_T - q0)) {
-    q0 = MAX_int32_T;
-  } else {
-    q0 += q1;
-  }
-
-  /* Switch: '<S53>/Switch1' incorporates:
-   *  Constant: '<S53>/a_elecPeriod1'
-   *  Sum: '<S53>/Sum2'
-   *  UnitDelay: '<S53>/UnitDelay1'
-   */
-  if (localDW->UnitDelay1_DSTATE) {
-    q1 = 0;
-  } else {
-    q1 = q0;
-  }
-
-  /* End of Switch: '<S53>/Switch1' */
+  int32_T rtb_Sum1_e0;
+  int16_T rtb_DataTypeConversion1_no;
 
-  /* Sum: '<S55>/Sum1' incorporates:
-   *  UnitDelay: '<S55>/UnitDelay'
+  /* Sum: '<S78>/Sum2' incorporates:
+   *  Product: '<S78>/Divide2'
+   *  UnitDelay: '<S78>/UnitDelay'
    */
-  rtb_Sum1_mz = q1 + localDW->UnitDelay_DSTATE;
-
-  /* Product: '<S53>/Divide5' */
-  q1 = (rtu_err * rtu_P) >> 11;
-  if (q1 > 32767) {
-    q1 = 32767;
-  } else {
-    if (q1 < -32768) {
-      q1 = -32768;
-    }
-  }
-
-  /* Sum: '<S53>/Sum1' incorporates:
-   *  DataTypeConversion: '<S55>/Data Type Conversion1'
-   *  Product: '<S53>/Divide5'
-   */
-  q1 = (((rtb_Sum1_mz >> 16) << 1) + q1) >> 1;
-  if (q1 > 32767) {
-    q1 = 32767;
-  } else {
-    if (q1 < -32768) {
-      q1 = -32768;
-    }
-  }
-
-  /* RelationalOperator: '<S56>/LowerRelop1' incorporates:
-   *  Sum: '<S53>/Sum1'
-   */
-  rtb_LowerRelop1_ge = ((int16_T)q1 > rtu_satMax);
-
-  /* RelationalOperator: '<S56>/UpperRelop' incorporates:
-   *  Sum: '<S53>/Sum1'
-   */
-  rtb_UpperRelop_cm = ((int16_T)q1 < rtu_satMin);
-
-  /* Switch: '<S56>/Switch1' incorporates:
-   *  Sum: '<S53>/Sum1'
-   *  Switch: '<S56>/Switch3'
-   */
-  if (rtb_LowerRelop1_ge) {
-    rty_out_0 = rtu_satMax;
-  } else if (rtb_UpperRelop_cm) {
-    /* Switch: '<S56>/Switch3' */
-    rty_out_0 = rtu_satMin;
+  rtb_Sum1_e0 = (rtu_err * rtu_I) >> 4;
+  if ((rtb_Sum1_e0 < 0) && (localDW->UnitDelay_DSTATE < MIN_int32_T
+       - rtb_Sum1_e0)) {
+    rtb_Sum1_e0 = MIN_int32_T;
+  } else if ((rtb_Sum1_e0 > 0) && (localDW->UnitDelay_DSTATE > MAX_int32_T
+              - rtb_Sum1_e0)) {
+    rtb_Sum1_e0 = MAX_int32_T;
   } else {
-    rty_out_0 = (int16_T)q1;
+    rtb_Sum1_e0 += localDW->UnitDelay_DSTATE;
   }
 
-  /* End of Switch: '<S56>/Switch1' */
+  /* End of Sum: '<S78>/Sum2' */
 
-  /* Signum: '<S54>/SignDeltaU2' incorporates:
-   *  Sum: '<S53>/Sum2'
+  /* Sum: '<S80>/Sum1' incorporates:
+   *  UnitDelay: '<S80>/UnitDelay'
    */
-  if (q0 < 0) {
-    q0 = -1;
-  } else {
-    q0 = (q0 > 0);
-  }
+  rtb_Sum1_e0 += localDW->UnitDelay_DSTATE_h;
 
-  /* End of Signum: '<S54>/SignDeltaU2' */
+  /* DataTypeConversion: '<S80>/Data Type Conversion1' */
+  rtb_DataTypeConversion1_no = (int16_T)(rtb_Sum1_e0 >> 12);
 
-  /* Signum: '<S54>/SignDeltaU3' incorporates:
-   *  Sum: '<S53>/Sum1'
+  /* Switch: '<S81>/Switch2' incorporates:
+   *  RelationalOperator: '<S81>/LowerRelop1'
+   *  RelationalOperator: '<S81>/UpperRelop'
+   *  Switch: '<S81>/Switch'
    */
-  if ((int16_T)q1 < 0) {
-    tmp = -1;
+  if (rtb_DataTypeConversion1_no > rtu_satMax) {
+    *rty_out = rtu_satMax;
+  } else if (rtb_DataTypeConversion1_no < rtu_satMin) {
+    /* Switch: '<S81>/Switch' */
+    *rty_out = rtu_satMin;
   } else {
-    tmp = (int16_T)((int16_T)q1 > 0);
+    *rty_out = rtb_DataTypeConversion1_no;
   }
 
-  /* End of Signum: '<S54>/SignDeltaU3' */
+  /* End of Switch: '<S81>/Switch2' */
 
-  /* Update for UnitDelay: '<S53>/UnitDelay1' incorporates:
-   *  DataTypeConversion: '<S54>/DataTypeConv4'
-   *  Logic: '<S53>/AND1'
-   *  Logic: '<S54>/AND1'
-   *  RelationalOperator: '<S54>/Equal1'
+  /* Update for UnitDelay: '<S78>/UnitDelay' incorporates:
+   *  Product: '<S78>/Divide1'
+   *  Sum: '<S78>/Sum3'
    */
-  localDW->UnitDelay1_DSTATE = ((q0 == tmp) && (rtb_LowerRelop1_ge ||
-    rtb_UpperRelop_cm));
+  localDW->UnitDelay_DSTATE = (int16_T)(*rty_out - rtb_DataTypeConversion1_no) *
+    rtu_Kb;
 
-  /* Update for UnitDelay: '<S55>/UnitDelay' */
-  localDW->UnitDelay_DSTATE = rtb_Sum1_mz;
-  return rty_out_0;
+  /* Update for UnitDelay: '<S80>/UnitDelay' */
+  localDW->UnitDelay_DSTATE_h = rtb_Sum1_e0;
 }
 
 /*
  * System initialize for atomic system:
- *    '<S22>/Counter'
  *    '<S21>/Counter'
+ *    '<S20>/Counter'
  */
 void Counter_b_Init(DW_Counter_l *localDW, uint16_T rtp_z_cntInit)
 {
-  /* InitializeConditions for UnitDelay: '<S27>/UnitDelay' */
+  /* InitializeConditions for UnitDelay: '<S26>/UnitDelay' */
   localDW->UnitDelay_DSTATE = rtp_z_cntInit;
 }
 
 /*
  * Output and update for atomic system:
- *    '<S22>/Counter'
  *    '<S21>/Counter'
+ *    '<S20>/Counter'
  */
 uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
                    DW_Counter_l *localDW)
@@ -613,9 +490,9 @@ uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
   uint16_T rtu_rst_0;
   uint16_T rty_cnt_0;
 
-  /* Switch: '<S27>/Switch1' incorporates:
-   *  Constant: '<S27>/Constant23'
-   *  UnitDelay: '<S27>/UnitDelay'
+  /* Switch: '<S26>/Switch1' incorporates:
+   *  Constant: '<S26>/Constant23'
+   *  UnitDelay: '<S26>/UnitDelay'
    */
   if (rtu_rst) {
     rtu_rst_0 = 0U;
@@ -623,50 +500,39 @@ uint16_T Counter_i(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst,
     rtu_rst_0 = localDW->UnitDelay_DSTATE;
   }
 
-  /* End of Switch: '<S27>/Switch1' */
+  /* End of Switch: '<S26>/Switch1' */
 
-  /* Sum: '<S26>/Sum1' */
+  /* Sum: '<S25>/Sum1' */
   rty_cnt_0 = (uint16_T)((uint32_T)rtu_inc + rtu_rst_0);
 
-  /* MinMax: '<S26>/MinMax' */
+  /* MinMax: '<S25>/MinMax' */
   if (rty_cnt_0 < rtu_max) {
-    /* Update for UnitDelay: '<S27>/UnitDelay' */
+    /* Update for UnitDelay: '<S26>/UnitDelay' */
     localDW->UnitDelay_DSTATE = rty_cnt_0;
   } else {
-    /* Update for UnitDelay: '<S27>/UnitDelay' */
+    /* Update for UnitDelay: '<S26>/UnitDelay' */
     localDW->UnitDelay_DSTATE = rtu_max;
   }
 
-  /* End of MinMax: '<S26>/MinMax' */
+  /* End of MinMax: '<S25>/MinMax' */
   return rty_cnt_0;
 }
 
-/*
- * System reset for atomic system:
- *    '<S18>/either_edge'
- *    '<S3>/either_edge'
- */
-void either_edge_Reset(DW_either_edge *localDW)
-{
-  /* InitializeConditions for UnitDelay: '<S23>/UnitDelay' */
-  localDW->UnitDelay_DSTATE = false;
-}
-
 /*
  * Output and update for atomic system:
- *    '<S18>/either_edge'
+ *    '<S17>/either_edge'
  *    '<S3>/either_edge'
  */
 boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW)
 {
   boolean_T rty_y_0;
 
-  /* RelationalOperator: '<S23>/Relational Operator' incorporates:
-   *  UnitDelay: '<S23>/UnitDelay'
+  /* RelationalOperator: '<S22>/Relational Operator' incorporates:
+   *  UnitDelay: '<S22>/UnitDelay'
    */
   rty_y_0 = (rtu_u != localDW->UnitDelay_DSTATE);
 
-  /* Update for UnitDelay: '<S23>/UnitDelay' */
+  /* Update for UnitDelay: '<S22>/UnitDelay' */
   localDW->UnitDelay_DSTATE = rtu_u;
   return rty_y_0;
 }
@@ -674,107 +540,98 @@ boolean_T either_edge(boolean_T rtu_u, DW_either_edge *localDW)
 /* System initialize for atomic system: '<S3>/Debounce_Filter' */
 void Debounce_Filter_Init(DW_Debounce_Filter *localDW)
 {
-  /* SystemInitialize for IfAction SubSystem: '<S18>/Qualification' */
+  /* SystemInitialize for IfAction SubSystem: '<S17>/Qualification' */
 
-  /* SystemInitialize for Atomic SubSystem: '<S22>/Counter' */
+  /* SystemInitialize for Atomic SubSystem: '<S21>/Counter' */
   Counter_b_Init(&localDW->Counter_i0, 0U);
 
-  /* End of SystemInitialize for SubSystem: '<S22>/Counter' */
+  /* End of SystemInitialize for SubSystem: '<S21>/Counter' */
 
-  /* End of SystemInitialize for SubSystem: '<S18>/Qualification' */
+  /* End of SystemInitialize for SubSystem: '<S17>/Qualification' */
 
-  /* SystemInitialize for IfAction SubSystem: '<S18>/Dequalification' */
+  /* SystemInitialize for IfAction SubSystem: '<S17>/Dequalification' */
 
-  /* SystemInitialize for Atomic SubSystem: '<S21>/Counter' */
+  /* SystemInitialize for Atomic SubSystem: '<S20>/Counter' */
   Counter_b_Init(&localDW->Counter_h, 0U);
 
-  /* End of SystemInitialize for SubSystem: '<S21>/Counter' */
-
-  /* End of SystemInitialize for SubSystem: '<S18>/Dequalification' */
-}
-
-/* System reset for atomic system: '<S3>/Debounce_Filter' */
-void Debounce_Filter_Reset(DW_Debounce_Filter *localDW)
-{
-  /* InitializeConditions for UnitDelay: '<S18>/UnitDelay' */
-  localDW->UnitDelay_DSTATE = false;
-
-  /* SystemReset for Atomic SubSystem: '<S18>/either_edge' */
-  either_edge_Reset(&localDW->either_edge_k);
+  /* End of SystemInitialize for SubSystem: '<S20>/Counter' */
 
-  /* End of SystemReset for SubSystem: '<S18>/either_edge' */
+  /* End of SystemInitialize for SubSystem: '<S17>/Dequalification' */
 }
 
 /* Output and update for atomic system: '<S3>/Debounce_Filter' */
 void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T rtu_tDeacv,
                      boolean_T *rty_y, DW_Debounce_Filter *localDW)
 {
-  uint16_T rtb_Sum1_l;
+  boolean_T rtb_UnitDelay_o;
+  uint16_T rtb_Sum1_g3;
   boolean_T rtb_RelationalOperator_f;
 
-  /* Outputs for Atomic SubSystem: '<S18>/either_edge' */
+  /* UnitDelay: '<S17>/UnitDelay' */
+  rtb_UnitDelay_o = localDW->UnitDelay_DSTATE;
+
+  /* Outputs for Atomic SubSystem: '<S17>/either_edge' */
   rtb_RelationalOperator_f = either_edge(rtu_u, &localDW->either_edge_k);
 
-  /* End of Outputs for SubSystem: '<S18>/either_edge' */
+  /* End of Outputs for SubSystem: '<S17>/either_edge' */
 
-  /* If: '<S18>/If2' incorporates:
+  /* If: '<S17>/If2' incorporates:
+   *  Constant: '<S20>/Constant6'
    *  Constant: '<S21>/Constant6'
-   *  Constant: '<S22>/Constant6'
-   *  Inport: '<S20>/yPrev'
-   *  Logic: '<S18>/Logical Operator1'
-   *  Logic: '<S18>/Logical Operator2'
-   *  Logic: '<S18>/Logical Operator3'
-   *  Logic: '<S18>/Logical Operator4'
-   *  UnitDelay: '<S18>/UnitDelay'
+   *  Inport: '<S19>/yPrev'
+   *  Logic: '<S17>/Logical Operator1'
+   *  Logic: '<S17>/Logical Operator2'
+   *  Logic: '<S17>/Logical Operator3'
+   *  Logic: '<S17>/Logical Operator4'
    */
-  if (rtu_u && (!localDW->UnitDelay_DSTATE)) {
-    /* Outputs for IfAction SubSystem: '<S18>/Qualification' incorporates:
-     *  ActionPort: '<S22>/Action Port'
+  if (rtu_u && (!rtb_UnitDelay_o)) {
+    /* Outputs for IfAction SubSystem: '<S17>/Qualification' incorporates:
+     *  ActionPort: '<S21>/Action Port'
      */
 
-    /* Outputs for Atomic SubSystem: '<S22>/Counter' */
-    rtb_Sum1_l = (uint16_T) Counter_i(1U, rtu_tAcv, rtb_RelationalOperator_f,
+    /* Outputs for Atomic SubSystem: '<S21>/Counter' */
+    rtb_Sum1_g3 = (uint16_T) Counter_i(1U, rtu_tAcv, rtb_RelationalOperator_f,
       &localDW->Counter_i0);
 
-    /* End of Outputs for SubSystem: '<S22>/Counter' */
+    /* End of Outputs for SubSystem: '<S21>/Counter' */
 
-    /* Switch: '<S22>/Switch2' incorporates:
-     *  Constant: '<S22>/Constant6'
-     *  RelationalOperator: '<S22>/Relational Operator2'
+    /* Switch: '<S21>/Switch2' incorporates:
+     *  Constant: '<S21>/Constant6'
+     *  RelationalOperator: '<S21>/Relational Operator2'
      */
-    *rty_y = ((rtb_Sum1_l > rtu_tAcv) || localDW->UnitDelay_DSTATE);
+    *rty_y = (rtb_Sum1_g3 > rtu_tAcv);
 
-    /* End of Outputs for SubSystem: '<S18>/Qualification' */
-  } else if ((!rtu_u) && localDW->UnitDelay_DSTATE) {
-    /* Outputs for IfAction SubSystem: '<S18>/Dequalification' incorporates:
-     *  ActionPort: '<S21>/Action Port'
+    /* End of Outputs for SubSystem: '<S17>/Qualification' */
+  } else if ((!rtu_u) && rtb_UnitDelay_o) {
+    /* Outputs for IfAction SubSystem: '<S17>/Dequalification' incorporates:
+     *  ActionPort: '<S20>/Action Port'
      */
 
-    /* Outputs for Atomic SubSystem: '<S21>/Counter' */
-    rtb_Sum1_l = (uint16_T) Counter_i(1U, rtu_tDeacv, rtb_RelationalOperator_f,
+    /* Outputs for Atomic SubSystem: '<S20>/Counter' */
+    rtb_Sum1_g3 = (uint16_T) Counter_i(1U, rtu_tDeacv, rtb_RelationalOperator_f,
       &localDW->Counter_h);
 
-    /* End of Outputs for SubSystem: '<S21>/Counter' */
+    /* End of Outputs for SubSystem: '<S20>/Counter' */
 
-    /* Switch: '<S21>/Switch2' incorporates:
-     *  Constant: '<S21>/Constant6'
-     *  RelationalOperator: '<S21>/Relational Operator2'
+    /* Switch: '<S20>/Switch2' incorporates:
+     *  Constant: '<S20>/Constant6'
+     *  RelationalOperator: '<S20>/Relational Operator2'
      */
-    *rty_y = ((!(rtb_Sum1_l > rtu_tDeacv)) && localDW->UnitDelay_DSTATE);
+    *rty_y = !(rtb_Sum1_g3 > rtu_tDeacv);
 
-    /* End of Outputs for SubSystem: '<S18>/Dequalification' */
+    /* End of Outputs for SubSystem: '<S17>/Dequalification' */
   } else {
-    /* Outputs for IfAction SubSystem: '<S18>/Default' incorporates:
-     *  ActionPort: '<S20>/Action Port'
+    /* Outputs for IfAction SubSystem: '<S17>/Default' incorporates:
+     *  ActionPort: '<S19>/Action Port'
      */
-    *rty_y = localDW->UnitDelay_DSTATE;
+    *rty_y = rtb_UnitDelay_o;
 
-    /* End of Outputs for SubSystem: '<S18>/Default' */
+    /* End of Outputs for SubSystem: '<S17>/Default' */
   }
 
-  /* End of If: '<S18>/If2' */
+  /* End of If: '<S17>/If2' */
 
-  /* Update for UnitDelay: '<S18>/UnitDelay' */
+  /* Update for UnitDelay: '<S17>/UnitDelay' */
   localDW->UnitDelay_DSTATE = *rty_y;
 }
 
@@ -787,36 +644,33 @@ void BLDC_controller_step(RT_MODEL *const rtM)
   ExtY *rtY = (ExtY *) rtM->outputs;
   uint8_T rtb_Sum;
   boolean_T rtb_LogicalOperator;
+  boolean_T rtb_RelationalOperator9;
   int8_T rtb_Sum2_h;
   boolean_T rtb_RelationalOperator4_d;
   boolean_T rtb_RelationalOperator1_m;
   uint8_T rtb_Sum_l;
-  uint8_T rtb_r_fieldWeak_XA_o1;
-  int16_T rtb_Merge;
-  int16_T rtb_Switch2_fv;
+  int16_T rtb_Switch2_k;
   int16_T rtb_Abs5;
+  int16_T rtb_Switch2_fl;
   int16_T rtb_Switch1_l;
-  int16_T rtb_Switch2_d;
-  uint16_T rtb_Divide2_h;
-  int16_T rtb_Saturation;
+  int16_T rtb_DataTypeConversion2;
+  int16_T rtb_Saturation1;
+  int16_T rtb_Switch2_l;
+  int16_T rtb_Merge;
   int16_T rtb_toNegative;
-  int16_T rtb_Gain4;
-  uint8_T rtb_r_fieldWeak_XA_o2;
-  int16_T rtb_Gain2_f;
-  int16_T rtb_id_fieldWeak_M1;
-  int16_T rtb_MinMax2;
-  int16_T rtb_TmpSignalConversionAtLow_Pa[2];
   int32_T rtb_DataTypeConversion;
   int32_T rtb_Switch1;
   int32_T rtb_Sum1;
   int32_T rtb_Gain3;
+  int16_T rtb_TmpSignalConversionAtLow_Pa[2];
   int16_T tmp[4];
   int8_T UnitDelay3;
+  int16_T rtb_Merge_f_idx_1;
 
   /* Outputs for Atomic SubSystem: '<Root>/BLDC_controller' */
-  /* Sum: '<S9>/Sum' incorporates:
-   *  Gain: '<S9>/g_Ha'
-   *  Gain: '<S9>/g_Hb'
+  /* Sum: '<S10>/Sum' incorporates:
+   *  Gain: '<S10>/g_Ha'
+   *  Gain: '<S10>/g_Hb'
    *  Inport: '<Root>/b_hallA '
    *  Inport: '<Root>/b_hallB'
    *  Inport: '<Root>/b_hallC'
@@ -824,168 +678,85 @@ void BLDC_controller_step(RT_MODEL *const rtM)
   rtb_Sum = (uint8_T)((uint32_T)(uint8_T)((uint32_T)(uint8_T)(rtU->b_hallA << 2)
     + (uint8_T)(rtU->b_hallB << 1)) + rtU->b_hallC);
 
-  /* Saturate: '<S1>/Saturation2' incorporates:
-   *  Inport: '<Root>/r_inpTgt'
-   */
-  rtb_Gain3 = rtU->r_inpTgt << 4;
-
-  /* If: '<S7>/If1' incorporates:
-   *  Constant: '<S1>/z_ctrlTypSel1'
-   *  Inport: '<Root>/r_inpTgt'
-   *  Inport: '<S13>/r_inpTgt'
-   *  Saturate: '<S1>/Saturation2'
-   */
-  if (rtP->z_ctrlTypSel == 1) {
-    /* Outputs for IfAction SubSystem: '<S7>/FOC_Control_Type' incorporates:
-     *  ActionPort: '<S14>/Action Port'
-     */
-    /* SignalConversion: '<S14>/TmpSignal ConversionAtSelectorInport1' incorporates:
-     *  Constant: '<S14>/Vd_max'
-     *  Constant: '<S14>/constant1'
-     *  Constant: '<S14>/i_max'
-     *  Constant: '<S14>/n_max'
-     */
-    tmp[0] = 0;
-    tmp[1] = rtP->Vd_max;
-    tmp[2] = rtP->n_max;
-    tmp[3] = rtP->i_max;
-
-    /* End of Outputs for SubSystem: '<S7>/FOC_Control_Type' */
-
-    /* Saturate: '<S1>/Saturation2' incorporates:
-     *  Inport: '<Root>/r_inpTgt'
-     */
-    if (rtb_Gain3 >= 16000) {
-      rtb_toNegative = 16000;
-    } else if (rtb_Gain3 <= -16000) {
-      rtb_toNegative = -16000;
-    } else {
-      rtb_toNegative = (int16_T)(rtU->r_inpTgt << 4);
-    }
-
-    /* Outputs for IfAction SubSystem: '<S7>/FOC_Control_Type' incorporates:
-     *  ActionPort: '<S14>/Action Port'
-     */
-    /* Product: '<S14>/Divide1' incorporates:
-     *  Inport: '<Root>/z_ctrlModReq'
-     *  Product: '<S14>/Divide4'
-     *  Selector: '<S14>/Selector'
-     */
-    rtb_Merge = (int16_T)(((uint16_T)((tmp[rtU->z_ctrlModReq] << 5) / 125) *
-      rtb_toNegative) >> 12);
-
-    /* End of Outputs for SubSystem: '<S7>/FOC_Control_Type' */
-  } else if (rtb_Gain3 >= 16000) {
-    /* Outputs for IfAction SubSystem: '<S7>/Commutation_Control_Type' incorporates:
-     *  ActionPort: '<S13>/Action Port'
-     */
-    /* Saturate: '<S1>/Saturation2' incorporates:
-     *  Inport: '<S13>/r_inpTgt'
-     */
-    rtb_Merge = 16000;
-
-    /* End of Outputs for SubSystem: '<S7>/Commutation_Control_Type' */
-  } else if (rtb_Gain3 <= -16000) {
-    /* Outputs for IfAction SubSystem: '<S7>/Commutation_Control_Type' incorporates:
-     *  ActionPort: '<S13>/Action Port'
-     */
-    /* Saturate: '<S1>/Saturation2' incorporates:
-     *  Inport: '<S13>/r_inpTgt'
-     */
-    rtb_Merge = -16000;
-
-    /* End of Outputs for SubSystem: '<S7>/Commutation_Control_Type' */
-  } else {
-    /* Outputs for IfAction SubSystem: '<S7>/Commutation_Control_Type' incorporates:
-     *  ActionPort: '<S13>/Action Port'
-     */
-    rtb_Merge = (int16_T)(rtU->r_inpTgt << 4);
-
-    /* End of Outputs for SubSystem: '<S7>/Commutation_Control_Type' */
-  }
-
-  /* End of If: '<S7>/If1' */
-
-  /* Logic: '<S8>/Logical Operator' incorporates:
+  /* Logic: '<S9>/Logical Operator' incorporates:
    *  Inport: '<Root>/b_hallA '
    *  Inport: '<Root>/b_hallB'
    *  Inport: '<Root>/b_hallC'
-   *  UnitDelay: '<S8>/UnitDelay1'
-   *  UnitDelay: '<S8>/UnitDelay2'
-   *  UnitDelay: '<S8>/UnitDelay3'
+   *  UnitDelay: '<S9>/UnitDelay1'
+   *  UnitDelay: '<S9>/UnitDelay2'
+   *  UnitDelay: '<S9>/UnitDelay3'
    */
   rtb_LogicalOperator = (boolean_T)((rtU->b_hallA != 0) ^ (rtU->b_hallB != 0) ^
     (rtU->b_hallC != 0) ^ (rtDW->UnitDelay3_DSTATE_fy != 0) ^
     (rtDW->UnitDelay1_DSTATE != 0)) ^ (rtDW->UnitDelay2_DSTATE_f != 0);
 
-  /* If: '<S11>/If2' incorporates:
+  /* If: '<S12>/If2' incorporates:
    *  If: '<S2>/If2'
-   *  Inport: '<S16>/z_counterRawPrev'
-   *  UnitDelay: '<S11>/UnitDelay3'
+   *  Inport: '<S15>/z_counterRawPrev'
+   *  UnitDelay: '<S12>/UnitDelay3'
    */
   if (rtb_LogicalOperator) {
-    /* Outputs for IfAction SubSystem: '<S2>/F01_04_Direction_Detection' incorporates:
-     *  ActionPort: '<S10>/Action Port'
+    /* Outputs for IfAction SubSystem: '<S2>/F01_03_Direction_Detection' incorporates:
+     *  ActionPort: '<S11>/Action Port'
      */
-    /* UnitDelay: '<S10>/UnitDelay3' */
-    UnitDelay3 = rtDW->Switch2;
+    /* UnitDelay: '<S11>/UnitDelay3' */
+    UnitDelay3 = rtDW->Switch2_e;
 
-    /* Sum: '<S10>/Sum2' incorporates:
-     *  Constant: '<S9>/vec_hallToPos'
-     *  Selector: '<S9>/Selector'
-     *  UnitDelay: '<S10>/UnitDelay2'
+    /* Sum: '<S11>/Sum2' incorporates:
+     *  Constant: '<S10>/vec_hallToPos'
+     *  Selector: '<S10>/Selector'
+     *  UnitDelay: '<S11>/UnitDelay2'
      */
     rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] -
                           rtDW->UnitDelay2_DSTATE_b);
 
-    /* Switch: '<S10>/Switch2' incorporates:
-     *  Constant: '<S10>/Constant20'
-     *  Constant: '<S10>/Constant23'
-     *  Constant: '<S10>/Constant24'
-     *  Constant: '<S10>/Constant8'
-     *  Logic: '<S10>/Logical Operator3'
-     *  RelationalOperator: '<S10>/Relational Operator1'
-     *  RelationalOperator: '<S10>/Relational Operator6'
+    /* Switch: '<S11>/Switch2' incorporates:
+     *  Constant: '<S11>/Constant20'
+     *  Constant: '<S11>/Constant23'
+     *  Constant: '<S11>/Constant24'
+     *  Constant: '<S11>/Constant8'
+     *  Logic: '<S11>/Logical Operator3'
+     *  RelationalOperator: '<S11>/Relational Operator1'
+     *  RelationalOperator: '<S11>/Relational Operator6'
      */
     if ((rtb_Sum2_h == 1) || (rtb_Sum2_h == -5)) {
-      rtDW->Switch2 = 1;
+      rtDW->Switch2_e = 1;
     } else {
-      rtDW->Switch2 = -1;
+      rtDW->Switch2_e = -1;
     }
 
-    /* End of Switch: '<S10>/Switch2' */
+    /* End of Switch: '<S11>/Switch2' */
 
