129 lines
4.5 KiB
Markdown
129 lines
4.5 KiB
Markdown
# Simulink Integration
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## Existing Simulink artifacts
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| Artifact | Status | Notes |
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|----------|--------|-------|
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| `Inu_im_1wnd_3lvl/inu_im_1wnd_3lvl.slx` | FOUND | Simulink model |
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| `Inu_im_1wnd_3lvl/inu_im_1wnd_3lvl_r2021b.slx` | FOUND | Simulink model copy/version |
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| `Inu_im_1wnd_3lvl/Inu/wrapper_inu.c` | FOUND | Level-2 C S-function wrapper |
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| `Inu_im_1wnd_3lvl/Inu/controller.c` | FOUND | Model-side processor/peripheral simulation |
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| ERT generated code (`ert_main.c`, `model.c`, `model.h`, `rtwtypes.h`) | NOT FOUND | Only `slprj` cache/accel artifacts are present |
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## Existing S-function mapping
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Wrapper:
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- S-function name: `wrapper_inu`.
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- Main update path: `mdlUpdate()` calls `controller(S, u, xD, rW, iW)`.
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- Input width: `17`.
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- Output width: `35`.
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- Sample time: first and only S-function parameter, read in `mdlInitializeSampleTimes()`.
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Input vector unpacking in `Inu/controller.c:28..47`:
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| Index | Existing signal | Meaning |
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|-------|-----------------|---------|
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| 0 | `udc1_ml` | DC-link voltage, V |
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| 1 | `ia1_ml` | Phase current A, A |
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| 2 | `ib1_ml` | Phase current B, A |
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| 3 | `ic1_ml` | Phase current C, A |
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| 4 | `wm_ml` | Mechanical speed, rad/s |
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| 5 | `mst.faultReset` | Fault reset |
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| 6 | `mst.start` | Start command |
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| 7 | `mst.pzMode` | Speed/power mode |
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| 8 | `mst.wmZz` | Speed reference, p.u. |
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| 9 | `mst.pmZz` | Power reference, scaled |
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| 10 | `mst.wmLim` | Speed limit, p.u. |
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| 11 | `mst.pmLim` | Power limit, scaled |
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| 12 | `mst.pIncrMaxTy` | Power ramp up |
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| 13 | `mst.pDecrMaxTy` | Power ramp down |
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| 14 | `iref` | Current reference, p.u. |
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| 15..16 | `paramNew[]` | Parameter writes |
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Output vector packing in `Inu/controller.c:615..662`:
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- PWM logical outputs for ePWM1..ePWM6 A/B after dead-time/trip simulation.
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- State and fault signals.
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- Start/work/mode status.
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- Flux, speed, power, current, torque and limits.
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- `theta_out`.
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## New wrapper API
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Files:
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- `Core/Inc/simulink_interface.h`
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- `Core/Src/simulink_interface.c`
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- `Core/Inc/ad_parameter_identification.h`
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- `Core/Src/ad_parameter_identification.c`
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Functions:
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```c
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void SimulinkInterface_Init(void);
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void SimulinkInterface_StepFast(void);
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void SimulinkInterface_StepSlow(void);
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void SimulinkInterface_UpdateInputs(void);
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void SimulinkInterface_UpdateOutputs(void);
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void SimulinkInterface_PackTelemetry(void);
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void SimulinkInterface_UnpackCommand(void);
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```
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## Bus Object proposal
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Create Simulink Bus Objects that exactly match:
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- `AD_Measurements_t`
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- `AD_MotorParameters_t`
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- `AD_Command_t`
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- `SimulinkInterface_InputBus_t`
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- `SimulinkInterface_OutputBus_t`
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Keep field order and fixed-width integer types identical to the C headers.
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## MCU-to-Simulink signals
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Use `SimulinkInterface_InputBus_t`:
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- `measurements`: raw physical measurements already scaled to SI units.
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- `motor_parameters`: known or estimated AD parameters; validity is controlled by `valid_mask`.
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- `param_id_status`: identification status bits.
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- `param_id_faults`: latched fault bits.
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- `param_id_mode`: current identification mode.
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## Simulink-to-MCU signals
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Use `SimulinkInterface_OutputBus_t.command`:
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- `enable`: software enable request.
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- `test_mode`: one of `AD_PARAM_ID_MODE_*`.
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- `reset_faults`: clears the software fault latch.
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- `pwm_duty_limit`, `current_limit_A`, `voltage_limit_V`, `speed_limit_rpm`: safety/control limits.
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## Loop rates
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Current STM32 timing is UNKNOWN because the STM32G474 project is not present.
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Recommended mapping after CubeMX/Keil project is available:
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- `SimulinkInterface_StepFast()`: call from ADC/PWM control interrupt, typically current-loop rate.
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- `SimulinkInterface_StepSlow()`: call from main loop or a slower timer, typically telemetry/diagnostics rate.
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- `SimulinkInterface_UpdateInputs()`: after ADC/speed/temperature measurement update.
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- `SimulinkInterface_UpdateOutputs()`: after Simulink command unpacking and safety state update.
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## Safety behavior
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- Generated Simulink files are not modified.
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- New wrapper does not enable power hardware.
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- `AD_PARAM_ID_ENABLE_POWER_TESTS` defaults to `0`.
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- With the default setting, requested power tests fall back to data logging and set `AD_PARAM_ID_STATUS_POWER_TEST_BLOCKED`.
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## TODO
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- Add real STM32G474 generated code or `.ioc`.
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- Identify generated model step function if ERT code is later generated.
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- Decide whether the Simulink model will consume the new Bus Objects directly or through a C Caller/S-function layer.
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- Map STM32 ADC/TIM/DMA data into `AD_Measurements_t`.
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- Map final motor-control outputs to a verified motor-driver abstraction, not directly to PWM registers.
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