/*
 * 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: 2nd Order Time Discrete System with 2 in- and outputs.                                          **/
/**                  Calculation:                                                                                    **/
/**                     x(k+1) = A*x(k) + B*u(k)                                                                     **/
/**                     y(k)   =   x(k)                                                                              **/
/**                                                                                                                  **/
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "TDSystemO2_Float32.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(TDSystemO2_Float32_Update, "ramfuncs")
#endif

/* USERCODE-BEGIN:PreProcessor                                                                                        */
/* Inputs*/
#define IN1     (*block->In1)
#define IN2     (*block->In2)

/* Outputs*/
#define OUT1    (block->Out1)
#define OUT2    (block->Out2)

/* Matrices */
#define A11     (block->a11)
#define A12     (block->a12)
#define A21     (block->a21)
#define A22     (block->a22)
#define B11     (block->b11)
#define B12     (block->b12)
#define B21     (block->b21)
#define B22     (block->b22)

/* States */
#define X1      (block->x1)
#define X2      (block->x2)

/* 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 TDSystemO2_Float32_Update(TDSYSTEMO2_FLOAT32 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    float32 temp, state1;


    /* Calculation of output (= old state) */
    OUT1 = X1;
    OUT2 = X2;

    /* Calculation of new state1 */
    temp  =  A11 * X1;      /* x1 = a11*x1 */
    temp += (A12 * X2);     /* x1 = a11*x1 + a12*x2 */
    temp += (B11 * IN1);    /* x1 = a11*x1 + a12*x2 + b11*u1 */
    temp += (B12 * IN2);    /* x1 = a11*x1 + a12*x2 + b11*u1 + b12*u2 */
    state1 = temp;

    /* Calculation of new state2 */
    temp  =  A21 * X1;      /* x2 = a21*x1 */
    temp += (A22 * X2);     /* x2 = a21*x1 + a22*x2 */
    temp += (B21 * IN1);    /* x2 = a21*x1 + a22*x2 + b21*u1 */
    temp += (B22 * IN2);    /* x2 = a21*x1 + a22*x2 + b21*u1 + b22*u2 */

    /* assign states */
    X1 = state1;
    X2 = temp;

/* USERCODE-END:UpdateFnc                                                                                             */
}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void TDSystemO2_Float32_Init(TDSYSTEMO2_FLOAT32 *block)
{
    block->identifier = TDSYSTEMO2_FLOAT32_ID;
    block->Out1 = 0.0f;
    block->Out2 = 0.0f;
/* USERCODE-BEGIN:InitFnc                                                                                             */
     /* reset states */
     X1 = 0.0f;
     X2 = 0.0f;

