From 1376793710294773692ef9a4df178f2e6f0b5665 Mon Sep 17 00:00:00 2001
From: EmanuelFeru <aerdronix@gmail.com>
Date: Sun, 27 Oct 2019 18:21:04 +0100
Subject: [PATCH] Improvements and Issues implementation

Major:
- Issue #3: added raw ADC1, ADC2 values to the setScopeChannel
- Issue #4: added functionality for joystick control. Middle resting potis are now supported (by default it is enabled)
- Issue #6: implemented that board does not power-off after a software reset due to flashing
- added Rate constraints for Input target for smoother response

Minor:
- added 2 beep sound when motors get enabled
- minor bugfixes
---
 .../RateLimiter_fixdt/rateLimiter.c           |  191 +
 .../RateLimiter_fixdt/rateLimiter.h           |   99 +
 ...LDCmotorControl_FOC_R2017b_fixdt_29_d.json | 2480 +++----
 ...BLDCmotorControl_FOC_R2017b_fixdt_29_d.png |  Bin 10832 -> 10909 bytes
 ...BLDCmotorControl_FOC_R2017b_fixdt_29_d.svg | 4630 +++++++-------
 ...motorControl_FOC_R2017b_fixdt_29_icons.png |  Bin 3304 -> 3304 bytes
 ...CmotorControl_FOC_R2017b_fixdt_8220_d.json |  754 +--
 ...DCmotorControl_FOC_R2017b_fixdt_8220_d.png |  Bin 14718 -> 14728 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8220_d.svg | 1214 ++--
 ...CmotorControl_FOC_R2017b_fixdt_8225_d.json |   12 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8225_d.svg |  110 +-
 ...CmotorControl_FOC_R2017b_fixdt_8235_d.json |   64 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8235_d.svg |    2 +-
 ...CmotorControl_FOC_R2017b_fixdt_8247_d.json |  100 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8247_d.svg |  124 +-
 ...CmotorControl_FOC_R2017b_fixdt_8263_d.json | 1428 ++---
 ...DCmotorControl_FOC_R2017b_fixdt_8263_d.png |  Bin 8315 -> 8305 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8263_d.svg | 2250 +++----
 ...orControl_FOC_R2017b_fixdt_8272_2515_d.svg |    4 +-
 ...CmotorControl_FOC_R2017b_fixdt_8272_d.json |  162 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8272_d.svg |  372 +-
 ...CmotorControl_FOC_R2017b_fixdt_8314_d.json | 1398 ++--
 ...DCmotorControl_FOC_R2017b_fixdt_8314_d.png |  Bin 8556 -> 8550 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8314_d.svg | 2832 ++++----
 ...CmotorControl_FOC_R2017b_fixdt_8384_d.json |  698 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8384_d.png |  Bin 7891 -> 7886 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8384_d.svg | 1060 +--
 ...CmotorControl_FOC_R2017b_fixdt_8469_d.json | 1170 ++--
 ...DCmotorControl_FOC_R2017b_fixdt_8469_d.png |  Bin 6565 -> 6562 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8469_d.svg | 2598 ++++----
 ...rControl_FOC_R2017b_fixdt_8486_2423_d.json |  136 +-
 ...orControl_FOC_R2017b_fixdt_8486_2423_d.svg |  114 +-
 ...rControl_FOC_R2017b_fixdt_8486_2428_d.json |  424 +-
 ...orControl_FOC_R2017b_fixdt_8486_2428_d.png |  Bin 6891 -> 6879 bytes
 ...orControl_FOC_R2017b_fixdt_8486_2428_d.svg | 1274 ++--
 ...trol_FOC_R2017b_fixdt_8486_2435_2515_d.svg |   26 +-
 ...rControl_FOC_R2017b_fixdt_8486_2435_d.json |   16 +-
 ...orControl_FOC_R2017b_fixdt_8486_2435_d.svg |   86 +-
 ...rControl_FOC_R2017b_fixdt_8486_2473_d.json |  504 +-
 ...orControl_FOC_R2017b_fixdt_8486_2473_d.png |  Bin 6792 -> 6787 bytes
 ...orControl_FOC_R2017b_fixdt_8486_2473_d.svg |  890 +--
 ...trol_FOC_R2017b_fixdt_8486_2480_2515_d.svg |    2 +-
 ...rControl_FOC_R2017b_fixdt_8486_2480_d.json |  170 +-
 ...orControl_FOC_R2017b_fixdt_8486_2480_d.svg |  416 +-
 ...orControl_FOC_R2017b_fixdt_8486_2507_d.svg |    2 +-
 ...CmotorControl_FOC_R2017b_fixdt_8486_d.json |  764 +--
 ...DCmotorControl_FOC_R2017b_fixdt_8486_d.png |  Bin 6796 -> 6785 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8486_d.svg | 1726 ++---
 ...DCmotorControl_FOC_R2017b_fixdt_8519_d.svg |    2 +-
 ...CmotorControl_FOC_R2017b_fixdt_8535_d.json |  646 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8535_d.png |  Bin 7857 -> 7854 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8535_d.svg | 1144 ++--
 ...CmotorControl_FOC_R2017b_fixdt_8546_d.json | 1220 ++--
 ...DCmotorControl_FOC_R2017b_fixdt_8546_d.svg | 1724 ++---
 ...CmotorControl_FOC_R2017b_fixdt_8603_d.json |    8 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8603_d.svg |  132 +-
 ...CmotorControl_FOC_R2017b_fixdt_8658_d.json | 2655 ++++----
 ...DCmotorControl_FOC_R2017b_fixdt_8658_d.png |  Bin 9826 -> 9867 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8658_d.svg | 5684 +++++++++--------
 ...CmotorControl_FOC_R2017b_fixdt_8668_d.json |  676 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8668_d.png |  Bin 5838 -> 5854 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8668_d.svg | 1148 ++--
 ...CmotorControl_FOC_R2017b_fixdt_8671_d.json |  490 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8671_d.svg |  718 +--
 ...CmotorControl_FOC_R2017b_fixdt_8686_d.json |  436 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8686_d.svg |  422 +-
 ...CmotorControl_FOC_R2017b_fixdt_8726_d.json |  274 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8726_d.png |  Bin 5184 -> 5183 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8726_d.svg |  530 +-
 ...CmotorControl_FOC_R2017b_fixdt_8738_d.json |  290 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8738_d.svg |  352 +-
 ...CmotorControl_FOC_R2017b_fixdt_8743_d.json | 1432 ++---
 ...DCmotorControl_FOC_R2017b_fixdt_8743_d.png |  Bin 9568 -> 9570 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8743_d.svg | 3052 ++++-----
 ...CmotorControl_FOC_R2017b_fixdt_8866_d.json |  414 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8866_d.svg |  536 +-
 ...CmotorControl_FOC_R2017b_fixdt_8886_d.json |  358 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8886_d.svg |  562 +-
 ...CmotorControl_FOC_R2017b_fixdt_8913_d.json | 2558 ++++----
 ...DCmotorControl_FOC_R2017b_fixdt_8913_d.png |  Bin 14250 -> 14266 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_8913_d.svg | 4226 ++++++------
 ...CmotorControl_FOC_R2017b_fixdt_8924_d.json |  174 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8924_d.svg |  342 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8930_d.svg |   12 +-
 ...CmotorControl_FOC_R2017b_fixdt_8987_d.json |  282 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8987_d.svg |  430 +-
 ...DCmotorControl_FOC_R2017b_fixdt_8993_d.svg |    8 +-
 ...CmotorControl_FOC_R2017b_fixdt_9029_d.json |  420 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9029_d.svg |  546 +-
 ...orControl_FOC_R2017b_fixdt_9040_2342_d.svg |   30 +-
 ...orControl_FOC_R2017b_fixdt_9040_2395_d.svg |   26 +-
 ...CmotorControl_FOC_R2017b_fixdt_9040_d.json |  350 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9040_d.svg |  636 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9042_d.svg |    2 +-
 ...CmotorControl_FOC_R2017b_fixdt_9045_d.json |  350 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9045_d.svg |  546 +-
 ...CmotorControl_FOC_R2017b_fixdt_9074_d.json |  838 +--
 ...DCmotorControl_FOC_R2017b_fixdt_9074_d.png |  Bin 5225 -> 5237 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_9074_d.svg | 1476 ++---
 ...rControl_FOC_R2017b_fixdt_9098_2275_d.json |  186 +-
 ...orControl_FOC_R2017b_fixdt_9098_2275_d.svg |  282 +-
 ...orControl_FOC_R2017b_fixdt_9098_2282_d.svg |   14 +-
 ...CmotorControl_FOC_R2017b_fixdt_9098_d.json |  444 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9098_d.png |  Bin 6949 -> 6954 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_9098_d.svg |  752 +--
 ...DCmotorControl_FOC_R2017b_fixdt_9099_d.svg |   24 +-
 ...CmotorControl_FOC_R2017b_fixdt_9109_d.json |  770 +--
 ...DCmotorControl_FOC_R2017b_fixdt_9109_d.png |  Bin 5238 -> 5241 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_9109_d.svg | 1344 ++--
 ...rControl_FOC_R2017b_fixdt_9132_2275_d.json |  168 +-
 ...orControl_FOC_R2017b_fixdt_9132_2275_d.svg |  304 +-
 ...orControl_FOC_R2017b_fixdt_9132_2282_d.svg |    8 +-
 ...CmotorControl_FOC_R2017b_fixdt_9132_d.json |  522 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9132_d.svg |  960 +--
 ...DCmotorControl_FOC_R2017b_fixdt_9133_d.svg |   18 +-
 ...CmotorControl_FOC_R2017b_fixdt_9143_d.json |  664 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9143_d.svg |  944 +--
 ...rControl_FOC_R2017b_fixdt_9163_2275_d.json |  228 +-
 ...orControl_FOC_R2017b_fixdt_9163_2275_d.svg |  240 +-
 ...orControl_FOC_R2017b_fixdt_9163_2282_d.svg |   10 +-
 ...CmotorControl_FOC_R2017b_fixdt_9163_d.json |  592 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9163_d.png |  Bin 6973 -> 6972 bytes
 ...DCmotorControl_FOC_R2017b_fixdt_9163_d.svg |  944 +--
 ...DCmotorControl_FOC_R2017b_fixdt_9164_d.svg |   20 +-
 ...CmotorControl_FOC_R2017b_fixdt_9171_d.json |  604 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9171_d.svg |  762 +--
 ...DCmotorControl_FOC_R2017b_fixdt_9188_d.svg |   14 +-
 ...CmotorControl_FOC_R2017b_fixdt_9198_d.json |  350 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9198_d.svg |  594 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9292_d.svg |    2 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9293_d.svg |    2 +-
 ...CmotorControl_FOC_R2017b_fixdt_9333_d.json |  404 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9333_d.svg |  586 +-
 ...CmotorControl_FOC_R2017b_fixdt_9337_d.json |   62 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9337_d.svg |   62 +-
 ...CmotorControl_FOC_R2017b_fixdt_9341_d.json |  514 +-
 ...DCmotorControl_FOC_R2017b_fixdt_9341_d.svg |  654 +-
 ...BLDCmotorControl_FOC_R2017b_fixdt_h_1.json | 1339 ++--
 .../BLDCmotorControl_FOC_R2017b_fixdt.slx     |  Bin 178839 -> 187036 bytes
 Inc/BLDC_controller.h                         |   10 +-
 Inc/config.h                                  |   18 +-
 Inc/defines.h                                 |    3 +-
 Inc/rtwtypes.h                                |    4 +-
 Src/BLDC_controller.c                         |  182 +-
 Src/BLDC_controller_data.c                    |    8 +-
 Src/bldc.c                                    |    2 +-
 Src/main.c                                    |   85 +-
 build/firmware.bin                            |  Bin 18936 -> 19164 bytes
 build/firmware.elf                            |  Bin 381864 -> 382656 bytes
 149 files changed, 42458 insertions(+), 41700 deletions(-)
 create mode 100644 01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.c
 create mode 100644 01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.h

