angle.h

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#ifndef _ANGLE_H_
#define _ANGLE_H_



// **************************************************************************
// the includes
#include <stdint.h>

// drivers 


// modules
#include "sw/modules/types/src/types.h"
#include "sw/modules/est/src/float/est.h"
#include "sw/modules/math/src/float/math.h"


// solutions






#ifdef __cplusplus
extern "C" {
#endif


// **************************************************************************
// the defines


// **************************************************************************
// the typedefs


typedef struct _ANGLE_Obj_
{
  int_least32_t  timeStamp;             
  float_t        angleEst_rad;          
  float_t        speedEst_rps;          
  float_t        accelEst_rps2;         

  float_t        angle_rad;             
  float_t        angleWithDelay_rad;    
  float_t        speed_rps;             

  float_t        angleDelayed_sf_sec;   
  float_t        timeStampPeriod_sec;   
} ANGLE_Obj;


typedef struct _ANGLE_Obj_  *ANGLE_Handle;


// **************************************************************************
// the globals


// **************************************************************************
// the function prototypes

static inline float_t ANGLE_getAccelEst_rps2(ANGLE_Handle handle)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  return(obj->accelEst_rps2);
} // end of ANGLE_getAccelEst_rps2() function


static inline float_t ANGLE_getAngle_rad(ANGLE_Handle handle)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  return(obj->angle_rad);
} // end of ANGLE_getAngle_rad() function


static inline float_t ANGLE_getAngleEst_rad(ANGLE_Handle handle)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  return(obj->angleEst_rad);
} // end of ANGLE_getAngleEst_rad() function


static inline float_t ANGLE_getAngleWithDelay_rad(ANGLE_Handle handle)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  return(obj->angleWithDelay_rad);
} // end of ANGLE_getAngleWithDelay_rad() function


static inline float_t ANGLE_getAngleDelayed_sf_sec(ANGLE_Handle handle)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  return(obj->angleDelayed_sf_sec);
} // end of ANGLE_getAngleDelayed_sf_sec() function


static inline float_t ANGLE_getSpeed_rps(ANGLE_Handle handle)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  return(obj->speed_rps);
} // end of ANGLE_getSpeed_rps() function


static inline float_t ANGLE_getSpeedEst_rps(ANGLE_Handle handle)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  return(obj->speedEst_rps);
} // end of ANGLE_getSpeedEst_rps() function


static inline int_least32_t ANGLE_getTimeStamp(ANGLE_Handle handle)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  return(obj->timeStamp);
} // end of ANGLE_getTimeStamp() function


static inline float_t ANGLE_getTimeStampPeriod_sec(ANGLE_Handle handle)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  return(obj->timeStampPeriod_sec);
} // end of ANGLE_getTimeStampPeriod_sec() function


extern ANGLE_Handle     ANGLE_init(void *pMemory,const size_t numBytes);
extern ANGLE_Handle cla_ANGLE_init(void *pMemory,const size_t numBytes);


extern void     ANGLE_run(ANGLE_Handle handle,const int_least32_t timeStamp);
extern void cla_ANGLE_run(ANGLE_Handle handle,const int_least32_t timeStamp);


static inline void ANGLE_setAccelEst_rps2(ANGLE_Handle handle,const float_t accel_rps2)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  obj->accelEst_rps2 = accel_rps2;

  return;
} // end of ANGLE_setAccelEst_rps() function


static inline void ANGLE_setAngle_rad(ANGLE_Handle handle,const float_t angle_rad)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  obj->angle_rad = angle_rad;

  return;
} // end of ANGLE_setAngle_rad() function


static inline void ANGLE_setAngleEst_rad(ANGLE_Handle handle,const float_t angle_rad)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  obj->angleEst_rad = angle_rad;

  return;
} // end of ANGLE_setAngleEst_rad() function


static inline void ANGLE_setAngleWithDelay_rad(ANGLE_Handle handle,const float_t angle_rad)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  obj->angleWithDelay_rad = angle_rad;

  return;
} // end of ANGLE_setAngleWithDelay_rad() function


static inline void ANGLE_setAngleDelayed_sf_sec(ANGLE_Handle handle,const float_t angleDelayed_sf_sec)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  obj->angleDelayed_sf_sec = angleDelayed_sf_sec;

  return;
} // end of ANGLE_setAngleDelayed_sf_sec() function


extern void     ANGLE_setParams(ANGLE_Handle handle,
                                const float_t timeStampPeriod_sec,
                                const float_t angleDelayed_sf_sec);
extern void cla_ANGLE_setParams(ANGLE_Handle handle,
                                const float_t timeStampPeriod_sec,
                                const float_t angleDelayed_sf_sec);


static inline void ANGLE_setSpeed_rps(ANGLE_Handle handle,const float_t speed_rps)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  obj->speed_rps = speed_rps;

  return;
} // end of ANGLE_setSpeed_rps() function


static inline void ANGLE_setSpeedEst_rps(ANGLE_Handle handle,const float_t speed_rps)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  obj->speedEst_rps = speed_rps;

  return;
} // end of ANGLE_setSpeedEst_rps() function


static inline void ANGLE_setTimeStamp(ANGLE_Handle handle,const int_least32_t timeStamp)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  obj->timeStamp = timeStamp;

  return;
} // end of ANGLE_setTimeStamp() function


static inline void ANGLE_setTimeStampPeriod_sec(ANGLE_Handle handle,const float_t timeStampPeriod_sec)
{
  ANGLE_Obj *obj = (ANGLE_Obj *)handle;

  obj->timeStampPeriod_sec = timeStampPeriod_sec;

  return;
} // end of ANGLE_setTimeStampPeriod_sec() function


extern void     ANGLE_setup(ANGLE_Handle handle,
                            const int_least32_t timeStamp,
                            const float_t angle_rad,
                            const float_t speed_rps,
                            const float_t accel_rps2);
extern void cla_ANGLE_setup(ANGLE_Handle handle,
                            const int_least32_t timeStamp,
                            const float_t angle_rad,
                            const float_t speed_rps,
                            const float_t accel_rps2);


#ifdef __cplusplus
}
#endif // extern "C"


#endif // end of _ANGLE_H_ definition