motor_ctl-4/User project/3.BasicFunction/Source/LoadObsTheta.c

/*
 * File: LoadObsTheta.c
 *
 * Code generated for Simulink model 'LoadObsTheta'.
 *
 * Model version                  : 8.72
 * Simulink Coder version         : 9.6 (R2021b) 14-May-2021
 * C/C++ source code generated on : Sat Nov  5 15:46:39 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: ARM Compatible->ARM Cortex-M
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "LoadObsTheta.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

/* Skipping ulong_long/long_long check: insufficient preprocessor integer range. */

/* Exported data definition */

/* Definition for custom storage class: Struct */
LoadObsTheta_stCoef_type LoadObsTheta_stCoef;
LoadObsTheta_stCoefIn_type LoadObsTheta_stCoefIn;

/* Block states (default storage) */
DW_LoadObsTheta_T LoadObsTheta_DW;

/* External inputs (root inport signals with default storage) */
ExtU_LoadObsTheta_T LoadObsTheta_U;

/* External outputs (root outports fed by signals with default storage) */
ExtY_LoadObsTheta_T LoadObsTheta_Y;
void LoadObsTheta_voCoef(void)
{
    uint16_T rtb_Divide2;

    /* Outputs for Atomic SubSystem: '<Root>/Initialize Function2' */
    /* Product: '<S2>/Divide' incorporates:
     *  DataStoreWrite: '<S2>/Data Store Write'
     *  Inport: '<Root>/uwFbHz'
     *  Inport: '<Root>/uwWtcHz'
     */
    LoadObsTheta_stCoef.uwK1Pu = (uint16_T)(LoadObsTheta_stCoefIn.uwFbHz == 0U ?
        MAX_uint32_T : ((uint32_T)LoadObsTheta_stCoefIn.uwWtcHz << 15) /
        LoadObsTheta_stCoefIn.uwFbHz);

    /* Product: '<S2>/Divide2' incorporates:
     *  Gain: '<S2>/Gain'
     *  Inport: '<Root>/uwJb'
     *  Inport: '<Root>/uwMtJm'
     */
    rtb_Divide2 = (uint16_T)(LoadObsTheta_stCoefIn.uwJb == 0U ? MAX_uint32_T :
        1000U * LoadObsTheta_stCoefIn.uwMtJm / LoadObsTheta_stCoefIn.uwJb);

    /* Product: '<S2>/Product6' incorporates:
     *  DataStoreWrite: '<S2>/Data Store Write'
     *  DataStoreWrite: '<S2>/Data Store Write1'
     *  Product: '<S2>/Divide'
     *  Product: '<S2>/Product'
     */
    LoadObsTheta_stCoef.uwK2Pu = (uint16_T)(((uint64_T)(((uint32_T)
        LoadObsTheta_stCoef.uwK1Pu * LoadObsTheta_stCoef.uwK1Pu) >> 1) *
        rtb_Divide2) >> 19);

    /* Product: '<S2>/Divide6' incorporates:
     *  DataStoreRead: '<S2>/Data Store Read'
     *  DataStoreWrite: '<S2>/Data Store Write'
     *  DataStoreWrite: '<S2>/Data Store Write2'
     *  Inport: '<Root>/uwMCoef'
     *  Product: '<S2>/Divide'
     *  Product: '<S2>/Product1'
     *  Product: '<S2>/Product2'
     *  Product: '<S2>/Product4'
     *  Product: '<S2>/Product5'
     */
    LoadObsTheta_stCoef.uwK3Pu = (uint16_T)(LoadObsTheta_stCoefIn.uwMCoef == 0U ?
        MAX_uint32_T : (uint32_T)(uint16_T)(((uint64_T)(uint32_T)(((uint64_T)
        (uint32_T)(((uint64_T)(((uint32_T)LoadObsTheta_stCoef.uwK1Pu *
        LoadObsTheta_stCoef.uwK1Pu) >> 1) * LoadObsTheta_stCoef.uwK1Pu) >> 14) *
        rtb_Divide2) >> 6) * LoadObsTheta_stCoef.uwTctrPu) >> 21) /
        LoadObsTheta_stCoefIn.uwMCoef);

