/*
 * 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: 4306 $
 * $LastChangedDate:: 2026-07-02 15:48:24 +0200#$
 */
/* USERCODE-BEGIN:Description                                                                                         */
/*     Description: PID Controller with
 *                          - Enable Input
 *                          - Anti Windup
 *                          - Initial Condition Input
 *                          - Output Limitation
 *                      Calculation ZOH:
 *                                        1                 z - 1
 *                      y = (Kp + Ki*Ts ----- + Kd*wc --------------- )*u
 *                                      z - 1             z - exp(-wc*Ts)
 *
 *                      -> y(k) = b1.u(k) + b0.u(k-1) + y(k-1) + b1d.u(k) + b0d.u(k-1) - a0d.yd(k-1)
 *
 *     NOTE: The source code of this block is used in the following blocks: PID
 */
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "PIDLimit_FiP16.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(PIDLimit_FiP16_Update, "ramfuncs")
#endif

/* USERCODE-BEGIN:PreProcessor                                                                                        */
/* Inputs */
#define IN              (*block->In)         /* Q15 */
#define ENABLE          (*block->Enable)     /* Q0 */
#define INIT            (*block->Init)       /* Q0 */
#ifndef LIMIT_UP
    #define LIMIT_UP    (*block->max)        /* Q15 */
    #define LIMIT_DOWN  (*block->min)        /* Q15 */
#endif

/* Outputs */
#define OUT             (block->Out)         /* Q15 */

/* Parameter */
#define B0              (block->b0)          /* Qx */
#define B1              (block->b1)          /* Qy */
#define B0D             (block->b0d)         /* Qz */
#define B1D             (block->b1d)         /* Qz */
#define A0D             (block->a0d)         /* Q15 */

#define SFR0            (block->sfrb0)       /* x */
#define SFR1            (block->sfrb1)       /* y */
#define SFRD            (block->sfrd)        /* z */

/* Variables */
#define I_OLD           (block->i_old)       /* Q30 */
#define IN_OLD          (block->in_old)      /* Q15 */
#define D_OLD           (block->d_old)       /* Q15 */
#define ENABLE_OLD      (block->enable_old)
#define INIT_HANDLING   (block->initHandling)
/* USERCODE-END:PreProcessor                                                                                          */

/**********************************************************************************************************************/
/** Declare private functions with the C inline keyword to ensure function inlining for better runtime performance.  **/
/** Since all tested compilers DO NOT perform inlining at the LOWEST optimization level, compiler optimizations may  **/
/** need to be adjusted accordingly.                                                                                 **/
/**********************************************************************************************************************/
/* USERCODE-BEGIN:PrivateFncPrototypeOrDefinition                                                                     */
/* USERCODE-END:PrivateFncPrototypeOrDefinition                                                                       */

/**********************************************************************************************************************/
/** Update                                                                                                           **/
/**********************************************************************************************************************/
void PIDLimit_FiP16_Update(PIDLIMIT_FIP16 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    int32 y, yp, yd;
    bool clamp;             /* Flag used for anti windup strategy clamping */

    if (ENABLE) /* Block enabled */
    {
        /* Proportional term */
        /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0001", true_no_defect) */
        #ifdef __XC16__
            yp = __builtin_mulss(B1, IN) >> SFR1;   /* Q15 */
        #else
            /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0001", true_no_defect) */
            yp = ((int32)B1 * (int32)IN) >> SFR1;   /* Q15 */
        #endif

        if (!ENABLE_OLD)    /* Rising edge of enable signal occurred */
        {
            /* Initialization of previous values */
            IN_OLD = 0;
            D_OLD = 0;

            /* Calculation of initial derivative term */
            /* shorter calculation, since other differential terms equal zero */
             /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0001", true_no_defect) */
            yd = ((int32)B1D * (int32)IN) >> SFRD;      /* Q15 */

            /* handle INIT input */
            if (INIT_HANDLING == 0u)
            {
                /* init I_old */
                /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0004", true_no_defect) */
                I_OLD = ((int32)INIT) << 15u;       /* Q30 */
                
                /* Calc initial output */
                y = yp + yd + (int32)INIT;          /* Q15 */
            }
            else if (INIT_HANDLING == 1u)
            {
                /* Check if intial output is out of limits */
                if (INIT > LIMIT_UP)
                {
                    y = (int32)LIMIT_UP;
                }
                else if (INIT < LIMIT_DOWN)
                {
                    y = (int32)LIMIT_DOWN;
                }
                else
                {
                    y = (int32)INIT;
                }

                /* Check for active integral term */
                if (B0 != 0)
                {
                    /* Initialization of integral part so that first y = INIT */
                    /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0004", true_no_defect) */
                    I_OLD = (y - yp - yd) << 15u;                    /* Q30 */
                }
                else // B0 == 0 
                {
                    /* Set integral term to zero to force PD controller behaviour */
                    I_OLD = 0;
                }
            }
            else
            {
                y = 0;
            }
        }
        else
        {
            /* Calculation of derivative term */
            yd  =  (int32)B0D * (int32)IN_OLD;              /* Qz */
            yd += ((int32)B1D * (int32)IN);                 /* Qz */
            /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0001", true_no_defect) */
            yd  = yd >> SFRD;                               /* Qz -> Q15 */
            /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0002", true_no_defect) */
            yd -= (((int32)A0D * (int32)D_OLD) >> 15u);      /* Q15 */
            
            /* Data width limitation Previous: LIMIT(yd, INT16_MAX); */
            if (yd > INT16_MAX)
            {
                yd = INT16_MAX;
            }
            else
            {
                if (yd < -INT16_MAX)
                {
                    yd = -INT16_MAX;
                }
            }

