#include "my_obs.h"

void my_ObsInit(void)
{
  observer_stObsCoefIn.uwRsOm = MOTOR_RS;  			// Real Value unit: 0.1mOhm, Phase resistance
	observer_stObsCoefIn.uwLqHm = MOTOR_LQ;//((ULONG)MOTOR_LQ * cof_uwLbHm) >> 10;            // Real Value, unit: 0.01mH, q Inductance
	observer_stObsCoefIn.uwLdHm = MOTOR_LD;                             // Real Value, unit: 0.01mH, d Inductance
	observer_stObsCoefIn.uwFluxWb = MOTOR_FLUX_WB;                         // Real Value, unit: 0.01mWb, Flux linkage
	observer_stObsCoefIn.uwFreqTbcHz = FTBC_HZ;                                      // Real Value, Unit:Hz  Tbc
	observer_stObsCoefIn.uwFluxDampingRatio = OBS_FLUX_PI_DAMPRATIO; // Real Value, unit:0.1
	observer_stObsCoefIn.uwFluxCrossFreqHz = OBS_SPD_PLL_BANDWIDTH_HZ ; // Real Value, unit:Hz
	observer_stObsCoefIn.uwSpdPllWvcHz =OBS_SPD_PLL_BANDWIDTH_HZ;   // Real Value, Unit:Hz
	observer_stObsCoefIn.uwSpdPllMcoef = OBS_SPD_PLL_M;
  
	observer_voObsCoef(&observer_stObsCoefIn, &observer_stObsCoefPu);
}

void my_ObsCal(SLONG Ualpha, SLONG Ubeta, SLONG Ialpha, SLONG Ibeta, SLONG Vdc, OBSERVER_OUT *Out)
{
	observer_stObsCalcIn.swUalpha = Ualpha;              /* unit: 0.1V, Voltage base */
	observer_stObsCalcIn.swUbeta = Ubeta;                /* unit: 0.1V, Voltage base */ 
	observer_stObsCalcIn.swIalpha = Ialpha;              /* unit: 0.01A, Current base */
	observer_stObsCalcIn.swIbeta = Ibeta;                /* unit: 0.01A, Current base */
	observer_stObsCalcIn.uwVdc = Vdc;                    /* unit: 0.1V, Voltage base */
	
	observer_voObsCalc(&observer_stObsCalcIn, &observer_stObsCoefPu, Out);
}