-    /* Update for UnitDelay: '<S10>/UnitDelay2' incorporates:
-     *  Constant: '<S9>/vec_hallToPos'
-     *  Selector: '<S9>/Selector'
+    /* Update for UnitDelay: '<S11>/UnitDelay2' incorporates:
+     *  Constant: '<S10>/vec_hallToPos'
+     *  Selector: '<S10>/Selector'
      */
     rtDW->UnitDelay2_DSTATE_b = rtConstP.vec_hallToPos_Value[rtb_Sum];
 
-    /* End of Outputs for SubSystem: '<S2>/F01_04_Direction_Detection' */
+    /* End of Outputs for SubSystem: '<S2>/F01_03_Direction_Detection' */
 
-    /* Outputs for IfAction SubSystem: '<S11>/Raw_Motor_Speed_Estimation' incorporates:
-     *  ActionPort: '<S16>/Action Port'
+    /* Outputs for IfAction SubSystem: '<S12>/Raw_Motor_Speed_Estimation' incorporates:
+     *  ActionPort: '<S15>/Action Port'
      */
     rtDW->z_counterRawPrev = rtDW->UnitDelay3_DSTATE;
 
-    /* Sum: '<S16>/Sum7' incorporates:
-     *  Inport: '<S16>/z_counterRawPrev'
-     *  UnitDelay: '<S11>/UnitDelay3'
-     *  UnitDelay: '<S16>/UnitDelay4'
+    /* Sum: '<S15>/Sum7' incorporates:
+     *  Inport: '<S15>/z_counterRawPrev'
+     *  UnitDelay: '<S12>/UnitDelay3'
+     *  UnitDelay: '<S15>/UnitDelay4'
      */
-    rtb_Switch2_fv = (int16_T)(rtDW->z_counterRawPrev -
-      rtDW->UnitDelay4_DSTATE_p);
+    rtb_Switch2_k = (int16_T)(rtDW->z_counterRawPrev - rtDW->UnitDelay4_DSTATE);
 
-    /* Abs: '<S16>/Abs2' */
-    if (rtb_Switch2_fv < 0) {
-      rtb_Switch1_l = (int16_T)-rtb_Switch2_fv;
+    /* Abs: '<S15>/Abs2' */
+    if (rtb_Switch2_k < 0) {
+      rtb_Switch1_l = (int16_T)-rtb_Switch2_k;
     } else {
-      rtb_Switch1_l = rtb_Switch2_fv;
+      rtb_Switch1_l = rtb_Switch2_k;
     }
 
-    /* End of Abs: '<S16>/Abs2' */
+    /* End of Abs: '<S15>/Abs2' */
 
-    /* Relay: '<S16>/dz_cntTrnsDet' */
+    /* Relay: '<S15>/dz_cntTrnsDet' */
     if (rtb_Switch1_l >= rtP->dz_cntTrnsDetHi) {
       rtDW->dz_cntTrnsDet_Mode = true;
     } else {
@@ -996,111 +767,111 @@ void BLDC_controller_step(RT_MODEL *const rtM)
 
     rtDW->dz_cntTrnsDet = rtDW->dz_cntTrnsDet_Mode;
 
-    /* End of Relay: '<S16>/dz_cntTrnsDet' */
+    /* End of Relay: '<S15>/dz_cntTrnsDet' */
 
-    /* RelationalOperator: '<S16>/Relational Operator4' */
-    rtb_RelationalOperator4_d = (rtDW->Switch2 != UnitDelay3);
+    /* RelationalOperator: '<S15>/Relational Operator4' */
+    rtb_RelationalOperator4_d = (rtDW->Switch2_e != UnitDelay3);
 
-    /* Switch: '<S16>/Switch3' incorporates:
-     *  Constant: '<S16>/Constant4'
-     *  Logic: '<S16>/Logical Operator1'
-     *  Switch: '<S16>/Switch1'
-     *  Switch: '<S16>/Switch2'
-     *  UnitDelay: '<S16>/UnitDelay1'
+    /* Switch: '<S15>/Switch3' incorporates:
+     *  Constant: '<S15>/Constant4'
+     *  Logic: '<S15>/Logical Operator1'
+     *  Switch: '<S15>/Switch1'
+     *  Switch: '<S15>/Switch2'
+     *  UnitDelay: '<S15>/UnitDelay1'
      */
     if (rtb_RelationalOperator4_d && rtDW->UnitDelay1_DSTATE_n) {
       rtb_Switch1_l = 0;
     } else if (rtb_RelationalOperator4_d) {
-      /* Switch: '<S16>/Switch2' incorporates:
-       *  UnitDelay: '<S11>/UnitDelay4'
+      /* Switch: '<S15>/Switch2' incorporates:
+       *  UnitDelay: '<S12>/UnitDelay4'
        */
       rtb_Switch1_l = rtDW->UnitDelay4_DSTATE_e;
     } else if (rtDW->dz_cntTrnsDet) {
-      /* Switch: '<S16>/Switch1' incorporates:
-       *  Constant: '<S16>/cf_speedCoef'
-       *  Product: '<S16>/Divide14'
-       *  Switch: '<S16>/Switch2'
+      /* Switch: '<S15>/Switch1' incorporates:
+       *  Constant: '<S15>/cf_speedCoef'
+       *  Product: '<S15>/Divide14'
+       *  Switch: '<S15>/Switch2'
        */
       rtb_Switch1_l = (int16_T)((rtP->cf_speedCoef << 4) /
         rtDW->z_counterRawPrev);
     } else {
-      /* Switch: '<S16>/Switch1' incorporates:
-       *  Constant: '<S16>/cf_speedCoef'
-       *  Gain: '<S16>/g_Ha'
-       *  Product: '<S16>/Divide13'
-       *  Sum: '<S16>/Sum13'
-       *  Switch: '<S16>/Switch2'
-       *  UnitDelay: '<S16>/UnitDelay2'
-       *  UnitDelay: '<S16>/UnitDelay3'
-       *  UnitDelay: '<S16>/UnitDelay5'
+      /* Switch: '<S15>/Switch1' incorporates:
+       *  Constant: '<S15>/cf_speedCoef'
+       *  Gain: '<S15>/g_Ha'
+       *  Product: '<S15>/Divide13'
+       *  Sum: '<S15>/Sum13'
+       *  Switch: '<S15>/Switch2'
+       *  UnitDelay: '<S15>/UnitDelay2'
+       *  UnitDelay: '<S15>/UnitDelay3'
+       *  UnitDelay: '<S15>/UnitDelay5'
        */
       rtb_Switch1_l = (int16_T)(((uint16_T)(rtP->cf_speedCoef << 2) << 4) /
         (int16_T)(((rtDW->UnitDelay2_DSTATE + rtDW->UnitDelay3_DSTATE_o) +
                    rtDW->UnitDelay5_DSTATE) + rtDW->z_counterRawPrev));
     }
 
-    /* End of Switch: '<S16>/Switch3' */
+    /* End of Switch: '<S15>/Switch3' */
 
-    /* Product: '<S16>/Divide11' */
-    rtDW->Divide11 = (int16_T)(rtb_Switch1_l * rtDW->Switch2);
+    /* Product: '<S15>/Divide11' */
+    rtDW->Divide11 = (int16_T)(rtb_Switch1_l * rtDW->Switch2_e);
 
-    /* Update for UnitDelay: '<S16>/UnitDelay4' */
-    rtDW->UnitDelay4_DSTATE_p = rtDW->z_counterRawPrev;
+    /* Update for UnitDelay: '<S15>/UnitDelay4' */
+    rtDW->UnitDelay4_DSTATE = rtDW->z_counterRawPrev;
 
-    /* Update for UnitDelay: '<S16>/UnitDelay2' incorporates:
-     *  UnitDelay: '<S16>/UnitDelay3'
+    /* Update for UnitDelay: '<S15>/UnitDelay2' incorporates:
+     *  UnitDelay: '<S15>/UnitDelay3'
      */
     rtDW->UnitDelay2_DSTATE = rtDW->UnitDelay3_DSTATE_o;
 
-    /* Update for UnitDelay: '<S16>/UnitDelay3' incorporates:
-     *  UnitDelay: '<S16>/UnitDelay5'
+    /* Update for UnitDelay: '<S15>/UnitDelay3' incorporates:
+     *  UnitDelay: '<S15>/UnitDelay5'
      */
     rtDW->UnitDelay3_DSTATE_o = rtDW->UnitDelay5_DSTATE;
 
-    /* Update for UnitDelay: '<S16>/UnitDelay5' */
+    /* Update for UnitDelay: '<S15>/UnitDelay5' */
     rtDW->UnitDelay5_DSTATE = rtDW->z_counterRawPrev;
 
-    /* Update for UnitDelay: '<S16>/UnitDelay1' */
+    /* Update for UnitDelay: '<S15>/UnitDelay1' */
     rtDW->UnitDelay1_DSTATE_n = rtb_RelationalOperator4_d;
 
-    /* End of Outputs for SubSystem: '<S11>/Raw_Motor_Speed_Estimation' */
+    /* End of Outputs for SubSystem: '<S12>/Raw_Motor_Speed_Estimation' */
   }
 
-  /* End of If: '<S11>/If2' */
+  /* End of If: '<S12>/If2' */
 
-  /* Outputs for Atomic SubSystem: '<S11>/Counter' */
+  /* Outputs for Atomic SubSystem: '<S12>/Counter' */
 
-  /* Constant: '<S11>/Constant6' incorporates:
-   *  Constant: '<S11>/z_maxCntRst2'
+  /* Constant: '<S12>/Constant6' incorporates:
+   *  Constant: '<S12>/z_maxCntRst2'
    */
   rtb_Switch1_l = (int16_T) Counter(1, rtP->z_maxCntRst, rtb_LogicalOperator,
     &rtDW->Counter_e);
 
-  /* End of Outputs for SubSystem: '<S11>/Counter' */
+  /* End of Outputs for SubSystem: '<S12>/Counter' */
 
-  /* Switch: '<S11>/Switch2' incorporates:
-   *  Constant: '<S11>/Constant4'
-   *  Constant: '<S11>/z_maxCntRst'
-   *  RelationalOperator: '<S11>/Relational Operator2'
+  /* Switch: '<S12>/Switch2' incorporates:
+   *  Constant: '<S12>/Constant4'
+   *  Constant: '<S12>/z_maxCntRst'
+   *  RelationalOperator: '<S12>/Relational Operator2'
    */
   if (rtb_Switch1_l > rtP->z_maxCntRst) {
-    rtb_Switch2_fv = 0;
+    rtb_Switch2_k = 0;
   } else {
-    rtb_Switch2_fv = rtDW->Divide11;
+    rtb_Switch2_k = rtDW->Divide11;
   }
 
-  /* End of Switch: '<S11>/Switch2' */
+  /* End of Switch: '<S12>/Switch2' */
 
-  /* Abs: '<S11>/Abs5' */
-  if (rtb_Switch2_fv < 0) {
-    rtb_Abs5 = (int16_T)-rtb_Switch2_fv;
+  /* Abs: '<S12>/Abs5' */
+  if (rtb_Switch2_k < 0) {
+    rtb_Abs5 = (int16_T)-rtb_Switch2_k;
   } else {
-    rtb_Abs5 = rtb_Switch2_fv;
+    rtb_Abs5 = rtb_Switch2_k;
   }
 
-  /* End of Abs: '<S11>/Abs5' */
+  /* End of Abs: '<S12>/Abs5' */
 
-  /* Relay: '<S11>/n_commDeacv' */
+  /* Relay: '<S12>/n_commDeacv' */
   if (rtb_Abs5 >= rtP->n_commDeacvHi) {
     rtDW->n_commDeacv_Mode = true;
   } else {
@@ -1109,76 +880,106 @@ void BLDC_controller_step(RT_MODEL *const rtM)
     }
   }
 
-  /* Logic: '<S11>/Logical Operator2' incorporates:
-   *  Constant: '<S11>/CTRL_COMM'
-   *  Constant: '<S1>/z_ctrlTypSel1'
-   *  Logic: '<S11>/Logical Operator1'
-   *  RelationalOperator: '<S11>/Relational Operator3'
-   *  Relay: '<S11>/n_commDeacv'
+  /* Logic: '<S12>/Logical Operator2' incorporates:
+   *  Logic: '<S12>/Logical Operator1'
+   *  Relay: '<S12>/n_commDeacv'
    */
-  rtb_LogicalOperator = ((rtP->z_ctrlTypSel == 1) && rtDW->n_commDeacv_Mode && (
-    !rtDW->dz_cntTrnsDet));
-
-  /* RelationalOperator: '<S11>/Relational Operator9' incorporates:
-   *  Constant: '<S11>/n_stdStillDet'
+  rtb_LogicalOperator = (rtDW->n_commDeacv_Mode && (!rtDW->dz_cntTrnsDet));
+
+  /* Switch: '<S13>/Switch2' incorporates:
+   *  Constant: '<S13>/Constant16'
+   *  Product: '<S13>/Divide1'
+   *  Product: '<S13>/Divide3'
+   *  RelationalOperator: '<S13>/Relational Operator7'
+   *  Sum: '<S13>/Sum3'
+   *  Switch: '<S13>/Switch3'
    */
-  rtb_RelationalOperator4_d = (rtb_Abs5 < rtP->n_stdStillDet);
+  if (rtb_LogicalOperator) {
+    /* MinMax: '<S13>/MinMax' */
+    rtb_Switch2_fl = rtb_Switch1_l;
+    if (!(rtb_Switch2_fl < rtDW->z_counterRawPrev)) {
+      rtb_Switch2_fl = rtDW->z_counterRawPrev;
+    }
 
-  /* If: '<S1>/If2' incorporates:
-   *  Constant: '<S1>/b_diagEna'
-   *  Constant: '<S3>/CTRL_COMM2'
-   *  Constant: '<S3>/t_errDequal'
-   *  Constant: '<S3>/t_errQual'
-   *  RelationalOperator: '<S3>/Relational Operator2'
-   */
-  rtb_Sum2_h = rtDW->If2_ActiveSubsystem;
-  UnitDelay3 = -1;
-  if (rtP->b_diagEna) {
-    UnitDelay3 = 0;
-  }
+    /* End of MinMax: '<S13>/MinMax' */
 
-  rtDW->If2_ActiveSubsystem = UnitDelay3;
-  if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
-    /* Disable for Outport: '<Root>/z_errCode' incorporates:
-     *  Outport: '<S3>/z_errCode '
+    /* Switch: '<S13>/Switch3' incorporates:
+     *  Constant: '<S10>/vec_hallToPos'
+     *  Constant: '<S13>/Constant16'
+     *  RelationalOperator: '<S13>/Relational Operator7'
+     *  Selector: '<S10>/Selector'
+     *  Sum: '<S13>/Sum1'
      */
-    rtY->z_errCode = 0U;
-
-    /* Disable for Outport: '<S3>/b_errFlag' */
-    rtDW->Merge_n = false;
-  }
+    if (rtDW->Switch2_e == 1) {
+      rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
+    } else {
+      rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] + 1);
+    }
 
-  if (UnitDelay3 == 0) {
-    if (0 != rtb_Sum2_h) {
-      /* InitializeConditions for IfAction SubSystem: '<S1>/F02_Diagnostics' incorporates:
-       *  ActionPort: '<S3>/Action Port'
+    rtb_Switch2_fl = (int16_T)(((int16_T)((int16_T)((rtb_Switch2_fl << 14) /
+      rtDW->z_counterRawPrev) * rtDW->Switch2_e) + (rtb_Sum2_h << 14)) >> 2);
+  } else {
+    if (rtDW->Switch2_e == 1) {
+      /* Switch: '<S13>/Switch3' incorporates:
+       *  Constant: '<S10>/vec_hallToPos'
+       *  Selector: '<S10>/Selector'
        */
-      /* InitializeConditions for If: '<S1>/If2' incorporates:
-       *  UnitDelay: '<S3>/UnitDelay'
+      rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
+    } else {
+      /* Switch: '<S13>/Switch3' incorporates:
+       *  Constant: '<S10>/vec_hallToPos'
+       *  Selector: '<S10>/Selector'
+       *  Sum: '<S13>/Sum1'
        */
-      rtDW->UnitDelay_DSTATE_c = 0U;
+      rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] + 1);
+    }
 
-      /* End of InitializeConditions for SubSystem: '<S1>/F02_Diagnostics' */
+    rtb_Switch2_fl = (int16_T)(rtb_Sum2_h << 12);
+  }
 
-      /* SystemReset for IfAction SubSystem: '<S1>/F02_Diagnostics' incorporates:
-       *  ActionPort: '<S3>/Action Port'
-       */
+  /* End of Switch: '<S13>/Switch2' */
 
-      /* SystemReset for Atomic SubSystem: '<S3>/Debounce_Filter' */
+  /* MinMax: '<S13>/MinMax1' incorporates:
+   *  Constant: '<S13>/Constant1'
+   */
+  if (!(rtb_Switch2_fl > 0)) {
+    rtb_Switch2_fl = 0;
+  }
 
-      /* SystemReset for If: '<S1>/If2' */
-      Debounce_Filter_Reset(&rtDW->Debounce_Filter_f);
+  /* End of MinMax: '<S13>/MinMax1' */
 
-      /* End of SystemReset for SubSystem: '<S3>/Debounce_Filter' */
+  /* Product: '<S13>/Divide2' */
+  rtb_Switch2_fl = (int16_T)((15 * rtb_Switch2_fl) >> 4);
 
-      /* SystemReset for Atomic SubSystem: '<S3>/either_edge' */
-      either_edge_Reset(&rtDW->either_edge_a);
+  /* DataTypeConversion: '<S1>/Data Type Conversion2' incorporates:
+   *  Inport: '<Root>/r_inpTgt'
+   */
+  if (rtU->r_inpTgt > 2047) {
+    rtb_DataTypeConversion2 = MAX_int16_T;
+  } else if (rtU->r_inpTgt <= -2048) {
+    rtb_DataTypeConversion2 = MIN_int16_T;
+  } else {
+    rtb_DataTypeConversion2 = (int16_T)(rtU->r_inpTgt << 4);
+  }
 
-      /* End of SystemReset for SubSystem: '<S3>/either_edge' */
+  /* UnitDelay: '<S8>/UnitDelay2' */
+  rtb_RelationalOperator4_d = rtDW->UnitDelay2_DSTATE_g;
 
-      /* End of SystemReset for SubSystem: '<S1>/F02_Diagnostics' */
-    }
+  /* RelationalOperator: '<S12>/Relational Operator9' incorporates:
+   *  Constant: '<S12>/n_stdStillDet'
+   */
+  rtb_RelationalOperator9 = (rtb_Abs5 < rtP->n_stdStillDet);
 
+  /* If: '<S1>/If2' incorporates:
+   *  Constant: '<S1>/b_diagEna'
+   *  Constant: '<S3>/CTRL_COMM2'
+   *  Constant: '<S3>/t_errDequal'
+   *  Constant: '<S3>/t_errQual'
+   *  Logic: '<S1>/Logical Operator2'
+   *  RelationalOperator: '<S3>/Relational Operator2'
+   *  UnitDelay: '<S8>/UnitDelay2'
+   */
+  if (rtP->b_diagEna && rtDW->UnitDelay2_DSTATE_g) {
     /* Outputs for IfAction SubSystem: '<S1>/F02_Diagnostics' incorporates:
      *  ActionPort: '<S3>/Action Port'
      */
@@ -1190,25 +991,25 @@ void BLDC_controller_step(RT_MODEL *const rtM)
      *  RelationalOperator: '<S3>/Relational Operator7'
      *  S-Function (sfix_bitop): '<S3>/Bitwise Operator1'
      *  UnitDelay: '<S3>/UnitDelay'
-     *  UnitDelay: '<S6>/UnitDelay4'
+     *  UnitDelay: '<S7>/UnitDelay4'
      */
-    if ((rtDW->UnitDelay_DSTATE_c & 4) != 0) {
+    if ((rtY->z_errCode & 4) != 0) {
       rtb_RelationalOperator1_m = true;
     } else {
-      if (rtDW->UnitDelay4_DSTATE < 0) {
+      if (rtDW->UnitDelay4_DSTATE_eu < 0) {
         /* Abs: '<S3>/Abs4' incorporates:
-         *  UnitDelay: '<S6>/UnitDelay4'
+         *  UnitDelay: '<S7>/UnitDelay4'
          */
-        rtb_toNegative = (int16_T)-rtDW->UnitDelay4_DSTATE;
+        rtb_Merge_f_idx_1 = (int16_T)-rtDW->UnitDelay4_DSTATE_eu;
       } else {
         /* Abs: '<S3>/Abs4' incorporates:
-         *  UnitDelay: '<S6>/UnitDelay4'
+         *  UnitDelay: '<S7>/UnitDelay4'
          */
-        rtb_toNegative = rtDW->UnitDelay4_DSTATE;
+        rtb_Merge_f_idx_1 = rtDW->UnitDelay4_DSTATE_eu;
       }
 
-      rtb_RelationalOperator1_m = ((rtb_toNegative > rtP->r_errInpTgtThres) &&
-        rtb_RelationalOperator4_d);
+      rtb_RelationalOperator1_m = ((rtb_Merge_f_idx_1 > rtP->r_errInpTgtThres) &&
+        rtb_RelationalOperator9);
     }
 
     /* End of Switch: '<S3>/Switch3' */
@@ -1245,177 +1046,329 @@ void BLDC_controller_step(RT_MODEL *const rtM)
     if (rtb_RelationalOperator1_m) {
       /* Outport: '<Root>/z_errCode' */
       rtY->z_errCode = rtb_Sum_l;
-    } else {
-      /* Outport: '<Root>/z_errCode' incorporates:
-       *  UnitDelay: '<S3>/UnitDelay'
-       */
-      rtY->z_errCode = rtDW->UnitDelay_DSTATE_c;
     }
 
     /* End of Switch: '<S3>/Switch1' */
-
-    /* Update for UnitDelay: '<S3>/UnitDelay' incorporates:
-     *  Outport: '<Root>/z_errCode'
-     */
-    rtDW->UnitDelay_DSTATE_c = rtY->z_errCode;
-
     /* End of Outputs for SubSystem: '<S1>/F02_Diagnostics' */
   }
 
   /* End of If: '<S1>/If2' */
 
-  /* Logic: '<S28>/Logical Operator4' incorporates:
-   *  Constant: '<S28>/constant2'
-   *  Constant: '<S28>/constant8'
-   *  Inport: '<Root>/b_motEna'
-   *  Inport: '<Root>/z_ctrlModReq'
-   *  Logic: '<S28>/Logical Operator1'
-   *  Logic: '<S28>/Logical Operator7'
-   *  RelationalOperator: '<S28>/Relational Operator10'
-   *  RelationalOperator: '<S28>/Relational Operator11'
-   *  RelationalOperator: '<S28>/Relational Operator2'
-   *  UnitDelay: '<S4>/UnitDelay1'
-   */
-  rtb_RelationalOperator1_m = ((!rtU->b_motEna) || rtDW->Merge_n ||
-    (rtU->z_ctrlModReq == 0) || ((rtU->z_ctrlModReq != rtDW->UnitDelay1_DSTATE_p)
-    && (rtDW->UnitDelay1_DSTATE_p != 0)));
-
-  /* Chart: '<S4>/F03_02_Control_Mode_Manager' incorporates:
-   *  Constant: '<S28>/constant'
-   *  Constant: '<S28>/constant1'
-   *  Constant: '<S28>/constant5'
-   *  Constant: '<S28>/constant6'
-   *  Constant: '<S28>/constant7'
-   *  Inport: '<Root>/z_ctrlModReq'
-   *  Logic: '<S28>/Logical Operator3'
-   *  Logic: '<S28>/Logical Operator6'
-   *  Logic: '<S28>/Logical Operator9'
-   *  RelationalOperator: '<S28>/Relational Operator1'
-   *  RelationalOperator: '<S28>/Relational Operator3'
-   *  RelationalOperator: '<S28>/Relational Operator4'
-   *  RelationalOperator: '<S28>/Relational Operator5'
-   *  RelationalOperator: '<S28>/Relational Operator6'
+  /* If: '<S1>/If4' incorporates:
+   *  UnitDelay: '<S8>/UnitDelay2'
    */
-  if (rtDW->is_active_c1_BLDC_controller == 0U) {
-    rtDW->is_active_c1_BLDC_controller = 1U;
-    rtDW->is_c1_BLDC_controller = IN_OPEN;
-    rtb_Sum_l = OPEN_MODE;
-  } else if (rtDW->is_c1_BLDC_controller == IN_ACTIVE) {
-    if (rtb_RelationalOperator1_m) {
-      rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD;
-      rtDW->is_c1_BLDC_controller = IN_OPEN;
-      rtb_Sum_l = OPEN_MODE;
-    } else {
-      switch (rtDW->is_ACTIVE) {
-       case IN_SPEED_MODE:
-        rtb_Sum_l = SPD_MODE;
-        break;
+  rtb_Sum2_h = rtDW->If4_ActiveSubsystem;
+  UnitDelay3 = -1;
+  if (rtDW->UnitDelay2_DSTATE_g) {
+    UnitDelay3 = 0;
+  }
 
-       case IN_TORQUE_MODE:
-        rtb_Sum_l = TRQ_MODE;
-        break;
+  rtDW->If4_ActiveSubsystem = UnitDelay3;
+  if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
+    /* Disable for If: '<S29>/If2' */
+    rtDW->If2_ActiveSubsystem = -1;
+  }
 
-       default:
-        rtb_Sum_l = VLT_MODE;
-        break;
-      }
-    }
-  } else {
-    rtb_Sum_l = OPEN_MODE;
-    if ((!rtb_RelationalOperator1_m) && ((rtU->z_ctrlModReq == 1) ||
-         (rtU->z_ctrlModReq == 2) || (rtU->z_ctrlModReq == 3)) &&
-        rtb_RelationalOperator4_d) {
-      rtDW->is_c1_BLDC_controller = IN_ACTIVE;
-      if (rtU->z_ctrlModReq == 3) {
-        rtDW->is_ACTIVE = IN_TORQUE_MODE;
-        rtb_Sum_l = TRQ_MODE;
-      } else if (rtU->z_ctrlModReq == 2) {
-        rtDW->is_ACTIVE = IN_SPEED_MODE;
-        rtb_Sum_l = SPD_MODE;
+  if (UnitDelay3 == 0) {
+    /* Outputs for IfAction SubSystem: '<S1>/F03_Control_Mode_Manager' incorporates:
+     *  ActionPort: '<S4>/Action Port'
+     */
+    /* Logic: '<S27>/Logical Operator4' incorporates:
+     *  Constant: '<S27>/constant2'
+     *  Constant: '<S27>/constant8'
+     *  Inport: '<Root>/b_motEna'
+     *  Inport: '<Root>/z_ctrlModReq'
+     *  Logic: '<S27>/Logical Operator1'
+     *  Logic: '<S27>/Logical Operator7'
+     *  RelationalOperator: '<S27>/Relational Operator10'
+     *  RelationalOperator: '<S27>/Relational Operator11'
+     *  RelationalOperator: '<S27>/Relational Operator2'
+     *  UnitDelay: '<S4>/UnitDelay1'
+     */
+    rtb_RelationalOperator1_m = ((!rtU->b_motEna) || rtDW->Merge_n ||
+      (rtU->z_ctrlModReq == 0) || ((rtU->z_ctrlModReq != rtDW->z_ctrlMod) &&
+      (rtDW->z_ctrlMod != 0)));
+
+    /* Chart: '<S4>/F03_02_Control_Mode_Manager' incorporates:
+     *  Constant: '<S27>/constant'
+     *  Constant: '<S27>/constant1'
+     *  Constant: '<S27>/constant5'
+     *  Constant: '<S27>/constant6'
+     *  Constant: '<S27>/constant7'
+     *  Inport: '<Root>/z_ctrlModReq'
+     *  Logic: '<S27>/Logical Operator3'
+     *  Logic: '<S27>/Logical Operator6'
+     *  Logic: '<S27>/Logical Operator9'
+     *  RelationalOperator: '<S27>/Relational Operator1'
+     *  RelationalOperator: '<S27>/Relational Operator3'
+     *  RelationalOperator: '<S27>/Relational Operator4'
+     *  RelationalOperator: '<S27>/Relational Operator5'
+     *  RelationalOperator: '<S27>/Relational Operator6'
+     */
+    if (rtDW->is_active_c1_BLDC_controller == 0U) {
+      rtDW->is_active_c1_BLDC_controller = 1U;
+      rtDW->is_c1_BLDC_controller = IN_OPEN;
+      rtDW->z_ctrlMod = OPEN_MODE;
+    } else if (rtDW->is_c1_BLDC_controller == IN_ACTIVE) {
+      if (rtb_RelationalOperator1_m) {
+        rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD;
+        rtDW->is_c1_BLDC_controller = IN_OPEN;
+        rtDW->z_ctrlMod = OPEN_MODE;
       } else {
-        rtDW->is_ACTIVE = IN_VOLTAGE_MODE;
-        rtb_Sum_l = VLT_MODE;
+        switch (rtDW->is_ACTIVE) {
+         case IN_SPEED_MODE:
+          rtDW->z_ctrlMod = SPD_MODE;
+          break;
+
+         case IN_TORQUE_MODE:
+          rtDW->z_ctrlMod = TRQ_MODE;
+          break;
+
+         default:
+          rtDW->z_ctrlMod = VLT_MODE;
+          break;
+        }
+      }
+    } else {
+      rtDW->z_ctrlMod = OPEN_MODE;
+      if ((!rtb_RelationalOperator1_m) && ((rtU->z_ctrlModReq == 1) ||
+           (rtU->z_ctrlModReq == 2) || (rtU->z_ctrlModReq == 3)) &&
+          rtb_RelationalOperator9) {
+        rtDW->is_c1_BLDC_controller = IN_ACTIVE;
+        if (rtU->z_ctrlModReq == 3) {
+          rtDW->is_ACTIVE = IN_TORQUE_MODE;
+          rtDW->z_ctrlMod = TRQ_MODE;
+        } else if (rtU->z_ctrlModReq == 2) {
+          rtDW->is_ACTIVE = IN_SPEED_MODE;
+          rtDW->z_ctrlMod = SPD_MODE;
+        } else {
+          rtDW->is_ACTIVE = IN_VOLTAGE_MODE;
+          rtDW->z_ctrlMod = VLT_MODE;
+        }
       }
-    }
-  }
-
-  /* End of Chart: '<S4>/F03_02_Control_Mode_Manager' */
-
-  /* Switch: '<S12>/Switch2' incorporates:
-   *  Constant: '<S12>/Constant16'
-   *  Product: '<S12>/Divide1'
-   *  Product: '<S12>/Divide3'
-   *  RelationalOperator: '<S12>/Relational Operator7'
-   *  Sum: '<S12>/Sum3'
-   *  Switch: '<S12>/Switch3'
-   */
-  if (rtb_LogicalOperator) {
-    /* MinMax: '<S12>/MinMax' */
-    rtb_Switch2_d = rtb_Switch1_l;
-    if (!(rtb_Switch2_d < rtDW->z_counterRawPrev)) {
-      rtb_Switch2_d = rtDW->z_counterRawPrev;
     }
 