    /* Product: '<S2>/Divide3' incorporates:
     *  DataStoreWrite: '<S2>/Data Store Write3'
     *  Inport: '<Root>/uwFTbcHz'
     *  Inport: '<Root>/uwFbHz'
     */
    LoadObsTheta_stCoef.uwCurTs = (uint16_T)(LoadObsTheta_stCoefIn.uwFTbcHz ==
        0U ? MAX_uint32_T : ((uint32_T)LoadObsTheta_stCoefIn.uwFbHz << 10) /
        LoadObsTheta_stCoefIn.uwFTbcHz);

    /* Product: '<S2>/Divide4' incorporates:
     *  DataStoreWrite: '<S2>/Data Store Write5'
     */
    LoadObsTheta_stCoef.uwJmPuInv = (uint16_T)(rtb_Divide2 == 0U ? MAX_uint32_T :
        16384U / rtb_Divide2);

    /* Product: '<S2>/Product3' incorporates:
     *  DataStoreWrite: '<S2>/Data Store Write3'
     *  DataStoreWrite: '<S2>/Data Store Write7'
     *  Product: '<S2>/Divide3'
     */
    LoadObsTheta_stCoef.uwTctrPu = (uint16_T)((LoadObsTheta_stCoef.uwCurTs *
        3217U) >> 7);

    /* Product: '<S2>/Divide1' incorporates:
     *  DataStoreWrite: '<S2>/Data Store Write4'
     *  Inport: '<Root>/uwFluxWb'
     *  Inport: '<Root>/uwFluxbWb'
     */
    LoadObsTheta_stCoef.uwFluxPu = (uint16_T)(LoadObsTheta_stCoefIn.uwFluxbWb ==
        0U ? MAX_uint32_T : ((uint32_T)LoadObsTheta_stCoefIn.uwFluxWb << 12) /
        LoadObsTheta_stCoefIn.uwFluxbWb);

    /* Product: '<S2>/Divide5' incorporates:
     *  DataStoreWrite: '<S2>/Data Store Write4'
     *  DataStoreWrite: '<S2>/Data Store Write6'
     *  Product: '<S2>/Divide1'
     */
    LoadObsTheta_stCoef.uwFluxPuInv = (uint16_T)(LoadObsTheta_stCoef.uwFluxPu ==
        0U ? MAX_uint32_T : 16777216U / LoadObsTheta_stCoef.uwFluxPu);

    /* End of Outputs for SubSystem: '<Root>/Initialize Function2' */
}

void LoadObsTheta_voInit(void)
{
    /* Outputs for Atomic SubSystem: '<Root>/Initialize Function1' */
    /* Outport: '<Root>/swSpdFbkPu' incorporates:
     *  Constant: '<S1>/Constant'
     */
    LoadObsTheta_Y.swSpdFbkPu = 0;

    /* Outport: '<Root>/uwThetaObsPu' incorporates:
     *  Constant: '<S1>/Constant1'
     */
    LoadObsTheta_Y.uwThetaObsPu = 0U;

    /* Outport: '<Root>/swTLPu' incorporates:
     *  Constant: '<S1>/Constant2'
     */
    LoadObsTheta_Y.swTLPu = 0;

    /* Outport: '<Root>/swIqCompPu' incorporates:
     *  Constant: '<S1>/Constant3'
     */
    LoadObsTheta_Y.swIqCompPu = 0;

    /* End of Outputs for SubSystem: '<Root>/Initialize Function1' */
}

/* Model step function */
void LoadObsTheta_step(void)
{
    int32_T rtb_Sum11;
    int16_T rtb_Sum5;

    /* Sum: '<S3>/Sum5' incorporates:
     *  Inport: '<Root>/ThetamPu'
     *  UnitDelay: '<S3>/Unit Delay4'
     */
    rtb_Sum5 = (int16_T)(((LoadObsTheta_U.ThetamPu << 13) -
                          (LoadObsTheta_DW.UnitDelay4_DSTATE >> 1)) >> 13);

