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Specification of Extended Fixed Point Routines

AUTOSAR CP Release 4.4.0

1 of 112 Document ID 400: AUTOSAR_SWS_EFXLibrary

- AUTOSAR confidential -

Document Change History

Date Release Changed by Change Description

2018-10-31 4.4.0 AUTOSAR

Release

Management

Modified:

 Updated the range and resolution of

requirements

SWS_EFX_00220,SWS_EFX_0022

3,SWS_EFX_00226,SWS_EFX_00

229,SWS_EFX_00232,SWS_EFX_

00235,SWS_EFX_00240,SWS_EF

X_00243,SWS_EFX_00246,SWS_E

FX_00250,SWS_EFX_00253,SWS_

EFX_00256

2017-12-08 4.3.1 AUTOSAR

Release

Management

Added:

 A note has been added in Section

8.1 of EFX specification to provide

clarity in usage of mnemonic for

Boolean data types.

Modified:

 The data type for Boolean has been

updated in the UML of

SWS_Efx_00355.

 Inclusion of Pointer to Constant

(P2CONST) for SWS_Efx_00355,

SWS_Efx_00309, SWS_Efx_00307

& SWS_Efx_00193 and proper

categorization of Parameters as

InOut for SWS_Efx_00376.

Document Title Specification of Extended

Fixed Point Routines

Document Owner AUTOSAR

Document Responsibility AUTOSAR

Document Identification No 400

Document Status Final

Part of AUTOSAR Standard Classic Platform

Part of Standard Release 4.4.0

Specification of Extended Fixed Point Routines

AUTOSAR CP Release 4.4.0

2 of 112 Document ID 400: AUTOSAR_SWS_EFXLibrary

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Document Change History

Date Release Changed by Change Description

2016-11-30 4.3.0 AUTOSAR

Release

Management

Modified:

 Updated the correct reference to

SRS_BSW_General

(SRS_BSW_00437) &

(SRS_BSW_00448) for

SWS_Efx_00810 &

SWS_Efx_00822 requirements.

 Updated EFX document to support

MISRA 2012 standard. (Removed

redundant statements in

SWS_Efx_00809 which already

exist in SWS_BSW document and

SWS_SRS document)

 Updated SWS_Efx_00275 &

SWS_Efx_00276 to provide more

clarity on resolution of parameters.

 Updated SWS_Efx_00278 &

SWS_Efx_00279 to provide more

clarity on rounding and minimum

value of Param_cpcst-

>SlopeXXX_u32 * dT_s32. Provided

the correct IT number.

 Updated the section 8.5.3.1 for

Structure definitions for controller

routines.

Specification of Extended Fixed Point Routines

AUTOSAR CP Release 4.4.0

3 of 112 Document ID 400: AUTOSAR_SWS_EFXLibrary

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Document Change History

Date Release Changed by Change Description

 Updated SWS_Efx_00240,

SWS_Efx_00243, SWS_Efx_00246,

SWS_Efx_00250, SWS_Efx_00253

& SWS_Efx_00256 to correct the

case sensitivity for the function

name.

 Section 2 has been revisited to

update Default Error Tracer instead

of Development Error tracer.

Removed:

 Removal of Efx_ISetParam from

BSW uml model which is obsolete.

 Removed the duplicated trace

environments for SWS_Efx_00520

& SWS_Efx_00525.

 Removed the requirements that are

marked as Deprecated. (8.5.1.2

Second computation,

SWS_Efx_00009 -

SWS_Efx_00011, SWS_Efx_00041

- SWS_Efx_00043,

SWS_Efx_00295 -

SWS_Efx_00302, SWS_Efx_00347

- SWS_Efx_00354,

SWS_Efx_00345, SWS_Efx_00460,

SWS_Efx_00461 & 8.5.14

Efx_DeadTime)

2015-07-31 4.2.2 AUTOSAR

Release

Management

Modified:

 Updated the requirement ID for

SWS_Efx_00033 as per the

convention

 Updated requirement ID

SWS_Efx_00436 (UML) for

OutTypeMn as per the standard

convention

 Updated SWS_Efx_00001 for

naming convention under Section

5.1, File Structure

 Updated SWS_Efx_00365 to correct

the data type of input parameters

Specification of Extended Fixed Point Routines

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Document Change History

Date Release Changed by Change Description

2014-10-31 4.2.1 AUTOSAR

Release

Management

Added:

 New Variants for SWS_Efx_00412

(0xE2 - 0xE9)

 Note has been added for

SWS_Efx_00053, SWS_Efx_00072

& Section 8.5.3.1.

 A statement has been added to

clarify the formula used for

Hypotenuse function just below the

section 8.5.9

 A statement has been added to

provide more clarity on the formula

mentioned in SWS_Efx_00451

Modified:

 Updated usage of const in a

consistent manner in EFX

document. (SWS_Efx_00050,

SWS_Efx_00067, SWS_Efx_00085,

SWS_Efx_00519, SWS_Efx_00107,

SWS_Efx_00122, SWS_Efx_00146,

SWS_Efx_00172, SWS_Efx_00205,

SWS_Efx_00379 &

SWS_Efx_00404)

 Formula for TeQ_<size> has been

corrected in section 8.5.3.1 and font

has been updated for

SWS_Efx_00071

 Condition check included for

SWS_Efx_00053, SWS_Efx_00072

& Section 8.5.3.1 and corrected for

SWS_Efx_00054, SWS_Efx_00073

& SWS_Efx_00504. Formula

updated for SWS_Efx_00073

 Updated rounding for

SWS_Efx_00071, SWS_Efx_00091,

SWS_Efx_00502, SWS_Efx_00151

& SWS_Efx_00156.

Specification of Extended Fixed Point Routines

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Document Change History

Date Release Changed by Change Description

 Service ID[hex] for

SWS_Efx_00405, SWS_Efx_00410

& SWS_Efx_00412

 Input & Output range has been

modified for SWS_Efx_00187

 Statement on rounding was updated

for SWS_Efx_00441

 Comment for structure element “n”

has been updated for

SWS_Efx_00204 &

 SWS_Efx_00836. Data type of “n”

has been modified for

SWS_Efx_00204.

2014-03-31 4.1.3 AUTOSAR

Release

Management

 Modified: Rounding mechanism was

updated for HpFilter, Average,

Array_Average & MovingAverage

functions.

 Added: A note below

SWS_Efx_00307 for

Efx_RampGetSwitchPos function.

2013-10-31 4.1.2 AUTOSAR

Release

Management

 Deprecated: Efx_DeadTime function

 Removed: Requirements for

Efx_SlewRate, Efx_RampCalc and

Efx_RampCalcJump functions

 Added: SWS_Efx_00837 for

Efx_RampCalc function

 Modified:

 Descriptions of Efx_RampCalc and

Efx_RampSetParam

 Requirements for Efx_RampCalc

and Efx_RampCalcJump functions.

 Syntax for variants of

Efx_SlewRate, Efx_Div and

Efx_MovingAverage functions.

 Resolution of the in-parameter for

Efx_Arcsin and Efx_Arccos

functions.

 Name "underflow" to "negative

overflow" throughout the document

 Editorial changes

Specification of Extended Fixed Point Routines

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Document Change History

Date Release Changed by Change Description

2013-03-15 4.1.1 AUTOSAR

Administration

 Added 8-bit and 16-bit variants for

Hysteresis functions

 Formulae modified for Hypotenuse

functions

 Second computation First-order lowpass

filter functions are deprecated

 Inequalities are corrected for

Efx_HystLeftRight,

Efx_HystDeltaRight,

Efx_HystCenterHalfDelta functions

 Description and requirements are

modified for Efx_Div,

Efx_Debounce, Efx_HystLeftDelta,

Efx_SortAscend, Efx_SortDescend,

Efx_EdgeBipol, Efx_Hysteresis,

Efx_MovingAverage functions

 Description of the in-parameter

corrected for

Efx_DebounceSetParam,

Efx_Debounce functions

 Physical range of ‘fac’ parameter is

modified in LpFilter First

computation

 Renamed RS_FlipFlop function for

removing the post-fixes

 Added SWS_Efx_00823 for Integral

promotion

 Modified syntax for Efx_Gt,

Efx_Debounce functions

 Corrected for

‘DependencyOnArtifact’

Specification of Extended Fixed Point Routines

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Document Change History

Date Release Changed by Change Description

2011-12-22 4.0.3 AUTOSAR

Administration

 Initialization functionality introduced

for 'Counter Routines'

 Interface for Efx_CtrlSetLimit

corrected

 Efx_MovingAverage

routine interface corrected

 Efx_RampCalcSwitch routine

definition and requirements updated

for correct behavior

 Interface for Efx_Debounce_u8_u8

routine updated

 Updated parameter sequences for

DT1 and PI controller routines.

 Name revised for Efx_PCalc routine

 Description correct for

Efx_DebounceParam_Type and

Efx_DebounceState_Type

 Interface table corrected for

Efx_Div routine

 Interface table corrected for

Efx_MedianSort routine

 Error classification support and

definition removed as DET call not

supported by library

 Configuration parameter description

/ support removed for

XXX_GetVersionInfo routine.

 XXX_GetVersionInfo routine name

corrected.

2010-09-30 3.1.5 AUTOSAR

Administration

 Introduction of additional LIMITED

Functions for controllers

 Ramp functions optimised for

effective usage

 Separation of DT1 Type 1 and Type

2 Controller functions

 Introduction of additional

approximative function for

calculation of TeQ

Specification of Extended Fixed Point Routines

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Document Change History

Date Release Changed by Change Description

2010-02-02 3.1.4 AUTOSAR

Administration

 Initial Release

Specification of Extended Fixed Point Routines

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Disclaimer

This work (specification and/or software implementation) and the material contained

in it, as released by AUTOSAR, is for the purpose of information only. AUTOSAR

and the companies that have contributed to it shall not be liable for any use of the

work.

The material contained in this work is protected by copyright and other types of

intellectual property rights. The commercial exploitation of the material contained in

this work requires a license to such intellectual property rights.

This work may be utilized or reproduced without any modification, in any form or by

any means, for informational purposes only. For any other purpose, no part of the

work may be utilized or reproduced, in any form or by any means, without permission

in writing from the publisher.

The work has been developed for automotive applications only. It has neither been

developed, nor tested for non-automotive applications.

The word AUTOSAR and the AUTOSAR logo are registered trademarks.

Specification of Extended Fixed Point Routines

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Table of Contents

1 Introduction and functional overview ................................................................. 12

2 Acronyms and abbreviations ............................................................................. 14

3 Related documentation...................................................................................... 15

3.1 Input documents......................................................................................... 15

3.2 Related standards and norms .................................................................... 15

4 Constraints and assumptions ............................................................................ 16

4.1 Limitations .................................................................................................. 16

4.2 Applicability to car domains........................................................................ 16

5 Dependencies to other modules........................................................................ 17

5.1 File structure .............................................................................................. 17

6 Requirements traceability .................................................................................. 18

7 Functional specification ..................................................................................... 19

7.1 Error classification...................................................................................... 19

7.2 Error Detection ........................................................................................... 19

7.3 Error notification ......................................................................................... 19

7.4 Initialization and shutdown ......................................................................... 19

7.5 Using Library API ....................................................................................... 19

7.6 library implementation ................................................................................ 20

8 API specification................................................................................................ 21

8.1 Imported types............................................................................................ 21

8.2 Type definitions .......................................................................................... 21

8.3 Comment about rounding........................................................................... 21

8.4 Comment about routines optimized for target ............................................ 22

8.5 Mathematical functions definitions.............................................................. 22

8.5.1 First-order low-pass filter ........................................................................ 22

8.5.2 First-order High-pass filter ...................................................................... 25

8.5.3 Controller routines .................................................................................. 29

8.5.4 Square root............................................................................................. 64

8.5.5 Exponential............................................................................................. 66

8.5.6 Average .................................................................................................. 67

8.5.7 Array Average......................................................................................... 67

8.5.8 Moving Average...................................................................................... 68

8.5.9 Hypotenuse ............................................................................................ 69

8.5.10 Trigonometric functions .......................................................................... 72

8.5.11 Rate limiter ............................................................................................. 77

8.5.12 Ramp routines ........................................................................................ 79

8.5.13 Hysteresis routines ................................................................................. 86

8.5.14 Debounce routines.................................................................................. 91

8.5.15 Ascending Sort Routine .......................................................................... 94

8.5.16 Descending Sort Routine........................................................................ 94

8.5.17 Median sort routine................................................................................. 95

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8.5.18 Edge detection routines .......................................................................... 96

8.5.19 Interval routines ...................................................................................... 98

8.5.20 Counter routines ................................................................................... 101

8.5.21 Flip-Flop routine.................................................................................... 102

8.5.22 Limiter routines ..................................................................................... 103

8.5.23 64 bits functions.................................................................................... 104

8.6 Examples of use of functions ................................................................... 108

8.7 Version API .............................................................................................. 108

8.7.1 Efx_GetVersionInfo............................................................................... 108

8.8 Call-back notifications .............................................................................. 108

8.9 Scheduled functions................................................................................. 108

8.10 Expected Interfaces.................................................................................. 108

8.10.1 Mandatory Interfaces ............................................................................ 108

8.10.2 Optional Interfaces................................................................................ 109

8.10.3 Configurable interfaces......................................................................... 109

9 Sequence diagrams ........................................................................................ 110

10 Configuration specification........................................................................... 111

10.1 Published Information............................................................................... 111

10.2 Configuration option ................................................................................. 111

11 Not applicable requirements ........................................................................ 112

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1 Introduction and functional overview

AUTOSAR Library routines are the part of system services in AUTOSAR architecture

and below figure shows position of AUTOSAR library in layered architecture.

Figure : Layered architecture

This specification specifies the functionality, API and the configuration of the

AUTOSAR library dedicated to extended mathematical functions for fixed-point

values.

This extended mathematical library (Efx) contains the following routines:

 Moving average

 First order high pass filter

 First order low-pass filter

 Controller routines

 Square root

 Exponential

 Average

 Array Average

 Moving Average

 Hypotenuse

 Trigonometric functions

 Rate limiter functions

 Ramp routines

 Hysteresis function

 Dead Time

 Debounce

 Ascending Sort Routine

 Descending Sort Routine

 Median Sort

 Edge detection routines

 Interval routines

 Counter routines

Basic Software

Runtime Environment (RTE)

Application Layer

ECU Hardware

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 Flip-Flop routine

 Limiter routines

 64 bit functions

All routines are re-entrant and can be used by multiple runnables at the same time.

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2 Acronyms and abbreviations

Acronyms and abbreviations, which have a local scope and therefore are not

contained in the AUTOSAR glossary, must appear in a local glossary.

Abbreviation /

Acronym:

Description:

Arcsin Inverse Sine

Arccos Inverse Cosine

BSW Basic Software

Cos Cosine

DET Default Error Tracer

EFX Extended Mathematical library – Fixed point

Hypot Hypotenuse

HpFilter High pass filter

LpFilterFac1 Low pass filter with a factor of 1 (included in [0, 1])

LpFilter Low pass filter

Mn Mnemonic

Lib Library

Sqrt Square root

Sin Sine

SWS Software Specification

SRS Software Requirement Specification

u8 Mnemonic for the uint8, specified in AUTOSAR_SWS_PlatformTypes

u16 Mnemonic for the uint16, specified in AUTOSAR_SWS_PlatformTypes

u32 Mnemonic for the uint32, specified in AUTOSAR_SWS_PlatformTypes

s8 Mnemonic for the sint8, specified in AUTOSAR_SWS_PlatformTypes

s16 Mnemonic for the sint16, specified in AUTOSAR_SWS_PlatformTypes

s32 Mnemonic for the sint32, specified in AUTOSAR_SWS_PlatformTypes

s64 Mnemonic for the sint64, specified in AUTOSAR_SWS_PlatformTypes

u64 Mnemonic for the uint64, specified in AUTOSAR_SWS_PlatformTypes

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3 Related documentation

3.1 Input documents

[1] List of Basic Software Modules,

AUTOSAR_TR_BSWModuleList.pdf

[2] Layered Software Architecture,

AUTOSAR_EXP_LayeredSoftwareArchitecture.pdf

[3] General Requirements on Basic Software Modules,

AUTOSAR_SRS_BSWGeneral.pdf

[4] Specification of ECU Configuration,

AUTOSAR_TPS_ECUConfiguration.pdf

[5] Basic Software Module Description Template,

AUTOSAR_TPS_BSWModuleDescriptionTemplate.pdf

[6] Specification of Platform Types,

AUTOSAR_SWS_PlatformTypes.pdf

[7] Specification of Standard Types,

AUTOSAR_SWS_StandardTypes.pdf

[8] Requirement on Libraries,

AUTOSAR_SRS_Libraries.pdf

[9] Specification of Memory Mapping,

AUTOSAR_SWS_MemoryMapping.pdf

3.2 Related standards and norms

[10] ISO/IEC 9899:1990 Programming Language – C

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4 Constraints and assumptions

4.1 Limitations

No limitations.

4.2 Applicability to car domains

No restrictions.

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5 Dependencies to other modules

5.1 File structure

Implementation & grouping of routines with respect to C files is recommended as per

below options and there is no restriction to follow the same.

Option 1 : <Name> can be function name providing one C file per function,

eg.: Efx_Pt1_s32.c etc.

Option 2 : <Name> can have common name of group of functions:

2.1 Group by object family:

eg.:Efx_Pt1.c, Efx_Dt1.c, Efx_Pid.c

2.2 Group by routine family:

eg.: Efx_Filter.c, Efx_Controller.c, Efx_Average.c etc.

2.3 Group by method family:

eg.: Efx_Sin.c, Efx_Exp.c, Efx_Arcsin.c, etc.

2.4 Group by architecture:

eg.: Efx_Slewrate16.c, Efx_Slewrate32.c

2.5 Group by other methods: (individual grouping allowed)

Option 3 : <Name> can be removed so that single C file shall contain all Efx

functions, eg.: Efx.c.

Using above options gives certain flexibility of choosing suitable granularity with

reduced number of C files. Linking only on-demand is also possible in case of some

options.

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6 Requirements traceability

Requirement Description Satisfied by

SRS_BSW_00003 All software modules shall provide version and

identification information

SWS_Efx_00815

SRS_BSW_00007 All Basic SW Modules written in C language shall

conform to the MISRA C 2012 Standard.

SWS_Efx_00809

SRS_BSW_00304 All AUTOSAR Basic Software Modules shall use the

following data types instead of native C data types

SWS_Efx_00812

SRS_BSW_00306 AUTOSAR Basic Software Modules shall be compiler

and platform independent

SWS_Efx_00813

SRS_BSW_00318 Each AUTOSAR Basic Software Module file shall

provide version numbers in the header file

SWS_Efx_00815

SRS_BSW_00321 The version numbers of AUTOSAR Basic Software

Modules shall be enumerated according specific rules

SWS_Efx_00815

SRS_BSW_00374 All Basic Software Modules shall provide a readable

module vendor identification

SWS_Efx_00814

SRS_BSW_00378 AUTOSAR shall provide a boolean type SWS_Efx_00812

SRS_BSW_00379 All software modules shall provide a module identifier in

the header file and in the module XML description file.