-    /* End of MinMax: '<S12>/MinMax' */
+    /* End of Chart: '<S4>/F03_02_Control_Mode_Manager' */
 
-    /* Switch: '<S12>/Switch3' incorporates:
-     *  Constant: '<S12>/Constant16'
-     *  Constant: '<S9>/vec_hallToPos'
-     *  RelationalOperator: '<S12>/Relational Operator7'
-     *  Selector: '<S9>/Selector'
-     *  Sum: '<S12>/Sum1'
+    /* If: '<S29>/If1' incorporates:
+     *  Constant: '<S1>/z_ctrlTypSel1'
+     *  DataTypeConversion: '<S1>/Data Type Conversion2'
+     *  Inport: '<S30>/r_inpTgt'
+     *  Saturate: '<S29>/Saturation'
      */
-    if (rtDW->Switch2 == 1) {
-      rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
-    } else {
-      rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] + 1);
-    }
-
-    rtb_Switch2_d = (int16_T)(((int16_T)((int16_T)((rtb_Switch2_d << 14) /
-      rtDW->z_counterRawPrev) * rtDW->Switch2) + (rtb_Sum2_h << 14)) >> 2);
-  } else {
-    if (rtDW->Switch2 == 1) {
-      /* Switch: '<S12>/Switch3' incorporates:
-       *  Constant: '<S9>/vec_hallToPos'
-       *  Selector: '<S9>/Selector'
+    if (rtP->z_ctrlTypSel == 2) {
+      /* Outputs for IfAction SubSystem: '<S29>/FOC_Control_Type' incorporates:
+       *  ActionPort: '<S32>/Action Port'
        */
-      rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
-    } else {
-      /* Switch: '<S12>/Switch3' incorporates:
-       *  Constant: '<S9>/vec_hallToPos'
-       *  Selector: '<S9>/Selector'
-       *  Sum: '<S12>/Sum1'
+      /* SignalConversion: '<S32>/TmpSignal ConversionAtSelectorInport1' incorporates:
+       *  Constant: '<S32>/Vd_max'
+       *  Constant: '<S32>/constant1'
+       *  Constant: '<S32>/i_max'
+       *  Constant: '<S32>/n_max'
        */
-      rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[rtb_Sum] + 1);
-    }
+      tmp[0] = 0;
+      tmp[1] = rtP->Vd_max;
+      tmp[2] = rtP->n_max;
+      tmp[3] = rtP->i_max;
 
-    rtb_Switch2_d = (int16_T)(rtb_Sum2_h << 12);
-  }
+      /* End of Outputs for SubSystem: '<S29>/FOC_Control_Type' */
 
-  /* End of Switch: '<S12>/Switch2' */
+      /* Saturate: '<S29>/Saturation' incorporates:
+       *  DataTypeConversion: '<S1>/Data Type Conversion2'
+       */
+      if (rtb_DataTypeConversion2 > 16000) {
+        rtb_Merge = 16000;
+      } else if (rtb_DataTypeConversion2 < -16000) {
+        rtb_Merge = -16000;
+      } else {
+        rtb_Merge = rtb_DataTypeConversion2;
+      }
 
-  /* MinMax: '<S12>/MinMax1' incorporates:
-   *  Constant: '<S12>/Constant1'
-   */
-  if (!(rtb_Switch2_d > 0)) {
-    rtb_Switch2_d = 0;
+      /* Outputs for IfAction SubSystem: '<S29>/FOC_Control_Type' incorporates:
+       *  ActionPort: '<S32>/Action Port'
+       */
+      /* Product: '<S32>/Divide1' incorporates:
+       *  Inport: '<Root>/z_ctrlModReq'
+       *  Product: '<S32>/Divide4'
+       *  Selector: '<S32>/Selector'
+       */
+      rtb_Merge = (int16_T)(((uint16_T)((tmp[rtU->z_ctrlModReq] << 5) / 125) *
+        rtb_Merge) >> 12);
+
+      /* End of Outputs for SubSystem: '<S29>/FOC_Control_Type' */
+    } else if (rtb_DataTypeConversion2 > 16000) {
+      /* Outputs for IfAction SubSystem: '<S29>/Default_Control_Type' incorporates:
+       *  ActionPort: '<S30>/Action Port'
+       */
+      /* Saturate: '<S29>/Saturation' incorporates:
+       *  Inport: '<S30>/r_inpTgt'
+       */
+      rtb_Merge = 16000;
+
+      /* End of Outputs for SubSystem: '<S29>/Default_Control_Type' */
+    } else if (rtb_DataTypeConversion2 < -16000) {
+      /* Outputs for IfAction SubSystem: '<S29>/Default_Control_Type' incorporates:
+       *  ActionPort: '<S30>/Action Port'
+       */
+      /* Saturate: '<S29>/Saturation' incorporates:
+       *  Inport: '<S30>/r_inpTgt'
+       */
+      rtb_Merge = -16000;
+
+      /* End of Outputs for SubSystem: '<S29>/Default_Control_Type' */
+    } else {
+      /* Outputs for IfAction SubSystem: '<S29>/Default_Control_Type' incorporates:
+       *  ActionPort: '<S30>/Action Port'
+       */
+      rtb_Merge = rtb_DataTypeConversion2;
+
+      /* End of Outputs for SubSystem: '<S29>/Default_Control_Type' */
+    }
+
+    /* End of If: '<S29>/If1' */
+
+    /* If: '<S29>/If2' incorporates:
+     *  Inport: '<S31>/r_inpTgtScaRaw'
+     */
+    rtb_Sum2_h = rtDW->If2_ActiveSubsystem;
+    UnitDelay3 = (int8_T)!(rtDW->z_ctrlMod == 0);
+    rtDW->If2_ActiveSubsystem = UnitDelay3;
+    switch (UnitDelay3) {
+     case 0:
+      if (UnitDelay3 != rtb_Sum2_h) {
+        /* SystemReset for IfAction SubSystem: '<S29>/Open_Mode' incorporates:
+         *  ActionPort: '<S33>/Action Port'
+         */
+        /* SystemReset for Atomic SubSystem: '<S33>/rising_edge_init' */
+        /* SystemReset for If: '<S29>/If2' incorporates:
+         *  UnitDelay: '<S35>/UnitDelay'
+         *  UnitDelay: '<S36>/UnitDelay'
+         */
+        rtDW->UnitDelay_DSTATE_e = true;
+
+        /* End of SystemReset for SubSystem: '<S33>/rising_edge_init' */
+
+        /* SystemReset for Atomic SubSystem: '<S33>/Rate_Limiter' */
+        rtDW->UnitDelay_DSTATE = 0;
+
+        /* End of SystemReset for SubSystem: '<S33>/Rate_Limiter' */
+        /* End of SystemReset for SubSystem: '<S29>/Open_Mode' */
+      }
+
+      /* Outputs for IfAction SubSystem: '<S29>/Open_Mode' incorporates:
+       *  ActionPort: '<S33>/Action Port'
+       */
+      /* DataTypeConversion: '<S33>/Data Type Conversion' incorporates:
+       *  UnitDelay: '<S7>/UnitDelay4'
+       */
+      rtb_Gain3 = rtDW->UnitDelay4_DSTATE_eu << 12;
+      rtb_DataTypeConversion = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 |
+        -134217728 : rtb_Gain3 & 134217727;
+
+      /* Outputs for Atomic SubSystem: '<S33>/rising_edge_init' */
+      /* UnitDelay: '<S35>/UnitDelay' */
+      rtb_RelationalOperator9 = rtDW->UnitDelay_DSTATE_e;
+
+      /* Update for UnitDelay: '<S35>/UnitDelay' incorporates:
+       *  Constant: '<S35>/Constant'
+       */
+      rtDW->UnitDelay_DSTATE_e = false;
+
+      /* End of Outputs for SubSystem: '<S33>/rising_edge_init' */
+
+      /* Outputs for Atomic SubSystem: '<S33>/Rate_Limiter' */
+      /* Switch: '<S36>/Switch1' incorporates:
+       *  UnitDelay: '<S36>/UnitDelay'
+       */
+      if (rtb_RelationalOperator9) {
+        rtb_Switch1 = rtb_DataTypeConversion;
+      } else {
+        rtb_Switch1 = rtDW->UnitDelay_DSTATE;
+      }
+
+      /* End of Switch: '<S36>/Switch1' */
+
+      /* Sum: '<S34>/Sum1' */
+      rtb_Gain3 = -rtb_Switch1;
+      rtb_Sum1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
+        rtb_Gain3 & 134217727;
+
+      /* Switch: '<S37>/Switch2' incorporates:
+       *  Constant: '<S33>/dV_openRate'
+       *  RelationalOperator: '<S37>/LowerRelop1'
+       */
+      if (rtb_Sum1 > rtP->dV_openRate) {
+        rtb_Sum1 = rtP->dV_openRate;
+      } else {
+        /* Gain: '<S33>/Gain3' */
+        rtb_Gain3 = -rtP->dV_openRate;
+        rtb_Gain3 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
+          rtb_Gain3 & 134217727;
+
+        /* Switch: '<S37>/Switch' incorporates:
+         *  RelationalOperator: '<S37>/UpperRelop'
+         */
+        if (rtb_Sum1 < rtb_Gain3) {
+          rtb_Sum1 = rtb_Gain3;
+        }
+
+        /* End of Switch: '<S37>/Switch' */
+      }
+
+      /* End of Switch: '<S37>/Switch2' */
+
+      /* Sum: '<S34>/Sum2' */
+      rtb_Gain3 = rtb_Sum1 + rtb_Switch1;
+      rtb_Switch1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
+        rtb_Gain3 & 134217727;
+
+      /* Switch: '<S36>/Switch2' */
+      if (rtb_RelationalOperator9) {
+        /* Update for UnitDelay: '<S36>/UnitDelay' */
+        rtDW->UnitDelay_DSTATE = rtb_DataTypeConversion;
+      } else {
+        /* Update for UnitDelay: '<S36>/UnitDelay' */
+        rtDW->UnitDelay_DSTATE = rtb_Switch1;
+      }
+
+      /* End of Switch: '<S36>/Switch2' */
+      /* End of Outputs for SubSystem: '<S33>/Rate_Limiter' */
+
+      /* DataTypeConversion: '<S33>/Data Type Conversion1' */
+      rtDW->Merge1 = (int16_T)(rtb_Switch1 >> 12);
+
+      /* End of Outputs for SubSystem: '<S29>/Open_Mode' */
+      break;
+
+     case 1:
+      /* Outputs for IfAction SubSystem: '<S29>/Default_Mode' incorporates:
+       *  ActionPort: '<S31>/Action Port'
+       */
+      rtDW->Merge1 = rtb_Merge;
+
+      /* End of Outputs for SubSystem: '<S29>/Default_Mode' */
+      break;
+    }
+
+    /* End of If: '<S29>/If2' */
+    /* End of Outputs for SubSystem: '<S1>/F03_Control_Mode_Manager' */
   }
 
-  /* End of MinMax: '<S12>/MinMax1' */
+  /* End of If: '<S1>/If4' */
 
-  /* Product: '<S12>/Divide2' */
-  rtb_Divide2_h = (uint16_T)((15 * rtb_Switch2_d) >> 4);
+  /* UnitDelay: '<S8>/UnitDelay5' */
+  rtb_RelationalOperator9 = rtDW->UnitDelay5_DSTATE_l;
 
   /* Saturate: '<S1>/Saturation' incorporates:
    *  Inport: '<Root>/i_phaAB'
    */
   rtb_Gain3 = rtU->i_phaAB << 4;
-  if (rtb_Gain3 >= 32000) {
-    rtb_Saturation = 32000;
-  } else if (rtb_Gain3 <= -32000) {
-    rtb_Saturation = -32000;
+  if (rtb_Gain3 >= 27200) {
+    rtb_Merge = 27200;
+  } else if (rtb_Gain3 <= -27200) {
+    rtb_Merge = -27200;
   } else {
-    rtb_Saturation = (int16_T)(rtU->i_phaAB << 4);
+    rtb_Merge = (int16_T)(rtU->i_phaAB << 4);
   }
 
   /* End of Saturate: '<S1>/Saturation' */
@@ -1424,171 +1377,197 @@ void BLDC_controller_step(RT_MODEL *const rtM)
    *  Inport: '<Root>/i_phaBC'
    */
   rtb_Gain3 = rtU->i_phaBC << 4;
-  if (rtb_Gain3 >= 32000) {
-    rtb_Switch2_d = 32000;
-  } else if (rtb_Gain3 <= -32000) {
-    rtb_Switch2_d = -32000;
+  if (rtb_Gain3 >= 27200) {
+    rtb_Saturation1 = 27200;
+  } else if (rtb_Gain3 <= -27200) {
+    rtb_Saturation1 = -27200;
   } else {
-    rtb_Switch2_d = (int16_T)(rtU->i_phaBC << 4);
+    rtb_Saturation1 = (int16_T)(rtU->i_phaBC << 4);
   }
 
   /* End of Saturate: '<S1>/Saturation1' */
 
+  /* If: '<S1>/If3' incorporates:
+   *  Constant: '<S1>/CTRL_COMM2'
+   *  Constant: '<S1>/b_fieldWeakEna'
+   *  Constant: '<S1>/z_ctrlTypSel1'
+   *  Logic: '<S1>/Logical Operator1'
+   *  RelationalOperator: '<S1>/Relational Operator1'
+   *  UnitDelay: '<S8>/UnitDelay5'
+   */
+  if (rtP->b_fieldWeakEna && rtDW->UnitDelay5_DSTATE_l && (rtP->z_ctrlTypSel !=
+       0)) {
+    /* Outputs for IfAction SubSystem: '<S1>/F04_Field_Weakening' incorporates:
+     *  ActionPort: '<S5>/Action Port'
+     */
+    /* Abs: '<S5>/Abs5' incorporates:
+     *  DataTypeConversion: '<S1>/Data Type Conversion2'
+     */
+    if (rtb_DataTypeConversion2 < 0) {
+      rtb_DataTypeConversion2 = (int16_T)-rtb_DataTypeConversion2;
+    }
+
+    /* End of Abs: '<S5>/Abs5' */
+
+    /* Switch: '<S39>/Switch2' incorporates:
+     *  Constant: '<S5>/r_fieldWeakHi'
+     *  Constant: '<S5>/r_fieldWeakLo'
+     *  RelationalOperator: '<S39>/LowerRelop1'
+     *  RelationalOperator: '<S39>/UpperRelop'
+     *  Switch: '<S39>/Switch'
+     */
+    if (rtb_DataTypeConversion2 > rtP->r_fieldWeakHi) {
+      rtb_DataTypeConversion2 = rtP->r_fieldWeakHi;
+    } else {
+      if (rtb_DataTypeConversion2 < rtP->r_fieldWeakLo) {
+        /* Switch: '<S39>/Switch' incorporates:
+         *  Constant: '<S5>/r_fieldWeakLo'
+         */
+        rtb_DataTypeConversion2 = rtP->r_fieldWeakLo;
+      }
+    }
+
+    /* End of Switch: '<S39>/Switch2' */
+
+    /* Switch: '<S5>/Switch2' incorporates:
+     *  Constant: '<S5>/CTRL_COMM2'
+     *  Constant: '<S5>/a_phaAdvMax'
+     *  Constant: '<S5>/id_fieldWeakMax'
+     *  RelationalOperator: '<S5>/Relational Operator1'
+     */
+    if (rtP->z_ctrlTypSel == 2) {
+      rtb_Merge_f_idx_1 = rtP->id_fieldWeakMax;
+    } else {
+      rtb_Merge_f_idx_1 = rtP->a_phaAdvMax;
+    }
+
+    /* End of Switch: '<S5>/Switch2' */
+
+    /* Switch: '<S38>/Switch2' incorporates:
+     *  Constant: '<S5>/n_fieldWeakAuthHi'
+     *  Constant: '<S5>/n_fieldWeakAuthLo'
+     *  RelationalOperator: '<S38>/LowerRelop1'
+     *  RelationalOperator: '<S38>/UpperRelop'
+     *  Switch: '<S38>/Switch'
+     */
+    if (rtb_Abs5 > rtP->n_fieldWeakAuthHi) {
+      rtb_Switch2_l = rtP->n_fieldWeakAuthHi;
+    } else if (rtb_Abs5 < rtP->n_fieldWeakAuthLo) {
+      /* Switch: '<S38>/Switch' incorporates:
+       *  Constant: '<S5>/n_fieldWeakAuthLo'
+       */
+      rtb_Switch2_l = rtP->n_fieldWeakAuthLo;
+    } else {
+      rtb_Switch2_l = rtb_Abs5;
+    }
+
+    /* End of Switch: '<S38>/Switch2' */
+
+    /* Product: '<S5>/Divide3' incorporates:
+     *  Constant: '<S5>/n_fieldWeakAuthHi'
+     *  Constant: '<S5>/n_fieldWeakAuthLo'
+     *  Constant: '<S5>/r_fieldWeakHi'
+     *  Constant: '<S5>/r_fieldWeakLo'
+     *  Product: '<S5>/Divide1'
+     *  Product: '<S5>/Divide14'
+     *  Product: '<S5>/Divide2'
+     *  Sum: '<S5>/Sum1'
+     *  Sum: '<S5>/Sum2'
+     *  Sum: '<S5>/Sum3'
+     *  Sum: '<S5>/Sum4'
+     */
+    rtDW->Divide3 = (int16_T)(((uint16_T)(((uint32_T)(uint16_T)(((int16_T)
+      (rtb_DataTypeConversion2 - rtP->r_fieldWeakLo) << 15) / (int16_T)
+      (rtP->r_fieldWeakHi - rtP->r_fieldWeakLo)) * (uint16_T)(((int16_T)
+      (rtb_Switch2_l - rtP->n_fieldWeakAuthLo) << 15) / (int16_T)
+      (rtP->n_fieldWeakAuthHi - rtP->n_fieldWeakAuthLo))) >> 15) *
+      rtb_Merge_f_idx_1) >> 15);
+
+    /* End of Outputs for SubSystem: '<S1>/F04_Field_Weakening' */
+  }
+
+  /* End of If: '<S1>/If3' */
+
   /* If: '<S1>/If1' incorporates:
    *  Constant: '<S1>/z_ctrlTypSel1'
    */
   rtb_Sum2_h = rtDW->If1_ActiveSubsystem;
   UnitDelay3 = -1;
-  if (rtP->z_ctrlTypSel == 1) {
+  if (rtP->z_ctrlTypSel == 2) {
     UnitDelay3 = 0;
   }
 
   rtDW->If1_ActiveSubsystem = UnitDelay3;
   if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
-    /* Disable for If: '<S5>/If2' */
+    /* Disable for If: '<S6>/If2' */
     if (rtDW->If2_ActiveSubsystem_a == 0) {
-      /* Disable for Outport: '<S31>/iq' */
+      /* Disable for Outport: '<S41>/iq' */
       rtDW->Sum1[0] = 0;
 
-      /* Disable for Outport: '<S31>/id' */
+      /* Disable for Outport: '<S41>/id' */
       rtDW->Sum1[1] = 0;
     }
 
     rtDW->If2_ActiveSubsystem_a = -1;
 
-    /* End of Disable for If: '<S5>/If2' */
-
-    /* Disable for If: '<S5>/If1' */
-    if (rtDW->If1_ActiveSubsystem_e == 0) {
-      /* Disable for Outport: '<S40>/Vd' */
-      rtDW->Switch1 = 0;
-    }
-
-    rtDW->If1_ActiveSubsystem_e = -1;
-
-    /* End of Disable for If: '<S5>/If1' */
-
-    /* Disable for If: '<S35>/If1' */
-    if (rtDW->If1_ActiveSubsystem_f == 0) {
-      /* Disable for Outport: '<S45>/iq_limProt' */
-      rtDW->Divide4 = 0;
-    }
+    /* End of Disable for If: '<S6>/If2' */
 
-    rtDW->If1_ActiveSubsystem_f = -1;
-
-    /* End of Disable for If: '<S35>/If1' */
-
-    /* Disable for If: '<S35>/If2' */
-    if (rtDW->If2_ActiveSubsystem_c == 0) {
-      /* Disable for Outport: '<S46>/n_limProt' */
-      rtDW->Divide1 = 0;
-    }
-
-    rtDW->If2_ActiveSubsystem_c = -1;
-
-    /* End of Disable for If: '<S35>/If2' */
-
-    /* Disable for SwitchCase: '<S5>/Switch Case' */
-    rtDW->SwitchCase_ActiveSubsystem = -1;
-
-    /* Disable for Outport: '<S5>/r_phaA' */
+    /* Disable for Outport: '<S6>/V_phaABC_FOC' */
     rtDW->Gain4[0] = 0;
-
-    /* Disable for Outport: '<S5>/r_phaB' */
     rtDW->Gain4[1] = 0;
-
-    /* Disable for Outport: '<S5>/r_phaC ' */
     rtDW->Gain4[2] = 0;
 
-    /* Disable for Outport: '<S5>/Vq' */
-    rtDW->Merge = 0;
-
-    /* Disable for Outport: '<S5>/r_devSignal1' */
+    /* Disable for Outport: '<S6>/r_devSignal1' */
     rtDW->Sum1[0] = 0;
 
-    /* Disable for Outport: '<S5>/r_devSignal2' */
+    /* Disable for Outport: '<S6>/r_devSignal2' */
     rtDW->Sum1[1] = 0;
   }
 
   if (UnitDelay3 == 0) {
     if (0 != rtb_Sum2_h) {
-      /* InitializeConditions for IfAction SubSystem: '<S1>/F04_Field_Oriented_Control' incorporates:
-       *  ActionPort: '<S5>/Action Port'
+      /* InitializeConditions for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' incorporates:
+       *  ActionPort: '<S6>/Action Port'
        */
       /* InitializeConditions for If: '<S1>/If1' incorporates:
-       *  UnitDelay: '<S5>/UnitDelay4'
+       *  UnitDelay: '<S6>/UnitDelay4'
        */
-      rtDW->UnitDelay4_DSTATE_er = 0;
+      rtDW->UnitDelay4_DSTATE_h = 0;
 
-      /* End of InitializeConditions for SubSystem: '<S1>/F04_Field_Oriented_Control' */
-    }
-
-    /* Outputs for IfAction SubSystem: '<S1>/F04_Field_Oriented_Control' incorporates:
-     *  ActionPort: '<S5>/Action Port'
-     */
-    /* Relay: '<S32>/n_fieldWeakAuth' */
-    if (rtb_Abs5 >= rtP->n_fieldWeakAuthHi) {
-      rtDW->n_fieldWeakAuth_Mode = true;
-    } else {
-      if (rtb_Abs5 <= rtP->n_fieldWeakAuthLo) {
-        rtDW->n_fieldWeakAuth_Mode = false;
-      }
+      /* End of InitializeConditions for SubSystem: '<S1>/F05_Field_Oriented_Control' */
     }
 
-    /* Switch: '<S32>/Switch1' incorporates:
-     *  Constant: '<S32>/a_elecPeriod1'
-     *  Constant: '<S32>/b_fieldWeakEna'
-     *  Logic: '<S32>/Logical Operator2'
-     *  Relay: '<S32>/n_fieldWeakAuth'
+    /* Outputs for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' incorporates:
+     *  ActionPort: '<S6>/Action Port'
      */
-    if (rtP->b_fieldWeakEna && rtDW->n_fieldWeakAuth_Mode) {
-      /* Abs: '<S32>/Abs5' */
-      if (rtb_Merge < 0) {
-        rtb_id_fieldWeak_M1 = (int16_T)-rtb_Merge;
-      } else {
-        rtb_id_fieldWeak_M1 = rtb_Merge;
-      }
-
-      /* End of Abs: '<S32>/Abs5' */
-
-      /* PreLookup: '<S32>/r_fieldWeak_XA' */
-      rtb_r_fieldWeak_XA_o1 = plook_u8s16u8n6_evenc_s(rtb_id_fieldWeak_M1,
-        rtP->r_fieldWeak_XA[0], (uint16_T)(rtP->r_fieldWeak_XA[1] -
-        rtP->r_fieldWeak_XA[0]), 11U, &rtb_r_fieldWeak_XA_o2);
-
-      /* Interpolation_n-D: '<S32>/id_fieldWeak_M1' */
-      rtb_id_fieldWeak_M1 = intrp1d_s16s32s32u8u8n6l_s(rtb_r_fieldWeak_XA_o1,
-        rtb_r_fieldWeak_XA_o2, rtP->id_fieldWeak_M1);
+    /* Abs: '<S6>/Abs1' */
+    if (rtDW->Merge1 < 0) {
+      rtb_Switch2_l = (int16_T)-rtDW->Merge1;
     } else {
-      rtb_id_fieldWeak_M1 = 0;
+      rtb_Switch2_l = rtDW->Merge1;
     }
 
-    /* End of Switch: '<S32>/Switch1' */
-
-    /* Gain: '<S32>/toNegative' */
-    rtb_toNegative = (int16_T)-rtb_id_fieldWeak_M1;
+    /* End of Abs: '<S6>/Abs1' */
 
-    /* Gain: '<S35>/Gain4' incorporates:
-     *  Constant: '<S35>/i_max'
-     */
-    rtb_Gain4 = (int16_T)-rtP->i_max;
+    /* Gain: '<S6>/toNegative' */
+    rtb_toNegative = (int16_T)-rtDW->Divide3;
 
-    /* If: '<S30>/If1' incorporates:
-     *  Constant: '<S30>/b_selPhaABCurrMeas'
+    /* If: '<S40>/If1' incorporates:
+     *  Constant: '<S40>/b_selPhaABCurrMeas'
      */
     if (rtP->b_selPhaABCurrMeas) {
-      /* Outputs for IfAction SubSystem: '<S30>/Clarke_PhasesAB' incorporates:
-       *  ActionPort: '<S42>/Action Port'
+      /* Outputs for IfAction SubSystem: '<S40>/Clarke_PhasesAB' incorporates:
+       *  ActionPort: '<S48>/Action Port'
        */
-      /* Gain: '<S42>/Gain4' */
-      rtb_Gain3 = 18919 * rtb_Saturation;
+      /* Gain: '<S48>/Gain4' */
+      rtb_Gain3 = 18919 * rtb_Merge;
 
-      /* Gain: '<S42>/Gain2' */
-      rtb_DataTypeConversion = 18919 * rtb_Switch2_d;
+      /* Gain: '<S48>/Gain2' */
+      rtb_DataTypeConversion = 18919 * rtb_Saturation1;
 
