X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/85772a932e99215c8c86d92feb203ee928df0e5f..34c6632a92d19c06bbdef9dcc4eb754b21ade81d:/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 3cd648f..5d02be2 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -8,9 +8,16 @@
 #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. */
@@ -31,6 +38,16 @@ 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 */
+	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 freeLogs();
+
 #endif /*PMSM_STATE*/