TMS320F28379S: Resolver digital conversion using an Angle Tracking Observer

Hi,

I've done a brushless driver with a resolver feedback.

I'm using the Resolver to digital library but I'm having a problem to estimate the speed smoothing.

So I would like to try a different conversion method like the Angle Tracking Observer (ATO)

Question is: Is there a piece of code already available in the TI libraries/archive or have I to write the code myself?

Thank you for your help.

Regards

Giuseppe