/*
 * Copyright (c) 2018, 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                                                                                         */
/* Implementation:
 *
 *   A = -w0/2/Q*Ts
 *   B = -w0/2/Q*(sqrt(4*Q^2-1))*Ts
 *   C = w0*Ts
 *   a = [1, -2 * exp(A) * cos(B), exp(2*A)]
 *   b = [1, -2 * cos(C),          1]
 *
 *   K = sum(a) / sum(b)
 *   b = b * K
 */
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "AdaptiveNotch_Float32.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(AdaptiveNotch_Float32_Update, "ramfuncs")
#endif

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

/* Inputs */
#define IN              (*block->In)
#define N               (*block->n)

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

/* Parameter */
#define N_THRESH        (block->n_thresh)
#define A_FACT          (block->a_fact)
#define B_FACT          (block->b_fact)
#define C_FACT          (block->c_fact)

/* Variables */
#define A2              (block->a2)
#define A1              (block->a1)
#define B1              (block->b1)
#define GAIN            (block->k)
#define IN_OLD          (block->in_old)
#define IN_VERY_OLD     (block->in_very_old)
#define OUT_OLD         (block->out_old)
#define OUT_VERY_OLD    (block->out_very_old)
#define N_OLD           (block->n_old)

/* Constants */
#define A0  1.0f
#define B0  1.0f
#define B2  1.0f

/* 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 AdaptiveNotch_Float32_Update(ADAPTIVENOTCH_FLOAT32 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    float32 temp;
    float32 absN;

    /* calculate absolute value of speed to ensure correct computation of coefficients */
    absN = ABS_R32(N);

    if (absN > N_THRESH)
    {
        /* current speed is above threshold -> filter the input signal */
        if (fabsf(N - N_OLD) > FLT_EPSILON)
        {
            /* speed has changed -> update filter coefficients */
            float32 expA;

            expA = expf(absN * A_FACT);             /* exp(A) */

            /** - calculate filter coefficients */
            A1 = -2.0f * expA * cosf(absN * B_FACT);/* -2 * exp(A) * cos(B) */
            A2 = expA * expA;                       /* exp(2*A) */
            B1 = -2.0f * cosf(absN * C_FACT);       /* -2 * cos(C) */

            /** - calculate gain correction value */
            GAIN = (A0 + A1 + A2) / (B0 + B1 + B2);

            N_OLD = N;
        }

        /** - do the filtering */
        temp  = (IN + (B1 * IN_OLD) + IN_VERY_OLD);         /* b0*u(k) + b1*u(k-1) + b2*u(k-2) */
        temp  = temp * GAIN;                                   /* adjust gain */
        temp -= ((A1 * OUT_OLD) + (A2 * OUT_VERY_OLD));     /* a1*y(k-1) + a2*y(k-2)*/

        /** - set output */
        OUT = temp;                 /* y(k) = b0*u(k) + b1*u(k-1) + b2*u(k-2) - a1*y(k-1) - a2*y(k-2) */
    }
    else
    {
        /* current speed is below threshold -> do not filter the input signal */
        OUT = IN;
    }

    /** - save in- and output values for next cycle */
    IN_VERY_OLD = IN_OLD;
    IN_OLD = IN;
    OUT_VERY_OLD = OUT_OLD;
    OUT_OLD = OUT;

/* USERCODE-END:UpdateFnc                                                                                             */
}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void AdaptiveNotch_Float32_Init(ADAPTIVENOTCH_FLOAT32 *block)
{
    block->identifier = ADAPTIVENOTCH_FLOAT32_ID;
    block->Out = 0.0f;
/* USERCODE-BEGIN:InitFnc                                                                                             */
    A2 = 0.0f;
    A1 = 0.0f;
    B1 = 0.0f;
    IN_VERY_OLD = 0.0f;
    IN_OLD = 0.0f;
    OUT_VERY_OLD = 0.0f;
    OUT_OLD = 0.0f;
    N_OLD = 0.0f;
/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** Load block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 AdaptiveNotch_Float32_Load(const ADAPTIVENOTCH_FLOAT32 *block, uint8 data[], uint16 *dataLength, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 16u)
    {
        error = 1u;
    }
    else
    {
        uint32 tmp32;
        (void) memcpy((void*)&tmp32, (const void*)&block->a_fact, 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->b_fact, 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->c_fact, 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->n_thresh, 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);
        *dataLength = 16u;
/* USERCODE-BEGIN:LoadFnc                                                                                             */
/* USERCODE-END:LoadFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Save block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 AdaptiveNotch_Float32_Save(ADAPTIVENOTCH_FLOAT32 *block, const uint8 data[], uint16 dataLength)
{
    uint8 error;
    if (dataLength != 16u)
    {
        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->a_fact, (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->b_fact, (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->c_fact, (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->n_thresh, (const void*)&tmp32, sizeof(float32));
        error = 0u;
/* USERCODE-BEGIN:SaveFnc                                                                                             */
/* USERCODE-END:SaveFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(ADAPTIVENOTCH_FLOAT32_ISLINKED)
void* AdaptiveNotch_Float32_GetAddress(ADAPTIVENOTCH_FLOAT32* block, uint16 elementId)
{
    void* addr;
    switch (elementId)
    {
        case 1:
            addr = block->In;
            break;
        case 2:
            addr = block->n;
            break;
        case 3:
            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                                                                                  */