SWS_Efx_00814

SRS_BSW_00402 Each module shall provide version information SWS_Efx_00814

SRS_BSW_00407 Each BSW module shall provide a function to read out

the version information of a dedicated module

implementation

SWS_Efx_00815,

SWS_Efx_00816

SRS_BSW_00411 All AUTOSAR Basic Software Modules shall apply a

naming rule for enabling/disabling the existence of the

API

SWS_Efx_00816

SRS_BSW_00437 Memory mapping shall provide the possibility to define

RAM segments which are not to be initialized during

startup

SWS_Efx_00810

SRS_BSW_00448 Module SWS shall not contain requirements from Other

Modules

SWS_Efx_00822

SRS_LIBS_00001 The functional behavior of each library functions shall

not be configurable

SWS_Efx_00818

SRS_LIBS_00002 A library shall be operational before all BSW modules

and application SW-Cs

SWS_Efx_00800

SRS_LIBS_00003 A library shall be operational until the shutdown SWS_Efx_00801

SRS_LIBS_00013 The error cases, resulting in the check at runtime of the

value of input parameters, shall be listed in SWS

SWS_Efx_00817,

SWS_Efx_00819

SRS_LIBS_00015 It shall be possible to configure the microcontroller so

that the library code is shared between all callers

SWS_Efx_00806

SRS_LIBS_00017 Usage of macros should be avoided SWS_Efx_00807

SRS_LIBS_00018 A library function may only call library functions SWS_Efx_00808

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7 Functional specification

7.1 Error classification

[SWS_Efx_00821] ⌈No error classification definition as DET call not supported by

library

⌋ ()

7.2 Error Detection

[SWS_Efx_00819] ⌈Error detection: Function should check at runtime (both in

production and development code) the value of input parameters, especially cases

where erroneous value can bring to fatal error or unpredictable result, if they have the

values allowed by the function specification. All the error cases shall be listed in SWS

and the function should return a specified value (in SWS) that is not configurable.

This value is dependant of the function and the error case so it is determined case by

case.

If values passed to the routines are not valid and out of the function specification,

then such error are not detected.

E.g. If passed value > 32 for a bit-position or a negative number of samples of an

axis distribution is passed to a routine. ⌋ (SRS_LIBS_00013)

7.3 Error notification

[SWS_Efx_00817] ⌈The functions shall not call the DET for error notification. ⌋

(SRS_LIBS_00013)

7.4 Initialization and shutdown

[SWS_Efx_00800] ⌈Efx library shall not require initialization phase. A Library

function may be called at the very first step of ECU initialization, e.g. even by the OS

or EcuM, thus the library shall be ready. ⌋ (SRS_LIBS_00002)

[SWS_Efx_00801] ⌈Efx library shall not require a shutdown operation phase. ⌋

(SRS_LIBS_00003)

7.5 Using Library API

Efx API can be directly called from BSW modules or SWC. No port definition is

required. It is a pure function call.

The statement ‘Efx.h’ shall be placed by the developer or an application code

generator but not by the RTE generator

Using a library should be documented. if a BSW module or a SWC uses a Library,

the developer should add an Implementation-DependencyOnArtifact in the

BSW/SWC template.

minVersion and maxVersion parameters correspond to the supplier version. In case

of AUTOSAR library, these parameters may be left empty because a SWC or BSW

module may rely on a library behaviour, not on a supplier implementation. However,

the SWC or BSW modules shall be compatible with the AUTOSAR platform where

they are integrated.

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7.6 library implementation

[SWS_Efx_00806] ⌈The Efx library shall be implemented in a way that the code can

be shared among callers in different memory partitions. ⌋ (SRS_LIBS_00015)

[SWS_Efx_00807] ⌈Usage of macros should be avoided. The function should be

declared as function or inline function. Macro #define should not be used. ⌋

(SRS_LIBS_00017)

[SWS_Efx_00808] ⌈A library function shall not call any BSW modules functions, e.g.

the DET. A library function can call other library functions. Because a library function

shall be re-entrant. But other BSW modules functions may not be re-entrant. ⌋

(SRS_LIBS_00018)

[SWS_Efx_00809] ⌈The library, written in C programming language, should conform

to the MISRA C Standard.

Please refer to SWS_BSW_00115 for more details.

⌋ (SRS_BSW_00007)

[SWS_Efx_00810] ⌈Each AUTOSAR library Module implementation <library>*.c and

<library>*.h shall map their code to memory sections using the AUTOSAR memory

mapping mechanism. ⌋ (SRS_BSW_00437)

[SWS_Efx_00812] ⌈All AUTOSAR library Modules should use the AUTOSAR data

types (integers, boolean) instead of native C data types, unless this library is clearly

identified to be compliant only with a platform. ⌋ (SRS_BSW_00304, SRS_BSW_00378)

[SWS_Efx_00813] ⌈All AUTOSAR library Modules should avoid direct use of

compiler and platform specific keyword, unless this library is clearly identified to be

compliant only with a platform. eg. #pragma, typeof etc. ⌋ (SRS_BSW_00306)

[SWS_Efx_00823] ⌈Integral promotion has to be adhered to when implementing Efx

services. Thus, to obtain maximal precision, intermediate results shall not be limited.

⌋()

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8 API specification

8.1 Imported types

In this chapter, all types included from the following modules are listed:

Header file Imported Type

Std_Types.h boolean, sint8, uint8, sint16, uint16, sint32, uint32

It is observed that since the sizes of the integer types provided by the C language are

implementation-defined, the range of values that may be represented within each of

the integer types will vary between implementations.

The following mnemonic are used in the library routine names.

Size Platform Type Mnemonic Range

unsigned 8-Bit boolean u8 [ TRUE, FALSE ]

signed 8-Bit sint8 s8 [ -128, 127 ]

signed 16-Bit sint16 s16 [ -32768, 32767 ]

signed 32-Bit sint32 s32 [ -2147483648, 2147483647 ]

signed 64-Bit sint64 s64 [-9223372036854775808,

9223372036854775807]

unsigned 8-Bit uint8 u8 [ 0, 255 ]

unsigned 16-Bit uint16 u16 [ 0, 65535 ]

unsigned 32-Bit uint32 u32 [ 0, 4294967295 ]

unsigned 64-Bit uint64 u64 [0, 18446744073709551615]

Table 1: Base Types

As a convention in the rest of the document:

 mnemonics will be used in the name of the routines (using <InTypeMn1> that

means Type Mnemonic for Input 1)

 the real type will be used in the description of the prototypes of the routines

(using <InTypeMn1> or <OutType>).

Note:

The naming convention for the api's with boolean return type/parameter type is given

as _u8 which shall be interpreted as _b. (Boolean)

If there is no boolean data type present in the return type/parameter type then _u8

shall be interpreted as _u8 only.

8.2 Type definitions

None

8.3 Comment about rounding

Two types of rounding can be applied:

Results are ‘rounded off’, it means:

 0 <= X < 0.5 rounded to 0

 0.5 <= X < 1 rounded to 1

 -0.5 < X <= 0 rounded to 0

 -1 < X <= -0.5 rounded to -1

Results are rounded towards zero.

 0 <= X < 1 rounded to 0

 -1 < X <= 0 rounded to 0

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8.4 Comment about routines optimized for target

The routines described in this library may be realized as regular routines or inline

functions. For ROM optimization purposes, it is recommended that the c routines be

realized as individual source files so they may be linked in on an as-needed basis.

For example, depending on the target, two types of optimization can be done:

 Some routines can be replaced by another routine using integer promotion

 Some routines can be replaced by the combination of a limiting routine and a

routine with a different signature.

8.5 Mathematical functions definitions

This table describes the meaning of used symbols in below sections.

Symbols Description

Yn Actual output to calculate

Yn-1 Output value, one time step before

Xn Actual input, given from the input

Xn-1 Input, one time step before

a, b0, b1 Filter dependent constants

8.5.1 First-order low-pass filter

We consider a recursive first-order low-pass filter with a transfer function :

The new return value (Yn) at any point of time can be calculated given the previous

value (Yn-1), the current value (Xn) and a known constant (K). The formula to

calculate the same is as follows:

Yn = Yn-1 + (Xn - Yn-1) * K

Where b1=K and a = K - 1

The filter is a convergent low-pass filter only if the average value K is included in [0,1]

8.5.1.1 First computation

[SWS_Efx_00005] ⌈

Service name: Efx_LpFilterFac1_<InTypeMn><InTypeMn><InTypeMn>_<OutTypeMn>

Syntax: <OutType>

Efx_LpFilterFac1_<InTypeMn><InTypeMn><InTypeMn>_<OutTypeMn>(

<InType> Yn-1,

<InType> Xn,

<InType> fac

)

Service ID[hex]: 0x01 to 0x08

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

Yn-1 Old output value

Xn Current measured value

fac Factor value that represents the physical range [-1, 1) if signed and [0,

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1) if unsigned.

Only physical value [0 , 1] shall be used if the filter shall converge.

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Result (Yn) of the calculation

Description: This service computes the output of a first order low-pass filter

Available via: Efx.h

⌋ ()

[SWS_Efx_00006]⌈

Yn = Yn-1 + (((Xn - Yn-1) * fac) >> n)

Where 'n' is a shift that depends on the types used by the functions for the factor

⌋()

[SWS_Efx_00007]⌈

In order to converge all the time, the result is corrected for value saturation using the

following logic:

If (Yn == Yn-1)

If (((Xn - Yn-1) * fac) > 0)

Yn ++

Else If (((Xn - Yn-1) * fac) < 0)

Yn --

End If

Endif

⌋()

[SWS_Efx_00008] ⌈

Here is the list of implemented functions.

Service

ID[hex]

Syntax Associated

shift

0x01 sint16 Efx_LpFilterFac1_s16s16s16_s16 ( sint16, sint16, sint16) 15

0x02 sint16 Efx_LpFilterFac1_s16s16u16_s16 ( sint16, sint16, uint16) 16

0x03 sint32 Efx_LpFilterFac1_s32s32u16_s32 ( sint32, sint32, uint16) 16

0x04 uint16 Efx_LpFilterFac1_u16u16s16_u16 ( uint16, uint16, sint16 ) 15

0x05 uint16 Efx_LpFilterFac1_u16u16u16_u16 ( uint16, uint16, uint16) 16

0x06 uint8 Efx_LpFilterFac1_u8u8u8_u8 ( uint8, uint8, uint8) 8

0x07 uint32 Efx_LpFilterFac1_u32u32u32_u32 ( uint32, uint32, uint32) 32

0x08 uint32 Efx_LpFilterFac1_u32u32u16_u32 ( uint32, uint32, uint16) 16

⌋ ( )

8.5.1.2 Third computation

[SWS_Efx_00012] ⌈

Service name: Efx_LpFilter_<InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_LpFilter_<InTypeMn>_<OutTypeMn>(

<InType> input,

<InType> old_output,

uint32 tau_const,

uint16 recurrence,

uint8 reset,

<InType> init_val,

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uint8* started

)

Service ID[hex]: 0x0D and 0x0E

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

input Input signal

old_output Previous value of the output value (filtered signal)

tau_const Parameter Tau of the filter : the time constant (second)

recurrence Delta time between two executions of the function

reset Flag to reset the filtered signal

init_val Initial value of the filter

Parameters

(inout):

started Pointer to the flag to detect the first call of the function

Parameters (out): None

Return value: <OutType> Return value of the filter

Description: This service computes the first one order discrete filter

Available via: Efx.h

⌋ ()

[SWS_Efx_00013]⌈

If (tau_const==0), then output = input

⌋()

[SWS_Efx_00014]⌈

If (*started==0), then output = init_val

This flag is used to indicate the filter state. *Started = 0, indicates that current

function call is the first call of the function to trigger initialisation.

⌋()

[SWS_Efx_00015]⌈

This service computes the first one order discrete filter:

Remark : the exponential functions can be computed with interpolations

[SWS_Efx_00016]⌈

if ((reset == 1) or (*started == 0)), then output = init_val

⌋()

[SWS_Efx_00017]⌈

if (*started == 0), then *started=1

⌋()

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[SWS_Efx_00018] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x0D uint32 Efx_LpFilter_u32_u32 (uint32, uint32, uint32, uint16, uint8, uint32, uint8* )

0x0E sint32 Efx_LpFilter_s32_s32 (sint32, sint32, uint32, uint16, uint8, sint32, uint8 * )

⌋ ( )

[SWS_Efx_00020] ⌈input, old_output, and init_val must have the same resolution

and the same physical unit. ⌋ ( )

[SWS_Efx_00021] ⌈tau_const and recurrence must have the same resolution and

the same physical unit⌋ ( )

It is not recommended to call Efx_LpFilter_<InTypeMn>_<OutTypeMn> under any

condition. It must be called at each recurrence, even if it is not used, If the conditions

are not fulfilled then output shall be frozen to the previous value all the time.

The parameter started has to be declared as private variable by the caller and shall

be initialized to 0 (default init), because the function uses the previous values of this

output (so the stack mustn’t be used).

8.5.2 First-order High-pass filter

We consider a recursive first-order high-pass filter with a transfer function :

The new return value (Yn) at any point of time can be calculated given the previous

value (Yn-1), the current input (Xn), the previous input (Xn-1) and a known constant

(K). The formula to calculate the same is as follows:

Yn = Yn-1 – K * Yn-1 + ( Xn - Xn-1)

Where b0 = 1, b1 = -1 and a=K -1

The filter is a convergent high-pass filter only if the factor value m is included in [0,1]

[SWS_Efx_00022] ⌈

Service name: Efx_HpFilter_u8_s16

Syntax: sint16 Efx_HpFilter_u8_s16(

sint16 Yn-1,

uint8 Xn,

uint8 Xn-1,

uint16 K

)

Service ID[hex]: 0x10

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

Yn-1 Previous sint16 output

Physical range: [-256 , 255.9921875]

Resolution: 1/27

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Xn Present uint8 input

Physical range: [0,255]

Resolution: 1

Xn-1 Previous uint8 input

Physical range: [0,255]

Resolution: 1

K Constant uint16 multiplying factor

Physical range: [0,0.99998]

Resolution: 1/216

Parameters

(inout):

None

Parameters (out): None

Return value:

sint16 Yn : Result of the calculation

Physical range: [-256 , 255.9921875]

Resolution: 1/27

Description: This service computes the output of a first order high-Pass filter

Available via: Efx.h

⌋ ()

[SWS_Efx_00023]⌈:

Yn = Yn-1 - (K * Yn-1 / 216) + (Xn - Xn-1)*27

The result is rounded towards zero.

⌋()

[SWS_Efx_00024]⌈

Return value shall be saturated to boundary values in the event of negative or

positive overflow.

⌋()

[SWS_Efx_00025]⌈

A saturation correction for converging output to zero is applied to the result :

If ((Yn equals Yn-1) and (Yn-1 > 0))

decrement Yn by one

If ((Yn equals Yn-1) and (Yn-1 < 0))

increment Yn by one

⌋()

[SWS_Efx_00026] ⌈

Service name: Efx_HpFilter_s8_s16

Syntax: sint16 Efx_HpFilter_s8_s16(

sint16 Yn-1,

sint8 Xn,

sint8 Xn-1,

uint16 K

)

Service ID[hex]: 0x11

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

Yn-1 Previous sint16 output

Physical range: [-256 , 255.9921875]

Resolution: 1/27

Xn Present sint8 input

Physical range: [-128 , 127]

Resolution: 1

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Xn-1 Previous sint8 input

Physical range: [-128 , 127]

Resolution: 1

K Constant uint16 multiplying factor

Physical range: [0,0.99998]

Resolution: 1/216

Parameters

(inout):

None

Parameters (out): None

Return value:

sint16 Yn : Result of the calculation

Physical range: [-256 , 255.9921875]

Resolution: 1/27

Description: This service computes the output of a first order high-Pass filter

Available via: Efx.h

⌋ ()

[SWS_Efx_00027]⌈

Yn = Yn-1 - (K* Yn-1 /216) + (Xn - Xn-1)*27

The result is rounded towards zero.

⌋()

[SWS_Efx_00028]⌈

Return value shall be saturated to boundary values in the event of negative or

positive overflow.

⌋()

[SWS_Efx_00029]⌈

A saturation correction for converging output to zero is applied to the result :

If ((Yn equals Yn-1) and (Yn-1 > 0))

decrement Yn by one

If ((Yn equals Yn-1) and (Yn-1 < 0))

increment Yn by one

⌋()

[SWS_Efx_00030] ⌈

Service name: Efx_HpFilter_u16_s32

Syntax: sint32 Efx_HpFilter_u16_s32(

sint32 Yn-1,

uint16 Xn,

uint16 Xn-1,

uint16 K

)

Service ID[hex]: 0x12

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

Yn-1 Previous sint32 output

Physical range: [-65536 , 65535.99996]

Resolution: 1/215

Xn Present uint16 input

Physical range: [0,65535]

Resolution: 1

Xn-1 Previous uint16 input

Physical range: [0,65535]

Resolution: 1

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K Constant uint16 multiplying factor

Physical range: [0,0.99998]

Resolution: 1/216

Parameters

(inout):

None

Parameters (out): None

Return value:

sint32 Yn : Result of the calculation

Physical range: [-65536 , 65535.99996]

Resolution: 1/215

Description: This service computes the output of a first order high-Pass filter

Available via: Efx.h

⌋ ()

[SWS_Efx_00031]⌈

Yn = Yn-1 - (K* Yn-1 /216) + (Xn - Xn-1)*215

The result is rounded towards zero.

⌋()

[SWS_Efx_00032]⌈

Return value shall be saturated to boundary values in the event of negative or

positive overflow.

⌋()

[SWS_Efx_00033]⌈

A saturation correction for converging output to zero is applied to the result :

If ((Yn equals Yn-1) and (Yn-1 > 0))

decrement Yn by one

If ((Yn equals Yn-1) and (Yn-1 < 0))

increment Yn by one

⌋()

[SWS_Efx_00035] ⌈

Service name: Efx_HpFilter_s16_s32

Syntax: sint32 Efx_HpFilter_s16_s32(

sint32 Yn-1,

sint16 Xn,

sint16 Xn-1,

uint16 K

)

Service ID[hex]: 0x13

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

Yn-1 Previous sint32 output

Physical range: [-65536 , 65535.99996]

Resolution: 1/215

Xn Present sint16 input

Physical range: [-32768,32767]

Resolution: 1

Xn-1 Previous sint16 input

Physical range: [-32768,32767]

Resolution: 1

K Constant uint16 multiplying factor

Physical range: [0,0.99998]

Resolution: 1/216

Parameters None

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(inout):

Parameters (out): None

Return value:

sint32 Yn : Result of the calculation

Physical range: [-65536 , 65535.99996]

Resolution: 1/231

Description: This service computes the output of a first order high-Pass filter

Available via: Efx.h

⌋ ()

[SWS_Efx_00036]⌈

Yn = Yn-1- (K* Yn-1/216) + (Xn- Xn-1)*215

The result is rounded towards zero.

⌋()

[SWS_Efx_00037]⌈

Return value shall be saturated to boundary values in the event of negative or

positive overflow.

⌋()

[SWS_Efx_00038]⌈

A saturation correction for converging output to zero is applied to the result :

If ((Yn equals Yn-1) and (Yn-1> 0))

decrement Ynby one

If ((Yn equals Yn-1) and (Yn-1< 0))

increment Yn by one

⌋()

8.5.3 Controller routines

Controller routines includes P, PT1, DT1, PD, I, PI, PID governors used in control

system applications. For these controllers, the required parameters are derived using

Laplace-Z transformation. The following parameters are required to calculate the new

controller output yn and can be represented in the following equation.

Yn = a1 * Yn-1 + b0 * Xn + b1 * Xn-1 + b2 * Xn-2 + ……. + bn-1 * X1 + bn * X0

In the equation, the following symbols are used

Symbols Description

Yn Actual output to calculate

Yn-1 Output value, one time step before

Xn Actual input, given from the input

Xn-1 Input, one time step before

Xn-2 Input, two time steps before

X1 Input, n-1 time steps before

X0 Input, n time steps before

a1, b0, b1, b2, bn-1,

bn

Controller dependent proportional parameters are used to describe the weight of

the states.

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8.5.3.1 Structure definitions for controller routines

System parameters are separated from time or time equivalent parameters. The

system parameters are grouped in controller dependent structures

Efx_Param<controller>_Type, whereas the time (equivalent) parameters are

assigned directly. Systems states are grouped in a structure

Efx_State<controller>_Type except the actual input value Xn which is assigned

directly.

The System parameters, used in the equations are given by:

K : Amplification factor, The amplification factor K shall have a resolution

of 1/2^16.

