#5 Работает и векторное и скалярное

Видимо была проблема в измерениях с двигателя, они принимались непонятно в каком формате. Сейчас сделан модуль АЦП, который все правильно преобразует

Inu/MCU.c

@@ -152,7 +152,7 @@ static void mdlInitializeSizes(SimStruct *S)
  */
 static void mdlStart(SimStruct *S)
 {
-    SIM_Initialize_Simulation();
+    SIM_Initialize_Simulation(S);
 }
 #endif // MDL_START
 
@@ -187,7 +187,7 @@ static void mdlTerminate(SimStruct *S)
 	hmcu.fMCU_Stop = 1;
 	ResumeThread(hmcu.hMCUThread);
 	WaitForSingleObject(hmcu.hMCUThread, 10000);
-	SIM_deInitialize_Simulation();
+	SIM_deInitialize_Simulation(S);
 	mexUnlock();
 }
 

Inu/app_wrapper/app_init.c

@@ -41,11 +41,11 @@ void app_init(void) {
     edrk.zadanie.iq_ZadanieU_Charge = _IQ(2500 / NORMA_ACP);
     edrk.temper_limit_koeffs.sum_limit = _IQ(1);
     simple_scalar1.fzad_add_max = _IQ(FZAD_ADD_MAX);
-    //edrk.Mode_ScalarVectorUFConst = ALG_MODE_SCALAR_OBOROTS;
+    edrk.Mode_ScalarVectorUFConst = ALG_MODE_SCALAR_OBOROTS;
-    edrk.Mode_ScalarVectorUFConst = ALG_MODE_FOC_OBOROTS;
+    //edrk.Mode_ScalarVectorUFConst = ALG_MODE_FOC_OBOROTS;
 
     edrk.zadanie.iq_power_zad = _IQ(1);
-    edrk.zadanie.iq_oborots_zad_hz = _IQ(0.5);
+    edrk.zadanie.iq_oborots_zad_hz = _IQ(1);
 
     edrk.MasterSlave = MODE_MASTER;
     edrk.master_theta;

Inu/app_wrapper/app_io.c

@@ -7,6 +7,7 @@
 
 #include "app_io.h"
 #include "pwm_sim.h"
+#include "adc_sim.h"
 
 int Unites[UNIT_QUA_UNITS][UNIT_LEN];
 int CAN_timeout[UNIT_QUA];
@@ -14,17 +15,17 @@ RS_DATA_STRUCT rs_a = RS_DATA_STRUCT_DEFAULT, rs_b = RS_DATA_STRUCT_DEFAULT;
 
 // Èçìåíÿåò çíà÷åíèå ïàðàìåòðà
 void readInputParameters(const real_T* u) {
-	int nn = 0;
 
-	iq_norm_ADC[0][0] = _IQ(u[nn++] / NORMA_ACP);
+	iq_norm_ADC[0][0] = _IQ(AdcSim.udc1.adc_val);
-	iq_norm_ADC[0][1] = _IQ(u[nn++] / NORMA_ACP);
+	iq_norm_ADC[0][1] = _IQ(AdcSim.udc2.adc_val);
-	iq_norm_ADC[0][2] = _IQ(u[nn++] / NORMA_ACP);
+	iq_norm_ADC[0][2] = _IQ(AdcSim.ia1.adc_val);
-	iq_norm_ADC[0][3] = _IQ(u[nn++] / NORMA_ACP);
+	iq_norm_ADC[0][3] = _IQ(AdcSim.ib1.adc_val);
-	iq_norm_ADC[0][4] = _IQ(u[nn++] / NORMA_ACP);
+	iq_norm_ADC[0][4] = _IQ(AdcSim.ic1.adc_val);
-	iq_norm_ADC[0][5] = _IQ(u[nn++] / NORMA_ACP);
+	iq_norm_ADC[0][5] = _IQ(AdcSim.ia2.adc_val);
-	iq_norm_ADC[0][6] = _IQ(u[nn++] / NORMA_ACP);
+	iq_norm_ADC[0][6] = _IQ(AdcSim.ib2.adc_val);
-	iq_norm_ADC[0][7] = _IQ(u[nn++] / NORMA_ACP);
+	iq_norm_ADC[0][7] = _IQ(AdcSim.ic2.adc_val);
 
