motor_params/docs/DATA_STRUCTURES.md

Data Structures

Project status

The current workspace contains Simulink S-function code and a C2000/TMS320 motor-control implementation. It does not contain a verified STM32G474CEU6 CubeMX/Keil project. New STM32-safe wrapper structures are placed in Core/Inc/ad_parameter_identification.h and Core/Inc/simulink_interface.h.

Main structures and globals

Name	Type	File	Purpose	Fields	Used by	Simulink mapping	Notes
AD_MotorParameters_t	struct	Core/Inc/ad_parameter_identification.h	Portable AD parameter set	Rs_ohm, Rr_ohm, Ls_H, Lr_H, Lm_H, Ll_H, J_kg_m2, B_Nm_s, nominal values, valid_mask	ParamID, Simulink wrapper, telemetry	Should become a Simulink Bus Object	Values are not invented; valid_mask marks known fields
AD_Measurements_t	struct	Core/Inc/ad_parameter_identification.h	Runtime measurements from MCU	ia_A, ib_A, ic_A, vdc_V, phase voltages, speed, slip, temperature, timestamp, status flags	ParamID, Simulink wrapper, telemetry	Simulink input bus from MCU to model	ADC scaling/pin sources are TODO for STM32
AD_Command_t	struct	Core/Inc/ad_parameter_identification.h	Commands from Simulink/host	enable, test_mode, reset_faults, limits	Simulink wrapper, ParamID	Simulink output bus from model to MCU	Power tests blocked unless explicitly enabled in compile-time config
AD_ParamID_SafetyLimits_t	struct	Core/Inc/ad_parameter_identification.h	Software safety thresholds	Current, voltage, temperature, speed, timeout	ParamID safety checks	Can be filled from Simulink command or calibration	Zero means UNKNOWN/disabled for that limit
SimulinkInterface_InputBus_t	struct	Core/Inc/simulink_interface.h	MCU-to-Simulink wrapper data	Measurements, parameters, ParamID status/fault/mode	SimulinkInterface_*	Simulink input Bus Object	Stable wrapper, no generated-code edits
SimulinkInterface_OutputBus_t	struct	Core/Inc/simulink_interface.h	Simulink-to-MCU wrapper data	Command, telemetry state	SimulinkInterface_*	Simulink output Bus Object	Contains AD_Command_t
SimulinkTelemetryPacket_t	struct	Core/Inc/simulink_interface.h	Binary telemetry packet	Header + payload	SimulinkInterface_PackTelemetry	Optional UART/CAN/USB payload	CRC16 over payload
Estimate_Test_t	enum	Inu/estimate.h	Existing identification state	IDLE, RS, RR_L, LM, DONE	estimate.c, upr.c	Indirect via S-function output/status	C2000/S-function reference
Params_t	struct	Inu/estimate.h	Existing estimated AD params	Rs, Rr, Lm, Lk, Lls, Llr, Zk, Rk, Xk	estimate.c	No direct Bus Object found	Candidate mapping to AD_MotorParameters_t
RsState_t	struct	Inu/estimate.h	Existing Rs test state	step, timers, averaged U/I	process_Rs	Not directly exported	Existing method: two DC current levels
RrlState_t	struct	Inu/estimate.h	Existing rotor/leakage test state	frequency sweep, RMS sums, averages	process_RrL	Not directly exported	Existing method: AC current injection
LmState_t	struct	Inu/estimate.h	Existing magnetizing test state	integration state, averaging	process_Lm	Not directly exported	Existing method: integrate V - Rs*I
struct SgmPar	struct	Inu/def.h:465	Runtime AD model parameters	Rs, Lls, Rr, Llr, Lm, derived Ls, Lr, SigmaLs, Tr, Kl	detcoeff.c, upr.c, isr.c	Values initialized in S-function setup	Existing AD parameter source
struct Result	struct	Inu/def.h:400	Raw ADC results after offsets	udc1, ic1, ia1, etc.	isr.c	Simulated through wrapper inputs	MCU runtime measurement state
struct Offset	struct	Inu/def.h:357	ADC offset calibration	current and Udc offsets	detcoeff.c, isr.c, controller.c	Parameters in S-function setup	Must be replaced by STM32 ADC calibration
struct Mst	struct	Inu/def.h:343	Commands from upper controller	start, fault reset, mode, speed/power refs, limits	controller.c, isr.c, upr.c	Existing S-function input vector	Maps partly to AD_Command_t
struct Protect	struct	Inu/def.h:383	Existing protection thresholds/state	current, voltage, speed limits and timers	isr.c, detcoeff.c	Initialized from param[]	Maps partly to safety limits
struct Out	struct	Inu/def.h:370	Filtered output values	udc1, iac1, wm, me, pm	isr.c	Existing S-function outputs	Telemetry candidate
struct Emerg	struct	Inu/def.h:298	Fault snapshot	voltage, current, torque, speed, power	snapshot_emergency	Not directly mapped	Useful for telemetry fault frame
struct Cc, Cf, Csp	struct	Inu/def.h	Current/flux/speed-power regulators	PI terms, limits, feed-forward	upr.c	Internal only	Runtime MCU control state
struct Ivc, Ip	struct	Inu/def.h	Vector-control transforms	slip, angle, sin/cos, currents, flux	upr.c	Internal only	Runtime MCU control state
param[]	global array	Inu/param.h, Inu/detcoeff.c	EEPROM-like parameter storage	param[303..307] are AD electrical params	detcoeff.c, param.c, controller.c	S-function initializes values	Existing format is not STM32-specific

