/*
 * Copyright (c) 2013, Linz Center of Mechatronics GmbH (LCM), web: www.lcm.at
 * All rights reserved.
 */
/*
 * This file is licensed according to the BSD 3-clause license as follows:
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the "Linz Center of Mechatronics GmbH" and "LCM" nor
 *       the names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL "Linz Center of Mechatronics GmbH" BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
/*
 * This file is part of X2C. web: x2c.lcm.at
 * $LastChangedRevision: 3886 $
 * $LastChangedDate:: 2025-10-30 18:42:48 +0100#$
 */
/* USERCODE-BEGIN:Description                                                                                         */
/*      Description:    Subtraction of Input Minus from Input Plus with output wrapping.                              */
/*                      Calculation:                                                                                  */
/*                          Out = Plus - Minus                                                                        */
/*                                                                                                                    */
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "uSub_Float64.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(uSub_Float64_Update, "ramfuncs")
#endif

/* USERCODE-BEGIN:PreProcessor                                                                                        */
#include <math.h>

/* Inputs */
#define IN1     (*block->Plus)
#define IN2     (*block->Minus)

/* Outputs */
#define OUT     (block->Out)

/* USERCODE-END:PreProcessor                                                                                          */

/**********************************************************************************************************************/
/** Update                                                                                                           **/
/**********************************************************************************************************************/
void uSub_Float64_Update(USUB_FLOAT64 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    float64 result;

    result = IN1 - IN2;

    /* output wrapping */
#if defined(X2C_USE_UNION_FOR_POINTER)
    while (result >= PI_R64)
    {
        result = result - (2.0 * PI_R64);
    }
    while (result < - PI_R64)
    {
        result = result + (2.0 * PI_R64);
    }
#else
    if (result >= PI_R64)
    {
        result = fmod(result, (2.0*PI_R64));
        if (result >= PI_R64)
        {
            result = result - (2.0*PI_R64);
        }
    }
    else if (result < -PI_R64)
    {
        result = fmod(result, (2.0*PI_R64));
        if (result < -PI_R64)
        {
            result = result + (2.0*PI_R64);
        }
    }
    else
    {
        /* else: No operation required */
    }
#endif

    OUT = result;

/* USERCODE-END:UpdateFnc                                                                                             */

}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void uSub_Float64_Init(USUB_FLOAT64 *block)
{
    block->identifier = USUB_FLOAT64_ID;
    block->Out = 0.0;
/* USERCODE-BEGIN:InitFnc                                                                                             */
/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** No Load function                                                                                                 **/
/**********************************************************************************************************************/

/**********************************************************************************************************************/
/** No Save function                                                                                                 **/
/**********************************************************************************************************************/

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(USUB_FLOAT64_ISLINKED)
void* uSub_Float64_GetAddress(USUB_FLOAT64* block, uint16 elementId)
{
    void* addr;
    switch (elementId)
    {
        case 1:
            addr = block->Plus;
            break;
        case 2:
            addr = block->Minus;
            break;
        case 3:
            addr = &block->Out;
            break;
        default:
            addr = NULL;
            break;
    }
    return (addr);
}
#endif