+	int nn = 8;
 	WRotor.iqWRotorCalcBeforeRegul1 = _IQ(u[nn++] / (PI*2) / NORMA_FROTOR);
 
 	u[nn++];
@@ -32,6 +33,9 @@ void readInputParameters(const real_T* u) {
 	edrk.Go = u[nn++];
 
 	u[nn++];
+
+	edrk.zadanie.iq_power_zad = _IQmpy(_IQ(u[nn]), (edrk.zadanie.rmp_powers_zad.RampHighLimit));
+	edrk.zadanie.iq_oborots_zad_hz = _IQmpy(_IQ(u[nn++]), (edrk.zadanie.rmp_oborots_zad_hz.RampHighLimit));
 } //void input_param(unsigned short num, unsigned short val)
 
 

Inu/mcu_wrapper.c

@@ -10,6 +10,7 @@
 #include "app_init.h"
 #include "app_io.h"
 #include "pwm_sim.h"
+#include "adc_sim.h"
 
 /**
     * @addtogroup	WRAPPER_CONF
@@ -59,7 +60,7 @@ void MCU_Step_Simulation(SimStruct* S, time_T time)
 
     MCU_readInputs(S); // считывание портов
 
-    MCU_Periph_Simulation(); // simulate peripheral
+    MCU_Periph_Simulation(S); // simulate peripheral
 
 #ifdef RUN_APP_MAIN_FUNC_THREAD
     ResumeThread(hmcu.hMCUThread);
@@ -77,8 +78,9 @@ void MCU_Step_Simulation(SimStruct* S, time_T time)
   * @brief      Симуляция периферии МК
   * @details    Пользовательский код, который симулирует работу периферии МК.
   */
-void MCU_Periph_Simulation(void)
+void MCU_Periph_Simulation(SimStruct* S)
 {
+    Simulate_ADC(S);
     Simulate_PWM();
 }
 
@@ -122,7 +124,7 @@ void MCU_writeOutputs(SimStruct* S)
   * @details    Пользовательский код, который создает поток для приложения МК 
                 и настраивает симулятор МК для симуляции.
   */
-void SIM_Initialize_Simulation(void)
+void SIM_Initialize_Simulation(SimStruct* S)
 {
 #ifdef RUN_APP_MAIN_FUNC_THREAD
     // инициализация потока, который будет выполнять код МК
@@ -130,8 +132,9 @@ void SIM_Initialize_Simulation(void)
 #endif //RUN_APP_MAIN_FUNC_THREAD
 
     /* user initialization */
-    Init_PWM_Simulation();
     app_init();
+    Init_ADC_Simulation();
+    Init_PWM_Simulation();
 
     /* clock step initialization */
     hmcu.sSystemClock_step = MCU_CORE_CLOCK * hmcu.sSimSampleTime;   // set system clock step
@@ -141,7 +144,7 @@ void SIM_Initialize_Simulation(void)
   * @brief      Деинициализация симуляции МК.
   * @details    Пользовательский код, который будет очищать все структуры после окончания симуляции.
   */
-void SIM_deInitialize_Simulation(void)
+void SIM_deInitialize_Simulation(SimStruct* S)
 {
     //// simulate structures of peripheral deinitialization
     //deInitialize_Periph_Sim();

Inu/mcu_wrapper_conf.h

@@ -142,13 +142,13 @@ extern SIM__MCUHandleTypeDef hmcu;              // extern для видимос
 void MCU_Step_Simulation(SimStruct *S, time_T time);     
 
 /* MCU peripheral simulation */
-void MCU_Periph_Simulation(void);                               
+void MCU_Periph_Simulation(SimStruct* S);
 
 /* Initialize MCU simulation */
-void SIM_Initialize_Simulation(void);                           
+void SIM_Initialize_Simulation(SimStruct* S);
 
