/*
 * Copyright (c) 2018, 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: 4201 $
 * $LastChangedDate:: 2026-04-14 13:44:45 +0200#$
 */
/* USERCODE-BEGIN:Description                                                                                         */
/* Description:
 *
 * NOTE: The source code of block Biquad is used!
 */
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "LowpassBiQ_FiP32.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(LowpassBiQ_FiP32_Update, "ramfuncs")
#endif

/* USERCODE-BEGIN:PreProcessor                                                                                        */
/* --- Preprocessor elements from Biquad, FiP32 --- */
/* Inputs */
#define IN          (*block->In)           /* Q31 */

/* Outputs */
#define OUT         (block->Out)           /* Q31 */

/* Parameter */
#define A1          (block->a1)            /* Qa1 */
#define A2          (block->a2)            /* Qa2 */
#define B0          (block->b0)            /* Qb0 */
#define B1          (block->b1)            /* Qb1 */
#define B2          (block->b2)            /* Qb2 */
#define SFRA1       (block->sfra1)         /* a1 */
#define SFRA2       (block->sfra2)         /* a2 */
#define SFRB0       (block->sfrb0)         /* b0 */
#define SFRB1       (block->sfrb1)         /* b1 */
#define SFRB2       (block->sfrb2)         /* b2 */

/* Variables */
#define IN_OLD      (block->in_old)        /* Q31 */
#define IN_VERYOLD  (block->in_veryold)    /* Q31 */
#define OUT_OLD     (block->out_old)       /* Q31 */
#define OUT_VERYOLD (block->out_veryold)   /* Q31 */
/* USERCODE-END:PreProcessor                                                                                          */

/**********************************************************************************************************************/
/** Update                                                                                                           **/
/**********************************************************************************************************************/
void LowpassBiQ_FiP32_Update(LOWPASSBIQ_FIP32 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    int64 temp;

    /* RULECHECKER_comment(1:0, 6:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0001", true_no_defect) */
    temp  =  ((int64)B2 * (int64)IN_VERYOLD)  >> SFRB2;     /* y(k) = b2.u(k-2) */
    temp += (((int64)B1 * (int64)IN_OLD)      >> SFRB1);    /* y(k) = b2.u(k-2) + b1.u(k-1) */
    temp += (((int64)B0 * (int64)IN)          >> SFRB0);    /* y(k) = b2.u(k-2) + b1.u(k-1) + b0.u(k) */

    temp -= (((int64)A2 * (int64)OUT_VERYOLD) >> SFRA2);    /* y(k) = b2.u(k-2) + b1.u(k-1) + b0.u(k) - a2.y(k-2) */
    temp -= (((int64)A1 * (int64)OUT_OLD)     >> SFRA1);    /* y(k) = b2.u(k-2) + b1.u(k-1) + b0.u(k) - a2.y(k-2) - a1.y(k-1) */

    /* check for overflow */
    /* Data width limitation Previous: LIMIT(temp, INT32_MAX); */
    if (temp > INT32_MAX)
    {
        temp = INT32_MAX;
    }
    else
    {
        if (temp < -INT32_MAX)
        {
            temp = -INT32_MAX;
        }
    }

    /* assign output and set values for next update call */
    OUT         = (int32)temp;
    IN_VERYOLD  = IN_OLD;
    IN_OLD      = IN;
    OUT_VERYOLD = OUT_OLD;
    OUT_OLD     = OUT;
/* USERCODE-END:UpdateFnc                                                                                             */

