pmsm-control/test_sw/pmsm_state.c

   1 #include "pmsm_state.h"
   2 #include "commutators.h"
   3 #include "controllers.h"
   4
   5 /**
   6  * Index Lost.
   7  */
   8 inline void setIndexLost(struct rpi_state* this){
   9         this->index_ok=0;
  10         this->main_commutator=simple_hall_commutator;
  11 }
  12
  13 /**
  14  * Index OK.
  15  */
  16 inline void setIndexOK(struct rpi_state* this){
  17         this->index_ok=1;
  18         this->main_commutator=inv_trans_comm_2;
  19 }
  20
  21 /**
  22  * Turn commutation on.
  23  */
  24 inline void setCommutationOn(struct rpi_state* this){
  25         this->commutate=1;
  26         if (this->index_ok){
  27                 this->main_commutator=inv_trans_comm_2;
  28         }else{
  29                 this->main_commutator=simple_hall_commutator;
  30         }
  31 }
  32
  33 /**
  34  * Turn commutation off.
  35  */
  36 inline void setCommutationOff(struct rpi_state* this){
  37         this->commutate=0;
  38         this->main_commutator=zero_commutator;
  39 }
  40
  41 /**
  42  * Turn on speed regulation.
  43  */
  44 inline void setRegulationSpeed(struct rpi_state* this){
  45         this->spd_reg_ena=1;
  46         this->pos_reg_ena=0;
  47         this->main_controller=spd_pid;
  48 }
  49
  50 /**
  51  * \brief Turn on position regulation
  52  */
  53 inline void setRegulationPos(struct rpi_state* this){
  54         this->spd_reg_ena=0;
  55         this->pos_reg_ena=1;
  56         this->main_controller=pos_pid;
  57 }
  58
  59 /**
  60  * \brief Turn off regulation.
  61  */
  62 inline void setRegulationOff(struct rpi_state* this){
  63         this->spd_reg_ena=0;
  64         this->pos_reg_ena=0;
  65         this->main_controller=zero_controller;
  66
  67
  68 }