The follwing were converted to fixed-point - battery voltage - board temperature - filters for steer and speed - mixer calculation Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.pull/9/head
EmanuelFeru
6 years ago
parent
f6fc825e5f
commit
8771742558
@ -0,0 +1,195 @@
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/*
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* File: mixer.c
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*
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* Code generated for Simulink model 'mixer'.
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*
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* Model version : 1.1173
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* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
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* C/C++ source code generated on : Wed Oct 16 19:40:02 2019
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex
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* Emulation hardware selection:
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* Differs from embedded hardware (MATLAB Host)
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* Code generation objectives:
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* 1. Execution efficiency
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* 2. RAM efficiency
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* Validation result: Not run
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*/
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#include "mixer.h"
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#ifndef UCHAR_MAX
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#include <limits.h>
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#endif
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#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
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#error Code was generated for compiler with different sized uchar/char. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
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#error Code was generated for compiler with different sized ushort/short. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
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#error Code was generated for compiler with different sized uint/int. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
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#error Code was generated for compiler with different sized ulong/long. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#if 0
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/* Skip this size verification because of preprocessor limitation */
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#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
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#error Code was generated for compiler with different sized ulong_long/long_long. \
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Consider adjusting Test hardware word size settings on the \
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Hardware Implementation pane to match your compiler word sizes as \
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defined in limits.h of the compiler. Alternatively, you can \
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select the Test hardware is the same as production hardware option and \
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select the Enable portable word sizes option on the Code Generation > \
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Verification pane for ERT based targets, which will disable the \
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preprocessor word size checks.
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#endif
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#endif
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extern void mixer_k(int16_T rtu_speed, int16_T rtu_steer, int16_T rtu_speed_coef,
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int16_T rtu_steer_coef, int16_T *rty_speedR, int16_T
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*rty_speedL);
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/*===========*
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* Constants *
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*===========*/
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#define RT_PI 3.14159265358979323846
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#define RT_PIF 3.1415927F
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#define RT_LN_10 2.30258509299404568402
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#define RT_LN_10F 2.3025851F
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#define RT_LOG10E 0.43429448190325182765
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#define RT_LOG10EF 0.43429449F
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#define RT_E 2.7182818284590452354
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#define RT_EF 2.7182817F
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/*
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* UNUSED_PARAMETER(x)
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* Used to specify that a function parameter (argument) is required but not
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* accessed by the function body.
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*/
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#ifndef UNUSED_PARAMETER
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# if defined(__LCC__)
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# define UNUSED_PARAMETER(x) /* do nothing */
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# else
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/*
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* This is the semi-ANSI standard way of indicating that an
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* unused function parameter is required.
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*/
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# define UNUSED_PARAMETER(x) (void) (x)
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# endif
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#endif
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/* Output and update for atomic system: '<Root>/mixer' */
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void mixer_k(int16_T rtu_speed, int16_T rtu_steer, int16_T rtu_speed_coef,
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int16_T rtu_steer_coef, int16_T *rty_speedR, int16_T *rty_speedL)
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{
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int16_T rtb_Divide1;
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int16_T rtb_Divide2;
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int32_T tmp;
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/* Product: '<S1>/Divide1' */
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rtb_Divide1 = (int16_T)((rtu_speed * rtu_speed_coef) >> 14);
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/* Product: '<S1>/Divide2' */
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rtb_Divide2 = (int16_T)((rtu_steer * rtu_steer_coef) >> 14);
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/* Sum: '<S1>/Sum1' */
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tmp = rtb_Divide1 - rtb_Divide2;
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if (tmp > 32767) {
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tmp = 32767;
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} else {
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if (tmp < -32768) {
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tmp = -32768;
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}
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}
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/* DataTypeConversion: '<S1>/Data Type Conversion2' incorporates:
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* Sum: '<S1>/Sum1'
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*/
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*rty_speedR = (int16_T)(tmp >> 4);
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/* Sum: '<S1>/Sum2' */
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tmp = rtb_Divide1 + rtb_Divide2;
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if (tmp > 32767) {
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tmp = 32767;
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} else {
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if (tmp < -32768) {
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tmp = -32768;
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}
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}
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/* DataTypeConversion: '<S1>/Data Type Conversion3' incorporates:
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* Sum: '<S1>/Sum2'
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*/
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*rty_speedL = (int16_T)(tmp >> 4);
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}
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/* Model step function */
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void mixer_step(RT_MODEL *const rtM)
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{
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ExtU *rtU = (ExtU *) rtM->inputs;
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ExtY *rtY = (ExtY *) rtM->outputs;
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/* Outputs for Atomic SubSystem: '<Root>/mixer' */
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/* Inport: '<Root>/speed' incorporates:
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* Inport: '<Root>/speed_coef'
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* Inport: '<Root>/steer'
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* Inport: '<Root>/steer_coef'
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* Outport: '<Root>/speedL'
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* Outport: '<Root>/speedR'
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*/
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mixer_k(rtU->speed, rtU->steer, rtU->speed_coef, rtU->steer_coef, &rtY->speedR,
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&rtY->speedL);
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/* End of Outputs for SubSystem: '<Root>/mixer' */
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}
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/* Model initialize function */
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void mixer_initialize(RT_MODEL *const rtM)
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{
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/* (no initialization code required) */
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UNUSED_PARAMETER(rtM);
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}
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/*
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* File trailer for generated code.
