mdv_internal.c
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	#include "mdv_internal.h"
	#include "mdv_control_modes.h"


	mdv_ctrl_fptr mdv_ctrl[MDV_NUMBER_OF_CONTROL_MODE] = {
	{&mdv_null_process,&mdv_coast_init},
	{&mdv_null_process,&mdv_brake_init},
	{&mdv_position_process,&mdv_position_init},
	{&mdv_velocity_process,&mdv_velocity_init},
	{&mdv_smooth_position_process,&mdv_smooth_position_init},
	{&mdv_null_process,&mdv_coast_init},
	{&mdv_runtime_calibration_process, &mdv_runtime_calibration_init},
	{&mdv_sine_generator_process,&mdv_sine_generator_init}
	};


	void mdv_null_process(motordriver * mdv){
	pwm_set_value(mdv->pins.speed,MAX_PWM / 2);
	pwm_set_value(mdv->pins.torque,MAX_PWM / 2);
	}

	void mdv_cleanup(motordriver * mdv) {
	mdv->goal_pos = mdv->pos_cnt;
	mdv->moving_pos = mdv->pos_cnt;
	mdv->goal_speed = 0;
	mdv->moving_speed = 0;
	mdv->output_trq = 0;
	mdv->prev_p_error = 0;
	mdv->i_error = 0;
	mdv_clear_flag(mdv,MDV_F_MOVING_ENABLE \|
	MDV_F_UPDATE_I_ERROR \|
	MDV_F_NEW_POSITION_AVAILABLE \|
	MDV_F_NEW_SPEED_AVAILABLE);
	}


	void mdv_set_pos_count(motordriver * mdv, long pos){

	IEC0bits.T1IE = 0;

	mdv->previous_cnt = pos;
	mdv->pos_cnt = pos;
	*(mdv->pos_counter) = pos;

	IEC0bits.T1IE = 1;

	}


	void mdv_set_control_mode_private(motordriver * mdv , mdv_control_mode c){
	mdv_cleanup(mdv);
	mdv->sc.mode = c;
	(*(mdv_ctrl[c].init))(mdv);
	}