10 struct rpi_in* spi_dat; /* spi data */
11 sem_t thd_par_sem; /* data metual exlusion access */
12 uint8_t test; /* configuratin byte - pwm enabl. bits etc. */
13 uint32_t tf_count; /* number of transfer*/
15 uint16_t index_dist; /* distance to index position */
16 unsigned char index_ok; /* we have actual index position */
18 uint16_t pwm1, pwm2, pwm3; /* pwm duty cycles*/
19 uint16_t t_pwm1, t_pwm2, t_pwm3;/* debug*/
21 int duty; /* duty cycle of pwm */
22 int desired_pos; /* desired position */
23 int desired_spd; /* desired speed */
25 char commutate; /* zapina prepocet duty na jednotlive pwm */
26 char pos_reg_ena; /* position regulation enable */
27 char spd_reg_ena; /* speed rugulation enable */