-      /* Sum: '<S42>/Sum1' incorporates:
-       *  Gain: '<S42>/Gain2'
-       *  Gain: '<S42>/Gain4'
+      /* Sum: '<S48>/Sum1' incorporates:
+       *  Gain: '<S48>/Gain2'
+       *  Gain: '<S48>/Gain4'
        */
       rtb_Gain3 = (((rtb_Gain3 < 0 ? 32767 : 0) + rtb_Gain3) >> 15) + (int16_T)
         (((rtb_DataTypeConversion < 0 ? 16383 : 0) + rtb_DataTypeConversion) >>
@@ -1601,16 +1580,16 @@ void BLDC_controller_step(RT_MODEL *const rtM)
         }
       }
 
-      rtb_Gain2_f = (int16_T)rtb_Gain3;
+      rtb_DataTypeConversion2 = (int16_T)rtb_Gain3;
 
-      /* End of Sum: '<S42>/Sum1' */
-      /* End of Outputs for SubSystem: '<S30>/Clarke_PhasesAB' */
+      /* End of Sum: '<S48>/Sum1' */
+      /* End of Outputs for SubSystem: '<S40>/Clarke_PhasesAB' */
     } else {
-      /* Outputs for IfAction SubSystem: '<S30>/Clarke_PhasesBC' incorporates:
-       *  ActionPort: '<S43>/Action Port'
+      /* Outputs for IfAction SubSystem: '<S40>/Clarke_PhasesBC' incorporates:
+       *  ActionPort: '<S49>/Action Port'
        */
-      /* Sum: '<S43>/Sum3' */
-      rtb_Gain3 = rtb_Saturation - rtb_Switch2_d;
+      /* Sum: '<S49>/Sum3' */
+      rtb_Gain3 = rtb_Merge - rtb_Saturation1;
       if (rtb_Gain3 > 32767) {
         rtb_Gain3 = 32767;
       } else {
@@ -1619,14 +1598,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
         }
       }
 
-      /* Gain: '<S43>/Gain2' incorporates:
-       *  Sum: '<S43>/Sum3'
+      /* Gain: '<S49>/Gain2' incorporates:
+       *  Sum: '<S49>/Sum3'
        */
       rtb_Gain3 *= 18919;
-      rtb_Gain2_f = (int16_T)(((rtb_Gain3 < 0 ? 32767 : 0) + rtb_Gain3) >> 15);
+      rtb_DataTypeConversion2 = (int16_T)(((rtb_Gain3 < 0 ? 32767 : 0) +
+        rtb_Gain3) >> 15);
 
-      /* Sum: '<S43>/Sum1' */
-      rtb_Gain3 = -rtb_Saturation - rtb_Switch2_d;
+      /* Sum: '<S49>/Sum1' */
+      rtb_Gain3 = -rtb_Merge - rtb_Saturation1;
       if (rtb_Gain3 > 32767) {
         rtb_Gain3 = 32767;
       } else {
@@ -1635,25 +1615,19 @@ void BLDC_controller_step(RT_MODEL *const rtM)
         }
       }
 
-      rtb_Saturation = (int16_T)rtb_Gain3;
+      rtb_Merge = (int16_T)rtb_Gain3;
 
-      /* End of Sum: '<S43>/Sum1' */
-      /* End of Outputs for SubSystem: '<S30>/Clarke_PhasesBC' */
+      /* End of Sum: '<S49>/Sum1' */
+      /* End of Outputs for SubSystem: '<S40>/Clarke_PhasesBC' */
     }
 
-    /* End of If: '<S30>/If1' */
-
-    /* PreLookup: '<S32>/a_elecAngle_XA' */
-    rtb_r_fieldWeak_XA_o1 = plook_u8u16_evencka(rtb_Divide2_h, 0U, 128U, 180U);
-
-    /* Interpolation_n-D: '<S32>/r_sin_M1' */
-    rtb_MinMax2 = rtConstP.r_sin_M1_Table[rtb_r_fieldWeak_XA_o1];
+    /* End of If: '<S40>/If1' */
 
-    /* Interpolation_n-D: '<S32>/r_cos_M1' */
-    rtb_Switch2_d = rtConstP.r_cos_M1_Table[rtb_r_fieldWeak_XA_o1];
+    /* PreLookup: '<S47>/a_elecAngle_XA' */
+    rtb_Sum_l = plook_u8s16_evencka(rtb_Switch2_fl, 0, 128U, 180U);
 
-    /* If: '<S5>/If2' incorporates:
-     *  Constant: '<S31>/cf_currFilt'
+    /* If: '<S6>/If2' incorporates:
+     *  Constant: '<S41>/cf_currFilt'
      *  Inport: '<Root>/b_motEna'
      */
     rtb_Sum2_h = rtDW->If2_ActiveSubsystem_a;
@@ -1664,38 +1638,38 @@ void BLDC_controller_step(RT_MODEL *const rtM)
 
     rtDW->If2_ActiveSubsystem_a = UnitDelay3;
     if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
-      /* Disable for Outport: '<S31>/iq' */
+      /* Disable for Outport: '<S41>/iq' */
       rtDW->Sum1[0] = 0;
 
-      /* Disable for Outport: '<S31>/id' */
+      /* Disable for Outport: '<S41>/id' */
       rtDW->Sum1[1] = 0;
     }
 
     if (UnitDelay3 == 0) {
       if (0 != rtb_Sum2_h) {
-        /* SystemReset for IfAction SubSystem: '<S5>/Current_Filtering' incorporates:
-         *  ActionPort: '<S31>/Action Port'
+        /* SystemReset for IfAction SubSystem: '<S6>/Current_Filtering' incorporates:
+         *  ActionPort: '<S41>/Action Port'
          */
 
-        /* SystemReset for Atomic SubSystem: '<S31>/Low_Pass_Filter' */
+        /* SystemReset for Atomic SubSystem: '<S41>/Low_Pass_Filter' */
 
-        /* SystemReset for If: '<S5>/If2' */
+        /* SystemReset for If: '<S6>/If2' */
         Low_Pass_Filter_Reset(&rtDW->Low_Pass_Filter_m);
 
-        /* End of SystemReset for SubSystem: '<S31>/Low_Pass_Filter' */
+        /* End of SystemReset for SubSystem: '<S41>/Low_Pass_Filter' */
 
-        /* End of SystemReset for SubSystem: '<S5>/Current_Filtering' */
+        /* End of SystemReset for SubSystem: '<S6>/Current_Filtering' */
       }
 
-      /* Sum: '<S37>/Sum6' incorporates:
-       *  Interpolation_n-D: '<S32>/r_cos_M1'
-       *  Interpolation_n-D: '<S32>/r_sin_M1'
-       *  Product: '<S37>/Divide1'
-       *  Product: '<S37>/Divide4'
+      /* Sum: '<S46>/Sum6' incorporates:
+       *  Interpolation_n-D: '<S47>/r_cos_M1'
+       *  Interpolation_n-D: '<S47>/r_sin_M1'
+       *  Product: '<S46>/Divide1'
+       *  Product: '<S46>/Divide4'
        */
-      rtb_Gain3 = (int16_T)((rtb_Gain2_f *
-        rtConstP.r_cos_M1_Table[rtb_r_fieldWeak_XA_o1]) >> 14) - (int16_T)
-        ((rtb_Saturation * rtConstP.r_sin_M1_Table[rtb_r_fieldWeak_XA_o1]) >> 14);
+      rtb_Gain3 = (int16_T)((rtb_DataTypeConversion2 *
+        rtConstP.r_cos_M1_Table[rtb_Sum_l]) >> 14) - (int16_T)((rtb_Merge *
+        rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14);
       if (rtb_Gain3 > 32767) {
         rtb_Gain3 = 32767;
       } else {
@@ -1704,25 +1678,25 @@ void BLDC_controller_step(RT_MODEL *const rtM)
         }
       }
 
-      /* Outputs for IfAction SubSystem: '<S5>/Current_Filtering' incorporates:
-       *  ActionPort: '<S31>/Action Port'
+      /* Outputs for IfAction SubSystem: '<S6>/Current_Filtering' incorporates:
+       *  ActionPort: '<S41>/Action Port'
        */
-      /* SignalConversion: '<S31>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
-       *  Sum: '<S37>/Sum6'
+      /* SignalConversion: '<S41>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
+       *  Sum: '<S46>/Sum6'
        */
       rtb_TmpSignalConversionAtLow_Pa[0] = (int16_T)rtb_Gain3;
 
-      /* End of Outputs for SubSystem: '<S5>/Current_Filtering' */
+      /* End of Outputs for SubSystem: '<S6>/Current_Filtering' */
 
-      /* Sum: '<S37>/Sum1' incorporates:
-       *  Interpolation_n-D: '<S32>/r_cos_M1'
-       *  Interpolation_n-D: '<S32>/r_sin_M1'
-       *  Product: '<S37>/Divide2'
-       *  Product: '<S37>/Divide3'
+      /* Sum: '<S46>/Sum1' incorporates:
+       *  Interpolation_n-D: '<S47>/r_cos_M1'
+       *  Interpolation_n-D: '<S47>/r_sin_M1'
+       *  Product: '<S46>/Divide2'
+       *  Product: '<S46>/Divide3'
        */
-      rtb_Gain3 = (int16_T)((rtb_Saturation *
-        rtConstP.r_cos_M1_Table[rtb_r_fieldWeak_XA_o1]) >> 14) + (int16_T)
-        ((rtb_Gain2_f * rtConstP.r_sin_M1_Table[rtb_r_fieldWeak_XA_o1]) >> 14);
+      rtb_Gain3 = (int16_T)((rtb_Merge * rtConstP.r_cos_M1_Table[rtb_Sum_l]) >>
+                            14) + (int16_T)((rtb_DataTypeConversion2 *
+        rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14);
       if (rtb_Gain3 > 32767) {
         rtb_Gain3 = 32767;
       } else {
@@ -1731,575 +1705,416 @@ void BLDC_controller_step(RT_MODEL *const rtM)
         }
       }
 
-      /* Outputs for IfAction SubSystem: '<S5>/Current_Filtering' incorporates:
-       *  ActionPort: '<S31>/Action Port'
+      /* Outputs for IfAction SubSystem: '<S6>/Current_Filtering' incorporates:
+       *  ActionPort: '<S41>/Action Port'
        */
-      /* SignalConversion: '<S31>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
-       *  Sum: '<S37>/Sum1'
+      /* SignalConversion: '<S41>/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates:
+       *  Sum: '<S46>/Sum1'
        */
       rtb_TmpSignalConversionAtLow_Pa[1] = (int16_T)rtb_Gain3;
 
-      /* Outputs for Atomic SubSystem: '<S31>/Low_Pass_Filter' */
+      /* Outputs for Atomic SubSystem: '<S41>/Low_Pass_Filter' */
       Low_Pass_Filter(rtb_TmpSignalConversionAtLow_Pa, rtP->cf_currFilt,
                       rtDW->Sum1, &rtDW->Low_Pass_Filter_m);
 
-      /* End of Outputs for SubSystem: '<S31>/Low_Pass_Filter' */
+      /* End of Outputs for SubSystem: '<S41>/Low_Pass_Filter' */
 
-      /* End of Outputs for SubSystem: '<S5>/Current_Filtering' */
+      /* End of Outputs for SubSystem: '<S6>/Current_Filtering' */
     }
 
-    /* End of If: '<S5>/If2' */
+    /* End of If: '<S6>/If2' */
 
-    /* If: '<S5>/If1' incorporates:
-     *  Constant: '<S35>/Vd_max1'
-     *  Constant: '<S40>/cf_idKi1'
-     *  Constant: '<S40>/cf_idKp1'
-     *  Constant: '<S40>/constant1'
-     *  Gain: '<S35>/Gain3'
-     *  Sum: '<S40>/Sum3'
+    /* If: '<S6>/If3' incorporates:
+     *  Constant: '<S45>/Vd_max1'
+     *  Constant: '<S45>/i_max'
+     *  UnitDelay: '<S8>/UnitDelay5'
      */
-    rtb_Sum2_h = rtDW->If1_ActiveSubsystem_e;
-    UnitDelay3 = -1;
-    if (rtb_LogicalOperator) {
-      UnitDelay3 = 0;
-    }
-
-    rtDW->If1_ActiveSubsystem_e = UnitDelay3;
-    if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
-      /* Disable for Outport: '<S40>/Vd' */
-      rtDW->Switch1 = 0;
-    }
-
-    if (UnitDelay3 == 0) {
-      if (0 != rtb_Sum2_h) {
-        /* SystemReset for IfAction SubSystem: '<S5>/Vd_Calculation' incorporates:
-         *  ActionPort: '<S40>/Action Port'
-         */
-
-        /* SystemReset for Atomic SubSystem: '<S40>/PI_clamp_fixdt_id' */
-
-        /* SystemReset for If: '<S5>/If1' */
-        PI_clamp_fixdt_Reset(&rtDW->PI_clamp_fixdt_id);
-
-        /* End of SystemReset for SubSystem: '<S40>/PI_clamp_fixdt_id' */
-
-        /* End of SystemReset for SubSystem: '<S5>/Vd_Calculation' */
-      }
-
-      /* Outputs for IfAction SubSystem: '<S5>/Vd_Calculation' incorporates:
-       *  ActionPort: '<S40>/Action Port'
-       */
-      /* Switch: '<S63>/Switch2' incorporates:
-       *  Constant: '<S35>/i_max'
-       *  RelationalOperator: '<S63>/LowerRelop1'
-       *  RelationalOperator: '<S63>/UpperRelop'
-       *  Switch: '<S63>/Switch'
-       */
-      if (rtb_toNegative > rtP->i_max) {
-        rtb_toNegative = rtP->i_max;
-      } else {
-        if (rtb_toNegative < rtb_Gain4) {
-          /* Switch: '<S63>/Switch' */
-          rtb_toNegative = rtb_Gain4;
-        }
-      }
-
-      /* End of Switch: '<S63>/Switch2' */
-
-      /* Sum: '<S40>/Sum3' */
-      rtb_Gain3 = rtb_toNegative - rtDW->Sum1[1];
-      if (rtb_Gain3 > 32767) {
-        rtb_Gain3 = 32767;
-      } else {
-        if (rtb_Gain3 < -32768) {
-          rtb_Gain3 = -32768;
-        }
-      }
-
-      /* Outputs for Atomic SubSystem: '<S40>/PI_clamp_fixdt_id' */
-      PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_idKp, rtP->cf_idKi, rtP->Vd_max,
-                     (int16_T)-rtP->Vd_max, 0, &rtDW->Switch1,
-                     &rtDW->PI_clamp_fixdt_id);
-
-      /* End of Outputs for SubSystem: '<S40>/PI_clamp_fixdt_id' */
-
-      /* End of Outputs for SubSystem: '<S5>/Vd_Calculation' */
-    }
-
-    /* End of If: '<S5>/If1' */
-
-    /* Abs: '<S35>/Abs5' */
-    if (rtDW->Switch1 < 0) {
-      rtb_toNegative = (int16_T)-rtDW->Switch1;
-    } else {
-      rtb_toNegative = rtDW->Switch1;
-    }
-
-    /* End of Abs: '<S35>/Abs5' */
-
-    /* PreLookup: '<S35>/Vq_max_XA' */
-    rtb_r_fieldWeak_XA_o1 = plook_u8s16_evencka(rtb_toNegative, rtP->Vq_max_XA[0],
-      (uint16_T)(rtP->Vq_max_XA[1] - rtP->Vq_max_XA[0]), 45U);
-
-    /* Gain: '<S35>/Gain5' incorporates:
-     *  Interpolation_n-D: '<S35>/Vq_max_M1'
-     */
-    rtb_Gain2_f = (int16_T)-rtP->Vq_max_M1[rtb_r_fieldWeak_XA_o1];
-
-    /* Interpolation_n-D: '<S35>/iq_maxSca_M1' incorporates:
-     *  Constant: '<S35>/i_max'
-     *  Product: '<S35>/Divide4'
-     */
-    rtb_Gain3 = rtb_id_fieldWeak_M1 << 16;
-    rtb_Gain3 = (rtb_Gain3 == MIN_int32_T) && (rtP->i_max == -1) ? MAX_int32_T :
-      rtb_Gain3 / rtP->i_max;
-    if (rtb_Gain3 < 0) {
-      rtb_Gain3 = 0;
-    } else {
-      if (rtb_Gain3 > 65535) {
-        rtb_Gain3 = 65535;
-      }
-    }
-
-    /* Product: '<S35>/Divide1' incorporates:
-     *  Constant: '<S35>/i_max'
-     *  Interpolation_n-D: '<S35>/iq_maxSca_M1'
-     *  PreLookup: '<S35>/iq_maxSca_XA'
-     *  Product: '<S35>/Divide4'
-     */
-    rtb_id_fieldWeak_M1 = (int16_T)
-      ((rtConstP.iq_maxSca_M1_Table[plook_u8u16_evencka((uint16_T)rtb_Gain3, 0U,
-         1311U, 49U)] * rtP->i_max) >> 16);
-
-    /* Gain: '<S35>/Gain1' */
-    rtb_Saturation = (int16_T)-rtb_id_fieldWeak_M1;
-
-    /* If: '<S35>/If1' incorporates:
-     *  Constant: '<S35>/CTRL_COMM'
-     *  Constant: '<S35>/CTRL_COMM1'
-     *  Logic: '<S35>/Logical Operator2'
-     *  RelationalOperator: '<S35>/Relational Operator1'
-     *  RelationalOperator: '<S35>/Relational Operator2'
-     */
-    rtb_Sum2_h = rtDW->If1_ActiveSubsystem_f;
-    UnitDelay3 = -1;
-    if ((rtb_Sum_l == 1) || (rtb_Sum_l == 2)) {
-      UnitDelay3 = 0;
-    }
-
-    rtDW->If1_ActiveSubsystem_f = UnitDelay3;
-    if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
-      /* Disable for Outport: '<S45>/iq_limProt' */
-      rtDW->Divide4 = 0;
-    }
-
-    if (UnitDelay3 == 0) {
-      /* Outputs for IfAction SubSystem: '<S35>/Current_Limit_Protection' incorporates:
+    if (rtDW->UnitDelay5_DSTATE_l) {
+      /* Outputs for IfAction SubSystem: '<S6>/Motor_Limitations' incorporates:
        *  ActionPort: '<S45>/Action Port'
        */
-      /* Switch: '<S47>/Switch2' incorporates:
-       *  RelationalOperator: '<S47>/LowerRelop1'
-       *  RelationalOperator: '<S47>/UpperRelop'
-       *  Switch: '<S47>/Switch'
-       */
-      if (rtDW->Sum1[0] > rtb_id_fieldWeak_M1) {
-        rtb_toNegative = rtb_id_fieldWeak_M1;
-      } else if (rtDW->Sum1[0] < rtb_Saturation) {
-        /* Switch: '<S47>/Switch' */
-        rtb_toNegative = rtb_Saturation;
-      } else {
-        rtb_toNegative = rtDW->Sum1[0];
-      }
+      rtDW->Vd_max1 = rtP->Vd_max;
 
-      /* End of Switch: '<S47>/Switch2' */
+      /* Gain: '<S45>/Gain3' incorporates:
+       *  Constant: '<S45>/Vd_max1'
+       */
+      rtDW->Gain3 = (int16_T)-rtDW->Vd_max1;
 
-      /* Product: '<S45>/Divide4' incorporates:
-       *  Constant: '<S45>/cf_iqKpLimProt'
-       *  Sum: '<S45>/Sum3'
+      /* Interpolation_n-D: '<S45>/Vq_max_M1' incorporates:
+       *  Abs: '<S45>/Abs5'
+       *  PreLookup: '<S45>/Vq_max_XA'
+       *  UnitDelay: '<S6>/UnitDelay4'
        */
-      rtb_Gain3 = ((int16_T)(rtb_toNegative - rtDW->Sum1[0]) *
-                   rtP->cf_iqKpLimProt) >> 8;
-      if (rtb_Gain3 > 32767) {
-        rtb_Gain3 = 32767;
+      if (rtDW->UnitDelay4_DSTATE_h < 0) {
+        rtb_Merge_f_idx_1 = (int16_T)-rtDW->UnitDelay4_DSTATE_h;
       } else {
-        if (rtb_Gain3 < -32768) {
-          rtb_Gain3 = -32768;
-        }
+        rtb_Merge_f_idx_1 = rtDW->UnitDelay4_DSTATE_h;
       }
 
-      rtDW->Divide4 = (int16_T)rtb_Gain3;
+      rtDW->Vq_max_M1 = rtP->Vq_max_M1[plook_u8s16_evencka(rtb_Merge_f_idx_1,
+        rtP->Vq_max_XA[0], (uint16_T)(rtP->Vq_max_XA[1] - rtP->Vq_max_XA[0]),
+        45U)];
 
-      /* End of Product: '<S45>/Divide4' */
-      /* End of Outputs for SubSystem: '<S35>/Current_Limit_Protection' */
-    }
-
-    /* End of If: '<S35>/If1' */
-
-    /* Gain: '<S35>/Gain6' incorporates:
-     *  Constant: '<S35>/n_max1'
-     */
-    rtb_toNegative = (int16_T)-rtP->n_max;
-
-    /* If: '<S35>/If2' incorporates:
-     *  Constant: '<S35>/CTRL_COMM2'
-     *  Constant: '<S35>/CTRL_COMM3'
-     *  Logic: '<S35>/Logical Operator1'
-     *  RelationalOperator: '<S35>/Relational Operator3'
-     *  RelationalOperator: '<S35>/Relational Operator4'
-     */
-    rtb_Sum2_h = rtDW->If2_ActiveSubsystem_c;
-    UnitDelay3 = -1;
-    if ((rtb_Sum_l == 1) || (rtb_Sum_l == 3)) {
-      UnitDelay3 = 0;
-    }
+      /* End of Interpolation_n-D: '<S45>/Vq_max_M1' */
 
-    rtDW->If2_ActiveSubsystem_c = UnitDelay3;
-    if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) {
-      /* Disable for Outport: '<S46>/n_limProt' */
-      rtDW->Divide1 = 0;
-    }
+      /* Gain: '<S45>/Gain5' */
+      rtDW->Gain5 = (int16_T)-rtDW->Vq_max_M1;
+      rtDW->i_max = rtP->i_max;
 
-    if (UnitDelay3 == 0) {
-      /* Outputs for IfAction SubSystem: '<S35>/Speed_Limit_Protection' incorporates:
-       *  ActionPort: '<S46>/Action Port'
+      /* Interpolation_n-D: '<S45>/iq_maxSca_M1' incorporates:
+       *  Constant: '<S45>/i_max'
+       *  Product: '<S45>/Divide4'
        */
-      /* Switch: '<S48>/Switch2' incorporates:
-       *  Constant: '<S35>/n_max1'
-       *  RelationalOperator: '<S48>/LowerRelop1'
-       *  RelationalOperator: '<S48>/UpperRelop'
-       *  Switch: '<S48>/Switch'
-       */
-      if (rtb_Switch2_fv > rtP->n_max) {
-        rtb_toNegative = rtP->n_max;
+      rtb_Gain3 = rtDW->Divide3 << 16;
+      rtb_Gain3 = (rtb_Gain3 == MIN_int32_T) && (rtDW->i_max == -1) ?
+        MAX_int32_T : rtb_Gain3 / rtDW->i_max;
+      if (rtb_Gain3 < 0) {
+        rtb_Gain3 = 0;
       } else {
-        if (!(rtb_Switch2_fv < rtb_toNegative)) {
-          rtb_toNegative = rtb_Switch2_fv;
+        if (rtb_Gain3 > 65535) {
+          rtb_Gain3 = 65535;
         }
       }
 
-      /* End of Switch: '<S48>/Switch2' */
-
-      /* Product: '<S46>/Divide1' incorporates:
-       *  Constant: '<S46>/cf_nKpLimProt'
-       *  Sum: '<S46>/Sum1'
+      /* Product: '<S45>/Divide1' incorporates:
+       *  Interpolation_n-D: '<S45>/iq_maxSca_M1'
+       *  PreLookup: '<S45>/iq_maxSca_XA'
+       *  Product: '<S45>/Divide4'
        */
-      rtb_Gain3 = ((int16_T)(rtb_toNegative - rtb_Switch2_fv) *
-                   rtP->cf_nKpLimProt) >> 8;
-      if (rtb_Gain3 > 32767) {
-        rtb_Gain3 = 32767;
-      } else {
-        if (rtb_Gain3 < -32768) {
-          rtb_Gain3 = -32768;
+      rtDW->Divide1_a = (int16_T)
+        ((rtConstP.iq_maxSca_M1_Table[plook_u8u16_evencka((uint16_T)rtb_Gain3,
+           0U, 1311U, 49U)] * rtDW->i_max) >> 16);
+
+      /* Gain: '<S45>/Gain1' */
+      rtDW->Gain1 = (int16_T)-rtDW->Divide1_a;
+
+      /* SwitchCase: '<S45>/Switch Case' incorporates:
+       *  Constant: '<S45>/n_max1'
+       *  Constant: '<S72>/Constant1'
+       *  Constant: '<S72>/cf_KbLimProt'
+       *  Constant: '<S72>/cf_nKiLimProt'
+       *  Constant: '<S73>/Constant'
+       *  Constant: '<S73>/Constant1'
+       *  Constant: '<S73>/cf_KbLimProt'
+       *  Constant: '<S73>/cf_iqKiLimProt'
+       *  Constant: '<S73>/cf_nKiLimProt'
+       *  Sum: '<S72>/Sum1'
+       *  Sum: '<S73>/Sum1'
+       *  Sum: '<S73>/Sum2'
+       */
+      switch (rtDW->z_ctrlMod) {
+       case 1:
+        /* Abs: '<S6>/Abs5' */
+        if (rtDW->Sum1[0] < 0) {
+          rtb_Merge_f_idx_1 = (int16_T)-rtDW->Sum1[0];
+        } else {
+          rtb_Merge_f_idx_1 = rtDW->Sum1[0];
         }
-      }
 
-      rtDW->Divide1 = (int16_T)rtb_Gain3;
+        /* End of Abs: '<S6>/Abs5' */
 
-      /* End of Product: '<S46>/Divide1' */
-      /* End of Outputs for SubSystem: '<S35>/Speed_Limit_Protection' */
-    }
+        /* Outputs for IfAction SubSystem: '<S45>/Voltage_Mode_Protection' incorporates:
+         *  ActionPort: '<S73>/Action Port'
+         */
 
-    /* End of If: '<S35>/If2' */
+        /* Outputs for Atomic SubSystem: '<S73>/I_backCalc_fixdt' */
+        I_backCalc_fixdt((int16_T)(rtDW->Divide1_a - rtb_Merge_f_idx_1),
+                         rtP->cf_iqKiLimProt, rtP->cf_KbLimProt, rtb_Switch2_l,
+                         0, &rtDW->Switch2_c, &rtDW->I_backCalc_fixdt_i);
 
-    /* SwitchCase: '<S5>/Switch Case' incorporates:
-     *  Constant: '<S38>/cf_iqKiLimProt'
-     *  Constant: '<S38>/cf_nKi'
-     *  Constant: '<S38>/cf_nKp'
-     *  Interpolation_n-D: '<S35>/Vq_max_M1'
-     *  Product: '<S38>/Divide1'
-     *  SignalConversion: '<S38>/Signal Conversion2'
-     *  Sum: '<S38>/Sum3'
-     */
-    rtb_Sum2_h = rtDW->SwitchCase_ActiveSubsystem;
-    switch (rtb_Sum_l) {
-     case 1:
-      UnitDelay3 = 0;
-      break;
+        /* End of Outputs for SubSystem: '<S73>/I_backCalc_fixdt' */
 
-     case 2:
-      UnitDelay3 = 1;
-      break;
+        /* Outputs for Atomic SubSystem: '<S73>/I_backCalc_fixdt1' */
+        I_backCalc_fixdt((int16_T)(rtP->n_max - rtb_Abs5), rtP->cf_nKiLimProt,
+                         rtP->cf_KbLimProt, rtb_Switch2_l, 0, &rtDW->Switch2_l,
+                         &rtDW->I_backCalc_fixdt1);
 
-     case 3:
-      UnitDelay3 = 2;
-      break;
+        /* End of Outputs for SubSystem: '<S73>/I_backCalc_fixdt1' */
 
-     default:
-      UnitDelay3 = 3;
-      break;
-    }
+        /* End of Outputs for SubSystem: '<S45>/Voltage_Mode_Protection' */
+        break;
 
