/*
 * 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: With lookup table approximated arc tangent function      */
/*                      Calculation:                                          */
/*                          theta = atan2(y,x)                                */
/*                      Range:                                                */
/*                          y:      -1..1                                     */
/*                          x:      -1..1                                     */
/*                          theta:  -pi..pi                                   */
/*                                      --> with -pi..pi ~ -1..1              */
/*                                                                            */
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "Atan2_FiP8.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(Atan2_FiP8_Update, "ramfuncs")
#endif

/* USERCODE-BEGIN:PreProcessor                                                                                        */
#include "Atan_Data.h"

/* Inputs */
#define IN1                 (*block->y)
#define IN2                 (*block->x)

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

/* Quadrant Offset Macros */
#define ATAN2_OFFSET_Q2     0x40
#define ATAN2_OFFSET_Q34    0x80u
#define ATAN2_OFFSET_COT    0x3F

#define QUARTER_PI          0x20        /* 45� */

/* 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 Atan2_FiP8_Update(ATAN2_FIP8 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    int8    iFact, iY, iX;
    int16   arg  = (int16)0;
    int8    iTan =  (int8)1;        /* 1 -> tangent for Q1 & Q3, 0 -> cotangent for Q2 & Q4 */
    int8    Q13  =  (int8)1;        /* 1 -> Q1 or Q3 */
    int8    out1 =  (int8)0;

    iY = IN1;
    iX = IN2;

    /* check input range (negating lowest negative number could lead to division by zero) */
    if (iX == (int8)0x80)
    {
        iX = (int8)0x81;
    }
    if (iY == (int8)0x80)
    {
        iY = (int8)0x81;
    }

    if ((iY == 0) && (iX == 0))
    {
        out1 = 0;
    }
    else
    {
        /* Check quadrants */
        if (iY < (int8)0)
        {
            iY   = -iY;
            out1 = (int8)ATAN2_OFFSET_Q34;
            if (iX > (int8)0)   /* 4th quadrant */
            {
                out1 += ATAN2_OFFSET_Q2;
                Q13   = (int8)0;
            }
            else
            {           /* 3rd quadrant */
                iX   = -iX;
            }
        }
        else
        {
            if (iX < (int8)0)   /* 2nd quadrant */
            {
                iX   = -iX;
                out1 = ATAN2_OFFSET_Q2;
                Q13  = (int8)0;
            }
        }

        /* Check region in quadrant */
        if (iY > iX)    /* angle > 45� */
        {
            iFact = iX;         /* swap input arguments  (iFact is used as temporary variable) */
            iX    = iY;         /* swap input arguments */
            iY    = iFact;      /* swap input arguments */
            iTan  = (int8)0;    /* use cotangent */
        }
        if (iY != iX)
        {
            /* Calculation of y/x */
            /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0004", true_no_defect) */
            arg = (int16)((int16)iY << 8u); /* Q7,16 -> Q15,16 */
            arg = arg / iX;                 /* Q8,16 */

            /* Interpolation Previous: LOOKUP8(Atan_Table8, (uint8)arg, iFact); */
            // iFact = lookupTableInt8(Atan_Table8, (uint8)arg);
            iFact = lookupTableInt8(Atan_Table8, (int8)((uint8)arg));
        }
        else
        {
            iFact = QUARTER_PI;     /* angle = 45� */
        }

        /* Check for need of cotangent correction */
        if (Q13 != iTan)
        {
            out1 += ((int8)ATAN2_OFFSET_COT - iFact);
        }
        else
        {
            out1 += iFact;
        }
    }

    THETA = out1;           /* assign output */

/* USERCODE-END:UpdateFnc                                                                                             */
}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void Atan2_FiP8_Init(ATAN2_FIP8 *block)
{
    block->identifier = ATAN2_FIP8_ID;
    block->Out = 0;
/* USERCODE-BEGIN:InitFnc                                                                                             */
/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** No Load function                                                                                                 **/
/**********************************************************************************************************************/

/**********************************************************************************************************************/
/** No Save function                                                                                                 **/
/**********************************************************************************************************************/

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(ATAN2_FIP8_ISLINKED)
void* Atan2_FiP8_GetAddress(ATAN2_FIP8* block, uint16 elementId)
{
    void* addr;
    switch (elementId)
    {
        case 1:
            addr = block->y;
            break;
        case 2:
            addr = block->x;
            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                                                                                  */