diff --git a/01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.c b/01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.c
new file mode 100644
index 0000000..305169e
--- /dev/null
+++ b/01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.c
@@ -0,0 +1,191 @@
+/*
+ * File: rateLimiter.c
+ *
+ * Code generated for Simulink model 'rateLimiter'.
+ *
+ * Model version                  : 1.1186
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Sun Oct 27 16:29:07 2019
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
+ * Emulation hardware selection:
+ *    Differs from embedded hardware (MATLAB Host)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. RAM efficiency
+ * Validation result: Not run
+ */
+
+#include "rateLimiter.h"
+#ifndef UCHAR_MAX
+#include <limits.h>
+#endif
+
+#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
+#error Code was generated for compiler with different sized uchar/char. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
+#error Code was generated for compiler with different sized ushort/short. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
+#error Code was generated for compiler with different sized uint/int. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
+#error Code was generated for compiler with different sized ulong/long. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+
+#if 0
+
+/* Skip this size verification because of preprocessor limitation */
+#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
+#error Code was generated for compiler with different sized ulong_long/long_long. \
+Consider adjusting Test hardware word size settings on the \
+Hardware Implementation pane to match your compiler word sizes as \
+defined in limits.h of the compiler. Alternatively, you can \
+select the Test hardware is the same as production hardware option and \
+select the Enable portable word sizes option on the Code Generation > \
+Verification pane for ERT based targets, which will disable the \
+preprocessor word size checks.
+#endif
+#endif
+
+extern int16_T rateLimiter_j(int16_T rtu_u, int16_T rtu_rate, DW_rateLimiter
+  *localDW);
+
+/*===========*
+ * Constants *
+ *===========*/
+#define RT_PI                          3.14159265358979323846
+#define RT_PIF                         3.1415927F
+#define RT_LN_10                       2.30258509299404568402
+#define RT_LN_10F                      2.3025851F
+#define RT_LOG10E                      0.43429448190325182765
+#define RT_LOG10EF                     0.43429449F
+#define RT_E                           2.7182818284590452354
+#define RT_EF                          2.7182817F
+
+/*
+ * UNUSED_PARAMETER(x)
+ *   Used to specify that a function parameter (argument) is required but not
+ *   accessed by the function body.
+ */
+#ifndef UNUSED_PARAMETER
+# if defined(__LCC__)
+#   define UNUSED_PARAMETER(x)                                   /* do nothing */
+# else
+
+/*
+ * This is the semi-ANSI standard way of indicating that an
+ * unused function parameter is required.
+ */
+#   define UNUSED_PARAMETER(x)         (void) (x)
+# endif
+#endif
+
+/* Output and update for atomic system: '<Root>/rateLimiter' */
+int16_T rateLimiter_j(int16_T rtu_u, int16_T rtu_rate, DW_rateLimiter *localDW)
+{
+  int16_T rtb_UnitDelay;
+  int16_T rtb_Sum1;
+  int16_T rtb_Gain;
+  int16_T rty_y_0;
+
+  /* UnitDelay: '<S2>/UnitDelay' */
+  rtb_UnitDelay = localDW->UnitDelay_DSTATE;
+
+  /* Sum: '<S2>/Sum1' incorporates:
+   *  DataTypeConversion: '<S1>/Data Type Conversion1'
+   */
+  rtb_Sum1 = (int16_T)((int16_T)(rtu_u << 4) - rtb_UnitDelay);
+
+  /* Switch: '<S3>/Switch2' incorporates:
+   *  RelationalOperator: '<S3>/LowerRelop1'
+   */
+  if (rtb_Sum1 > rtu_rate) {
+    rtb_Sum1 = rtu_rate;
+  } else {
+    /* Gain: '<S1>/Gain' */
+    rtb_Gain = (int16_T)-rtu_rate;
+
+    /* Switch: '<S3>/Switch' incorporates:
+     *  RelationalOperator: '<S3>/UpperRelop'
+     */
+    if (rtb_Sum1 < rtb_Gain) {
+      rtb_Sum1 = rtb_Gain;
+    }
+
+    /* End of Switch: '<S3>/Switch' */
+  }
+
+  /* End of Switch: '<S3>/Switch2' */
+
+  /* Sum: '<S2>/Sum2' */
+  rty_y_0 = (int16_T)(rtb_Sum1 + rtb_UnitDelay);
+
+  /* Update for UnitDelay: '<S2>/UnitDelay' */
+  localDW->UnitDelay_DSTATE = rty_y_0;
+  return rty_y_0;
+}
+
+/* Model step function */
+void rateLimiter_step(RT_MODEL *const rtM)
+{
+  DW *rtDW = ((DW *) rtM->dwork);
+  ExtU *rtU = (ExtU *) rtM->inputs;
+  ExtY *rtY = (ExtY *) rtM->outputs;
+
+  /* Outputs for Atomic SubSystem: '<Root>/rateLimiter' */
+
+  /* Outport: '<Root>/y' incorporates:
+   *  Inport: '<Root>/rate'
+   *  Inport: '<Root>/u'
+   */
+  rtY->y = (int16_T) rateLimiter_j(rtU->u, rtU->rate, &rtDW->rateLimiter_j0);
+
+  /* End of Outputs for SubSystem: '<Root>/rateLimiter' */
+}
+
+/* Model initialize function */
+void rateLimiter_initialize(RT_MODEL *const rtM)
+{
+  /* (no initialization code required) */
+  UNUSED_PARAMETER(rtM);
+}
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.h b/01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.h
new file mode 100644
index 0000000..675b457
--- /dev/null
+++ b/01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.h
@@ -0,0 +1,99 @@
+/*
+ * File: rateLimiter.h
+ *
+ * Code generated for Simulink model 'rateLimiter'.
+ *
+ * Model version                  : 1.1186
+ * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
+ * C/C++ source code generated on : Sun Oct 27 16:29:07 2019
+ *
+ * Target selection: ert.tlc
+ * Embedded hardware selection: ARM Compatible->ARM Cortex
+ * Emulation hardware selection:
+ *    Differs from embedded hardware (MATLAB Host)
+ * Code generation objectives:
+ *    1. Execution efficiency
+ *    2. RAM efficiency
+ * Validation result: Not run
+ */
+
+#ifndef RTW_HEADER_rateLimiter_h_
+#define RTW_HEADER_rateLimiter_h_
+#ifndef rateLimiter_COMMON_INCLUDES_
+# define rateLimiter_COMMON_INCLUDES_
+#include "rtwtypes.h"
+#endif                                 /* rateLimiter_COMMON_INCLUDES_ */
+
+/* Macros for accessing real-time model data structure */
+
+/* Forward declaration for rtModel */
+typedef struct tag_RTM RT_MODEL;
+
+/* Block signals and states (auto storage) for system '<Root>/rateLimiter' */
+typedef struct {
+  int16_T UnitDelay_DSTATE;            /* '<S2>/UnitDelay' */
+} DW_rateLimiter;
+
+/* Block signals and states (auto storage) for system '<Root>' */
+typedef struct {
+  DW_rateLimiter rateLimiter_j0;       /* '<Root>/rateLimiter' */
+} DW;
+
+/* External inputs (root inport signals with auto storage) */
+typedef struct {
+  int16_T u;                           /* '<Root>/u' */
+  int16_T rate;                        /* '<Root>/rate' */
+} ExtU;
+
+/* External outputs (root outports fed by signals with auto storage) */
+typedef struct {
+  int16_T y;                           /* '<Root>/y' */
+} ExtY;
+
+/* Real-time Model Data Structure */
+struct tag_RTM {
+  ExtU *inputs;
+  ExtY *outputs;
+  DW *dwork;
+};
+
+/* Model entry point functions */
+extern void rateLimiter_initialize(RT_MODEL *const rtM);
+extern void rateLimiter_step(RT_MODEL *const rtM);
+
+/*-
+ * These blocks were eliminated from the model due to optimizations:
+ *
+ * Block '<S3>/Data Type Duplicate' : Unused code path elimination
+ * Block '<S3>/Data Type Propagation' : Unused code path elimination
+ */
+
+/*-
+ * The generated code includes comments that allow you to trace directly
+ * back to the appropriate location in the model.  The basic format
+ * is <system>/block_name, where system is the system number (uniquely
+ * assigned by Simulink) and block_name is the name of the block.
+ *
+ * Note that this particular code originates from a subsystem build,
+ * and has its own system numbers different from the parent model.
+ * Refer to the system hierarchy for this subsystem below, and use the
+ * MATLAB hilite_system command to trace the generated code back
+ * to the parent model.  For example,
+ *
+ * hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter')    - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter
+ * hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter/Kp') - opens and selects block Kp
+ *
+ * Here is the system hierarchy for this model
+ *
+ * '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt'
+ * '<S1>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter'
+ * '<S2>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter/Rate_Limiter'
+ * '<S3>'   : 'BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter/Rate_Limiter/Saturation Dynamic'
+ */
+#endif                                 /* RTW_HEADER_rateLimiter_h_ */
+
+/*
+ * File trailer for generated code.
+ *
+ * [EOF]
+ */
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_d.json
index bb88cc3..0b32576 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_29_d.json
@@ -227,11 +227,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9303",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9305",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"n_mot",
-  "label":"n_mot",
+  "name":"r_devSignal1",
+  "label":"r_devSignal1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
@@ -260,7 +260,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "5",
+    "7",
     "Port number",
     "[]",
     "[]",
@@ -273,9 +273,9 @@
     "auto",
     "off",
     "off",
-    "[]",
+    "0",
     "off",
-    "held",
+    "reset",
     "off",
     "0",
     "",
@@ -307,11 +307,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9302",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9303",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"z_errCode",
-  "label":"z_errCode",
+  "name":"n_mot",
+  "label":"n_mot",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
@@ -340,7 +340,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "4",
+    "5",
     "Port number",
     "[]",
     "[]",
@@ -353,9 +353,9 @@
     "auto",
     "off",
     "off",
-    "0",
+    "[]",
     "off",
-    "reset",
+    "held",
     "off",
     "0",
     "",
@@ -387,11 +387,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9301",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9302",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"DC_phaC",
-  "label":"DC_phaC",
+  "name":"z_errCode",
+  "label":"z_errCode",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
@@ -420,7 +420,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "3",
+    "4",
     "Port number",
     "[]",
     "[]",
@@ -433,9 +433,9 @@
     "auto",
     "off",
     "off",
-    "[]",
+    "0",
     "off",
-    "held",
+    "reset",
     "off",
     "0",
     "",
@@ -467,36 +467,42 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9291",
-  "className":"Simulink.If",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9298",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"If2",
-  "label":"If2",
+  "name":"z_ctrlTypSel1",
+  "label":"z_ctrlTypSel1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
-    "NumInputs",
-    "IfExpression",
-    "ElseIfExpressions",
-    "ShowElse",
+    "Value",
+    "VectorParams1D",
     "SampleTime",
-    "ZeroCross"
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "FramePeriod"
    ],
    "values":[
-    "1",
-    "u1 ~= 0",
-    "",
+    "z_ctrlTypSel",
+    "on",
+    "inf",
+    "[]",
+    "[]",
+    "uint8",
     "off",
-    "-1",
-    "on"
+    "inf"
    ],
    "tabs":[
-    "Parameter Attributes",
+    "Main",
+    "Signal Attributes",
     "-Other"
    ],
    "tabs_idx":[
     0,
-    4
+    3,
+    7
    ]
   },
   "viewer":{
@@ -505,41 +511,51 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"If",
+   "blocktype":"Constant",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9290",
-  "className":"Simulink.If",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9669",
+  "className":"Simulink.Saturate",
   "icon":"WebViewIcon3",
-  "name":"If1",
-  "label":"If1",
+  "name":"Saturation2",
+  "label":"Saturation2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
-    "NumInputs",
-    "IfExpression",
-    "ElseIfExpressions",
-    "ShowElse",
+    "UpperLimit",
+    "LowerLimit",
+    "LinearizeAsGain",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "RndMeth",
     "SampleTime",
     "ZeroCross"
    ],
    "values":[
-    "1",
-    "u1 ~= CTRL_COM",
-    "",
+    "1000",
+    "-1000",
+    "on",
+    "[]",
+    "[]",
+    "fixdt(1,16,4)",
     "off",
+    "Floor",
     "-1",
     "on"
    ],
    "tabs":[
-    "Parameter Attributes",
+    "Main",
+    "Signal Attributes",
     "-Other"
    ],
    "tabs_idx":[
     0,
-    4
+    3,
+    8
    ]
   },
   "viewer":{
@@ -548,49 +564,43 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"If",
+   "blocktype":"Saturate",
    "masktype":""
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9284",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto9",
-  "label":"Goto9",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9293",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon4",
+  "name":"Model_Info",
+  "label":"Model_Info",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
    ],
    "values":[
-    "b_hallC",
-    "local",
-    "Tag"
    ],
    "tabs":[
-    "Parameter Attributes"
    ],
-   "tabs_idx":0
+   "tabs_idx":[
+   ]
   },
   "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
+   "jshandler":"webview/handlers/ContainerHandler"
   },
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"SubSystem",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9299",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9304",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"DC_phaA",
-  "label":"DC_phaA",
+  "name":"a_elecAngle",
+  "label":"a_elecAngle",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
@@ -619,7 +629,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
-    "1",
+    "6",
     "Port number",
     "[]",
     "[]",
@@ -666,27 +676,37 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9389",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9291",
+  "className":"Simulink.If",
   "icon":"WebViewIcon3",
-  "name":"Goto6",
-  "label":"Goto6",
+  "name":"If2",
+  "label":"If2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
+    "NumInputs",
+    "IfExpression",
+    "ElseIfExpressions",
+    "ShowElse",
+    "SampleTime",
+    "ZeroCross"
    ],
    "values":[
-    "r_inpTgtSca",
-    "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"
@@ -694,16 +714,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"If",
    "masktype":""
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9281",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9389",
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   "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
+  "name":"Goto6",
+  "label":"Goto6",
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   "inspector":{
    "params":[
@@ -712,7 +732,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_hallB",
+    "r_inpTgtSca",
     "local",
     "Tag"
    ],
@@ -732,11 +752,11 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9280",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9289",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto4",
-  "label":"Goto4",
+  "name":"Goto28",
+  "label":"Goto28",
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   "inspector":{
    "params":[
@@ -745,7 +765,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_posRaw",
+    "b_motEna",
     "local",
     "Tag"
    ],
@@ -765,11 +785,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9279",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9288",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Goto27",
+  "label":"Goto27",
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   "inspector":{
    "params":[
@@ -778,7 +798,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlTypSel",
+    "n_mot",
     "local",
     "Tag"
    ],
@@ -798,11 +818,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9289",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9284",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto28",
-  "label":"Goto28",
+  "name":"Goto9",
+  "label":"Goto9",
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   "inspector":{
    "params":[
@@ -811,7 +831,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_motEna",
+    "b_hallC",
     "local",
     "Tag"
    ],
@@ -831,11 +851,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9287",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9281",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto26",
-  "label":"Goto26",
+  "name":"Goto5",
+  "label":"Goto5",
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   "inspector":{
    "params":[
@@ -844,7 +864,7 @@
     "IconDisplay"
    ],
    "values":[
-    "DC_phaA",
+    "b_hallB",
     "local",
     "Tag"
    ],
@@ -864,11 +884,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9285",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9283",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto24",
-  "label":"Goto24",
+  "name":"Goto23",
+  "label":"Goto23",
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@@ -877,7 +897,7 @@
     "IconDisplay"
    ],
    "values":[
-    "DC_phaB",
+    "z_pos",
     "local",
     "Tag"
    ],
@@ -897,11 +917,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9283",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9276",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto23",
-  "label":"Goto23",
+  "name":"Goto15",
+  "label":"Goto15",
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   "inspector":{
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@@ -910,7 +930,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_pos",
+    "i_phaBC",
     "local",
     "Tag"
    ],
@@ -930,11 +950,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9272",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9275",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto2",
-  "label":"Goto2",
+  "name":"Goto14",
+  "label":"Goto14",
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@@ -943,7 +963,7 @@
     "IconDisplay"
    ],
    "values":[
-    "r_devSignal2",
+    "a_elecAngle",
     "local",
     "Tag"
    ],
@@ -963,11 +983,11 @@
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  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9278",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9277",
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   "icon":"WebViewIcon3",
-  "name":"Goto17",
-  "label":"Goto17",
+  "name":"Goto16",
+  "label":"Goto16",
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@@ -976,7 +996,7 @@
     "IconDisplay"
    ],
    "values":[
-    "n_motAbs",
+    "z_ctrlModReq",
     "local",
     "Tag"
    ],
@@ -996,68 +1016,21 @@
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-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon3",
-  "name":"z_ctrlTypSel1",
-  "label":"z_ctrlTypSel1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
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-    "VectorParams1D",
-    "SampleTime",
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-    "FramePeriod"
-   ],
-   "values":[
-    "z_ctrlTypSel",
-    "on",
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-    "[]",
-    "[]",
-    "uint8",
-    "off",
-    "inf"
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-   "tabs":[
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-    "Signal Attributes",
-    "-Other"
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-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
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-  "finder":{
-   "blocktype":"Constant",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9392",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9270",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From9",
-  "label":"From9",
+  "name":"Goto1",
+  "label":"Goto1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlModPrev",
+    "b_hallA",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -1071,16 +1044,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9275",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9269",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto14",
-  "label":"Goto14",
+  "name":"Goto",
+  "label":"Goto",
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    "params":[
@@ -1089,7 +1062,7 @@
     "IconDisplay"
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    "values":[
-    "a_elecAngle",
+    "r_inpTgt",
     "local",
     "Tag"
    ],
@@ -1109,19 +1082,21 @@
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  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9251",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9437",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From7",
-  "label":"From7",
+  "name":"Goto11",
+  "label":"Goto11",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlTypSel",
+    "b_motStdStill",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -1135,26 +1110,24 @@
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-   "blocktype":"From",
+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9269",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9252",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto",
-  "label":"Goto",
+  "name":"From8",
+  "label":"From8",
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   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgt",
-    "local",
+    "b_hallA",
     "Tag"
    ],
    "tabs":[
@@ -1168,16 +1141,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
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   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9241",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9251",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From5",
-  "label":"From5",
+  "name":"From7",
+  "label":"From7",
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   "inspector":{
    "params":[
@@ -1185,7 +1158,7 @@
     "IconDisplay"
    ],
    "values":[
-    "n_mot",
+    "z_ctrlTypSel",
     "Tag"
    ],
    "tabs":[
@@ -1204,11 +1177,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9263",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9250",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From46",
-  "label":"From46",
+  "name":"From6",
+  "label":"From6",
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   "inspector":{
    "params":[
@@ -1216,7 +1189,7 @@
     "IconDisplay"
    ],
    "values":[
-    "r_devSignal1",
+    "z_ctrlTypSel",
     "Tag"
    ],
    "tabs":[
@@ -1235,19 +1208,21 @@
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  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9262",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9274",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From45",
-  "label":"From45",
+  "name":"Goto13",
+  "label":"Goto13",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "r_devSignal2",
+    "i_phaAB",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -1261,41 +1236,37 @@
   "obj_viewer":[
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-   "blocktype":"From",
+   "blocktype":"Goto",
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   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9294",
-  "className":"Simulink.Saturate",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9297",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"Saturation",
-  "label":"Saturation",
+  "name":"b_diagEna",
+  "label":"b_diagEna",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
-    "UpperLimit",
-    "LowerLimit",
-    "LinearizeAsGain",
+    "Value",
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     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "RndMeth",
-    "SampleTime",
-    "ZeroCross"
+    "FramePeriod"
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-    "-1500",
+    "b_diagEna",
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+    "boolean",
     "off",
-    "Floor",
-    "-1",
-    "on"
+    "inf"
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@@ -1305,7 +1276,7 @@
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@@ -1314,16 +1285,16 @@
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+   "blocktype":"Constant",
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9263",
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-  "name":"From35",
-  "label":"From35",
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+  "label":"From46",
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@@ -1331,7 +1302,7 @@
     "IconDisplay"
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+    "r_devSignal1",
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@@ -1350,25 +1321,21 @@
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-  "className":"Simulink.From",
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+  "className":"Simulink.Terminator",
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-  "name":"From34",
-  "label":"From34",
+  "name":"Terminator",
+  "label":"Terminator",
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   "inspector":{
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-    "IconDisplay"
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    "values":[
-    "a_elecAngle",
-    "Tag"
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+   "tabs_idx":[
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@@ -1376,26 +1343,32 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9441",
-  "className":"Simulink.Terminator",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9271",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Terminator",
-  "label":"Terminator",
+  "name":"Goto10",
+  "label":"Goto10",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
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    "values":[
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-   "tabs_idx":[
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@@ -1403,16 +1376,16 @@
   "obj_viewer":[
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+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9265",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9268",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From32",
-  "label":"From32",
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+  "label":"From35",
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@@ -1420,7 +1393,7 @@
     "IconDisplay"
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    "values":[
-    "DC_phaB",
+    "n_mot",
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@@ -1439,11 +1412,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9264",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9265",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From31",
-  "label":"From31",
+  "name":"From32",
+  "label":"From32",
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@@ -1451,7 +1424,7 @@
     "IconDisplay"
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-    "DC_phaA",
+    "DC_phaB",
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@@ -1470,19 +1443,21 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9261",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9287",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From29",
-  "label":"From29",
+  "name":"Goto26",
+  "label":"Goto26",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "b_hallC",
+    "DC_phaA",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -1496,24 +1471,26 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
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   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9258",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9286",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From28",
-  "label":"From28",
+  "name":"Goto25",
+  "label":"Goto25",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "z_errCode",
+    "DC_phaC",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -1527,16 +1504,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9257",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9264",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From26",
-  "label":"From26",
+  "name":"From31",
+  "label":"From31",
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   "inspector":{
    "params":[
@@ -1544,7 +1521,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlTypSel",
+    "DC_phaA",
     "Tag"
    ],
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@@ -1563,11 +1540,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9388",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9260",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From2",
-  "label":"From2",
+  "name":"From30",
+  "label":"From30",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
@@ -1575,7 +1552,7 @@
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgtSca",
+    "z_pos",
     "Tag"
    ],
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@@ -1594,21 +1571,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9456",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9674",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto12",
-  "label":"Goto12",
+  "name":"From3",
+  "label":"From3",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "VqFinPrev",
-    "local",
+    "r_inpTgt",
     "Tag"
    ],
    "tabs":[
@@ -1622,16 +1597,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9448",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9418",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From15",
-  "label":"From15",
+  "name":"From4",
+  "label":"From4",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
@@ -1639,7 +1614,7 @@
     "IconDisplay"
    ],
    "values":[
-    "VqFinPrev",
+    "b_motStdStill",
     "Tag"
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@@ -1658,11 +1633,11 @@
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9242",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9261",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From10",
-  "label":"From10",
+  "name":"From29",
+  "label":"From29",
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   "inspector":{
    "params":[
@@ -1670,7 +1645,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_motEna",
+    "b_hallC",
     "Tag"
    ],
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@@ -1689,11 +1664,91 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9259",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9301",
+  "className":"Simulink.Outport",
+  "icon":"WebViewIcon3",
+  "name":"DC_phaC",
+  "label":"DC_phaC",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "inspector":{
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+    "Port",
+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
+   ],
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+    "Port number",
+    "[]",
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+    "off",
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+    "-1",
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+    "Dialog",
+    "Auto",
+    "off"
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+    "Signal Attributes",
+    "-Other"
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+    11
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-  "label":"From27",
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   "inspector":{
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@@ -1701,7 +1756,7 @@
     "IconDisplay"
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-    "b_hallB",
+    "z_errCode",
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@@ -1720,11 +1775,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9252",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9257",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From8",
-  "label":"From8",
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   "inspector":{
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@@ -1732,7 +1787,38 @@
     "IconDisplay"
    ],
    "values":[
-    "b_hallA",
+    "z_ctrlTypSel",
+    "Tag"
+   ],
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+  },
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+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From18",
+  "label":"From18",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
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+    "b_motStdStill",
     "Tag"
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@@ -1844,44 +1930,11 @@
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-  "icon":"WebViewIcon3",
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-  "label":"Goto11",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
-  "inspector":{
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9294",
   "className":"Simulink.Saturate",
   "icon":"WebViewIcon3",
-  "name":"Saturation1",
-  "label":"Saturation1",
+  "name":"Saturation",
+  "label":"Saturation",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
@@ -1897,8 +1950,8 @@
     "ZeroCross"
    ],
    "values":[
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-    "-1500",
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+    "-2000",
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     "[]",
@@ -1930,21 +1983,19 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9276",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9249",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto15",
-  "label":"Goto15",
+  "name":"From17",
+  "label":"From17",
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   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "i_phaBC",
-    "local",
+    "n_motAbs",
     "Tag"
    ],
    "tabs":[
@@ -1958,16 +2009,16 @@
   "obj_viewer":[
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   "finder":{
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+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9244",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9448",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From12",
-  "label":"From12",
+  "name":"From15",
+  "label":"From15",
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   "inspector":{
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@@ -1975,7 +2026,7 @@
     "IconDisplay"
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-    "i_phaAB",
+    "VqFinPrev",
     "Tag"
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@@ -1994,11 +2045,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9300",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9299",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"DC_phaB",
-  "label":"DC_phaB",
+  "name":"DC_phaA",
+  "label":"DC_phaA",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
@@ -2027,7 +2078,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
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-    "2",
+    "1",
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@@ -2074,19 +2125,21 @@
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-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9285",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From22",
-  "label":"From22",
+  "name":"Goto24",
+  "label":"Goto24",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "a_elecAngle",
+    "DC_phaB",
+    "local",
     "Tag"
    ],
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@@ -2100,26 +2153,24 @@
   "obj_viewer":[
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   "finder":{
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+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9270",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9244",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
+  "name":"From12",
+  "label":"From12",
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   "inspector":{
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     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
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    "values":[
-    "b_hallA",
-    "local",
+    "i_phaAB",
     "Tag"
    ],
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@@ -2133,16 +2184,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9387",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9241",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From24",
-  "label":"From24",
+  "name":"From5",
+  "label":"From5",
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@@ -2150,7 +2201,38 @@
     "IconDisplay"
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-    "r_inpTgtSca",
+    "n_mot",
+    "Tag"
+   ],
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+  "icon":"WebViewIcon3",
+  "name":"From1",
+  "label":"From1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:29",
+  "inspector":{
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+    "IconDisplay"
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     "Tag"
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@@ -2266,21 +2348,19 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9274",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9245",
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   "icon":"WebViewIcon3",
-  "name":"Goto13",
-  "label":"Goto13",
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-  "label":"Goto25",
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@@ -2535,16 +2607,16 @@
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@@ -2552,7 +2624,7 @@
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@@ -2571,108 +2643,64 @@
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@@ -2681,7 +2709,7 @@
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   "icon":"WebViewIcon3",
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@@ -2774,16 +2854,16 @@
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@@ -2791,7 +2871,7 @@
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@@ -2810,11 +2890,11 @@
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-  "name":"Data Type Conversion3",
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@@ -2856,6 +2936,37 @@
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@@ -2904,11 +3015,44 @@
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@@ -2951,174 +3095,11 @@
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@@ -3161,78 +3142,11 @@
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-  "label":"From18",
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@@ -3595,16 +3408,16 @@
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@@ -3627,7 +3440,7 @@
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-  "label":"From33",
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@@ -3732,7 +3492,7 @@
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@@ -3751,11 +3511,11 @@
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@@ -3763,7 +3523,7 @@
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@@ -3802,20 +3562,14 @@
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@@ -3827,17 +3581,10 @@
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@@ -3857,46 +3604,75 @@
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@@ -3906,16 +3682,16 @@
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@@ -3938,7 +3714,7 @@
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@@ -4005,7 +3781,7 @@
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@@ -4078,7 +3887,7 @@
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@@ -4091,9 +3900,9 @@
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@@ -4125,21 +3934,19 @@
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@@ -4513,11 +4443,42 @@
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-  "name":"i_phaAB",
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9379",
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   "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
+  "name":"Goto14",
+  "label":"Goto14",
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   "inspector":{
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@@ -1874,7 +1780,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_counter",
+    "z_ctrlModPrev",
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@@ -1894,11 +1800,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8455",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9377",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Goto13",
+  "label":"Goto13",
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@@ -1907,7 +1813,7 @@
     "IconDisplay"
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    "values":[
-    "z_ctrlTypSel",
+    "r_inpTgt",
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     "Tag"
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@@ -1927,11 +1833,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9379",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8455",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto14",
-  "label":"Goto14",
+  "name":"Goto3",
+  "label":"Goto3",
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    "params":[
@@ -1940,7 +1846,7 @@
     "IconDisplay"
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    "values":[
-    "z_ctrlModPrev",
+    "z_ctrlTypSel",
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@@ -1960,21 +1866,19 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9384",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9382",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto15",
-  "label":"Goto15",
+  "name":"From24",
+  "label":"From24",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
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-    "TagVisibility",
     "IconDisplay"
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     "Tag"
    ],
    "tabs":[
@@ -1988,26 +1892,24 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9377",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8437",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto13",
-  "label":"Goto13",
+  "name":"From23",
+  "label":"From23",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
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     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgt",
-    "local",
+    "b_enaFOC",
     "Tag"
    ],
    "tabs":[
@@ -2021,16 +1923,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8446",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8436",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From9",
-  "label":"From9",
+  "name":"From22",
+  "label":"From22",
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@@ -2038,7 +1940,7 @@
     "IconDisplay"
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    "values":[
-    "z_posRaw",
+    "z_counterRaw",
     "Tag"
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    "tabs":[
@@ -2057,11 +1959,11 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8437",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8434",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From23",
-  "label":"From23",
+  "name":"From20",
+  "label":"From20",
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    "params":[
@@ -2069,7 +1971,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_enaFOC",
+    "z_dir",
     "Tag"
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    "tabs":[
@@ -2088,11 +1990,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9432",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8449",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto17",
-  "label":"Goto17",
+  "name":"Goto10",
+  "label":"Goto10",
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   "inspector":{
    "params":[
@@ -2101,7 +2003,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_motStdStill",
+    "a_elecAngle",
     "local",
     "Tag"
    ],
@@ -2121,11 +2023,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8434",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8432",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From20",
-  "label":"From20",
+  "name":"From18",
+  "label":"From18",
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   "inspector":{
    "params":[
@@ -2133,7 +2035,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_dir",
+    "b_enaFOC",
     "Tag"
    ],
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@@ -2152,19 +2054,21 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9381",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8458",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From19",
-  "label":"From19",
+  "name":"Goto6",
+  "label":"Goto6",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgt",
+    "z_counterRaw",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2178,16 +2082,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9382",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8435",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From24",
-  "label":"From24",
+  "name":"From21",
+  "label":"From21",
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   "inspector":{
    "params":[
@@ -2195,7 +2099,7 @@
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgtSca",
+    "z_counter",
     "Tag"
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@@ -2214,11 +2118,11 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8432",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8446",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From18",
-  "label":"From18",
+  "name":"From9",
+  "label":"From9",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
@@ -2226,7 +2130,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_enaFOC",
+    "z_posRaw",
     "Tag"
    ],
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@@ -2245,11 +2149,11 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8431",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8430",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From17",
-  "label":"From17",
+  "name":"From15",
+  "label":"From15",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
@@ -2257,7 +2161,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_pos",
+    "z_dirPrev",
     "Tag"
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    "tabs":[
@@ -2276,11 +2180,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9380",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9431",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From16",
-  "label":"From16",
+  "name":"From25",
+  "label":"From25",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
@@ -2288,7 +2192,7 @@
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlModPrev",
+    "b_motStdStill",
     "Tag"
    ],
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@@ -2340,11 +2244,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8429",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8427",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From14",
-  "label":"From14",
+  "name":"From12",
+  "label":"From12",
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   "inspector":{
    "params":[
@@ -2352,7 +2256,7 @@
     "IconDisplay"
    ],
    "values":[
-    "n_motAbs",
+    "a_elecAngle",
     "Tag"
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@@ -2371,21 +2275,19 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8449",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9380",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto10",
-  "label":"Goto10",
+  "name":"From16",
+  "label":"From16",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "a_elecAngle",
-    "local",
+    "z_ctrlModPrev",
     "Tag"
    ],
    "tabs":[
@@ -2399,16 +2301,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8427",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8424",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From12",
-  "label":"From12",
+  "name":"From",
+  "label":"From",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
@@ -2416,7 +2318,7 @@
     "IconDisplay"
    ],
    "values":[
-    "a_elecAngle",
+    "z_ctrlTypSel",
     "Tag"
    ],
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@@ -2532,11 +2434,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8430",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9374",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From15",
-  "label":"From15",
+  "name":"From11",
+  "label":"From11",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
@@ -2544,7 +2446,71 @@
     "IconDisplay"
    ],
    "values":[
-    "z_dirPrev",
+    "z_ctrlTypSel",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8457",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto5",
+  "label":"Goto5",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_counter",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8429",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From14",
+  "label":"From14",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "n_motAbs",
     "Tag"
    ],
    "tabs":[
@@ -2642,6 +2608,39 @@
    "masktype":""
   }
  },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8451",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto12",
+  "label":"Goto12",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "n_motAbs",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
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+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
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   "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9333",
   "className":"Simulink.SubSystem",
@@ -2740,25 +2739,61 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9431",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9378",
+  "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"From25",
-  "label":"From25",
+  "name":"z_ctrlModPrev",
+  "label":"z_ctrlModPrev",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
   "inspector":{
    "params":[
-    "GotoTag",
-    "IconDisplay"
+    "Port",
+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
    ],
    "values":[
-    "b_motStdStill",
-    "Tag"
+    "6",
+    "Port number",
+    "[]",
+    "[]",
+    "Inherit: auto",
+    "off",
+    "inherit",
+    "-1",
+    "Inherit",
+    "-1",
+    "auto",
+    "off",
+    "",
+    "on",
+    "off",
+    "off",
+    "off"
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    "tabs":[
-    "Parameter Attributes"
+    "Main",
+    "Signal Attributes",
+    "-Other"
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-   "tabs_idx":0
+   "tabs_idx":[
+    0,
+    2,
+    11
+   ]
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   "viewer":{
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@@ -2766,16 +2801,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Inport",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9375",
-  "className":"Simulink.Inport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8463",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"r_inpTgt",
-  "label":"r_inpTgt",
+  "name":"z_posRaw",
+  "label":"z_posRaw",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
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@@ -2791,11 +2826,17 @@
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     "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
    ],
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     "2",
@@ -2810,10 +2851,17 @@
     "-1",
     "auto",
     "off",
-    "",
-    "on",
     "off",
+    "0",
+    "off",
+    "reset",
     "off",
+    "0",
+    "",
+    [
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+    "Dialog",
+    "Auto",
     "off"
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@@ -2833,16 +2881,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Inport",
+   "blocktype":"Outport",
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   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8424",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9381",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From",
-  "label":"From",
+  "name":"From19",
+  "label":"From19",
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   "inspector":{
    "params":[
@@ -2850,7 +2898,7 @@
     "IconDisplay"
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-    "z_ctrlTypSel",
+    "r_inpTgt",
     "Tag"
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@@ -2869,11 +2917,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9374",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8431",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From11",
-  "label":"From11",
+  "name":"From17",
+  "label":"From17",
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@@ -2881,7 +2929,7 @@
     "IconDisplay"
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-    "z_ctrlTypSel",
+    "z_pos",
     "Tag"
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@@ -2900,11 +2948,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9378",
-  "className":"Simulink.Inport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8466",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"z_ctrlModPrev",
-  "label":"z_ctrlModPrev",
+  "name":"n_motAbs",
+  "label":"n_motAbs",
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@@ -2920,14 +2968,20 @@
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     "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
    ],
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-    "6",
+    "5",
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     "[]",
@@ -2939,10 +2993,17 @@
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     "off",
-    "",
-    "on",
     "off",
+    "0",
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+    "reset",
     "off",
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+    [
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     "off"
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@@ -2962,71 +3023,7 @@
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-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon3",
-  "name":"Goto12",
-  "label":"Goto12",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
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-  "label":"From22",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
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-  "obj_viewer":[
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-  "className":"Simulink.Goto",
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+  "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"Goto8",
-  "label":"Goto8",
+  "name":"r_inpTgt",
+  "label":"r_inpTgt",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8220",
   "inspector":{
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-    "TagVisibility",
-    "IconDisplay"
+    "Port",
+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
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    "values":[
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-    "local",
-    "Tag"
+    "2",
+    "Port number",
+    "[]",
+    "[]",
+    "Inherit: auto",
+    "off",
+    "inherit",
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-   "blocktype":"Goto",
+   "blocktype":"Inport",
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8220_d.png b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8220_d.png
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@@ -1467,16 +1498,16 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8303",
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   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Goto7",
+  "label":"Goto7",
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@@ -1485,7 +1516,7 @@
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@@ -1505,108 +1536,44 @@
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-  "name":"Raw_Motor_Speed_Estimation",
-  "label":"Raw_Motor_Speed_Estimation",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8300",
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-  "name":"Goto17",
-  "label":"Goto17",
+  "name":"Goto5",
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@@ -1615,7 +1582,7 @@
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@@ -1635,11 +1602,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8299",
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   "icon":"WebViewIcon3",
-  "name":"Goto12",
-  "label":"Goto12",
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@@ -1648,7 +1615,7 @@
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@@ -1668,20 +1635,22 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8311",
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   "icon":"WebViewIcon3",
-  "name":"Mux1",
-  "label":"Mux1",
+  "name":"Goto4",
+  "label":"Goto4",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8263",
