motor_params/docs/SIMULINK_INTEGRATION.md

Simulink Integration

Existing Simulink artifacts

Artifact	Status	Notes
Inu_im_1wnd_3lvl/inu_im_1wnd_3lvl.slx	FOUND	Simulink model
Inu_im_1wnd_3lvl/inu_im_1wnd_3lvl_r2021b.slx	FOUND	Simulink model copy/version
Inu_im_1wnd_3lvl/Inu/wrapper_inu.c	FOUND	Level-2 C S-function wrapper
Inu_im_1wnd_3lvl/Inu/controller.c	FOUND	Model-side processor/peripheral simulation
ERT generated code (ert_main.c, model.c, model.h, rtwtypes.h)	NOT FOUND	Only slprj cache/accel artifacts are present

Existing S-function mapping

Wrapper:

• S-function name: wrapper_inu.
• Main update path: mdlUpdate() calls controller(S, u, xD, rW, iW).
• Input width: 17.
• Output width: 35.
• Sample time: first and only S-function parameter, read in mdlInitializeSampleTimes().

Input vector unpacking in Inu/controller.c:28..47:

Index	Existing signal	Meaning
0	udc1_ml	DC-link voltage, V
1	ia1_ml	Phase current A, A
2	ib1_ml	Phase current B, A
3	ic1_ml	Phase current C, A
4	wm_ml	Mechanical speed, rad/s
5	mst.faultReset	Fault reset
6	mst.start	Start command
7	mst.pzMode	Speed/power mode
8	mst.wmZz	Speed reference, p.u.
9	mst.pmZz	Power reference, scaled
10	mst.wmLim	Speed limit, p.u.
11	mst.pmLim	Power limit, scaled
12	mst.pIncrMaxTy	Power ramp up
13	mst.pDecrMaxTy	Power ramp down
14	iref	Current reference, p.u.
15..16	paramNew[]	Parameter writes

Output vector packing in Inu/controller.c:615..662:

• PWM logical outputs for ePWM1..ePWM6 A/B after dead-time/trip simulation.
• State and fault signals.
• Start/work/mode status.
• Flux, speed, power, current, torque and limits.
• theta_out.

New wrapper API

Files:

• Core/Inc/simulink_interface.h
• Core/Src/simulink_interface.c
• Core/Inc/ad_parameter_identification.h
• Core/Src/ad_parameter_identification.c

Functions:

void SimulinkInterface_Init(void);
void SimulinkInterface_StepFast(void);
void SimulinkInterface_StepSlow(void);
void SimulinkInterface_UpdateInputs(void);
void SimulinkInterface_UpdateOutputs(void);
void SimulinkInterface_PackTelemetry(void);
void SimulinkInterface_UnpackCommand(void);

Bus Object proposal

Create Simulink Bus Objects that exactly match:

• AD_Measurements_t
• AD_MotorParameters_t
• AD_Command_t
• SimulinkInterface_InputBus_t
• SimulinkInterface_OutputBus_t

Keep field order and fixed-width integer types identical to the C headers.

MCU-to-Simulink signals

Use SimulinkInterface_InputBus_t:

• measurements: raw physical measurements already scaled to SI units.
• motor_parameters: known or estimated AD parameters; validity is controlled by valid_mask.
• param_id_status: identification status bits.
• param_id_faults: latched fault bits.
• param_id_mode: current identification mode.

Simulink-to-MCU signals

Use SimulinkInterface_OutputBus_t.command:

• enable: software enable request.
• test_mode: one of AD_PARAM_ID_MODE_*.
• reset_faults: clears the software fault latch.
• pwm_duty_limit, current_limit_A, voltage_limit_V, speed_limit_rpm: safety/control limits.

Loop rates

Current STM32 timing is UNKNOWN because the STM32G474 project is not present.

Recommended mapping after CubeMX/Keil project is available:

• SimulinkInterface_StepFast(): call from ADC/PWM control interrupt, typically current-loop rate.
• SimulinkInterface_StepSlow(): call from main loop or a slower timer, typically telemetry/diagnostics rate.
• SimulinkInterface_UpdateInputs(): after ADC/speed/temperature measurement update.
• SimulinkInterface_UpdateOutputs(): after Simulink command unpacking and safety state update.

Safety behavior

• Generated Simulink files are not modified.
• New wrapper does not enable power hardware.
• AD_PARAM_ID_ENABLE_POWER_TESTS defaults to 0.
• With the default setting, requested power tests fall back to data logging and set AD_PARAM_ID_STATUS_POWER_TEST_BLOCKED.

TODO

• Add real STM32G474 generated code or .ioc.
• Identify generated model step function if ERT code is later generated.
• Decide whether the Simulink model will consume the new Bus Objects directly or through a C Caller/S-function layer.
• Map STM32 ADC/TIM/DMA data into AD_Measurements_t.
• Map final motor-control outputs to a verified motor-driver abstraction, not directly to PWM registers.