X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/5d8290ceb4f6810b3bf47d15bcbb0fc63ff4a837..HEAD:/pmsm-control/test_sw/pmsm_state.c

diff --git a/pmsm-control/test_sw/pmsm_state.c b/pmsm-control/test_sw/pmsm_state.c
index 9721490..acfd347 100644
--- a/pmsm-control/test_sw/pmsm_state.c
+++ b/pmsm-control/test_sw/pmsm_state.c
@@ -1,10 +1,11 @@
 #include "pmsm_state.h"
 #include "commutators.h"
+#include "controllers.h"
 
 /**
  * Index Lost.
  */
-void setIndexLost(struct rpi_state* this){
+inline void setIndexLost(struct rpi_state* this){
 	this->index_ok=0;
 	this->main_commutator=simple_hall_commutator;
 }
@@ -12,7 +13,7 @@ void setIndexLost(struct rpi_state* this){
 /**
  * Index OK.
  */
-void setIndexOK(struct rpi_state* this){
+inline void setIndexOK(struct rpi_state* this){
 	this->index_ok=1;
 	this->main_commutator=inv_trans_comm_2;
 }
@@ -20,7 +21,7 @@ void setIndexOK(struct rpi_state* this){
 /**
  * Turn commutation on.
  */
-void setCommutationOn(struct rpi_state* this){
+inline void setCommutationOn(struct rpi_state* this){
 	this->commutate=1;
 	if (this->index_ok){
 		this->main_commutator=inv_trans_comm_2;
@@ -32,7 +33,36 @@ void setCommutationOn(struct rpi_state* this){
 /**
  * Turn commutation off.
  */
-void setCommutationOff(struct rpi_state* this){
+inline void setCommutationOff(struct rpi_state* this){
 	this->commutate=0;
 	this->main_commutator=zero_commutator;
 }
+
+/**
+ * Turn on speed regulation.
+ */
+inline void setRegulationSpeed(struct rpi_state* this){
+	this->spd_reg_ena=1;
+	this->pos_reg_ena=0;
+	this->main_controller=spd_pid;
+}
+
+/**
+ * \brief Turn on position regulation
+ */
+inline void setRegulationPos(struct rpi_state* this){
+	this->spd_reg_ena=0;
+	this->pos_reg_ena=1;
+	this->main_controller=pos_pid;
+}
+
+/**
+ * \brief Turn off regulation.
+ */
+inline void setRegulationOff(struct rpi_state* this){
+	this->spd_reg_ena=0;
+	this->pos_reg_ena=0;
+	this->main_controller=zero_controller;
+
+
+}