}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void LowpassBiQ_FiP32_Init(LOWPASSBIQ_FIP32 *block)
{
    block->identifier = LOWPASSBIQ_FIP32_ID;
    block->Out = 0;
/* USERCODE-BEGIN:InitFnc                                                                                             */
    /* reset old values */
    IN_OLD      = 0;
    IN_VERYOLD  = 0;
    OUT_OLD     = 0;
    OUT_VERYOLD = 0;
/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** Load block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 LowpassBiQ_FiP32_Load(const LOWPASSBIQ_FIP32 *block, uint8 data[], uint16 *dataLength, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 25u)
    {
        error = 1u;
    }
    else
    {
        data[0] = (uint8)((uint32)block->b0 & 0xFFu);
        data[1] = (uint8)(((uint32)block->b0 >> 8) & 0xFFu);
        data[2] = (uint8)(((uint32)block->b0 >> 16) & 0xFFu);
        data[3] = (uint8)(((uint32)block->b0 >> 24) & 0xFFu);
        data[4] = (uint8)((uint32)block->b1 & 0xFFu);
        data[5] = (uint8)(((uint32)block->b1 >> 8) & 0xFFu);
        data[6] = (uint8)(((uint32)block->b1 >> 16) & 0xFFu);
        data[7] = (uint8)(((uint32)block->b1 >> 24) & 0xFFu);
        data[8] = (uint8)((uint32)block->b2 & 0xFFu);
        data[9] = (uint8)(((uint32)block->b2 >> 8) & 0xFFu);
        data[10] = (uint8)(((uint32)block->b2 >> 16) & 0xFFu);
        data[11] = (uint8)(((uint32)block->b2 >> 24) & 0xFFu);
        data[12] = (uint8)((uint32)block->a1 & 0xFFu);
        data[13] = (uint8)(((uint32)block->a1 >> 8) & 0xFFu);
        data[14] = (uint8)(((uint32)block->a1 >> 16) & 0xFFu);
        data[15] = (uint8)(((uint32)block->a1 >> 24) & 0xFFu);
        data[16] = (uint8)((uint32)block->a2 & 0xFFu);
        data[17] = (uint8)(((uint32)block->a2 >> 8) & 0xFFu);
        data[18] = (uint8)(((uint32)block->a2 >> 16) & 0xFFu);
        data[19] = (uint8)(((uint32)block->a2 >> 24) & 0xFFu);
        data[20] = (uint8)(block->sfrb0 & 0xFFu);
        data[21] = (uint8)(block->sfrb1 & 0xFFu);
        data[22] = (uint8)(block->sfrb2 & 0xFFu);
        data[23] = (uint8)(block->sfra1 & 0xFFu);
        data[24] = (uint8)(block->sfra2 & 0xFFu);
        *dataLength = 25u;
/* USERCODE-BEGIN:LoadFnc                                                                                             */
/* USERCODE-END:LoadFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Save block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 LowpassBiQ_FiP32_Save(LOWPASSBIQ_FIP32 *block, const uint8 data[], uint16 dataLength)
{
    uint8 error;
    if (dataLength != 25u)
    {
        error = 1u;
    }
    else
    {
        block->b0 = castUint32ToInt32((uint32)((uint32)data[0] | ((uint32)data[1] << 8) | ((uint32)data[2] << 16) | ((uint32)data[3] << 24)));
        block->b1 = castUint32ToInt32((uint32)((uint32)data[4] | ((uint32)data[5] << 8) | ((uint32)data[6] << 16) | ((uint32)data[7] << 24)));
        block->b2 = castUint32ToInt32((uint32)((uint32)data[8] | ((uint32)data[9] << 8) | ((uint32)data[10] << 16) | ((uint32)data[11] << 24)));
        block->a1 = castUint32ToInt32((uint32)((uint32)data[12] | ((uint32)data[13] << 8) | ((uint32)data[14] << 16) | ((uint32)data[15] << 24)));
        block->a2 = castUint32ToInt32((uint32)((uint32)data[16] | ((uint32)data[17] << 8) | ((uint32)data[18] << 16) | ((uint32)data[19] << 24)));
        block->sfrb0 = data[20];
        block->sfrb1 = data[21];
        block->sfrb2 = data[22];
        block->sfra1 = data[23];
        block->sfra2 = data[24];
        error = 0u;
/* USERCODE-BEGIN:SaveFnc                                                                                             */
/* USERCODE-END:SaveFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(LOWPASSBIQ_FIP32_ISLINKED)
void* LowpassBiQ_FiP32_GetAddress(LOWPASSBIQ_FIP32* block, uint16 elementId)
{
    void* addr;
    switch (elementId)
    {
        case 1:
            addr = block->In;
            break;
        case 2:
            addr = &block->Out;
            break;
        default:
            addr = NULL;
            break;
    }
    return (addr);
}
#endif
