/*
 * 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: 1st Order Time Discrete System                                                                  **/
/**                  Calculation:                                                                                    **/
/**                     x(k+1) = a11*x(k) + b11*u(k)                                                                 **/
/**                     y(k)   = c11*x(k) + d11*u(k)                                                                 **/
/**                                                                                                                  **/
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "TDSystemO1_FiP32.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(TDSystemO1_FiP32_Update, "ramfuncs")
#endif

/* USERCODE-BEGIN:PreProcessor                                                                                        */
/* Inputs */
#define IN      (*block->In)       /* Q31 */

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

/* Matrices */
#define A11     (block->a11)       /* Qa */
#define B11     (block->b11)       /* Qb */
#define C11     (block->c11)       /* Qc */
#define D11     (block->d11)       /* Qd */

/* Shift factor of matrices */
#define SFRA11  (block->sfra11)    /* a */
#define SFRB11  (block->sfrb11)    /* b */
#define SFRC11  (block->sfrc11)    /* c */
#define SFRD11  (block->sfrd11)    /* d */

/* State */
#define X1      (block->x1)        /* Q31 */

/* 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 TDSystemO1_FiP32_Update(TDSYSTEMO1_FIP32 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    int64 temp;

    /* Calculation of output (with old state) */
    /* RULECHECKER_comment(1:0, 2:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0001", true_no_defect) */
    temp  =  ((int64)C11 * (int64)X1) >> SFRC11;    /* y = c11*x1 */
    temp += (((int64)D11 * (int64)IN) >> SFRD11);   /* y = c11*x1 + d11*u */

    /* limit output to 32Bit range Previous: LIMIT(temp, INT32_MAX);*/
    if (temp > INT32_MAX)
    {
        temp = INT32_MAX;
    }
    else
    {
        if (temp < -INT32_MAX)
        {
            temp = -INT32_MAX;
        }
    }

    OUT = (int32)temp;                              /* assign output  */

    /* Calculation of new state */
    /* RULECHECKER_comment(1:0, 2:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0001", true_no_defect) */
    temp  =  ((int64)A11 * (int64)X1) >> SFRA11;    /* x1 = a11*x1 */
    temp += (((int64)B11 * (int64)IN) >> SFRB11);   /* x1 = a11*x1 + b11*u */

    /* limit output to 32Bit range Previous: LIMIT(temp, INT32_MAX);*/
    if (temp > INT32_MAX)
    {
        temp = INT32_MAX;
    }
    else
    {
        if (temp < -INT32_MAX)
        {
            temp = -INT32_MAX;
        }
    }

    X1 = (int32)temp;                               /* assign state */

/* USERCODE-END:UpdateFnc                                                                                             */
}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void TDSystemO1_FiP32_Init(TDSYSTEMO1_FIP32 *block)
{
    block->identifier = TDSYSTEMO1_FIP32_ID;
    block->Out = 0;
/* USERCODE-BEGIN:InitFnc                                                                                             */
     /* reset state */
     X1 = 0;

/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** Load block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 TDSystemO1_FiP32_Load(const TDSYSTEMO1_FIP32 *block, uint8 data[], uint16 *dataLength, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 20u)
    {
        error = 1u;
    }
    else
    {
        data[0] = (uint8)((uint32)block->a11 & 0xFFu);
        data[1] = (uint8)(((uint32)block->a11 >> 8) & 0xFFu);
        data[2] = (uint8)(((uint32)block->a11 >> 16) & 0xFFu);
        data[3] = (uint8)(((uint32)block->a11 >> 24) & 0xFFu);
        data[4] = (uint8)((uint32)block->b11 & 0xFFu);
        data[5] = (uint8)(((uint32)block->b11 >> 8) & 0xFFu);
        data[6] = (uint8)(((uint32)block->b11 >> 16) & 0xFFu);
        data[7] = (uint8)(((uint32)block->b11 >> 24) & 0xFFu);
        data[8] = (uint8)((uint32)block->c11 & 0xFFu);
        data[9] = (uint8)(((uint32)block->c11 >> 8) & 0xFFu);
        data[10] = (uint8)(((uint32)block->c11 >> 16) & 0xFFu);
        data[11] = (uint8)(((uint32)block->c11 >> 24) & 0xFFu);
        data[12] = (uint8)((uint32)block->d11 & 0xFFu);
        data[13] = (uint8)(((uint32)block->d11 >> 8) & 0xFFu);
        data[14] = (uint8)(((uint32)block->d11 >> 16) & 0xFFu);
        data[15] = (uint8)(((uint32)block->d11 >> 24) & 0xFFu);
        data[16] = (uint8)(block->sfra11 & 0xFFu);
        data[17] = (uint8)(block->sfrb11 & 0xFFu);
        data[18] = (uint8)(block->sfrc11 & 0xFFu);
        data[19] = (uint8)(block->sfrd11 & 0xFFu);
        *dataLength = 20u;
/* USERCODE-BEGIN:LoadFnc                                                                                             */
/* USERCODE-END:LoadFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Save block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 TDSystemO1_FiP32_Save(TDSYSTEMO1_FIP32 *block, const uint8 data[], uint16 dataLength)
{
    uint8 error;
    if (dataLength != 20u)
    {
        error = 1u;
    }
    else
    {
        block->a11 = castUint32ToInt32((uint32)((uint32)data[0] | ((uint32)data[1] << 8) | ((uint32)data[2] << 16) | ((uint32)data[3] << 24)));
        block->b11 = castUint32ToInt32((uint32)((uint32)data[4] | ((uint32)data[5] << 8) | ((uint32)data[6] << 16) | ((uint32)data[7] << 24)));
        block->c11 = castUint32ToInt32((uint32)((uint32)data[8] | ((uint32)data[9] << 8) | ((uint32)data[10] << 16) | ((uint32)data[11] << 24)));
        block->d11 = castUint32ToInt32((uint32)((uint32)data[12] | ((uint32)data[13] << 8) | ((uint32)data[14] << 16) | ((uint32)data[15] << 24)));
        block->sfra11 = data[16];
        block->sfrb11 = data[17];
        block->sfrc11 = data[18];
        block->sfrd11 = data[19];
        error = 0u;
/* USERCODE-BEGIN:SaveFnc                                                                                             */
/* USERCODE-END:SaveFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(TDSYSTEMO1_FIP32_ISLINKED)
void* TDSystemO1_FiP32_GetAddress(TDSYSTEMO1_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

/**********************************************************************************************************************/
/** 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                                                                                  */