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-  "label":"From9",
+  "name":"Goto17",
+  "label":"Goto17",
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@@ -1725,7 +1729,7 @@
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@@ -1761,21 +1765,19 @@
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@@ -1789,16 +1791,16 @@
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-  "label":"From6",
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@@ -1825,19 +1827,21 @@
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-  "label":"From5",
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@@ -1851,16 +1855,16 @@
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-  "label":"From31",
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@@ -1868,7 +1872,7 @@
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@@ -1887,11 +1891,11 @@
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@@ -1899,7 +1903,7 @@
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@@ -1918,91 +1922,11 @@
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-  "label":"From29",
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@@ -2029,19 +1953,21 @@
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@@ -2055,32 +1981,42 @@
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@@ -2088,7 +2024,7 @@
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@@ -2155,21 +2091,19 @@
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@@ -2183,40 +2117,42 @@
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-  "name":"If2",
-  "label":"If2",
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   "inspector":{
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@@ -2226,16 +2162,16 @@
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-  "label":"From18",
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@@ -2243,7 +2179,7 @@
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@@ -2262,21 +2198,19 @@
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@@ -2290,16 +2224,16 @@
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@@ -2307,7 +2241,7 @@
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@@ -2326,20 +2260,20 @@
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@@ -2352,16 +2286,16 @@
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@@ -2369,7 +2303,7 @@
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index 6c64d56..ff02ba2 100644
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-    "State Attributes",
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     0,
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-    4
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+    9
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@@ -626,43 +647,47 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"UnitDelay",
+   "blocktype":"Switch",
    "masktype":""
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8356",
-  "className":"Simulink.Relay",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8346",
+  "className":"Simulink.Sum",
   "icon":"WebViewIcon3",
-  "name":"dz_cntTrnsDet",
-  "label":"dz_cntTrnsDet",
+  "name":"Sum7",
+  "label":"Sum7",
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   "inspector":{
    "params":[
-    "OnSwitchValue",
-    "OffSwitchValue",
-    "OnOutputValue",
-    "OffOutputValue",
-    "InputProcessing",
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+    "InputSameDT",
+    "AccumDataTypeStr",
     "OutMin",
     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "SampleTime",
-    "ZeroCross"
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "CollapseDim",
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@@ -671,8 +696,8 @@
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@@ -681,68 +706,47 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8360",
-  "className":"Simulink.Outport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8345",
+  "className":"Simulink.Sum",
   "icon":"WebViewIcon3",
-  "name":"n_motRaw",
-  "label":"n_motRaw",
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+  "label":"Sum13",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
   "inspector":{
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-    "IconDisplay",
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-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
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-    "VectorParamsAs1DForOutWhenUnconnected"
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-    "Inherit",
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-    "Auto",
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@@ -752,7 +756,7 @@
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+    10
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@@ -761,16 +765,16 @@
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+   "blocktype":"Sum",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8338",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8341",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Goto6",
+  "label":"Goto6",
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@@ -779,7 +783,7 @@
     "IconDisplay"
    ],
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-    "z_dirPrev",
+    "dz_trnsDet",
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     "Tag"
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@@ -799,11 +803,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8336",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8340",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto",
-  "label":"Goto",
+  "name":"Goto5",
+  "label":"Goto5",
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@@ -812,7 +816,7 @@
     "IconDisplay"
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@@ -832,19 +836,21 @@
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   "icon":"WebViewIcon3",
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-  "label":"From7",
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     "GotoTag",
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     "IconDisplay"
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@@ -858,24 +864,26 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8335",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8338",
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   "icon":"WebViewIcon3",
-  "name":"From9",
-  "label":"From9",
+  "name":"Goto3",
+  "label":"Goto3",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
   "inspector":{
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     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
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    "values":[
-    "z_counter",
+    "z_dirPrev",
+    "local",
     "Tag"
    ],
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@@ -889,24 +897,26 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8331",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8342",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From5",
-  "label":"From5",
+  "name":"Goto7",
+  "label":"Goto7",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
   "inspector":{
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     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
     "cf_speedCoef",
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     "Tag"
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@@ -920,117 +930,43 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8348",
-  "className":"Simulink.Switch",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8344",
+  "className":"Simulink.RelationalOperator",
   "icon":"WebViewIcon3",
-  "name":"Switch2",
-  "label":"Switch2",
+  "name":"Relational Operator4",
+  "label":"Relational Operator4",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
   "inspector":{
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+    "Operator",
     "InputSameDT",
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     "OutDataTypeStr",
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+    "Simplest",
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     "on"
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@@ -1039,16 +975,16 @@
   "obj_viewer":[
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+   "blocktype":"RelationalOperator",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8328",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8333",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From13",
-  "label":"From13",
+  "name":"From7",
+  "label":"From7",
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@@ -1056,7 +992,7 @@
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@@ -1075,11 +1011,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8327",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8332",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From12",
-  "label":"From12",
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+  "label":"From6",
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@@ -1087,7 +1023,7 @@
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@@ -1106,21 +1042,19 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8337",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8329",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
+  "name":"From21",
+  "label":"From21",
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     "GotoTag",
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     "IconDisplay"
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     "Tag"
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@@ -1134,80 +1068,16 @@
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+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8339",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8350",
+  "className":"Simulink.UnitDelay",
   "icon":"WebViewIcon3",
-  "name":"Goto4",
-  "label":"Goto4",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
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-  "className":"Simulink.UnitDelay",
-  "icon":"WebViewIcon3",
-  "name":"UnitDelay5",
-  "label":"UnitDelay5",
+  "name":"UnitDelay1",
+  "label":"UnitDelay1",
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   "inspector":{
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@@ -1253,40 +1123,63 @@
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-  "className":"Simulink.Product",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8358",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"Divide14",
-  "label":"Divide14",
+  "name":"z_counter",
+  "label":"z_counter",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
   "inspector":{
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-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
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+    "Unit",
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+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
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@@ -1296,7 +1189,7 @@
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@@ -1305,16 +1198,16 @@
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+   "blocktype":"Outport",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8334",
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   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From8",
-  "label":"From8",
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@@ -1322,7 +1215,7 @@
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@@ -1341,11 +1234,11 @@
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-  "name":"From6",
-  "label":"From6",
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@@ -1353,7 +1246,7 @@
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-    "z_dir",
+    "cf_speedCoef",
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@@ -1372,18 +1265,129 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8345",
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8325",
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-    "OutDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "SampleTime",
-    "ZeroCross"
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
    ],
    "values":[
-    "[]",
-    "[]",
-    "Inherit: Inherit via back propagation",
-    "off",
-    "Zero",
-    "off",
-    "-1",
-    "on"
+    "z_counter",
+    "local",
+    "Tag"
    ],
    "tabs":[
-    "Signal Attributes",
-    "-Other"
+    "Parameter Attributes"
    ],
-   "tabs_idx":[
-    0,
-    6
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+   "tabs_idx":0
   },
   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
@@ -2241,55 +2215,48 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Abs",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8347",
-  "className":"Simulink.Switch",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8351",
+  "className":"Simulink.UnitDelay",
   "icon":"WebViewIcon3",
-  "name":"Switch1",
-  "label":"Switch1",
+  "name":"UnitDelay2",
+  "label":"UnitDelay2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
   "inspector":{
    "params":[
-    "Criteria",
-    "InputSameDT",
-    "OutMin",
-    "OutMax",
-    "OutDataTypeStr",
-    "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "AllowDiffInputSizes",
+    "InitialCondition",
+    "InputProcessing",
     "SampleTime",
-    "Threshold",
-    "ZeroCross"
+    "StateName",
+    "CodeGenStateStorageTypeQualifier",
+    "StateMustResolveToSignalObject",
+    "StateSignalObject",
+    "StateStorageClass"
    ],
    "values":[
-    "u2 ~= 0",
-    "on",
-    "[]",
-    "[]",
-    "Inherit: Inherit via internal rule",
-    "off",
-    "Floor",
-    "off",
-    "off",
-    "-1",
     "0",
-    "on"
+    "Inherited",
+    "-1",
+    "",
+    "",
+    "off",
+    [
+    ],
+    "Auto"
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    "tabs":[
     "Main",
-    "Signal Attributes",
+    "State Attributes",
     "-Other"
    ],
    "tabs_idx":[
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-    1,
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+    3,
+    4
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@@ -2298,7 +2265,7 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Switch",
+   "blocktype":"UnitDelay",
    "masktype":""
   }
  },
@@ -2369,6 +2336,39 @@
    "masktype":""
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  },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8336",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto",
+  "label":"Goto",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8314",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_dir",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
  {
   "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8343",
   "className":"Simulink.Logic",
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8314_d.png b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8314_d.png
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-  "label":"Divide3",
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-    "Multiplication",
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@@ -1874,7 +1925,7 @@
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+    "FramePeriod"
+   ],
+   "values":[
+    "r_errInpTgtThres",
+    "on",
+    "inf",
+    "[]",
+    "[]",
+    "Inherit: Inherit via back propagation",
+    "off",
+    "inf"
+   ],
+   "tabs":[
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+    "-Other"
+   ],
+   "tabs_idx":[
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+    3,
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+  },
+  "viewer":{
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+  "obj_viewer":[
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+  "finder":{
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+ {
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   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From1",
-  "label":"From1",
+  "name":"From",
+  "label":"From",
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   "inspector":{
    "params":[
@@ -2540,7 +2446,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_motStdStill",
+    "z_posRaw",
     "Tag"
    ],
    "tabs":[
@@ -2559,11 +2465,105 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8478",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9403",
+  "className":"Simulink.Abs",
+  "icon":"WebViewIcon3",
+  "name":"Abs4",
+  "label":"Abs4",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "inspector":{
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+    "ZeroCross"
+   ],
+   "values":[
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+    "Inherit: Same as input",
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+    "Floor",
+    "off",
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+   "tabs":[
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+   "tabs_idx":[
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+  "icon":"WebViewIcon3",
+  "name":"Data Type Conversion",
+  "label":"Data Type Conversion",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
+  "inspector":{
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+   "values":[
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+   "tabs":[
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+   "tabs_idx":[
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-  "name":"CTRL_COMM",
-  "label":"CTRL_COMM",
+  "name":"CTRL_COMM2",
+  "label":"CTRL_COMM2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8469",
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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
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@@ -590,7 +572,7 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8486:2464",
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-  "label":"From7",
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+  "label":"Goto3",
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@@ -273,16 +455,16 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8486:2457",
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   "icon":"WebViewIcon3",
-  "name":"From5",
-  "label":"From5",
+  "name":"From6",
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@@ -290,7 +472,7 @@
     "IconDisplay"
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@@ -309,11 +491,44 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8486:2463",
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+  "icon":"WebViewIcon3",
+  "name":"Goto2",
+  "label":"Goto2",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8486",
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@@ -340,11 +555,54 @@
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+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8486",
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-  "label":"From3",
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@@ -352,7 +610,7 @@
     "IconDisplay"
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@@ -371,11 +629,11 @@
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   "icon":"WebViewIcon3",
-  "name":"From2",
-  "label":"From2",
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@@ -383,7 +641,7 @@
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@@ -402,21 +660,19 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8486:2453",
+  "className":"Simulink.From",
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-  "name":"Goto4",
-  "label":"Goto4",
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@@ -430,16 +686,16 @@
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   "icon":"WebViewIcon3",
-  "name":"From10",
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@@ -447,7 +703,7 @@
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@@ -466,44 +722,25 @@
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-  "className":"Simulink.UnitDelay",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8486:2455",
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-  "label":"UnitDelay",
+  "name":"From4",
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-    "StateName",
-    "CodeGenStateStorageTypeQualifier",
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@@ -511,113 +748,47 @@
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@@ -660,7 +831,7 @@
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@@ -700,54 +871,21 @@
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   "icon":"WebViewIcon1",
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-  "label":"Default",
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@@ -840,54 +978,11 @@
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   "icon":"WebViewIcon1",
-  "name":"Qualification",
-  "label":"Qualification",
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@@ -980,11 +1075,11 @@
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   "icon":"WebViewIcon3",
-  "name":"From",
-  "label":"From",
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@@ -992,7 +1087,38 @@
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@@ -1111,106 +1237,11 @@
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@@ -1218,7 +1249,7 @@
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@@ -1447,11 +1447,11 @@
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-  "name":"Logical Operator2",
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@@ -1492,11 +1492,11 @@
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-  "name":"Logical Operator1",
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@@ -1508,7 +1508,7 @@
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@@ -1537,11 +1537,11 @@
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@@ -1553,7 +1553,7 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8636",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9390",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From7",
-  "label":"From7",
+  "name":"From9",
+  "label":"From9",
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   "inspector":{
    "params":[
@@ -333,7 +335,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_toTrqMod",
+    "z_ctrlModPrev",
     "Tag"
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@@ -352,11 +354,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9423",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8646",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto7",
-  "label":"Goto7",
+  "name":"Goto4",
+  "label":"Goto4",
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@@ -365,7 +367,7 @@
     "IconDisplay"
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-    "b_motStdStill",
+    "b_toSpdMod",
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@@ -385,21 +387,19 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8639",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8635",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto",
-  "label":"Goto",
+  "name":"From6",
+  "label":"From6",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlMod",
-    "local",
+    "z_ctrlModReq",
     "Tag"
    ],
    "tabs":[
@@ -413,26 +413,24 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8650",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8628",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto8",
-  "label":"Goto8",
+  "name":"From12",
+  "label":"From12",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
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     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
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-    "local",
     "Tag"
    ],
    "tabs":[
@@ -446,26 +444,24 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
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   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8646",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8636",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto4",
-  "label":"Goto4",
+  "name":"From7",
+  "label":"From7",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "b_toSpdMod",
-    "local",
+    "b_toTrqMod",
     "Tag"
    ],
    "tabs":[
@@ -479,16 +475,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8633",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8625",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From4",
-  "label":"From4",
+  "name":"From1",
+  "label":"From1",
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   "inspector":{
    "params":[
@@ -496,7 +492,7 @@
     "IconDisplay"
    ],
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-    "b_motEna",
+    "b_toOpen",
     "Tag"
    ],
    "tabs":[
@@ -515,11 +511,139 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8640",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8603",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon6",
+  "name":"F02_02_Control_Mode_Manager",
+  "label":"F02_02_Control_Mode_Manager",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
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+    "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",
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+    "Variant",
+    "VariantControl"
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+    "off",
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+    "off",
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+    "Auto",
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+    "Auto",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
+    "Inherit from model",
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+    "-1",
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+    "off",
+    ""
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+    "-Other"
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+    6
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+   "jshandler":"webview/handlers/ContainerHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
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+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9424",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From10",
+  "label":"From10",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
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+    "b_motStdStill",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
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+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
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+   "masktype":""
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+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8642",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
+  "name":"Goto16",
+  "label":"Goto16",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
   "inspector":{
    "params":[
@@ -528,7 +652,7 @@
     "IconDisplay"
    ],
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-    "b_toOpen",
+    "z_ctrlModPrev",
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     "Tag"
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@@ -579,11 +703,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8630",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8633",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From2",
-  "label":"From2",
+  "name":"From4",
+  "label":"From4",
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   "inspector":{
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@@ -591,7 +715,7 @@
     "IconDisplay"
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-    "b_toSpdMod",
+    "b_motEna",
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@@ -610,11 +734,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9424",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8624",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From10",
-  "label":"From10",
+  "name":"From",
+  "label":"From",
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@@ -622,7 +746,7 @@
     "IconDisplay"
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-    "b_motStdStill",
+    "b_toActive",
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@@ -641,11 +765,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8625",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8630",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From1",
-  "label":"From1",
+  "name":"From2",
+  "label":"From2",
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@@ -653,7 +777,7 @@
     "IconDisplay"
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-    "b_toOpen",
+    "b_toSpdMod",
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@@ -672,43 +796,93 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8654",
-  "className":"Simulink.UnitDelay",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8645",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"UnitDelay1",
-  "label":"UnitDelay1",
+  "name":"Goto3",
+  "label":"Goto3",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
   "inspector":{
    "params":[
-    "InitialCondition",
-    "InputProcessing",
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_ctrlModReq",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
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+   "tabs_idx":0
+  },
+  "viewer":{
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+  },
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+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
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+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8539",
+  "className":"Simulink.Inport",
+  "icon":"WebViewIcon3",
+  "name":"z_ctrlModReq",
+  "label":"z_ctrlModReq",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
+  "inspector":{
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+    "Port",
+    "IconDisplay",
+    "OutMin",
+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
     "SampleTime",
-    "StateName",
-    "CodeGenStateStorageTypeQualifier",
-    "StateMustResolveToSignalObject",
-    "StateSignalObject",
-    "StateStorageClass"
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
    ],
    "values":[
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-    "Elements as channels (sample based)",
+    "4",
+    "Port number",
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+    "[]",
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+    11
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@@ -717,16 +891,16 @@
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+   "blocktype":"Inport",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8603",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "className":"Simulink.SubSystem",
-  "icon":"WebViewIcon6",
-  "name":"F02_02_Control_Mode_Manager",
-  "label":"F02_02_Control_Mode_Manager",
+  "icon":"WebViewIcon1",
+  "name":"F02_01_Mode_Transition_Calculation",
+  "label":"F02_01_Mode_Transition_Calculation",
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@@ -767,9 +941,9 @@
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@@ -778,7 +952,7 @@
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@@ -819,25 +993,44 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8628",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8654",
+  "className":"Simulink.UnitDelay",
   "icon":"WebViewIcon3",
-  "name":"From12",
-  "label":"From12",
+  "name":"UnitDelay1",
+  "label":"UnitDelay1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
   "inspector":{
    "params":[
-    "GotoTag",
-    "IconDisplay"
+    "InitialCondition",
+    "InputProcessing",
+    "SampleTime",
+    "StateName",
+    "CodeGenStateStorageTypeQualifier",
+    "StateMustResolveToSignalObject",
+    "StateSignalObject",
+    "StateStorageClass"
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-    "Tag"
+    "0",
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+    "Auto"
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    "tabs":[
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+    "Main",
+    "State Attributes",
+    "-Other"
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+    4
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@@ -845,16 +1038,16 @@
   "obj_viewer":[
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+   "blocktype":"UnitDelay",
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8642",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8639",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto16",
-  "label":"Goto16",
+  "name":"Goto",
+  "label":"Goto",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
   "inspector":{
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@@ -863,7 +1056,7 @@
     "IconDisplay"
    ],
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-    "z_ctrlModPrev",
+    "z_ctrlMod",
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     "Tag"
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@@ -883,11 +1076,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8539",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8537",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"z_ctrlModReq",
-  "label":"z_ctrlModReq",
+  "name":"b_motEna",
+  "label":"b_motEna",
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@@ -910,7 +1103,7 @@
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@@ -950,61 +1143,27 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8647",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"b_motEna",
-  "label":"b_motEna",
+  "name":"Goto5",
+  "label":"Goto5",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
   "inspector":{
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-    "IconDisplay",
-    "OutMin",
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-    "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
+    "GotoTag",
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+    "b_toTrqMod",
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@@ -1012,7 +1171,7 @@
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@@ -1084,139 +1243,11 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8651",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
+  "name":"Goto9",
+  "label":"Goto9",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
   "inspector":{
    "params":[
@@ -1225,7 +1256,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_toTrqMod",
+    "b_motEna",
     "local",
     "Tag"
    ],
@@ -1311,37 +1342,6 @@
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-  "icon":"WebViewIcon3",
-  "name":"From6",
-  "label":"From6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8535",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "z_ctrlModReq",
-    "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:8634#out:1",
   "className":"Simulink.Line",
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8535_d.png b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8535_d.png
index b8581e06009d94ac994600c959899dbfb2971552..e84f51b99590da823b7bcef4b9509753f769300f 100644
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-  "label":"Goto6",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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-  "className":"Simulink.RelationalOperator",
-  "icon":"WebViewIcon3",
-  "name":"Relational Operator6",
-  "label":"Relational Operator6",
+  "name":"Relational Operator10",
+  "label":"Relational Operator10",
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@@ -999,19 +839,21 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8561",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8565",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From5",
-  "label":"From5",
+  "name":"Goto1",
+  "label":"Goto1",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
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-    "b_toOpen",
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@@ -1025,24 +867,26 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8560",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8571",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From4",
-  "label":"From4",
+  "name":"Goto6",
+  "label":"Goto6",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
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-    "z_ctrlModReq",
+    "b_toOpen",
+    "local",
     "Tag"
    ],
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@@ -1056,16 +900,16 @@
   "obj_viewer":[
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-   "blocktype":"From",
+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9419",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8563",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From7",
-  "label":"From7",
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@@ -1073,7 +917,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_motStdStill",
+    "b_toOpen",
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@@ -1092,25 +936,39 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8556",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8583",
+  "className":"Simulink.RelationalOperator",
   "icon":"WebViewIcon3",
-  "name":"From13",
-  "label":"From13",
+  "name":"Relational Operator2",
+  "label":"Relational Operator2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
    "params":[
-    "GotoTag",
-    "IconDisplay"
+    "Operator",
+    "InputSameDT",
+    "OutDataTypeStr",
+    "RndMeth",
+    "SampleTime",
+    "ZeroCross"
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-    "Tag"
+    "~=",
+    "off",
+    "boolean",
+    "Simplest",
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+    "on"
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+    "Main",
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+    1,
+    4
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@@ -1118,24 +976,26 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"RelationalOperator",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8555",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8572",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From12",
-  "label":"From12",
+  "name":"Goto8",
+  "label":"Goto8",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlModPrev",
+    "b_errFlag",
+    "local",
     "Tag"
    ],
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@@ -1149,16 +1009,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8562",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9419",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From6",
-  "label":"From6",
+  "name":"From7",
+  "label":"From7",
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   "inspector":{
    "params":[
@@ -1166,7 +1026,7 @@
     "IconDisplay"
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    "values":[
-    "b_toSpdMod",
+    "b_motStdStill",
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@@ -1185,63 +1045,32 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8600",
-  "className":"Simulink.Outport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8593",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"b_toTrqMod",
-  "label":"b_toTrqMod",
+  "name":"constant6",
+  "label":"constant6",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
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-    "IconDisplay",
+    "Value",
+    "VectorParams1D",
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     "OutMin",
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     "LockScale",
-    "Unit",
-    "PortDimensions",
-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
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-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
+    "FramePeriod"
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-    "Inherit",
-    "-1",
-    "auto",
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-    "off",
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+    "Inherit: Inherit via back propagation",
     "off",
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-    "",
-    [
-    ],
-    "Dialog",
-    "Auto",
-    "off"
+    "inf"
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     "Main",
@@ -1250,8 +1079,8 @@
    ],
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     0,
-    2,
-    11
+    3,
+    7
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@@ -1260,44 +1089,30 @@
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   "finder":{
-   "blocktype":"Outport",
+   "blocktype":"Constant",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8583",
-  "className":"Simulink.RelationalOperator",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8561",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Relational Operator2",
-  "label":"Relational Operator2",
+  "name":"From5",
+  "label":"From5",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
    "params":[
-    "Operator",
-    "InputSameDT",
-    "OutDataTypeStr",
-    "RndMeth",
-    "SampleTime",
-    "ZeroCross"
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+    "IconDisplay"
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-    "off",
-    "boolean",
-    "Simplest",
-    "-1",
-    "on"
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-    "Data Type",
-    "-Other"
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-    1,
-    4
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@@ -1305,16 +1120,16 @@
   "obj_viewer":[
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   "finder":{
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+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8553",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8560",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From1",
-  "label":"From1",
+  "name":"From4",
+  "label":"From4",
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   "inspector":{
    "params":[
@@ -1322,7 +1137,7 @@
     "IconDisplay"
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-    "b_toActive",
+    "z_ctrlModReq",
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@@ -1341,21 +1156,19 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8570",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8559",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
+  "name":"From3",
+  "label":"From3",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
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     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "b_toSpdMod",
-    "local",
+    "z_ctrlModReq",
     "Tag"
    ],
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@@ -1369,26 +1182,24 @@
   "obj_viewer":[
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   "finder":{
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+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8565",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8558",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
+  "name":"From2",
+  "label":"From2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "z_ctrlModPrev",
-    "local",
+    "b_toTrqMod",
     "Tag"
    ],
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@@ -1402,26 +1213,24 @@
   "obj_viewer":[
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-   "blocktype":"Goto",
+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9421",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8556",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto7",
-  "label":"Goto7",
+  "name":"From13",
+  "label":"From13",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
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    "values":[
-    "b_motStdStill",
-    "local",
+    "z_ctrlModReq",
     "Tag"
    ],
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@@ -1435,66 +1244,30 @@
   "obj_viewer":[
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+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8551",
-  "className":"Simulink.Inport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8555",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"z_ctrlModPrev",
-  "label":"z_ctrlModPrev",
+  "name":"From12",
+  "label":"From12",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
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-    "IconDisplay",
-    "OutMin",
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-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
-    "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
+    "GotoTag",
+    "IconDisplay"
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-    "5",
-    "Port number",
-    "[]",
-    "[]",
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-    "-1",
-    "auto",
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-    "",
-    "on",
-    "off",
-    "off",
-    "off"
+    "z_ctrlModPrev",
+    "Tag"
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-    "Signal Attributes",
-    "-Other"
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-    2,
-    11
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    "jshandler":"webview/handlers/ElementHandler"
@@ -1502,7 +1275,40 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Inport",
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8568",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto3",
+  "label":"Goto3",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "inspector":{
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+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
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+   "values":[
+    "z_ctrlModReq",
+    "local",
+    "Tag"
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+  "finder":{
+   "blocktype":"Goto",
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@@ -1538,11 +1344,104 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8549",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8554",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From10",
+  "label":"From10",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "inspector":{
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+    "GotoTag",
+    "IconDisplay"
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+    "b_motEna",
+    "Tag"
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+   "masktype":""
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+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From6",
+  "label":"From6",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "inspector":{
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+    "GotoTag",
+    "IconDisplay"
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+    "Tag"
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8553",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon3",
+  "name":"From1",
+  "label":"From1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "b_toActive",
+    "Tag"
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+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
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+   "masktype":""
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8551",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"z_ctrlModReq",
-  "label":"z_ctrlModReq",
+  "name":"z_ctrlModPrev",
+  "label":"z_ctrlModPrev",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
    "params":[
@@ -1565,7 +1464,7 @@
     "OutputFunctionCall"
    ],
    "values":[
-    "4",
+    "5",
     "Port number",
     "[]",
     "[]",
@@ -1605,11 +1504,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8597",
-  "className":"Simulink.Outport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8549",
+  "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"b_toOpen",
-  "label":"b_toOpen",
+  "name":"z_ctrlModReq",
+  "label":"z_ctrlModReq",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
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@@ -1625,20 +1524,14 @@
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-    "OutputWhenDisabled",
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-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
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-    "1",
+    "4",
     "Port number",
     "[]",
     "[]",
@@ -1650,17 +1543,10 @@
     "-1",
     "auto",
     "off",
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+    "on",
     "off",
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@@ -1680,30 +1566,48 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8558",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8595",
+  "className":"Simulink.Constant",
   "icon":"WebViewIcon3",
-  "name":"From2",
-  "label":"From2",
+  "name":"constant8",
+  "label":"constant8",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8546",
   "inspector":{
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-    "GotoTag",
-    "IconDisplay"
+    "Value",
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+    "SampleTime",
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+    "OutMax",
+    "OutDataTypeStr",
+    "LockScale",
+    "FramePeriod"
    ],
    "values":[
-    "b_toTrqMod",
-    "Tag"
+    "OPEN_MODE",
+    "on",
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@@ -1711,32 +1615,66 @@
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-            <linearGradient gradientUnits="objectBoundingBox" id="grad8" x1="0" x2="0" y1="0" y2="1">
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           <defs>
-            <linearGradient gradientUnits="objectBoundingBox" id="grad9" x1="0" x2="0" y1="0" y2="1">
+            <linearGradient gradientUnits="objectBoundingBox" id="grad8" x1="0" x2="0" y1="0" y2="1">
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             <defs>
-              <linearGradient gradientUnits="objectBoundingBox" id="grad11" x1="0" x2="0" y1="0" y2="1">
+              <linearGradient gradientUnits="objectBoundingBox" id="grad10" x1="0" x2="0" y1="0" y2="1">
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@@ -180,25 +168,25 @@
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+            <linearGradient gradientUnits="objectBoundingBox" id="grad13" x1="0" x2="0" y1="0" y2="1">
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+          <g clip-path="none" fill="url(#grad13)" opacity="0.4" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,422.9,455.579)">
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           </g>
           <defs>
-            <linearGradient gradientUnits="objectBoundingBox" id="grad15" x1="0" x2="0" y1="0" y2="1">
+            <linearGradient gradientUnits="objectBoundingBox" id="grad14" x1="0" x2="0" y1="0" y2="1">
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               <stop offset="1" stop-color="#f8eed9" stop-opacity="1"/>
             </linearGradient>
           </defs>
-          <g clip-path="none" fill="url(#grad15)" opacity="1" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,424.4,457.079)">
+          <g clip-path="none" fill="url(#grad14)" opacity="1" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,424.4,457.079)">
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           </g>
           <defs>
-            <linearGradient gradientUnits="objectBoundingBox" id="grad16" x1="0" x2="0" y1="0" y2="1">
+            <linearGradient gradientUnits="objectBoundingBox" id="grad15" x1="0" x2="0" y1="0" y2="1">
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@@ -257,7 +245,7 @@
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           <g data-tags="frame">
             <defs>
-              <linearGradient gradientUnits="objectBoundingBox" id="grad18" x1="0" x2="0" y1="0" y2="1">
+              <linearGradient gradientUnits="objectBoundingBox" id="grad17" x1="0" x2="0" y1="0" y2="1">
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               </linearGradient>
@@ -272,25 +260,25 @@
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           <defs>
-            <linearGradient gradientUnits="objectBoundingBox" id="grad21" x1="0" x2="0" y1="0" y2="1">
+            <linearGradient gradientUnits="objectBoundingBox" id="grad20" x1="0" x2="0" y1="0" y2="1">
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               <stop offset="1" stop-color="#f5e9d1" stop-opacity="1"/>
             </linearGradient>
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-          <g clip-path="none" fill="url(#grad21)" opacity="0.4" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,423.806,369.738)">
+          <g clip-path="none" fill="url(#grad20)" opacity="0.4" stroke="#000000" stroke-linecap="butt" stroke-linejoin="miter" stroke-miterlimit="2" stroke-opacity="1" stroke-width="1" transform="matrix(1,0,0,1,423.806,369.738)">
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-            <linearGradient gradientUnits="objectBoundingBox" id="grad22" x1="0" x2="0" y1="0" y2="1">
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           <defs>
-            <linearGradient gradientUnits="objectBoundingBox" id="grad23" x1="0" x2="0" y1="0" y2="1">
+            <linearGradient gradientUnits="objectBoundingBox" id="grad22" x1="0" x2="0" y1="0" y2="1">
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@@ -349,7 +337,7 @@
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             <defs>
-              <linearGradient gradientUnits="objectBoundingBox" id="grad25" x1="0" x2="0" y1="0" y2="1">
+              <linearGradient gradientUnits="objectBoundingBox" id="grad24" x1="0" x2="0" y1="0" y2="1">
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                 <stop offset="1" stop-color="#f9efda" stop-opacity="1"/>
               </linearGradient>
@@ -361,10 +349,22 @@
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           <!--RAWSTRING-->
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+            <stop offset="0" stop-color="#fff8e9" stop-opacity="1"/>
+            <stop offset="1" stop-color="#f5e9d1" stop-opacity="1"/>
+          </linearGradient>
+        </defs>
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+        </g>
+        <g clip-path="none" fill="none" opacity="1" stroke="none" stroke-opacity="0" transform="matrix(1,0,0,1,296.619,482.796)">
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+        </g>
         <!--RAWSTRING-->
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           <!--RAWSTRING-->
-          <g id="BLDCmotorControl_FOC_R2017b_fixdt:8603:33">
+          <g id="BLDCmotorControl_FOC_R2017b_fixdt:8603:12">
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@@ -372,12 +372,26 @@
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@@ -1129,80 +1049,11 @@
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-  "label":"Park_Transform",
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@@ -1254,7 +1105,7 @@
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@@ -1295,108 +1146,50 @@
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-  "icon":"WebViewIcon1",
-  "name":"Speed_Mode",
-  "label":"Speed_Mode",
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@@ -1448,7 +1241,7 @@
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@@ -1550,6 +1343,86 @@
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@@ -1717,25 +1590,6 @@
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@@ -1770,65 +1624,43 @@
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-  "className":"Simulink.SwitchCase",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9142",
+  "className":"Simulink.UnitDelay",
   "icon":"WebViewIcon3",
-  "name":"Switch Case",
-  "label":"Switch Case",
+  "name":"UnitDelay4",
+  "label":"UnitDelay4",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
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-    "ShowDefaultCase",
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     "SampleTime",
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+    "StateName",
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@@ -1837,16 +1669,16 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8861",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8863",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto6",
-  "label":"Goto6",
+  "name":"Goto8",
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@@ -1855,7 +1687,7 @@
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@@ -1875,11 +1707,11 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto40",
-  "label":"Goto40",
+  "name":"Goto6",
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@@ -1888,7 +1720,7 @@
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@@ -1908,143 +1740,108 @@
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-  "label":"Goto35",
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@@ -2053,7 +1850,7 @@
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@@ -2073,11 +1870,11 @@
