/*
 * 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: 4182 $
 * $LastChangedDate:: 2026-04-07 20:26:33 +0200#$
 */
/* USERCODE-BEGIN:Description                                                                                         */
/**     Description:    PI Controller with                                  **/
/**                         - Enable Input                                   **/
/**                         - Anti Wind-up                                   **/
/**                         - Initial Condition Input                        **/
/**                     Calculation ZOH:                                     **/
/**                                             1                            **/
/**                         y = ( Kp + Ki*Ts* -----  ) * u                   **/
/**                                           z - 1                          **/
/**                                                                          **/
/**                     -> y(k) = b1.u(k) + b0.u(k-1) + y(k-1)               **/
/**                                                                          **/
/**                     Note:                                                **/
/**                         PILimit source code is used!                     **/
/**                                                                          **/
/* USERCODE-END:Description                                                                                           */
#ifndef PI_FIP8_H
#define PI_FIP8_H

#ifdef __cplusplus
extern "C" {
#endif

#include "CommonFcts.h"

#if !defined(PI_FIP8_ISLINKED)
#define PI_FIP8_ID ((uint16)3216)

#if !defined(X2C_USE_UNION_FOR_POINTER)
typedef struct {
    uint16          identifier;
    int8            *In;
    int8            *Init;
    bool            *Enable;
    int8            Out;
    int8            b0;
    int8            b1;
    uint8           sfrb0;
    uint8           sfrb1;
    int16           i_old;
    bool            enable_old;
    uint8           initHandling;
} PI_FIP8;
#else
typedef struct {
    uint16          identifier;
    INT8_PTR        In;
    INT8_PTR        Init;
    BOOL_PTR        Enable;
    int8            Out;
    int8            b0;
    int8            b1;
    uint8           sfrb0;
    uint8           sfrb1;
    int16           i_old;
    bool            enable_old;
    uint8           initHandling;
} PI_FIP8;
#endif

#define PI_FIP8_FUNCTIONS { \
    PI_FIP8_ID, \
    (void (*)(void*))&PI_FiP8_Update, \
    (void (*)(void*))&PI_FiP8_Init, \
    (tLoadImplementationParameter)&PI_FiP8_Load, \
    (tSaveImplementationParameter)&PI_FiP8_Save, \
    (void* (*)(void*, uint16))&PI_FiP8_GetAddress }

/**********************************************************************************************************************/
/** Public functions                                                                                                 **/
/**********************************************************************************************************************/
void PI_FiP8_Update(PI_FIP8 *block);
void PI_FiP8_Init(PI_FIP8 *block);
uint8 PI_FiP8_Load(const PI_FIP8 *block, uint8 data[], uint16 *dataLength, uint16 maxSize);
uint8 PI_FiP8_Save(PI_FIP8 *block, const uint8 data[], uint16 dataLength);
void* PI_FiP8_GetAddress(PI_FIP8 *block, uint16 elementId);

#endif

#ifdef __cplusplus
}
#endif

#endif
