mdv_internal.c
a947e291722eload-cell

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);
			}