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@@ -2086,7 +1883,7 @@
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@@ -2106,11 +1903,11 @@
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@@ -2119,7 +1916,7 @@
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@@ -2139,11 +1936,11 @@
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   "icon":"WebViewIcon1",
-  "name":"Torque_Mode",
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@@ -2236,11 +2033,11 @@
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-  "name":"Goto16",
-  "label":"Goto16",
+  "name":"Goto33",
+  "label":"Goto33",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2249,7 +2046,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_prev",
+    "n_min",
     "local",
     "Tag"
    ],
@@ -2269,11 +2066,77 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9171",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8852",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto30",
+  "label":"Goto30",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "Vq",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8848",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto27",
+  "label":"Goto27",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "r_inpTgtSca",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9074",
   "className":"Simulink.SubSystem",
   "icon":"WebViewIcon1",
-  "name":"Voltage_Mode",
-  "label":"Voltage_Mode",
+  "name":"Speed_Mode",
+  "label":"Speed_Mode",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2366,11 +2229,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8837",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8844",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto17",
-  "label":"Goto17",
+  "name":"Goto23",
+  "label":"Goto23",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2379,7 +2242,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vd_max",
+    "iq",
     "local",
     "Tag"
    ],
@@ -2399,11 +2262,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8834",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8842",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto14",
-  "label":"Goto14",
+  "name":"Goto21",
+  "label":"Goto21",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2412,7 +2275,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_Vlt",
+    "a_elecAngle",
     "local",
     "Tag"
    ],
@@ -2432,11 +2295,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8839",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8838",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto19",
-  "label":"Goto19",
+  "name":"Goto18",
+  "label":"Goto18",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2445,7 +2308,7 @@
     "IconDisplay"
    ],
    "values":[
-    "id_max",
+    "Vd_min",
     "local",
     "Tag"
    ],
@@ -2465,11 +2328,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8831",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8837",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto11",
-  "label":"Goto11",
+  "name":"Goto17",
+  "label":"Goto17",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2478,7 +2341,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq_Trq",
+    "Vd_max",
     "local",
     "Tag"
    ],
@@ -2498,19 +2361,21 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8826",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8847",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From71",
-  "label":"From71",
+  "name":"Goto26",
+  "label":"Goto26",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "id",
+    "id_Tgt",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2524,24 +2389,26 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9655",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8849",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From7",
-  "label":"From7",
+  "name":"Goto28",
+  "label":"Goto28",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "r_inpTgtSca",
+    "iq_min",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2555,24 +2422,26 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8824",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8836",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From68",
-  "label":"From68",
+  "name":"Goto16",
+  "label":"Goto16",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "iq_limPrott",
+    "Vq_prev",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2586,24 +2455,26 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8823",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8832",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From67",
-  "label":"From67",
+  "name":"Goto12",
+  "label":"Goto12",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "n_limProt",
+    "Vq_Spd",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2617,16 +2488,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8856",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8831",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto34",
-  "label":"Goto34",
+  "name":"Goto11",
+  "label":"Goto11",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2635,7 +2506,7 @@
     "IconDisplay"
    ],
    "values":[
-    "n_limProt",
+    "Vq_Trq",
     "local",
     "Tag"
    ],
@@ -2655,21 +2526,19 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8855",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8826",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto33",
-  "label":"Goto33",
+  "name":"From71",
+  "label":"From71",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "n_min",
-    "local",
+    "id",
     "Tag"
    ],
    "tabs":[
@@ -2683,16 +2552,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8817",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9655",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From61",
-  "label":"From61",
+  "name":"From7",
+  "label":"From7",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2700,7 +2569,7 @@
     "IconDisplay"
    ],
    "values":[
-    "iq",
+    "r_inpTgt",
     "Tag"
    ],
    "tabs":[
@@ -2719,11 +2588,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8816",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8824",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From60",
-  "label":"From60",
+  "name":"From68",
+  "label":"From68",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2731,7 +2600,7 @@
     "IconDisplay"
    ],
    "values":[
-    "iq_min",
+    "iq_limPrott",
     "Tag"
    ],
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@@ -2750,11 +2619,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8815",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8822",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From6",
-  "label":"From6",
+  "name":"From66",
+  "label":"From66",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2762,7 +2631,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vq",
+    "n_min",
     "Tag"
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@@ -2781,19 +2650,21 @@
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8814",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8862",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From59",
-  "label":"From59",
+  "name":"Goto7",
+  "label":"Goto7",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "iq_max",
+    "Vq_min",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2807,16 +2678,35 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8811",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9072",
+  "className":"Simulink.Scope",
+  "icon":"WebViewIcon3",
+  "name":"Scope8",
+  "label":"Scope8",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "inspector":[
+  ],
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"Scope",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8821",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From56",
-  "label":"From56",
+  "name":"From65",
+  "label":"From65",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
@@ -2824,7 +2714,7 @@
     "IconDisplay"
    ],
    "values":[
-    "Vd_min",
+    "n_max",
     "Tag"
    ],
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@@ -2843,37 +2733,27 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8865",
-  "className":"Simulink.If",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8853",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"If1",
-  "label":"If1",
+  "name":"Goto31",
+  "label":"Goto31",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
-    "NumInputs",
-    "IfExpression",
-    "ElseIfExpressions",
-    "ShowElse",
-    "SampleTime",
-    "ZeroCross"
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
    ],
    "values":[
-    "1",
-    "u1 ~= 0",
-    "",
-    "off",
-    "-1",
-    "on"
+    "iq_limPrott",
+    "local",
+    "Tag"
    ],
    "tabs":[
-    "Parameter Attributes",
-    "-Other"
+    "Parameter Attributes"
    ],
-   "tabs_idx":[
-    0,
-    4
-   ]
+   "tabs_idx":0
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   "viewer":{
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@@ -2881,24 +2761,26 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"If",
+   "blocktype":"Goto",
    "masktype":""
   }
  },
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8807",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8839",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From52",
-  "label":"From52",
+  "name":"Goto19",
+  "label":"Goto19",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "id_TgtAbs",
+    "id_max",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2912,24 +2794,26 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
    "masktype":""
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8820",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8845",
+  "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"From64",
-  "label":"From64",
+  "name":"Goto24",
+  "label":"Goto24",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
     "GotoTag",
+    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "n_limProt",
+    "id",
+    "local",
     "Tag"
    ],
    "tabs":[
@@ -2943,47 +2827,35 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Goto",
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   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8804",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9073",
+  "className":"Simulink.Scope",
   "icon":"WebViewIcon3",
-  "name":"From49",
-  "label":"From49",
+  "name":"Scope9",
+  "label":"Scope9",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
-  "inspector":{
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-    "GotoTag",
-    "IconDisplay"
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-    "Vq_Open",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
+  "inspector":[
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   "viewer":{
    "jshandler":"webview/handlers/ElementHandler"
   },
   "obj_viewer":[
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   "finder":{
-   "blocktype":"From",
+   "blocktype":"Scope",
    "masktype":""
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8813",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8816",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From58",
-  "label":"From58",
+  "name":"From60",
+  "label":"From60",
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   "inspector":{
    "params":[
@@ -2991,7 +2863,7 @@
     "IconDisplay"
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    "values":[
-    "id_min",
+    "iq_min",
     "Tag"
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    "tabs":[
@@ -3010,11 +2882,11 @@
   }
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  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8852",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8846",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto30",
-  "label":"Goto30",
+  "name":"Goto25",
+  "label":"Goto25",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
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@@ -3023,7 +2895,7 @@
     "IconDisplay"
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    "values":[
-    "Vq",
+    "iq_max",
     "local",
     "Tag"
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@@ -3043,11 +2915,11 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8803",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8815",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From48",
-  "label":"From48",
+  "name":"From6",
+  "label":"From6",
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   "inspector":{
    "params":[
@@ -3055,7 +2927,7 @@
     "IconDisplay"
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    "values":[
-    "Vq_Trq",
+    "Vq",
     "Tag"
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@@ -3074,21 +2946,19 @@
   }
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8858",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8814",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto36",
-  "label":"Goto36",
+  "name":"From59",
+  "label":"From59",
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   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "r_cos",
-    "local",
+    "iq_max",
     "Tag"
    ],
    "tabs":[
@@ -3102,26 +2972,24 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
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   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8847",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8809",
+  "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"Goto26",
-  "label":"Goto26",
+  "name":"From54",
+  "label":"From54",
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   "inspector":{
    "params":[
     "GotoTag",
-    "TagVisibility",
     "IconDisplay"
    ],
    "values":[
-    "id_Tgt",
-    "local",
+    "Vd_min",
     "Tag"
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    "tabs":[
@@ -3135,16 +3003,16 @@
   "obj_viewer":[
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   "finder":{
-   "blocktype":"Goto",
+   "blocktype":"From",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8799",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8807",
   "className":"Simulink.From",
   "icon":"WebViewIcon3",
-  "name":"From44",
-  "label":"From44",
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@@ -3152,7 +3020,7 @@
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@@ -3171,11 +3039,11 @@
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@@ -3183,7 +3051,7 @@
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@@ -3202,11 +3070,11 @@
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-  "label":"From40",
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@@ -3214,7 +3082,7 @@
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@@ -3233,108 +3101,42 @@
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-  "label":"Vd_Calculation",
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+  "label":"From58",
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+   "jshandler":"webview/handlers/ElementHandler"
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@@ -3342,7 +3144,7 @@
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   "inspector":{
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@@ -3387,16 +3191,16 @@
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-  "name":"From35",
-  "label":"From35",
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@@ -3404,7 +3208,7 @@
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@@ -3423,11 +3227,11 @@
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-  "label":"From66",
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@@ -3466,7 +3270,7 @@
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@@ -3497,7 +3301,7 @@
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@@ -3516,11 +3320,11 @@
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-  "label":"From47",
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-  "name":"From32",
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@@ -3559,7 +3363,7 @@
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-  "label":"r_devSignal1",
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@@ -3684,16 +3439,16 @@
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@@ -3701,7 +3456,7 @@
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@@ -3732,7 +3487,7 @@
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@@ -3858,7 +3611,7 @@
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@@ -4137,7 +3890,7 @@
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@@ -4168,7 +3921,7 @@
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@@ -4187,11 +3940,11 @@
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@@ -4199,7 +3952,7 @@
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@@ -4327,7 +4049,7 @@
     "IconDisplay"
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@@ -4346,21 +4068,19 @@
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     "IconDisplay"
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@@ -4374,123 +4094,228 @@
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-  "className":"Simulink.Goto",
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   "icon":"WebViewIcon3",
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-  "label":"Goto25",
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+  "label":"From57",
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@@ -4504,16 +4329,16 @@
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@@ -4521,7 +4346,7 @@
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@@ -4540,42 +4365,108 @@
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@@ -4583,7 +4474,7 @@
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@@ -4602,11 +4493,11 @@
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@@ -4615,7 +4506,7 @@
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@@ -4635,11 +4526,11 @@
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@@ -4732,11 +4623,11 @@
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@@ -4745,7 +4636,7 @@
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@@ -4765,20 +4656,20 @@
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@@ -4791,30 +4682,42 @@
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-  "label":"From16",
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+    "NumInputs",
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@@ -4822,16 +4725,16 @@
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@@ -4839,7 +4742,7 @@
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@@ -4858,52 +4761,118 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8800",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8851",
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-  "name":"From45",
-  "label":"From45",
+  "name":"Goto3",
+  "label":"Goto3",
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     "GotoTag",
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     "IconDisplay"
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@@ -4917,25 +4886,25 @@
   "obj_viewer":[
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8785",
-  "className":"Simulink.From",
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-  "name":"From3",
-  "label":"From3",
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-    "Tag"
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@@ -4948,24 +4917,26 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8794",
-  "className":"Simulink.From",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8856",
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-  "label":"From4",
+  "name":"Goto34",
+  "label":"Goto34",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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@@ -4979,57 +4950,121 @@
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-  "className":"Simulink.From",
-  "icon":"WebViewIcon3",
-  "name":"From18",
-  "label":"From18",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8668",
+  "className":"Simulink.SubSystem",
+  "icon":"WebViewIcon1",
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   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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+   "jshandler":"webview/handlers/ContainerHandler"
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-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8766",
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-  "name":"Goto31",
-  "label":"Goto31",
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@@ -5043,16 +5078,16 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8664",
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   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"a_elecAngle",
-  "label":"a_elecAngle",
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@@ -5115,21 +5150,19 @@
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-  "name":"Goto7",
-  "label":"Goto7",
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@@ -5143,16 +5176,16 @@
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-  "label":"From62",
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@@ -5160,7 +5193,7 @@
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@@ -5179,20 +5212,82 @@
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-  "name":"Action Port",
-  "label":"Action Port",
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+  "label":"From14",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
   "inspector":{
    "params":[
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+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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@@ -5205,7 +5300,7 @@
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@@ -5237,7 +5332,7 @@
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@@ -5277,11 +5372,11 @@
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-  "label":"From42",
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@@ -5289,7 +5384,7 @@
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@@ -5308,25 +5403,61 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9672",
+  "className":"Simulink.Inport",
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-  "name":"Mux2",
-  "label":"Mux2",
+  "name":"r_inpTgt",
+  "label":"r_inpTgt",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
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@@ -5334,7 +5465,7 @@
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+   "blocktype":"Inport",
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@@ -5366,7 +5497,7 @@
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@@ -5406,11 +5537,42 @@
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+    "IconDisplay"
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@@ -5433,7 +5595,7 @@
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@@ -5616,7 +5747,7 @@
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@@ -5635,11 +5766,11 @@
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@@ -5647,7 +5778,7 @@
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@@ -5666,11 +5797,11 @@
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-  "name":"From33",
-  "label":"From33",
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@@ -5678,7 +5809,7 @@
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@@ -5697,11 +5828,11 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto24",
-  "label":"Goto24",
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@@ -5710,7 +5841,7 @@
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@@ -5796,37 +5927,6 @@
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@@ -11844,5 +11944,56 @@
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+  "label":"",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8658",
+  "inspector":{
+   "params":[
+    "SignalNameFromLabel",
+    "MustResolveToSignal",
+    "ShowPropagatedSignal",
+    "DataLogging",
+    "TestPoint",
+    "SignalObjectPackage",
+    "StorageClass",
+    "Description",
+    "documentLink"
+   ],
+   "values":[
+    "",
+    "off",
+    "off",
+    "off",
+    "off",
+    "Simulink",
+    "Auto",
+    "",
+    ""
+   ],
+   "tabs":[
+    "Parameter Attributes",
+    "Logging and Accessibility",
+    "Code Generation",
+    "Documentation"
+   ],
+   "tabs_idx":[
+    0,
+    3,
+    5,
+    7
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":[
+  ]
  }
 ]
\ No newline at end of file
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8658_d.png b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8658_d.png
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@@ -877,11 +890,91 @@
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index a868ce6..acbb023 100644
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index 7f65563..14057db 100644
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8741",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"iq_raw",
-  "label":"iq_raw",
+  "name":"iq",
+  "label":"iq",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
   "inspector":{
    "params":[
@@ -562,11 +562,17 @@
     "SampleTime",
     "SignalType",
     "BusOutputAsStruct",
-    "InputConnect",
-    "Interpolate",
-    "LatchByDelayingOutsideSignal",
-    "LatchInputForFeedbackSignals",
-    "OutputFunctionCall"
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
    ],
    "values":[
     "1",
@@ -581,10 +587,17 @@
     "-1",
     "auto",
     "off",
-    "",
-    "on",
     "off",
+    "[]",
+    "off",
+    "held",
     "off",
+    "0",
+    "",
+    [
+    ],
+    "Dialog",
+    "Auto",
     "off"
    ],
    "tabs":[
@@ -604,16 +617,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Inport",
+   "blocktype":"Outport",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8742",
-  "className":"Simulink.Outport",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8728",
+  "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"id",
-  "label":"id",
+  "name":"id_raw",
+  "label":"id_raw",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
   "inspector":{
    "params":[
@@ -629,17 +642,11 @@
     "SampleTime",
     "SignalType",
     "BusOutputAsStruct",
-    "EnsureOutportIsVirtual",
-    "InitialOutput",
-    "MustResolveToSignalObject",
-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
+    "OutputFunctionCall"
    ],
    "values":[
     "2",
@@ -654,17 +661,10 @@
     "-1",
     "auto",
     "off",
+    "",
+    "on",
     "off",
-    "[]",
-    "off",
-    "held",
     "off",
-    "0",
-    "",
-    [
-    ],
-    "Dialog",
-    "Auto",
     "off"
    ],
    "tabs":[
@@ -684,16 +684,16 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Outport",
+   "blocktype":"Inport",
    "masktype":""
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8728",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8727",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"id_raw",
-  "label":"id_raw",
+  "name":"iq_raw",
+  "label":"iq_raw",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8726",
   "inspector":{
    "params":[
@@ -716,7 +716,7 @@
     "OutputFunctionCall"
    ],
    "values":[
-    "2",
+    "1",
     "Port number",
     "[]",
     "[]",
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8726_d.png b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_8726_d.png
index 8bda22c09e3319f139e4c5db6ef067243e48a48c..86a7848c2c944268ff3f82b1e479561e8704e624 100644
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index 4499557..f6c60fc 100644
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+  "label":"a_elecPeriod1",
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@@ -737,8 +704,8 @@
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@@ -747,7 +714,40 @@
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+  "name":"Goto12",
+  "label":"Goto12",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8743",
+  "inspector":{
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+    "IconDisplay"
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@@ -809,11 +809,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9650",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9646",
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   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Goto1",
+  "label":"Goto1",
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@@ -822,7 +822,7 @@
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@@ -842,11 +842,11 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto12",
-  "label":"Goto12",
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@@ -855,7 +855,7 @@
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@@ -875,92 +875,11 @@
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-  "name":"Goto1",
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@@ -969,7 +888,7 @@
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@@ -989,73 +908,25 @@
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-  "label":"a_elecAngle_XA",
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@@ -1063,80 +934,32 @@
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-    "IntermediateResultsDataTypeStr",
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@@ -1144,54 +967,30 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9641",
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   "icon":"WebViewIcon3",
-  "name":"n_commDeacv",
-  "label":"n_commDeacv",
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-    "LockScale",
-    "SampleTime",
-    "ZeroCross"
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@@ -1199,16 +998,16 @@
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@@ -1216,7 +1015,7 @@
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+    "a_elecAngle",
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@@ -1235,32 +1034,63 @@
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   "icon":"WebViewIcon3",
-  "name":"a_elecPeriod3",
-  "label":"a_elecPeriod3",
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+  "label":"r_cos",
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@@ -1269,8 +1099,8 @@
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@@ -1279,61 +1109,46 @@
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@@ -1341,26 +1156,24 @@
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@@ -1374,24 +1187,26 @@
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@@ -1405,26 +1220,24 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9647",
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+  "label":"From4",
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@@ -1438,16 +1251,16 @@
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@@ -1455,7 +1268,7 @@
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@@ -1474,11 +1287,11 @@
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-  "name":"id_fieldWeak_M1",
-  "label":"id_fieldWeak_M1",
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@@ -1512,19 +1325,19 @@
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@@ -1555,40 +1368,220 @@
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@@ -1697,16 +1680,16 @@
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@@ -1302,56 +1254,11 @@
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-  "className":"Simulink.RelationalOperator",
-  "icon":"WebViewIcon3",
-  "name":"Relational Operator1",
-  "label":"Relational Operator1",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
-  "inspector":{
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-    "InputSameDT",
-    "OutDataTypeStr",
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-   "masktype":""
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- {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9011",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9008",
   "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"id_min",
-  "label":"id_min",
+  "name":"Vq_max",
+  "label":"Vq_max",
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   "inspector":{
    "params":[
@@ -1380,7 +1287,7 @@
     "VectorParamsAs1DForOutWhenUnconnected"
    ],
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@@ -1393,7 +1300,7 @@
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     "off",
     "off",
-    "V_min",
+    "V_max",
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     "reset",
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@@ -1427,35 +1334,37 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8978",
-  "className":"Simulink.If",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8985",
+  "className":"Simulink.RelationalOperator",
   "icon":"WebViewIcon3",
-  "name":"If1",
-  "label":"If1",
+  "name":"Relational Operator3",
+  "label":"Relational Operator3",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
-    "NumInputs",
-    "IfExpression",
-    "ElseIfExpressions",
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     "ZeroCross"
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@@ -1465,32 +1374,44 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8977",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8984",
+  "className":"Simulink.RelationalOperator",
   "icon":"WebViewIcon3",
-  "name":"Goto9",
-  "label":"Goto9",
+  "name":"Relational Operator2",
+  "label":"Relational Operator2",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
    "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
+    "Operator",
+    "InputSameDT",
+    "OutDataTypeStr",
+    "RndMeth",
+    "SampleTime",
+    "ZeroCross"
    ],
    "values":[
-    "iq_limProt",
-    "local",
-    "Tag"
+    "==",
+    "off",
+    "boolean",
+    "Simplest",
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@@ -1498,17 +1419,103 @@
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-   "blocktype":"Goto",
+   "blocktype":"RelationalOperator",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8975",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8979",
+  "className":"Simulink.If",
   "icon":"WebViewIcon3",
-  "name":"Goto7",
-  "label":"Goto7",
-  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "name":"If2",
+  "label":"If2",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "inspector":{
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+    "NumInputs",
+    "IfExpression",
+    "ElseIfExpressions",
+    "ShowElse",
+    "SampleTime",
+    "ZeroCross"
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+    "",
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+    "on"
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+  "className":"Simulink.If",
+  "icon":"WebViewIcon3",
+  "name":"If1",
+  "label":"If1",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "inspector":{
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+    "IfExpression",
+    "ElseIfExpressions",
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+    "",
+    "off",
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+    "on"
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+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon3",
+  "name":"Goto7",
+  "label":"Goto7",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
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@@ -1569,11 +1576,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8973",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8977",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
+  "name":"Goto9",
+  "label":"Goto9",
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   "inspector":{
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@@ -1582,7 +1589,7 @@
     "IconDisplay"
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-    "iq_max",
+    "iq_limProt",
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@@ -1602,11 +1609,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8972",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8969",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto4",
-  "label":"Goto4",
+  "name":"Goto16",
+  "label":"Goto16",
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@@ -1615,7 +1622,7 @@
     "IconDisplay"
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-    "id_max",
+    "z_ctrlMod",
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@@ -1635,11 +1642,60 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8971",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9002",
+  "className":"Simulink.Constant",
+  "icon":"WebViewIcon3",
+  "name":"i_max",
+  "label":"i_max",
+  "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
+  "inspector":{
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+    "SampleTime",
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+    "OutMax",
+    "OutDataTypeStr",
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+    "FramePeriod"
+   ],
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+    "inf",
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+    "[]",
+    "fixdt(1,16,4)",
+    "off",
+    "inf"
+   ],
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+    3,
+    7
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   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto3",
-  "label":"Goto3",
+  "name":"Goto10",
+  "label":"Goto10",
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   "inspector":{
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@@ -1648,7 +1704,7 @@
     "IconDisplay"
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-    "Vd_min",
+    "n_max",
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@@ -1668,11 +1724,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8969",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8962",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto16",
-  "label":"Goto16",
+  "name":"Goto1",
+  "label":"Goto1",
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   "inspector":{
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@@ -1681,7 +1737,7 @@
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+    "Vd",
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@@ -1701,11 +1757,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8968",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8961",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto15",
-  "label":"Goto15",
+  "name":"Goto",
+  "label":"Goto",
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@@ -1714,7 +1770,7 @@
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@@ -1787,11 +1843,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8966",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8972",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto13",
-  "label":"Goto13",
+  "name":"Goto4",
+  "label":"Goto4",
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@@ -1800,7 +1856,7 @@
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@@ -1820,27 +1876,53 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8965",
-  "className":"Simulink.Goto",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8960",
+  "className":"Simulink.Gain",
   "icon":"WebViewIcon3",
-  "name":"Goto12",
-  "label":"Goto12",
+  "name":"Gain6",
+  "label":"Gain6",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:8913",
   "inspector":{
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-    "TagVisibility",
-    "IconDisplay"
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+    "LockScale",
+    "RndMeth",
+    "SaturateOnIntegerOverflow",
+    "ParamMin",
+    "ParamMax",
+    "ParamDataTypeStr",
+    "SampleTime"
    ],
    "values":[
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-    "local",
-    "Tag"
+    "-1",
+    "Element-wise(K.*u)",
+    "[]",
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+    "off",
+    "Zero",
+    "off",
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+    11
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@@ -1848,16 +1930,16 @@
   "obj_viewer":[
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-   "blocktype":"Goto",
+   "blocktype":"Gain",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8964",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8967",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto11",
-  "label":"Goto11",
+  "name":"Goto14",
+  "label":"Goto14",
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   "inspector":{
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@@ -1866,7 +1948,7 @@
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+    "Vq_max",
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     "Tag"
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@@ -1886,11 +1968,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8963",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8970",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto10",
-  "label":"Goto10",
+  "name":"Goto2",
+  "label":"Goto2",
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   "inspector":{
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@@ -1899,7 +1981,7 @@
     "IconDisplay"
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+    "id_TgtAbs",
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     "Tag"
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@@ -1919,11 +2001,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8962",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8964",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto1",
-  "label":"Goto1",
+  "name":"Goto11",
+  "label":"Goto11",
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@@ -1932,7 +2014,7 @@
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@@ -1952,11 +2034,11 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8961",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8966",
   "className":"Simulink.Goto",
   "icon":"WebViewIcon3",
-  "name":"Goto",
-  "label":"Goto",
+  "name":"Goto13",
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@@ -1965,7 +2047,7 @@
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@@ -1985,74 +2067,52 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9003",
-  "className":"Simulink.Interpolation_nD",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8957",
+  "className":"Simulink.Gain",
   "icon":"WebViewIcon3",
-  "name":"iq_max_M1",
-  "label":"iq_max_M1",
+  "name":"Gain3",
+  "label":"Gain3",
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   "inspector":{
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-    "NumSelectionDims",
-    "RemoveProtectionIndex",
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-    "TableMin",
-    "TableMax",
-    "OutDataTypeStr",
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     "OutMax",
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     "LockScale",
     "RndMeth",
     "SaturateOnIntegerOverflow",
-    "ExtrapMethod",
-    "IntermediateResultsDataTypeStr",
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+    "ParamMin",
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     "SampleTime"
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     "off",
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-    "Clip",
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@@ -2061,49 +2121,16 @@
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-  },
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-  "finder":{
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8958",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8956",
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-  "name":"Gain4",
-  "label":"Gain4",
+  "name":"Gain1",
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@@ -2158,11 +2185,42 @@
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8970",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:8953",
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+  "icon":"WebViewIcon3",
+  "name":"From7",
+  "label":"From7",
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-  "name":"Goto2",
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@@ -2171,7 +2229,7 @@
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@@ -2191,11 +2249,11 @@
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@@ -2203,7 +2261,7 @@
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@@ -2234,7 +2292,7 @@
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@@ -2253,74 +2311,25 @@
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@@ -2328,16 +2337,16 @@
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@@ -2345,7 +2354,7 @@
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@@ -2364,70 +2373,11 @@
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@@ -2435,7 +2385,7 @@
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@@ -2453,87 +2403,6 @@
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@@ -2597,11 +2466,11 @@
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-  "label":"From12",
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@@ -2609,7 +2478,7 @@
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@@ -2628,25 +2497,74 @@
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-  "name":"From10",
-  "label":"From10",
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@@ -2654,16 +2572,16 @@
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   "icon":"WebViewIcon3",
-  "name":"From2",
-  "label":"From2",
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@@ -2671,7 +2589,7 @@
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@@ -2690,11 +2608,11 @@
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-  "name":"From",
-  "label":"From",
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@@ -2702,7 +2620,7 @@
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@@ -2721,11 +2639,11 @@
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@@ -2733,7 +2651,7 @@
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@@ -2752,108 +2670,11 @@
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   "icon":"WebViewIcon3",
-  "name":"CTRL_COMM3",
-  "label":"CTRL_COMM3",
+  "name":"Vd_max1",
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   "inspector":{
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@@ -2867,12 +2688,12 @@
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@@ -2898,53 +2719,25 @@
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@@ -2952,16 +2745,16 @@
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-  "name":"From16",
-  "label":"From16",
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@@ -2969,7 +2762,7 @@
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@@ -2988,11 +2781,11 @@
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   "icon":"WebViewIcon3",
-  "name":"From3",
-  "label":"From3",
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@@ -3000,7 +2793,7 @@
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@@ -3019,11 +2812,75 @@
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@@ -3052,7 +2909,7 @@
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@@ -3099,100 +2956,169 @@
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@@ -3251,16 +3159,78 @@
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@@ -3274,7 +3244,7 @@
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@@ -3378,55 +3352,37 @@
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@@ -3476,77 +3446,57 @@
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@@ -3593,7 +3543,7 @@
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@@ -3680,55 +3652,26 @@
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@@ -3742,24 +3685,26 @@
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@@ -3773,30 +3718,78 @@
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@@ -3934,7 +3958,7 @@
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@@ -3950,17 +3974,98 @@
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+    "RndMeth",
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+    "SampleTime"
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+    "[]",
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@@ -3969,16 +4074,16 @@
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   "icon":"WebViewIcon3",
-  "name":"Vd",
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@@ -4001,7 +4106,7 @@
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@@ -4041,36 +4146,40 @@
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-  "label":"If2",
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     "ZeroCross"
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@@ -4079,47 +4188,16 @@
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@@ -4133,7 +4211,7 @@
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@@ -4163,37 +4241,6 @@
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@@ -4262,89 +4309,11 @@
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@@ -4399,11 +4368,42 @@
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2360",
+  "className":"Simulink.Outport",
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-  "label":"init",
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-  "label":"initVal",
+  "name":"Sum2",
+  "label":"Sum2",
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-    "IconDisplay",
+    "IconShape",
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+    "InputSameDT",
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-    "BusOutputAsStruct",
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-    "LatchInputForFeedbackSignals",
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+    "RndMeth",
+    "SaturateOnIntegerOverflow",
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+    "SampleTime"
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-    "Inputs",
-    "InputSameDT",
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+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9040:2355",
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   "icon":"WebViewIcon3",
-  "name":"inc",
-  "label":"inc",
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+  "label":"Saturation Dynamic",
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+  "className":"Saturation Dynamic",
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+  "name":"Saturation Dynamic1",
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-    "ActiveVariantBlock",
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@@ -365,15 +321,15 @@
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   "icon":"WebViewIcon3",
-  "name":"Goto5",
-  "label":"Goto5",
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@@ -382,7 +338,7 @@
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@@ -402,44 +358,11 @@
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@@ -448,7 +371,7 @@
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@@ -468,84 +391,95 @@
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@@ -701,7 +607,7 @@
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@@ -980,7 +820,7 @@
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@@ -1243,7 +1054,7 @@
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@@ -1310,7 +1121,7 @@
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+   "blocktype":"Constant",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9098:2251",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9098:2396",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"P",
-  "label":"P",
+  "name":"ext_limProt",
+  "label":"ext_limProt",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9098",
   "inspector":{
    "params":[
@@ -909,7 +909,7 @@
     "OutputFunctionCall"
    ],
    "values":[
-    "2",
+    "5",
     "Port number",
     "[]",
     "[]",
@@ -949,11 +949,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9098:2396",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9098:2251",
   "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"ext_limProt",
-  "label":"ext_limProt",
+  "name":"P",
+  "label":"P",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9098",
   "inspector":{
    "params":[
@@ -976,7 +976,7 @@
     "OutputFunctionCall"
    ],
    "values":[
-    "5",
+    "2",
     "Port number",
     "[]",
     "[]",
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9098_d.png b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9098_d.png
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index 5462bd1..5add691 100644
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@@ -1,31 +1,62 @@
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@@ -512,11 +474,11 @@
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9143_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9143_d.json
index 98ca4b3..e6734ce 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9143_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9143_d.json
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-  "name":"Vd",
-  "label":"Vd",
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-  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9163:2272",
-  "className":"Simulink.Product",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9163:2250",
+  "className":"Simulink.Inport",
   "icon":"WebViewIcon3",
-  "name":"Divide1",
-  "label":"Divide1",
+  "name":"err",
+  "label":"err",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9163",
   "inspector":{
    "params":[
-    "Inputs",
-    "Multiplication",
-    "InputSameDT",
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     "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "InputConnect",
+    "Interpolate",
+    "LatchByDelayingOutsideSignal",
+    "LatchInputForFeedbackSignals",
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    "values":[
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9171_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9171_d.json
index 31bd902..8b94ad5 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9171_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9171_d.json
@@ -1,41 +1,62 @@
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-  "className":"Simulink.Sum",
+  "sid":"BLDCmotorControl_FOC_R2017b_fixdt:9191",
+  "className":"Simulink.Outport",
   "icon":"WebViewIcon3",
-  "name":"Sum3",
-  "label":"Sum3",
+  "name":"Vq_Vlt",
+  "label":"Vq_Vlt",
   "parent":"BLDCmotorControl_FOC_R2017b_fixdt:9171",
   "inspector":{
    "params":[
-    "IconShape",
-    "Inputs",
-    "InputSameDT",
-    "AccumDataTypeStr",
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+    "IconDisplay",
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     "OutMax",
     "OutDataTypeStr",
     "LockScale",
-    "RndMeth",
-    "SaturateOnIntegerOverflow",
-    "CollapseDim",
-    "CollapseMode",
-    "SampleTime"
+    "Unit",
+    "PortDimensions",
+    "VarSizeSig",
+    "SampleTime",
+    "SignalType",
+    "BusOutputAsStruct",
+    "EnsureOutportIsVirtual",
+    "InitialOutput",
+    "MustResolveToSignalObject",
+    "OutputWhenDisabled",
+    "OutputWhenUnConnected",
+    "OutputWhenUnconnectedValue",
+    "SignalName",
+    "SignalObject",
+    "SourceOfInitialOutputValue",
+    "StorageClass",
+    "VectorParamsAs1DForOutWhenUnconnected"
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    "values":[
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-    "+++",
-    "off",
-    "Inherit: Inherit via internal rule",
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+    "Port number",
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+    "Inherit: auto",
     "off",
-    "Simplest",
-    "on",
-    "1",
-    "All dimensions",
-    "-1"
+    "inherit",
+    "-1",
+    "Inherit",
+    "-1",
+    "auto",
+    "off",
+    "off",
+    "[]",
+    "off",
+    "held",
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+    "Dialog",
+    "Auto",
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   "viewer":{
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   "finder":{
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9337_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_FOC_R2017b_fixdt_9337_d.json
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diff --git a/Inc/BLDC_controller.h b/Inc/BLDC_controller.h
index 44835ec..eb1a9e2 100644
--- a/Inc/BLDC_controller.h
+++ b/Inc/BLDC_controller.h
@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1183
+ * Model version                  : 1.1187
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Mon Oct 21 16:34:10 2019
+ * C/C++ source code generated on : Sun Oct 27 17:31:20 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -122,7 +122,7 @@ typedef struct {
   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_commDeacv_Mode_c;        /* '<S32>/n_commDeacv' */
+  boolean_T n_fieldWeakAuth_Mode;      /* '<S32>/n_fieldWeakAuth' */
   boolean_T dz_cntTrnsDet_Mode;        /* '<S16>/dz_cntTrnsDet' */
 } DW;
 
