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//! \file   \libraries\observers\speedfr\source\speedfr.c
//! \brief  Portable C fixed point code.  These functions define the
//!         speed observer in generic form for Motor Control
//!

#include "speedfr.h"    // Include speed observation definitions

// **************************************************************************
// the defines

// **************************************************************************
// the globals


// **************************************************************************
// the functions

SPDFR_Handle SPDFR_init(void *pMemory, const size_t numBytes)
{
    SPDFR_Handle handle;

    if(numBytes < sizeof(SPDFR_Obj))
    {
        return((SPDFR_Handle)NULL);
    }

    // assign the handle
    handle = (SPDFR_Handle)pMemory;

    return(handle);
} // end of SPDFR_init() function

//------------------------------------------------------------------------------
void SPDFR_reset(SPDFR_Handle handle)
{
    SPDFR_Obj *obj = (SPDFR_Obj *)handle;

    obj->speed_pu = 0.0f;

    return;
}

//------------------------------------------------------------------------------
void SPDFR_setParams(SPDFR_Handle handle, const USER_Params *pUserParams)
{
    SPDFR_Obj *obj = (SPDFR_Obj *)handle;
    float32_t K1;

    obj->scaleFreq = pUserParams->maxFrequency_Hz;

    // Initialize the Speed module for speed calculation from sensor
    K1 = 1 / (pUserParams->maxFrequency_Hz * pUserParams->ctrlPeriod_sec);

    // Low-pass cut-off frequency
    obj->K2 = 1.0f / (1.0f + pUserParams->ctrlPeriod_sec * (MATH_TWO_PI  * 10.0f));
    obj->K3 = (1.0f - obj->K2) * K1;

    return;
} // end of ESMO_run() function


//----------------------------------------------------------------

// end of file