            /* Sum */
            /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0002", true_no_defect) */
            y = yp + yd + (I_OLD >> 15u);
        }

        /* Output limitation and anti windup clamping */
        if (y > LIMIT_UP)
        {
            /* Output beyond upper limit */
            y = LIMIT_UP;

            /* Set integrator clamping condition:
            clamp if integration of error-input would cause more saturation */
            clamp = (IN > 0);
        }
        else if (y < LIMIT_DOWN)
        {
            /* Output beyond lower limit */
            y = LIMIT_DOWN;

            /* Set integrator clamping condition:
            clamp if integration of error-input would cause more saturation */
            clamp = (IN < 0);
        }
        /* else: no output limitation */
        else
        {
            /* Do not clamp the integrator */
            clamp = false;
        }

        /* Conditional integration = check clamping condition */
        if (!clamp)
        {
            /* Calculation of integral part */
            /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0003", true_no_defect) */
            #ifdef __XC16__
            I_OLD += (__builtin_mulss(B0, IN) << (15u - SFR0));    /* Q30 */
            #else
            /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0003", true_no_defect) */
            I_OLD += (((int32)B0 * (int32)IN) << (15u - SFR0));    /* Q30 */
            #endif
        }

        /* Assign output */
        OUT = (int16)y;

        /* Save relevant data for next call */
        IN_OLD = IN;
        D_OLD = (int16)yd;

    }
    else                /* Block disabled */
    {
        OUT = 0;    /* Reset output */
    }
    ENABLE_OLD = ENABLE;


/* USERCODE-END:UpdateFnc                                                                                             */
}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void PIDLimit_FiP16_Init(PIDLIMIT_FIP16 *block)
{
    block->identifier = PIDLIMIT_FIP16_ID;
    block->Out = 0;
/* USERCODE-BEGIN:InitFnc                                                                                             */
    /* Preset old values */
    I_OLD  = 0;
    IN_OLD = 0;
    D_OLD  = 0;
    ENABLE_OLD = false;

/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** Load block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 PIDLimit_FiP16_Load(const PIDLIMIT_FIP16 *block, uint8 data[], uint16 *dataLength, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 14u)
    {
        error = 1u;
    }
    else
    {
        data[0] = (uint8)((uint16)block->b0 & 0xFFu);
        data[1] = (uint8)(((uint16)block->b0 >> 8) & 0xFFu);
        data[2] = (uint8)((uint16)block->b1 & 0xFFu);
        data[3] = (uint8)(((uint16)block->b1 >> 8) & 0xFFu);
        data[4] = (uint8)((uint16)block->b0d & 0xFFu);
        data[5] = (uint8)(((uint16)block->b0d >> 8) & 0xFFu);
        data[6] = (uint8)((uint16)block->b1d & 0xFFu);
        data[7] = (uint8)(((uint16)block->b1d >> 8) & 0xFFu);
        data[8] = (uint8)((uint16)block->a0d & 0xFFu);
        data[9] = (uint8)(((uint16)block->a0d >> 8) & 0xFFu);
        data[10] = (uint8)(block->sfrb0 & 0xFFu);
        data[11] = (uint8)(block->sfrb1 & 0xFFu);
        data[12] = (uint8)(block->sfrd & 0xFFu);
        data[13] = (uint8)(block->initHandling & 0xFFu);
        *dataLength = 14u;
/* USERCODE-BEGIN:LoadFnc                                                                                             */
/* USERCODE-END:LoadFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Save block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 PIDLimit_FiP16_Save(PIDLIMIT_FIP16 *block, const uint8 data[], uint16 dataLength)
{
    uint8 error;
    if (dataLength != 14u)
    {
        error = 1u;
    }
    else
    {
        block->b0 = castUint16ToInt16((uint16)((uint16)data[0] | ((uint16)data[1] << 8)));
        block->b1 = castUint16ToInt16((uint16)((uint16)data[2] | ((uint16)data[3] << 8)));
        block->b0d = castUint16ToInt16((uint16)((uint16)data[4] | ((uint16)data[5] << 8)));
        block->b1d = castUint16ToInt16((uint16)((uint16)data[6] | ((uint16)data[7] << 8)));
        block->a0d = castUint16ToInt16((uint16)((uint16)data[8] | ((uint16)data[9] << 8)));
        block->sfrb0 = data[10];
        block->sfrb1 = data[11];
        block->sfrd = data[12];
        block->initHandling = data[13];
        error = 0u;
/* USERCODE-BEGIN:SaveFnc                                                                                             */
/* USERCODE-END:SaveFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(PIDLIMIT_FIP16_ISLINKED)
void* PIDLimit_FiP16_GetAddress(PIDLIMIT_FIP16* block, uint16 elementId)
{
    void* addr;
    switch (elementId)
    {
        case 1:
            addr = block->In;
            break;
        case 2:
            addr = block->Init;
            break;
        case 3:
            addr = block->max;
            break;
        case 4:
            addr = block->min;
            break;
        case 5:
            addr = block->Enable;
            break;
        case 6:
            addr = &block->Out;
            break;
        default:
            addr = NULL;
            break;
    }
    return (addr);
}
#endif

/**********************************************************************************************************************/
/** Declare private functions with the C inline keyword to ensure function inlining for better runtime performance.  **/
/** Since all tested compilers DO NOT perform inlining at the LOWEST optimization level, compiler optimizations may  **/
/** need to be adjusted accordingly.                                                                                 **/
/**********************************************************************************************************************/
/* USERCODE-BEGIN:PrivateFncDefinition                                                                                */
/* USERCODE-END:PrivateFncDefinition                                                                                  */