T1 : Decay time constant. T1 is expressed in us (micro seconds) and shall

have a resolution of 1/10^6.

Tv : Lead time. Physical unit [sec] describes the Lead time.

Tv is expressed in us (micro seconds) and shall have a resolution of

1/(2^8 * 10^6)

Tv range = [0.003906 us, 8388607 us] dT, with respect to [Tv_min,

Tv_max]

Tn : Follow-up time. Physical unit [sec] describes the Follow-up time.

Tn is expressed in us and have a resolution of 1/10^6.

Tn is given by a reciprocal value (Tnrec) to avoid a division in the

implementation.

Tnrec is scaled by the factor 2^32.

Tnrec is given by the equation: 2^32 / (10^6 * Tn).

The time and time equivalent parameters in the equation / implementation are given

by:

dT : Time step = sampling interval. dT is expressed in us (micro seconds)

and shall have a resolution of 1/10^6.

Analogous to the abbreviations above, the following abbreviations are used in the

implementation:

K_<size>, K_C : Amplification factor

T1rec_<size> : Reciprocal delay time constant = 1/ T1.

The result shall be Rounded towards Zero.

Tv _<size>, Tv_C : Lead time

Tnrec _<size>, Tnrec_C : Reciprocal follow-up time = 1/ Tn.

The result shall be Rounded towards Zero.

dT_<size> : Time step = sampling interval [10-6

seconds per

increment of 1 data representation unit]

TeQ_<size> : Time equivalent, TeQ = exp (- dT/ T1).

Herein “<size>” denotes the size of the variable, e.g _s32 stand for a sint32 bit

variable.

Note:

1. Tv & Tn cannot be negative

2. Dt should always be greater than zero.

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Following C-structures are specially defined for the controller routines.

[SWS_Efx_00040] ⌈

Name: Efx_StatePT1_Type

Type: Structure

Element: sint32 X1 Input value, one time step before

sint32 Y1 Output value, one time step before

Description: System State Structure for PT1 controller routine

Available via: Efx.h

⌋ () [SWS_Efx_00824] ⌈

Name: Efx_StateDT1Typ1_Type

Type: Structure

Element: sint32 X1 Input value, one time step before

sint32 X2 Input value, two time steps before

sint32 Y1 Output value, one time step before

Description: System State Structure for DT1-Type1 controller routine

Available via: Efx.h

⌋ () [SWS_Efx_00825] ⌈

Name: Efx_StateDT1Typ2_Type

Type: Structure

Element: sint32 X1 Input value, one time step before

sint32 Y1 Output value, one time step before

Description: System State Structure for DT1-Type2 controller routine

Available via: Efx.h

⌋ ()

[SWS_Efx_00826] ⌈

Name: Efx_StatePD_Type

Type: Structure

Element: sint32 X1 Input value, one time step before

sint32 Y1 Output value, one time step before

Description: System State Structure for PD controller routine

Available via: Efx.h

⌋ ()

[SWS_Efx_00827] ⌈

Name: Efx_ParamPD_Type

Type: Structure

Element: sint32 K_C Amplification factor

sint32 Tv_C Lead time

Description: System and Time equivalent parameter Structure for PD controller routine

Available via: Efx.h

⌋ () [SWS_Efx_00828] ⌈

Name: Efx_StateI_Type

Type: Structure

Element: sint32 X1 Input value, one time step before

sint32 Y1 Output value, one time step before

Description: System State Structure for I controller routine

Available via: Efx.h

⌋ () [SWS_Efx_00829] ⌈

Name: Efx_StatePI_Type

Type: Structure

Element: sint32 X1 Input value, one time step before

sint32 Y1 Output value, one time step before

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Description: System State Structure for PI additive (Type1 and Type 2) controller routine

Available via: Efx.h

⌋ () [SWS_Efx_00830] ⌈

Name: Efx_ParamPI_Type

Type: Structure

Element: sint32 K_C Amplification factor

sint32 Tnrec_C Reciprocal follow up time (1/Tn)

Description: System and Time equivalent parameter Structure for PI additive (Type1 and Type

2 ) controller routine

Available via: Efx.h

⌋ () [SWS_Efx_00831] ⌈

Name: Efx_StatePID_Type

Type: Structure

Element: sint32 X1 Input value, one time step before

sint32 X2 Input value, two time step before

sint32 Y1 Output value, one time step before

Description: System State Structure for PID additive (Type1 and Type 2 ) controller routine

Available via: Efx.h

⌋ () [SWS_Efx_00832] ⌈

Name: Efx_ParamPID_Type

Type: Structure

Element: sint32 K_C Amplification factor

sint32 Tv_C Lead time

sint32 Tnrec_C Reciprocal follow up time (1/Tn)

Description: System and Time equivalent parameter Structure for PID additive (Type1 and

Type 2) controller routine

Available via: Efx.h

⌋ () [SWS_Efx_00833] ⌈

Name: Efx_Limits_Type

Type: Structure

Element: sint32 Min_C Minimum limit value

sint32 Max_C Maximum limit value

Description: Controller limit value structure

Available via: Efx.h

⌋ ()

8.5.3.2 Proportional Controller

Proportional component calculates Y(x) = Kp * X.

8.5.3.2.1 ‘P’ Controller

[SWS_Efx_00525] ⌈

Service name: Efx_PCalc

Syntax: void Efx_PCalc(

sint32 X_s32,

sint32* P_ps32,

sint32 K_s32

)

Service ID[hex]: 0x14

Sync/Async: Synchronous

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Reentrancy: Reentrant

Parameters (in):

X_s32 input value

K_s32 Amplification factor (Quantized with 1/216 per increment of 1 data

representation unit)

Parameters

(inout):

P_ps32Pointer to the calculated state

Parameters (out): None

Return value: None

Description: This routine computes differential equation

Differential equation:

Y = K * X

Available via: Efx.h

⌋ ()

[SWS_Efx_00526]⌈

Calculated value *P_ps32 = (K_s32 * X_s32) >> 16

⌋()

[SWS_Efx_00527]⌈

Amplification factor is quantized with 1/216 per increment of 1 data representation unit

⌋()

8.5.3.2.2 Set ‘P’ State

This routine can be realised using inline function.

[SWS_Efx_00044] ⌈

Service name: Efx_PSetState

Syntax: void Efx_PSetState(

sint32* P_s32,

sint16 Y_s16

)

Service ID[hex]: 0x21

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Y_s16 Input value

Parameters

(inout):

P_s32 Pointer to the calculated state

Parameters (out): None

Return value: void No return value

Description: The routine sets the internal state variables of a P element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00045]⌈

Output value *P_s32 = Y_s16 << 16

⌋()

[SWS_Efx_00046]⌈

The internal state of the P element is stored as (Y_s16 << 16)

⌋()

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8.5.3.2.3 Get ‘P’ output

This routine can be realised using inline function.

[SWS_Efx_00047] ⌈

Service name: Efx_POut_<OutTypeMn>

Syntax: <OutType> Efx_POut_<OutTypeMn>(

const sint32* P_ps32

)

Service ID[hex]: 0x22 to 0x23

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): P_ps32 Pointer to the calculated state

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return 'P' controller output value

Description: This routine returns 'P' controllers output value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00048]⌈

Output value = *P_ps32 >> 16

⌋()

[SWS_Efx_00049]⌈

Return value shall be saturated to boundary values of the return data type in case of

negative or positive overflow.

⌋()

[SWS_Efx_00050] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x22 sint16 Efx_POut_s16(const sint32 *)

0x23 sint8 Efx_POut_s8(const sint32 *)

⌋ ( )

8.5.3.3 Proportional controller with first order time constant

This routine calculates proportional element with first order time constant

8.5.3.3.1 ‘PT1’ Controller

[SWS_Efx_00051] ⌈

Service name: Efx_PT1Calc

Syntax: void Efx_PT1Calc(

sint32 X_s32,

Efx_StatePT1_Type* State_cpst,

sint32 K_s32,

sint32 TeQ_s32

)

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Service ID[hex]: 0x2A

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the PT1 element

K_s32 Amplification factor

TeQ_s32 Time equivalent

Parameters

(inout):

State_cpst Pointer to PT1 state structure

Parameters (out): None

Return value: void No return value

Description: This routine computes PT1 controller output value using below difference equation

Yn = exp(-dT/T1) * Yn-1+ K(1 - exp(-dT/T1)) * Xn-1

Available via: Efx.h

⌋ ()

[SWS_Efx_00052]⌈

This equation derives implementation :

Output_value = (TeQ_s32 * State_cpst->Y1) + K_s32 * (1 - TeQ_s32) * State_cpst-

>X1

where TeQ_s32 = exp (-dT/T1)

⌋()

[SWS_Efx_00053]⌈

Efx_CalcTeQ_s32 shall be used for calculation of time equivalent parameter

TeQ_s32 only if T1 > 0.

⌋()

Note: If T1 = 0, a PT1 controller behaves like a P controller. In this case, usage of

Efx_CalcTeq_s32 should be avoided and Teq value should be passed as 0.

[SWS_Efx_00054]⌈

If (Teq = 0) then PT1 controller follows Input value,

State_cpst->Y1 = k_s32 * State_cpst->X1

⌋()

[SWS_Efx_00055]⌈

calculated Output_value and current input value shall be stored to State_cpst->Y1

and State_cpst->X1 respectively.

State_cpst->Y1 = Output_value

State_cpst->X1 = X_s32

⌋()

8.5.3.3.2 ‘PT1’ Set State Value

This routine can be realised using inline function.

[SWS_Efx_00056] ⌈

Service name: Efx_PT1SetState

Syntax: void Efx_PT1SetState(

Efx_StatePT1_Type* State_cpst,

sint32 X1_s32,

sint16 Y1_s16

)

Specification of Extended Fixed Point Routines

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Service ID[hex]: 0x2B

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): X1_s32 Initial value for input state

Y1_s16 Initial value for output state

Parameters

(inout):

None

Parameters (out): State_cpst Pointer to PT1 state structure

Return value: void No return value

Description: The routine initialises internal state variables of a PT1 element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00057]⌈

Initialisation of output state variable Y1.

State_cpst->Y1 = Y1_s16 << 16

⌋()

[SWS_Efx_00058]⌈

The internal state of the PT1 element is stored as (Y1_s16 << 16)

⌋()

[SWS_Efx_00059]⌈

Initialisation of input state variable X1.

State_cpst->X1 = X1_s32

⌋()

8.5.3.3.3 Calculate time equivalent Value

This routine can be realised using inline function.

[SWS_Efx_00060] ⌈

Service name: Efx_CalcTeQ_s32

Syntax: sint32 Efx_CalcTeQ_s32(

sint32 T1rec_s32,

sint32 dT_s32

)

Service ID[hex]: 0x2C

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): T1rec_s32 Reciprocal delay time

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation unit]

Parameters

(inout):

None

Parameters (out): None

Return value: sint32 Time Equivalent TeQ

Description: This routine calculates time equivalent factor

Available via: Efx.h

⌋ ()

[SWS_Efx_00061]⌈

TeQ = exp(-T1rec_s32 * dT_s32)

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00062]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.3.4 Calculate an approximate time equivalent Value

This routine calculates approximate time equivalent and can be realised using inline

function.

[SWS_Efx_00450] ⌈

Service name: Efx_CalcTeQApp_s32

Syntax: sint32 Efx_CalcTeQApp_s32(

sint32 T1rec_s32,

sint32 dT_s32

)

Service ID[hex]: 0x29

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): T1rec_s32 Reciprocal delay time

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation unit]

Parameters

(inout):

None

Parameters (out): None

Return value: sint32 Time Equivalent TeQ (Approximate)

Description: This routine calculates time equivalent factor

Available via: Efx.h

⌋ ()

[SWS_Efx_00451]⌈

TeQApp = 1 - (T1rec_s32 * dT_s32)

TeQApp is factorised by 2^16

This approximation is valid only when the product of the physical values of

T1rec_s32 and dt_s32 is less than 1. i.e, (T1rec_s32 * dT_s32) < 1

⌋()

[SWS_Efx_00452]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.3.5 Get ‘PT1’ output

This routine can be realised using inline function.

[SWS_Efx_00063] ⌈

Service name: Efx_PT1Out_<OutTypeMn>

Syntax: <OutType> Efx_PT1Out_<OutTypeMn>(

const Efx_StatePT1_Type* State_cpst

)

Service ID[hex]: 0x2D to 0x2E

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpst Pointer to constant state structure

Parameters None

Specification of Extended Fixed Point Routines

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(inout):

Parameters (out): None

Return value: <OutType> Return 'PT1' controller output value

Description: This routine returns 'PT1' controllers output value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00064]⌈

Output value = State_cpst->Y1_s32 >> 16

⌋()

[SWS_Efx_00065]⌈

Output value shall be normalized by 16 bit right shift of internal state variable.

⌋()

[SWS_Efx_00066]⌈

Return value shall be limited by boundary values of the return data type.

⌋()

[SWS_Efx_00067] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x2D sint16 Efx_PT1Out_s16(const Efx_StatePT1_Type *)

0x2E sint8 Efx_PT1Out_s8(const Efx_StatePT1_Type *)

⌋ ( )

8.5.3.4 Differential component with time delay : DT1

This routine calculates differential element with first order time constant.

Routine Efx_CalcTeQ_s32, given in 8.5.3.3.3, shall be used for Efx_DT1_s32

function to calculate the time equivalent TeQ.

8.5.3.4.1 ‘DT1’ Controller – Type1

[SWS_Efx_00070] ⌈

Service name: Efx_DT1Typ1Calc

Syntax: void Efx_DT1Typ1Calc(

sint32 X_s32,

Efx_StateDT1Typ1_Type* State_cpst,

sint32 K_s32,

sint32 TeQ_s32,

sint32 dT_s32

)

Service ID[hex]: 0x30

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the DT1 controller

K_s32 Amplification factor

TeQ_s32 Time equivalent

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation unit]

Specification of Extended Fixed Point Routines

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Parameters

(inout):

State_cpst Pointer to state structure

Parameters (out): None

Return value: void No return value

Description: This routine computes DT1 controller output value using differential equation,

Yn= exp(-dT/T1) * Yn-1+ K * (1- exp(-dT/T1)) * ((Xn-1 - Xn-2) / dT)

Available via: Efx.h

⌋ ()

[SWS_Efx_00071]⌈

This equation derives implementation :

Output_value = (TeQ * State_cpst->Y1) + K_s32 * (1 - TeQ) * ((State_cpst->X1 -

State_cpst->X2) / dT)

where TeQ = exp(-dT/T1)

The result shall be Rounded towards Zero.

⌋()

[SWS_Efx_00072]⌈

Efx_CalcTeQ_s32 shall be used for calculation of time equivalent parameter

TeQ_s32 only if T1 > 0.

⌋()

Note: If T1 = 0, a DT1 controller behaves like a D controller. In this case, usage of

Efx_CalcTeq_s32 should be avoided and Teq value should be passed as 0.

[SWS_Efx_00073]⌈

If (Teq = 0), then DT1 controller follows Input value,

Output_value = k_s32 * (State_cpst->X1 - State_cpst->X2) / dT.

⌋()

[SWS_Efx_00074]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00075]⌈

Old input value State->cpst->X1 shall be stored to State_cpst->X2.

State_cpst->X2 = State_cpst->X1

Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00076]⌈

Resolution of dT_s32 is 10-6 seconds per increment of 1 data representation unit

⌋()

8.5.3.4.2 ‘DT1’ Controller – Type2

[SWS_Efx_00501] ⌈

Specification of Extended Fixed Point Routines

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Service name: Efx_DT1Typ2Calc

Syntax: void Efx_DT1Typ2Calc(

sint32 X_s32,

Efx_StateDT1Typ2_Type* State_cpst,

sint32 K_s32,

sint32 TeQ_s32,

sint32 dT_s32

)

Service ID[hex]: 0x2F

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the DT1 controller

K_s32 Amplification factor

TeQ_s32 Time equivalent

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation unit]

Parameters

(inout):

State_cpst Pointer to state structure

Parameters (out): None

Return value: void No return value

Description: This routine computes DT1 controller output value using differential equation,

Yn= exp(-dT/T1) * Yn-1+ K * (1- exp(-dT/T1)) * ((Xn - Xn-1) / dT)

Available via: Efx.h

⌋ ()

[SWS_Efx_00502]⌈

This equation derives implementation :

Output_value = (TeQ * State_cpst->Y1) + K_s32 * (1 - TeQ) * ((X_s32 - State_cpst-

>X1) / dT)

where TeQ = exp(-dT/T1)

The result shall be Rounded towards Zero.

⌋()

[SWS_Efx_00503]⌈

Efx_CalcTeQ_s32 shall be used for calculation of time equivalent parameter

TeQ_s32.

⌋()

[SWS_Efx_00504]⌈

If (Teq = 0), then DT1 controller follows Input value,

Output_value = k_s32 * (X_s32 - State_cpst->X1) / dT

⌋()

[SWS_Efx_00505]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00506]⌈

Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00507]⌈

Resolution of dT_s32 is 10-6 seconds per increment of 1 data representation unit

⌋()

8.5.3.4.3 Set ‘DT1’ State Value – Type1

This routine can be realised using inline function.

[SWS_Efx_00077] ⌈

Service name: Efx_DT1Typ1SetState

Syntax: void Efx_DT1Typ1SetState(

Efx_StateDT1Typ1_Type* State_cpst,

sint32 X1_s32,

sint32 X2_s32,

sint16 Y1_s16

)

Service ID[hex]: 0x31

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X1_s32 Initial value for the input state X1

X2_s32 Initial value for the input state X2

Y1_s16 Initial value for the output state

Parameters

(inout):

None

Parameters (out): State_cpst Pointer to internal state structure

Return value: void No return value

Description: The routine initialises internal state variables of a DT1 element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00078]⌈

Initialisation of output state variable Y1.

State_cpst->Y1 = Y1_s16 << 16

⌋()

[SWS_Efx_00079]⌈

The internal state of the DT1 element is stored as (Y1_s16 << 16)

⌋()

[SWS_Efx_00080]⌈

Initialisation of input state variables X1 and X2.

State_cpst->X1 = X1_s32

State_cpst->X2 = X2_s32

⌋()

8.5.3.4.4 Set ‘DT1’ State Value – Type2

This routine can be realised using inline function.

[SWS_Efx_00510] ⌈

Service name: Efx_DT1Typ2SetState

Syntax: void Efx_DT1Typ2SetState(

Efx_StateDT1Typ2_Type* State_cpst,

sint32 X1_s32,

Specification of Extended Fixed Point Routines

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sint16 Y1_s16

)

Service ID[hex]: 0x32

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): X1_s32 Initial value for the input state

Y1_s16 Initial value for the output state

Parameters

(inout):

None

Parameters (out): State_cpst Pointer to internal state structure

Return value: void No return value

Description: The routine initialises internal state variables of a DT1 element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00511]⌈

Initialisation of output state variable Y1.

State_cpst->Y1 = Y1_s16 << 16

⌋()

[SWS_Efx_00512]⌈

The internal state of the DT1 element is stored as (Y1_s16 << 16)

⌋()

[SWS_Efx_00513]⌈

Initialisation of input state variable X1.

State_cpst->X1 = X1_s32

⌋()

8.5.3.4.5 Get ‘DT1’ output – Type1

This routine can be realised using inline function.

[SWS_Efx_00081] ⌈

Service name: Efx_DT1Typ1Out_<OutTypeMn>

Syntax: <OutType> Efx_DT1Typ1Out_<OutTypeMn>(

const Efx_StateDT1Typ1_Type* State_cpst

)

Service ID[hex]: 0x33 to 0x34

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpst Pointer to state structure

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return 'DT1' controller output value

Description: This routine returns 'DT1' controller's output value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00082]⌈

Output value = State_cpst->Y1 >> 16

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00083]⌈

Output value shall be normalized by 16 bit right shift of internal state variable.

