/*
 * 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:    Integrator for angle signals                                                                 **/
/**                     Calculation ZOH:                                                                             **/
/**                                        1                                                                         **/
/**                         y = ( Ki*Ts* -----  ) * u                                                                **/
/**                                      z - 1                                                                       **/
/**                                                                                                                  **/
/**                     -> y(k) = b1.u(k) + b0.u(k-1) + y(k-1)                                                       **/
/**                                                                                                                  **/
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "uI_Float32.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(uI_Float32_Update, "ramfuncs")
#endif

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

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

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

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

/* 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 uI_Float32_Update(UI_FLOAT32 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    if (ENABLE)     /* Block enabled */
    {
        if (!ENABLE_OLD)    /* rising edge of enable signal occurred */
        {
            /* preset old value */
            I_OLD = INIT;
        }

        /* Angle limitation to -pi...+pi */
        while (I_OLD >= PI_R32)
        {
            I_OLD = I_OLD - (2.0f * PI_R32);
        }
        while (I_OLD < - PI_R32)
        {
            I_OLD = I_OLD + (2.0f * PI_R32);
        }

        /* Assign output */
        OUT = I_OLD;

        /* Integral term */
        I_OLD += (B0 * IN);

    }
    else        /* Block disabled */
    {
        OUT = 0.0f;    /* reset output */
    }
    ENABLE_OLD = ENABLE;

/* USERCODE-END:UpdateFnc                                                                                             */
}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void uI_Float32_Init(UI_FLOAT32 *block)
{
    block->identifier = UI_FLOAT32_ID;
    block->Out = 0.0f;
/* USERCODE-BEGIN:InitFnc                                                                                             */
    /* preset old values */
    I_OLD = INIT;
    ENABLE_OLD = false;

/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** Load block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 uI_Float32_Load(const UI_FLOAT32 *block, uint8 data[], uint16 *dataLength, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 4u)
    {
        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);
        *dataLength = 4u;
/* USERCODE-BEGIN:LoadFnc                                                                                             */
/* USERCODE-END:LoadFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Save block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 uI_Float32_Save(UI_FLOAT32 *block, const uint8 data[], uint16 dataLength)
{
    uint8 error;
    if (dataLength != 4u)
    {
        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));
        error = 0u;
/* USERCODE-BEGIN:SaveFnc                                                                                             */
/* USERCODE-END:SaveFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(UI_FLOAT32_ISLINKED)
void* uI_Float32_GetAddress(UI_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

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