/*
 * 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:    Output change rate limitation of angle signals                                                */
/*                      Calculation:                                                                                  */
/*                          u > y:                                                                                    */
/*                              y(k)     = y(k-1) + RateUp                                                            */
/*                              RateUp   = 1/Tr * Ts                                                                  */
/*                          u < y:                                                                                    */
/*                              y(k)     = y(k-1) - RateDown                                                          */
/*                              RateDown = 1/Tf * Ts                                                                  */
/*                                                                                                                    */
/* USERCODE-END:Description                                                                                           */
#include <stddef.h>
#include "uRateLimiter_FiP16.h"

/* all used update functions to ram for c2000                                                                         */
#if defined(__ALL_UPDATE_FUNC_2_RAM_C2000__)
    #pragma CODE_SECTION(uRateLimiter_FiP16_Update, "ramfuncs")
#endif

/* USERCODE-BEGIN:PreProcessor                                                                                        */
/* Inputs */
#define IN          (*block->In)         /* Q15 */
#define INIT        (*block->Init)       /* Q15 */
#define ENABLE      (*block->Enable)     /* Q0  */

/* Outputs */
#define OUT         (block->Out)         /* Q15 */

/* Parameters */
#define RATE_UP     (block->RateUp)      /* Q31 */
#define RATE_DOWN   (block->RateDown)    /* Q31 */

/* Variables */
#define OUT_OLD     (block->out_old)     /* Q31 */
#define ENABLE_OLD  (block->enable_old)  /* Q0  */

/* 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 uRateLimiter_FiP16_Update(URATELIMITER_FIP16 *block)
{
/* USERCODE-BEGIN:UpdateFnc                                                                                           */
    int32   temp = 0;
    int16   Diff = 0;

    if (!ENABLE)    /* Rate limiting disabled */
    {
        /* RULECHECKER_comment(2:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0004 ", true_no_defect) */
        OUT     = IN;
        OUT_OLD = ((int32)OUT) << 16;
    }
    else                /* Rate limiting enabled */
    {
        if (!ENABLE_OLD)
        {
            /* rising edge of enable signal occurred */
            /* RULECHECKER_comment(2:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0004 ", true_no_defect) */
            OUT = INIT;                     /* assign output to init value */
            OUT_OLD = ((int32)OUT) << 16;   /* save output for next cycle */
        }
        else
        {
            /* step height */
            Diff = IN - OUT;    /* overflow is allowed */

            /* check for type of step */
            if (Diff > 0)       /* positive step */
            {
                /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0002 ", true_no_defect) */
                if (Diff > (RATE_UP>>16))       /* step is higher than RateUp */
                {
                    /* RULECHECKER_comment(3:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0002 ", true_no_defect) */
                   temp = OUT_OLD + RATE_UP;            /* increase output */
                   OUT_OLD = temp;                      /* save output for next cycle */
                   OUT = (int16)(temp >> 16);           /* assign output */
                }
                else
                {
                    /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0004 ", true_no_defect) */
                    OUT_OLD = ((int32)IN) << 16;        /* save output for next cycle */
                    OUT = IN;                           /* assign output */
                }
            }
            else if (Diff < 0)  /* negative step */
            {
                /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0002 ", true_no_defect) */
                if (-Diff > (RATE_DOWN>>16))/* step is lower than RateDown */
                {
                    /* RULECHECKER_comment(3:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0002 ", true_no_defect) */
                    temp = OUT_OLD - RATE_DOWN;     /* decrease output */
                    OUT_OLD = temp;                 /* save output for next cycle */
                    OUT = (int16)(temp >> 16);      /* assign output */
                }
                else
                {
                    /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0004 ", true_no_defect) */
                    OUT_OLD = ((int32)IN) << 16;    /* save output for next cycle */
                    OUT = IN;                       /* assign output */
                }
            }
            else
            {
                /* else: No operation required */
            }
        }
    }
    ENABLE_OLD = ENABLE;

/* USERCODE-END:UpdateFnc                                                                                             */
}

/**********************************************************************************************************************/
/** Initialization                                                                                                   **/
/**********************************************************************************************************************/
void uRateLimiter_FiP16_Init(URATELIMITER_FIP16 *block)
{
    block->identifier = URATELIMITER_FIP16_ID;
    block->Out = 0;
/* USERCODE-BEGIN:InitFnc                                                                                             */
    /* RULECHECKER_comment(1:0, 1:0, check_inappropriate_int, "see X2C MISRA Deviations, DEV0004 ", true_no_defect) */
     OUT_OLD = ((int32)INIT) << 16;
     ENABLE_OLD = false;

/* USERCODE-END:InitFnc                                                                                               */
}

/**********************************************************************************************************************/
/** Load block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 uRateLimiter_FiP16_Load(const URATELIMITER_FIP16 *block, uint8 data[], uint16 *dataLength, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 8u)
    {
        error = 1u;
    }
    else
    {
        data[0] = (uint8)((uint32)block->RateUp & 0xFFu);
        data[1] = (uint8)(((uint32)block->RateUp >> 8) & 0xFFu);
        data[2] = (uint8)(((uint32)block->RateUp >> 16) & 0xFFu);
        data[3] = (uint8)(((uint32)block->RateUp >> 24) & 0xFFu);
        data[4] = (uint8)((uint32)block->RateDown & 0xFFu);
        data[5] = (uint8)(((uint32)block->RateDown >> 8) & 0xFFu);
        data[6] = (uint8)(((uint32)block->RateDown >> 16) & 0xFFu);
        data[7] = (uint8)(((uint32)block->RateDown >> 24) & 0xFFu);
        *dataLength = 8u;
/* USERCODE-BEGIN:LoadFnc                                                                                             */
/* USERCODE-END:LoadFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Save block data                                                                                                  **/
/**********************************************************************************************************************/
uint8 uRateLimiter_FiP16_Save(URATELIMITER_FIP16 *block, const uint8 data[], uint16 dataLength)
{
    uint8 error;
    if (dataLength != 8u)
    {
        error = 1u;
    }
    else
    {
        block->RateUp = castUint32ToInt32((uint32)((uint32)data[0] | ((uint32)data[1] << 8) | ((uint32)data[2] << 16) | ((uint32)data[3] << 24)));
        block->RateDown = castUint32ToInt32((uint32)((uint32)data[4] | ((uint32)data[5] << 8) | ((uint32)data[6] << 16) | ((uint32)data[7] << 24)));
        error = 0u;
/* USERCODE-BEGIN:SaveFnc                                                                                             */
/* USERCODE-END:SaveFnc                                                                                               */
    }
    return (error);
}

/**********************************************************************************************************************/
/** Get block element address                                                                                        **/
/**********************************************************************************************************************/
#if !defined(URATELIMITER_FIP16_ISLINKED)
void* uRateLimiter_FiP16_GetAddress(URATELIMITER_FIP16* 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                                                                                  */