⌋()

[SWS_Efx_00084]⌈

Return value shall be limited by boundary values of the return data type.

⌋()

[SWS_Efx_00085] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x33 sint16 Efx_DT1Typ1Out_s16(const Efx_StateDT1Typ1_Type *)

0x34 sint8 Efx_DT1Typ1Out_s8(const Efx_StateDT1Typ1_Type *)

⌋ ( )

8.5.3.4.6 Get ‘DT1’ output – Type2

This routine can be realised using inline function.

[SWS_Efx_00515] ⌈

Service name: Efx_DT1Typ2Out_<OutTypeMn>

Syntax: <OutType> Efx_DT1Typ2Out_<OutTypeMn>(

const Efx_StateDT1Typ2_Type* State_cpst

)

Service ID[hex]: 0x35 to 0x36

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpst Pointer to state structure

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return 'DT1' controller output value

Description: This routine returns 'DT1' controller's output value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00516]⌈

Output value = State_cpst->Y1 >> 16

⌋()

[SWS_Efx_00517]⌈

Output value shall be normalized by 16 bit right shift of internal state variable.

⌋()

[SWS_Efx_00518]⌈

Return value shall be limited by boundary values of the return data type.

⌋()

[SWS_Efx_00519] ⌈

Specification of Extended Fixed Point Routines

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Here is the list of implemented functions.

Service ID[hex] Syntax

0x35 sint16 Efx_DT1Typ2Out_s16(const Efx_StateDT1Typ2_Type *)

0x36 sint8 Efx_DT1Typ2Out_s8(const Efx_StateDT1Typ2_Type *)

⌋ ( )

8.5.3.5 Proportional and Differential controller

This routine is a combination of proportional and differential controller.

8.5.3.5.1 PD Controller

[SWS_Efx_00090] ⌈

Service name: Efx_PDCalc

Syntax: void Efx_PDCalc(

sint32 X_s32,

Efx_StatePD_Type* State_cpst,

const Efx_ParamPD_Type* Param_cpst,

sint32 dT_s32

)

Service ID[hex]: 0x3A

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the PD controller

Param_cpst Pointer to parameter structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation

unit]

Parameters

(inout):

State_cpst Pointer to internal state structure

Parameters (out): None

Return value: void No return value

Description: This routine computes proportional plus derivative controller output value using

differential equation:

Yn= K(1+Tv/dT) * Xn - K(Tv/dT) * Xn-1

Available via: Efx.h

⌋ ()

[SWS_Efx_00091]⌈

This equation derives implementation :

Output_value = (Param_cpst->K_C * (1+ Param_cpst->Tv_C/dT_s32) * X_s32) -

(Param_cpst->K_C * (Param_cpst->Tv_C/dT_s32) * State_cpst->X1)

The result shall be Rounded towards Zero.

⌋()

[SWS_Efx_00092]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00093]⌈

Current input value X_s32 shall be stored to State_cpst->X1.

Specification of Extended Fixed Point Routines

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State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00094]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.5.2 PD Set State Value

This routine can be realised using inline function.

[SWS_Efx_00095] ⌈

Service name: Efx_PDSetState

Syntax: void Efx_PDSetState(

Efx_StatePD_Type* State_cpst,

sint32 X1_s32,

sint16 Y1_s16

)

Service ID[hex]: 0x3B

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): X1_s32 Initial value for input state

Y1_s16 Initial value for output state

Parameters

(inout):

None

Parameters (out): State_cpst Pointer to internal state structure

Return value: void No return value

Description: The routine initialises internal state variables of a PD element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00096]⌈

Initialisation of output state variable Y1.

State_cpst->Y1 = Y1_s16 << 16

⌋()

[SWS_Efx_00097]⌈

The internal state of the PD element is stored as (Y1_s16 << 16)

⌋()

[SWS_Efx_00098]⌈

Initialisation of input state variable X1.

State_cpst->X1 = X1_s32

⌋()

8.5.3.5.3 Set ‘PD’ Parameters

This routine can be realised using inline function.

[SWS_Efx_00100] ⌈

Service name: Efx_PDSetParam

Syntax: void Efx_PDSetParam(

Specification of Extended Fixed Point Routines

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Efx_ParamPD_Type* Param_cpst,

sint32 K_s32,

sint32 Tv_s32

)

Service ID[hex]: 0x3C

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): K_s32 Amplification factor

Tv_s32 Lead time

Parameters

(inout):

None

Parameters (out): Param_cpst Pointer to internal parameter structure

Return value: void No return value

Description: The routine sets the parameter structure of a PD element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00101]⌈

Initialisation of amplification factor.

Param_cpst->K_C = K_s32

⌋()

[SWS_Efx_00102]⌈

Initialisation of lead time state variable

Param_cpst->Tv_C = Tv_s32

⌋()

8.5.3.5.4 Get ‘PD’ output

This routine can be realised using inline function.

[SWS_Efx_00103] ⌈

Service name: Efx_PDOut_<OutTypeMn>

Syntax: <OutType> Efx_PDOut_<OutTypeMn>(

const Efx_StatePD_Type* State_cpcst

)

Service ID[hex]: 0x3D to 0x3E

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpcst Pointer to constant state structure

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return 'PD' controller output value

Description: This routine returns 'PD' controllers output value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00104]⌈

Output value = State_cpst->Y1 >> 16

⌋()

[SWS_Efx_00105]⌈

Output value shall be normalized by 16 bit right shift of internal state variable.

Specification of Extended Fixed Point Routines

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⌋()

[SWS_Efx_00106]⌈

Return value shall be limited by boundary values of the return data type.

⌋()

[SWS_Efx_00107] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x3D sint16 Efx_PDOut_s16(const Efx_StatePD_Type *)

0x3E sint8 Efx_PDOut_s8(const Efx_StatePD_Type *)

⌋ ( )

8.5.3.6 Integral component

This routine calculates Integration element .

8.5.3.6.1 ‘I’ Controller

[SWS_Efx_00110] ⌈

Service name: Efx_ICalc

Syntax: void Efx_ICalc(

sint32 X_s32,

Efx_StateI_Type* State_cpst,

sint32 K_s32,

sint32 dT_s32

)

Service ID[hex]: 0x40

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'I' controller

K_s32 Amplification factor

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation unit]

Parameters

(inout):

State_cpst Pointer to state variable.

Parameters (out): None

Return value: void No return value

Description: This routine computes 'I' controller output value using differential equation,

Yn = Yn-1 + K * dT * Xn-1

Available via: Efx.h

⌋ ()

[SWS_Efx_00111]⌈

This equation derives implementation :

Output_value = State_cpst->Y1 + K_s32 * dT_s32 * State_cpst->X1

⌋()

[SWS_Efx_00112]⌈

Calculated Output_value and current input value shall be stored to State_cpst->Y1

Specification of Extended Fixed Point Routines

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and State_cpst->X1 respectively.

State_cpst->Y1 = Output_value

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00113]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.6.2 ‘I’ Controller with limitation

[SWS_Efx_00455] ⌈

Service name: Efx_ILimCalc

Syntax: void Efx_ILimCalc(

sint32 X_s32,

Efx_StateI_Type* State_cpst,

sint32 K_s32,

const Efx_Limits_Type* Limit_cpst,

sint32 dT_s32

)

Service ID[hex]: 0x3F

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'I' controller

K_s32 Amplification factor

Limit_cpst Pointer to limit structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation unit]

Parameters

(inout):

State_cpst Pointer to state variable

Parameters (out): None

Return value: void No return value

Description: This routine computes DT1 controller output value using differential equation,

Yn = Yn-1 + K * dT * Xn-1

Available via: Efx.h

⌋ ()

[SWS_Efx_00456]⌈

This equation derives implementation :

Output_value = State_cpst->Y1 + K_s32 * dT_s32 * State_cpst->X1

⌋()

[SWS_Efx_00457]⌈

Limit output value with minimum and maximum controller limits.

If (Output value < Limit_cpst->Min_C) Then,

Output_value = Limit_cpst->Min_C

If (Output value > Limit_cpst->Max_C) Then,

Output_value = Limit_cpst->Max_C

⌋()

[SWS_Efx_00458]⌈

Calculated Output_value and current input value shall be stored to State_cpst->Y1

and State_cpst->X1 respectively.

Specification of Extended Fixed Point Routines

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State_cpst->Y1 = Output_value

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00459]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.6.3 Set limits for controllers

[SWS_Efx_00523] ⌈

Service name: Efx_CtrlSetLimits

Syntax: void Efx_CtrlSetLimits(

Efx_Limits_Type* Limit_cpst,

sint32 Min_s32,

sint32 Max_s32

)

Service ID[hex]: 0x97

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Min_s32 Minimum limit

Max_s32 Maximum limit

Parameters

(inout):

Limit_cpst Pointer to limit structure

Parameters (out): None

Return value: None

Description: Update limit structure

Available via: Efx.h

⌋ ()

[SWS_Efx_00524]⌈

Update limit structure

Limit_cpst->Min_C = Min_s32

Limit_cpst->Max_C = Max_s32

⌋()

8.5.3.6.4 Set ‘I’ State Value

This routine can be realised using inline function.

[SWS_Efx_00114] ⌈

Service name: Efx_ISetState

Syntax: void Efx_ISetState(

Efx_StateI_Type* State_cpst,

sint32 X1_s32,

sint16 Y1_s16

)

Service ID[hex]: 0x41

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): X1_s32 Initial value for input state

Y1_s16 Initial value for output state

Specification of Extended Fixed Point Routines

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Parameters

(inout):

None

Parameters (out): State_cpst Pointer to internal state structure

Return value: void No return value

Description: The routine initialises internal state variables of an I element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00115]⌈

Initialisation of output state variable Y1.

State_cpst->Y1 = Y1_s16 << 16

⌋()

[SWS_Efx_00116] ⌈

The internal state of the DT1 element is stored as (Y1_s16 << 16)

⌋ ( )

[SWS_Efx_00117] ⌈

Initialisation of input state variable X1.

State_cpst->X1 = X1_s32

⌋ ( )

8.5.3.6.5 Get ‘I’ output

This routine can be realised using inline function.

[SWS_Efx_00118] ⌈

Service name: Efx_IOut_<OutTypeMn>

Syntax: <OutType> Efx_IOut_<OutTypeMn>(

const Efx_StateI_Type* State_cpst

)

Service ID[hex]: 0x43 to 0x44

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpst Pointer to constant state structure

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return 'I' controller output value

Description: This routine returns 'I' controller's output value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00119]⌈

Output value = State_cpst->Y1 >> 16

⌋()

[SWS_Efx_00120] ⌈

Output value shall be normalized by 16 bit right shift of internal state variable.

⌋ ( )

Specification of Extended Fixed Point Routines

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[SWS_Efx_00121] ⌈

Return value shall be limited by boundary values of the return data type.

⌋ ( )

[SWS_Efx_00122] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x43 sint16 Efx_IOut_s16(const Efx_StateI_Type*)

0x44 sint8 Efx_IOut_s8(const Efx_StateI_Type *)

⌋ ( )

8.5.3.7 Proportional and Integral controller

This routine is a combination of proportional and integral controller. Routine

Efx_CtrlSetLimits shall be used to set limits for this controller in case of limited

functionality.

8.5.3.7.1 ‘PI’ Controller – Type1 (Implicit type)

[SWS_Efx_00125] ⌈

Service name: Efx_PITyp1Calc

Syntax: void Efx_PITyp1Calc(

sint32 X_s32,

Efx_StatePI_Type* State_cpst,

const Efx_ParamPI_Type* Param_cpst,

sint32 dT_s32

)

Service ID[hex]: 0x45

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'PI' controller

Param_cpst Pointer to parameter structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation

unit]

Parameters

(inout):

State_cpst Pointer to the internal state structure.

Parameters (out): None

Return value: void No return value

Description: This routine computes Proportional plus integral controller (implicit type) output

value using differential equation:

Yn= Yn-1+ K * Xn - K * (1 - dT/Tn) * Xn-1

Available via: Efx.h

⌋ ()

[SWS_Efx_00126]⌈

This equation derives implementation :

Specification of Extended Fixed Point Routines

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Output_value = State_cpst->Y1 + (Param_cpst->K_C * X_s32) - (Param_cpst->K_C

* (1 - Param_cpst->Tnrec_C * dT_s32) * State_cpst->X1)

⌋()

[SWS_Efx_00127]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00128]⌈

Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00129]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.7.2 ‘PI’ Controller – Type1 with limitation (Implicit type)

[SWS_Efx_00465] ⌈

Service name: Efx_PITyp1LimCalc

Syntax: void Efx_PITyp1LimCalc(

sint32 X_s32,

Efx_StatePI_Type* State_cpst,

const Efx_ParamPI_Type* Param_cpst,

const Efx_Limits_Type* Limit_cpst,

sint32 dT_s32

)

Service ID[hex]: 0x35

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'PI' controller

Param_cpst Pointer to parameter structure

Limit_cpst Pointer to limit structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation

unit]

Parameters

(inout):

State_cpst Pointer to the internal state structure

Parameters (out): None

Return value: void No return value

Description: This routine computes Proportional plus integral controller (implicit type) output

value using differential equation:

Yn = Yn-1+ K * Xn - K * (1 - dT/Tn) * Xn-1

Available via: Efx.h

⌋ ()

[SWS_Efx_00466]⌈

This equation derives implementation :

Output_value = State_cpst->Y1 + (Param_cpst->K_C * X_s32) - (Param_cpst->K_C

* (1 - Param_cpst->Tnrec_C * dT_s32) * State_cpst->X1)

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00467]⌈

Limit output value with minimum and maximum controller limits.

If (Output value < Limit_cpst->Min_C) Then,

Output_value = Limit_cpst->Min_C

If (Output value > Limit_cpst->Max_C) Then,

Output_value = Limit_cpst->Max_C

⌋()

[SWS_Efx_00468]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00469]⌈

Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00470]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.7.3 ‘PI’ Controller – Type2 (Explicit type)

[SWS_Efx_00130] ⌈

Service name: Efx_PITyp2Calc

Syntax: void Efx_PITyp2Calc(

sint32 X_s32,

Efx_StatePI_Type* State_cpst,

const Efx_ParamPI_Type* Param_cpst,

sint32 dT_s32

)

Service ID[hex]: 0x46

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'PI' controller

Param_cpst Pointer to parameter structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation

unit]

Parameters

(inout):

State_cpst Pointer to the internal state structure.

Parameters (out): None

Return value: void No return value

Description: This routine computes Proportional plus integral controller (explicit type) output

value using differential equation:

Yn= Yn-1 + K * (1 + dT/Tn) * Xn - K * Xn-1

Available via: Efx.h

⌋ ()

[SWS_Efx_00131]⌈

This equation derives implementation :

Specification of Extended Fixed Point Routines

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Output_value = State_cpst->Y1 + (Param_cpst->K_C * (1 + Param_cpst->Tnrec_C *

dT_s32) * X_s32) - (Param_cpst->K_C * State_cpst->X1)

⌋()

[SWS_Efx_00132] ⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋ ( )

[SWS_Efx_00133] ⌈

Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋ ( )

[SWS_Efx_00134] ⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋ ( )

8.5.3.7.4 ‘PI’ Controller – Type2 with limitation (Explicit type)

[SWS_Efx_00475] ⌈

Service name: Efx_PITyp2LimCalc

Syntax: void Efx_PITyp2LimCalc(

sint32 X_s32,

Efx_StatePI_Type* State_cpst,

const Efx_ParamPI_Type* Param_cpst,

const Efx_Limits_Type* Limit_cpst,

sint32 dT_s32

)

Service ID[hex]: 0x36

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'PI' controller

Param_cpst Pointer to parameter structure

Limit_cpst Pointer to limit structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation

unit]

Parameters

(inout):

State_cpst Pointer to the internal state structure

Parameters (out): None

Return value: void No return value

Description: This routine computes Proportional plus integral controller (explicit type) output

value using differential equation:

Yn = Yn-1 + K * (1 + dT/Tn) * Xn - K * Xn-1

Available via: Efx.h

⌋ ()

[SWS_Efx_00476]⌈

This equation derives implementation :

Specification of Extended Fixed Point Routines

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Output_value = State_cpst->Y1 + (Param_cpst->K_C * (1 + Param_cpst->Tnrec_C *

dT_s32) * X_s32) - (Param_cpst->K_C * State_cpst->X1)

⌋()

[SWS_Efx_00477]⌈

Limit output value with minimum and maximum controller limits.

If (Output value < Limit_cpst->Min_C) Then,

Output_value = Limit_cpst->Min_C

If (Output value > Limit_cpst->Max_C) Then,

Output_value = Limit_cpst->Max_C

⌋()

[SWS_Efx_00478]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00479]⌈

Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00480]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.7.5 Set ‘PI’ State Value

This routine can be realised using inline function.

[SWS_Efx_00135] ⌈

Service name: Efx_PISetState

Syntax: void Efx_PISetState(

Efx_StatePI_Type* State_cpst,

sint32 X1_s32,

sint16 Y1_s16

)

Service ID[hex]: 0x47

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): X1_s32 Initial value for input state

Y1_s16 Initial value for output state

Parameters

(inout):

None

Parameters (out): State_cpst Pointer to internal state structure

Return value: void No return value

Description: The routine initialises internal state variables of a PI element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00136]⌈

Initialisation of output state variable Y1.

State_cpst->Y1 = Y1_s16 << 16

Specification of Extended Fixed Point Routines

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⌋()

[SWS_Efx_00137]⌈

The internal state of the PD element is stored as (Y1_s16 << 16)

⌋()

[SWS_Efx_00138]⌈

Initialisation of input state variable X1.

State_cpst->X1 = X1_s32

⌋()

8.5.3.7.6 Set ‘PI’ Parameters

This routine can be realised using inline function.

[SWS_Efx_00139] ⌈

Service name: Efx_PISetParam

Syntax: void Efx_PISetParam(

Efx_ParamPI_Type* Param_cpst,

sint32 K_s32,

sint32 Tnrec

)

Service ID[hex]: 0x48

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): K_s32 Amplification factor

Tnrec Reciprocal follow-up time

Parameters

(inout):

None

Parameters (out): Param_cpst Pointer to internal parameter structure

Return value: void No return value

Description: The routine sets the parameter structure of a PI element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00140]⌈

Initialisation of amplification factor.

Param_cpst->K_C = K_s32

⌋()

[SWS_Efx_00141]⌈

Initialisation of reciprocal follow up time state variable

Param_cpst->Tnrec_C = Tnrec_s32

⌋()

8.5.3.7.7 Get ‘PI’ output

This routine can be realised using inline function.

[SWS_Efx_00142] ⌈

Service name: Efx_PIOut_<OutTypeMn>

Syntax: <OutType> Efx_PIOut_<OutTypeMn>(

Specification of Extended Fixed Point Routines

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const Efx_StatePI_Type* State_cpst

)

Service ID[hex]: 0x49 to 0x4A

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpst Pointer to constant state structure

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return 'PI' controller output value

Description: This routine returns 'PI' controllers output value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00143]⌈

Output value = State_cpst->Y1 >> 16

⌋()

[SWS_Efx_00144]⌈

Output value shall be normalized by 16 bit right shift of internal state variable.

⌋()

[SWS_Efx_00145]⌈

Return value shall be limited by boundary values of the return data type.

⌋()

[SWS_Efx_00146] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x49 sint16 Efx_PIOut_s16(const Efx_StatePI_Type *)

0x4A sint8 Efx_PIOut_s8(const Efx_StatePI_Type *)

⌋ ( )

8.5.3.8 Proportional, Integral and Differential controller

This routine is a combination of Proportional, integral and differential controller.

Routine Efx_CtrlSetLimits shall be used to set limits for this controller in case of

limited functionality.