/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** Load block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 TDSystemO2_Float32_Load(const TDSYSTEMO2_FLOAT32 *block, uint8 data[], uint16 *dataLength, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 32u)
    {
        error = 1u;
    }
    else
    {
        uint32 tmp32;
        (void) memcpy((void*)&tmp32, (const void*)&block->a11, 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->a12, 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);
        (void) memcpy((void*)&tmp32, (const void*)&block->a21, sizeof(uint32));
        data[8] = (uint8)(tmp32 & 0xFFu);
        data[9] = (uint8)((tmp32 >> 8) & 0xFFu);
        data[10] = (uint8)((tmp32 >> 16) & 0xFFu);
        data[11] = (uint8)((tmp32 >> 24) & 0xFFu);
        (void) memcpy((void*)&tmp32, (const void*)&block->a22, sizeof(uint32));
        data[12] = (uint8)(tmp32 & 0xFFu);
        data[13] = (uint8)((tmp32 >> 8) & 0xFFu);
        data[14] = (uint8)((tmp32 >> 16) & 0xFFu);
        data[15] = (uint8)((tmp32 >> 24) & 0xFFu);
        (void) memcpy((void*)&tmp32, (const void*)&block->b11, sizeof(uint32));
        data[16] = (uint8)(tmp32 & 0xFFu);
        data[17] = (uint8)((tmp32 >> 8) & 0xFFu);
        data[18] = (uint8)((tmp32 >> 16) & 0xFFu);
        data[19] = (uint8)((tmp32 >> 24) & 0xFFu);
        (void) memcpy((void*)&tmp32, (const void*)&block->b12, sizeof(uint32));
        data[20] = (uint8)(tmp32 & 0xFFu);
        data[21] = (uint8)((tmp32 >> 8) & 0xFFu);
        data[22] = (uint8)((tmp32 >> 16) & 0xFFu);
        data[23] = (uint8)((tmp32 >> 24) & 0xFFu);
        (void) memcpy((void*)&tmp32, (const void*)&block->b21, sizeof(uint32));
        data[24] = (uint8)(tmp32 & 0xFFu);
        data[25] = (uint8)((tmp32 >> 8) & 0xFFu);
        data[26] = (uint8)((tmp32 >> 16) & 0xFFu);
        data[27] = (uint8)((tmp32 >> 24) & 0xFFu);
        (void) memcpy((void*)&tmp32, (const void*)&block->b22, sizeof(uint32));
        data[28] = (uint8)(tmp32 & 0xFFu);
        data[29] = (uint8)((tmp32 >> 8) & 0xFFu);
        data[30] = (uint8)((tmp32 >> 16) & 0xFFu);
        data[31] = (uint8)((tmp32 >> 24) & 0xFFu);
        *dataLength = 32u;
/* USERCODE-BEGIN:LoadFnc                                                                                             */
/* USERCODE-END:LoadFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Save block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 TDSystemO2_Float32_Save(TDSYSTEMO2_FLOAT32 *block, const uint8 data[], uint16 dataLength)
{
    uint8 error;
    if (dataLength != 32u)
    {
        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->a11, (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->a12, (const void*)&tmp32, sizeof(float32));
        tmp32 = (uint32)((uint32)data[8] | ((uint32)data[9] << 8) | ((uint32)data[10] << 16) | ((uint32)data[11] << 24));
        (void) memcpy((void*)&block->a21, (const void*)&tmp32, sizeof(float32));
        tmp32 = (uint32)((uint32)data[12] | ((uint32)data[13] << 8) | ((uint32)data[14] << 16) | ((uint32)data[15] << 24));
        (void) memcpy((void*)&block->a22, (const void*)&tmp32, sizeof(float32));
        tmp32 = (uint32)((uint32)data[16] | ((uint32)data[17] << 8) | ((uint32)data[18] << 16) | ((uint32)data[19] << 24));
        (void) memcpy((void*)&block->b11, (const void*)&tmp32, sizeof(float32));
        tmp32 = (uint32)((uint32)data[20] | ((uint32)data[21] << 8) | ((uint32)data[22] << 16) | ((uint32)data[23] << 24));
        (void) memcpy((void*)&block->b12, (const void*)&tmp32, sizeof(float32));
        tmp32 = (uint32)((uint32)data[24] | ((uint32)data[25] << 8) | ((uint32)data[26] << 16) | ((uint32)data[27] << 24));
        (void) memcpy((void*)&block->b21, (const void*)&tmp32, sizeof(float32));
        tmp32 = (uint32)((uint32)data[28] | ((uint32)data[29] << 8) | ((uint32)data[30] << 16) | ((uint32)data[31] << 24));
        (void) memcpy((void*)&block->b22, (const void*)&tmp32, sizeof(float32));
        error = 0u;
/* USERCODE-BEGIN:SaveFnc                                                                                             */
/* USERCODE-END:SaveFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(TDSYSTEMO2_FLOAT32_ISLINKED)
void* TDSystemO2_Float32_GetAddress(TDSYSTEMO2_FLOAT32* block, uint16 elementId)
{
    void* addr;
    switch (elementId)
    {
        case 1:
            addr = block->In1;
            break;
        case 2:
            addr = block->In2;
            break;
        case 3:
            addr = &block->Out1;
            break;
        case 4:
            addr = &block->Out2;
            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                                                                                  */
