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//! \file   \libraries\observers\ssipd\source\ssipd.c
//! \brief  Portable C fixed point code.  These functions define the
//!         Initial Position Detection for Three Phase Permanent-Magnet
//!         Synchronous Motor (PMSM)
//!

#include "ssipd.h"

#ifdef SSIPD_DEBUG
float32_t IsPeakBuff[SSIPD_BUFF_NUM];
float32_t AngleBuff[SSIPD_BUFF_NUM];
uint16_t peakBuffcnt = 0;
#endif // SSIPD_DEBUG

//
// SSIPD_init
//
SSIPD_Handle SSIPD_init(void *pMemory, const size_t numBytes)
{
    SSIPD_Handle handle;

    if((int16_t)numBytes < (int16_t)sizeof(SSIPD_Obj))
    {
        return((SSIPD_Handle)NULL);
    }

    handle = (SSIPD_Handle)pMemory;

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

//
// SSIPD_setParams
//
void SSIPD_setParams(SSIPD_Handle handle, const float32_t volSet_V,
                     const float32_t angleInc_rad, const uint16_t pulseWidth)
{
    SSIPD_Obj *obj = (SSIPD_Obj *)handle;

    obj->VdSet_V = volSet_V;

    obj->angleTemp_rad = 0.0f;
    obj->angleCmd_rad = 0.0f;
    obj->angleInc_rad = angleInc_rad;
    obj->angleMax_rad = MATH_PI;

    obj->IsPeak_A = 0.0f;
    obj->pulseCount = 0;
    obj->pulseWidth = pulseWidth;

    obj->flagDirection = false;
    obj->flagRunState = false;

    return;
}
// end of file
