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
   9 struct rpi_in;
  10
  11 struct rpi_state{
  12         struct rpi_in* spi_dat;         /* spi data */
  13         sem_t thd_par_sem;              /* data metual exlusion access */
  14         uint8_t test;                   /* configuratin byte - pwm enabl. bits etc. */
  15         uint32_t tf_count;              /* number of transfer*/
  16
  17         uint16_t index_dist;            /* distance to index position */
  18         unsigned char index_ok;         /* we have actual index position */
  19
  20         uint16_t pwm1, pwm2, pwm3;      /* pwm duty cycles*/
  21         uint16_t t_pwm1, t_pwm2, t_pwm3;/* debug*/
  22
  23         int duty;                       /* duty cycle of pwm */
  24         int desired_pos;                /* desired position */
  25         int old_pos[OLD_POS_NUM];       /* old  positions */
  26         int desired_spd;                /* desired speed */
  27         int speed;
  28
  29         char commutate;                 /* zapina prepocet duty na jednotlive pwm */
  30         char pos_reg_ena;               /* position regulation enable */
  31         char spd_reg_ena;               /* speed rugulation enable */
  32 };
  33
  34 #endif /*PMSM_STATE*/