9 #define MAX_SPEED (7*OLD_POS_NUM)
14 struct rpi_in* spi_dat; /* spi data */
15 sem_t thd_par_sem; /* data metual exlusion access */
16 uint8_t test; /* configuratin byte - pwm enabl. bits etc. */
17 uint32_t tf_count; /* number of transfer*/
19 uint16_t index_dist; /* distance to index position */
20 unsigned char index_ok; /* we have actual index position */
22 uint16_t pwm1, pwm2, pwm3; /* pwm duty cycles*/
23 uint16_t t_pwm1, t_pwm2, t_pwm3;/* debug*/
25 int duty; /* duty cycle of pwm */
26 int desired_pos; /* desired position */
27 int old_pos[OLD_POS_NUM]; /* old positions */
28 int desired_spd; /* desired speed */
31 char commutate; /* zapina prepocet duty na jednotlive pwm */
32 char pos_reg_ena; /* position regulation enable */
33 char spd_reg_ena; /* speed rugulation enable */
35 int spd_err_sum; /* for speed pid regulator */