regarding the int32 and float, the code is correct, but good question! It certainly does look backwards upon initial inspection.
This is a coding trick to get fpu32 enabled code to work with fixed point execute only ROM libraries.
When fpu32 is enabled, the compiler thinks that all returned values are through the floating point registers, but the ROMed libraries return floating point values through the accumulator. So in order to trick the compiler so that it reads returned values from the accumulator, we declare the functions as if they return integers. Then, we do a union in the project lab, so it reads as an integer, but we interpret the result as a float
ex:
union
{
int32_t long_value;
float_t float_value;
} interface;
// get the stator resistance
interface.long_value = EST_getRs_Ohm(obj->estHandle);
gMotorVars.Rs_Ohm = interface.float_value;
