Skip to content

Commit

Permalink
AMCBLDC – Fix voltage supply on ergocub robot (robotology#348)
Browse files Browse the repository at this point in the history
  • Loading branch information
@sgiraz @valegagge
sgiraz authored and valegagge committed May 5, 2023
1 parent 4d5eda8 commit 8db9930
Show file tree
Hide file tree
Showing 54 changed files with 71 additions and 76 deletions.
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/amcbldc/application/src/amcbldc-main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@

constexpr embot::app::theCANboardInfo::applicationInfo applInfo
{
embot::prot::can::versionOfAPPLICATION {1, 0, 8},
embot::prot::can::versionOfAPPLICATION {1, 0, 9},
embot::prot::can::versionOfCANPROTOCOL {2, 0}
};

Expand Down
10 changes: 5 additions & 5 deletions ...DY/eBcode/arch-arm/board/amcbldc/application/src/model-based-design/amc-bldc/AMC_BLDC.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 5.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:32 2023
// C/C++ source code generated on : Thu Feb 23 16:33:28 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down Expand Up @@ -54,7 +54,7 @@ ConfigurationParameters InitConfParams = {
0.0F,
0.0F,
0.0F,
24.0F,
44.0F,
24.0F
},

Expand Down Expand Up @@ -232,7 +232,7 @@ void AMC_BLDC_step_FOC(void) // Sample time: [3.65714285714286E-5s, 0.0s]
AMC_BLDC_DW.RTBInsertedForAdapter_Inserte_i[AMC_BLDC_DW.RTBInsertedForAdapter_Insert_bw];

// ModelReference: '<Root>/FOC' incorporates:
// Inport generated from: '<Root>/In Bus Element5'
// Inport generated from: '<Root>/In Bus Element6'
// Outport generated from: '<Root>/Out Bus Element'

control_foc(&AMC_BLDC_U.SensorsData_p, &rtb_BusConversion_InsertedFor_F,
Expand Down Expand Up @@ -274,7 +274,7 @@ void AMC_BLDC_step_FOC(void) // Sample time: [3.65714285714286E-5s, 0.0s]
// End of RateTransition generated from: '<Root>/Adapter1'

// RateTransition generated from: '<Root>/Adapter3' incorporates:
// Inport generated from: '<Root>/In Bus Element5'
// Inport generated from: '<Root>/In Bus Element6'

rtw_mutex_lock();
wrBufIdx = static_cast<int8_T>(AMC_BLDC_DW.RTBInsertedForAdapter_Inserte_g + 1);
Expand Down Expand Up @@ -602,7 +602,7 @@ void AMC_BLDC_initialize(void)
filter_current_Init();

// SystemInitialize for ModelReference: '<Root>/FOC' incorporates:
// Inport generated from: '<Root>/In Bus Element5'
// Inport generated from: '<Root>/In Bus Element6'
// Outport generated from: '<Root>/Out Bus Element'