    /* Switch: '<S3>/Switch2' incorporates:
     *  Constant: '<S3>/Constant2'
     *  RelationalOperator: '<S6>/Compare'
     *  RelationalOperator: '<S7>/Compare'
     *  Sum: '<S3>/Sum1'
     *  Sum: '<S3>/Sum5'
     *  Switch: '<S3>/Switch3'
     */
    if (rtb_Sum5 >= 16384)
    {
        rtb_Sum5 = (int16_T)(rtb_Sum5 - 32767);
    }
    else if (rtb_Sum5 < -16384)
    {
        /* Switch: '<S3>/Switch2' incorporates:
         *  Constant: '<S3>/Constant4'
         *  Sum: '<S3>/Sum4'
         *  Switch: '<S3>/Switch3'
         */
        rtb_Sum5 = (int16_T)(rtb_Sum5 + 32767);
    }

    /* End of Switch: '<S3>/Switch2' */

    /* Sum: '<S3>/Sum6' incorporates:
     *  DataStoreRead: '<S3>/Data Store Read3'
     *  Product: '<S3>/Product2'
     *  Switch: '<S3>/Switch2'
     *  UnitDelay: '<S3>/Unit Delay1'
     */
    LoadObsTheta_DW.UnitDelay1_DSTATE += LoadObsTheta_stCoef.uwK3Pu * rtb_Sum5;

    /* Sum: '<S3>/Sum11' incorporates:
     *  DataStoreRead: '<S3>/Data Store Read'
     *  DataStoreRead: '<S3>/Data Store Read1'
     *  Inport: '<Root>/IqFbkPu'
     *  Product: '<S3>/Product1'
     *  Product: '<S3>/Product7'
     *  Sum: '<S3>/Sum6'
     *  Sum: '<S3>/Sum9'
     *  Switch: '<S3>/Switch2'
     *  UnitDelay: '<S3>/Unit Delay1'
     */
    rtb_Sum11 = (((int16_T)((LoadObsTheta_U.IqFbkPu *
                    LoadObsTheta_stCoef.uwFluxPu) >> 14) << 13) +
                 LoadObsTheta_stCoef.uwK2Pu * rtb_Sum5) +
        (LoadObsTheta_DW.UnitDelay1_DSTATE >> 5);

    /* Sum: '<S3>/Sum10' incorporates:
     *  DataStoreRead: '<S3>/Data Store Read4'
     *  DataStoreRead: '<S3>/Data Store Read6'
     *  Product: '<S3>/Product4'
     *  Product: '<S3>/Product5'
     *  Sum: '<S3>/Sum11'
     *  UnitDelay: '<S3>/Unit Delay2'
     */
    LoadObsTheta_DW.UnitDelay2_DSTATE += (int32_T)(((int64_T)
        LoadObsTheta_stCoef.uwJmPuInv * rtb_Sum11 * LoadObsTheta_stCoef.uwTctrPu)
        >> 22);

    /* Saturate: '<S3>/Saturation' incorporates:
     *  Sum: '<S3>/Sum10'
     *  UnitDelay: '<S3>/Unit Delay2'
     */
    if (LoadObsTheta_DW.UnitDelay2_DSTATE > 536870912)
    {
        /* Outport: '<Root>/swSpdFbkPu' incorporates:
         *  DataTypeConversion: '<S3>/Data Type Conversion2'
         */
        LoadObsTheta_Y.swSpdFbkPu = MIN_int16_T;
    }
    else if (LoadObsTheta_DW.UnitDelay2_DSTATE < -536870912)
    {
        /* Outport: '<Root>/swSpdFbkPu' incorporates:
         *  DataTypeConversion: '<S3>/Data Type Conversion2'
         */
        LoadObsTheta_Y.swSpdFbkPu = MIN_int16_T;
    }
    else
    {
        /* Outport: '<Root>/swSpdFbkPu' incorporates:
         *  DataTypeConversion: '<S3>/Data Type Conversion2'
         */
        LoadObsTheta_Y.swSpdFbkPu = (int16_T)(LoadObsTheta_DW.UnitDelay2_DSTATE >>
            14);
    }

