float/traj.h

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#ifndef _TRAJ_H_
#define _TRAJ_H_



// **************************************************************************
// the includes

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



// Include the algorithm overview defined in modules/<module>/docs/doxygen/doxygen.h

#ifdef __cplusplus
extern "C" {
#endif


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

typedef struct _TRAJ_Obj_
{
  float_t  targetValue;   
  float_t  intValue;      
  float_t  minValue;      
  float_t  maxValue;      
  float_t  maxDelta;      
} TRAJ_Obj;


typedef struct _TRAJ_Obj_ *TRAJ_Handle;


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


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

static inline float_t TRAJ_getIntValue(TRAJ_Handle handle)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  return(obj->intValue);
} // end of TRAJ_getIntValue() function


static inline float_t TRAJ_getMaxDelta(TRAJ_Handle handle)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  return(obj->maxDelta);
} // end of TRAJ_getMaxDelta() function


static inline float_t TRAJ_getMaxValue(TRAJ_Handle handle)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  return(obj->maxValue);
} // end of TRAJ_getMaxValue() function


static inline float_t TRAJ_getMinValue(TRAJ_Handle handle)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  return(obj->minValue);
} // end of TRAJ_getMinValue() function


static inline float_t TRAJ_getTargetValue(TRAJ_Handle handle)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  return(obj->targetValue);
} // end of TRAJ_getTargetValue() function


extern TRAJ_Handle TRAJ_init(void *pMemory,const size_t numBytes);


static inline void TRAJ_setIntValue(TRAJ_Handle handle,const float_t intValue)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  obj->intValue = intValue;

  return;
} // end of TRAJ_setIntValue() function


static inline void TRAJ_setMaxDelta(TRAJ_Handle handle,const float_t maxDelta)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  obj->maxDelta = maxDelta;

  return;
} // end of TRAJ_setMaxDelta() function


static inline void TRAJ_setMaxValue(TRAJ_Handle handle,const float_t maxValue)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  obj->maxValue = maxValue;

  return;
} // end of TRAJ_setMaxValue() function


static inline void TRAJ_setMinValue(TRAJ_Handle handle,const float_t minValue)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  obj->minValue = minValue;

  return;
} // end of TRAJ_setMinValue() function


static inline void TRAJ_setTargetValue(TRAJ_Handle handle,const float_t targetValue)
{
  TRAJ_Obj *obj = (TRAJ_Obj *)handle;

  obj->targetValue = targetValue;

  return;
} // end of TRAJ_setTargetValue() function


static inline void TRAJ_run(TRAJ_Handle handle)
{
  float_t targetValue = TRAJ_getTargetValue(handle);
  float_t intValue = TRAJ_getIntValue(handle);
  float_t error = targetValue - intValue;
  float_t maxDelta = TRAJ_getMaxDelta(handle);
  float_t minValue = TRAJ_getMinValue(handle);
  float_t maxValue = TRAJ_getMaxValue(handle);

  // increment the value
  intValue += MATH_sat(error,maxDelta,-maxDelta);

  // bound the value
  intValue = MATH_sat(intValue,maxValue,minValue);

  // store the value
  TRAJ_setIntValue(handle,intValue);

  return;
} // end of TRAJ_run() function


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

#endif // end of _TRAJ_H_ definition