X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/e25e3c141a062914c72263faec10ffbbad2328e2..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 a148e1c..b1946a6 100644
--- a/pmsm-control/test_sw/pmsm_state.h
+++ b/pmsm-control/test_sw/pmsm_state.h
@@ -8,14 +8,16 @@
 #define MAX_DUTY	170
 #define MAX_SPEED 	(7*OLD_POS_NUM)
 
-#define LOG_ROWS	2
-#define LOG_DEF_COL	500
-#define MAX_LOGS	1000
-#define LOG_PERIOD	10
+#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. */
@@ -36,6 +38,7 @@ 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 */
 
@@ -43,8 +46,29 @@ struct rpi_state{
 	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 */
 };
 
-void freeLogs();
+/**
+ * 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*/