pmsm-control/test_sw/pmsm_state.h

   1 #ifndef PMSM_STATE
   2 #define PMSM_STATE
   3
   4 #include <stdint.h>
   5 #include <semaphore.h>
   6
   7 #define OLD_POS_NUM     50
   8 #define MAX_DUTY        170
   9 #define MAX_SPEED       (7*OLD_POS_NUM)
  10
  11 #define LOG_ROWS        11
  12 #define LOG_DEF_COL     8000
  13 #define MAX_LOGS        8000
  14 #define LOG_PERIOD      2
  15
  16 struct rpi_in;
  17
  18 struct rpi_state{
  19         //const unsigned MAX_DUTY;      /*Max duty*/
  20
  21         struct rpi_in* spi_dat;         /* spi data */
  22         sem_t thd_par_sem;              /* data metual exlusion access */
  23         uint8_t test;                   /* configuratin byte - pwm enabl. bits etc. */
  24         uint32_t tf_count;              /* number of transfer*/
  25
  26         uint16_t index_dist;            /* distance to index position */
  27         unsigned char index_ok;         /* we have actual index position */
  28
  29         uint16_t pwm1, pwm2, pwm3;      /* pwm duty cycles*/
  30         uint16_t t_pwm1, t_pwm2, t_pwm3;/* debug*/
  31
  32         int duty;                       /* duty cycle of pwm */
  33         int desired_pos;                /* desired position */
  34         int old_pos[OLD_POS_NUM];       /* old  positions */
  35         int desired_spd;                /* desired speed */
  36         int speed;
  37
  38         char commutate;                 /* zapina prepocet duty na jednotlive pwm */
  39         char pos_reg_ena;               /* position regulation enable */
  40         char spd_reg_ena;               /* speed rugulation enable */
  41         unsigned short alpha_offset;    /* offset between 'alpha' and 'a' axis */
  42
  43         int spd_err_sum;                /* for speed pid regulator */
  44
  45         int *logs[LOG_ROWS];            /* logs */
  46         int log_col_count;              /* number of log columns */
  47         int log_col;                    /* current colimn */
  48         char doLogs;                    /* schall we make logs? */
  49
  50         void (*main_commutator)(struct rpi_state*);     /* primarni komutator */
  51         void (*main_controller)(struct rpi_state*);     /* primarni regulator */
  52
  53         char error;                     /* detekce chyboveho stavu */
  54 };
  55
  56 /**
  57  * Index OK.
  58  */
  59 inline void setIndexOK(struct rpi_state*);
  60
  61 /**
  62  * Index Lost.
  63  */
  64 inline void setIndexLost(struct rpi_state*);
  65
  66 /**
  67  * Turn commutation on.
  68  */
  69 inline void setCommutationOn(struct rpi_state*);
  70
  71 /**
  72  * Turn commutation off.
  73  */
  74 inline void setCommutationOff(struct rpi_state*);
  75
  76 /**
  77  * Turn on speed regulation.
  78  */
  79 inline void setRegulationSpeed(struct rpi_state*);
  80
  81 /**
  82  * \brief Turn on position regulation
  83  */
  84 inline void setRegulationPos(struct rpi_state*);
  85
  86 /**
  87  * \brief Turn off regulation.
  88  */
  89 inline void setRegulationOff(struct rpi_state*);
  90
  91 #endif /*PMSM_STATE*/