RoCoN and TUMBL firmware: reimplemented control of stepper motor without feedback.

[fpga/lx-cpu1/lx-rocon.git] / hw / lx-rocon_firmware / pxmcc_types.h

diff --git a/hw/lx-rocon_firmware/pxmcc_types.h b/hw/lx-rocon_firmware/pxmcc_types.h
index 722870598b4795894f055d26baea01408e95e490..afad06c571ebcb318509dbd63c92da009ef5db45 100644 (file)
--- a/hw/lx-rocon_firmware/pxmcc_types.h
+++ b/hw/lx-rocon_firmware/pxmcc_types.h
@@ -56,10 +56,11 @@ typedef struct pxmcc_axis_data_t {
   uint32_t  out_info;  /* output index */
   uint32_t  pwmtx_info;        /* offsets of pwm1 .. pwm4 from FPGA_LX_MASTER_TX */
   uint32_t  pwm_prew[4];
-  uint32_t  steps_lim; /* master selected final value to limit automatic steps */
-  uint32_t  steps_cnt; /* PXMCC counter - when reaches steps_lim then stops */
   uint32_t  steps_inc; /* increments for selfgenerated stepper motor */
   uint32_t  steps_pos; /* self generated position for stepper motor */
+  uint32_t  steps_sqn_next; /* when to apply steps_inc_next */
+  uint32_t  steps_inc_next; /* increment to apply at steps_sqn_next */
+  uint32_t  steps_pos_next; /* base position to apply at steps_sqn_next */
 } pxmcc_axis_data_t;
 
 typedef struct pxmcc_curadc_data_t {