@@ -246,10 +246,10 @@ struct P_ {
                                         * Referenced by: '<S11>/n_commDeacv'
                                         */
   int16_T n_fieldWeakAuthHi;           /* Variable: n_fieldWeakAuthHi
-                                        * Referenced by: '<S32>/n_commDeacv'
+                                        * Referenced by: '<S32>/n_fieldWeakAuth'
                                         */
   int16_T n_fieldWeakAuthLo;           /* Variable: n_fieldWeakAuthLo
-                                        * Referenced by: '<S32>/n_commDeacv'
+                                        * Referenced by: '<S32>/n_fieldWeakAuth'
                                         */
   int16_T n_max;                       /* Variable: n_max
                                         * Referenced by:
diff --git a/Inc/config.h b/Inc/config.h
index b6640d9..73b1df2 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -98,13 +98,19 @@
 // ###### CONTROL VIA TWO POTENTIOMETERS ######
 /* ADC-calibration to cover the full poti-range:
  * Connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>.
- * Turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN.
- * Turn to maximum position and repeat it for ADC?_MAX. make, flash and test it.
+ * Turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN
+ * Turn the potis to maximum position, write value 1 to ADC1_MAX and value 2 to ADC2_MAX
+ * For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
+ * Make, flash and test it.
  */
 #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)
 