8.5.3.8.1 ‘PID’ Controller – Type1 (Implicit type)

[SWS_Efx_00150] ⌈

Service name: Efx_PIDTyp1Calc

Syntax: void Efx_PIDTyp1Calc(

sint32 X_s32,

Efx_StatePID_Type* State_cpst,

const Efx_ParamPID_Type* Param_cpst,

sint32 dT_s32

)

Specification of Extended Fixed Point Routines

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Service ID[hex]: 0x4B

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'PID' controller

Param_cpst Parameter structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation

unit]

Parameters

(inout):

State_cpst Pointer to the internal state structure.

Parameters (out): None

Return value: void No return value

Description: This routine computes Proportional plus integral plus derivative controller (implicit

type) output value using differential equation:

Yn=Yn-1+ K * (1 + Tv/dT) * Xn- K *(1 - dT/Tn + 2Tv/dT) * Xn-1 + K * (Tv/dT) * Xn-2

Available via: Efx.h

⌋ ()

[SWS_Efx_00151] ⌈

This equation derives implementation :

calc1 = Param_cpst->K_C * (1 + t_val) * X_s32

calc2 = Param_cpst->K_C * (1 - dT_s32 * Param_cpst->Tnrec_C + 2 * t_val) *

State_cpst->X1

calc3 = Param_cpst->K_C * t_val * State_cpst->X2

Output_value = State_cpst->Y1 + calc1 - calc2 + calc3

Where t_val = Param_cpst->Tv_C / dT_s32

The result shall be Rounded towards Zero.

⌋ ( )

[SWS_Efx_00152]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00153]⌈

Old input value State_cpst->X1 shall be stored to State_cpst->X2

State_cpst->X2 = State_cpst->X1

Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00154]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.8.2 ‘PID’ Controller – Type1 with limitation (Implicit type)

[SWS_Efx_00485] ⌈

Service name: Efx_PIDTyp1LimCalc

Specification of Extended Fixed Point Routines

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Syntax: void Efx_PIDTyp1LimCalc(

sint32 X_s32,

Efx_StatePID_Type* State_cpst,

const Efx_ParamPID_Type* Param_cpst,

const Efx_Limits_Type* Limit_cpst,

sint32 dT_s32

)

Service ID[hex]: 0x37

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'PID' controller

Param_cpst Pointer to parameter structure

Limit_cpst Pointer to limit structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation

unit]

Parameters

(inout):

State_cpst Pointer to the internal state structure.

Parameters (out): None

Return value: void No return value

Description: This routine computes Proportional plus integral plus derivative controller (implicit

type) output value using differential equation:

Yn=Yn-1+ K * (1 + Tv/dT) * Xn- K *(1 - dT/Tn + 2Tv/dT) * Xn-1 + K * (Tv/dT) * Xn-2

Available via: Efx.h

⌋ ()

[SWS_Efx_00486]⌈

This equation derives implementation :

calc1 = Param_cpst->K_C * (1 + t_val) * X_s32

calc2 = Param_cpst->K_C * (1 - dT_s32 * Param_cpst->Tnrec_C + 2 * t_val) *

State_cpst->X1

calc3 = Param_cpst->K_C * t_val * State_cpst->X2

Output_value = State_cpst->Y1 + calc1 - calc2 + calc3

Where t_val = Param_cpst->Tv_C / dT_s32

⌋()

[SWS_Efx_00487]⌈

Limit output value with minimum and maximum controller limits.

If (Output value < Limit_cpst->Min_C) Then,

Output_value = Limit_cpst->Min_C

If (Output value > Limit_cpst->Max_C) Then,

Output_value = Limit_cpst->Max_C

⌋()

[SWS_Efx_00488]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00489]⌈

Old input value State_cpst->X1 shall be stored to State_cpst->X2

State_cpst->X2 = State_cpst->X1

Specification of Extended Fixed Point Routines

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Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00490]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.8.3 ‘PID’ Controller – Type2

[SWS_Efx_00155] ⌈

Service name: Efx_PIDTyp2Calc

Syntax: void Efx_PIDTyp2Calc(

sint32 X_s32,

Efx_StatePID_Type* State_cpst,

const Efx_ParamPID_Type* Param_cpst,

sint32 dT_s32

)

Service ID[hex]: 0x4C

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'PID' controller

Param_cpst Parameter structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation

unit]

Parameters

(inout):

State_cpst Pointer to the internal state structure.

Parameters (out): None

Return value: void No return value

Description: This routine computes Proportional plus integral plus derivative controller (explicit

type) output value using differential equation:

Yn = Yn-1 + K * (1 + dT/Tn+ Tv/dT) * Xn- K *(1 + 2Tv/dT) * Xn-1+ K * (Tv/dT) * Xn-

2

Available via: Efx.h

⌋ ()

[SWS_Efx_00156]⌈

This equation derives implementation :

calc1 = Param_cpst->K_C * (1 + dT_s32 * Param_cpst->Tnrec_C + t_val) * X_s32

calc2 = Param_cpst->K_C * (1 + 2 * t_val) * State_cpst->X1

calc3 = Param_cpst->K_C * t_val * State_cpst->X2

Output_value = State_cpst->Y1 + calc1 - calc2 + calc3

Where t_val = Param_cpst->Tv_C / dT_s32

The result shall be Rounded towards Zero.

⌋()

[SWS_Efx_00157]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00158]⌈

Old input value State_cpst->X1 shall be stored to State_cpst->X2

Specification of Extended Fixed Point Routines

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State_cpst->X2 = State_cpst->X1

Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00159]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.8.4 ‘PID’ Controller – Type2 with limitation

[SWS_Efx_00495] ⌈

Service name: Efx_PIDTyp2LimCalc

Syntax: void Efx_PIDTyp2LimCalc(

sint32 X_s32,

Efx_StatePID_Type* State_cpst,

const Efx_ParamPID_Type* Param_cpst,

const Efx_Limits_Type* Limit_cpst,

sint32 dT_s32

)

Service ID[hex]: 0x4F

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Input value for the 'PID' controller

Param_cpst Pointer to parameter structure

Limit_cpst Pointer to limit structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data representation

unit]

Parameters

(inout):

State_cpst Pointer to the internal state structure

Parameters (out): None

Return value: void No return value

Description: This routine computes Proportional plus integral plus derivative controller (explicit

type) output value using differential equation:

Yn = Yn-1 + K * (1 + dT/Tn+ Tv/dT) * Xn- K *(1 + 2Tv/dT) * Xn-1+ K * (Tv/dT) * Xn-

2

Available via: Efx.h

⌋ ()

[SWS_Efx_00496]⌈

This equation derives implementation :

calc1 = Param_cpst->K_C * (1 + dT_s32 * Param_cpst->Tnrec_C + t_val) * X_s32

calc2 = Param_cpst->K_C * (1 + 2 * t_val) * State_cpst->X1

calc3 = Param_cpst->K_C * t_val * State_cpst->X2

Output_value = State_cpst->Y1 + calc1 - calc2 + calc3

Where t_val = Param_cpst->Tv_C / dT_s32

⌋()

[SWS_Efx_00497]⌈

Limit output value with minimum and maximum controller limits.

If (Output value < Limit_cpst->Min_C) Then,

Specification of Extended Fixed Point Routines

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Output_value = Limit_cpst->Min_C

If (Output value > Limit_cpst->Max_C) Then,

Output_value = Limit_cpst->Max_C

⌋()

[SWS_Efx_00498]⌈

Calculated Output_value shall be stored to State_cpst->Y1.

State_cpst->Y1 = Output_value

⌋()

[SWS_Efx_00499]⌈

Old input value State_cpst->X1 shall be stored to State_cpst->X2

State_cpst->X2 = State_cpst->X1

Current input value X_s32 shall be stored to State_cpst->X1.

State_cpst->X1 = X_s32

⌋()

[SWS_Efx_00500]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.3.8.5 Set ‘PID’ State Value

This routine can be realised using inline function.

[SWS_Efx_00160] ⌈

Service name: Efx_PIDSetState

Syntax: void Efx_PIDSetState(

Efx_StatePID_Type* State_cpst,

sint32 X1_s32,

sint32 X2_s32,

sint16 Y1_s16

)

Service ID[hex]: 0x4D

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X1_s32 Initial value for input state

X2_s32 Initial value for input state

Y1_s16 Initial value for output state

Parameters

(inout):

None

Parameters (out): State_cpst Pointer to internal state structure

Return value: void No return value

Description: The routine initialises internal state variables of a PID element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00161]⌈

Initialisation of output state variable Y1.

State_cpst->Y1 = Y1_s16 << 16

Specification of Extended Fixed Point Routines

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⌋()

[SWS_Efx_00162]⌈

The internal state of the PD element is stored as (Y1_s16 << 16)

⌋()

[SWS_Efx_00163]⌈

Initialisation of input state variable X1.

State_cpst->X1 = X1_s32

Initialisation of input state variable X2.

State_cpst->X2 = X2_s32

⌋()

8.5.3.8.6 Set ‘PID’ Parameters

This routine can be realised using inline function.

[SWS_Efx_00164] ⌈

Service name: Efx_PIDSetParam

Syntax: void Efx_PIDSetParam(

Efx_ParamPID_Type* Param_cpst,

sint32 K_s32,

sint32 Tv_s32,

sint32 Tnrec_s32

)

Service ID[hex]: 0x4E

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

K_s32 Amplification factor

Tv_s32 Lead Time

Tnrec_s32 Reciprocal follow-up timer

Parameters

(inout):

None

Parameters (out): Param_cpst Pointer to internal parameter structure

Return value: void No return value

Description: The routine sets the parameter structure of a PID element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00165]⌈

Initialisation of amplification factor.

Param_cpst->K_C = K_s32

⌋()

[SWS_Efx_00166] ⌈

Initialisation of lead time state variable

Param_cpst->Tv_C = Tv_s32

⌋ ( )

[SWS_Efx_00167] ⌈

Specification of Extended Fixed Point Routines

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Initialisation of reciprocal follow up time state variable

Param_cpst->Tnrec_C = Tnrec_s32

⌋ ( )

8.5.3.8.7 Get ‘PID’ output

This routine can be realised using inline function.

[SWS_Efx_00168] ⌈

Service name: Efx_PIDOut_<OutTypeMn>

Syntax: <OutType> Efx_PIDOut_<OutTypeMn>(

const Efx_StatePID_Type* State_cpst

)

Service ID[hex]: 0x50 to 0x51

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpst Pointer to constant state structure

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return 'PID' controller output value

Description: This routine returns 'PID' controllers output value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00169]⌈

Output value = State_cpst->Y1 >> 16

⌋()

[SWS_Efx_00170] ⌈

Output value shall be normalized by 16 bit right shift of internal state variable.

⌋ ( )

[SWS_Efx_00171] ⌈

Return value shall be limited by boundary values of the return data type.

⌋ ( )

[SWS_Efx_00172] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x50 sint16 Efx_PIDOut_s16(const Efx_StatePID_Type *)

0x51 sint8 Efx_PIDOut_s8(const Efx_StatePID_Type *)

⌋ ( )

8.5.4 Square root

[SWS_Efx_00175] ⌈

Service name: Efx_Sqrt_u32_u32

Syntax: uint32 Efx_Sqrt_u32_u32(

uint32 x_value

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)

Service ID[hex]: 0x52

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [0, 1]

Resolution: 1/232

Parameters

(inout):

None

Parameters (out): None

Return value:

uint32 Return value of the function

Physical range: [0, 1]

Resolution: 1/232

Description: This service computes the square root of a value

Available via: Efx.h

⌋ ()

[SWS_Efx_00176]⌈

Result = square_root ( x_value )

⌋()

[SWS_Efx_00177]⌈

The result is rounded off.

⌋()

[SWS_Efx_00178] ⌈

Service name: Efx_Sqrt_u16_u16

Syntax: uint16 Efx_Sqrt_u16_u16(

uint16 x_value

)

Service ID[hex]: 0x53

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [0, 1]

Resolution: 1/216

Parameters

(inout):

None

Parameters (out): None

Return value:

uint16 Return value of the function

Physical range: [0, 1]

Resolution: 1/216

Description: This service computes the square root of a value

Available via: Efx.h

⌋ ()

[SWS_Efx_00179]⌈

Result = square_root ( x_value )

⌋()

[SWS_Efx_00180]⌈

The result is rounded off.

⌋()

[SWS_Efx_00181] ⌈

Specification of Extended Fixed Point Routines

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Service name: Efx_Sqrt_u8_u8

Syntax: uint8 Efx_Sqrt_u8_u8(

uint8 x_value

)

Service ID[hex]: 0x54

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [0, 1]

Resolution: 1/28

Parameters

(inout):

None

Parameters (out): None

Return value:

uint8 Return value of the function

Physical range: [0, 1]

Resolution: 1/28

Description: This service computes the square root of a value

Available via: Efx.h

⌋ ()

[SWS_Efx_00182]⌈

Result = square_root ( x_value )

⌋()

[SWS_Efx_00183]⌈

The result is rounded off.

⌋()

8.5.5 Exponential

[SWS_Efx_00185] ⌈

Service name: Efx_Exp_s32_s32

Syntax: sint32 Efx_Exp_s32_s32(

sint32 Value1

)

Service ID[hex]: 0x55

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Value1 Input value

Parameters

(inout):

None

Parameters (out): None

Return value: sint32 Return value of the function

Description: The routine returns exponential value of an input value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00186]⌈

Output = e-x

where x = Value1

⌋()

[SWS_Efx_00187]⌈

Output is quantized by 2^16

Output Range = ([0.00004539....22026.4657948] * 2^16) = [2....1443526462]

Specification of Extended Fixed Point Routines

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Input Range = ([-10....10] * 2^16) = [0xFFF60000....0x000A0000]

⌋()

8.5.6 Average

[SWS_Efx_00190] ⌈

Service name: Efx_Average_s32_s32

Syntax: sint32 Efx_Average_s32_s32(

sint32 value1,

sint32 value2

)

Service ID[hex]: 0x5A

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): value1 Input value1

value2 Input value2

Parameters

(inout):

None

Parameters (out): None

Return value: sint32 Return value of the function

Description: The routine returns average value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00191]⌈

Output = (Value1 + Value2 ) / 2

⌋()

[SWS_Efx_00192] ⌈

The result is rounded towards zero.

⌋ ( )

8.5.7 Array Average

[SWS_Efx_00193] ⌈

Service name: Efx_Array_Average_<InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_Array_Average_<InTypeMn>_<OutTypeMn>(

const <InType>* Array,

uint16 Count

)

Service ID[hex]: 0x60 and 0x61

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Array Pointer to an array

Count Number of array elements

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return value of the function

Description: The routine returns average value of an array.

Available via: Efx.h

⌋ ()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00194]⌈

Output = (Array[0] + Array[1] + ... + Array[N-1] ) / Count

⌋()

[SWS_Efx_00195] ⌈

The result is rounded towards zero.

⌋ ( )

[SWS_Efx_00196] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x60 sint32 Efx_Array_Average_s32_s32(sint32*, uint16)

0x61 sint16 Efx_Array_Average_s16_s16(sint16*, uint16)

⌋ ( )

8.5.8 Moving Average

[SWS_Efx_00197] ⌈

Service name: Efx_MovingAverage_<InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_MovingAverage_<InTypeMn>_<OutTypeMn>(

Efx_MovingAvrg<InTypeMn>_Type* state,

<InType> value

)

Service ID[hex]: 0x6A to 0x6B

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): value Input value

Parameters

(inout):

state Pointer to sliding average structure

Parameters (out): None

Return value: <OutType> Return value of the function

Description: The routine returns sliding average value of n - 1 last subsequent values of an

array plus one new value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00198]⌈

state ->p_beg pointer holds start address of an array

state ->p_end pointer holds end address of an array

state ->p_act pointer holds address of an oldest entry of an array

⌋()

[SWS_Efx_00199] ⌈

state ->sum shall store total sum including 'value' & excluding oldest entry

state ->sum = state ->sum - *(state ->p_act) + value

⌋ ( )

[SWS_Efx_00200] ⌈

In every routine call state ->p_act shall be incremented with wrap around.

This increment ensures that oldest entry gets replaced with new entry.

Specification of Extended Fixed Point Routines

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⌋ ( )

[SWS_Efx_00201] ⌈

Output_value = state->sum / state->n

⌋ ( )

[SWS_Efx_00202] ⌈

If state ->n = 0 the result shall be zero by definition.

⌋ ( )

[SWS_Efx_00203] ⌈

The result is rounded towards zero.

⌋ ( )

Structure definition for function argument

[SWS_Efx_00204] ⌈

Name: Efx_MovingAvrgS16_Type

Type: Structure

Element: sint32 sum Sum of array elements

sint16 n Size of an array (only positive values)

sint16 *p_beg Pointer to the first array element

sint16 *p_end Pointer to the last array element

sint16 *p_act Pointer to the oldest entry array element

Description: Structure definition for sliding average routine for sint16 input value

Available via: Efx.h

⌋ () [SWS_Efx_00836] ⌈

Name: Efx_MovingAvrgS32_Type

Type: Structure

Element: sint64 sum Sum of array elements

sint32 n Size of an array (only positive values)

sint32 *p_beg Pointer to the first array element

sint32 *p_end Pointer to the last array element

sint32 *p_act Pointer to the oldest entry array element

Description: Structure definition for sliding average routine for sint32 input value

Available via: Efx.h

⌋ ()

[SWS_Efx_00205] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x6A sint16 Efx_MovingAverage_s16_s16(Efx_MovingAvrgS16_Type*, sint16)

0x6B sint32 Efx_MovingAverage_s32_s32(Efx_MovingAvrgS32_Type*, sint32)

⌋ ( )

8.5.9 Hypotenuse

The formula used for calculation in the below hypotenuse requirements is,

sqrt(x_value * x_value/2 + y_value * y_value/2).

This is to achieve the specified resolution in the result.

Specification of Extended Fixed Point Routines

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Warning: Hypotenuse functions shall not be used directly for distance computation

because the result has not the same resolution than the inputs.

[SWS_Efx_00210] ⌈

Service name: Efx_Hypot_u32u32_u32

Syntax: uint32 Efx_Hypot_u32u32_u32(

uint32 x_value,

uint32 y_value

)

Service ID[hex]: 0x70

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value First argument

Physical range: [0, 1]

Resolution: 1/232

y_value Second argument

Physical range: [0, 1]

Resolution: 1/232

Parameters

(inout):

None

Parameters (out): None

Return value:

uint32 Return value of the function

Physical range: [0, sqrt(2)]

Resolution: sqrt(2)/232

Description: This service computes the length of a vector

Available via: Efx.h

⌋ ()

[SWS_Efx_00211] ⌈

Result = sqrt(x_value * x_value/2 + y_value * y_value/2)

⌋ ( )

[SWS_Efx_00212] ⌈

The result is rounded off.

⌋ ( )

[SWS_Efx_00213] ⌈

Service name: Efx_Hypot_u16u16_u16

Syntax: uint16 Efx_Hypot_u16u16_u16(

uint16 x_value,

uint16 y_value

)

Service ID[hex]: 0x71

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value First argument

Physical range: [0, 1]

Resolution: 1/216

y_value Second argument

Physical range: [0, 1]

Resolution: 1/216

Parameters

(inout):

None

Parameters (out): None

Specification of Extended Fixed Point Routines

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Return value:

uint16 Return value of the function

Physical range: [0, sqrt(2)]

Resolution: sqrt(2)/216

Description: This service computes the length of a vector

Available via: Efx.h

⌋ ()

[SWS_Efx_00214] ⌈

Result = sqrt(x_value * x_value/2 + y_value * y_value/2)

⌋ ( )

[SWS_Efx_00215] ⌈

The result is rounded off.

