Kai Hauser
6 years ago
committed by
GitHub
commit
1090c2fb99
@ -1,181 +0,0 @@
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/*
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* File: filtLowPass.c
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*
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* Code generated for Simulink model 'filtLowPass'.
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*
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* Model version : 1.1167
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* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
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* C/C++ source code generated on : Sun Oct 6 22:11:53 2019
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex
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* Emulation hardware selection:
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* Differs from embedded hardware (MATLAB Host)
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* Code generation objectives:
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* 1. Execution efficiency
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* 2. RAM efficiency
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* Validation result: Not run
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*/
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#include "filtLowPass.h"
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#ifndef UCHAR_MAX
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#include <limits.h>
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#endif
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#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
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#error Code was generated for compiler with different sized uchar/char. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
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#error Code was generated for compiler with different sized ushort/short. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
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#error Code was generated for compiler with different sized uint/int. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
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#error Code was generated for compiler with different sized ulong/long. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#if 0
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/* Skip this size verification because of preprocessor limitation */
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#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
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#error Code was generated for compiler with different sized ulong_long/long_long. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#endif
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extern int16_T filtLowPass_l(int16_T rtu_u, uint16_T rtu_coef, DW_filtLowPass
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*localDW);
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/*===========*
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* Constants *
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*===========*/
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#define RT_PI 3.14159265358979323846
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#define RT_PIF 3.1415927F
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#define RT_LN_10 2.30258509299404568402
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#define RT_LN_10F 2.3025851F
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#define RT_LOG10E 0.43429448190325182765
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#define RT_LOG10EF 0.43429449F
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#define RT_E 2.7182818284590452354
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#define RT_EF 2.7182817F
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/*
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* UNUSED_PARAMETER(x)
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* Used to specify that a function parameter (argument) is required but not
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* accessed by the function body.
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*/
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#ifndef UNUSED_PARAMETER
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# if defined(__LCC__)
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# define UNUSED_PARAMETER(x) /* do nothing */
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# else
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/*
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* This is the semi-ANSI standard way of indicating that an
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* unused function parameter is required.
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*/
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# define UNUSED_PARAMETER(x) (void) (x)
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# endif
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#endif
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/* Output and update for atomic system: '<Root>/filtLowPass' */
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int16_T filtLowPass_l(int16_T rtu_u, uint16_T rtu_coef, DW_filtLowPass *localDW)
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{
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int32_T tmp;
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int16_T rty_y_0;
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/* Outputs for Atomic SubSystem: '<S1>/Low_Pass_Filter1' */
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/* Sum: '<S2>/Sum1' incorporates:
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* DataTypeConversion: '<S1>/Data Type Conversion'
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* Product: '<S2>/Divide1'
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* Product: '<S2>/Divide2'
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* Sum: '<S2>/Sum5'
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* UnitDelay: '<S2>/UnitDelay3'
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*/
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tmp = (((int16_T)(rtu_u << 4) * rtu_coef) >> 16) + (((int32_T)(65535U -
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rtu_coef) * localDW->UnitDelay3_DSTATE) >> 16);
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if (tmp > 32767) {
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tmp = 32767;
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} else {
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if (tmp < -32768) {
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tmp = -32768;
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}
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}
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rty_y_0 = (int16_T)tmp;
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/* Update for UnitDelay: '<S2>/UnitDelay3' incorporates:
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* Sum: '<S2>/Sum1'
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*/
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localDW->UnitDelay3_DSTATE = (int16_T)tmp;
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/* End of Outputs for SubSystem: '<S1>/Low_Pass_Filter1' */
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return rty_y_0;
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}
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/* Model step function */
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void filtLowPass_step(RT_MODEL *const rtM)
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{
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DW *rtDW = ((DW *) rtM->dwork);
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ExtU *rtU = (ExtU *) rtM->inputs;
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ExtY *rtY = (ExtY *) rtM->outputs;
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/* Outputs for Atomic SubSystem: '<Root>/filtLowPass' */
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/* Outport: '<Root>/y' incorporates:
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* Inport: '<Root>/coef'
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* Inport: '<Root>/u'
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*/
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rtY->y = (int16_T) filtLowPass_l(rtU->u, rtU->coef, &rtDW->filtLowPass_l2);
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/* End of Outputs for SubSystem: '<Root>/filtLowPass' */
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}
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/* Model initialize function */
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void filtLowPass_initialize(RT_MODEL *const rtM)
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{
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/* (no initialization code required) */
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UNUSED_PARAMETER(rtM);
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}
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/*
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* File trailer for generated code.
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*
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* [EOF]
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*/
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@ -1,91 +0,0 @@
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/*
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* File: filtLowPass.h
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*
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* Code generated for Simulink model 'filtLowPass'.
