+ int old_pos[OLD_POS_NUM]; /* old positions */
+ int desired_spd; /* desired speed */
+ int speed;
+
+ char commutate; /* zapina prepocet duty na jednotlive pwm */
+ char pos_reg_ena; /* position regulation enable */
+ char spd_reg_ena; /* speed rugulation enable */
+ unsigned short alpha_offset; /* offset between 'alpha' and 'a' axis */
+
+ int spd_err_sum; /* for speed pid regulator */
+
+ int *logs[LOG_ROWS]; /* logs */
+ int log_col_count; /* number of log columns */
+ int log_col; /* current colimn */
+ char doLogs; /* schall we make logs? */
+
+ void (*main_commutator)(struct rpi_state*); /* primarni komutator */
+ void (*main_controller)(struct rpi_state*); /* primarni regulator */
+
+ char error; /* detekce chyboveho stavu */
+
+ int8_t h1_old,h2_old,h3_old; /* stare hodnoty hallu */
+};
+
+/**
+ * Index OK.
+ */
+inline void setIndexOK(struct rpi_state*);
+
+/**
+ * Index Lost.
+ */
+inline void setIndexLost(struct rpi_state*);
+
+/**
+ * Turn commutation on.
+ */
+inline void setCommutationOn(struct rpi_state*);
+
+/**
+ * Turn commutation off.
+ */
+inline void setCommutationOff(struct rpi_state*);
+
+/**
+ * Turn on speed regulation.
+ */
+inline void setRegulationSpeed(struct rpi_state*);
+
+/**
+ * \brief Turn on position regulation
+ */
+inline void setRegulationPos(struct rpi_state*);
+
+/**
+ * \brief Turn off regulation.
+ */
+inline void setRegulationOff(struct rpi_state*);