Speed regulation with zero error.

[fpga/rpi-motor-control.git] / pmsm-control / test_sw / pmsm_state.h

diff --git a/pmsm-control/test_sw/pmsm_state.h b/pmsm-control/test_sw/pmsm_state.h
index 3cd648fc42db361aaeedea92bab877e4e52597f5..32c8d74eef56ed31ea3c3183fdf2eeec0a42ad3e 100644 (file)
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -31,6 +31,8 @@ struct rpi_state{
        char commutate;                 /* zapina prepocet duty na jednotlive pwm */
        char pos_reg_ena;               /* position regulation enable */
        char spd_reg_ena;               /* speed rugulation enable */
+
+       int spd_err_sum;                /* for speed pid regulator */
 };
 
 #endif /*PMSM_STATE*/