-    rtDW->SwitchCase_ActiveSubsystem = UnitDelay3;
-    switch (UnitDelay3) {
-     case 0:
-      /* Outputs for IfAction SubSystem: '<S5>/Voltage_Mode' incorporates:
-       *  ActionPort: '<S41>/Action Port'
-       */
-      /* Sum: '<S41>/Sum3' */
-      rtb_Gain3 = (rtb_Merge + rtDW->Divide4) + rtDW->Divide1;
-      if (rtb_Gain3 > 32767) {
-        rtb_Gain3 = 32767;
-      } else {
-        if (rtb_Gain3 < -32768) {
-          rtb_Gain3 = -32768;
+       case 2:
+        /* Outputs for IfAction SubSystem: '<S45>/Speed_Mode_Protection' incorporates:
+         *  ActionPort: '<S71>/Action Port'
+         */
+        /* Switch: '<S74>/Switch2' incorporates:
+         *  RelationalOperator: '<S74>/LowerRelop1'
+         *  RelationalOperator: '<S74>/UpperRelop'
+         *  Switch: '<S74>/Switch'
+         */
+        if (rtDW->Sum1[0] > rtDW->Divide1_a) {
+          rtb_Merge_f_idx_1 = rtDW->Divide1_a;
+        } else if (rtDW->Sum1[0] < rtDW->Gain1) {
+          /* Switch: '<S74>/Switch' */
+          rtb_Merge_f_idx_1 = rtDW->Gain1;
+        } else {
+          rtb_Merge_f_idx_1 = rtDW->Sum1[0];
         }
-      }
 
-      /* Switch: '<S67>/Switch2' incorporates:
-       *  Interpolation_n-D: '<S35>/Vq_max_M1'
-       *  RelationalOperator: '<S67>/LowerRelop1'
-       *  RelationalOperator: '<S67>/UpperRelop'
-       *  Sum: '<S41>/Sum3'
-       *  Switch: '<S67>/Switch'
-       */
-      if ((int16_T)rtb_Gain3 > rtP->Vq_max_M1[rtb_r_fieldWeak_XA_o1]) {
-        /* SignalConversion: '<S41>/Signal Conversion2' */
-        rtDW->Merge = rtP->Vq_max_M1[rtb_r_fieldWeak_XA_o1];
-      } else if ((int16_T)rtb_Gain3 < rtb_Gain2_f) {
-        /* Switch: '<S67>/Switch' incorporates:
-         *  SignalConversion: '<S41>/Signal Conversion2'
+        /* End of Switch: '<S74>/Switch2' */
+
+        /* Product: '<S71>/Divide1' incorporates:
+         *  Constant: '<S71>/cf_iqKiLimProt'
+         *  Sum: '<S71>/Sum3'
          */
-        rtDW->Merge = rtb_Gain2_f;
-      } else {
-        /* SignalConversion: '<S41>/Signal Conversion2' */
-        rtDW->Merge = (int16_T)rtb_Gain3;
-      }
+        rtDW->Divide1 = (int16_T)(rtb_Merge_f_idx_1 - rtDW->Sum1[0]) *
+          rtP->cf_iqKiLimProt;
 
-      /* End of Switch: '<S67>/Switch2' */
-      /* End of Outputs for SubSystem: '<S5>/Voltage_Mode' */
-      break;
+        /* End of Outputs for SubSystem: '<S45>/Speed_Mode_Protection' */
+        break;
 
-     case 1:
-      if (UnitDelay3 != rtb_Sum2_h) {
-        /* SystemReset for IfAction SubSystem: '<S5>/Speed_Mode' incorporates:
-         *  ActionPort: '<S38>/Action Port'
+       case 3:
+        /* Outputs for IfAction SubSystem: '<S45>/Torque_Mode_Protection' incorporates:
+         *  ActionPort: '<S72>/Action Port'
          */
 
-        /* SystemReset for Atomic SubSystem: '<S38>/PI_clamp_fixdt_n' */
-
-        /* SystemReset for SwitchCase: '<S5>/Switch Case' */
-        PI_clamp_fixdt_n_Reset(&rtDW->PI_clamp_fixdt_n_o);
+        /* Outputs for Atomic SubSystem: '<S72>/I_backCalc_fixdt' */
+        I_backCalc_fixdt((int16_T)(rtP->n_max - rtb_Abs5), rtP->cf_nKiLimProt,
+                         rtP->cf_KbLimProt, rtDW->Vq_max_M1, 0, &rtDW->Switch2,
+                         &rtDW->I_backCalc_fixdt_g);
 
-        /* End of SystemReset for SubSystem: '<S38>/PI_clamp_fixdt_n' */
+        /* End of Outputs for SubSystem: '<S72>/I_backCalc_fixdt' */
 
-        /* End of SystemReset for SubSystem: '<S5>/Speed_Mode' */
+        /* End of Outputs for SubSystem: '<S45>/Torque_Mode_Protection' */
+        break;
       }
 
-      /* Outputs for IfAction SubSystem: '<S5>/Speed_Mode' incorporates:
-       *  ActionPort: '<S38>/Action Port'
-       */
-      /* Sum: '<S38>/Sum3' */
-      rtb_Gain3 = rtb_Merge - rtb_Switch2_fv;
-      if (rtb_Gain3 > 32767) {
-        rtb_Gain3 = 32767;
-      } else {
-        if (rtb_Gain3 < -32768) {
-          rtb_Gain3 = -32768;
-        }
-      }
+      /* End of SwitchCase: '<S45>/Switch Case' */
 
-      /* Outputs for Atomic SubSystem: '<S38>/PI_clamp_fixdt_n' */
-      rtDW->Merge = (int16_T) PI_clamp_fixdt_n((int16_T)rtb_Gain3, rtP->cf_nKp,
-        rtP->cf_nKi, rtP->Vq_max_M1[rtb_r_fieldWeak_XA_o1], rtb_Gain2_f,
-        (int16_T)((rtDW->Divide4 * rtP->cf_iqKiLimProt) >> 10),
-        &rtDW->PI_clamp_fixdt_n_o);
+      /* Gain: '<S45>/Gain4' */
+      rtDW->Gain4_c = (int16_T)-rtDW->i_max;
 
-      /* End of Outputs for SubSystem: '<S38>/PI_clamp_fixdt_n' */
+      /* End of Outputs for SubSystem: '<S6>/Motor_Limitations' */
+    }
 
-      /* End of Outputs for SubSystem: '<S5>/Speed_Mode' */
-      break;
+    /* End of If: '<S6>/If3' */
 
-     case 2:
-      if (UnitDelay3 != rtb_Sum2_h) {
-        /* SystemReset for IfAction SubSystem: '<S5>/Torque_Mode' incorporates:
-         *  ActionPort: '<S39>/Action Port'
+    /* If: '<S6>/If1' incorporates:
+     *  UnitDelay: '<S8>/UnitDelay6'
+     */
+    if (rtDW->UnitDelay6_DSTATE) {
+      /* Outputs for IfAction SubSystem: '<S6>/FOC' incorporates:
+       *  ActionPort: '<S42>/Action Port'
+       */
+      /* If: '<S42>/If1' incorporates:
+       *  Constant: '<S54>/cf_idKi1'
+       *  Constant: '<S54>/cf_idKp1'
+       *  Constant: '<S54>/constant1'
+       *  Sum: '<S54>/Sum3'
+       */
+      if (rtb_LogicalOperator) {
+        /* Outputs for IfAction SubSystem: '<S42>/Vd_Calculation' incorporates:
+         *  ActionPort: '<S54>/Action Port'
+         */
+        /* Switch: '<S66>/Switch2' incorporates:
+         *  RelationalOperator: '<S66>/LowerRelop1'
+         *  RelationalOperator: '<S66>/UpperRelop'
+         *  Switch: '<S66>/Switch'
          */
+        if (rtb_toNegative > rtDW->i_max) {
+          rtb_toNegative = rtDW->i_max;
+        } else {
+          if (rtb_toNegative < rtDW->Gain4_c) {
+            /* Switch: '<S66>/Switch' */
+            rtb_toNegative = rtDW->Gain4_c;
+          }
+        }
 
-        /* SystemReset for Atomic SubSystem: '<S39>/PI_clamp_fixdt_iq' */
+        /* End of Switch: '<S66>/Switch2' */
 
-        /* SystemReset for SwitchCase: '<S5>/Switch Case' */
-        PI_clamp_fixdt_Reset(&rtDW->PI_clamp_fixdt_iq);
+        /* Sum: '<S54>/Sum3' */
+        rtb_Gain3 = rtb_toNegative - rtDW->Sum1[1];
+        if (rtb_Gain3 > 32767) {
+          rtb_Gain3 = 32767;
+        } else {
+          if (rtb_Gain3 < -32768) {
+            rtb_Gain3 = -32768;
+          }
+        }
 
-        /* End of SystemReset for SubSystem: '<S39>/PI_clamp_fixdt_iq' */
+        /* Outputs for Atomic SubSystem: '<S54>/PI_clamp_fixdt' */
+        PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_idKp, rtP->cf_idKi,
+                       rtDW->Vd_max1, rtDW->Gain3, 0, &rtDW->Switch1,
+                       &rtDW->PI_clamp_fixdt_k);
 
-        /* End of SystemReset for SubSystem: '<S5>/Torque_Mode' */
-      }
+        /* End of Outputs for SubSystem: '<S54>/PI_clamp_fixdt' */
 
-      /* Outputs for IfAction SubSystem: '<S5>/Torque_Mode' incorporates:
-       *  ActionPort: '<S39>/Action Port'
-       */
-      /* Sum: '<S39>/Sum2' */
-      rtb_Gain3 = rtb_Merge + rtDW->Divide1;
-      if (rtb_Gain3 > 32767) {
-        rtb_Gain3 = 32767;
-      } else {
-        if (rtb_Gain3 < -32768) {
-          rtb_Gain3 = -32768;
-        }
+        /* End of Outputs for SubSystem: '<S42>/Vd_Calculation' */
       }
 
-      /* Switch: '<S58>/Switch2' incorporates:
-       *  RelationalOperator: '<S58>/LowerRelop1'
-       *  Sum: '<S39>/Sum2'
+      /* End of If: '<S42>/If1' */
+
+      /* SwitchCase: '<S42>/Switch Case' incorporates:
+       *  Constant: '<S52>/cf_nKi'
+       *  Constant: '<S52>/cf_nKp'
+       *  Constant: '<S53>/cf_iqKi'
+       *  Constant: '<S53>/cf_iqKp'
+       *  Constant: '<S53>/constant2'
+       *  Inport: '<S51>/r_inpTgtSca'
+       *  Sum: '<S52>/Sum3'
+       *  Sum: '<S53>/Sum2'
        */
-      if (!((int16_T)rtb_Gain3 > rtb_id_fieldWeak_M1)) {
-        /* Switch: '<S58>/Switch' incorporates:
-         *  RelationalOperator: '<S58>/UpperRelop'
+      switch (rtDW->z_ctrlMod) {
+       case 1:
+        /* Outputs for IfAction SubSystem: '<S42>/Voltage_Mode' incorporates:
+         *  ActionPort: '<S55>/Action Port'
          */
-        if ((int16_T)rtb_Gain3 < rtb_Saturation) {
-          rtb_id_fieldWeak_M1 = rtb_Saturation;
-        } else {
-          rtb_id_fieldWeak_M1 = (int16_T)rtb_Gain3;
+        /* MinMax: '<S55>/MinMax' */
+        if (!(rtb_Switch2_l < rtDW->Switch2_c)) {
+          rtb_Switch2_l = rtDW->Switch2_c;
         }
 
-        /* End of Switch: '<S58>/Switch' */
-      }
-
-      /* End of Switch: '<S58>/Switch2' */
-
-      /* Sum: '<S39>/Sum1' */
-      rtb_Gain3 = rtb_id_fieldWeak_M1 - rtDW->Sum1[0];
-      if (rtb_Gain3 > 32767) {
-        rtb_Gain3 = 32767;
-      } else {
-        if (rtb_Gain3 < -32768) {
-          rtb_Gain3 = -32768;
+        if (!(rtb_Switch2_l < rtDW->Switch2_l)) {
+          rtb_Switch2_l = rtDW->Switch2_l;
         }
-      }
 
-      /* Outputs for Atomic SubSystem: '<S39>/PI_clamp_fixdt_iq' */
+        /* End of MinMax: '<S55>/MinMax' */
 
-      /* SignalConversion: '<S39>/Signal Conversion2' incorporates:
-       *  Constant: '<S39>/cf_iqKi'
-       *  Constant: '<S39>/cf_iqKp'
-       *  Constant: '<S39>/constant'
-       *  Interpolation_n-D: '<S35>/Vq_max_M1'
-       *  Sum: '<S39>/Sum1'
-       */
-      PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_iqKp, rtP->cf_iqKi,
-                     rtP->Vq_max_M1[rtb_r_fieldWeak_XA_o1], rtb_Gain2_f, 0,
-                     &rtDW->Merge, &rtDW->PI_clamp_fixdt_iq);
+        /* Signum: '<S55>/SignDeltaU2' */
+        if (rtDW->Merge1 < 0) {
+          rtb_Merge_f_idx_1 = -1;
+        } else {
+          rtb_Merge_f_idx_1 = (int16_T)(rtDW->Merge1 > 0);
+        }
 
-      /* End of Outputs for SubSystem: '<S39>/PI_clamp_fixdt_iq' */
+        /* End of Signum: '<S55>/SignDeltaU2' */
 
-      /* End of Outputs for SubSystem: '<S5>/Torque_Mode' */
-      break;
+        /* Product: '<S55>/Divide1' */
+        rtb_Merge = (int16_T)(rtb_Switch2_l * rtb_Merge_f_idx_1);
 
-     case 3:
-      if (UnitDelay3 != rtb_Sum2_h) {
-        /* SystemReset for IfAction SubSystem: '<S5>/Open_Mode' incorporates:
-         *  ActionPort: '<S36>/Action Port'
-         */
-        /* SystemReset for Atomic SubSystem: '<S36>/rising_edge_init' */
-        /* SystemReset for SwitchCase: '<S5>/Switch Case' incorporates:
-         *  UnitDelay: '<S50>/UnitDelay'
-         *  UnitDelay: '<S51>/UnitDelay'
+        /* Switch: '<S70>/Switch2' incorporates:
+         *  RelationalOperator: '<S70>/LowerRelop1'
+         *  RelationalOperator: '<S70>/UpperRelop'
+         *  Switch: '<S70>/Switch'
          */
-        rtDW->UnitDelay_DSTATE_g = true;
+        if (rtb_Merge > rtDW->Vq_max_M1) {
+          /* SignalConversion: '<S55>/Signal Conversion2' */
+          rtDW->Merge = rtDW->Vq_max_M1;
+        } else if (rtb_Merge < rtDW->Gain5) {
+          /* Switch: '<S70>/Switch' incorporates:
+           *  SignalConversion: '<S55>/Signal Conversion2'
+           */
+          rtDW->Merge = rtDW->Gain5;
+        } else {
+          /* SignalConversion: '<S55>/Signal Conversion2' incorporates:
+           *  Switch: '<S70>/Switch'
+           */
+          rtDW->Merge = rtb_Merge;
+        }
 
-        /* End of SystemReset for SubSystem: '<S36>/rising_edge_init' */
+        /* End of Switch: '<S70>/Switch2' */
+        /* End of Outputs for SubSystem: '<S42>/Voltage_Mode' */
+        break;
 
-        /* SystemReset for Atomic SubSystem: '<S36>/Rate_Limiter' */
-        rtDW->UnitDelay_DSTATE = 0;
+       case 2:
+        /* Outputs for IfAction SubSystem: '<S42>/Speed_Mode' incorporates:
+         *  ActionPort: '<S52>/Action Port'
+         */
+        /* Sum: '<S52>/Sum3' */
+        rtb_Gain3 = rtDW->Merge1 - rtb_Switch2_k;
+        if (rtb_Gain3 > 32767) {
+          rtb_Gain3 = 32767;
+        } else {
+          if (rtb_Gain3 < -32768) {
+            rtb_Gain3 = -32768;
+          }
+        }
 
-        /* End of SystemReset for SubSystem: '<S36>/Rate_Limiter' */
-        /* End of SystemReset for SubSystem: '<S5>/Open_Mode' */
-      }
+        /* Outputs for Atomic SubSystem: '<S52>/PI_clamp_fixdt' */
+        PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_nKp, rtP->cf_nKi,
+                       rtDW->Vq_max_M1, rtDW->Gain5, rtDW->Divide1, &rtDW->Merge,
+                       &rtDW->PI_clamp_fixdt_o);
 
-      /* Outputs for IfAction SubSystem: '<S5>/Open_Mode' incorporates:
-       *  ActionPort: '<S36>/Action Port'
-       */
-      /* DataTypeConversion: '<S36>/Data Type Conversion' incorporates:
-       *  UnitDelay: '<S5>/UnitDelay4'
-       */
-      rtb_Gain3 = rtDW->UnitDelay4_DSTATE_er << 12;
-      rtb_DataTypeConversion = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 |
-        -134217728 : rtb_Gain3 & 134217727;
+        /* End of Outputs for SubSystem: '<S52>/PI_clamp_fixdt' */
 
-      /* Outputs for Atomic SubSystem: '<S36>/rising_edge_init' */
-      /* UnitDelay: '<S50>/UnitDelay' */
-      rtb_RelationalOperator4_d = rtDW->UnitDelay_DSTATE_g;
+        /* End of Outputs for SubSystem: '<S42>/Speed_Mode' */
+        break;
 
-      /* Update for UnitDelay: '<S50>/UnitDelay' incorporates:
-       *  Constant: '<S50>/Constant'
-       */
-      rtDW->UnitDelay_DSTATE_g = false;
+       case 3:
+        /* Outputs for IfAction SubSystem: '<S42>/Torque_Mode' incorporates:
+         *  ActionPort: '<S53>/Action Port'
+         */
+        /* Gain: '<S53>/Gain4' */
+        rtb_Merge = (int16_T)-rtDW->Switch2;
 
-      /* End of Outputs for SubSystem: '<S36>/rising_edge_init' */
+        /* Switch: '<S61>/Switch2' incorporates:
+         *  RelationalOperator: '<S61>/LowerRelop1'
+         *  RelationalOperator: '<S61>/UpperRelop'
+         *  Switch: '<S61>/Switch'
+         */
+        if (rtDW->Merge1 > rtDW->Divide1_a) {
+          rtb_Merge_f_idx_1 = rtDW->Divide1_a;
+        } else if (rtDW->Merge1 < rtDW->Gain1) {
+          /* Switch: '<S61>/Switch' */
+          rtb_Merge_f_idx_1 = rtDW->Gain1;
+        } else {
+          rtb_Merge_f_idx_1 = rtDW->Merge1;
+        }
 
-      /* Outputs for Atomic SubSystem: '<S36>/Rate_Limiter' */
-      /* Switch: '<S51>/Switch1' incorporates:
-       *  UnitDelay: '<S51>/UnitDelay'
-       */
-      if (rtb_RelationalOperator4_d) {
-        rtb_Switch1 = rtb_DataTypeConversion;
-      } else {
-        rtb_Switch1 = rtDW->UnitDelay_DSTATE;
-      }
+        /* End of Switch: '<S61>/Switch2' */
 
-      /* End of Switch: '<S51>/Switch1' */
+        /* Sum: '<S53>/Sum2' */
+        rtb_Gain3 = rtb_Merge_f_idx_1 - rtDW->Sum1[0];
+        if (rtb_Gain3 > 32767) {
+          rtb_Gain3 = 32767;
+        } else {
+          if (rtb_Gain3 < -32768) {
+            rtb_Gain3 = -32768;
+          }
+        }
 
-      /* Sum: '<S49>/Sum1' */
-      rtb_Gain3 = -rtb_Switch1;
-      rtb_Sum1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
-        rtb_Gain3 & 134217727;
+        /* MinMax: '<S53>/MinMax1' */
+        if (rtDW->Vq_max_M1 < rtDW->Switch2) {
+          rtb_Merge_f_idx_1 = rtDW->Vq_max_M1;
+        } else {
+          rtb_Merge_f_idx_1 = rtDW->Switch2;
+        }
 
-      /* Switch: '<S52>/Switch2' incorporates:
-       *  Constant: '<S36>/dV_openRate'
-       *  RelationalOperator: '<S52>/LowerRelop1'
-       */
-      if (rtb_Sum1 > rtP->dV_openRate) {
-        rtb_Sum1 = rtP->dV_openRate;
-      } else {
-        /* Gain: '<S36>/Gain3' */
-        rtb_Gain3 = -rtP->dV_openRate;
-        rtb_Gain3 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
-          rtb_Gain3 & 134217727;
+        /* End of MinMax: '<S53>/MinMax1' */
 
-        /* Switch: '<S52>/Switch' incorporates:
-         *  RelationalOperator: '<S52>/UpperRelop'
-         */
-        if (rtb_Sum1 < rtb_Gain3) {
-          rtb_Sum1 = rtb_Gain3;
+        /* MinMax: '<S53>/MinMax2' */
+        if (!(rtb_Merge > rtDW->Gain5)) {
+          rtb_Merge = rtDW->Gain5;
         }
 
-        /* End of Switch: '<S52>/Switch' */
-      }
+        /* End of MinMax: '<S53>/MinMax2' */
 
-      /* End of Switch: '<S52>/Switch2' */
+        /* Outputs for Atomic SubSystem: '<S53>/PI_clamp_fixdt' */
+        PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_iqKp, rtP->cf_iqKi,
+                       rtb_Merge_f_idx_1, rtb_Merge, 0, &rtDW->Merge,
+                       &rtDW->PI_clamp_fixdt_a);
 
-      /* Sum: '<S49>/Sum2' */
-      rtb_Gain3 = rtb_Sum1 + rtb_Switch1;
-      rtb_Switch1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 :
-        rtb_Gain3 & 134217727;
+        /* End of Outputs for SubSystem: '<S53>/PI_clamp_fixdt' */
 
-      /* Switch: '<S51>/Switch2' */
-      if (rtb_RelationalOperator4_d) {
-        /* Update for UnitDelay: '<S51>/UnitDelay' */
-        rtDW->UnitDelay_DSTATE = rtb_DataTypeConversion;
-      } else {
-        /* Update for UnitDelay: '<S51>/UnitDelay' */
-        rtDW->UnitDelay_DSTATE = rtb_Switch1;
-      }
+        /* End of Outputs for SubSystem: '<S42>/Torque_Mode' */
+        break;
 
-      /* End of Switch: '<S51>/Switch2' */
-      /* End of Outputs for SubSystem: '<S36>/Rate_Limiter' */
+       default:
+        /* Outputs for IfAction SubSystem: '<S42>/Open_Mode' incorporates:
+         *  ActionPort: '<S51>/Action Port'
+         */
+        rtDW->Merge = rtDW->Merge1;
 
-      /* DataTypeConversion: '<S36>/Data Type Conversion1' */
-      rtDW->Merge = (int16_T)(rtb_Switch1 >> 12);
+        /* End of Outputs for SubSystem: '<S42>/Open_Mode' */
+        break;
+      }
 
-      /* End of Outputs for SubSystem: '<S5>/Open_Mode' */
-      break;
+      /* End of SwitchCase: '<S42>/Switch Case' */
+      /* End of Outputs for SubSystem: '<S6>/FOC' */
     }
 
-    /* End of SwitchCase: '<S5>/Switch Case' */
+    /* End of If: '<S6>/If1' */
 
-    /* Sum: '<S34>/Sum6' incorporates:
-     *  Product: '<S34>/Divide1'
-     *  Product: '<S34>/Divide4'
+    /* Sum: '<S44>/Sum6' incorporates:
+     *  Interpolation_n-D: '<S47>/r_cos_M1'
+     *  Interpolation_n-D: '<S47>/r_sin_M1'
+     *  Product: '<S44>/Divide1'
+     *  Product: '<S44>/Divide4'
      */
-    rtb_Gain3 = (int16_T)((rtDW->Switch1 * rtb_Switch2_d) >> 14) - (int16_T)
-      ((rtDW->Merge * rtb_MinMax2) >> 14);
+    rtb_Gain3 = (int16_T)((rtDW->Switch1 * rtConstP.r_cos_M1_Table[rtb_Sum_l]) >>
+                          14) - (int16_T)((rtDW->Merge *
+      rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14);
     if (rtb_Gain3 > 32767) {
       rtb_Gain3 = 32767;
     } else {
@@ -2308,12 +2123,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       }
     }
 
-    /* Sum: '<S34>/Sum1' incorporates:
-     *  Product: '<S34>/Divide2'
-     *  Product: '<S34>/Divide3'
+    /* Sum: '<S44>/Sum1' incorporates:
+     *  Interpolation_n-D: '<S47>/r_cos_M1'
+     *  Interpolation_n-D: '<S47>/r_sin_M1'
+     *  Product: '<S44>/Divide2'
+     *  Product: '<S44>/Divide3'
      */
-    rtb_DataTypeConversion = (int16_T)((rtDW->Switch1 * rtb_MinMax2) >> 14) +
-      (int16_T)((rtDW->Merge * rtb_Switch2_d) >> 14);
+    rtb_DataTypeConversion = (int16_T)((rtDW->Switch1 *
+      rtConstP.r_sin_M1_Table[rtb_Sum_l]) >> 14) + (int16_T)((rtDW->Merge *
+      rtConstP.r_cos_M1_Table[rtb_Sum_l]) >> 14);
     if (rtb_DataTypeConversion > 32767) {
       rtb_DataTypeConversion = 32767;
     } else {
@@ -2322,15 +2140,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       }
     }
 
-    /* Gain: '<S33>/Gain1' incorporates:
-     *  Sum: '<S34>/Sum1'
+    /* Gain: '<S43>/Gain1' incorporates:
+     *  Sum: '<S44>/Sum1'
      */
-    rtb_DataTypeConversion = 14189 * (int16_T)rtb_DataTypeConversion;
+    rtb_DataTypeConversion *= 14189;
 
-    /* Sum: '<S33>/Sum6' incorporates:
-     *  Gain: '<S33>/Gain1'
-     *  Gain: '<S33>/Gain3'
-     *  Sum: '<S34>/Sum6'
+    /* Sum: '<S43>/Sum6' incorporates:
+     *  Gain: '<S43>/Gain1'
+     *  Gain: '<S43>/Gain3'
+     *  Sum: '<S44>/Sum6'
      */
     rtb_DataTypeConversion = (((rtb_DataTypeConversion < 0 ? 16383 : 0) +
       rtb_DataTypeConversion) >> 14) - ((int16_T)(((int16_T)rtb_Gain3 < 0) +
@@ -2343,9 +2161,9 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       }
     }
 
-    /* Sum: '<S33>/Sum2' incorporates:
-     *  Sum: '<S33>/Sum6'
-     *  Sum: '<S34>/Sum6'
+    /* Sum: '<S43>/Sum2' incorporates:
+     *  Sum: '<S43>/Sum6'
+     *  Sum: '<S44>/Sum6'
      */
     rtb_Switch1 = -(int16_T)rtb_Gain3 - (int16_T)rtb_DataTypeConversion;
     if (rtb_Switch1 > 32767) {
@@ -2356,39 +2174,39 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       }
     }
 
-    /* MinMax: '<S33>/MinMax1' incorporates:
-     *  Sum: '<S33>/Sum2'
-     *  Sum: '<S33>/Sum6'
-     *  Sum: '<S34>/Sum6'
+    /* MinMax: '<S43>/MinMax1' incorporates:
+     *  Sum: '<S43>/Sum2'
+     *  Sum: '<S43>/Sum6'
+     *  Sum: '<S44>/Sum6'
      */
-    rtb_Switch2_d = (int16_T)rtb_Gain3;
+    rtb_Switch2_l = (int16_T)rtb_Gain3;
     if (!((int16_T)rtb_Gain3 < (int16_T)rtb_DataTypeConversion)) {
-      rtb_Switch2_d = (int16_T)rtb_DataTypeConversion;
+      rtb_Switch2_l = (int16_T)rtb_DataTypeConversion;
     }
 
-    if (!(rtb_Switch2_d < (int16_T)rtb_Switch1)) {
-      rtb_Switch2_d = (int16_T)rtb_Switch1;
+    if (!(rtb_Switch2_l < (int16_T)rtb_Switch1)) {
+      rtb_Switch2_l = (int16_T)rtb_Switch1;
     }
 
-    /* MinMax: '<S33>/MinMax2' incorporates:
-     *  Sum: '<S33>/Sum2'
-     *  Sum: '<S33>/Sum6'
-     *  Sum: '<S34>/Sum6'
+    /* MinMax: '<S43>/MinMax2' incorporates:
+     *  Sum: '<S43>/Sum2'
+     *  Sum: '<S43>/Sum6'
+     *  Sum: '<S44>/Sum6'
      */
-    rtb_Saturation = (int16_T)rtb_Gain3;
+    rtb_Merge = (int16_T)rtb_Gain3;
     if (!((int16_T)rtb_Gain3 > (int16_T)rtb_DataTypeConversion)) {
-      rtb_Saturation = (int16_T)rtb_DataTypeConversion;
+      rtb_Merge = (int16_T)rtb_DataTypeConversion;
     }
 
