/*
 * 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: 3737 $
 * $LastChangedDate:: 2025-06-02 12:34:59 +0200#$
 */
/* USERCODE-BEGIN:Description                                                                                         */
/* Description: */
/* USERCODE-END:Description                                                                                           */
#include <string.h>
#include "ConvFnc_NotchBiQ_Float32.h"

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

#ifdef USE_FLOAT64_CONV_FNC
	#define TAN(x) tan(x)
	#define EXP(x) exp(x)
	#define COS(x) cos(x)
	#define SQRT(x) sqrt(x)
#else
	#define TAN(x) tanf(x)
	#define EXP(x) expf(x)
	#define COS(x) cosf(x)
	#define SQRT(x) sqrtf(x)
#endif
/* USERCODE-END:PreProcessor                                                                                          */

extern uint8 MaskParamBuffer[];
extern uint8 ImplParamBuffer[];
extern uint8 SaveFncDataBuffer[];

/** Implementation parameter data structure */
typedef struct {
    float32 b0;
    float32 b1;
    float32 b2;
    float32 a1;
    float32 a2;
} NOTCHBIQ_FLOAT32_IMPL_PARAM;

/** method enumeration */
typedef enum {
    METHOD_BILINEAR = 0,
    METHOD_MATCHED_ZMTRANSFORM = 1
} tmethod;

/** Private prototypes */
static uint8 convertM2I(const NOTCHBIQ_FLOAT32_MASK_PARAM *maskParam, NOTCHBIQ_FLOAT32_IMPL_PARAM *impParam, float_CoT ts);

/**
 * @brief Converts Mask parameters to Implementation parameters.
 *
 * @param[in] maskParam Mask parameters
 * @param[out] impParam Implementation parameters
 * @param[in] ts Block sample time
 *
 * @return Error: zero on success, not zero in case of conversion error
 */
static uint8 convertM2I(const NOTCHBIQ_FLOAT32_MASK_PARAM *maskParam, NOTCHBIQ_FLOAT32_IMPL_PARAM *impParam, float_CoT ts)
{
    uint8 error = 0u;
/* USERCODE-BEGIN:Conversion                                                                                          */
	/* Create and initialize variables */
	float_CoT f_n, Q, w0;
	float_CoT fs;
	float_CoT a0 = 1.0, a1 = 1.0, a2 = 1.0;
	float_CoT b0 = 1.0, b1 = 1.0, b2 = 1.0;

	/* Get mask params */
	f_n = maskParam->fn;
	Q = maskParam->Q;
	fs = 1.0 / ts;

	// TODO: Check how to handle this:
	if (f_n > fs / 2) {
		// The notch frequency must be lower than fs/2
		return 1; //ERROR_TABLE_NOT_INIT;
	}
	if (f_n < 0.0) {
		// the notch frequency must be positive value
		return 1; //ERROR_TABLE_NOT_INIT;
	}
	if (Q < 0.5) {
			// the Q factor must not be lower than 0.5
		return 1; //ERROR_TABLE_NOT_INIT;
	}

	/* Calculate the notch angular velocity */
	w0 = f_n * (float_CoT)2.0 * (float_CoT)PI_R64;

	if (maskParam->method == METHOD_BILINEAR) {
		// Pre-warp the frequency
		w0 = 2.0f / ts * TAN(w0 * ts / 2.0f);
		// Calculate coefficients using bilinear transformation s -> z
		// s = 2/Ts*((z-1)/((z+1)))
		float_CoT pow_ts, pow_w0;
		pow_ts = ts * ts;
		pow_w0 = w0 * w0;

		a1 = (((2 * Q * pow_ts * pow_w0) - (8 * Q))) \
				/ (((Q * pow_ts * pow_w0) + (2 * ts * w0) + (4 * Q)));
		b1 = a1;
		a2 = (((Q * pow_ts * pow_w0) - (2 * ts * w0)) + (4 * Q))\
				/ (((Q * pow_ts * pow_w0) + (2 * ts * w0) + (4 * Q)));
		b2 = b0 = (((Q * pow_ts * pow_w0) + (4 * Q))) \
				/ (((Q * pow_ts * pow_w0) + (2 * ts * w0) + (4 * Q)));
		b2 = b0;
	} else if (maskParam->method == METHOD_MATCHED_ZMTRANSFORM) {
		// Calculate the coefficients using zeros and poles transform
	    a1 = -2 * EXP(-w0*ts/(2*Q)) * COS(-w0*ts/(2*Q) * SQRT(4*Q*Q - 1));
	    a2 = EXP(-2*w0*ts/(2*Q));
	    b1 = -2 * COS(w0*ts);
	    // Finally adjust gain:
	    float_CoT K = (a0 + a1 + a2) / (b0 + b1 + b2);
        b0 *= K;
	    b1 *= K;
	    b2 *= K;
	}

