#include <stdint.h>
#include <semaphore.h>
-#define OLD_POS_NUM 50
+#define OLD_POS_NUM 50
+#define MAX_DUTY 170
+#define MAX_SPEED (7*OLD_POS_NUM)
+
+#define LOG_ROWS 11
+#define LOG_DEF_COL 8000
+#define MAX_LOGS 8000
+#define LOG_PERIOD 2
struct rpi_in;
struct rpi_state{
+ //const unsigned MAX_DUTY; /*Max duty*/
+
struct rpi_in* spi_dat; /* spi data */
sem_t thd_par_sem; /* data metual exlusion access */
uint8_t test; /* configuratin byte - pwm enabl. bits etc. */
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 */
};
+/**
+ * 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*);
+
#endif /*PMSM_STATE*/