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         struct rpi_in* spi_dat;         /* spi data */
  20         sem_t thd_par_sem;              /* data metual exlusion access */
  21         uint8_t test;                   /* configuratin byte - pwm enabl. bits etc. */
  22         uint32_t tf_count;              /* number of transfer*/
  23
  24         uint16_t index_dist;            /* distance to index position */
  25         unsigned char index_ok;         /* we have actual index position */
  26
  27         uint16_t pwm1, pwm2, pwm3;      /* pwm duty cycles*/
  28         uint16_t t_pwm1, t_pwm2, t_pwm3;/* debug*/
  29
  30         int duty;                       /* duty cycle of pwm */
  31         int desired_pos;                /* desired position */
  32         int old_pos[OLD_POS_NUM];       /* old  positions */
  33         int desired_spd;                /* desired speed */
  34         int speed;
  35
  36         char commutate;                 /* zapina prepocet duty na jednotlive pwm */
  37         char pos_reg_ena;               /* position regulation enable */
  38         char spd_reg_ena;               /* speed rugulation enable */
  39         unsigned short alpha_offset;    /* offset between 'alpha' and 'a' axis */
  40
  41         int spd_err_sum;                /* for speed pid regulator */
  42
  43         int *logs[LOG_ROWS];            /* logs */
  44         int log_col_count;              /* number of log columns */
  45         int log_col;                    /* current colimn */
  46         char doLogs;                    /* schall we make logs? */
  47 };
  48
  49 void freeLogs();
  50
  51 #endif /*PMSM_STATE*/