// <editor-fold defaultstate="collapsed" desc="Description/Instruction ">
/**
 * @file measure.c
 *
 * @brief This module has functions for signal conditioning of measured
 *        analog feedback signals.
 *
 * Component: MEASURE
 *
 */
// </editor-fold>

// <editor-fold defaultstate="collapsed" desc="Disclaimer ">

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// </editor-fold>

// <editor-fold defaultstate="collapsed" desc="HEADER FILES ">

#include <stdint.h>
#include <stdbool.h>

#include "measure.h"
#include "adc.h"

// </editor-fold>

/**
* <B> Function: MCAPP_MeasureCurrentInit(MCAPP_MEASURE_CURRENT_T *)  </B>
*
* @brief Function to reset variables used for current offset measurement.
*        .
*
* @param Pointer to the data structure containing measured currents.
* @return none.
* @example
* <CODE> MCAPP_MeasureCurrentInit(&current); </CODE>
*
*/
void MCAPP_MeasureCurrentInit(MCAPP_MEASURE_T *pMotorInputs)
{
    MCAPP_MEASURE_CURRENT_T *pCurrent;
    
    pCurrent = &pMotorInputs->current;
    
    pCurrent->counter = 0;
    pCurrent->sumIa = 0;
    pCurrent->sumIb = 0;
    pCurrent->sumIbus = 0;
    pCurrent->status = 0;
}

/**
* <B> Function: MCAPP_MeasureCurrentOffset(MCAPP_MEASURE_CURRENT_T *)  </B>
*
* @brief Function to compute current offset after measuring specified number of
*        current samples and averaging them.
*        .
* @param Pointer to the data structure containing measured current.
* @return none.
* @example
* <CODE> MCAPP_MeasureCurrentOffset(&current); </CODE>
*
*/
void MCAPP_MeasureCurrentOffset(MCAPP_MEASURE_T *pMotorInputs)
{
    MCAPP_MEASURE_CURRENT_T *pCurrent;
    
    pCurrent = &pMotorInputs->current;
    
    pCurrent->sumIa += pCurrent->Ia;
    pCurrent->sumIb += pCurrent->Ib;
    pCurrent->sumIbus += pCurrent->Ibus;
    pCurrent->counter++;

    if (pCurrent->counter >= OFFSET_COUNT_MAX)
    {
        pCurrent->offsetIa = (int16_t)(pCurrent->sumIa >> OFFSET_COUNT_BITS);
        pCurrent->offsetIb = (int16_t)(pCurrent->sumIb >> OFFSET_COUNT_BITS);
        pCurrent->offsetIbus =
            (int16_t)(pCurrent->sumIbus >> OFFSET_COUNT_BITS);

        pCurrent->counter = 0;
        pCurrent->sumIa = 0;
        pCurrent->sumIb = 0;
        pCurrent->sumIbus = 0;
        pCurrent->status = 1;
    }
}
/**
* <B> Function: MCAPP_MeasureCurrentCalibrate(MCAPP_MEASURE_CURRENT_T *)  </B>
*
* @brief Function to compensate offset from measured current samples.
*        .
* @param Pointer to the data structure containing measured current.
* @return none.
* @example
* <CODE> MCAPP_MeasureCurrentCalibrate(&current); </CODE>
*
*/
void MCAPP_MeasureCurrentCalibrate(MCAPP_MEASURE_T *pMotorInputs)
{
    MCAPP_MEASURE_CURRENT_T *pCurrent;
    
    pCurrent = &pMotorInputs->current;
    
    pCurrent->Ia = pCurrent->Ia - pCurrent->offsetIa;
    pCurrent->Ib = pCurrent->Ib  - pCurrent->offsetIb;
}

int16_t MCAPP_MeasureCurrentOffsetStatus (MCAPP_MEASURE_T *pMotorInputs)
{
    return pMotorInputs->current.status;
}


/**
* <B> Function: void MC_MovingAvgFilter(MC_MOVING_AVG_T *,int16_t )         </B>
*
* @brief Function implementing moving average filter .
*
* @param none.
* @return none.
* @example
* <CODE> MC_MovingAvgFilter(&filterData,data );                          </CODE>
*
*/
int16_t MCAPP_MeasureAvg(MCAPP_MEASURE_AVG_T *pFilterData)
{    
    pFilterData->sum += pFilterData->input;

    if (pFilterData->index < pFilterData->maxIndex)
    {
        pFilterData->index++;
    }
    else
    {
        pFilterData->avg = pFilterData->sum >> pFilterData->scaler; 
        pFilterData->sum = 0;
        pFilterData->index = 0;
        pFilterData->status = 1;
    }
    return pFilterData->avg;
}