-    if (!(rtb_Saturation > (int16_T)rtb_Switch1)) {
-      rtb_Saturation = (int16_T)rtb_Switch1;
+    if (!(rtb_Merge > (int16_T)rtb_Switch1)) {
+      rtb_Merge = (int16_T)rtb_Switch1;
     }
 
-    /* Sum: '<S33>/Add' incorporates:
-     *  MinMax: '<S33>/MinMax1'
-     *  MinMax: '<S33>/MinMax2'
+    /* Sum: '<S43>/Add' incorporates:
+     *  MinMax: '<S43>/MinMax1'
+     *  MinMax: '<S43>/MinMax2'
      */
-    rtb_Sum1 = rtb_Switch2_d + rtb_Saturation;
+    rtb_Sum1 = rtb_Switch2_l + rtb_Merge;
     if (rtb_Sum1 > 32767) {
       rtb_Sum1 = 32767;
     } else {
@@ -2397,15 +2215,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       }
     }
 
-    /* Gain: '<S33>/Gain2' incorporates:
-     *  Sum: '<S33>/Add'
+    /* Gain: '<S43>/Gain2' incorporates:
+     *  Sum: '<S43>/Add'
      */
-    rtb_Gain2_f = (int16_T)(rtb_Sum1 >> 1);
+    rtb_DataTypeConversion2 = (int16_T)(rtb_Sum1 >> 1);
 
-    /* Sum: '<S33>/Add1' incorporates:
-     *  Sum: '<S34>/Sum6'
+    /* Sum: '<S43>/Add1' incorporates:
+     *  Sum: '<S44>/Sum6'
      */
-    rtb_Gain3 = (int16_T)rtb_Gain3 - rtb_Gain2_f;
+    rtb_Gain3 = (int16_T)rtb_Gain3 - rtb_DataTypeConversion2;
     if (rtb_Gain3 > 32767) {
       rtb_Gain3 = 32767;
     } else {
@@ -2414,15 +2232,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       }
     }
 
-    /* Gain: '<S33>/Gain4' incorporates:
-     *  Sum: '<S33>/Add1'
+    /* Gain: '<S43>/Gain4' incorporates:
+     *  Sum: '<S43>/Add1'
      */
-    rtDW->Gain4[0] = (int16_T)((18919 * rtb_Gain3) >> 18);
+    rtDW->Gain4[0] = (int16_T)((18919 * rtb_Gain3) >> 14);
 
-    /* Sum: '<S33>/Add1' incorporates:
-     *  Sum: '<S33>/Sum6'
+    /* Sum: '<S43>/Add1' incorporates:
+     *  Sum: '<S43>/Sum6'
      */
-    rtb_Gain3 = (int16_T)rtb_DataTypeConversion - rtb_Gain2_f;
+    rtb_Gain3 = (int16_T)rtb_DataTypeConversion - rtb_DataTypeConversion2;
     if (rtb_Gain3 > 32767) {
       rtb_Gain3 = 32767;
     } else {
@@ -2431,15 +2249,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       }
     }
 
-    /* Gain: '<S33>/Gain4' incorporates:
-     *  Sum: '<S33>/Add1'
+    /* Gain: '<S43>/Gain4' incorporates:
+     *  Sum: '<S43>/Add1'
      */
-    rtDW->Gain4[1] = (int16_T)((18919 * rtb_Gain3) >> 18);
+    rtDW->Gain4[1] = (int16_T)((18919 * rtb_Gain3) >> 14);
 
-    /* Sum: '<S33>/Add1' incorporates:
-     *  Sum: '<S33>/Sum2'
+    /* Sum: '<S43>/Add1' incorporates:
+     *  Sum: '<S43>/Sum2'
      */
-    rtb_Gain3 = (int16_T)rtb_Switch1 - rtb_Gain2_f;
+    rtb_Gain3 = (int16_T)rtb_Switch1 - rtb_DataTypeConversion2;
     if (rtb_Gain3 > 32767) {
       rtb_Gain3 = 32767;
     } else {
@@ -2448,139 +2266,212 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       }
     }
 
-    /* Gain: '<S33>/Gain4' incorporates:
-     *  Sum: '<S33>/Add1'
+    /* Gain: '<S43>/Gain4' incorporates:
+     *  Sum: '<S43>/Add1'
      */
-    rtDW->Gain4[2] = (int16_T)((18919 * rtb_Gain3) >> 18);
+    rtDW->Gain4[2] = (int16_T)((18919 * rtb_Gain3) >> 14);
 
-    /* Update for UnitDelay: '<S5>/UnitDelay4' */
-    rtDW->UnitDelay4_DSTATE_er = rtDW->Merge;
+    /* Update for UnitDelay: '<S6>/UnitDelay4' */
+    rtDW->UnitDelay4_DSTATE_h = rtDW->Switch1;
 
-    /* End of Outputs for SubSystem: '<S1>/F04_Field_Oriented_Control' */
+    /* End of Outputs for SubSystem: '<S1>/F05_Field_Oriented_Control' */
   }
 
   /* End of If: '<S1>/If1' */
 
-  /* Switch: '<S6>/Switch2' incorporates:
+  /* Switch: '<S7>/Switch2' incorporates:
    *  Constant: '<S1>/z_ctrlTypSel1'
-   *  Constant: '<S6>/CTRL_COMM1'
-   *  DataTypeConversion: '<S1>/Data Type Conversion10'
-   *  DataTypeConversion: '<S1>/Data Type Conversion8'
-   *  RelationalOperator: '<S6>/Relational Operator6'
+   *  Constant: '<S7>/CTRL_COMM1'
+   *  RelationalOperator: '<S7>/Relational Operator6'
    */
-  if (rtP->z_ctrlTypSel == 1) {
-    rtb_Merge = (int16_T)(rtDW->Merge >> 4);
+  if (rtP->z_ctrlTypSel == 2) {
+    rtb_Merge = rtDW->Merge;
   } else {
-    rtb_Merge = (int16_T)(rtb_Merge >> 4);
+    rtb_Merge = rtDW->Merge1;
   }
 
-  /* End of Switch: '<S6>/Switch2' */
+  /* End of Switch: '<S7>/Switch2' */
 
-  /* Switch: '<S6>/Switch1' incorporates:
-   *  Constant: '<S9>/vec_hallToPos'
-   *  LookupNDDirect: '<S6>/z_commutMap_M1'
-   *  Product: '<S6>/Divide2'
-   *  Selector: '<S9>/Selector'
+  /* If: '<S7>/If' incorporates:
+   *  Constant: '<S10>/vec_hallToPos'
+   *  Constant: '<S1>/z_ctrlTypSel1'
+   *  Constant: '<S7>/CTRL_COMM2'
+   *  Constant: '<S7>/CTRL_COMM3'
+   *  Inport: '<S85>/V_phaABC_FOC_in'
+   *  Logic: '<S7>/Logical Operator1'
+   *  Logic: '<S7>/Logical Operator2'
+   *  LookupNDDirect: '<S84>/z_commutMap_M1'
+   *  RelationalOperator: '<S7>/Relational Operator1'
+   *  RelationalOperator: '<S7>/Relational Operator2'
+   *  Selector: '<S10>/Selector'
    *
-   * About '<S6>/z_commutMap_M1':
+   * About '<S84>/z_commutMap_M1':
    *  2-dimensional Direct Look-Up returning a Column
    */
-  if (rtb_LogicalOperator) {
-    rtb_Switch2_d = rtDW->Gain4[0];
-    rtb_Saturation = rtDW->Gain4[1];
-    rtb_id_fieldWeak_M1 = rtDW->Gain4[2];
+  if (rtb_LogicalOperator && (rtP->z_ctrlTypSel == 2)) {
+    /* Outputs for IfAction SubSystem: '<S7>/FOC_Method' incorporates:
+     *  ActionPort: '<S85>/Action Port'
+     */
+    rtb_DataTypeConversion2 = rtDW->Gain4[0];
+    rtb_Merge_f_idx_1 = rtDW->Gain4[1];
+    rtb_Saturation1 = rtDW->Gain4[2];
+
+    /* End of Outputs for SubSystem: '<S7>/FOC_Method' */
+  } else if (rtb_LogicalOperator && (rtP->z_ctrlTypSel == 1)) {
+    /* Outputs for IfAction SubSystem: '<S7>/SIN_Method' incorporates:
+     *  ActionPort: '<S86>/Action Port'
+     */
+    /* Switch: '<S87>/Switch_PhaAdv' incorporates:
+     *  Constant: '<S87>/b_fieldWeakEna'
+     *  Product: '<S88>/Divide2'
+     *  Product: '<S88>/Divide3'
+     *  Sum: '<S88>/Sum3'
+     */
+    if (rtP->b_fieldWeakEna) {
+      /* Sum: '<S87>/Sum3' incorporates:
+       *  Product: '<S87>/Product2'
+       */
+      rtb_Saturation1 = (int16_T)((int16_T)((int16_T)(rtDW->Divide3 *
+        rtDW->Switch2_e) << 2) + rtb_Switch2_fl);
+      rtb_Saturation1 -= (int16_T)(23040 * (int16_T)div_nde_s32_floor
+        (rtb_Saturation1, 23040));
+    } else {
+      rtb_Saturation1 = rtb_Switch2_fl;
+    }
+
+    /* End of Switch: '<S87>/Switch_PhaAdv' */
+
+    /* PreLookup: '<S86>/a_elecAngle_XA' */
+    rtb_Sum = plook_u8s16_evencka(rtb_Saturation1, 0, 128U, 180U);
+
+    /* Product: '<S86>/Divide2' incorporates:
+     *  Interpolation_n-D: '<S86>/r_sin3PhaA_M1'
+     *  Interpolation_n-D: '<S86>/r_sin3PhaB_M1'
+     *  Interpolation_n-D: '<S86>/r_sin3PhaC_M1'
+     */
+    rtb_DataTypeConversion2 = (int16_T)((rtDW->Merge1 *
+      rtConstP.r_sin3PhaA_M1_Table[rtb_Sum]) >> 14);
+    rtb_Merge_f_idx_1 = (int16_T)((rtDW->Merge1 *
+      rtConstP.r_sin3PhaB_M1_Table[rtb_Sum]) >> 14);
+    rtb_Saturation1 = (int16_T)((rtDW->Merge1 *
+      rtConstP.r_sin3PhaC_M1_Table[rtb_Sum]) >> 14);
+
+    /* End of Outputs for SubSystem: '<S7>/SIN_Method' */
   } else {
+    /* Outputs for IfAction SubSystem: '<S7>/COM_Method' incorporates:
+     *  ActionPort: '<S84>/Action Port'
+     */
     if (rtConstP.vec_hallToPos_Value[rtb_Sum] > 5) {
-      /* LookupNDDirect: '<S6>/z_commutMap_M1'
+      /* LookupNDDirect: '<S84>/z_commutMap_M1'
        *
-       * About '<S6>/z_commutMap_M1':
+       * About '<S84>/z_commutMap_M1':
        *  2-dimensional Direct Look-Up returning a Column
        */
       rtb_Sum2_h = 5;
     } else if (rtConstP.vec_hallToPos_Value[rtb_Sum] < 0) {
-      /* LookupNDDirect: '<S6>/z_commutMap_M1'
+      /* LookupNDDirect: '<S84>/z_commutMap_M1'
        *
-       * About '<S6>/z_commutMap_M1':
+       * About '<S84>/z_commutMap_M1':
        *  2-dimensional Direct Look-Up returning a Column
        */
       rtb_Sum2_h = 0;
     } else {
-      /* LookupNDDirect: '<S6>/z_commutMap_M1' incorporates:
-       *  Constant: '<S9>/vec_hallToPos'
-       *  Selector: '<S9>/Selector'
+      /* LookupNDDirect: '<S84>/z_commutMap_M1' incorporates:
+       *  Constant: '<S10>/vec_hallToPos'
+       *  Selector: '<S10>/Selector'
        *
-       * About '<S6>/z_commutMap_M1':
+       * About '<S84>/z_commutMap_M1':
        *  2-dimensional Direct Look-Up returning a Column
        */
       rtb_Sum2_h = rtConstP.vec_hallToPos_Value[rtb_Sum];
     }
 
-    /* LookupNDDirect: '<S6>/z_commutMap_M1' incorporates:
-     *  Constant: '<S9>/vec_hallToPos'
-     *  Selector: '<S9>/Selector'
+    /* LookupNDDirect: '<S84>/z_commutMap_M1' incorporates:
+     *  Constant: '<S10>/vec_hallToPos'
+     *  Selector: '<S10>/Selector'
      *
-     * About '<S6>/z_commutMap_M1':
+     * About '<S84>/z_commutMap_M1':
      *  2-dimensional Direct Look-Up returning a Column
      */
     rtb_DataTypeConversion = rtb_Sum2_h * 3;
-    rtb_Switch2_d = (int16_T)(rtb_Merge *
+
+    /* Product: '<S84>/Divide2' incorporates:
+     *  LookupNDDirect: '<S84>/z_commutMap_M1'
+     *
+     * About '<S84>/z_commutMap_M1':
+     *  2-dimensional Direct Look-Up returning a Column
+     */
+    rtb_DataTypeConversion2 = (int16_T)(rtb_Merge *
       rtConstP.z_commutMap_M1_table[rtb_DataTypeConversion]);
-    rtb_Saturation = (int16_T)(rtConstP.z_commutMap_M1_table[1 +
+    rtb_Merge_f_idx_1 = (int16_T)(rtConstP.z_commutMap_M1_table[1 +
       rtb_DataTypeConversion] * rtb_Merge);
-    rtb_id_fieldWeak_M1 = (int16_T)(rtConstP.z_commutMap_M1_table[2 +
+    rtb_Saturation1 = (int16_T)(rtConstP.z_commutMap_M1_table[2 +
       rtb_DataTypeConversion] * rtb_Merge);
+
+    /* End of Outputs for SubSystem: '<S7>/COM_Method' */
   }
 
-  /* End of Switch: '<S6>/Switch1' */
+  /* End of If: '<S7>/If' */
+
+  /* Outport: '<Root>/DC_phaA' incorporates:
+   *  DataTypeConversion: '<S7>/Data Type Conversion6'
+   */
+  rtY->DC_phaA = (int16_T)(rtb_DataTypeConversion2 >> 4);
 
-  /* Update for UnitDelay: '<S8>/UnitDelay3' incorporates:
+  /* Outport: '<Root>/DC_phaB' incorporates:
+   *  DataTypeConversion: '<S7>/Data Type Conversion6'
+   */
+  rtY->DC_phaB = (int16_T)(rtb_Merge_f_idx_1 >> 4);
+
+  /* Update for UnitDelay: '<S9>/UnitDelay3' incorporates:
    *  Inport: '<Root>/b_hallA '
    */
   rtDW->UnitDelay3_DSTATE_fy = rtU->b_hallA;
 
-  /* Update for UnitDelay: '<S8>/UnitDelay1' incorporates:
+  /* Update for UnitDelay: '<S9>/UnitDelay1' incorporates:
    *  Inport: '<Root>/b_hallB'
    */
   rtDW->UnitDelay1_DSTATE = rtU->b_hallB;
 
-  /* Update for UnitDelay: '<S8>/UnitDelay2' incorporates:
+  /* Update for UnitDelay: '<S9>/UnitDelay2' incorporates:
    *  Inport: '<Root>/b_hallC'
    */
   rtDW->UnitDelay2_DSTATE_f = rtU->b_hallC;
 
-  /* Update for UnitDelay: '<S11>/UnitDelay3' */
+  /* Update for UnitDelay: '<S12>/UnitDelay3' */
   rtDW->UnitDelay3_DSTATE = rtb_Switch1_l;
 
-  /* Update for UnitDelay: '<S11>/UnitDelay4' */
+  /* Update for UnitDelay: '<S12>/UnitDelay4' */
   rtDW->UnitDelay4_DSTATE_e = rtb_Abs5;
 
-  /* Update for UnitDelay: '<S6>/UnitDelay4' */
-  rtDW->UnitDelay4_DSTATE = rtb_Merge;
-
-  /* Update for UnitDelay: '<S4>/UnitDelay1' */
-  rtDW->UnitDelay1_DSTATE_p = rtb_Sum_l;
+  /* Update for UnitDelay: '<S8>/UnitDelay2' incorporates:
+   *  UnitDelay: '<S8>/UnitDelay6'
+   */
+  rtDW->UnitDelay2_DSTATE_g = rtDW->UnitDelay6_DSTATE;
 
-  /* End of Outputs for SubSystem: '<Root>/BLDC_controller' */
+  /* Update for UnitDelay: '<S7>/UnitDelay4' */
+  rtDW->UnitDelay4_DSTATE_eu = rtb_Merge;
 
-  /* Outport: '<Root>/DC_phaA' */
-  rtY->DC_phaA = rtb_Switch2_d;
+  /* Update for UnitDelay: '<S8>/UnitDelay5' */
+  rtDW->UnitDelay5_DSTATE_l = rtb_RelationalOperator4_d;
 
-  /* Outport: '<Root>/DC_phaB' */
-  rtY->DC_phaB = rtb_Saturation;
+  /* Update for UnitDelay: '<S8>/UnitDelay6' */
+  rtDW->UnitDelay6_DSTATE = rtb_RelationalOperator9;
 
-  /* Outport: '<Root>/DC_phaC' */
-  rtY->DC_phaC = rtb_id_fieldWeak_M1;
+  /* Outport: '<Root>/DC_phaC' incorporates:
+   *  DataTypeConversion: '<S7>/Data Type Conversion6'
+   */
+  rtY->DC_phaC = (int16_T)(rtb_Saturation1 >> 4);
 
-  /* Outputs for Atomic SubSystem: '<Root>/BLDC_controller' */
   /* Outport: '<Root>/n_mot' incorporates:
    *  DataTypeConversion: '<S1>/Data Type Conversion1'
    */
-  rtY->n_mot = (int16_T)(rtb_Switch2_fv >> 4);
+  rtY->n_mot = (int16_T)(rtb_Switch2_k >> 4);
 
   /* Outport: '<Root>/a_elecAngle' incorporates:
    *  DataTypeConversion: '<S1>/Data Type Conversion7'
    */
-  rtY->a_elecAngle = (int16_T)((uint32_T)rtb_Divide2_h >> 6);
+  rtY->a_elecAngle = (int16_T)(rtb_Switch2_fl >> 6);
 
   /* Outport: '<Root>/r_devSignal1' incorporates:
    *  DataTypeConversion: '<S1>/Data Type Conversion4'
@@ -2602,45 +2493,42 @@ void BLDC_controller_initialize(RT_MODEL *const rtM)
   DW *rtDW = ((DW *) rtM->dwork);
 
   /* Start for Atomic SubSystem: '<Root>/BLDC_controller' */
-  /* Start for If: '<S1>/If2' */
+  /* Start for If: '<S1>/If4' */
+  rtDW->If4_ActiveSubsystem = -1;
+
+  /* Start for IfAction SubSystem: '<S1>/F03_Control_Mode_Manager' */
+  /* Start for If: '<S29>/If2' */
   rtDW->If2_ActiveSubsystem = -1;
 
+  /* End of Start for SubSystem: '<S1>/F03_Control_Mode_Manager' */
+
   /* Start for If: '<S1>/If1' */
   rtDW->If1_ActiveSubsystem = -1;
 
-  /* Start for IfAction SubSystem: '<S1>/F04_Field_Oriented_Control' */
-  /* Start for If: '<S5>/If2' */
+  /* Start for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' */
+  /* Start for If: '<S6>/If2' */
   rtDW->If2_ActiveSubsystem_a = -1;
 
-  /* Start for If: '<S5>/If1' */
-  rtDW->If1_ActiveSubsystem_e = -1;
-
-  /* Start for If: '<S35>/If1' */
-  rtDW->If1_ActiveSubsystem_f = -1;
-
-  /* Start for If: '<S35>/If2' */
-  rtDW->If2_ActiveSubsystem_c = -1;
-
-  /* Start for SwitchCase: '<S5>/Switch Case' */
-  rtDW->SwitchCase_ActiveSubsystem = -1;
-
-  /* End of Start for SubSystem: '<S1>/F04_Field_Oriented_Control' */
+  /* End of Start for SubSystem: '<S1>/F05_Field_Oriented_Control' */
   /* End of Start for SubSystem: '<Root>/BLDC_controller' */
 
   /* SystemInitialize for Atomic SubSystem: '<Root>/BLDC_controller' */
-  /* InitializeConditions for UnitDelay: '<S11>/UnitDelay3' */
+  /* InitializeConditions for UnitDelay: '<S12>/UnitDelay3' */
   rtDW->UnitDelay3_DSTATE = rtP->z_maxCntRst;
 
-  /* SystemInitialize for IfAction SubSystem: '<S11>/Raw_Motor_Speed_Estimation' */
-  /* SystemInitialize for Outport: '<S16>/z_counter' */
+  /* InitializeConditions for UnitDelay: '<S8>/UnitDelay2' */
+  rtDW->UnitDelay2_DSTATE_g = true;
+
+  /* SystemInitialize for IfAction SubSystem: '<S12>/Raw_Motor_Speed_Estimation' */
+  /* SystemInitialize for Outport: '<S15>/z_counter' */
   rtDW->z_counterRawPrev = rtP->z_maxCntRst;
 
-  /* End of SystemInitialize for SubSystem: '<S11>/Raw_Motor_Speed_Estimation' */
+  /* End of SystemInitialize for SubSystem: '<S12>/Raw_Motor_Speed_Estimation' */
 
-  /* SystemInitialize for Atomic SubSystem: '<S11>/Counter' */
+  /* SystemInitialize for Atomic SubSystem: '<S12>/Counter' */
   Counter_Init(&rtDW->Counter_e, rtP->z_maxCntRst);
 
-  /* End of SystemInitialize for SubSystem: '<S11>/Counter' */
+  /* End of SystemInitialize for SubSystem: '<S12>/Counter' */
 
   /* SystemInitialize for IfAction SubSystem: '<S1>/F02_Diagnostics' */
 
@@ -2651,15 +2539,68 @@ void BLDC_controller_initialize(RT_MODEL *const rtM)
 
   /* End of SystemInitialize for SubSystem: '<S1>/F02_Diagnostics' */
 
-  /* SystemInitialize for IfAction SubSystem: '<S1>/F04_Field_Oriented_Control' */
-  /* SystemInitialize for IfAction SubSystem: '<S5>/Open_Mode' */
-  /* SystemInitialize for Atomic SubSystem: '<S36>/rising_edge_init' */
-  /* InitializeConditions for UnitDelay: '<S50>/UnitDelay' */
-  rtDW->UnitDelay_DSTATE_g = true;
+  /* SystemInitialize for IfAction SubSystem: '<S1>/F03_Control_Mode_Manager' */
+  /* SystemInitialize for IfAction SubSystem: '<S29>/Open_Mode' */
+  /* SystemInitialize for Atomic SubSystem: '<S33>/rising_edge_init' */
+  /* InitializeConditions for UnitDelay: '<S35>/UnitDelay' */
+  rtDW->UnitDelay_DSTATE_e = true;
+
+  /* End of SystemInitialize for SubSystem: '<S33>/rising_edge_init' */
+  /* End of SystemInitialize for SubSystem: '<S29>/Open_Mode' */
+  /* End of SystemInitialize for SubSystem: '<S1>/F03_Control_Mode_Manager' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S1>/F05_Field_Oriented_Control' */
+  /* SystemInitialize for IfAction SubSystem: '<S6>/Motor_Limitations' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S45>/Voltage_Mode_Protection' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S73>/I_backCalc_fixdt' */
+  I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt_i, 0);
+
+  /* End of SystemInitialize for SubSystem: '<S73>/I_backCalc_fixdt' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S73>/I_backCalc_fixdt1' */
+  I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt1, 0);
+
+  /* End of SystemInitialize for SubSystem: '<S73>/I_backCalc_fixdt1' */
+
+  /* End of SystemInitialize for SubSystem: '<S45>/Voltage_Mode_Protection' */
+
+  /* SystemInitialize for IfAction SubSystem: '<S45>/Torque_Mode_Protection' */
+
+  /* SystemInitialize for Atomic SubSystem: '<S72>/I_backCalc_fixdt' */
+  I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt_g, 0);
+
+  /* End of SystemInitialize for SubSystem: '<S72>/I_backCalc_fixdt' */
+
+  /* End of SystemInitialize for SubSystem: '<S45>/Torque_Mode_Protection' */
+
+  /* SystemInitialize for Outport: '<S45>/Vd_max' */
+  rtDW->Vd_max1 = 14400;
+
+  /* SystemInitialize for Outport: '<S45>/Vd_min' */
+  rtDW->Gain3 = -14400;
+
+  /* SystemInitialize for Outport: '<S45>/Vq_max' */
+  rtDW->Vq_max_M1 = 14400;
+
+  /* SystemInitialize for Outport: '<S45>/Vq_min' */
+  rtDW->Gain5 = -14400;
+
+  /* SystemInitialize for Outport: '<S45>/id_max' */
+  rtDW->i_max = 12000;
+
+  /* SystemInitialize for Outport: '<S45>/id_min' */
+  rtDW->Gain4_c = -12000;
+
+  /* SystemInitialize for Outport: '<S45>/iq_max' */
+  rtDW->Divide1_a = 12000;
+
+  /* SystemInitialize for Outport: '<S45>/iq_min' */
+  rtDW->Gain1 = -12000;
 
-  /* End of SystemInitialize for SubSystem: '<S36>/rising_edge_init' */
-  /* End of SystemInitialize for SubSystem: '<S5>/Open_Mode' */
-  /* End of SystemInitialize for SubSystem: '<S1>/F04_Field_Oriented_Control' */
+  /* End of SystemInitialize for SubSystem: '<S6>/Motor_Limitations' */
+  /* End of SystemInitialize for SubSystem: '<S1>/F05_Field_Oriented_Control' */
   /* End of SystemInitialize for SubSystem: '<Root>/BLDC_controller' */
 }
 
diff --git a/Src/BLDC_controller_data.c b/Src/BLDC_controller_data.c
index 7c7dd15..5a11f15 100644
--- a/Src/BLDC_controller_data.c
+++ b/Src/BLDC_controller_data.c
@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1199
+ * Model version                  : 1.1249
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Sun Nov  3 12:28:16 2019
+ * C/C++ source code generated on : Thu Dec 12 20:22:31 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -21,13 +21,74 @@
 
 /* Constant parameters (auto storage) */
 const ConstP rtConstP = {
-  /* Computed Parameter: z_commutMap_M1_table
-   * Referenced by: '<S6>/z_commutMap_M1'
-   */
-  { -1, 1, 0, -1, 0, 1, 0, -1, 1, 1, -1, 0, 1, 0, -1, 0, 1, -1 },
+  /* Computed Parameter: r_sin3PhaA_M1_Table
+   * Referenced by: '<S86>/r_sin3PhaA_M1'
+   */
+  { -13091, -13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009,
+    -16159, -16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172,
+    -16079, -15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306,
+    -15248, -15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377,
+    -15461, -15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253,
+    -16317, -16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816,
+    -15577, -15289, -14953, -14565, -14126, -13634, -13091, -12496, -11849,
+    -11154, -10411, -9623, -8791, -7921, -7014, -6075, -5107, -4115, -3104,
+    -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075, 7014, 7921, 8791, 9623,
+    10411, 11154, 11849, 12496, 13091, 13634, 14126, 14565, 14953, 15289, 15577,
+    15816, 16009, 16159, 16269, 16340, 16377, 16383, 16362, 16317, 16253, 16172,
+    16079, 15977, 15870, 15762, 15656, 15555, 15461, 15377, 15306, 15248, 15206,
+    15180, 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762,
+    15870, 15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269,
+    16159, 16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496,
+    11849, 11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077,
+    1041, 0, -1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791,
+    -9623, -10411, -11154, -11849, -12496, -13091 },
+
+  /* Computed Parameter: r_sin3PhaB_M1_Table
+   * Referenced by: '<S86>/r_sin3PhaB_M1'
+   */
+  { 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762, 15870,
+    15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269, 16159,
+    16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496, 11849,
+    11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077, 1041, 0,
+    -1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791, -9623, -10411,
+    -11154, -11849, -12496, -13091, -13634, -14126, -14565, -14953, -15289,
+    -15577, -15816, -16009, -16159, -16269, -16340, -16377, -16383, -16362,
+    -16317, -16253, -16172, -16079, -15977, -15870, -15762, -15656, -15555,
+    -15461, -15377, -15306, -15248, -15206, -15180, -15172, -15180, -15206,
+    -15248, -15306, -15377, -15461, -15555, -15656, -15762, -15870, -15977,
+    -16079, -16172, -16253, -16317, -16362, -16383, -16377, -16340, -16269,
+    -16159, -16009, -15816, -15577, -15289, -14953, -14565, -14126, -13634,
+    -13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075,
+    -5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075,
+    7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126,
+    14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383,
+    16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461,
+    15377, 15306, 15248, 15206, 15180, 15172 },
+
+  /* Computed Parameter: r_sin3PhaC_M1_Table
+   * Referenced by: '<S86>/r_sin3PhaC_M1'
+   */
+  { -13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075,
+    -5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075,
+    7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126,
+    14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383,
+    16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461,
+    15377, 15306, 15248, 15206, 15180, 15172, 15180, 15206, 15248, 15306, 15377,
+    15461, 15555, 15656, 15762, 15870, 15977, 16079, 16172, 16253, 16317, 16362,
+    16383, 16377, 16340, 16269, 16159, 16009, 15816, 15577, 15289, 14953, 14565,
+    14126, 13634, 13091, 12496, 11849, 11154, 10411, 9623, 8791, 7921, 7014,
+    6075, 5107, 4115, 3104, 2077, 1041, 0, -1041, -2077, -3104, -4115, -5107,
+    -6075, -7014, -7921, -8791, -9623, -10411, -11154, -11849, -12496, -13091,
+    -13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009, -16159,
+    -16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172, -16079,
+    -15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306, -15248,
+    -15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377, -15461,
+    -15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253, -16317,
+    -16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816, -15577,
+    -15289, -14953, -14565, -14126, -13634, -13091 },
 