⌋ ( )

[SWS_Efx_00216] ⌈

Service name: Efx_Hypot_u8u8_u8

Syntax: uint8 Efx_Hypot_u8u8_u8(

uint8 x_value,

uint8 y_value

)

Service ID[hex]: 0x72

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value First argument

Physical range: [0, 1]

Resolution: 1/28

y_value Second argument

Physical range: [0, 1]

Resolution: 1/28

Parameters

(inout):

None

Parameters (out): None

Return value:

uint8 Return value of the function

Physical range: [0, sqrt(2)]

Resolution: sqrt(2)/28

Description: This service computes the length of a vector

Available via: Efx.h

⌋ ()

[SWS_Efx_00217] ⌈

Result = sqrt(x_value * x_value/2 + y_value * y_value/2)

⌋ ( )

[SWS_Efx_00218] ⌈

The result is rounded off.

⌋ ( )

Specification of Extended Fixed Point Routines

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8.5.10 Trigonometric functions

8.5.10.1 Sine function

[SWS_Efx_00220] ⌈

Service name: Efx_Sin_s32_s32

Syntax: sint32 Efx_Sin_s32_s32(

sint32 x_value

)

Service ID[hex]: 0x75

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-PI, PI[

Resolution: 2*PI/(2^32)

Parameters

(inout):

None

Parameters (out): None

Return value:

sint32 Return value of the function

Physical range: [-1, 1[

Resolution: 1/(2^31)

Description: This service computes the sine of an angle.

Available via: Efx.h

⌋ ()

[SWS_Efx_00222] ⌈

The result is rounded off.

⌋()

[SWS_Efx_00223] ⌈

Service name: Efx_Sin_s16_s16

Syntax: sint16 Efx_Sin_s16_s16(

sint16 x_value

)

Service ID[hex]: 0x76

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-PI, PI[

Resolution: 2*PI/(2^16)

Parameters

(inout):

None

Parameters (out): None

Return value:

sint16 Return value of the function

Physical range: [-1, 1[

Resolution: 1/(2^15)

Description: This service computes the sine of an angle.

Available via: Efx.h

⌋ ()

[SWS_Efx_00225] ⌈

The result is rounded off.

⌋ ( )

Specification of Extended Fixed Point Routines

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[SWS_Efx_00226] ⌈

Service name: Efx_Sin_s8_s8

Syntax: sint8 Efx_Sin_s8_s8(

sint8 x_value

)

Service ID[hex]: 0x77

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-PI, PI[

Resolution: 2*PI/(2^8)

Parameters

(inout):

None

Parameters (out): None

Return value:

sint8 Return value of the function

Physical range: [-1, 1[

Resolution: 1/(2^7)

Description: This service computes the sine of an angle.

Available via: Efx.h

⌋ ()

[SWS_Efx_00228] ⌈

The result is rounded off.

⌋ ( )

8.5.10.2 Cosine function

[SWS_Efx_00229] ⌈

Service name: Efx_Cos_s32_s32

Syntax: sint32 Efx_Cos_s32_s32(

sint32 x_value

)

Service ID[hex]: 0x7A

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-PI, PI[

Resolution: 2*PI/(2^32)

Parameters

(inout):

None

Parameters (out): None

Return value:

sint32 Return value of the function

Physical range: [-1, 1[

Resolution: 1/(2^31)

Description: This service computes the cosine of an angle.

Available via: Efx.h

⌋ ()

[SWS_Efx_00231]⌈

The result is rounded off.

⌋()

[SWS_Efx_00232] ⌈

Service name: Efx_Cos_s16_s16

Syntax: sint16 Efx_Cos_s16_s16(

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sint16 x_value

)

Service ID[hex]: 0x7B

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-PI, PI[

Resolution: 2*PI/(2^16)

Parameters

(inout):

None

Parameters (out): None

Return value:

sint16 Return value of the function

Physical range: [-1, 1[

Resolution: 1/(2^15)

Description: This service computes the cosine of an angle.

Available via: Efx.h

⌋ ()

[SWS_Efx_00234]⌈

The result is rounded off.

⌋()

[SWS_Efx_00235] ⌈

Service name: Efx_Cos_s8_s8

Syntax: sint8 Efx_Cos_s8_s8(

sint8 x_value

)

Service ID[hex]: 0x7C

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-PI, PI[

Resolution: 2*PI/(2^8

Parameters

(inout):

None

Parameters (out): None

Return value:

sint8 Return value of the function

Physical range: [-1, 1[

Resolution: 1/(2^7)

Description: This service computes the cosine of an angle.

Available via: Efx.h

⌋ ()

[SWS_Efx_00237]⌈

The result is rounded off.

⌋()

8.5.10.3 Inverse Sine function

[SWS_Efx_00240] ⌈

Service name: Efx_ArcSin_s32_s32

Syntax: sint32 Efx_ArcSin_s32_s32(

sint32 x_value

)

Service ID[hex]: 0x80

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Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-1, 1[

Resolution: 1/(2^31)

Parameters

(inout):

None

Parameters (out): None

Return value:

sint32 Return value of the function

Physical range: [-PI/2 , PI/2[

Resolution: 2*PI/(2^32)

Description: This service computes the inverse sine of a value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00242]⌈

The result is rounded off.

⌋()

[SWS_Efx_00243] ⌈

Service name: Efx_ArsSin_s16_s16

Syntax: sint16 Efx_ArsSin_s16_s16(

sint16 x_value

)

Service ID[hex]: 0x81

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-1, 1[

Resolution: 1/(2^15)

Parameters

(inout):

None

Parameters (out): None

Return value:

sint16 Return value of the function

Physical range: [-PI/2, PI/2[

Resolution: 2*PI/(2^16)

Description: This service computes the inverse sine of a value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00245]⌈

The result is rounded off.

⌋()

[SWS_Efx_00246] ⌈

Service name: Efx_ArcSin_s8_s8

Syntax: sint8 Efx_ArcSin_s8_s8(

sint8 x_value

)

Service ID[hex]: 0x82

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-1, 1[

Resolution: 1/(2^7)

Parameters None

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(inout):

Parameters (out): None

Return value:

sint8 Return value of the function

Physical range: [-PI/2, PI/2[

Resolution: 2*PI/(2^8)

Description: This service computes the inverse sine of a value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00248]⌈

The result is rounded off.

⌋()

8.5.10.4 Inverse cosine function

[SWS_Efx_00250] ⌈

Service name: Efx_ArcCos_s32_u32

Syntax: uint32 Efx_ArcCos_s32_u32(

sint32 x_value

)

Service ID[hex]: 0x85

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-1, 1[

Resolution: 1/(2^31)

Parameters

(inout):

None

Parameters (out): None

Return value:

uint32 Return value of the function

Physical range: [0 , PI[

Resolution: PI/(2^32)

Description: This service computes the inverse cosine of a value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00252]⌈

The result is rounded off.

⌋()

[SWS_Efx_00253] ⌈

Service name: Efx_ArcCos_s16_u16

Syntax: uint16 Efx_ArcCos_s16_u16(

sint16 x_value

)

Service ID[hex]: 0x86

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-1, 1[

Resolution: 1/(2^15)

Parameters

(inout):

None

Parameters (out): None

Return value: uint16 Return value of the function

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Physical range: [0 , PI[

Resolution: PI/(2^16)

Description: This service computes the inverse cosine of a value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00255]⌈

The result is rounded off.

⌋()

[SWS_Efx_00256] ⌈

Service name: Efx_ArcCos_s8_u8

Syntax: uint8 Efx_ArcCos_s8_u8(

sint8 x_value

)

Service ID[hex]: 0x87

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

x_value Argument

Physical range: [-1, 1[

Resolution: 1/(2^7)

Parameters

(inout):

None

Parameters (out): None

Return value:

uint8 Return value of the function

Physical range: [0, PI[

Resolution: PI/(2^8)

Description: This service computes the inverse cosine of a value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00258]⌈

The result is rounded off.

⌋()

8.5.11 Rate limiter

[SWS_Efx_00261] ⌈

Service name: Efx_SlewRate_<InTypeMn>

Syntax: void Efx_SlewRate_<InTypeMn>(

<InType> limit_pos,

<InType> input,

<InType> limit_neg,

<InType>* output,

uint8* init

)

Service ID[hex]: 0x8B to 0x8E

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

limit_pos positive slope

input Input signal

limit_neg negative slope

Parameters

(inout):

output Output signal

init Pointer on a flag used to detect the first call of the API

Parameters (out): None

Return value: void No return value

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Description: The routine limits the increase and the decrease of the Input entry by using

tunable slopes.

Available via: Efx.h

⌋ ()

[SWS_Efx_00262]⌈

If *init==0, *output=input

⌋()

[SWS_Efx_00264]⌈

Input, limit_pos, limit_neg and output must have the same resolution and the same

physical unit.

⌋()

[SWS_Efx_00265]⌈

If the result of the Efx_SlewRate is only computed when some conditions are fulfilled,

do not call the slew rate under the condition, but systematically! The slew rate must

be called at each recurrence, even if it is not used, because otherwise, the output will

be frozen to the previous value all the time, if conditions are not fulfilled.

⌋()

[SWS_Efx_00266]⌈

The parameters given for output and init, for which we receive the addresses, must

be declared by the caller as private variables and will be initialized at 0, because the

function uses the previous values of these outputs (so the stack must not be used).

⌋()

[SWS_Efx_00267]⌈

Physical values of limit_pos and limit_neg are positive. Internally limit_pos is added

to output value and limit_neg is substracted from output value to get upper and lower

limit band within which output value is limited.

⌋()

[SWS_Efx_00268]⌈

At first step, when *init==0, output takes the value of input and *init will be put at 1.

⌋()

[SWS_Efx_00269]⌈

limit_pos is added to the output and it becomes the maximum value of the new

output

limit_neg is deducted from the output and it becomes the minimum value of the new

output.

If input is outside this range, output is limited to these values, in the other case,

output takes the value of input

⌋()

[SWS_Efx_00270]⌈

Values of limit_pos and limit_neg shall be adapted to the frequency of the call of the

service.

⌋()

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[SWS_Efx_00271] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x8B void Efx_SlewRate_u16 ( uint16, uint16, uint16, uint16 *, uint8 *)

0x8C void Efx_SlewRate_s16 ( uint16, sint16, uint16, sint16 *, uint8 *)

0x8D void Efx_SlewRate_u32 ( uint32, uint32, uint32, uint32 *, uint8 *)

0x8E void Efx_SlewRate_s32 ( uint32, sint32, uint32, sint32 *, uint8 *)

⌋ ( )

8.5.12 Ramp routines

In case of a change of the input value, the ramp output value follows the input value

with a specified limited slope.

Efx_ParamRamp_Type and Efx_StateRamp_Type are the data types for storing

ramp parameters. Usage of Switch-Routine and Jump-Routine is optional based on

the functionality requirement. Usage of Switch-Routine, Jump-Routine, Calc-Routine

and Out-Method have the following precondition concerning the sequence of the

calls.

• Efx_RampCalcSwitch

• Efx_RampCalcJump

• Efx_RampCalc

• Efx_RampOut_S32

Structure definition for function argument

[SWS_Efx_00275] ⌈

Name: Efx_ParamRamp_Type

Type: Structure

Element: uint32 SlopePos_u32 Positive slope for ramp in absolute

value. The resolution of SlopePos_u32

shall be 1/2^16.

uint32 SlopeNeg_u32 Negative slope for ramp in absolute

value. The resolution of SlopeNeg_u32

shall be 1/2^16.

Description: Structure definition for Ramp routine

Available via: Efx.h

⌋ () [SWS_Efx_00834] ⌈

Name: Efx_StateRamp_Type

Type: Structure

Element: sint32 State_s32 State of the ramp

sint8 Dir_s8 Ramp direction

sint8 Switch_s8 Position of switch

Description: Structure definition for Ramp routine

Available via: Efx.h

⌋ ()

8.5.12.1 Ramp routine

[SWS_Efx_00276] ⌈

Service name: Efx_RampCalc

Syntax: void Efx_RampCalc(

sint32 X_s32,

Efx_StateRamp_Type* State_cpst,

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const Efx_ParamRamp_Type* Param_cpcst,

sint32 dT_s32

)

Service ID[hex]: 0x90

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X_s32 Target value for the ramp to reach

Param_cpcst Pointer to parameter structure

dT_s32 Sample Time [10-6

seconds per increment of 1 data

representation unit].

dT_s32 shall be > 0.

Parameters

(inout):

State_cpst Pointer to state structure

Parameters (out): None

Return value: None

Description: The ramp output value increases or decreases a value with slope * dT_s32

depending if (State_cpst->State_s32 < X_s32) or (State_cpst->State_s32 >

X_s32).

Available via: Efx.h

⌋ ()

[SWS_Efx_00837]⌈

If the ramp state State_cpst->State_s32 has reached or crossed the target value

X_s32 while the direction of the ramp had been RISING/FALLING, then set

State_cpst->State_s32 = X_s32

⌋()

[SWS_Efx_00278]⌈

If ramp direction is rising then ramp increases a value with slope * dT_s32

if (State_cpst->Dir_s8 == RISING)

State_cpst->State_s32 = State_cpst->State_s32 + (Param_cpcst->SlopePos_u32 *

dT_s32)

The minimum value of Param_cpcst->SlopePos_u32 * dT_s32 shall be 1, when

Param->SlopePos > 0.

The intermediate results shall be rounded off.

Ex: minimum increment of Param_cpcst->SlopePos_u32 * dT_s32 = 1/(2^16*10^6)

⌋()

[SWS_Efx_00279]⌈

If ramp direction is falling then ramp decreases a value with slope * dT_s32

if (State_cpst->Dir_s8 == FALLING)

State_cpst->State_s32 = State_cpst->State_s32 - (Param_cpcst->SlopeNeg_u32 *

dT_s32)

The minimum value of Param_cpcst->SlopeNeg_u32 * dT_s32 shall be 1, when

Param->SlopeNeg > 0.

The intermediate results shall be rounded off.

Ex: minimum decrement of Param_cpcst->SlopeNeg_u32 * dT_s32 = 1/(2^16*10^6)

⌋()

[SWS_Efx_00280]⌈

Direction of the ramp is stored so that a change of the target can be recognized and

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the output will follow immediately to the new target value.

State_cpst->Dir_s8 states are: RISING, FALLING, END.

⌋()

[SWS_Efx_00281]⌈

Comparison of State and Target decides ramp direction

If(State_cpst->State_s32 > X_s32) then State_cpst->Dir_s8 = FALLING

If(State_cpst->State_s32 < X_s32) then State_cpst->Dir_s8 = RISING

If(State_cpst->State_s32 == X_s32) then State_cpst->Dir_s8 = END

⌋()

[SWS_Efx_00284]⌈

Resolution of dT_s32 is 10-6

seconds per increment of 1 data representation unit

⌋()

8.5.12.2 Ramp Initialisation

[SWS_Efx_00285] ⌈

Service name: Efx_RampInitState

Syntax: void Efx_RampInitState(

Efx_StateRamp_Type* State_cpst,

sint32 Val_s32

)

Service ID[hex]: 0x91

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Val_s32 Initial value for state variable

Parameters

(inout):

State_cpst Pointer to the state structure

Parameters (out): None

Return value: None

Description: Initializes the state, direction and switch parameters for the ramp.

Available via: Efx.h

⌋ ()

[SWS_Efx_00286]⌈

Ramp direction is initialised with END value. User has no possibility to change or

modify ramp direction.

State_cpst->Dir_s8 = END

E.g. of ramp direction states: RISING = 1, FALLING = -1, END = 0

⌋()

[SWS_Efx_00442]⌈

Initialisation of state variable

State_cpst->State_s32 = Val_s32

⌋()

[SWS_Efx_00443]⌈

Initialisation of switch variable. User has no possibility to change or modify switch

initialization value.

State_cpst->Switch_s8 = OFF

E.g. of switch states: TARGET_A = 1, TARGET_B = -1, OFF = 0

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⌋()

8.5.12.3 Ramp Set Slope

[SWS_Efx_00287] ⌈

Service name: Efx_RampSetParam

Syntax: void Efx_RampSetParam(

Efx_ParamRamp_Type* Param_cpst,

uint32 SlopePosVal_u32,

uint32 SlopeNegVal_u32

)

Service ID[hex]: 0x92

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): SlopePosVal_u32 Positive slope value

SlopeNegVal_u32 Negative slope value

Parameters

(inout):

None

Parameters (out): Param_cpst Pointer to parameter structure

Return value: None

Description: Sets the slope parameter for the ramp provided by the structure

Efx_ParamRamp_Type.

Available via: Efx.h

⌋ ()

[SWS_Efx_00288]⌈

Sets positive and negative ramp slopes.

Param_cpst->SlopePos_u32 = SlopePosVal_u32

Param_cpst ->SlopeNeg_u32 = SlopeNegVal_u32

⌋()

8.5.12.4 Ramp out routines

[SWS_Efx_00289] ⌈

Service name: Efx_RampOut_s32

Syntax: sint32 Efx_RampOut_s32(

const Efx_StateRamp_Type* State_cpcst

)

Service ID[hex]: 0x93

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpcst Pointer to the state value

Parameters

(inout):

None

Parameters (out): None

Return value: sint32 Internal state of the ramp element

Description: Returns the internal state of the ramp element.

Available via: Efx.h

⌋ ()

[SWS_Efx_00290]⌈

Return Value = State_cpcst->State_s32

⌋()

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8.5.12.5 Ramp Jump routine

[SWS_Efx_00291] ⌈

Service name: Efx_RampCalcJump

Syntax: void Efx_RampCalcJump(

sint32 X_s32,

Efx_StateRamp_Type* State_cpst

)

Service ID[hex]: 0x94

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): X_s32 Target value for ramp to jump

Parameters

(inout):

State_cpst Pointer to the state value

Parameters (out): None

Return value: None

Description: This routine works in addition to main ramp function Efx_RampCalc to provide a

faster adaption to target value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00292]⌈

If target value changes to a value contrary to current ramp direction and ramp has

not reached its old target value then ramp state jumps to new target value

immediately.

State_cpst->State_s32 = X_s32

State_cpst->Dir_s8 = END

⌋()

[SWS_Efx_00293] ⌈

If target value is changed to new value and ramp has reached its old target value

then normal ramp behavior is maintained.

State_cpst->Dir_s8 = END

⌋ ( )

[SWS_Efx_00303] ⌈

Direction of the ramp is stored so that a change of the target can be recognized and

the output will follow immediately to the new target value.

State_cpst->Dir_s8 states are: RISING, FALLING, END.

⌋ ( )

[SWS_Efx_00304] ⌈

Comparison of State and Target decides ramp direction

If(State_cpst->State_s32 > X_s32) then State_cpst->Dir_s8 = FALLING

If(State_cpst->State_s32 < X_s32) then State_cpst->Dir_s8 = RISING

If(State_cpst->State_s32 == X_s32) then State_cpst->Dir_s8 = END

⌋ ( )

[SWS_Efx_00277] ⌈

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This routine decided if jump has to be done or not in case of change in target.

Efx_RampCalc function shall be called after this function that a jump or the standard

ramp behaviour is executed.

⌋ ( )

8.5.12.6 Ramp switch routine

[SWS_Efx_00520] ⌈

Service name: Efx_RampCalcSwitch

Syntax: sint32 Efx_RampCalcSwitch(

sint32 Xa_s32,

sint32 Xb_s32,

boolean Switch,

Efx_StateRamp_Type* State_cpst

)

Service ID[hex]: 0x96

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

Xa_s32 Target value for the ramp to reach if switch is in position 'A'

Xb_s32 Target value for the ramp to reach if switch is in position 'B'

Switch Switch to decide target value

Parameters

(inout):

State_cpst Pointer to StateRamp structure

Parameters (out): None

Return value: sint32 Returns the selected target value

Description: This routine switches between two target values for a ramp service based on a

Switch parameter.

Available via: Efx.h

⌋ ()

[SWS_Efx_00521]⌈

Parameter Switch decides which target value is selected.

If Switch = TRUE, then Xa_s32 is selected.

State_cpst->Switch_s8 is set to TARGET_A

Return value = Xa_s32

If Switch = FALSE, then Xb_s32 is selected.