    /* set block parameter = filter coefficients */
    impParam->b0 = b0;
    impParam->b1 = b1;
    impParam->b2 = b2;
    impParam->a1 = a1;
    impParam->a2 = a2;
/* USERCODE-END:Conversion                                                                                            */
    return (error);
}

/**
 * @brief Load block mask parameter data.
 *
 * @param[in] maskParam Mask parameter data structure
 * @param[out] data Data
 * @param[out] dataLen Data length
 * @param[in] maxSize Maximum Service data length
 *
 * @return Error: zero on success, not zero in case of load- or conversion error
 */
uint8 NotchBiQ_Float32_LoadMP(const NOTCHBIQ_FLOAT32_MASK_PARAM *maskParam, uint8 data[], uint16* dataLen, uint16 maxSize)
{
    uint8 error = 0u;
    if (maxSize < 25u)
    {
        error = 1u;
    }
    else
    {
        data[0] = (uint8)(maskParam->method);
        data[1] = (uint8)((*(uint64*)&(maskParam->fn)) & 0xFFu);
        data[2] = (uint8)((*(uint64*)&(maskParam->fn) >> 8) & 0xFFu);
        data[3] = (uint8)((*(uint64*)&(maskParam->fn) >> 16) & 0xFFu);
        data[4] = (uint8)((*(uint64*)&(maskParam->fn) >> 24) & 0xFFu);
        data[5] = (uint8)((*(uint64*)&(maskParam->fn) >> 32) & 0xFFu);
        data[6] = (uint8)((*(uint64*)&(maskParam->fn) >> 40) & 0xFFu);
        data[7] = (uint8)((*(uint64*)&(maskParam->fn) >> 48) & 0xFFu);
        data[8] = (uint8)((*(uint64*)&(maskParam->fn) >> 56) & 0xFFu);
        data[9] = (uint8)((*(uint64*)&(maskParam->Q)) & 0xFFu);
        data[10] = (uint8)((*(uint64*)&(maskParam->Q) >> 8) & 0xFFu);
        data[11] = (uint8)((*(uint64*)&(maskParam->Q) >> 16) & 0xFFu);
        data[12] = (uint8)((*(uint64*)&(maskParam->Q) >> 24) & 0xFFu);
        data[13] = (uint8)((*(uint64*)&(maskParam->Q) >> 32) & 0xFFu);
        data[14] = (uint8)((*(uint64*)&(maskParam->Q) >> 40) & 0xFFu);
        data[15] = (uint8)((*(uint64*)&(maskParam->Q) >> 48) & 0xFFu);
        data[16] = (uint8)((*(uint64*)&(maskParam->Q) >> 56) & 0xFFu);
        data[17] = (uint8)((*(uint64*)&(maskParam->ts_fact)) & 0xFFu);
        data[18] = (uint8)((*(uint64*)&(maskParam->ts_fact) >> 8) & 0xFFu);
        data[19] = (uint8)((*(uint64*)&(maskParam->ts_fact) >> 16) & 0xFFu);
        data[20] = (uint8)((*(uint64*)&(maskParam->ts_fact) >> 24) & 0xFFu);
        data[21] = (uint8)((*(uint64*)&(maskParam->ts_fact) >> 32) & 0xFFu);
        data[22] = (uint8)((*(uint64*)&(maskParam->ts_fact) >> 40) & 0xFFu);
        data[23] = (uint8)((*(uint64*)&(maskParam->ts_fact) >> 48) & 0xFFu);
        data[24] = (uint8)((*(uint64*)&(maskParam->ts_fact) >> 56) & 0xFFu);
        *dataLen = 25u;
    }
    return (error);
}

/**
 * @brief Save block mask parameter data.
 *
 * @param[in] block Pointer to block structure
 * @param[out] maskParam Mask parameter data structure
 * @param[in] data Data
 * @param dataLen Length of mask parameter data stream
 *
 * @return Error: zero on success, not zero in case of save- or conversion error
 */
uint8 NotchBiQ_Float32_SaveMP(NOTCHBIQ_FLOAT32 *block, NOTCHBIQ_FLOAT32_MASK_PARAM *maskParam, const uint8 data[], uint16 dataLen)
{
    uint8 error = 0u;

    if (dataLen != 25u)
    {
        error = 1u;
    }
    else
    {
        uint64 tmp64;
        /** - Cache old mask parameters */
        NotchBiQ_Float32_BackupMP(maskParam);

