X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/25e4be86876f738bf5ceae5764a1d0fe42272aef..526f31a42665da0c8d341f6532e579bd8bea2730:/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 7c631f1..b1946a6 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -4,20 +4,71 @@
 #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{
-	struct rpi_in* spi_dat;
-	sem_t thd_par_sem;
-	uint8_t test;
-	uint16_t pwm1, pwm2, pwm3;
-	uint16_t t_pwm1, t_pwm2, t_pwm3;
-	char commutate;
-	int duty;			/* duty cycle of pwm */
+	//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. */
+	uint32_t tf_count;		/* number of transfer*/
+
 	uint16_t index_dist;		/* distance to index position */
-	unsigned char index_ok;
-	uint32_t tf_count;		/*number of transfer*/
+	unsigned char index_ok;		/* we have actual index position */
+
+	uint16_t pwm1, pwm2, pwm3;	/* pwm duty cycles*/
+	uint16_t t_pwm1, t_pwm2, t_pwm3;/* debug*/
+
+	int duty;			/* duty cycle of pwm */
 	int desired_pos;		/* desired 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*/