State_cpst->Switch_s8 is set to TARGET_B

Return value = Xb_s32

⌋()

[SWS_Efx_00522]⌈

State_cpst->Dir_s8 hold direction information

State_cpst->Dir_s8 shall be set to END to reset direction information in case of target

switch.

⌋()

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[SWS_Efx_00528]⌈

Efx_RampCalcSwitch routine has to be called before Efx_RampCalc

⌋()

8.5.12.7 Get Ramp Switch position

[SWS_Efx_00307] ⌈

Service name: Efx_RampGetSwitchPos

Syntax: boolean Efx_RampGetSwitchPos(

const Efx_StateRamp_Type* State_cpst

)

Service ID[hex]: 0x98

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpst Pointer to the state structure

Parameters

(inout):

None

Parameters (out): None

Return value: boolean return value TRUE or FALSE

Description: Gets the current switch position of ramp switch function.

Available via: Efx.h

⌋ ()

[SWS_Efx_00308]⌈

Return value = TRUE if Switch position State_cpst->Switch_s8 = TARGET_A

Return value = FALSE if Switch position State_cpst->Switch_s8 = TARGET_B

⌋()

Note: The function “Efx_RampGetSwitchPos” should be called only after calling the

function “Efx_RampCalcSwitch” or "Efx_RampCalc".

8.5.12.8 Check Ramp Activity

[SWS_Efx_00309] ⌈

Service name: Efx_RampCheckActivity

Syntax: boolean Efx_RampCheckActivity(

const Efx_StateRamp_Type* State_cpst

)

Service ID[hex]: 0x99

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): State_cpst Pointer to the state structure

Parameters

(inout):

None

Parameters (out): None

Return value: boolean return value TRUE or FALSE

Description: This routine checks the status of the ramp and returns TRUE if the ramp is active,

otherwise it returns FALSE.

Available via: Efx.h

⌋ ()

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[SWS_Efx_00310]⌈

return value = TRUE, if Ramp is active (State_cpst->Dir_s8 != END)

return value = FALSE, if Ramp is inactive (State_cpst->Dir_s8 == END)

⌋()

8.5.13 Hysteresis routines

8.5.13.1 Hysteresis

[SWS_Efx_00311] ⌈

Service name: Efx_Hysteresis_<InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_Hysteresis_<InTypeMn>_<OutTypeMn>(

<InType> input,

<InType> thresholdLow,

<InType> thresholdHigh,

<InType> Out_Val,

<InType> Out_LowThresholdVal,

<InType> Out_HighThresholdVal

)

Service ID[hex]: 0x9A to 0x9F

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

input Input signal

thresholdLow First threshold used to compute the output

thresholdHigh Second threshold used to compute the output

Out_Val Output value between the threshold

Out_LowThresholdVal Output value for Low Threshold trigger

Out_HighThresholdVal Output value for High Threshold trigger

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return value of the function

Description: The routine estimates the output of the hysteresis.

Available via: Efx.h

⌋ ()

[SWS_Efx_00312]⌈

If Input < thresholdLow, Then return_value = Out_LowThresholdVal

⌋()

[SWS_Efx_00313]⌈

If Input > thresholdHigh, Then return_value = Out_HighThresholdVal

⌋()

[SWS_Efx_00314]⌈

If thresholdLow ≤ Input ≤ thresholdHigh, then return_value = Out_Val

⌋()

[SWS_Efx_00315]⌈

Input, thresholdLow and thresholdHigh must have the same resolution and the same

physical unit.

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00316]⌈

Return_value , Out_Val, Out_LowThresholdVal and Out_HighThresholdVal must

have the same resolution and the same physical unit.

⌋()

[SWS_Efx_00317] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0x9A uint8 Efx_Hysteresis_u8_u8 (uint8, uint8, uint8, uint8, uint8, uint8)

0x9B uint16 Efx_Hysteresis_u16_u16(uint16, uint16, uint16, uint16, uint16,uint16)

0x9C uint32 Efx_Hysteresis_u32_u32 ( uint32, uint32,uint32,uint32,uint32,uint32)

0x9D sint8 Efx_Hysteresis_s8_s8 ( sint8,sint8,sint8,sint8,sint8,sint8)

0x9E sint16 Efx_Hysteresis_s16_s16 ( sint16,sint16,sint16,sint16,sint16,sint16)

0x9F sint32 Efx_Hysteresis_s32_s32 ( sint32,sint32,sint32,sint32,sint32,sint32)

⌋ ( )

8.5.13.2 Hysteresis center half delta

[SWS_Efx_00320] ⌈

Service name: Efx_HystCenterHalfDelta_<InTypeMn>_<OutTypeMn>

Syntax: boolean Efx_HystCenterHalfDelta_<InTypeMn>_<OutTypeMn>(

<InType> X,

<InType> center,

<InType> halfDelta,

boolean* State

)

Service ID[hex]: see SWS_Efx_00324

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X Input value

center Center of hysteresis range

halfDelta Half width of hysteresis range

Parameters

(inout):

State Pointer to state value

Parameters (out): None

Return value: boolean Returns TRUE or FALSE depending of input value and state value

Description: Hysteresis with center and left and right side halfDelta switching point.

Available via: Efx.h

⌋ ()

[SWS_Efx_00321]⌈

Return value = TRUE, if X > center + halfDelta

Return value = FALSE, if X < center - halfDelta

Return value is former state value if

(center - halfDelta) ≤ X ≤ (center + halfDelta )

⌋()

[SWS_Efx_00322]⌈

Parameters X, center and halfDelta should have the same data type.

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00323]⌈

State variable shall store the old boolean result.

⌋()

[SWS_Efx_00324] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xA0 boolean Efx_HystCenterHalfDelta_s32_u8(sint32, sint32, sint32, boolean *)

0xA1 boolean Efx_HystCenterHalfDelta_u32_u8 (uint32, uint32, uint32, boolean *)

0x100 boolean Efx_HystCenterHalfDelta_s8_u8 (sint8, sint8, sint8, boolean *)

0x101 boolean Efx_HystCenterHalfDelta_u8_u8 (uint8, uint8, uint8, boolean *)

0x102 boolean Efx_HystCenterHalfDelta_s16_u8(sint16, sint16, sint16, boolean *)

0x103 boolean Efx_HystCenterHalfDelta_u16_u8(uint16, uint16, uint16, boolean *)

⌋ ( )

8.5.13.3 Hysteresis left right

[SWS_Efx_00325] ⌈

Service name: Efx_HystLeftRight_<InTypeMn>_<OutTypeMn>

Syntax: boolean Efx_HystLeftRight_<InTypeMn>_<OutTypeMn>(

<InType> X,

<InType> Lsp,

<InType> Rsp,

boolean* State

)

Service ID[hex]: see SWS_Efx_00330

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X Input value

Lsp Left switching point

Rsp Right switching point

Parameters

(inout):

State Pointer to state value

Parameters (out): None

Return value: boolean Returns TRUE or FALSE depending of input value and state value

Description: Hysteresis with left and right switching point.

Available via: Efx.h

⌋ ()

[SWS_Efx_00326]⌈

Return value = TRUE, if X > Rsp (right switching point)

Return value = FALSE, if X < Lsp (left switching point)

Return value is former state value if Lsp ≤ X ≤ Rsp

⌋()

[SWS_Efx_00327] ⌈

Parameters X, Lsp and Rsp should have the same data type.

⌋ ( )

Specification of Extended Fixed Point Routines

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[SWS_Efx_00328] ⌈

State variable shall store the old boolean result.

⌋ ( )

[SWS_Efx_00329] ⌈

Rsp shall be always greater than Lsp

⌋ ( )

[SWS_Efx_00330] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xA3 boolean Efx_HystLeftRight_s32_u8 (sint32, sint32, sint32, boolean *)

0xA4 boolean Efx_HystLeftRight_u32_u8 (uint32, uint32, uint32, boolean *)

0x104 boolean Efx_HystLeftRight_s8_u8 (sint8, sint8, sint8, boolean *)

0x105 boolean Efx_HystLeftRight_u8_u8 (uint8, uint8, uint8, boolean *)

0x106 boolean Efx_HystLeftRight_s16_u8(sint16, sint16, sint16, boolean *)

0x107 boolean Efx_HystLeftRight_u16_u8(uint16, uint16, uint16, boolean *)

⌋()

8.5.13.4 Hysteresis delta right

[SWS_Efx_00331] ⌈

Service name: Efx_HystDeltaRight_<InTypeMn>_<OutTypeMn>

Syntax: boolean Efx_HystDeltaRight_<InTypeMn>_<OutTypeMn>(

<InType> X,

<InType> Delta,

<InType> Rsp,

boolean* State

)

Service ID[hex]: see SWS_Efx_00335

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X Input value

Delta Left switching point = rsp - delta

Rsp Right switching point

Parameters

(inout):

State Pointer to state value

Parameters (out): None

Return value: boolean Returns TRUE or FALSE depending of input value and state value

Description: Hysteresis with right switching point and delta to left switching point

Available via: Efx.h

⌋ ()

[SWS_Efx_00332]⌈

Return value = TRUE if X > Rsp (right switching point)

Return value = FALSE if X < (Rsp - Delta)

Return value is former state value if (Rsp - Delta) ≤ X ≤ Rsp

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00333] ⌈

Parameters X, Rsp and Delta should have the same data type.

⌋ ( )

[SWS_Efx_00334] ⌈

State variable shall store the old boolean result.

⌋ ( )

[SWS_Efx_00335] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xA5 boolean Efx_HystDeltaRight_s32_u8 (sint32, sint32, sint32, boolean *)

0xA6 boolean Efx_HystDeltaRight_u32_u8 (uint32, uint32, uint32, boolean *)

0x108 boolean Efx_HystDeltaRight_s8_u8 (sint8, sint8, sint8, boolean *)

0x109 boolean Efx_HystDeltaRight_u8_u8 (uint8, uint8, uint8, boolean *)

0x10A boolean Efx_HystDeltaRight_s16_u8(sint16, sint16, sint16, boolean *)

0x10B boolean Efx_HystDeltaRight_u16_u8(uint16, uint16, uint16, boolean *)

⌋()

8.5.13.5 Hysteresis left delta

[SWS_Efx_00336] ⌈

Service name: Efx_HystLeftDelta_<InTypeMn>_<OutTypeMn>

Syntax: boolean Efx_HystLeftDelta_<InTypeMn>_<OutTypeMn>(

<InType> X,

<InType> Lsp,

<InType> Delta,

boolean* State

)

Service ID[hex]: see SWS_Efx_00340

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X Input value

Lsp Left switching point

Delta Right switching point = lsp + delta

Parameters

(inout):

State Pointer to state value

Parameters (out): None

Return value: boolean Returns TRUE or FALSE depending of input value and state value

Description: Hysteresis with left switching point and delta to right switching point.

Available via: Efx.h

⌋ ()

[SWS_Efx_00337]⌈

Return value is TRUE if X > (Lsp + Delta)

Return value is FALSE if X < Lsp

Return value is former state value if Lsp ≤ X ≤ (Lsp + Delta)

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00338] ⌈

Parameters X, Lsp and Delta should have the same data type.

⌋ ( )

[SWS_Efx_00339] ⌈

State variable shall store the old boolean result.

⌋ ( )

[SWS_Efx_00340] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xA7 boolean Efx_HystLeftDelta_s32_u8 (sint32, sint32, sint32, boolean *)

0xA8 boolean Efx_HystLeftDelta_u32_u8 (uint32, uint32, uint32, boolean *)

0x10C boolean Efx_HystLeftDelta_s8_u8 (sint8, sint8, sint8, boolean *)

0x10D boolean Efx_HystLeftDelta_u8_u8 (uint8, uint8, uint8, boolean *)

0x10E boolean Efx_HystLeftDelta_s16_u8(sint16, sint16, sint16, boolean *)

0x10F boolean Efx_HystLeftDelta_u16_u8(uint16, uint16, uint16, boolean *)

⌋()

8.5.14 Debounce routines

8.5.14.1 Efx_Debounce

[SWS_Efx_00355] ⌈

Service name: Efx_Debounce_u8_u8

Syntax: boolean Efx_Debounce_u8_u8(

boolean X,

Efx_DebounceState_Type * State,

const Efx_DebounceParam_Type * Param,

sint32 dT

)

Service ID[hex]: 0xB0

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

X Input value

Param Pointer to state structure of type Efx_DebounceParam_Type

dT Sample Time

Parameters

(inout):

State Pointer to state structure of type Efx_DebounceState_Type

Parameters (out): None

Return value: boolean Returns the debounced input value

Description: This routine debounces a digital input signal and returns the state of the signal as

a boolean value.

Available via: Efx.h

⌋ ()

[SWS_Efx_00356]⌈

If(X != State->XOld) then check start debouncing.

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00357] ⌈

If transition occurs from FALSE to TRUE (i.e State->XOld = FALSE and X = TRUE),

then use Param->TimeLowHigh as debouncing time; otherwise use Param-

>TimeHighLow.

⌋ ( )

[SWS_Efx_00358] ⌈

State->Timer is incremented with sample time for debouncing input signal.

Once reached to the set period, old state is updated with X.

State->Timer += dT;

If (State->Timer ≥ (TimePeriod * 10000))

State->XOld = X, and stop the timer, State->Timer = 0

where TimePeriod = Param->TimeLowHigh or Param->TimeHighLow

⌋ ( )

[SWS_Efx_00359] ⌈

Old value shall be returned as a output value. Current input is stored to old state.

Return value = State->XOld

State->XOld = X

⌋ ( )

[SWS_Efx_00360] ⌈

Resolution of dT is 10-6

seconds per increment of 1 data representation unit

⌋ ( )

Structure definition for function argument

[SWS_Efx_00361] ⌈

Name: Efx_DebounceParam_Type

Type: Structure

Element: sint16 TimeHighLow Time for a High to Low transition, given

in 10ms steps

sint16 TimeLowHigh Time for a Low to High transition, given

in 10ms steps

Description: Structure definition for Debounce routine

Available via: Efx.h

⌋ () [SWS_Efx_00835] ⌈

Name: Efx_DebounceState_Type

Type: Structure

Element: boolean XOld Old input value from last call

sint32 Timer Timer for internal state

Description: Structure definition for Debounce routine

Available via: Efx.h

⌋ ()

8.5.14.2 Efx_DebounceInit

[SWS_Efx_00362] ⌈

Specification of Extended Fixed Point Routines

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Service name: Efx_DebounceInit

Syntax: void Efx_DebounceInit(

Efx_DebounceState_Type* State,

boolean X

)

Service ID[hex]: 0xB1

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): X Initial value for the input state

Parameters

(inout):

None

Parameters (out): State Pointer to state structure of type Efx_DebounceState_Type

Return value: void No return value

Description: This routine call shall stop the debouncing timer.

Available via: Efx.h

⌋ ()

[SWS_Efx_00363]⌈

State->Timer = 0

⌋()

[SWS_Efx_00364] ⌈

Sets the input state to the given init value.

State->XOld = X;

⌋ ( )

8.5.14.3 Efx_DebounceSetparam

[SWS_Efx_00365] ⌈

Service name: Efx_DebounceSetParam

Syntax: void Efx_DebounceSetParam(

Efx_DebounceParam_Type * Param,

sint16 THighLow,

sint16 TLowHigh

)

Service ID[hex]: 0xB2

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): THighLow Value for TimeHighLow of Efx_DebounceParam_Type

TLowHigh Value for TimeLowHigh of Efx_DebounceParam_Type

Parameters

(inout):

None

Parameters (out): Param Pointer to state structure of type Efx_DebounceParam_Type

Return value: void No return value

Description: This routine sets timing parameters, time for high to low transition and time for low

to high for debouncing.

Available via: Efx.h

⌋ ()

[SWS_Efx_00366]⌈

Param-> TimeHighLow = THighLow

Param-> TimeLowHigh = TLowHigh

⌋()

Specification of Extended Fixed Point Routines

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8.5.15 Ascending Sort Routine

[SWS_Efx_00370] ⌈

Service name: Efx_SortAscend_<InTypeMn>

Syntax: void Efx_SortAscend_<InTypeMn>(

<OutType> * Array,

uint16 Num

)

Service ID[hex]: 0xB4 to 0xB9

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Num Size of an data array

Parameters

(inout):

Array Pointer to an data array

Parameters (out): None

Return value: void No return value

Description: The sorting algorithm modifies the given input array and rearranges data in

ascending order.

Available via: Efx.h

⌋ ()

Example for unsigned array :

Input array : uint16 Array [5] = [42, 10, 88, 8, 15]

Result : Array will be sorted to [8, 10, 15, 42, 88]

Example for signed array :

Input array : sint16 Array [5] = [-42, -10, 88, 8, 15]

Result : Array will be sorted to [-42, -10, 8, 15, 88]

[SWS_Efx_00372] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xB4 void Efx_SortAscend_s8 (sint8*, uint16)

0xB5 void Efx_SortAscend_u8 (uint8*, uint16)

0xB6 void Efx_SortAscend_u16 (uint16*, uint16)

0xB7 void Efx_SortAscend_s16 (sint16*, uint16)

0xB8 void Efx_SortAscend_u32 (uint32*, uint16)

0xB9 void Efx_SortAscend_s32 (sint32*, uint16)

⌋ ( )

8.5.16 Descending Sort Routine

[SWS_Efx_00373] ⌈

Service name: Efx_SortDescend_<InTypeMn>

Syntax: void Efx_SortDescend_<InTypeMn>(

<OutType> * Array,

uint16 Num

)

Service ID[hex]: 0xBA to 0xBF

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Num Size of an data array

Parameters

(inout):

Array Pointer to an data array

Specification of Extended Fixed Point Routines

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Parameters (out): None

Return value: void No return value

Description: The sorting algorithm modifies the given input array and rearranges data in

descending order.

Available via: Efx.h

⌋ ()

Example for unsigned array :

Input array : uint16 Array [5] = [42, 10, 88, 8, 15]

Result : Array will be sorted to [88, 42, 15, 10, 8]

Example for signed array :

Input array : sint16 Array [5] = [-42, -10, 88, 8, 15]

Result : Array will be sorted to [88, 15, 8, -10, -42]

[SWS_Efx_00375] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xBF void Efx_SortDescend_s8 (sint8*, uint16)

0xBA void Efx_SortDescend_u8 (uint8*, uint16)

0xBB void Efx_SortDescend_u16 (uint16*, uint16)

0xBC void Efx_SortDescend_s16 (sint16*, uint16)

0xBD void Efx_SortDescend_u32 (uint32*, uint16)

0xBE void Efx_SortDescend_s32 (sint32*, uint16)

⌋ ( )

8.5.17 Median sort routine

[SWS_Efx_00376] ⌈

Service name: Efx_MedianSort_<InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_MedianSort_<InTypeMn>_<OutTypeMn>(

<InType>* Array,

uint8 N

)

Service ID[hex]: 0xC0 to 0xC4, 0xC8

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): N Size of an array

Parameters

(inout):

Array Pointer to an array

Parameters (out): None

Return value: <OutType> Return value of the function

Description: Sort an array and return its median value

Available via: Efx.h

⌋ ()

[SWS_Efx_00377]⌈

This routine sorts values of an array in ascending order. Input array passed by the

pointer shall have sorted values after this routine call.

⌋()

For example:

Input array [5] = [42, 10, 88, 8, 15]

Sorted array[5] = [8, 10, 15, 42, 88]

Specification of Extended Fixed Point Routines

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[SWS_Efx_00378]⌈

Returns the median value of sorted array in case of N is even.

Result = (Sorted_array[N/2] + Sorted_array[(N/2) - 1] ) / 2

⌋()

For example:

Sorted_array[4] = [8, 10, 15, 42]

Result = (15 + 10) / 2 = 12

[SWS_Efx_00440]⌈

Returns the median value of sorted array in case of N is odd.