        /** - Save new mask parameters */
        maskParam->method = data[0];
        tmp64 = (uint64)data[1] + \
            ((uint64)data[2] << 8) + ((uint64)data[3] << 16) + \
            ((uint64)data[4] << 24) + ((uint64)data[5] << 32) + \
            ((uint64)data[6] << 40) + ((uint64)data[7] << 48) + \
            ((uint64)data[8] << 56);
        maskParam->fn = (float64)(*(float64*)&tmp64);
        tmp64 = (uint64)data[9] + \
            ((uint64)data[10] << 8) + ((uint64)data[11] << 16) + \
            ((uint64)data[12] << 24) + ((uint64)data[13] << 32) + \
            ((uint64)data[14] << 40) + ((uint64)data[15] << 48) + \
            ((uint64)data[16] << 56);
        maskParam->Q = (float64)(*(float64*)&tmp64);
        tmp64 = (uint64)data[17] + \
            ((uint64)data[18] << 8) + ((uint64)data[19] << 16) + \
            ((uint64)data[20] << 24) + ((uint64)data[21] << 32) + \
            ((uint64)data[22] << 40) + ((uint64)data[23] << 48) + \
            ((uint64)data[24] << 56);
        maskParam->ts_fact = (float64)(*(float64*)&tmp64);

        error = NotchBiQ_Float32_ConvertMP(block, maskParam);

        /** - Check for errors during execution of save function */
        if (error != 0u)
        {
            /* Restore old mask parameter */
            NotchBiQ_Float32_RestoreMP(maskParam);
        }

    }
    return (error);
}

/**
 * @brief Initializes Implementation parameters from Mask parameters.
 *
 * @param[out] block Block
 * @param[in] maskParam Mask parameters
 *
 * @return Error: zero on success, not zero in case of initialization error
 */
uint8 NotchBiQ_Float32_InitMP(NOTCHBIQ_FLOAT32 *block, const NOTCHBIQ_FLOAT32_MASK_PARAM *maskParam)
{
    uint8 error = 0u;
    float_CoT block_ts;

    NOTCHBIQ_FLOAT32_IMPL_PARAM *implParam = (NOTCHBIQ_FLOAT32_IMPL_PARAM*)ImplParamBuffer;

    /** - Get Block Sample Time */
    block_ts = maskParam->ts_fact * getModelSampleTime();
    /** - Convert mask parameters to implementation parameters */
    error = convertM2I(maskParam, implParam, block_ts);

    /** - Prepare implementation parameters for save function */
    SaveFncDataBuffer[0] = (uint8)((*(uint32*)&(implParam->b0)) & 0xFFu);
    SaveFncDataBuffer[1] = (uint8)((*(uint32*)&(implParam->b0) >> 8) & 0xFFu);
    SaveFncDataBuffer[2] = (uint8)((*(uint32*)&(implParam->b0) >> 16) & 0xFFu);
    SaveFncDataBuffer[3] = (uint8)((*(uint32*)&(implParam->b0) >> 24) & 0xFFu);
    SaveFncDataBuffer[4] = (uint8)((*(uint32*)&(implParam->b1)) & 0xFFu);
    SaveFncDataBuffer[5] = (uint8)((*(uint32*)&(implParam->b1) >> 8) & 0xFFu);
    SaveFncDataBuffer[6] = (uint8)((*(uint32*)&(implParam->b1) >> 16) & 0xFFu);
    SaveFncDataBuffer[7] = (uint8)((*(uint32*)&(implParam->b1) >> 24) & 0xFFu);
    SaveFncDataBuffer[8] = (uint8)((*(uint32*)&(implParam->b2)) & 0xFFu);
    SaveFncDataBuffer[9] = (uint8)((*(uint32*)&(implParam->b2) >> 8) & 0xFFu);
    SaveFncDataBuffer[10] = (uint8)((*(uint32*)&(implParam->b2) >> 16) & 0xFFu);
    SaveFncDataBuffer[11] = (uint8)((*(uint32*)&(implParam->b2) >> 24) & 0xFFu);
    SaveFncDataBuffer[12] = (uint8)((*(uint32*)&(implParam->a1)) & 0xFFu);
    SaveFncDataBuffer[13] = (uint8)((*(uint32*)&(implParam->a1) >> 8) & 0xFFu);
    SaveFncDataBuffer[14] = (uint8)((*(uint32*)&(implParam->a1) >> 16) & 0xFFu);
    SaveFncDataBuffer[15] = (uint8)((*(uint32*)&(implParam->a1) >> 24) & 0xFFu);
    SaveFncDataBuffer[16] = (uint8)((*(uint32*)&(implParam->a2)) & 0xFFu);
    SaveFncDataBuffer[17] = (uint8)((*(uint32*)&(implParam->a2) >> 8) & 0xFFu);
    SaveFncDataBuffer[18] = (uint8)((*(uint32*)&(implParam->a2) >> 16) & 0xFFu);
    SaveFncDataBuffer[19] = (uint8)((*(uint32*)&(implParam->a2) >> 24) & 0xFFu);

