/*
 * 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:  PI Controller with
 *                          - Enable Input
 *                          - Anti Windup
 *                          - Initial Condition Input
 *                          - Output Limitation
 *                      Calculation ZOH:
 *                                        1
 *                      y = (Kp + Ki*Ts -----)*u
 *                                      z - 1
 *
 *                      > y(k) = b1.u(k) + b0.u(k-1) + y(k-1)
 *
 *     NOTE: The source code of this block is used in the following blocks: PI
 */
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "PILimit_Float32.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(PILimit_Float32_Update, "ramfuncs")
#endif

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

/* Inputs */
#define IN                  (*block->In)
#define ENABLE              (*block->Enable)
#define INIT                (*block->Init)
#ifndef LIMIT_UP
    #define LIMIT_UP        (*block->max)
    #define LIMIT_DOWN      (*block->min)
#endif

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

/* Parameter */
#define B0                  (block->b0)
#define B1                  (block->b1)

/* Variables */
#define I_OLD               (block->i_old)
#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 PILimit_Float32_Update(PILIMIT_FLOAT32 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    float32 y, yp;
    bool clamp;             /* Flag used for anti windup strategy clamping */

    if (ENABLE) /* Block enabled */
    {
        /* Proportional term */
        yp = B1 * IN;

        if (!ENABLE_OLD)    /* Rising edge of enable signal occurred */
        {
            /* handle INIT input */
            if (INIT_HANDLING == 0u)
            {
                /* I_old  = Init */
                I_OLD = INIT;
                
                /* calc initial output */
                y = yp + I_OLD;
            }
            else if (INIT_HANDLING == 1u)
            {   
                /* Check if intial output is out of limits */
                if (INIT > LIMIT_UP)
                {
                    y = (float32)LIMIT_UP;
                }
                else if (INIT < LIMIT_DOWN)
                {
                    y = (float32)LIMIT_DOWN;
                }
                else
                {
                    y = (float32)INIT;
                }
                
                /* Check for active integral term */
                if (fabsf(B0) > FLT_EPSILON)
                {
                    /* Initialization of integral part so that first y = INIT */
                    I_OLD = y - yp;
                }
                else // B0 == 0.0f 
                {
                    /* Set integral term to zero to force proportional controller behaviour */
                    I_OLD = 0.0f;
                }
            }
            else
            {
                y = 0.0f;
            }
        }
        else
        {
            /* Sum of proportional and integral term */
            y = yp + I_OLD;
        }

        /* 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 > 0.0f);
        }
        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 < 0.0f);
        }
        /* else: no output limitation */
        else
        {
            /* Do not clamp the integrator */
            clamp = false;
        }

        /* Conditional integration = check clamping condition */
        if(!clamp)
        {
            /* Calculation of integral part */
            I_OLD += (B0 * IN);
        }

        /* Assign output */
        OUT = y;
    }
    else                /* Block disabled */
    {
        OUT = 0.0f;     /* Reset output */
    }
    ENABLE_OLD = ENABLE;

/* USERCODE-END:UpdateFnc                                                                                             */
}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void PILimit_Float32_Init(PILIMIT_FLOAT32 *block)
{
    block->identifier = PILIMIT_FLOAT32_ID;
    block->Out = 0.0f;
/* USERCODE-BEGIN:InitFnc                                                                                             */
    /* Preset old values */
    I_OLD = (float32)0.0;
    ENABLE_OLD = false;

/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** Load block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 PILimit_Float32_Load(const PILIMIT_FLOAT32 *block, uint8 data[], uint16 *dataLength, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 9u)
    {
        error = 1u;
    }
    else
    {
        uint32 tmp32;
        (void) memcpy((void*)&tmp32, (const void*)&block->b0, 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->b1, 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);
        data[8] = (uint8)(block->initHandling & 0xFFu);
        *dataLength = 9u;
/* USERCODE-BEGIN:LoadFnc                                                                                             */
/* USERCODE-END:LoadFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Save block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 PILimit_Float32_Save(PILIMIT_FLOAT32 *block, const uint8 data[], uint16 dataLength)
{
    uint8 error;
    if (dataLength != 9u)
    {
        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->b0, (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->b1, (const void*)&tmp32, sizeof(float32));
        block->initHandling = data[8];
        error = 0u;
/* USERCODE-BEGIN:SaveFnc                                                                                             */
/* USERCODE-END:SaveFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(PILIMIT_FLOAT32_ISLINKED)
void* PILimit_Float32_GetAddress(PILIMIT_FLOAT32* 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                                                                                  */
