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 struct rpi_in;
  12
  13 struct rpi_state{
  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*/
  18
  19         uint16_t index_dist;            /* distance to index position */
  20         unsigned char index_ok;         /* we have actual index position */
  21
  22         uint16_t pwm1, pwm2, pwm3;      /* pwm duty cycles*/
  23         uint16_t t_pwm1, t_pwm2, t_pwm3;/* debug*/
  24
  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 */
  29         int speed;
  30
  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 */
  34
  35         int spd_err_sum;                /* for speed pid regulator */
  36 };
  37
  38 #endif /*PMSM_STATE*/