 // ###### CONTROL VIA NINTENDO NUNCHUCK ######
@@ -151,9 +157,11 @@
  * - speedR and speedL: normal driving -1000 to 1000 
  */
 
-// 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 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)
+
+// 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 COEFFICIENT is in fixdt(1,16,14)
 // If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^15
diff --git a/Inc/defines.h b/Inc/defines.h
index 7dae05d..e96bbd6 100644
--- a/Inc/defines.h
+++ b/Inc/defines.h
@@ -160,4 +160,5 @@ typedef struct {
 // Define low-pass filter functions. Implementation is in main.c
 void filtLowPass16(int16_t u, uint16_t coef, int16_t *y);
 void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
-void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
\ No newline at end of file
+void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
+void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
\ No newline at end of file
diff --git a/Inc/rtwtypes.h b/Inc/rtwtypes.h
index b0cea52..ac495a5 100644
--- a/Inc/rtwtypes.h
+++ b/Inc/rtwtypes.h
@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1183
+ * Model version                  : 1.1187
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Mon Oct 21 16:34:10 2019
+ * C/C++ source code generated on : Sun Oct 27 17:31:20 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
diff --git a/Src/BLDC_controller.c b/Src/BLDC_controller.c
index 86e7a7d..69e267f 100644
--- a/Src/BLDC_controller.c
+++ b/Src/BLDC_controller.c
@@ -3,9 +3,9 @@
  *
  * Code generated for Simulink model 'BLDC_controller'.
  *
- * Model version                  : 1.1183
+ * Model version                  : 1.1187
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Mon Oct 21 16:34:10 2019
+ * C/C++ source code generated on : Sun Oct 27 17:31:20 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -790,6 +790,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
   boolean_T rtb_RelationalOperator1_m;
   uint8_T rtb_Sum_l;
   uint8_T rtb_iq_max_XA;
+  int16_T rtb_Saturation2;
   int16_T rtb_Merge;
   int16_T rtb_Switch2_fv;
   int16_T rtb_Abs5;
@@ -801,7 +802,6 @@ void BLDC_controller_step(RT_MODEL *const rtM)
   int16_T rtb_Add;
   int16_T rtb_TmpSignalConversionAtLow_Pa[2];
   uint8_T rtb_r_fieldWeak_XA_o2;
-  int16_T rtb_id_fieldWeak_M1;
   int16_T rtb_Gain1;
   int16_T rtb_Gain6;
   int32_T rtb_Sum2;
@@ -827,37 +827,27 @@ void BLDC_controller_step(RT_MODEL *const rtM)
    *  Inport: '<Root>/r_inpTgt'
    */
   tmp = rtU->r_inpTgt << 4;
+  if (tmp >= 16000) {
+    rtb_Saturation2 = 16000;
+  } else if (tmp <= -16000) {
+    rtb_Saturation2 = -16000;
+  } else {
+    rtb_Saturation2 = (int16_T)(rtU->r_inpTgt << 4);
+  }
+
+  /* End of Saturate: '<S1>/Saturation2' */
 