 /* Deinitialize MCU simulation */
-void SIM_deInitialize_Simulation(void);                         
+void SIM_deInitialize_Simulation(SimStruct* S);
 
 /* Read inputs S-function  */
 void MCU_readInputs(SimStruct* S);

Inu/run_mex.bat

@@ -62,7 +62,8 @@ set code_WRAPPER= .\Inu\MCU.c^
  .\Inu\app_wrapper\app_init.c^
  .\Inu\app_wrapper\app_io.c^
  .\Inu\app_wrapper\app_wrapper.c^
- .\Inu\xilinx_wrapper\pwm_sim.c
+ .\Inu\xilinx_wrapper\pwm_sim.c^
+ .\Inu\xilinx_wrapper\adc_sim.c
 ::-------------------------------------------------------------------------
 
 

Inu/xilinx_wrapper/adc_sim.c

@@ -1,3 +1,74 @@
 #include "adc_sim.h"
 
-AdcSimHandle adcsim;
+AdcSimHandle AdcSim;
+
+
+void Simulate_ADC(SimStruct* S)
+{
+	real_T* IN = ssGetInputPortRealSignal(S, 0);
+
+	adcMeasure(&AdcSim.Measure, IN, 0);
+
+	adcConvert(&AdcSim.convertion, &AdcSim.udc1, AdcSim.Measure.udc1, 0);
+	adcConvert(&AdcSim.convertion, &AdcSim.udc2, AdcSim.Measure.udc2, 0);
+	adcConvert(&AdcSim.convertion, &AdcSim.ia1, AdcSim.Measure.ia1, 0);
+	adcConvert(&AdcSim.convertion, &AdcSim.ib1, AdcSim.Measure.ib1, 0);
+	adcConvert(&AdcSim.convertion, &AdcSim.ic1, AdcSim.Measure.ic1, 0);
+	adcConvert(&AdcSim.convertion, &AdcSim.ia2, AdcSim.Measure.ia2, 0);
+	adcConvert(&AdcSim.convertion, &AdcSim.ib2, AdcSim.Measure.ib2, 0);
+	adcConvert(&AdcSim.convertion, &AdcSim.ic2, AdcSim.Measure.ic2, 0);
+}
+
+void Init_ADC_Simulation()
+{
+	adcInitConvertion(&AdcSim.convertion, NORMA_ACP, 2.5, 4096);
+	adcInitMeasure(&AdcSim.udc1, K_LEM_ADC[0], R_ADC[0], DEFAULT_ZERO_ADC);
+	adcInitMeasure(&AdcSim.udc2, K_LEM_ADC[1], R_ADC[1], DEFAULT_ZERO_ADC);
+	adcInitMeasure(&AdcSim.ia1, K_LEM_ADC[2], R_ADC[2], DEFAULT_ZERO_ADC);
+	adcInitMeasure(&AdcSim.ib1, K_LEM_ADC[3], R_ADC[3], DEFAULT_ZERO_ADC);
+	adcInitMeasure(&AdcSim.ic1, K_LEM_ADC[4], R_ADC[4], DEFAULT_ZERO_ADC);
+	adcInitMeasure(&AdcSim.ia2, K_LEM_ADC[5], R_ADC[5], DEFAULT_ZERO_ADC);
+	adcInitMeasure(&AdcSim.ib2, K_LEM_ADC[6], R_ADC[6], DEFAULT_ZERO_ADC);
+	adcInitMeasure(&AdcSim.ic2, K_LEM_ADC[7], R_ADC[7], DEFAULT_ZERO_ADC);
+
+}
+
+void adcInitConvertion(AdcConvertionHandle* hconv, int norma_adc, double adc_amplitude, int adc_bit_depth)
+{
+	hconv->norma_adc		= norma_adc;
+	hconv->adc_amplitude	= adc_amplitude;
+	hconv->adc_bit_depth	= adc_bit_depth;
+}
+
+void adcInitMeasure(AdcMeasureHandle* hmeasure, int k_lem_adc, int r_adc, int offset)
+{
+	hmeasure->k_lem_adc = k_lem_adc;
+	hmeasure->r_adc		= r_adc;
+	hmeasure->offset	= offset;
+}
+
+void adcMeasure(AdcRealMeasureHandle *hrmeasure, const real_T* u, int startind)
+{
+	hrmeasure->udc1 = u[startind++];
+	hrmeasure->udc2 = u[startind++];
+	hrmeasure->ia1 = u[startind++];
+	hrmeasure->ib1 = u[startind++];
+	hrmeasure->ic1 = u[startind++];
+	hrmeasure->ia2 = u[startind++];
+	hrmeasure->ib2 = u[startind++];
+	hrmeasure->ic2 = u[startind++];
+}
+
+void adcConvert(AdcConvertionHandle* hconv, AdcMeasureHandle* hmeasure, double realMeasure, double MeasureSatur)
+{
+	if (MeasureSatur != 0)
+	{
+		if (realMeasure > MeasureSatur)
+			realMeasure = MeasureSatur;
+		else if (realMeasure < -MeasureSatur)
+			realMeasure = -MeasureSatur;
+	}
+	// AdcMirror.ADCRESULT0 = (unsigned short)(realMeasure/MeasureSatur*2048. + (float)offset.Udc1);
+	hmeasure->adc_val =
+		(unsigned short)(realMeasure / hmeasure->k_lem_adc * hmeasure->r_adc / hconv->norma_adc / hconv->adc_amplitude * hconv->adc_bit_depth + (float)hmeasure->offset);
+}

