Setters made inline.

[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 e028201678e7a3c512f52bd338052762227d8318..b1946a653b2a0bfd07aa797cef97be942089bb23 100644 (file)
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -4,9 +4,20 @@
 #include <stdint.h>
 #include <semaphore.h>
 
+#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. */
@@ -20,12 +31,44 @@ struct rpi_state{
 
        int duty;                       /* duty cycle of pwm */
        int desired_pos;                /* desired position */
-       int old_pos;                    /* one cycle old position */
+       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 */
 };
 
+/**
+ * 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*/