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*
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* [EOF]
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*/
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@ -0,0 +1,91 @@
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/*
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* File: mixer.h
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*
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* Code generated for Simulink model 'mixer'.
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*
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* Model version : 1.1173
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* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
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* C/C++ source code generated on : Wed Oct 16 19:40:02 2019
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex
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* Emulation hardware selection:
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* Differs from embedded hardware (MATLAB Host)
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* Code generation objectives:
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* 1. Execution efficiency
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* 2. RAM efficiency
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* Validation result: Not run
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*/
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#ifndef RTW_HEADER_mixer_h_
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#define RTW_HEADER_mixer_h_
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#ifndef mixer_COMMON_INCLUDES_
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# define mixer_COMMON_INCLUDES_
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#include "rtwtypes.h"
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#endif /* mixer_COMMON_INCLUDES_ */
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/* Macros for accessing real-time model data structure */
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/* Forward declaration for rtModel */
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typedef struct tag_RTM RT_MODEL;
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/* External inputs (root inport signals with auto storage) */
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typedef struct {
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int16_T speed; /* '<Root>/speed' */
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int16_T steer; /* '<Root>/steer' */
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int16_T speed_coef; /* '<Root>/speed_coef' */
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int16_T steer_coef; /* '<Root>/steer_coef' */
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} ExtU;
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/* External outputs (root outports fed by signals with auto storage) */
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typedef struct {
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int16_T speedR; /* '<Root>/speedR' */
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int16_T speedL; /* '<Root>/speedL' */
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} ExtY;
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/* Real-time Model Data Structure */
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struct tag_RTM {
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ExtU *inputs;
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ExtY *outputs;
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};
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/* Model entry point functions */
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extern void mixer_initialize(RT_MODEL *const rtM);
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extern void mixer_step(RT_MODEL *const rtM);
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/*-
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* These blocks were eliminated from the model due to optimizations:
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*
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* Block '<S1>/Data Type Conversion4' : Unused code path elimination
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* Block '<S1>/Display' : Unused code path elimination
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* Block '<S1>/Display1' : Unused code path elimination
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* Block '<S1>/Display3' : Unused code path elimination
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*/
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/*-
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* The generated code includes comments that allow you to trace directly
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* back to the appropriate location in the model. The basic format
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* is <system>/block_name, where system is the system number (uniquely
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* assigned by Simulink) and block_name is the name of the block.
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*
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* Note that this particular code originates from a subsystem build,
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* and has its own system numbers different from the parent model.
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* Refer to the system hierarchy for this subsystem below, and use the
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* MATLAB hilite_system command to trace the generated code back
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* to the parent model. For example,
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*
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* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/mixer') - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/mixer
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* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/mixer/Kp') - opens and selects block Kp
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*
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* Here is the system hierarchy for this model
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*
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* '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt'
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* '<S1>' : 'BLDCmotorControl_FOC_R2017b_fixdt/mixer'
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*/
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#endif /* RTW_HEADER_mixer_h_ */
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/*
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* File trailer for generated code.
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*
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* [EOF]
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*/
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Loading…
Reference in new issue