   /* Computed Parameter: r_sin_M1_Table
-   * Referenced by: '<S32>/r_sin_M1'
+   * Referenced by: '<S47>/r_sin_M1'
    */
   { 8192, 8682, 9162, 9630, 10087, 10531, 10963, 11381, 11786, 12176, 12551,
     12911, 13255, 13583, 13894, 14189, 14466, 14726, 14968, 15191, 15396, 15582,
@@ -48,7 +109,7 @@ const ConstP rtConstP = {
     2280, 2845, 3406, 3964, 4516, 5063, 5604, 6138, 6664, 7182, 7692, 8192 },
 
   /* Computed Parameter: r_cos_M1_Table
-   * Referenced by: '<S32>/r_cos_M1'
+   * Referenced by: '<S47>/r_cos_M1'
    */
   { 14189, 13894, 13583, 13255, 12911, 12551, 12176, 11786, 11381, 10963, 10531,
     10087, 9630, 9162, 8682, 8192, 7692, 7182, 6664, 6138, 5604, 5063, 4516,
@@ -69,7 +130,7 @@ const ConstP rtConstP = {
     16026, 15897, 15749, 15582, 15396, 15191, 14968, 14726, 14466, 14189 },
 
   /* Computed Parameter: iq_maxSca_M1_Table
-   * Referenced by: '<S35>/iq_maxSca_M1'
+   * Referenced by: '<S45>/iq_maxSca_M1'
    */
   { 65535U, 65523U, 65484U, 65418U, 65326U, 65207U, 65062U, 64890U, 64691U,
     64465U, 64211U, 63930U, 63620U, 63281U, 62913U, 62516U, 62088U, 61630U,
@@ -78,82 +139,67 @@ const ConstP rtConstP = {
     45470U, 44069U, 42581U, 40997U, 39307U, 37494U, 35541U, 33422U, 31105U,
     28540U, 25655U, 22323U, 18304U, 12974U },
 
+  /* Computed Parameter: z_commutMap_M1_table
+   * Referenced by: '<S84>/z_commutMap_M1'
+   */
+  { -1, 1, 0, -1, 0, 1, 0, -1, 1, 1, -1, 0, 1, 0, -1, 0, 1, -1 },
+
   /* Computed Parameter: vec_hallToPos_Value
-   * Referenced by: '<S9>/vec_hallToPos'
+   * Referenced by: '<S10>/vec_hallToPos'
    */
   { 0, 2, 0, 1, 4, 3, 5, 0 }
 };
 
 P rtP_Left = {
   /* Variable: dV_openRate
-   * Referenced by: '<S36>/dV_openRate'
+   * Referenced by: '<S33>/dV_openRate'
    */
-  4096,
+  12288,
 
   /* Variable: dz_cntTrnsDetHi
-   * Referenced by: '<S16>/dz_cntTrnsDet'
+   * Referenced by: '<S15>/dz_cntTrnsDet'
    */
   40,
 
   /* Variable: dz_cntTrnsDetLo
-   * Referenced by: '<S16>/dz_cntTrnsDet'
+   * Referenced by: '<S15>/dz_cntTrnsDet'
    */
   20,
 
-  /* Variable: r_errInpTgtThres
-   * Referenced by: '<S3>/r_errInpTgtThres'
-   */
-  200,
-
   /* Variable: z_maxCntRst
    * Referenced by:
-   *   '<S11>/Counter'
-   *   '<S11>/z_maxCntRst'
-   *   '<S11>/z_maxCntRst2'
-   *   '<S11>/UnitDelay3'
-   *   '<S16>/z_counter'
+   *   '<S12>/Counter'
+   *   '<S12>/z_maxCntRst'
+   *   '<S12>/z_maxCntRst2'
+   *   '<S12>/UnitDelay3'
+   *   '<S15>/z_counter'
    */
   2000,
 
   /* Variable: cf_speedCoef
-   * Referenced by: '<S16>/cf_speedCoef'
+   * Referenced by: '<S15>/cf_speedCoef'
    */
   10667U,
 
   /* Variable: t_errDequal
    * Referenced by: '<S3>/t_errDequal'
    */
-  32000U,
+  10667U,
 
   /* Variable: t_errQual
    * Referenced by: '<S3>/t_errQual'
    */
-  9600U,
-
-  /* Variable: cf_idKp
-   * Referenced by: '<S40>/cf_idKp1'
-   */
-  819U,
-
-  /* Variable: cf_iqKp
-   * Referenced by: '<S39>/cf_iqKp'
-   */
-  2048U,
-
-  /* Variable: cf_nKp
-   * Referenced by: '<S38>/cf_nKp'
-   */
-  4833U,
+  3200U,
 
   /* Variable: Vd_max
    * Referenced by:
-   *   '<S35>/Vd_max1'
-   *   '<S14>/Vd_max'
+   *   '<S45>/Vd_max1'
+   *   '<S32>/Vd_max'
    */
   14400,
 
   /* Variable: Vq_max_M1
-   * Referenced by: '<S35>/Vq_max_M1'
+   * Referenced by: '<S45>/Vq_max_M1'
    */
   { 14400, 14396, 14386, 14368, 14343, 14311, 14271, 14225, 14171, 14109, 14040,
     13963, 13879, 13786, 13685, 13576, 13459, 13333, 13198, 13053, 12900, 12736,
@@ -161,102 +207,137 @@ P rtP_Left = {
     9790, 9433, 9051, 8640, 8196, 7713, 7184, 6597, 5935, 5170, 4245, 3019, 0 },
 
   /* Variable: Vq_max_XA
-   * Referenced by: '<S35>/Vq_max_XA'
+   * Referenced by: '<S45>/Vq_max_XA'
    */
   { 0, 320, 640, 960, 1280, 1600, 1920, 2240, 2560, 2880, 3200, 3520, 3840, 4160,
     4480, 4800, 5120, 5440, 5760, 6080, 6400, 6720, 7040, 7360, 7680, 8000, 8320,
     8640, 8960, 9280, 9600, 9920, 10240, 10560, 10880, 11200, 11520, 11840,
     12160, 12480, 12800, 13120, 13440, 13760, 14080, 14400 },
 
+  /* Variable: a_phaAdvMax
+   * Referenced by: '<S5>/a_phaAdvMax'
+   */
+  400,
+
   /* Variable: i_max
    * Referenced by:
-   *   '<S35>/i_max'
-   *   '<S14>/i_max'
+   *   '<S45>/i_max'
+   *   '<S32>/i_max'
    */
   12000,
 
-  /* Variable: id_fieldWeak_M1
-   * Referenced by: '<S32>/id_fieldWeak_M1'
+  /* Variable: id_fieldWeakMax
+   * Referenced by: '<S5>/id_fieldWeakMax'
    */
-  { 0, 80, 240, 560, 1040, 1680, 2400, 3040, 3520, 3840, 4000, 4000 },
+  4000,
 
   /* Variable: n_commAcvLo
-   * Referenced by: '<S11>/n_commDeacv'
+   * Referenced by: '<S12>/n_commDeacv'
    */
   240,
 
   /* Variable: n_commDeacvHi
-   * Referenced by: '<S11>/n_commDeacv'
+   * Referenced by: '<S12>/n_commDeacv'
    */
   480,
 
   /* Variable: n_fieldWeakAuthHi
-   * Referenced by: '<S32>/n_fieldWeakAuth'
+   * Referenced by: '<S5>/n_fieldWeakAuthHi'
    */
-  3200,
+  6400,
 
   /* Variable: n_fieldWeakAuthLo
-   * Referenced by: '<S32>/n_fieldWeakAuth'
+   * Referenced by: '<S5>/n_fieldWeakAuthLo'
    */
-  2240,
+  4800,
 
   /* Variable: n_max
    * Referenced by:
-   *   '<S35>/n_max1'
-   *   '<S14>/n_max'
+   *   '<S45>/n_max1'
+   *   '<S32>/n_max'
    */
-  12800,
+  16000,
 
   /* Variable: n_stdStillDet
-   * Referenced by: '<S11>/n_stdStillDet'
+   * Referenced by: '<S12>/n_stdStillDet'
    */
   48,
 
-  /* Variable: r_fieldWeak_XA
-   * Referenced by: '<S32>/r_fieldWeak_XA'
+  /* Variable: r_errInpTgtThres
+   * Referenced by: '<S3>/r_errInpTgtThres'
+   */
+  6400,
+
+  /* Variable: r_fieldWeakHi
+   * Referenced by: '<S5>/r_fieldWeakHi'
+   */
+  24000,
+
+  /* Variable: r_fieldWeakLo
+   * Referenced by: '<S5>/r_fieldWeakLo'
+   */
+  16000,
+
+  /* Variable: cf_KbLimProt
+   * Referenced by:
+   *   '<S72>/cf_KbLimProt'
+   *   '<S73>/cf_KbLimProt'
+   */
+  768U,
+
+  /* Variable: cf_idKp
+   * Referenced by: '<S54>/cf_idKp1'
+   */
+  819U,
+
+  /* Variable: cf_iqKp
+   * Referenced by: '<S53>/cf_iqKp'
    */
-  { 9120, 9600, 10080, 10560, 11040, 11520, 12000, 12480, 12960, 13440, 13920,
-    14400 },
+  1229U,
+
+  /* Variable: cf_nKp
+   * Referenced by: '<S52>/cf_nKp'
+   */
+  4833U,
 
   /* Variable: cf_currFilt
-   * Referenced by: '<S31>/cf_currFilt'
+   * Referenced by: '<S41>/cf_currFilt'
    */
   7864U,
 
   /* Variable: cf_idKi
-   * Referenced by: '<S40>/cf_idKi1'
+   * Referenced by: '<S54>/cf_idKi1'
    */
-  246U,
+  737U,
 
   /* Variable: cf_iqKi
-   * Referenced by: '<S39>/cf_iqKi'
+   * Referenced by: '<S53>/cf_iqKi'
    */
-  410U,
+  1229U,
 
   /* Variable: cf_iqKiLimProt
-   * Referenced by: '<S38>/cf_iqKiLimProt'
+   * Referenced by:
+   *   '<S71>/cf_iqKiLimProt'
+   *   '<S73>/cf_iqKiLimProt'
    */
-  167U,
+  737U,
 
   /* Variable: cf_nKi
-   * Referenced by: '<S38>/cf_nKi'
-   */
-  84U,
-
-  /* Variable: cf_iqKpLimProt
-   * Referenced by: '<S45>/cf_iqKpLimProt'
+   * Referenced by: '<S52>/cf_nKi'
    */
-  1843U,
+  251U,
 
-  /* Variable: cf_nKpLimProt
-   * Referenced by: '<S46>/cf_nKpLimProt'
+  /* Variable: cf_nKiLimProt
+   * Referenced by:
+   *   '<S72>/cf_nKiLimProt'
+   *   '<S73>/cf_nKiLimProt'
    */
-  1280U,
+  246U,
 
   /* Variable: z_ctrlTypSel
    * Referenced by: '<S1>/z_ctrlTypSel1'
    */
-  1U,
+  2U,
 
   /* Variable: b_diagEna
    * Referenced by: '<S1>/b_diagEna'
@@ -264,12 +345,14 @@ P rtP_Left = {
   1,
 
   /* Variable: b_fieldWeakEna
-   * Referenced by: '<S32>/b_fieldWeakEna'
+   * Referenced by:
+   *   '<S1>/b_fieldWeakEna'
+   *   '<S87>/b_fieldWeakEna'
    */
   0,
 
   /* Variable: b_selPhaABCurrMeas
-   * Referenced by: '<S30>/b_selPhaABCurrMeas'
+   * Referenced by: '<S40>/b_selPhaABCurrMeas'
    */
   1
 };                                     /* Modifiable parameters */
diff --git a/Src/bldc.c b/Src/bldc.c
index de41c0f..a2ec2ce 100644
--- a/Src/bldc.c
+++ b/Src/bldc.c
@@ -6,7 +6,7 @@
 * â–º smooth torque output
 * â–º improved motor efficiency -> lower energy consumption
 *
-* Copyright (C) 2019 Emanuel FERU <aerdronix@gmail.com>
+* Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
@@ -46,7 +46,8 @@ extern ExtY rtY_Right;                  /* External outputs */
 
 static int16_t pwm_margin = 100;        /* This margin allows to always have a window in the PWM signal for proper Phase currents measurement */
 
-uint8_t ctrlModReq = CTRL_MOD_REQ;
+extern uint8_t ctrlModReq;
+static int16_t curDC_max = (I_DC_MAX * A2BIT_CONV);
 int16_t curL_phaA = 0, curL_phaB = 0, curL_DC = 0;
 int16_t curR_phaB = 0, curR_phaC = 0, curR_DC = 0;
 uint8_t errCode_Left = 0;
@@ -116,13 +117,13 @@ void DMA1_Channel1_IRQHandler(void) {
 
   // Disable PWM when current limit is reached (current chopping)
   // This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
-  if(ABS(curL_DC) > I_DC_MAX || timeout > TIMEOUT || enable == 0) {
+  if(ABS(curL_DC) > curDC_max || timeout > TIMEOUT || enable == 0) {
     LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
   } else {
     LEFT_TIM->BDTR |= TIM_BDTR_MOE;
   }
 
-  if(ABS(curR_DC)  > I_DC_MAX || timeout > TIMEOUT || enable == 0) {
+  if(ABS(curR_DC)  > curDC_max || timeout > TIMEOUT || enable == 0) {
     RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
   } else {
     RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
diff --git a/Src/comms.c b/Src/comms.c
index 58b71fc..d5c146d 100644
--- a/Src/comms.c
+++ b/Src/comms.c
@@ -6,16 +6,8 @@
 #include "config.h"
 #include "comms.h"
 
-UART_HandleTypeDef huart2;
-
-#ifdef DEBUG_SERIAL_USART3
-#define UART_DMA_CHANNEL DMA1_Channel2
-#endif
-
-#ifdef DEBUG_SERIAL_USART2
-#define UART_DMA_CHANNEL DMA1_Channel7
-#endif
-
+extern UART_HandleTypeDef huart2;
+extern UART_HandleTypeDef huart3;
 
 static volatile uint8_t uart_buf[100];
 static volatile int16_t ch_buf[8];
@@ -47,19 +39,29 @@ void consoleScope(void) {
   #endif
 
   #if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
-    memset((void *)(uintptr_t)uart_buf, 0, sizeof(uart_buf));
-    sprintf((char *)(uintptr_t)uart_buf, "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
+    // memset((void *)(uintptr_t)uart_buf, 0, sizeof(uart_buf));
+    int strLength;
+    strLength = sprintf((char *)(uintptr_t)uart_buf,
+                "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n",
+                ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
 
     if(UART_DMA_CHANNEL->CNDTR == 0) {
-      UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
-      UART_DMA_CHANNEL->CNDTR = strlen((char *)(uintptr_t)uart_buf);
-      UART_DMA_CHANNEL->CMAR  = (uint32_t)uart_buf;
-      UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
+      UART_DMA_CHANNEL->CCR    &= ~DMA_CCR_EN;
+      UART_DMA_CHANNEL->CNDTR   = strLength;
+      UART_DMA_CHANNEL->CMAR    = (uint32_t)uart_buf;
+      UART_DMA_CHANNEL->CCR    |= DMA_CCR_EN;
     }
   #endif
 }
 
 void consoleLog(char *message)
 {
-    HAL_UART_Transmit_DMA(&huart2, (uint8_t *)message, (uint16_t)strlen(message));
+  #if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
+    if(UART_DMA_CHANNEL->CNDTR == 0) {
+      UART_DMA_CHANNEL->CCR    &= ~DMA_CCR_EN;
+      UART_DMA_CHANNEL->CNDTR   = strlen((char *)(uintptr_t)message);
+      UART_DMA_CHANNEL->CMAR    = (uint32_t)message;
+      UART_DMA_CHANNEL->CCR    |= DMA_CCR_EN;
+    }
+  #endif
 }
diff --git a/Src/main.c b/Src/main.c
index d46a913..9d06160 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -4,6 +4,7 @@
 * Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
 * Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
 * Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
+* Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
@@ -41,18 +42,18 @@
 
 RT_MODEL rtM_Left_;               /* Real-time model */
 RT_MODEL rtM_Right_;              /* Real-time model */
-RT_MODEL *const rtM_Left = &rtM_Left_;
-RT_MODEL *const rtM_Right = &rtM_Right_;
+RT_MODEL *const rtM_Left    = &rtM_Left_;
+RT_MODEL *const rtM_Right   = &rtM_Right_;
 
-P rtP_Left;                       /* Block parameters (auto storage) */
-DW rtDW_Left;                     /* Observable states */
-ExtU rtU_Left;                    /* External inputs */
-ExtY rtY_Left;                    /* External outputs */
+P     rtP_Left;                   /* Block parameters (auto storage) */
+DW    rtDW_Left;                  /* Observable states */
+ExtU  rtU_Left;                   /* External inputs */
+ExtY  rtY_Left;                   /* External outputs */
 
-P rtP_Right;                      /* Block parameters (auto storage) */
-DW rtDW_Right;                    /* Observable states */
-ExtU rtU_Right;                   /* External inputs */
-ExtY rtY_Right;                   /* External outputs */
+P     rtP_Right;                  /* Block parameters (auto storage) */
+DW    rtDW_Right;                 /* Observable states */
+ExtU  rtU_Right;                  /* External inputs */
+ExtY  rtY_Right;                  /* External outputs */
 
 extern uint8_t errCode_Left;      /* Global variable to handle Motor error codes */
 extern uint8_t errCode_Right;     /* Global variable to handle Motor error codes */
@@ -70,7 +71,11 @@ extern volatile adc_buf_t adc_buffer;
   LCD_PCF8574_HandleTypeDef lcd;
 #endif
 extern I2C_HandleTypeDef hi2c2;
-extern UART_HandleTypeDef huart2;
+#ifndef TRANSPOTTER
+  extern UART_HandleTypeDef huart2;
+  extern UART_HandleTypeDef huart3;
+  static UART_HandleTypeDef huart;
+#endif
 
 #if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
   extern uint8_t LCDerrorFlag;
@@ -92,37 +97,66 @@ extern UART_HandleTypeDef huart2;
   uint16_t saveValue = 0;
 
   uint16_t counter = 0;
+#else
+  uint8_t nunchuck_connected = 1;
 #endif
 
+#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
 typedef struct{
-   int16_t steer;
-   int16_t speed;
-   //uint32_t crc;
+  uint16_t  start;
+  int16_t   steer;
+  int16_t   speed;
+  uint16_t  checksum;
 } Serialcommand;
-
 static volatile Serialcommand command;
+static int16_t timeoutCnt   = 0;  // Timeout counter for Rx Serial command
+#endif
+static uint8_t timeoutFlag  = 0;  // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
+
+#if defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
+typedef struct{
+  uint16_t  start;
+  int16_t   cmd1;
+  int16_t   cmd2;
+  int16_t   speedR;
+  int16_t   speedL;
+  int16_t   speedR_meas;
+  int16_t   speedL_meas;
+  int16_t   batVoltage;
+  int16_t   boardTemp;
+  uint16_t  checksum;
+} SerialFeedback;
+static SerialFeedback Feedback;
+#endif
+static uint8_t serialSendCounter; // serial send counter
 
+#if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
 static uint8_t button1, button2;
+#endif
 
-static int     cmd1;              // normalized input value. -1000 to 1000
-static int     cmd2;              // normalized input value. -1000 to 1000
-static int16_t steer;             // local variable for steering. -1000 to 1000
-static int16_t speed;             // local variable for speed. -1000 to 1000
-static int16_t steerFixdt;        // local fixed-point variable for steering low-pass filter
-static int16_t speedFixdt;        // local fixed-point variable for speed low-pass filter
-static int16_t steerRateFixdt;    // local fixed-point variable for steering rate limiter
-static int16_t speedRateFixdt;    // local fixed-point variable for speed rate limiter
+uint8_t ctrlModReqRaw = CTRL_MOD_REQ;
+uint8_t ctrlModReq    = CTRL_MOD_REQ;   // Final control mode request
+static int        cmd1;                 // normalized input value. -1000 to 1000
+static int        cmd2;                 // normalized input value. -1000 to 1000
+static int16_t    speed;                // local variable for speed. -1000 to 1000
+#ifndef TRANSPOTTER
+  static int16_t  steer;                // local variable for steering. -1000 to 1000
+  static int16_t  steerFixdt;           // local fixed-point variable for steering low-pass filter
+  static int16_t  speedFixdt;           // local fixed-point variable for speed low-pass filter
+  static int16_t  steerRateFixdt;       // local fixed-point variable for steering rate limiter
+  static int16_t  speedRateFixdt;       // local fixed-point variable for speed rate limiter
+#endif
 
-extern volatile int pwml;         // global variable for pwm left. -1000 to 1000
-extern volatile int pwmr;         // global variable for pwm right. -1000 to 1000
+extern volatile int pwml;               // global variable for pwm left. -1000 to 1000
+extern volatile int pwmr;               // global variable for pwm right. -1000 to 1000
 
-extern uint8_t buzzerFreq;        // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
-extern uint8_t buzzerPattern;     // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...
+extern uint8_t buzzerFreq;              // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
+extern uint8_t buzzerPattern;           // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...
 
-extern uint8_t enable;            // global variable for motor enable
+extern uint8_t enable;                  // global variable for motor enable
 
-extern volatile uint32_t timeout; // global variable for timeout
-extern int16_t batVoltage;        // global variable for battery voltage
+extern volatile uint32_t timeout;       // global variable for timeout
+extern int16_t batVoltage;              // global variable for battery voltage
 
 static uint32_t inactivity_timeout_counter;
 
@@ -136,6 +170,7 @@ void poweroff(void) {
   //  if (abs(speed) < 20) {  // wait for the speed to drop, then shut down -> this is commented out for SAFETY reasons
         buzzerPattern = 0;
         enable = 0;
+        consoleLog("-- Motors disabled --\r\n");
         for (int i = 0; i < 8; i++) {
             buzzerFreq = (uint8_t)i;
             HAL_Delay(100);
@@ -175,10 +210,6 @@ int main(void) {
   MX_ADC1_Init();
   MX_ADC2_Init();
 
-  #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
-    UART_Init();
-  #endif
-
   HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
 
   HAL_ADC_Start(&hadc1);
@@ -193,16 +224,24 @@ int main(void) {
   rtP_Left.b_selPhaABCurrMeas   = 1;            // Left motor measured current phases = {iA, iB} -> do NOT change
   rtP_Left.z_ctrlTypSel         = CTRL_TYP_SEL;
   rtP_Left.b_diagEna            = DIAG_ENA; 
+  rtP_Left.i_max                = (I_MOT_MAX * A2BIT_CONV) << 4;        // fixdt(1,16,4)
+  rtP_Left.n_max                = N_MOT_MAX << 4;                       // fixdt(1,16,4)
   rtP_Left.b_fieldWeakEna       = FIELD_WEAK_ENA; 
-  rtP_Left.i_max                = I_MOT_MAX; 
-  rtP_Left.n_max                = N_MOT_MAX; 
+  rtP_Left.id_fieldWeakMax      = (FIELD_WEAK_MAX * A2BIT_CONV) << 4;   // fixdt(1,16,4)
+  rtP_Left.a_phaAdvMax          = PHASE_ADV_MAX << 4;                   // fixdt(1,16,4)
+  rtP_Left.r_fieldWeakHi        = FIELD_WEAK_HI << 4;                   // fixdt(1,16,4)
+  rtP_Left.r_fieldWeakLo        = FIELD_WEAK_LO << 4;                   // fixdt(1,16,4)
 
   rtP_Right.b_selPhaABCurrMeas  = 0;            // Left motor measured current phases = {iB, iC} -> do NOT change
   rtP_Right.z_ctrlTypSel        = CTRL_TYP_SEL;
   rtP_Right.b_diagEna           = DIAG_ENA; 
+  rtP_Right.i_max               = (I_MOT_MAX * A2BIT_CONV) << 4;        // fixdt(1,16,4)
+  rtP_Right.n_max               = N_MOT_MAX << 4;                       // fixdt(1,16,4)
   rtP_Right.b_fieldWeakEna      = FIELD_WEAK_ENA; 
-  rtP_Right.i_max               = I_MOT_MAX; 
-  rtP_Right.n_max               = N_MOT_MAX; 
+  rtP_Right.id_fieldWeakMax     = (FIELD_WEAK_MAX * A2BIT_CONV) << 4;   // fixdt(1,16,4)
+  rtP_Right.a_phaAdvMax         = PHASE_ADV_MAX << 4;                   // fixdt(1,16,4)
+  rtP_Right.r_fieldWeakHi       = FIELD_WEAK_HI << 4;                   // fixdt(1,16,4)
+  rtP_Right.r_fieldWeakLo       = FIELD_WEAK_LO << 4;                   // fixdt(1,16,4)
 
   /* Pack LEFT motor data into RTM */
   rtM_Left->defaultParam        = &rtP_Left;
@@ -230,24 +269,24 @@ int main(void) {
 
   HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
 
-#ifdef TRANSPOTTER
-  int  lastDistance = 0;
-  enable = 1;
-  uint8_t checkRemote = 0;
+  #ifdef TRANSPOTTER
+    int  lastDistance = 0;
+    enable = 1;
+    uint8_t checkRemote = 0;
 
-  HAL_FLASH_Unlock();
+    HAL_FLASH_Unlock();
 
-  /* EEPROM Init */
-  EE_Init();
+    /* EEPROM Init */
+    EE_Init();
 
-  EE_ReadVariable(VirtAddVarTab[0], &saveValue);
+    EE_ReadVariable(VirtAddVarTab[0], &saveValue);
 
-  HAL_FLASH_Lock();
-  float setDistance = saveValue / 1000.0;
-  if (setDistance < 0.2) {
-    setDistance = 1.0;
-  }
-#endif
+    HAL_FLASH_Lock();
+    float setDistance = saveValue / 1000.0;
+    if (setDistance < 0.2) {
+      setDistance = 1.0;
+    }
+  #endif
 
   #ifdef CONTROL_PPM
     PPM_Init();
@@ -258,9 +297,16 @@ int main(void) {
     Nunchuck_Init();
   #endif
 
-  #ifdef CONTROL_SERIAL_USART2
-    UART_Control_Init();
-    HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, 4);
+  #if defined(CONTROL_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
+    UART2_Init();
+    huart = huart2;
+  #endif
+  #if defined(CONTROL_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
+    UART3_Init();
+    huart = huart3;
+  #endif
+  #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
+    HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command));
   #endif
 
   #if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
@@ -308,7 +354,6 @@ int main(void) {
     LCD_WriteString(&lcd, "m)");
   #endif
 
-
   int16_t lastSpeedL = 0, lastSpeedR = 0;
   int16_t speedL = 0, speedR = 0;
 
@@ -397,41 +442,37 @@ int main(void) {
     #endif
 
     #if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK)
-      #ifdef TRANSPOTTER
       if (nunchuck_connected != 0) {
-      #endif
-      Nunchuck_Read();
-      cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230
-      cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, -1000, 1000); // y - axis
+        Nunchuck_Read();
+        cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuck joystick readings range 30 - 230
+        cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
 
-      button1 = (uint8_t)nunchuck_data[5] & 1;
-      button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
-      #ifdef TRANSPOTTER
+        button1 = (uint8_t)nunchuck_data[5] & 1;
+        button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
       }
-      #endif
     #endif
 
     #ifdef CONTROL_PPM
-      cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, -1000, 1000);
-      cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, -1000, 1000);
-      button1 = ppm_captured_value[5] > 500;
+      cmd1 = CLAMP((ppm_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
+      cmd2 = CLAMP((ppm_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
+      button1 = ppm_captured_value[5] > INPUT_MID;
       float scale = ppm_captured_value[2] / 1000.0f;
     #endif
 