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*
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* Model version : 1.1167
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* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
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* C/C++ source code generated on : Sun Oct 6 22:11:53 2019
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex
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* Emulation hardware selection:
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* Differs from embedded hardware (MATLAB Host)
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* Code generation objectives:
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* 1. Execution efficiency
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* 2. RAM efficiency
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* Validation result: Not run
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*/
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#ifndef RTW_HEADER_filtLowPass_h_
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#define RTW_HEADER_filtLowPass_h_
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#ifndef filtLowPass_COMMON_INCLUDES_
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# define filtLowPass_COMMON_INCLUDES_
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#include "rtwtypes.h"
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#endif /* filtLowPass_COMMON_INCLUDES_ */
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/* Macros for accessing real-time model data structure */
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/* Forward declaration for rtModel */
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typedef struct tag_RTM RT_MODEL;
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/* Block signals and states (auto storage) for system '<Root>/filtLowPass' */
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typedef struct {
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int16_T UnitDelay3_DSTATE; /* '<S2>/UnitDelay3' */
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} DW_filtLowPass;
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/* Block signals and states (auto storage) for system '<Root>' */
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typedef struct {
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DW_filtLowPass filtLowPass_l2; /* '<Root>/filtLowPass' */
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} DW;
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/* External inputs (root inport signals with auto storage) */
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typedef struct {
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int16_T u; /* '<Root>/u' */
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uint16_T coef; /* '<Root>/coef' */
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} ExtU;
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/* External outputs (root outports fed by signals with auto storage) */
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typedef struct {
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int16_T y; /* '<Root>/y' */
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} ExtY;
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/* Real-time Model Data Structure */
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struct tag_RTM {
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ExtU *inputs;
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ExtY *outputs;
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DW *dwork;
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};
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/* Model entry point functions */
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extern void filtLowPass_initialize(RT_MODEL *const rtM);
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extern void filtLowPass_step(RT_MODEL *const rtM);
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/*-
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* The generated code includes comments that allow you to trace directly
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* back to the appropriate location in the model. The basic format
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* is <system>/block_name, where system is the system number (uniquely
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* assigned by Simulink) and block_name is the name of the block.
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*
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* Note that this particular code originates from a subsystem build,
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* and has its own system numbers different from the parent model.
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* Refer to the system hierarchy for this subsystem below, and use the
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* MATLAB hilite_system command to trace the generated code back
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* to the parent model. For example,
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*
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* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass') - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass
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* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass/Kp') - opens and selects block Kp
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*
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* Here is the system hierarchy for this model
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*
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* '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt'
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* '<S1>' : 'BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass'
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* '<S2>' : 'BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass/Low_Pass_Filter1'
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*/
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#endif /* RTW_HEADER_filtLowPass_h_ */
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/*
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* File trailer for generated code.
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*
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* [EOF]
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*/
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Binary file not shown.
@ -0,0 +1,96 @@
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/**
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* This file is part of the hoverboard-firmware-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Define to prevent recursive inclusion
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#ifndef UTIL_H
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#define UTIL_H
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#include <stdint.h>
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#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
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#ifdef CONTROL_IBUS
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typedef struct{
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uint8_t start;
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uint8_t type;
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uint8_t channels[IBUS_NUM_CHANNELS*2];
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uint8_t checksuml;
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uint8_t checksumh;
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} Serialcommand;
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#else
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typedef struct{
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uint16_t start;
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int16_t steer;
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int16_t speed;
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uint16_t checksum;
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} Serialcommand;
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#endif
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#endif
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#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
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typedef struct{
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uint16_t start;
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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uint16_t sensors;
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uint16_t checksum;
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} SerialSideboard;
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#endif
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// Initialization Functions
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void BLDC_Init(void);
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void Input_Lim_Init(void);
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void Input_Init(void);
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// General Functions
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void poweronMelody(void);
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void shortBeep(uint8_t freq);
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void shortBeepMany(uint8_t cnt);
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void longBeep(uint8_t freq);
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void calcAvgSpeed(void);
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void adcCalibLim(void);
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void updateCurSpdLim(void);
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void saveConfig(void);
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// Poweroff Functions
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void poweroff(void);
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void poweroffPressCheck(void);
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// Read Command Function
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void readCommand(void);
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// Sideboard functions
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void sideboardLeds(uint8_t *leds);
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void sideboardSensors(uint8_t sensors);
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// Filtering Functions
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void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
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void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
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void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
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// Multiple Tap Function
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typedef struct {
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uint32_t t_timePrev;
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uint8_t z_pulseCntPrev;
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uint8_t b_hysteresis;
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uint8_t b_multipleTap;
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} MultipleTap;
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void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
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#endif
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