Inu/xilinx_wrapper/adc_sim.h

@@ -1,5 +1,7 @@
-#ifndef PWM_SIM
+#include "mcu_wrapper_conf.h"
-#define PWM_SIM
+
+#ifndef ADC_SIM
+#define ADC_SIM
 
 // Äëÿ ìîäåëèðîâàíèÿ ADC
 typedef struct
@@ -7,6 +9,64 @@ typedef struct
 	int tAdc;
 	int Tadc;
 	int nAdc;
+
+	int norma_adc;
+	double adc_amplitude;
+	int adc_bit_depth;
+}AdcConvertionHandle;
+
+// Äëÿ ðåàëüíûõ èçìåðåííûõ çíà÷åíèé
+typedef struct
+{
+	double udc1;
+	double udc2;
+	double ia1;
+	double ib1;
+	double ic1;
+	double ia2;
+	double ib2;
+	double ic2;
+	double wm;
+}AdcRealMeasureHandle;
+
+
+// Äëÿ àöïøíûõ èçìåðåííûõ çíà÷åíèé
+typedef struct
+{
+	int adc_val;
+
+	int r_adc;
+	int k_lem_adc;
+	int offset;
+
+}AdcMeasureHandle;
+
+
+typedef struct
+{
+	AdcConvertionHandle		convertion;
+	AdcRealMeasureHandle	Measure;
+	AdcMeasureHandle		udc1;
+	AdcMeasureHandle		udc2;
+	AdcMeasureHandle		ia1;
+	AdcMeasureHandle		ib1;
+	AdcMeasureHandle		ic1;
+	AdcMeasureHandle		ia2;
+	AdcMeasureHandle		ib2;
+	AdcMeasureHandle		ic2;
+	AdcMeasureHandle		wm;
 }AdcSimHandle;
+AdcSimHandle AdcSim;
+
+
+
+void Simulate_ADC(SimStruct* S);
+void Init_ADC_Simulation();
+
+void adcInitConvertion(AdcConvertionHandle* hconv, int norma_adc, int adc_amplitude, int adc_bit_depth);
+void adcInitMeasure(AdcMeasureHandle* hmeasure, int k_lem_adc, int r_adc, int offset);
+
+void adcMeasure(AdcRealMeasureHandle* hrmeasure, const real_T* u, int startind);
+void adcConvert(AdcConvertionHandle* hconv, AdcMeasureHandle* hmeasure, double realMeasure, double MeasureSatur);
 
 #endif //PWM_SIM