control_foc_Init();
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/amcbldc/application/src/model-based-design/amc-bldc/AMC_BLDC.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 5.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:32 2023
// C/C++ source code generated on : Thu Feb 23 16:33:28 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...ode/arch-arm/board/amcbldc/application/src/model-based-design/amc-bldc/AMC_BLDC_private.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 5.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:32 2023
// C/C++ source code generated on : Thu Feb 23 16:33:28 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...Bcode/arch-arm/board/amcbldc/application/src/model-based-design/amc-bldc/AMC_BLDC_types.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 5.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:32 2023
// C/C++ source code generated on : Thu Feb 23 16:33:28 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...ode/arch-arm/board/amcbldc/application/src/model-based-design/can-decoder/can_decoder.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:41 2023
// C/C++ source code generated on : Thu Feb 23 16:32:38 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...Bcode/arch-arm/board/amcbldc/application/src/model-based-design/can-decoder/can_decoder.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:41 2023
// C/C++ source code generated on : Thu Feb 23 16:32:38 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...ch-arm/board/amcbldc/application/src/model-based-design/can-decoder/can_decoder_private.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:41 2023
// C/C++ source code generated on : Thu Feb 23 16:32:38 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...arch-arm/board/amcbldc/application/src/model-based-design/can-decoder/can_decoder_types.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:41 2023
// C/C++ source code generated on : Thu Feb 23 16:32:38 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...ode/arch-arm/board/amcbldc/application/src/model-based-design/can-encoder/can_encoder.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:46 2023
// C/C++ source code generated on : Thu Feb 23 16:32:45 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...Bcode/arch-arm/board/amcbldc/application/src/model-based-design/can-encoder/can_encoder.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:46 2023
// C/C++ source code generated on : Thu Feb 23 16:32:45 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...ch-arm/board/amcbldc/application/src/model-based-design/can-encoder/can_encoder_private.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:46 2023
// C/C++ source code generated on : Thu Feb 23 16:32:45 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...arch-arm/board/amcbldc/application/src/model-based-design/can-encoder/can_encoder_types.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:46 2023
// C/C++ source code generated on : Thu Feb 23 16:32:45 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
7 changes: 4 additions & 3 deletions ...de/arch-arm/board/amcbldc/application/src/model-based-design/control-foc/FOCInnerLoop.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'control_foc'.
//
// Model version : 4.0
// Model version : 4.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:51 2023
// C/C++ source code generated on : Thu Feb 23 16:32:52 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down Expand Up @@ -285,7 +285,8 @@ void FOCInnerLoop(const Flags *rtu_Flags, const ConfigurationParameters
// Gain: '<S1>/Gain3' incorporates:
// Product: '<S1>/Divide1'

rtb_algDD_o2_n = rtb_algDD_o1_p / rtb_Product * 100.0F;
rtb_algDD_o2_n = rtb_algDD_o1_p / rtu_ConfigurationParameters->motorconfig.Vcc
* 100.0F;

// Outputs for Atomic SubSystem: '<S1>/Park Transform'
// Product: '<S51>/PProd Out' incorporates:
Expand Down
4 changes: 2 additions & 2 deletions ...code/arch-arm/board/amcbldc/application/src/model-based-design/control-foc/FOCInnerLoop.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'control_foc'.
//
// Model version : 4.0
// Model version : 4.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:51 2023
// C/C++ source code generated on : Thu Feb 23 16:32:52 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
4 changes: 2 additions & 2 deletions ...ode/arch-arm/board/amcbldc/application/src/model-based-design/control-foc/control_foc.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'control_foc'.
//
// Model version : 4.0
// Model version : 4.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:51 2023
// C/C++ source code generated on : Thu Feb 23 16:32:52 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
10 changes: 2 additions & 8 deletions ...Bcode/arch-arm/board/amcbldc/application/src/model-based-design/control-foc/control_foc.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'control_foc'.
//
// Model version : 4.0
// Model version : 4.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:51 2023
// C/C++ source code generated on : Thu Feb 23 16:32:52 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand All @@ -20,14 +20,8 @@
#define RTW_HEADER_control_foc_h_
#include "rtwtypes.h"
#include "control_foc_types.h"

extern "C"
{

#include "rtGetInf.h"