     #ifdef CONTROL_ADC
       // ADC values range: 0-4095, see ADC-calibration in config.h
       #ifdef ADC1_MID_POT
-        cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MID) * 1000 / (ADC1_MAX - ADC1_MID), 0, 1000) 
-              -CLAMP((ADC1_MID - adc_buffer.l_tx2) * 1000 / (ADC1_MID - ADC1_MIN), 0, 1000);    // ADC1        
+        cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MID) * INPUT_MAX / (ADC1_MAX - ADC1_MID), 0, INPUT_MAX) 
+              -CLAMP((ADC1_MID - adc_buffer.l_tx2) * INPUT_MAX / (ADC1_MID - ADC1_MIN), 0, INPUT_MAX);    // ADC1        
       #else
-        cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MIN) * 1000 / (ADC1_MAX - ADC1_MIN), 0, 1000);    // ADC1
+        cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MIN) * INPUT_MAX / (ADC1_MAX - ADC1_MIN), 0, INPUT_MAX);    // ADC1
       #endif
 
       #ifdef ADC2_MID_POT
-        cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MID) * 1000 / (ADC2_MAX - ADC2_MID), 0, 1000)  
-              -CLAMP((ADC2_MID - adc_buffer.l_rx2) * 1000 / (ADC2_MID - ADC2_MIN), 0, 1000);    // ADC2        
+        cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MID) * INPUT_MAX / (ADC2_MAX - ADC2_MID), 0, INPUT_MAX)  
+              -CLAMP((ADC2_MID - adc_buffer.l_rx2) * INPUT_MAX / (ADC2_MID - ADC2_MIN), 0, INPUT_MAX);    // ADC2        
       #else
-        cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN) * 1000 / (ADC2_MAX - ADC2_MIN), 0, 1000);    // ADC2
+        cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN) * INPUT_MAX / (ADC2_MAX - ADC2_MIN), 0, INPUT_MAX);    // ADC2
       #endif  
 
       // use ADCs as button inputs:
@@ -441,11 +482,41 @@ int main(void) {
       timeout = 0;
     #endif
 
-    #ifdef CONTROL_SERIAL_USART2
-      cmd1 = CLAMP((int16_t)command.steer, -1000, 1000);
-      cmd2 = CLAMP((int16_t)command.speed, -1000, 1000);
+    #if defined CONTROL_SERIAL_USART2 || defined CONTROL_SERIAL_USART3
+
+      // Handle received data validity, timeout and fix out-of-sync if necessary
+      if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) { 
+        if (timeoutFlag) {                      // Check for previous timeout flag  
+          if (timeoutCnt-- <= 0)                // Timeout de-qualification
+            timeoutFlag   = 0;                  // Timeout flag cleared           
+        } else {
+          cmd1            = CLAMP((int16_t)command.steer, INPUT_MIN, INPUT_MAX);
+          cmd2            = CLAMP((int16_t)command.speed, INPUT_MIN, INPUT_MAX);         
+          command.start   = 0xFFFF;             // Change the Start Frame for timeout detection in the next cycle
+          timeoutCnt      = 0;                  // Reset the timeout counter         
+        }
+      } else {
+        if (timeoutCnt++ >= SERIAL_TIMEOUT) {   // Timeout qualification
+          timeoutFlag     = 1;                  // Timeout detected
+          timeoutCnt      = SERIAL_TIMEOUT;     // Limit timout counter value
+        }
+        // Check the received Start Frame. If it is NOT OK, most probably we are out-of-sync.
+        // Try to re-sync by reseting the DMA
+        if (command.start != START_FRAME && command.start != 0xFFFF) {
+          HAL_UART_DMAStop(&huart);                
+          HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command));
+        }
+      }       
 
+      if (timeoutFlag) {                        // In case of timeout bring the system to a Safe State
+        ctrlModReq  = 0;                        // OPEN_MODE request. This will bring the motor power to 0 in a controlled way
+        cmd1        = 0;
+        cmd2        = 0;
+      } else {
+        ctrlModReq  = ctrlModReqRaw;            // Follow the Mode request
+      }
       timeout = 0;
+
     #endif
 
     #ifndef TRANSPOTTER
@@ -491,6 +562,9 @@ int main(void) {
       }
     #endif
 
+    lastSpeedL = speedL;
+    lastSpeedR = speedR;
+
     #ifdef TRANSPOTTER
       if (timeout > TIMEOUT) {
         pwml = 0;
@@ -509,12 +583,7 @@ int main(void) {
 
         nunchuck_connected = 0;
       }
-    #endif
 
-    lastSpeedL = speedL;
-    lastSpeedR = speedR;
-
-    #ifdef TRANSPOTTER
       if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
         enable = 0;
         longBeep();
@@ -544,7 +613,7 @@ int main(void) {
               nunchuck_connected = 1;
             }
           }
-        }
+        }   
       #endif
 
       #ifdef SUPPORT_LCD
@@ -570,25 +639,51 @@ int main(void) {
     #endif
 
 
-    if (inactivity_timeout_counter % 25 == 0) {
-      // ####### CALC BOARD TEMPERATURE #######
-      filtLowPass16(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt);
-      board_temp_adcFilt  = board_temp_adcFixdt >> 4;  // convert fixed-point to integer
-      board_temp_deg_c    = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C;
+    // ####### CALC BOARD TEMPERATURE #######
+    filtLowPass16(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt);
+    board_temp_adcFilt  = board_temp_adcFixdt >> 4;  // convert fixed-point to integer
+    board_temp_deg_c    = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C;
+
+    serialSendCounter++;              // Increment the counter
+    if (serialSendCounter > 20) {     // Send data every 100 ms = 20 * 5 ms, where 5 ms is approximately the main loop duration
+      serialSendCounter = 0;          // Reset the counter
 
       // ####### DEBUG SERIAL OUT #######
-      #ifdef CONTROL_ADC
-        setScopeChannel(0, (int)adc_buffer.l_tx2);            // 1: ADC1
-        setScopeChannel(1, (int)adc_buffer.l_rx2);            // 2: ADC2
-      #endif
-      setScopeChannel(2, (int16_t)speedR);                    // 1: output command: [-1000, 1000]
-      setScopeChannel(3, (int16_t)speedL);                    // 2: output command: [-1000, 1000]
-      setScopeChannel(4, (int16_t)adc_buffer.batt1);          // 5: for battery voltage calibration
-      setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
-      setScopeChannel(6, (int16_t)board_temp_adcFilt);        // 7: for board temperature calibration
-      setScopeChannel(7, (int16_t)board_temp_deg_c);          // 8: for verifying board temperature calibration
-      consoleScope();
-    }
+      #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
+        #ifdef CONTROL_ADC
+          setScopeChannel(0, (int16_t)adc_buffer.l_tx2);        // 1: ADC1
+          setScopeChannel(1, (int16_t)adc_buffer.l_rx2);        // 2: ADC2
+        #endif
+        setScopeChannel(2, (int16_t)speedR);                    // 1: output command: [-1000, 1000]
+        setScopeChannel(3, (int16_t)speedL);                    // 2: output command: [-1000, 1000]
+        setScopeChannel(4, (int16_t)adc_buffer.batt1);          // 5: for battery voltage calibration
+        setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
+        setScopeChannel(6, (int16_t)board_temp_adcFilt);        // 7: for board temperature calibration
+        setScopeChannel(7, (int16_t)board_temp_deg_c);          // 8: for verifying board temperature calibration
+        consoleScope();
+
+      // ####### FEEDBACK SERIAL OUT #######
+      #elif defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
+        if(UART_DMA_CHANNEL->CNDTR == 0) {
+          Feedback.start	        = (uint16_t)START_FRAME;
+          Feedback.cmd1           = (int16_t)cmd1;
+          Feedback.cmd2           = (int16_t)cmd2;
+          Feedback.speedR	        = (int16_t)speedR;
+          Feedback.speedL	        = (int16_t)speedL;
+          Feedback.speedR_meas	  = (int16_t)rtY_Left.n_mot;
+          Feedback.speedL_meas	  = (int16_t)rtY_Right.n_mot;
+          Feedback.batVoltage	    = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
+          Feedback.boardTemp	    = (int16_t)board_temp_deg_c;
+          Feedback.checksum       = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR ^ Feedback.speedL
+                                    ^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp); 
+
+          UART_DMA_CHANNEL->CCR  &= ~DMA_CCR_EN;
+          UART_DMA_CHANNEL->CNDTR = sizeof(Feedback);
+          UART_DMA_CHANNEL->CMAR  = (uint32_t)&Feedback;
+          UART_DMA_CHANNEL->CCR  |= DMA_CCR_EN;          
+        }
+      #endif      
+    }    
 
     HAL_GPIO_TogglePin(LED_PORT, LED_PIN);
     // ####### POWEROFF BY POWER-BUTTON #######
@@ -615,9 +710,9 @@ int main(void) {
     } else if (batVoltage < BAT_LOW_LVL2 && batVoltage >= BAT_LOW_DEAD && BAT_LOW_LVL2_ENABLE) {  // low bat 2: fast beep
       buzzerFreq = 5;
       buzzerPattern = 6;
-    } else if (errCode_Left || errCode_Right) {  // beep in case of Motor error - fast beep
-      buzzerFreq = 6;
-      buzzerPattern = 2;
+    } else if (errCode_Left || errCode_Right || timeoutFlag) {  // beep in case of Motor error or serial timeout - fast beep
+      buzzerFreq = 12;
+      buzzerPattern = 1;
     } else if (BEEPS_BACKWARD && speed < -50) {  // backward beep
       buzzerFreq = 5;
       buzzerPattern = 1;
@@ -786,12 +881,12 @@ void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t
   tmp         = prodSpeed - prodSteer;  
   tmp         = CLAMP(tmp, -32768, 32767);  // Overflow protection
   *rty_speedR = (int16_t)(tmp >> 4);        // Convert from fixed-point to int 
-  *rty_speedR = CLAMP(*rty_speedR, -1000, 1000);
+  *rty_speedR = CLAMP(*rty_speedR, INPUT_MIN, INPUT_MAX);
 
   tmp         = prodSpeed + prodSteer;
   tmp         = CLAMP(tmp, -32768, 32767);  // Overflow protection
   *rty_speedL = (int16_t)(tmp >> 4);        // Convert from fixed-point to int
-  *rty_speedL = CLAMP(*rty_speedL, -1000, 1000);
+  *rty_speedL = CLAMP(*rty_speedL, INPUT_MIN, INPUT_MAX);
 }
 
 // ===========================================================
diff --git a/Src/setup.c b/Src/setup.c
index 53d01f5..83e2979 100644
--- a/Src/setup.c
+++ b/Src/setup.c
@@ -44,182 +44,185 @@ ADC_HandleTypeDef hadc1;
 ADC_HandleTypeDef hadc2;
 I2C_HandleTypeDef hi2c2;
 UART_HandleTypeDef huart2;
+UART_HandleTypeDef huart3;
 
 DMA_HandleTypeDef hdma_usart2_rx;
 DMA_HandleTypeDef hdma_usart2_tx;
+DMA_HandleTypeDef hdma_usart3_rx;
+DMA_HandleTypeDef hdma_usart3_tx;
 volatile adc_buf_t adc_buffer;
 
 
-#ifdef CONTROL_SERIAL_USART2
+#if defined(CONTROL_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
+void UART2_Init(void) {
 
+  /* The code below is commented out - otwerwise Serial Receive does not work */
+  // #ifdef CONTROL_SERIAL_USART2
+  //   /* DMA1_Channel6_IRQn interrupt configuration */
+  //   HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
+  //   HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
+  //   /* DMA1_Channel7_IRQn interrupt configuration */
+  //   HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 5, 7);
+  //   HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);
+  // #endif
 
-void UART_Control_Init(void) {
-  GPIO_InitTypeDef GPIO_InitStruct;
-  __HAL_RCC_USART2_CLK_ENABLE();
-  /* DMA1_Channel6_IRQn interrupt configuration */
-  //HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
-  //HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
-  HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
-  HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
-  /* DMA1_Channel7_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 5, 7);
-  HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);
-
-  huart2.Instance = USART2;
-  huart2.Init.BaudRate = CONTROL_BAUD;
-  huart2.Init.WordLength = UART_WORDLENGTH_8B;
-  huart2.Init.StopBits = UART_STOPBITS_1;
-  huart2.Init.Parity = UART_PARITY_NONE;
-  huart2.Init.Mode = UART_MODE_TX_RX;
-  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
- // huart2.Init.OverSampling = UART_OVERSAMPLING_16;
-  HAL_UART_Init(&huart2);
-
+  // Disable serial interrupt - it is not needed 
+  HAL_NVIC_DisableIRQ(DMA1_Channel6_IRQn);    // Rx Channel
+  HAL_NVIC_DisableIRQ(DMA1_Channel7_IRQn);    // Tx Channel
 
   __HAL_RCC_DMA1_CLK_ENABLE();
-  /* USER CODE BEGIN USART2_MspInit 0 */
-   __HAL_RCC_GPIOA_CLK_ENABLE();
-  /* USER CODE END USART2_MspInit 0 */
-   /* Peripheral clock enable */
-   __HAL_RCC_USART2_CLK_ENABLE();
-
- GPIO_InitStruct.Pull = GPIO_PULLUP; //GPIO_NOPULL;
- GPIO_InitStruct.Pin = GPIO_PIN_2;
- GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
- GPIO_InitStruct.Pin = GPIO_PIN_3;
- GPIO_InitStruct.Mode = GPIO_MODE_INPUT; //GPIO_MODE_AF_PP;
-// GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
- /* Peripheral DMA init*/
-
- hdma_usart2_rx.Instance = DMA1_Channel6;
- hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
- hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
- hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
- hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
- hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
- hdma_usart2_rx.Init.Mode = DMA_CIRCULAR; //DMA_NORMAL;
- hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
- HAL_DMA_Init(&hdma_usart2_rx);
-
- __HAL_LINKDMA(&huart2,hdmarx,hdma_usart2_rx);
-
- hdma_usart2_tx.Instance = DMA1_Channel7;
- hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
- hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
- hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
- hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
- hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
- hdma_usart2_tx.Init.Mode = DMA_NORMAL;
- hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
-HAL_DMA_Init(&hdma_usart2_tx);
- __HAL_LINKDMA(&huart2,hdmatx,hdma_usart2_tx);
-}
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_USART2_CLK_ENABLE();
 
-#endif
+  huart2.Instance           = USART2;
+  huart2.Init.BaudRate      = USART2_BAUD;
+  huart2.Init.WordLength    = USART2_WORDLENGTH;
+  huart2.Init.StopBits      = UART_STOPBITS_1;
+  huart2.Init.Parity        = UART_PARITY_NONE;
+  huart2.Init.HwFlowCtl     = UART_HWCONTROL_NONE;
+  huart2.Init.OverSampling  = UART_OVERSAMPLING_16;
+  #if defined(CONTROL_SERIAL_USART2)
+    huart2.Init.Mode        = UART_MODE_TX_RX;
+  #elif defined(DEBUG_SERIAL_USART2)
+    huart2.Init.Mode        = UART_MODE_TX;
+  #endif
+  HAL_UART_Init(&huart2);
 
-#ifdef DEBUG_SERIAL_USART3
-void UART_Init(void) {
-  __HAL_RCC_USART3_CLK_ENABLE();
-  __HAL_RCC_DMA1_CLK_ENABLE();
+  #if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
+    USART2->CR3 |= USART_CR3_DMAT;  // | USART_CR3_DMAR | USART_CR3_OVRDIS;
+  #endif
 
-  UART_HandleTypeDef huart3;
-  huart3.Instance          = USART3;
-  huart3.Init.BaudRate     = DEBUG_BAUD;
-  huart3.Init.WordLength   = UART_WORDLENGTH_8B;
-  huart3.Init.StopBits     = UART_STOPBITS_1;
-  huart3.Init.Parity       = UART_PARITY_NONE;
-  huart3.Init.Mode         = UART_MODE_TX;
-  huart3.Init.HwFlowCtl    = UART_HWCONTROL_NONE;
-  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
-  HAL_UART_Init(&huart3);
+  GPIO_InitTypeDef GPIO_InitStruct;
+  GPIO_InitStruct.Pin       = GPIO_PIN_2;
+  GPIO_InitStruct.Pull      = GPIO_PULLUP; //GPIO_NOPULL;
+  GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_HIGH;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  USART3->CR3 |= USART_CR3_DMAT;  // | USART_CR3_DMAR | USART_CR3_OVRDIS;
+  #ifdef CONTROL_SERIAL_USART2
+    GPIO_InitStruct.Pin     = GPIO_PIN_3;
+    GPIO_InitStruct.Mode    = GPIO_MODE_INPUT; //GPIO_MODE_AF_PP;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  GPIO_InitTypeDef GPIO_InitStruct;
-  GPIO_InitStruct.Pin   = GPIO_PIN_10;
-  GPIO_InitStruct.Pull  = GPIO_PULLUP;
-  GPIO_InitStruct.Mode  = GPIO_MODE_AF_PP;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    /* Peripheral DMA init*/
+    hdma_usart2_rx.Instance                 = DMA1_Channel6;
+    hdma_usart2_rx.Init.Direction           = DMA_PERIPH_TO_MEMORY;
+    hdma_usart2_rx.Init.PeriphInc           = DMA_PINC_DISABLE;
+    hdma_usart2_rx.Init.MemInc              = DMA_MINC_ENABLE;
+    hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.Mode                = DMA_CIRCULAR; //DMA_NORMAL;
+    hdma_usart2_rx.Init.Priority            = DMA_PRIORITY_LOW;
+    HAL_DMA_Init(&hdma_usart2_rx);
+    __HAL_LINKDMA(&huart2, hdmarx, hdma_usart2_rx);
+  #endif
+
+  hdma_usart2_tx.Instance                   = DMA1_Channel7;
+  hdma_usart2_tx.Init.Direction             = DMA_MEMORY_TO_PERIPH;
+  hdma_usart2_tx.Init.PeriphInc             = DMA_PINC_DISABLE;
+  hdma_usart2_tx.Init.MemInc                = DMA_MINC_ENABLE;
+  hdma_usart2_tx.Init.PeriphDataAlignment   = DMA_PDATAALIGN_BYTE;
+  hdma_usart2_tx.Init.MemDataAlignment      = DMA_MDATAALIGN_BYTE;
+  hdma_usart2_tx.Init.Mode                  = DMA_NORMAL;
+  hdma_usart2_tx.Init.Priority              = DMA_PRIORITY_LOW;
+  HAL_DMA_Init(&hdma_usart2_tx);
+
+  #ifdef CONTROL_SERIAL_USART2
+    __HAL_LINKDMA(&huart2, hdmatx, hdma_usart2_tx);
+  #endif
+  #if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
+    DMA1_Channel7->CPAR     = (uint32_t) & (USART2->DR);
+    DMA1_Channel7->CNDTR    = 0;
+    DMA1->IFCR              = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
+  #endif
 
-  DMA1_Channel2->CCR   = 0;
-  DMA1_Channel2->CPAR  = (uint32_t) & (USART3->DR);
-  DMA1_Channel2->CNDTR = 0;
-  DMA1_Channel2->CCR   = DMA_CCR_MINC | DMA_CCR_DIR;
-  DMA1->IFCR           = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
 }
 #endif
 
-#ifdef DEBUG_SERIAL_USART2
-void UART_Init(void) {
-  __HAL_RCC_USART2_CLK_ENABLE();
-  __HAL_RCC_DMA1_CLK_ENABLE();
+#if defined(CONTROL_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
+void UART3_Init(void) {
 
-  UART_HandleTypeDef huart2;
-  huart2.Instance          = USART2;
-  huart2.Init.BaudRate     = DEBUG_BAUD;
-  huart2.Init.WordLength   = UART_WORDLENGTH_8B;
-  huart2.Init.StopBits     = UART_STOPBITS_1;
-  huart2.Init.Parity       = UART_PARITY_NONE;
-  huart2.Init.Mode         = UART_MODE_TX;
-  huart2.Init.HwFlowCtl    = UART_HWCONTROL_NONE;
-  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
-  HAL_UART_Init(&huart2);
+  /* The code below is commented out - otwerwise Serial Receive does not work */
+  // #ifdef CONTROL_SERIAL_USART3
+  //   /* DMA1_Channel3_IRQn interrupt configuration */
+  //   HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 5, 3);
+  //   HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
+  //   /* DMA1_Channel2_IRQn interrupt configuration */
+  //   HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 5, 2);
+  //   HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
+  // #endif
 
-  USART2->CR3 |= USART_CR3_DMAT;  // | USART_CR3_DMAR | USART_CR3_OVRDIS;
+  // Disable serial interrupt - it is not needed 
+  HAL_NVIC_DisableIRQ(DMA1_Channel3_IRQn);  // Rx Channel
+  HAL_NVIC_DisableIRQ(DMA1_Channel2_IRQn);  // Tx Channel
 
-  GPIO_InitTypeDef GPIO_InitStruct;
-  GPIO_InitStruct.Pin   = GPIO_PIN_2;
-  GPIO_InitStruct.Pull  = GPIO_PULLUP;
-  GPIO_InitStruct.Mode  = GPIO_MODE_AF_PP;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-  DMA1_Channel7->CCR   = 0;
-  DMA1_Channel7->CPAR  = (uint32_t) & (USART2->DR);
-  DMA1_Channel7->CNDTR = 0;
-  DMA1_Channel7->CCR   = DMA_CCR_MINC | DMA_CCR_DIR;
-  DMA1->IFCR           = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
-}
-#endif
-
-/*
-void UART_Init(void) {
-  __HAL_RCC_USART2_CLK_ENABLE();
   __HAL_RCC_DMA1_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_USART3_CLK_ENABLE();
 
-  UART_HandleTypeDef huart2;
-  huart2.Instance          = USART2;
-  huart2.Init.BaudRate     = 115200;
-  huart2.Init.WordLength   = UART_WORDLENGTH_8B;
-  huart2.Init.StopBits     = UART_STOPBITS_1;
-  huart2.Init.Parity       = UART_PARITY_NONE;
-  huart2.Init.Mode         = UART_MODE_TX;
-  huart2.Init.HwFlowCtl    = UART_HWCONTROL_NONE;
-  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
-  HAL_UART_Init(&huart2);
+  huart3.Instance             = USART3;
+  huart3.Init.BaudRate        = USART3_BAUD;
+  huart3.Init.WordLength      = USART3_WORDLENGTH;
+  huart3.Init.StopBits        = UART_STOPBITS_1;
+  huart3.Init.Parity          = UART_PARITY_NONE;
+  huart3.Init.HwFlowCtl       = UART_HWCONTROL_NONE;
+  huart3.Init.OverSampling    = UART_OVERSAMPLING_16;
+  #if defined(CONTROL_SERIAL_USART3)
+    huart3.Init.Mode          = UART_MODE_TX_RX;
+  #elif defined(DEBUG_SERIAL_USART3)
+    huart3.Init.Mode          = UART_MODE_TX;
+  #endif
+  HAL_UART_Init(&huart3);
 
-  USART2->CR3 |= USART_CR3_DMAT;  // | USART_CR3_DMAR | USART_CR3_OVRDIS;
+  #if defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
+    USART3->CR3 |= USART_CR3_DMAT;  // | USART_CR3_DMAR | USART_CR3_OVRDIS;
+  #endif
 
   GPIO_InitTypeDef GPIO_InitStruct;
-  GPIO_InitStruct.Pin   = GPIO_PIN_2;
-  GPIO_InitStruct.Pull  = GPIO_PULLUP;
-  GPIO_InitStruct.Mode  = GPIO_MODE_AF_PP;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  GPIO_InitStruct.Pin         = GPIO_PIN_10;
+  GPIO_InitStruct.Pull        = GPIO_PULLUP;
+  GPIO_InitStruct.Mode        = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Speed       = GPIO_SPEED_FREQ_HIGH;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
-  DMA1_Channel7->CCR   = 0;
-  DMA1_Channel7->CPAR  = (uint32_t) & (USART3->DR);
-  DMA1_Channel7->CNDTR = 0;
-  DMA1_Channel7->CCR   = DMA_CCR_MINC | DMA_CCR_DIR;
-  DMA1->IFCR           = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
+  #ifdef CONTROL_SERIAL_USART3
+    GPIO_InitStruct.Pin       = GPIO_PIN_11;
+    GPIO_InitStruct.Mode      = GPIO_MODE_INPUT;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    /* Peripheral DMA init*/
+    hdma_usart3_rx.Instance                   = DMA1_Channel3;
+    hdma_usart3_rx.Init.Direction             = DMA_PERIPH_TO_MEMORY;
+    hdma_usart3_rx.Init.PeriphInc             = DMA_PINC_DISABLE;
+    hdma_usart3_rx.Init.MemInc                = DMA_MINC_ENABLE;
+    hdma_usart3_rx.Init.PeriphDataAlignment   = DMA_PDATAALIGN_BYTE;
+    hdma_usart3_rx.Init.MemDataAlignment      = DMA_MDATAALIGN_BYTE;
+    hdma_usart3_rx.Init.Mode                  = DMA_CIRCULAR; //DMA_NORMAL;
+    hdma_usart3_rx.Init.Priority              = DMA_PRIORITY_LOW;
+    HAL_DMA_Init(&hdma_usart3_rx);
+    __HAL_LINKDMA(&huart3, hdmarx, hdma_usart3_rx);
+  #endif
+
+  hdma_usart3_tx.Instance                     = DMA1_Channel2;
+  hdma_usart3_tx.Init.Direction               = DMA_MEMORY_TO_PERIPH;
+  hdma_usart3_tx.Init.PeriphInc               = DMA_PINC_DISABLE;
+  hdma_usart3_tx.Init.MemInc                  = DMA_MINC_ENABLE;
+  hdma_usart3_tx.Init.PeriphDataAlignment     = DMA_PDATAALIGN_BYTE;
+  hdma_usart3_tx.Init.MemDataAlignment        = DMA_MDATAALIGN_BYTE;
+  hdma_usart3_tx.Init.Mode                    = DMA_NORMAL;
+  hdma_usart3_tx.Init.Priority                = DMA_PRIORITY_LOW;
+  HAL_DMA_Init(&hdma_usart3_tx);
+
+  #ifdef CONTROL_SERIAL_USART3
+    __HAL_LINKDMA(&huart3, hdmatx, hdma_usart3_tx);
+  #endif
+  #if defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
+    DMA1_Channel2->CPAR     = (uint32_t) & (USART3->DR);
+    DMA1_Channel2->CNDTR    = 0;
+    DMA1->IFCR              = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
+  #endif  
 }
-*/
+#endif
 
 DMA_HandleTypeDef hdma_i2c2_rx;
 DMA_HandleTypeDef hdma_i2c2_tx;
@@ -480,7 +483,6 @@ void MX_TIM_Init(void) {
   HAL_TIM_PWM_Init(&htim_left);
 
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
-  // sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
   sMasterConfig.MasterSlaveMode     = TIM_MASTERSLAVEMODE_ENABLE;
   HAL_TIMEx_MasterConfigSynchronization(&htim_left, &sMasterConfig);
 
diff --git a/build/firmware.bin b/build/firmware.bin
index 7593664..ce60259 100644
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diff --git a/build/firmware.elf b/build/firmware.elf
index 67bfa45..6a0344c 100644
Binary files a/build/firmware.elf and b/build/firmware.elf differ
diff --git a/docs/firmware_architecture.pptx b/docs/firmware_architecture.pptx
index c750093..9f5d105 100644
Binary files a/docs/firmware_architecture.pptx and b/docs/firmware_architecture.pptx differ
diff --git a/docs/pictures/FOC_algorithm.png b/docs/pictures/FOC_algorithm.png
index d9ef13b..259b2cc 100644
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diff --git a/docs/pictures/FW_architecture.png b/docs/pictures/FW_architecture.png
index a29aa7e..34e3f7d 100644
Binary files a/docs/pictures/FW_architecture.png and b/docs/pictures/FW_architecture.png differ
diff --git a/docs/pictures/FieldWeakening.png b/docs/pictures/FieldWeakening.png
new file mode 100644
index 0000000..562c90f
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diff --git a/docs/pictures/paramTable.png b/docs/pictures/paramTable.png
index 780e6ce..fffaa74 100644
Binary files a/docs/pictures/paramTable.png and b/docs/pictures/paramTable.png differ
diff --git a/platformio.ini b/platformio.ini
index 6f3a728..790b6cd 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -14,7 +14,7 @@ upload_protocol = stlink
 
 ; Serial Port settings (make sure the COM port is correct)
 monitor_port    = COM5
-monitor_speed   = 115200
+monitor_speed   = 38400
 
 build_flags =
     -I${PROJECT_DIR}/inc/