dcl_df11.h

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/*
 * Copyright (C) 2023 Texas Instruments Incorporated - https://www.ti.com/
 *
 *
 * Redistribution and use in source and binary forms, with or without
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 *    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
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 *    distribution.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef _DCL_DF11_H_
#define _DCL_DF11_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "../dcl_common.h"
 
//--- Direct Form 1 - 1st order ----------------------------------------------
 
typedef struct dcl_df11_sps
{
    float32_t b0;   
    float32_t b1;   
    float32_t a1;   
} DCL_DF11_SPS;
 
#define DF11_SPS_DEFAULTS { 0.5f, 0.5f, 1.0f }
 
typedef _DCL_VOLATILE struct dcl_df11
{
    /* compensator parameter */
    float32_t b0;   
    float32_t b1;   
    float32_t a1;   
 
    /* internal storage */
    float32_t d1;   
    float32_t d2;   
 
    /* miscellaneous */
    DCL_DF11_SPS *sps; 
    DCL_CSS *css;      
} DCL_DF11, *DF11_Handle;
 
#define DF11_DEFAULTS { 0.5f, 0.5f, 1.0f, 0.0f, 0.0f, \
        &(DCL_DF11_SPS)DF11_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }
 
#define DF11_INT_DEFAULTS .d1=0.0f, .d2=0.0f, .sps=&(DCL_DF11_SPS)DF11_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_DEFAULTS 
 
#define DCL_initDF11() &(DCL_DF11)DF11_DEFAULTS
 
#define DCL_initDF11asParam(_b0,_b1,_a1) &(DCL_DF11){ .b0=_b0, .b1=_b1, .a1=_a1, \
                                DF11_INT_DEFAULTS }
 
#define DCL_initDF11asSPS(df_ptr,sps_ptr)                                          \
({                                                                                 \
    DCL_DF11* new_df = (df_ptr) ? df_ptr : DCL_initDF11();                         \
    DCL_DF11_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_DF11_SPS)DF11_SPS_DEFAULTS;\
    if(sps_ptr)                                                                    \
    {                                                                              \
        *new_df = (DCL_DF11){ (new_sps)->b0, (new_sps)->b1, (new_sps)->a1,         \
        0.0f, 0.0f, (DCL_DF11_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS };          \
    }                                                                              \
    new_df;                                                                        \
})
 
_DCL_CODE_ACCESS
void DCL_resetDF11(DCL_DF11 *df)
{
    dcl_interrupt_t ints = DCL_disableInts();
    df->d1 = df->d2 = 0.0f;
    DCL_restoreInts(ints);
}
 
_DCL_CODE_ACCESS
void DCL_fupdateDF11(DCL_DF11 *df)
{
    df->b0 = df->sps->b0;
    df->b1 = df->sps->b1;
    df->a1 = df->sps->a1;
}
 
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_updateDF11(DCL_DF11 *df)
{
    if (!DCL_getUpdateStatus(df))
    {
        dcl_interrupt_t ints = DCL_disableInts();
        DCL_setUpdateStatus(df);
        df->b0 = df->sps->b0;
        df->b1 = df->sps->b1;
        df->a1 = df->sps->a1;
        DCL_clearUpdateStatus(df);
        DCL_restoreInts(ints);
        return true;
    }
    return false;
}
 
_DCL_CODE_ACCESS _DCL_CODE_SECTION
bool DCL_pendingUpdateDF11(DCL_DF11 *df)
{
    if (DCL_getPendingStatus(df) && DCL_updateDF11(df))
    {
        DCL_clearPendingStatus(df);
        return true;
    }
    return false;
}
 
_DCL_CODE_ACCESS
void DCL_updateDF11SPS(DCL_DF11 *df)
{
    df->sps->b0 = df->b0;
    df->sps->b1 = df->b1;
    df->sps->a1 = df->a1;
}
 
_DCL_CODE_ACCESS
bool DCL_isStableDF11(DCL_DF11 *df)
{
    return(DCL_isStablePn1(df->sps->a1));
}
 
_DCL_CODE_ACCESS
void DCL_loadDF11asZPK(DCL_DF11 *df, DCL_ZPK3 *zpk)
{
#ifdef DCL_ERROR_HANDLING_ENABLED
    uint32_t err_code = dcl_none;
    err_code |= DCL_isZero(cimagf(zpk->z1)) ? dcl_none : dcl_param_warn_err;
    err_code |= DCL_isZero(cimagf(zpk->p1)) ? dcl_none : dcl_param_warn_err;
    if (err_code)
    {
        DCL_setError(df,err_code);
        DCL_getErrorInfo(df);
        DCL_runErrorHandler(df);
    }
#endif
 
    float32_t t_sec = df->css->t_sec;
    float32_t a0p = 2.0f - (float32_t) crealf(zpk->p1) * t_sec;
    df->sps->b0 = zpk->K * (2.0f - (float32_t) crealf(zpk->z1) * t_sec) / a0p;
    df->sps->b1 = zpk->K * (-2.0f - (float32_t) crealf(zpk->z1) * t_sec) / a0p;
    df->sps->a1 = (-2.0f - (float32_t) crealf(zpk->p1) * t_sec) / a0p;
}
 
_DCL_CODE_ACCESS
void DCL_loadDF11asPI(DCL_DF11 *df, float32_t Kp, float32_t Ki)
{
#ifdef DCL_ERROR_HANDLING_ENABLED
    uint32_t err_code = dcl_none;
    err_code |= (Kp < 0.0f) ? dcl_param_invalid_err : dcl_none;
    err_code |= (Ki < 0.0f) ? dcl_param_invalid_err : dcl_none;
    if (err_code)
    {
        DCL_setError(df,err_code);
        DCL_getErrorInfo(df);
        DCL_runErrorHandler(df);
    }
#endif
 
    float32_t t_sec = df->css->t_sec;
    df->sps->b0 = Kp * ((Ki * t_sec) + 2.0f) / 2.0f;
    df->sps->b1 = Kp * ((Ki * t_sec) - 2.0f) / 2.0f;
    df->sps->a1 = -1.0f;
}
 
_DCL_CODE_ACCESS _DCL_CODE_SECTION
float32_t DCL_runDF11(DCL_DF11 *df, float32_t ek)
{
    df->d2 = (ek * df->b0) + (df->d1 * df->b1) - (df->d2 * df->a1);
    df->d1 = ek;
 
    return(df->d2);
}
 
#ifdef __cplusplus
}
#endif // extern "C"
 
#endif // _DCL_DF11_H_