}

extern "C"
{

Expand Down
4 changes: 2 additions & 2 deletions ...rch-arm/board/amcbldc/application/src/model-based-design/control-foc/control_foc_data.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'control_foc'.
//
// Model version : 4.0
// Model version : 4.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:51 2023
// C/C++ source code generated on : Thu Feb 23 16:32:52 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
4 changes: 2 additions & 2 deletions ...ch-arm/board/amcbldc/application/src/model-based-design/control-foc/control_foc_private.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'control_foc'.
//
// Model version : 4.0
// Model version : 4.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:51 2023
// C/C++ source code generated on : Thu Feb 23 16:32:52 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
4 changes: 2 additions & 2 deletions ...arch-arm/board/amcbldc/application/src/model-based-design/control-foc/control_foc_types.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
//
// Code generated for Simulink model 'control_foc'.
//
// Model version : 4.0
// Model version : 4.1
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:51 2023
// C/C++ source code generated on : Thu Feb 23 16:32:52 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...arch-arm/board/amcbldc/application/src/model-based-design/control-outer/control_outer.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:58 2023
// C/C++ source code generated on : Thu Feb 23 16:33:01 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...e/arch-arm/board/amcbldc/application/src/model-based-design/control-outer/control_outer.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:58 2023
// C/C++ source code generated on : Thu Feb 23 16:33:01 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...rm/board/amcbldc/application/src/model-based-design/control-outer/control_outer_private.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:58 2023
// C/C++ source code generated on : Thu Feb 23 16:33:01 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...-arm/board/amcbldc/application/src/model-based-design/control-outer/control_outer_types.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:58 2023
// C/C++ source code generated on : Thu Feb 23 16:33:01 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...ch-arm/board/amcbldc/application/src/model-based-design/estimator/estimation_velocity.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:07 2023
// C/C++ source code generated on : Thu Feb 23 16:33:11 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...arch-arm/board/amcbldc/application/src/model-based-design/estimator/estimation_velocity.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:07 2023
// C/C++ source code generated on : Thu Feb 23 16:33:11 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion .../board/amcbldc/application/src/model-based-design/estimator/estimation_velocity_private.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:07 2023
// C/C++ source code generated on : Thu Feb 23 16:33:11 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...rm/board/amcbldc/application/src/model-based-design/estimator/estimation_velocity_types.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:07 2023
// C/C++ source code generated on : Thu Feb 23 16:33:11 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...ch-arm/board/amcbldc/application/src/model-based-design/filter-current/filter_current.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:17 2023
// C/C++ source code generated on : Thu Feb 23 16:33:19 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...arch-arm/board/amcbldc/application/src/model-based-design/filter-current/filter_current.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:17 2023
// C/C++ source code generated on : Thu Feb 23 16:33:19 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion .../board/amcbldc/application/src/model-based-design/filter-current/filter_current_private.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:17 2023
// C/C++ source code generated on : Thu Feb 23 16:33:19 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...rm/board/amcbldc/application/src/model-based-design/filter-current/filter_current_types.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:58:17 2023
// C/C++ source code generated on : Thu Feb 23 16:33:19 2023
//
// Target selection: ert.tlc
// Embedded hardware selection: ARM Compatible->ARM Cortex-M
Expand Down
2 changes: 1 addition & 1 deletion ...de/arch-arm/board/amcbldc/application/src/model-based-design/sharedutils/const_params.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C++ source code generated on : Fri Feb 10 13:58:07 2023
// C++ source code generated on : Fri Dec 9 15:00:27 2022

#include "rtwtypes.h"

Expand Down
2 changes: 1 addition & 1 deletion ...eBcode/arch-arm/board/amcbldc/application/src/model-based-design/sharedutils/rtGetInf.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:51 2023
// C/C++ source code generated on : Fri Dec 9 15:00:09 2022
//
#include "rtwtypes.h"

Expand Down
2 changes: 1 addition & 1 deletion ...Y/eBcode/arch-arm/board/amcbldc/application/src/model-based-design/sharedutils/rtGetInf.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//
// Model version : 4.0
// Simulink Coder version : 9.8 (R2022b) 13-May-2022
// C/C++ source code generated on : Fri Feb 10 13:57:51 2023
// C/C++ source code generated on : Fri Dec 9 15:00:09 2022
//
#ifndef RTW_HEADER_rtGetInf_h_
#define RTW_HEADER_rtGetInf_h_
Expand Down
Loading

0 comments on commit 8db9930

Please sign in to comment.