   /* If: '<S7>/If1' incorporates:
    *  Constant: '<S1>/z_ctrlTypSel1'
+   *  Inport: '<S13>/r_inpTgt'
    */
   if (rtP->z_ctrlTypSel == 0) {
-    /* Saturate: '<S1>/Saturation2' incorporates:
-     *  Inport: '<Root>/r_inpTgt'
-     *  Inport: '<S13>/r_inpTgt'
+    /* Outputs for IfAction SubSystem: '<S7>/Commutation_Control_Type' incorporates:
+     *  ActionPort: '<S13>/Action Port'
      */
-    if (tmp >= 16000) {
-      /* Outputs for IfAction SubSystem: '<S7>/Commutation_Control_Type' incorporates:
-       *  ActionPort: '<S13>/Action Port'
-       */
-      rtb_Merge = 16000;
+    rtb_Merge = rtb_Saturation2;
 
-      /* End of Outputs for SubSystem: '<S7>/Commutation_Control_Type' */
-    } else if (tmp <= -16000) {
-      /* Outputs for IfAction SubSystem: '<S7>/Commutation_Control_Type' incorporates:
-       *  ActionPort: '<S13>/Action Port'
-       */
-      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 Outputs for SubSystem: '<S7>/Commutation_Control_Type' */
   } else {
     /* Outputs for IfAction SubSystem: '<S7>/FOC_Control_Type' incorporates:
      *  ActionPort: '<S14>/Action Port'
@@ -873,29 +863,13 @@ void BLDC_controller_step(RT_MODEL *const rtM)
     tmp_0[2] = rtP->n_max;
     tmp_0[3] = rtP->i_max;
 
-    /* End of Outputs for SubSystem: '<S7>/FOC_Control_Type' */
-
-    /* Saturate: '<S1>/Saturation2' incorporates:
-     *  Inport: '<Root>/r_inpTgt'
-     */
-    if (tmp >= 16000) {
-      rtb_Switch2_d_0 = 16000;
-    } else if (tmp <= -16000) {
-      rtb_Switch2_d_0 = -16000;
-    } else {
-      rtb_Switch2_d_0 = (int16_T)(rtU->r_inpTgt << 4);
-    }
-
-    /* Outputs for IfAction SubSystem: '<S7>/FOC_Control_Type' incorporates:
-     *  ActionPort: '<S14>/Action Port'
-     */
     /* Product: '<S14>/Divide1' incorporates:
      *  Product: '<S14>/Divide4'
      *  Selector: '<S14>/Selector'
      *  UnitDelay: '<S4>/UnitDelay1'
      */
     rtb_Merge = (int16_T)(((uint16_T)((tmp_0[rtDW->UnitDelay1_DSTATE] << 5) /
-      125) * rtb_Switch2_d_0) >> 12);
+      125) * rtb_Saturation2) >> 12);
 
     /* End of Outputs for SubSystem: '<S7>/FOC_Control_Type' */
   }
@@ -1406,10 +1380,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
    *  Inport: '<Root>/i_phaAB'
    */
   tmp = rtU->i_phaAB << 4;
-  if (tmp >= 24000) {
-    rtb_Saturation = 24000;
-  } else if (tmp <= -24000) {
-    rtb_Saturation = -24000;
+  if (tmp >= 32000) {
+    rtb_Saturation = 32000;
+  } else if (tmp <= -32000) {
+    rtb_Saturation = -32000;
   } else {
     rtb_Saturation = (int16_T)(rtU->i_phaAB << 4);
   }
@@ -1420,10 +1394,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
    *  Inport: '<Root>/i_phaBC'
    */
   tmp = rtU->i_phaBC << 4;
-  if (tmp >= 24000) {
-    rtb_Switch2_d = 24000;
-  } else if (tmp <= -24000) {
-    rtb_Switch2_d = -24000;
+  if (tmp >= 32000) {
+    rtb_Switch2_d = 32000;
+  } else if (tmp <= -32000) {
+    rtb_Switch2_d = -32000;
   } else {
     rtb_Switch2_d = (int16_T)(rtU->i_phaBC << 4);
   }
@@ -1650,14 +1624,14 @@ void BLDC_controller_step(RT_MODEL *const rtM)
 
     /* End of Outputs for SubSystem: '<S31>/Low_Pass_Filter' */
 
-    /* Relay: '<S32>/n_commDeacv' incorporates:
+    /* Relay: '<S32>/n_fieldWeakAuth' incorporates:
      *  Constant: '<S31>/cf_currFilt'
      */
     if (rtb_Abs5 >= rtP->n_fieldWeakAuthHi) {
-      rtDW->n_commDeacv_Mode_c = true;
+      rtDW->n_fieldWeakAuth_Mode = true;
     } else {
       if (rtb_Abs5 <= rtP->n_fieldWeakAuthLo) {
-        rtDW->n_commDeacv_Mode_c = false;
+        rtDW->n_fieldWeakAuth_Mode = false;
       }
     }
 
@@ -1665,39 +1639,37 @@ void BLDC_controller_step(RT_MODEL *const rtM)
      *  Constant: '<S32>/a_elecPeriod1'
      *  Constant: '<S32>/b_fieldWeakEna'
      *  Logic: '<S32>/Logical Operator2'
-     *  Relay: '<S32>/n_commDeacv'
+     *  Relay: '<S32>/n_fieldWeakAuth'
      */
-    if (rtP->b_fieldWeakEna && rtDW->n_commDeacv_Mode_c) {
+    if (rtP->b_fieldWeakEna && rtDW->n_fieldWeakAuth_Mode) {
       /* Abs: '<S32>/Abs5' */
-      if (rtb_Merge < 0) {
-        rtb_Saturation = (int16_T)-rtb_Merge;
-      } else {
-        rtb_Saturation = rtb_Merge;
+      if (rtb_Saturation2 < 0) {
+        rtb_Saturation2 = (int16_T)-rtb_Saturation2;
       }
 
       /* End of Abs: '<S32>/Abs5' */
 
       /* PreLookup: '<S32>/r_fieldWeak_XA' */
-      rtb_iq_max_XA = plook_u8s16u8n6_evenc_s(rtb_Saturation,
+      rtb_iq_max_XA = plook_u8s16u8n6_evenc_s(rtb_Saturation2,
         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_iq_max_XA,
+      rtb_Saturation = intrp1d_s16s32s32u8u8n6l_s(rtb_iq_max_XA,
         rtb_r_fieldWeak_XA_o2, rtP->id_fieldWeak_M1);
     } else {
-      rtb_id_fieldWeak_M1 = 0;
+      rtb_Saturation = 0;
     }
 
     /* End of Switch: '<S32>/Switch1' */
 
     /* Gain: '<S32>/toNegative' */
-    rtb_Sum6 = (int16_T)-rtb_id_fieldWeak_M1;
+    rtb_Saturation2 = (int16_T)-rtb_Saturation;
 
     /* Gain: '<S35>/Gain4' incorporates:
      *  Constant: '<S35>/i_max'
      */
-    rtb_Saturation = (int16_T)-rtP->i_max;
+    rtb_Sum6 = (int16_T)-rtP->i_max;
 
     /* If: '<S5>/If1' incorporates:
      *  Constant: '<S35>/Vd_max1'
@@ -1745,19 +1717,19 @@ void BLDC_controller_step(RT_MODEL *const rtM)
        *  RelationalOperator: '<S62>/UpperRelop'
        *  Switch: '<S62>/Switch'
        */
-      if (rtb_Sum6 > rtP->i_max) {
-        rtb_Sum6 = rtP->i_max;
+      if (rtb_Saturation2 > rtP->i_max) {
+        rtb_Saturation2 = rtP->i_max;
       } else {
-        if (rtb_Sum6 < rtb_Saturation) {
+        if (rtb_Saturation2 < rtb_Sum6) {
           /* Switch: '<S62>/Switch' */
-          rtb_Sum6 = rtb_Saturation;
+          rtb_Saturation2 = rtb_Sum6;
         }
       }
 