Structures from Simulink

Existing S-function wrapper:

• Input vector width: INPUT_0_WIDTH = 17 in Inu/wrapper_inu.h.
• Output vector width: OUTPUT_0_WIDTH = 35 in Inu/wrapper_inu.h.
• Input mapping is manually unpacked in Inu/controller.c:28..47.
• Output mapping is manually packed in Inu/controller.c:615..662.

New wrapper:

• SimulinkInterface_OutputBus_t.command is the command path from Simulink to MCU.
• It should map to a Simulink Bus Object containing AD_Command_t.

Structures sent to Simulink

• Existing: the S-function output vector contains PWM states, state, faultNo, inuWork, flux, speed, power, currents, torque, current limit, modulation limit, and theta_out.
• New: SimulinkInterface_InputBus_t sends AD_Measurements_t, AD_MotorParameters_t, ParamID mode/status/faults.

Runtime MCU state

• Existing C2000 runtime state: Result, Out, Emerg, Protect, Cc, Cf, Csp, Ivc, Ip, RsState_t, RrlState_t, LmState_t.
• New STM32-safe runtime state is private in Core/Src/ad_parameter_identification.c and Core/Src/simulink_interface.c.

Configuration state

• Existing: param[], SgmPar, Protect, offset fields.
• New: AD_ParamID_SafetyLimits_t, AD_Command_t, AD_MotorParameters_t.valid_mask.

Mapping notes

Existing field	New field	Status
sgmPar.Rs	AD_MotorParameters_t.Rs_ohm	Direct mapping
sgmPar.Rr	AD_MotorParameters_t.Rr_ohm	Direct mapping
sgmPar.Ls	AD_MotorParameters_t.Ls_H	Direct mapping if calculated
sgmPar.Lr	AD_MotorParameters_t.Lr_H	Direct mapping if calculated
sgmPar.Lm	AD_MotorParameters_t.Lm_H	Direct mapping
sgmPar.Lls + sgmPar.Llr	AD_MotorParameters_t.Ll_H	Derived mapping
udc1, ia1Nf, ib1Nf, result.ic1	AD_Measurements_t	Requires STM32 ADC scaling TODO
mst.start, mst.faultReset, mst.pzMode	AD_Command_t	Partial mapping