X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/9650ac29cdffe74d39e64da32a34384dcd9db72f..8785f652c92188d72cc75512567ceae80b3e611d:/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 e028201..8c80265 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -4,6 +4,8 @@
 #include <stdint.h>
 #include <semaphore.h>
 
+#define OLD_POS_NUM 50
+
 struct rpi_in;
 
 struct rpi_state{
@@ -20,8 +22,9 @@ 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 */