       /* End of Switch: '<S62>/Switch2' */
 
       /* Sum: '<S40>/Sum3' */
-      tmp = rtb_Sum6 - rtDW->Sum1[1];
+      tmp = rtb_Saturation2 - rtDW->Sum1[1];
       if (tmp > 32767) {
         tmp = 32767;
       } else {
@@ -1792,15 +1764,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       (uint16_T)(rtP->Vq_max_XA[1] - rtP->Vq_max_XA[0]), 45U);
 
     /* Interpolation_n-D: '<S35>/Vq_max_M1' */
-    rtb_Sum6 = rtP->Vq_max_M1[rtb_iq_max_XA];
+    rtb_Saturation2 = rtP->Vq_max_M1[rtb_iq_max_XA];
 
     /* Gain: '<S35>/Gain5' incorporates:
      *  Interpolation_n-D: '<S35>/Vq_max_M1'
      */
-    rtb_Saturation = (int16_T)-rtP->Vq_max_M1[rtb_iq_max_XA];
+    rtb_Sum6 = (int16_T)-rtP->Vq_max_M1[rtb_iq_max_XA];
 
     /* PreLookup: '<S35>/iq_max_XA' */
-    rtb_iq_max_XA = plook_u8s16_evencka(rtb_id_fieldWeak_M1, rtP->iq_max_XA[0],
+    rtb_iq_max_XA = plook_u8s16_evencka(rtb_Saturation, rtP->iq_max_XA[0],
       (uint16_T)(rtP->iq_max_XA[1] - rtP->iq_max_XA[0]), 50U);
 
     /* MinMax: '<S35>/MinMax' incorporates:
@@ -1808,15 +1780,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
      *  Interpolation_n-D: '<S35>/iq_max_M1'
      */
     if (rtP->i_max < rtP->iq_max_M1[rtb_iq_max_XA]) {
-      rtb_id_fieldWeak_M1 = rtP->i_max;
+      rtb_Saturation = rtP->i_max;
     } else {
-      rtb_id_fieldWeak_M1 = rtP->iq_max_M1[rtb_iq_max_XA];
+      rtb_Saturation = rtP->iq_max_M1[rtb_iq_max_XA];
     }
 
     /* End of MinMax: '<S35>/MinMax' */
 
     /* Gain: '<S35>/Gain1' */
-    rtb_Gain1 = (int16_T)-rtb_id_fieldWeak_M1;
+    rtb_Gain1 = (int16_T)-rtb_Saturation;
 
     /* Gain: '<S35>/Gain6' incorporates:
      *  Constant: '<S35>/n_max1'
@@ -1851,8 +1823,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
        *  RelationalOperator: '<S47>/UpperRelop'
        *  Switch: '<S47>/Switch'
        */
-      if (rtDW->Sum1[0] > rtb_id_fieldWeak_M1) {
-        rtb_Switch2_d_0 = rtb_id_fieldWeak_M1;
+      if (rtDW->Sum1[0] > rtb_Saturation) {
+        rtb_Switch2_d_0 = rtb_Saturation;
       } else if (rtDW->Sum1[0] < rtb_Gain1) {
         /* Switch: '<S47>/Switch' */
         rtb_Switch2_d_0 = rtb_Gain1;
@@ -2000,14 +1972,14 @@ void BLDC_controller_step(RT_MODEL *const rtM)
        *  Sum: '<S41>/Sum3'
        *  Switch: '<S65>/Switch'
        */
-      if ((int16_T)tmp > rtb_Sum6) {
+      if ((int16_T)tmp > rtb_Saturation2) {
         /* SignalConversion: '<S41>/Signal Conversion2' */
-        rtDW->Merge = rtb_Sum6;
-      } else if ((int16_T)tmp < rtb_Saturation) {
+        rtDW->Merge = rtb_Saturation2;
+      } else if ((int16_T)tmp < rtb_Sum6) {
         /* Switch: '<S65>/Switch' incorporates:
          *  SignalConversion: '<S41>/Signal Conversion2'
          */
-        rtDW->Merge = rtb_Saturation;
+        rtDW->Merge = rtb_Sum6;
       } else {
         /* SignalConversion: '<S41>/Signal Conversion2' */
         rtDW->Merge = (int16_T)tmp;
@@ -2065,7 +2037,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       /* Outputs for Atomic SubSystem: '<S38>/PI_backCalc_fixdt_n' */
       rtDW->Merge = (int16_T) PI_backCalc_fixdt_n((int16_T)tmp, rtP->cf_nKp,
         rtP->cf_nKi, rtP->cf_nKb, (int16_T)((rtDW->Divide4 * rtP->cf_iqKiLimProt)
-        >> 10), rtb_Sum6, rtb_Saturation, &rtDW->PI_backCalc_fixdt_n_p);
+        >> 10), rtb_Saturation2, rtb_Sum6, &rtDW->PI_backCalc_fixdt_n_p);
 
       /* End of Outputs for SubSystem: '<S38>/PI_backCalc_fixdt_n' */
 
@@ -2105,14 +2077,14 @@ void BLDC_controller_step(RT_MODEL *const rtM)
        *  RelationalOperator: '<S58>/LowerRelop1'
        *  Sum: '<S39>/Sum2'
        */
-      if (!((int16_T)tmp > rtb_id_fieldWeak_M1)) {
+      if (!((int16_T)tmp > rtb_Saturation)) {
         /* Switch: '<S58>/Switch' incorporates:
          *  RelationalOperator: '<S58>/UpperRelop'
          */
         if ((int16_T)tmp < rtb_Gain1) {
-          rtb_id_fieldWeak_M1 = rtb_Gain1;
+          rtb_Saturation = rtb_Gain1;
         } else {
-          rtb_id_fieldWeak_M1 = (int16_T)tmp;
+          rtb_Saturation = (int16_T)tmp;
         }
 
         /* End of Switch: '<S58>/Switch' */
@@ -2121,7 +2093,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
       /* End of Switch: '<S58>/Switch2' */
 
       /* Sum: '<S39>/Sum1' */
-      tmp = rtb_id_fieldWeak_M1 - rtDW->Sum1[0];
+      tmp = rtb_Saturation - rtDW->Sum1[0];
       if (tmp > 32767) {
         tmp = 32767;
       } else {
@@ -2140,7 +2112,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
        *  Sum: '<S39>/Sum1'
        */
       PI_backCalc_fixdt((int16_T)tmp, rtP->cf_iqKp, rtP->cf_iqKi, rtP->cf_iqKb,
-                        0, rtb_Sum6, rtb_Saturation, &rtDW->Merge,
+                        0, rtb_Saturation2, rtb_Sum6, &rtDW->Merge,
                         &rtDW->PI_backCalc_fixdt_Iq);
 
       /* End of Outputs for SubSystem: '<S39>/PI_backCalc_fixdt_Iq' */
@@ -2281,13 +2253,13 @@ void BLDC_controller_step(RT_MODEL *const rtM)
      *  Sum: '<S33>/Sum6'
      *  Sum: '<S34>/Sum6'
      */
-    rtb_Switch2_d = (int16_T)tmp;
+    rtb_Saturation2 = (int16_T)tmp;
     if (!((int16_T)tmp < (int16_T)tmp_3)) {
-      rtb_Switch2_d = (int16_T)tmp_3;
+      rtb_Saturation2 = (int16_T)tmp_3;
     }
 
-    if (!(rtb_Switch2_d < (int16_T)tmp_2)) {
-      rtb_Switch2_d = (int16_T)tmp_2;
+    if (!(rtb_Saturation2 < (int16_T)tmp_2)) {
+      rtb_Saturation2 = (int16_T)tmp_2;
     }
 
     /* MinMax: '<S33>/MinMax2' incorporates:
@@ -2295,20 +2267,20 @@ void BLDC_controller_step(RT_MODEL *const rtM)
      *  Sum: '<S33>/Sum6'
      *  Sum: '<S34>/Sum6'
      */
-    rtb_Add = (int16_T)tmp;
+    rtb_Switch2_d = (int16_T)tmp;
     if (!((int16_T)tmp > (int16_T)tmp_3)) {
-      rtb_Add = (int16_T)tmp_3;
+      rtb_Switch2_d = (int16_T)tmp_3;
     }
 
-    if (!(rtb_Add > (int16_T)tmp_2)) {
-      rtb_Add = (int16_T)tmp_2;
+    if (!(rtb_Switch2_d > (int16_T)tmp_2)) {
+      rtb_Switch2_d = (int16_T)tmp_2;
     }
 
     /* Sum: '<S33>/Add' incorporates:
      *  MinMax: '<S33>/MinMax1'
      *  MinMax: '<S33>/MinMax2'
      */
-    tmp_1 = rtb_Switch2_d + rtb_Add;
+    tmp_1 = rtb_Saturation2 + rtb_Switch2_d;
     if (tmp_1 > 32767) {
       tmp_1 = 32767;
     } else {
@@ -2406,8 +2378,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
    *  2-dimensional Direct Look-Up returning a Column
    */
   if (rtb_LogicalOperator) {
-    rtb_Switch2_d = rtDW->Gain4[0];
-    rtb_Add = rtDW->Gain4[1];
+    rtb_Saturation2 = rtDW->Gain4[0];
+    rtb_Switch2_d = rtDW->Gain4[1];
     rtb_Saturation = rtDW->Gain4[2];
   } else {
     if (rtConstP.vec_hallToPos_Value[rtb_Sum] > 5) {
@@ -2443,8 +2415,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
      *  2-dimensional Direct Look-Up returning a Column
      */
     rtb_Sum2 = rtb_Sum2_h * 3;
-    rtb_Switch2_d = (int16_T)(rtb_Merge * rtConstP.z_commutMap_M1_table[rtb_Sum2]);
-    rtb_Add = (int16_T)(rtConstP.z_commutMap_M1_table[1 + rtb_Sum2] * rtb_Merge);
+    rtb_Saturation2 = (int16_T)(rtb_Merge *
+      rtConstP.z_commutMap_M1_table[rtb_Sum2]);
+    rtb_Switch2_d = (int16_T)(rtConstP.z_commutMap_M1_table[1 + rtb_Sum2] *
+      rtb_Merge);
     rtb_Saturation = (int16_T)(rtConstP.z_commutMap_M1_table[2 + rtb_Sum2] *
       rtb_Merge);
   }
@@ -2481,10 +2455,10 @@ void BLDC_controller_step(RT_MODEL *const rtM)
   /* End of Outputs for SubSystem: '<Root>/BLDC_controller' */
 
   /* Outport: '<Root>/DC_phaA' */
-  rtY->DC_phaA = rtb_Switch2_d;
+  rtY->DC_phaA = rtb_Saturation2;
 
   /* Outport: '<Root>/DC_phaB' */
-  rtY->DC_phaB = rtb_Add;
+  rtY->DC_phaB = rtb_Switch2_d;
 
   /* Outport: '<Root>/DC_phaC' */
   rtY->DC_phaC = rtb_Saturation;
diff --git a/Src/BLDC_controller_data.c b/Src/BLDC_controller_data.c
index a3ef361..94b91d6 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                  : 1.1183
+ * Model version                  : 1.1187
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Mon Oct 21 16:34:10 2019
+ * C/C++ source code generated on : Sun Oct 27 17:31:20 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -198,12 +198,12 @@ P rtP_Left = {
   480,
 
   /* Variable: n_fieldWeakAuthHi
-   * Referenced by: '<S32>/n_commDeacv'
+   * Referenced by: '<S32>/n_fieldWeakAuth'
    */
   3200,
 
   /* Variable: n_fieldWeakAuthLo
-   * Referenced by: '<S32>/n_commDeacv'
+   * Referenced by: '<S32>/n_fieldWeakAuth'
    */
   2240,
 
diff --git a/Src/bldc.c b/Src/bldc.c
index 4a8d49f..de41c0f 100644
--- a/Src/bldc.c
+++ b/Src/bldc.c
@@ -63,7 +63,7 @@ uint8_t buzzerFreq          = 0;
 uint8_t buzzerPattern       = 0;
 static uint32_t buzzerTimer = 0;
 
-uint8_t        enable       = 0;
+uint8_t        enable       = 0;        // initially motors are disabled for SAFETY
 static uint8_t enableFin    = 0;
 
 static const uint16_t pwm_res  = 64000000 / 2 / PWM_FREQ; // = 2000
diff --git a/Src/main.c b/Src/main.c
index 8993f88..b1f9373 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -76,10 +76,12 @@ static volatile Serialcommand command;
 
 static uint8_t button1, button2;
 
-static int16_t steerFixdt;        // local fixed-point variable for steering.
-static int16_t speedFixdt;        // local fixed-point variable for speed.
 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
 
 extern volatile int pwml;         // global variable for pwm left. -1000 to 1000
 extern volatile int pwmr;         // global variable for pwm right. -1000 to 1000
@@ -243,8 +245,6 @@ int main(void) {
   int16_t board_temp_adcFilt  = adc_buffer.temp;
   int16_t board_temp_deg_c;
 
-  enable = 0;  // initially motors are disabled for SAFETY
-
 
   while(1) {
     HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
@@ -267,8 +267,19 @@ int main(void) {
 
     #ifdef CONTROL_ADC
       // ADC values range: 0-4095, see ADC-calibration in config.h
-       cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) * 1000 / ADC1_MAX;  // ADC1
-       cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) * 1000 / ADC2_MAX;  // ADC2
+      #ifdef ADC1_MID_POT
+        cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MID, 0, ADC1_MAX - ADC1_MID) * 1000 / (ADC1_MAX - ADC1_MID)
+              -CLAMP(ADC1_MID - adc_buffer.l_tx2, 0, ADC1_MID - ADC1_MIN) * 1000 / (ADC1_MID - ADC1_MIN); // ADC1        
+      #else
+        cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) * 1000 / ADC1_MAX;                         // ADC1
+      #endif
+
+      #ifdef ADC2_MID_POT
+        cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MID, 0, ADC2_MAX - ADC2_MID) * 1000 / (ADC2_MAX - ADC2_MID) 
+              -CLAMP(ADC2_MID - adc_buffer.l_rx2, 0, ADC2_MID - ADC2_MIN) * 1000 / (ADC2_MID - ADC2_MIN); // ADC2        
+      #else
+        cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) * 1000 / ADC2_MAX;                         // ADC2
+      #endif  
 
       // use ADCs as button inputs:
       button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);  // ADC1
@@ -284,18 +295,21 @@ int main(void) {
       timeout = 0;
     #endif
 
-    // Bypass - only for testing purposes
-    // cmd1 = 2*(cmd1-500);
-    // cmd2 = 2*(cmd2-500);
 
     // ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
     if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
-      enable = 1;   // enable motors
+      buzzerPattern = 0;
+      buzzerFreq = 6; HAL_Delay(100);   // make 2 beeps indicating the motor enable
+      buzzerFreq = 4; HAL_Delay(200);
+      buzzerFreq = 0;
+      enable = 1;                       // enable motors
     }
 
     // ####### LOW-PASS FILTER #######
-    filtLowPass16(cmd1, FILTER, &steerFixdt);
-    filtLowPass16(cmd2, FILTER, &speedFixdt);
+    rateLimiter16(cmd1, RATE, &steerRateFixdt);
+    rateLimiter16(cmd2, RATE, &speedRateFixdt);
+    filtLowPass16(steerRateFixdt >> 4, FILTER, &steerFixdt);
+    filtLowPass16(speedRateFixdt >> 4, FILTER, &speedFixdt);
     steer = steerFixdt >> 4;  // convert fixed-point to integer
     speed = speedFixdt >> 4;  // convert fixed-point to integer    
 
@@ -335,13 +349,11 @@ int main(void) {
 
       // ####### DEBUG SERIAL OUT #######
       #ifdef CONTROL_ADC
-        // setScopeChannel(0, (int)adc_buffer.l_tx2);        // 1: ADC1
-        // setScopeChannel(1, (int)adc_buffer.l_rx2);        // 2: ADC2
+        setScopeChannel(0, (int)adc_buffer.l_tx2);            // 1: ADC1
+        setScopeChannel(1, (int)adc_buffer.l_rx2);            // 2: ADC2
       #endif
-      setScopeChannel(0, (int16_t)speedR);                    // 1: output command: [-1000, 1000]
-      setScopeChannel(1, (int16_t)speedL);                    // 2: output command: [-1000, 1000]
-      setScopeChannel(2, (int16_t)rtY_Right.n_mot);           // 3: Real motor speed [rpm]
-      setScopeChannel(3, (int16_t)rtY_Left.n_mot);            // 4: Real motor speed [rpm]
+      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
@@ -352,9 +364,13 @@ int main(void) {
     HAL_GPIO_TogglePin(LED_PORT, LED_PIN);
     // ####### POWEROFF BY POWER-BUTTON #######
     if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
-      enable = 0;
-      while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
-      poweroff();
+      enable = 0;                                             // disable motors
+      while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}    // wait until button is released
+      if(__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST)) {               // do not power off after software reset (from a programmer/debugger)
+        __HAL_RCC_CLEAR_RESET_FLAGS();                        // clear reset flags
+      } else {
+        poweroff();                                           // release power-latch
+      }
     }
 
 
@@ -507,7 +523,7 @@ void filtLowPass32(int32_t u, uint16_t coef, int32_t *y)
   /* mixerFcn(rtu_speed, rtu_steer, &rty_speedR, &rty_speedL); 
   * Inputs:       rtu_speed, rtu_steer                  = fixdt(1,16,4)
   * Outputs:      rty_speedR, rty_speedL                = int16_t
-  * Parameters:   SPEED_COEFFICIENT, STEER_COEFFICIENT  = fixdt(0,16,15)
+  * Parameters:   SPEED_COEFFICIENT, STEER_COEFFICIENT  = fixdt(0,16,14)
   */
 void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL)
 {
@@ -529,4 +545,29 @@ void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t
   *rty_speedL = CLAMP(*rty_speedL, -1000, 1000);
 }
 
+// ===========================================================
+  /* rateLimiter16(int16_t u, int16_t rate, int16_t *y);
+  * Inputs:       u     = int16
+  * Outputs:      y     = fixdt(1,16,4)
+  * Parameters:   rate  = fixdt(1,16,4) = [0, 32767] Do NOT make rate negative (>32767)
+  */
+void rateLimiter16(int16_t u, int16_t rate, int16_t *y)
+{
+  int16_t q0;
+  int16_t q1;
+
+  q0 = (u << 4)  - *y;
+
+  if (q0 > rate) {
+    q0 = rate;
+  } else {
+    q1 = -rate;
+    if (q0 < q1) {
+      q0 = q1;
+    }
+  }
+
+  *y = (int16_T)(q0 + *y);
+}
+
 // ===========================================================
\ No newline at end of file
diff --git a/build/firmware.bin b/build/firmware.bin
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GIT binary patch
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diff --git a/build/firmware.elf b/build/firmware.elf
index dd460ab647bc3d4d1d2b6af8595680c8f8289d94..41903ecbc56c6d3b807a32140efc22623318482c 100644
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