1 #include "pmsm_state.h"
2 #include "commutators.h"
3 #include "controllers.h"
8 inline void setIndexLost(struct rpi_state* this){
10 this->main_commutator=simple_hall_commutator;
16 inline void setIndexOK(struct rpi_state* this){
18 this->main_commutator=inv_trans_comm_2;
22 * Turn commutation on.
24 inline void setCommutationOn(struct rpi_state* this){
27 this->main_commutator=inv_trans_comm_2;
29 this->main_commutator=simple_hall_commutator;
34 * Turn commutation off.
36 inline void setCommutationOff(struct rpi_state* this){
38 this->main_commutator=zero_commutator;
42 * Turn on speed regulation.
44 inline void setRegulationSpeed(struct rpi_state* this){
47 this->main_controller=spd_pid;
51 * \brief Turn on position regulation
53 inline void setRegulationPos(struct rpi_state* this){
56 this->main_controller=pos_pid;
60 * \brief Turn off regulation.
62 inline void setRegulationOff(struct rpi_state* this){
65 this->main_controller=zero_controller;