/*******************************************************************************
*
 * Copyright (c) 2013 - 2016, Freescale Semiconductor, Inc.
 * Copyright 2016-2021 NXP
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * o Redistributions of source code must retain the above copyright notice, this list
 *   of conditions and the following disclaimer.
 * o 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.
 *
 * o Neither the name of the copyright holder 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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
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 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* 
*
****************************************************************************//*!
*
* @brief  Float parallel beta IP controller with and without anti-wind-up protection
* 
*******************************************************************************/
#ifndef _GFLIB_CTRLBETAIPP_FLT_H_
#define _GFLIB_CTRLBETAIPP_FLT_H_

#if defined(__cplusplus)
extern "C" {
#endif

/*******************************************************************************
* Includes
*******************************************************************************/
#include "mlib_FP.h"
#include "gflib_types.h"

/*******************************************************************************
* Macros            
*******************************************************************************/           
#define GFLIB_CtrlBetaIPpAW_FLT_C(fltInReq, fltIn, pbStopIntegFlag, psParam)       \
        GFLIB_CtrlBetaIPpAW_FLT_FC(fltInReq, fltIn, pbStopIntegFlag, psParam)
#define GFLIB_CtrlBetaIPpAW_FLT_CRam(fltInReq, fltIn, pbStopIntegFlag, psParam)    \
        GFLIB_CtrlBetaIPpAW_FLT_FCRam(fltInReq, fltIn, pbStopIntegFlag, psParam)		
#define GFLIB_CtrlBetaIPpAWInit_FLT_Ci(fltInitVal, psParam)                        \
        GFLIB_CtrlBetaIPpAWInit_FLT_FCi(fltInitVal, psParam)         
  
/*******************************************************************************
* Types
*******************************************************************************/
typedef struct
{
    float_t  fltPGain;     /* Proportional Gain */
    float_t  fltIGain;     /* Integral Gain */
    float_t  fltIAccK_1;   /* State variable output at step k-1 */
    float_t  fltInErrK_1;  /* State variable input error at step k-1 */
    float_t  fltUpperLim;  /* Upper Limit of the controller */
    float_t  fltLowerLim;  /* Lower Limit of the controller */
    float_t  fltBetaGain;  /* Beta Gain for restricting the overshot */     
    bool_t   bLimFlag;     /* Limitation flag, if set to 1, the controller output
                              has reached either the UpperLimit or LowerLimit */
} GFLIB_CTRL_BETA_IP_P_AW_T_FLT;

/*******************************************************************************
* Exported function prototypes
*******************************************************************************/
extern float_t GFLIB_CtrlBetaIPpAW_FLT_FC(float_t fltInReq, float_t fltIn,
                                          const bool_t *pbStopIntegFlag, 
                                          GFLIB_CTRL_BETA_IP_P_AW_T_FLT *psParam);
RAM_FUNC_LIB 
extern float_t GFLIB_CtrlBetaIPpAW_FLT_FCRam(float_t fltInReq, float_t fltIn,
                                             const bool_t *pbStopIntegFlag, 
                                             GFLIB_CTRL_BETA_IP_P_AW_T_FLT *psParam);
                                      
/***************************************************************************//*!
* @brief    The float function initializes the actual values of CtrlBetaIPpAWInit controller.
*
* @params   in  float_t fltInitVal- Initial state value for Integrating part
*           ptr GFLIB_CTRL_BETA_IP_P_AW_T_FLT *psParam - Pointer to controller structure
*
* @return   N/A
* 
*******************************************************************************/
RAM_FUNC_LIB 
RTCESL_INLINE static inline void GFLIB_CtrlBetaIPpAWInit_FLT_FCi(float_t fltInitVal,
                                                   GFLIB_CTRL_BETA_IP_P_AW_T_FLT *psParam)
{
    psParam->fltIAccK_1 = fltInitVal;
    psParam->fltInErrK_1= 0.0F;
}

#if defined(__cplusplus)
}
#endif

#endif /* _GFLIB_CTRLBETAIPP_FLT_H_ */
