#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. */
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 */
+
+ 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*);
+
#endif /*PMSM_STATE*/