#include "app_api.h"

foc_fault_t api_set_ready(bool ready) {
	if (ready == foc_is_ready()) {
		return foc_success;
	}
	normal_task_enable(false);
	if (foc_stm_nextstate(ready?START:ANY_STOP) == NoError) {
		foc_set_ready(ready);
		normal_task_enable(true);
		return foc_success;
	}	
	normal_task_enable(true);
	return foc_not_allowed;
}

foc_fault_t api_set_speed(u16 rpm) {
	normal_task_enable(false);
	FOCState focs = foc_stm_state();
	if (focs == IDLE || focs == ANY_STOP) {
		normal_task_enable(true);
		return foc_not_allowed;
	}

	foc_set_ref_speed(rpm);
	normal_task_enable(true);
	return foc_success;
}