    /* End of Saturate: '<S3>/Saturation' */

    /* Sum: '<S3>/Sum8' incorporates:
     *  DataStoreRead: '<S3>/Data Store Read5'
     *  DataStoreRead: '<S3>/Data Store Read8'
     *  Product: '<S3>/Product3'
     *  Product: '<S3>/Product6'
     *  Sum: '<S3>/Sum10'
     *  Sum: '<S3>/Sum7'
     *  Switch: '<S3>/Switch2'
     *  UnitDelay: '<S3>/Unit Delay2'
     *  UnitDelay: '<S3>/Unit Delay3'
     */
    LoadObsTheta_DW.UnitDelay3_DSTATE += (int32_T)(((int64_T)
        (((LoadObsTheta_stCoef.uwK1Pu * rtb_Sum5) >> 1) +
         LoadObsTheta_DW.UnitDelay2_DSTATE) * LoadObsTheta_stCoef.uwCurTs) >> 10);

    /* Switch: '<S3>/Switch' incorporates:
     *  Constant: '<S3>/Constant1'
     *  RelationalOperator: '<S4>/Compare'
     *  RelationalOperator: '<S5>/Compare'
     *  Sum: '<S3>/Sum2'
     *  Sum: '<S3>/Sum8'
     *  Switch: '<S3>/Switch1'
     */
    if (LoadObsTheta_DW.UnitDelay3_DSTATE >= 536870912)
    {
        LoadObsTheta_DW.UnitDelay3_DSTATE -= 536870912;
    }
    else if (LoadObsTheta_DW.UnitDelay3_DSTATE < 0)
    {
        /* Switch: '<S3>/Switch' incorporates:
         *  Constant: '<S3>/Constant3'
         *  Sum: '<S3>/Sum3'
         *  Switch: '<S3>/Switch1'
         *  UnitDelay: '<S3>/Unit Delay3'
         */
        LoadObsTheta_DW.UnitDelay3_DSTATE += 536870912;
    }

    /* End of Switch: '<S3>/Switch' */

    /* Outport: '<Root>/uwThetaObsPu' incorporates:
     *  DataTypeConversion: '<S3>/Data Type Conversion1'
     *  Switch: '<S3>/Switch'
     *  UnitDelay: '<S3>/Unit Delay3'
     */
    LoadObsTheta_Y.uwThetaObsPu = (uint16_T)(LoadObsTheta_DW.UnitDelay3_DSTATE >>
        14);

    /* Outport: '<Root>/swTLPu' incorporates:
     *  DataTypeConversion: '<S3>/Data Type Conversion3'
     *  Sum: '<S3>/Sum6'
     *  UnitDelay: '<S3>/Unit Delay1'
     */
    LoadObsTheta_Y.swTLPu = (int16_T)(LoadObsTheta_DW.UnitDelay1_DSTATE >> 18);

    /* Outport: '<Root>/swIqCompPu' incorporates:
     *  DataStoreRead: '<S3>/Data Store Read2'
     *  Product: '<S3>/Product8'
     *  Sum: '<S3>/Sum11'
     */
    LoadObsTheta_Y.swIqCompPu = (int16_T)(((int64_T)
        LoadObsTheta_stCoef.uwFluxPuInv * rtb_Sum11) >> 23);

    /* Update for UnitDelay: '<S3>/Unit Delay4' incorporates:
     *  Switch: '<S3>/Switch'
     *  UnitDelay: '<S3>/Unit Delay3'
     */
    LoadObsTheta_DW.UnitDelay4_DSTATE = LoadObsTheta_DW.UnitDelay3_DSTATE;
}

/* Model initialize function */
void LoadObsTheta_initialize(void)
{
    /* (no initialization code required) */
}

/* Model terminate function */
void LoadObsTheta_terminate(void)
{
    /* (no terminate code required) */
}

/*
 * File trailer for generated code.
 *
 * [EOF]
 */