    /** - Execute save function of block */
    error = NotchBiQ_Float32_Save(block, SaveFncDataBuffer, 20);

    return (error);
}

/**
 * @brief Converts Mask parameters into Implementation parameters and executes Block Save function.
 *
 * @param[out] block Block Implementation
 * @param[in] maskParam Mask Parameters
 *
 * @return 0 if successful, greater than 0 if conversion failed
 */
uint8 NotchBiQ_Float32_ConvertMP(NOTCHBIQ_FLOAT32 *block, NOTCHBIQ_FLOAT32_MASK_PARAM *maskParam)
{
    uint8 error;
    float_CoT block_ts;
    NOTCHBIQ_FLOAT32_IMPL_PARAM *implParam = (NOTCHBIQ_FLOAT32_IMPL_PARAM*)ImplParamBuffer;

    /** - Get Block Sample Time */
    block_ts = maskParam->ts_fact * getModelSampleTime();
    /** - Convert mask parameters to implementation parameters */
    error = convertM2I(maskParam, implParam, block_ts);
    if (error != 0u)
    {
        return (error);
    }

    /** - Prepare implementation parameters for save function */
    SaveFncDataBuffer[0] = (uint8)((*(uint32*)&(implParam->b0)) & 0xFFu);
    SaveFncDataBuffer[1] = (uint8)((*(uint32*)&(implParam->b0) >> 8) & 0xFFu);
    SaveFncDataBuffer[2] = (uint8)((*(uint32*)&(implParam->b0) >> 16) & 0xFFu);
    SaveFncDataBuffer[3] = (uint8)((*(uint32*)&(implParam->b0) >> 24) & 0xFFu);
    SaveFncDataBuffer[4] = (uint8)((*(uint32*)&(implParam->b1)) & 0xFFu);
    SaveFncDataBuffer[5] = (uint8)((*(uint32*)&(implParam->b1) >> 8) & 0xFFu);
    SaveFncDataBuffer[6] = (uint8)((*(uint32*)&(implParam->b1) >> 16) & 0xFFu);
    SaveFncDataBuffer[7] = (uint8)((*(uint32*)&(implParam->b1) >> 24) & 0xFFu);
    SaveFncDataBuffer[8] = (uint8)((*(uint32*)&(implParam->b2)) & 0xFFu);
    SaveFncDataBuffer[9] = (uint8)((*(uint32*)&(implParam->b2) >> 8) & 0xFFu);
    SaveFncDataBuffer[10] = (uint8)((*(uint32*)&(implParam->b2) >> 16) & 0xFFu);
    SaveFncDataBuffer[11] = (uint8)((*(uint32*)&(implParam->b2) >> 24) & 0xFFu);
    SaveFncDataBuffer[12] = (uint8)((*(uint32*)&(implParam->a1)) & 0xFFu);
    SaveFncDataBuffer[13] = (uint8)((*(uint32*)&(implParam->a1) >> 8) & 0xFFu);
    SaveFncDataBuffer[14] = (uint8)((*(uint32*)&(implParam->a1) >> 16) & 0xFFu);
    SaveFncDataBuffer[15] = (uint8)((*(uint32*)&(implParam->a1) >> 24) & 0xFFu);
    SaveFncDataBuffer[16] = (uint8)((*(uint32*)&(implParam->a2)) & 0xFFu);
    SaveFncDataBuffer[17] = (uint8)((*(uint32*)&(implParam->a2) >> 8) & 0xFFu);
    SaveFncDataBuffer[18] = (uint8)((*(uint32*)&(implParam->a2) >> 16) & 0xFFu);
    SaveFncDataBuffer[19] = (uint8)((*(uint32*)&(implParam->a2) >> 24) & 0xFFu);

    /** - Execute save function of block */
    error = NotchBiQ_Float32_Save(block, SaveFncDataBuffer, 20);

    return (error);
}

/**
 * @brief Backups current Mask parameters into global Mask parameter backup array.
 *
 * @param[in] maskParam Mask parameters
 *
 * @return Nothing
 */
void NotchBiQ_Float32_BackupMP(NOTCHBIQ_FLOAT32_MASK_PARAM* maskParam)
{
    memcpy(MaskParamBuffer, maskParam, sizeof(*maskParam));
}

/**
 * @brief Restores Mask parameters from global Mask parameter backup array.
 *
 * @param[out] maskParam Mask parameters
 *
 * @return Nothing
 */
void NotchBiQ_Float32_RestoreMP(NOTCHBIQ_FLOAT32_MASK_PARAM* maskParam)
{
    memcpy(maskParam, MaskParamBuffer, sizeof(*maskParam));
}
