/*
 * 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: 3674 $
 * $LastChangedDate:: 2025-03-07 12:00:30 +0100#$
 */
/* USERCODE-BEGIN:Description                                                                                         */
/*      Description:    Output change rate limitation of angle signals                                                */
/*                      Calculation:                                                                                  */
/*                          u > y:                                                                                    */
/*                              y(k)     = y(k-1) + RateUp                                                            */
/*                              RateUp   = 1/Tr * Ts                                                                  */
/*                          u < y:                                                                                    */
/*                              y(k)     = y(k-1) - RateDown                                                          */
/*                              RateDown = 1/Tf * Ts                                                                  */
/*                                                                                                                    */
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "uRateLimiter_Float32.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(uRateLimiter_Float32_Update, "ramfuncs")
#endif

/* USERCODE-BEGIN:PreProcessor                                                                                        */
/* Inputs */
#define IN          (*block->In)
#define INIT        (*block->Init)
#define ENABLE      (*block->Enable)

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

/* Parameters */
#define RATE_UP     (block->RateUp)
#define RATE_DOWN   (block->RateDown)

/* Variables */
#define ENABLE_OLD  (block->enable_old)

/* USERCODE-END:PreProcessor                                                                                          */

/**********************************************************************************************************************/
/** Update                                                                                                           **/
/**********************************************************************************************************************/
void uRateLimiter_Float32_Update(URATELIMITER_FLOAT32 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    float32 Diff, temp;

        if (!ENABLE)    /* Rate limiting disabled */
        {
            OUT = IN;
        }
        else                /* Rate limiting enabled */
        {
            if (!ENABLE_OLD)
            {
                /* rising edge of enable signal occurred */
                OUT = INIT;                     /* assign output to init value */
            }
            else
            {
                /* step height */
                Diff = IN - OUT;

                /* check for type of step */
                if (Diff > 0.0f)       /* positive step */
                {
                    if (Diff > RATE_UP)     /* step is higher than RateUp */
                    {
                        temp = OUT + RATE_UP;   /* increase output */
                        /* output limitation */
                        if (temp >= PI_R32)
                        {
                            OUT = temp - (2.0f*PI_R32);
                        }
                    }
                    else
                    {
                        OUT = IN;               /* assign output */
                    }
                }
                else if (Diff < 0.0f)  /* negative step */
                {
                    if (-Diff > RATE_DOWN)  /* step is lower than RateDown */
                    {
                        temp = OUT - RATE_DOWN; /* decrease output */
                        /* output limitation */
                        if (temp < -PI_R32)
                        {
                            OUT = temp + (2.0f*PI_R32);
                        }
                    }
                    else
                    {
                        OUT = IN;               /* assign output */
                    }
                }
                else
                {
                    /* else: No operation required */
                }
            }
        }
        ENABLE_OLD = ENABLE;

/* USERCODE-END:UpdateFnc                                                                                             */

}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void uRateLimiter_Float32_Init(URATELIMITER_FLOAT32 *block)
{
    block->identifier = URATELIMITER_FLOAT32_ID;
    block->Out = 0.0f;
/* USERCODE-BEGIN:InitFnc                                                                                             */
     ENABLE_OLD = false;

/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** Load block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 uRateLimiter_Float32_Load(const URATELIMITER_FLOAT32 *block, uint8 data[], uint16 *dataLength, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 8u)
    {
        error = 1u;
    }
    else
    {
        uint32 tmp32;
        (void) memcpy((void*)&tmp32, (const void*)&block->RateUp, sizeof(uint32));
        data[0] = (uint8)(tmp32 & 0xFFu);
        data[1] = (uint8)((tmp32 >> 8) & 0xFFu);
        data[2] = (uint8)((tmp32 >> 16) & 0xFFu);
        data[3] = (uint8)((tmp32 >> 24) & 0xFFu);
        (void) memcpy((void*)&tmp32, (const void*)&block->RateDown, sizeof(uint32));
        data[4] = (uint8)(tmp32 & 0xFFu);
        data[5] = (uint8)((tmp32 >> 8) & 0xFFu);
        data[6] = (uint8)((tmp32 >> 16) & 0xFFu);
        data[7] = (uint8)((tmp32 >> 24) & 0xFFu);
        *dataLength = 8u;
/* USERCODE-BEGIN:LoadFnc                                                                                             */
/* USERCODE-END:LoadFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Save block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 uRateLimiter_Float32_Save(URATELIMITER_FLOAT32 *block, const uint8 data[], uint16 dataLength)
{
    uint8 error;
    if (dataLength != 8u)
    {
        error = 1u;
    }
    else
    {
        uint32 tmp32;
        tmp32 = (uint32)((uint32)data[0] | ((uint32)data[1] << 8) | ((uint32)data[2] << 16) | ((uint32)data[3] << 24));
        (void) memcpy((void*)&block->RateUp, (const void*)&tmp32, sizeof(float32));
        tmp32 = (uint32)((uint32)data[4] | ((uint32)data[5] << 8) | ((uint32)data[6] << 16) | ((uint32)data[7] << 24));
        (void) memcpy((void*)&block->RateDown, (const void*)&tmp32, sizeof(float32));
        error = 0u;
/* USERCODE-BEGIN:SaveFnc                                                                                             */
/* USERCODE-END:SaveFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(URATELIMITER_FLOAT32_ISLINKED)
void* uRateLimiter_Float32_GetAddress(URATELIMITER_FLOAT32* block, uint16 elementId)
{
    void* addr;
    switch (elementId)
    {
        case 1:
            addr = block->In;
            break;
        case 2:
            addr = block->Init;
            break;
        case 3:
            addr = block->Enable;
            break;
        case 4:
            addr = &block->Out;
            break;
        default:
            addr = NULL;
            break;
    }
    return (addr);
}
#endif