Return_Value = Sorted_array [N/2] = 15

⌋()

For example:

Sorted_array[5] = [8, 10, 15, 42, 88]

Result = 15

[SWS_Efx_00441]⌈

In above calculation, N/2 shall be rounded towards zero.

⌋()

[SWS_Efx_00379] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xC0 uint8 Efx_MedianSort_u8_u8(uint8*, uint8)

0xC1 uint16 Efx_MedianSort_u16_u16(uint16*, uint8)

0xC2 sint16 Efx_MedianSort_s16_s16(sint16*, uint8)

0xC3 sint8 Efx_MedianSort_s8_s8(sint8*, uint8)

0xC4 uint32 Efx_MedianSort_u32_u32(uint32*, uint8)

0xC8 sint32 Efx_MedianSort_s32_s32(sint32*, uint8)

⌋ ( )

8.5.18 Edge detection routines

8.5.18.1 Edge bipol detection

[SWS_Efx_00380] ⌈

Service name: Efx_EdgeBipol_u8_u8

Syntax: boolean Efx_EdgeBipol_u8_u8(

boolean Inp_Val,

boolean* Old_Val

)

Service ID[hex]: 0xC5

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Inp_Val Actual value of the signal

Parameters

(inout):

Old_Val Pointer to the value of the signal from the last call

Specification of Extended Fixed Point Routines

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Parameters (out): None

Return value: boolean Returns TRUE when the signal has changed since the last call

Description: This routine detects whether a signal has changed since the last call and returns

TRUE. If signal has not changed then returns FALSE.

Available via: Efx.h

⌋ ()

[SWS_Efx_00381]⌈

if (Inp_Val != *Old_Val)

return value = TRUE

else

return value = FALSE.

⌋()

8.5.18.2 Edge falling detection

[SWS_Efx_00382] ⌈

Service name: Efx_EdgeFalling_u8_u8

Syntax: boolean Efx_EdgeFalling_u8_u8(

boolean Inp_Val,

boolean* Old_Val

)

Service ID[hex]: 0xC6

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Inp_Val Actual value of the signal

Parameters

(inout):

Old_Val Pointer to the value of the signal from the last call

Parameters (out): None

Return value: boolean Returns TRUE when the signal has falling edge

Description: Returns TRUE when the signal has a falling edge, i.e. the signal was TRUE at the

last call and FALSE at the actual call of this routine

Available via: Efx.h

⌋ ()

[SWS_Efx_00383]⌈

Return value = TRUE, If (*Old_Val == TRUE && Inp_Val == FALSE)

Return value = FALSE, otherwise.

⌋()

8.5.18.3 Edge rising detection

[SWS_Efx_00384] ⌈

Service name: Efx_EdgeRising_u8_u8

Syntax: boolean Efx_EdgeRising_u8_u8(

boolean Inp_Val,

boolean* Old_Val

)

Service ID[hex]: 0xC7

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Inp_Val Actual value of the signal

Parameters

(inout):

Old_Val Pointer to the value of the signal from the last call

Specification of Extended Fixed Point Routines

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Parameters (out): None

Return value: boolean Returns TRUE when the signal has rising edge

Description: Returns TRUE when the signal has a rising edge, i.e. the signal was FALSE at the

last call and TRUE at the actual call of this routine

Available via: Efx.h

⌋ ()

[SWS_Efx_00385]⌈

Return value = TRUE, If (*Old_Val == FALSE && Inp_Val == TRUE)

Return value = FALSE, otherwise.

⌋()

8.5.19 Interval routines

8.5.19.1 Interval Closed

[SWS_Efx_00386] ⌈

Service name: Efx_IntervalClosed_<InTypeMn>_<OutTypeMn>

Syntax: boolean Efx_IntervalClosed_<InTypeMn>_<OutTypeMn>(

<InType> MinVal,

<InType> InpVal,

<InType> MaxVal

)

Service ID[hex]: 0xCA to 0xCB

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

MinVal Minimum limit value

InpVal Actual value of the signal

MaxVal Maximum limit value

Parameters

(inout):

None

Parameters (out): None

Return value: boolean Returns TRUE when MinVal ≤ InpVal ≤ MaxVal

Description: This routine compares a value 'InpVal' with lower and upper limit 'MinVal' and

'MaxVal' respectively.

Available via: Efx.h

⌋ ()

[SWS_Efx_00387]⌈

Return value = TRUE, if (MinVal ≤ InpVal ≤ MaxVal)

Return value = FALSE, otherwise.

⌋()

[SWS_Efx_00388] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xCA boolean Efx_IntervalClosed_s32_u8(sint32, sint32, sint32)

0xCB boolean Efx_IntervalClosed_u32_u8(uint32, uint32, uint32)

⌋ ( )

Specification of Extended Fixed Point Routines

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8.5.19.2 Interval Open

[SWS_Efx_00390] ⌈

Service name: Efx_IntervalOpen_<InTypeMn>_<OutTypeMn>

Syntax: boolean Efx_IntervalOpen_<InTypeMn>_<OutTypeMn>(

sint32 MinVal,

sint32 InpVal,

sint32 MaxVal

)

Service ID[hex]: 0xCC to 0xCD

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

MinVal Minimum limit value

InpVal Actual value of the signal

MaxVal Maximum limit value

Parameters

(inout):

None

Parameters (out): None

Return value: boolean Returns TRUE when MinVal < InpVal < MaxVal

Description: This routine compares a value 'InpVal' with lower and upper limit 'MinVal' and

'MaxVal' respectively.

Available via: Efx.h

⌋ ()

[SWS_Efx_00391]⌈

Return value = TRUE, if (MinVal < InpVal < MaxVal)

Return value = FALSE, otherwise.

⌋()

[SWS_Efx_00392] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xCC boolean Efx_IntervalOpen_s32_u8(sint32, sint32, sint32)

0xCD boolean Efx_IntervalOpen_u32_u8(uint32, uint32, uint32)

⌋ ( )

8.5.19.3 Interval Left Open

[SWS_Efx_00393] ⌈

Service name: Efx_IntervalLeftOpen_<InTypeMn>_<OutTypeMn>

Syntax: boolean Efx_IntervalLeftOpen_<InTypeMn>_<OutTypeMn>(

sint32 MinVal,

sint32 InpVal,

sint32 MaxVal

)

Service ID[hex]: 0xCE to 0xCF

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

MinVal Minimum limit value

InpVal Actual value of the signal

MaxVal Maximum limit value

Parameters None

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(inout):

Parameters (out): None

Return value: boolean Returns TRUE when MinVal < InpVal ≤ MaxVal

Description: This routine compares a value 'InpVal' with lower and upper limit 'MinVal' and

'MaxVal' respectively.

Available via: Efx.h

⌋ ()

[SWS_Efx_00394]⌈

Return value = TRUE, if (MinVal < InpVal ≤ MaxVal)

Return value = FALSE, otherwise.

⌋()

[SWS_Efx_00395] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xCE boolean Efx_IntervalLeftOpen_s32_u8(sint32, sint32, sint32)

0xCF boolean Efx_IntervalLeftOpen_u32_u8(uint32, uint32, uint32)

⌋ ( )

8.5.19.4 Interval Right Open

[SWS_Efx_00396] ⌈

Service name: Efx_IntervalRightOpen_<InTypeMn>_<OutTypeMn>

Syntax: boolean Efx_IntervalRightOpen_<InTypeMn>_<OutTypeMn>(

sint32 MinVal,

sint32 InpVal,

sint32 MaxVal

)

Service ID[hex]: 0xD0 to 0xD1

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in):

MinVal Minimum limit value

InpVal Actual value of the signal

MaxVal Maximum limit value

Parameters

(inout):

None

Parameters (out): None

Return value: boolean Returns TRUE when MinVal ≤ InpVal < MaxVal

Description: This routine compares a value 'InpVal' with lower and upper limit 'MinVal' and

'MaxVal' respectively.

Available via: Efx.h

⌋ ()

[SWS_Efx_00397]⌈

Return value = TRUE, if (MinVal ≤ InpVal < MaxVal)

Return value = FALSE, otherwise.

⌋()

[SWS_Efx_00398] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

Specification of Extended Fixed Point Routines

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0xD0 boolean Efx_IntervalRightOpen_s32_u8(sint32, sint32, sint32)

0xD1 boolean Efx_IntervalRightOpen_u32_u8(uint32, uint32, uint32)

⌋ ( )

8.5.20 Counter routines

[SWS_Efx_00399] ⌈

Service name: Efx_CounterSet_<InTypeMn>

Syntax: void Efx_CounterSet_<InTypeMn>(

<InType>* CounterVal,

<InType> Val

)

Service ID[hex]: 0xD2 to 0xD4

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Val Initial value

Parameters

(inout):

CounterVal Pointer to input value

Parameters (out): None

Return value: None

Description: The CounterSet routines initialise counter value with initial value

 CounterVal = Val;

Available via: Efx.h

⌋ () [SWS_Efx_00404] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xD2 void Efx_CounterSet_u16 (uint16*, uint16)

0xD3 void Efx_CounterSet_u32 (uint32*, uint32)

0xD4 void Efx_CounterSet_u8 (uint8*, uint8)

⌋ ( )

[SWS_Efx_00400] ⌈

Service name: Efx_Counter_<InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_Counter_<InTypeMn>_<OutTypeMn>(

<InType> * CounterVal

)

Service ID[hex]: 0xD5 to 0xD7

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): None

Parameters

(inout):

CounterVal Pointer to input value

Parameters (out): None

Return value: <OutType> Returns value is the new value of the parameter CounterVal.

Description: The counter routines increments the value of the parameter CounterVal by 1.

Available via: Efx.h

⌋ ()

[SWS_Efx_00401]⌈

The return value is the new value of the parameter CounterVal.

* CounterVal ++;

Return value = *CounterVal;

⌋()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00402]⌈

In case of saturation, counter value shall not be reset to 0 and shall not be

incremented.

Return value = Saturated value of the counter data type

⌋()

[SWS_Efx_00403] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xD5 uint8 Efx_Counter_u8_u8 (uint8 *)

0xD6 uint16 Efx_Counter_u16_u16 (uint16 *)

0xD7 uint32 Efx_Counter_u32_u32 (uint32 *)

⌋ ( )

8.5.21 Flip-Flop routine

[SWS_Efx_00405] ⌈

Service name: Efx_RSFlipFlop

Syntax: boolean Efx_RSFlipFlop(

boolean R_Val,

boolean S_Val,

boolean* State_Val

)

Service ID[hex]: 0xEF

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): R_Val Reset switch - changes the flip flop state to FALSE

S_Val Set switch - changes the flip flop state to TRUE

Parameters

(inout):

State_Val Pointer to flip-flop state variable

Parameters (out): None

Return value: boolean Returns the new state of the flip flop

Description: RS flip flop can be set and reset via input switches R_Val and S_Val.

Available via: Efx.h

⌋ ()

[SWS_Efx_00406]⌈

The reset switch is higher prior than the set switch,

e.g. R_Val = TRUE,

S_Val = TRUE

Then state and return value = FALSE

⌋()

[SWS_Efx_00407]⌈

Reset condition :

R_Val = TRUE,

S_Val = FALSE

Then state and return value = FALSE

⌋()

[SWS_Efx_00408]⌈

Set condition :

Specification of Extended Fixed Point Routines

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R_Val = FALSE,

S_Val = TRUE

Then state and return value = TRUE

⌋()

[SWS_Efx_00409]⌈

Invalid condition :

R_Val = FALSE,

S_Val = FALSE

Then state and return value are unchanged

⌋()

8.5.22 Limiter routines

[SWS_Efx_00410] ⌈

Service name: Efx_TypeLimiter_<InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_TypeLimiter_<InTypeMn>_<OutTypeMn>(

<InType> Input_Val

)

Service ID[hex]: 0xD8 to 0xE9

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): Input_Val Input value to be limited

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Returns the limited value for input

Description: limiter routine

Available via: Efx.h

⌋ ()

[SWS_Efx_00411]⌈

Input value shall be saturated according to the data type of the return parameter.

e.g. If return type is sint16 and input data range is uint32, then output value will be

limited to sint16 data range.

⌋()

[SWS_Efx_00412] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xD8 uint8 Efx_TypeLimiter_s32_u8 (sint32)

0xD9 uint16 Efx_TypeLimiter_s32_u16 (sint32)

0xDA uint32 Efx_TypeLimiter_s32_u32 (sint32)

0xDB sint8 Efx_TypeLimiter_s32_s8 (sint32)

0xDC sint16 Efx_TypeLimiter_s32_s16 (sint32)

0xDD uint8 Efx_TypeLimiter_u32_u8 (uint32)

0xDE uint16 Efx_TypeLimiter_u32_u16 (uint32)

0xDF sint32 Efx_TypeLimiter_u32_s32 (uint32)

0xE0 sint8 Efx_TypeLimiter_u32_s8 (uint32)

0xE1 sint16 Efx_TypeLimiter_u32_s16 (uint32)

0xE2 uint8 Efx_TypeLimiter_s16_u8 (sint16)

0xE3 uint16 Efx_TypeLimiter_s16_u16 (sint16)

0xE4 sint8 Efx_TypeLimiter_s16_s8 (sint16)

0xE5 uint8 Efx_TypeLimiter_u16_u8 (uint16)

Specification of Extended Fixed Point Routines

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0xE6 sint8 Efx_TypeLimiter_u16_s8 (uint16)

0xE7 sint16 Efx_TypeLimiter_u16_s16 (uint16)

0xE8 uint8 Efx_TypeLimiter_s8_u8 (sint8)

0xE9 sint8 Efx_TypeLimiter_u8_s8 (uint8)

⌋ ( )

8.5.23 64 bits functions

8.5.23.1 General requirements

The usage of 64bits data must remain an exception in the code if the requirement

cannot be reached by another mean.

[SWS_Efx_00415] ⌈

C operators shall not be used for 64bit data (cast, arithmetic operators and

comparison operators) ⌋ ( )

[SWS_Efx_00416] ⌈

64bit constants shall not be used. ⌋ ( )

[SWS_Efx_00417] ⌈

Direct affectation to and from a 64 bit type shall only be used through predefined

functions of 64 bits library. ⌋ ( )

[SWS_Efx_00418] ⌈

Only the sint64 type is allowed (uint64 shall not be used). ⌋ ( )

[SWS_Efx_00419] ⌈

64bit functions do not perform saturation, even for the conversion to smaller types. ⌋

( )

8.5.23.2 Casts

[SWS_Efx_00420] ⌈

Service name: Efx_Cast_<InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_Cast_<InTypeMn>_<OutTypeMn>(

<InType> x_value

)

Service ID[hex]: 0xEA to 0xEC

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): x_value Argument of the function

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Return value of the function

Specification of Extended Fixed Point Routines

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Description: Convert value of entry type in the value in the output type

Available via: Efx.h

⌋ ()

[SWS_Efx_00422] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xEA sint64 Efx_Cast_u32_s64( uint32)

0xEB uint32 Efx_Cast_s64_u32( sint64)

0xEC sint32 Efx_Cast_s64_s32( sint64)

⌋ ( )

8.5.23.3 Additions

[SWS_Efx_00423] ⌈

Service name: Efx_Add_<InTypeMn><InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_Add_<InTypeMn><InTypeMn>_<OutTypeMn>(

<InType> x_value,

<InType> y_value

)

Service ID[hex]: 0xF0 to 0xF2

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): x_value First argument

y_value Second argument

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Result of the calculation

Description: This service makes an addition between the two arguments

The addition is not protected against the overflow.

Available via: Efx.h

⌋ ()

[SWS_Efx_00424]⌈

Return value = x_value + y_value

⌋()

[SWS_Efx_00425] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xF0 sint64 Efx_Add_s64s32_s64( sint64, sint32)

0xF1 sint64 Efx_Add_s64u32_s64( sint64, uint32)

0xF2 sint64 Efx_Add_s64s64_s64( sint64, sint64)

⌋ ( )

8.5.23.4 Multiplications

[SWS_Efx_00426] ⌈

Specification of Extended Fixed Point Routines

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Service name: Efx_Mul_<InTypeMn><InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_Mul_<InTypeMn><InTypeMn>_<OutTypeMn>(

<InType> x_value,

<InType> y_value

)

Service ID[hex]: 0xF3 to 0xF5

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): x_value First argument

y_value Second argument

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Result of the calculation

Description: This service makes a multiplication between the two arguments

The multiplication is not protected against the overflow.

Available via: Efx.h

⌋ ()

[SWS_Efx_00427]⌈

Return value = x_value * y_value

⌋()

[SWS_Efx_00428] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xF3 sint64 Efx_Mul_s64u32_s64( sint64, uint32)

0xF4 sint64 Efx_Mul_s64s32_s64( sint64, sint32)

0xF5 sint64 Efx_Mul_s64s64_s64( sint64, sint64)

⌋ ( )

8.5.23.5 Division

[SWS_Efx_00429] ⌈

Service name: Efx_Div_<InTypeMn><InTypeMn>_<OutTypeMn>

Syntax: <OutType> Efx_Div_<InTypeMn><InTypeMn>_<OutTypeMn>(

<InType> x_value,

<InType> y_value

)

Service ID[hex]: 0xF6 to 0xFB

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): x_value First argument

y_value Second argument

Parameters

(inout):

None

Parameters (out): None

Return value: <OutType> Result of the calculation

Description: These services make a division between the two arguments

Available via: Efx.h

⌋ ()

Specification of Extended Fixed Point Routines

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[SWS_Efx_00430]⌈

Return value = x_value / y_value

⌋()

[SWS_Efx_00431]⌈

The result after division by zero is defined by:

If x_value ≥ 0 then the function returns the maximum value of the output type

If x_value < 0 then the function returns the minimum value of the output type

⌋()

[SWS_Efx_00433]⌈

The result is rounded towards 0.

⌋()

[SWS_Efx_00434] ⌈

Here is the list of implemented functions.

Service ID[hex] Syntax

0xF6 sint64 Efx_Div_s64u32_s64( sint64, uint32)

0xF7 sint64 Efx_Div_s64s32_s64( sint64, sint32)

0xF8 sint32 Efx_Div_s64s32_s32 ( sint64, sint32)

0xF9 uint32 Efx_Div_s64s32_u32 ( sint64, sint32)

0xFA sint32 Efx_Div_s64u32_s32 ( sint64, uint32)

0xFB uint32 Efx_Div_s64u32_u32 ( sint64, uint32)

⌋ ( )

8.5.23.6 Comparison

[SWS_Efx_00436] ⌈

Service name: Efx_Gt_<InTypeMn><InTypeMn>_<OutTypeMn>

Syntax: boolean Efx_Gt_<InTypeMn><InTypeMn>_<OutTypeMn>(

<InType> x_value,

<InType> y_value

)

Service ID[hex]: 0xFC to 0xFD

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): x_value First argument

y_value Second argument

Parameters

(inout):

None

Parameters (out): None

Return value: boolean Result of the calculation

Description: This service makes a comparison between the two arguments

Available via: Efx.h

⌋ ()

[SWS_Efx_00437]⌈

Return Value = TRUE, if (x_value > y_value), else FALSE.

⌋()

[SWS_Efx_00438] ⌈

Specification of Extended Fixed Point Routines

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Here is the list of implemented functions.

Service ID[hex] Syntax

0xFC boolean Efx_Gt_s64u32_u8( sint64, uint32)

0xFD boolean Efx_Gt_s64s32_u8( sint64, sint32)

⌋ ( )

8.6 Examples of use of functions

None

8.7 Version API

8.7.1 Efx_GetVersionInfo

[SWS_Efx_00815] ⌈

Service name: Efx_GetVersionInfo

Syntax: void Efx_GetVersionInfo(

Std_VersionInfoType* versioninfo

)

Service ID[hex]: 0xff

Sync/Async: Synchronous

Reentrancy: Reentrant

Parameters (in): None

Parameters

(inout):

None

Parameters (out): versioninfo Pointer to where to store the version information of this module.

Format according [BSW00321]

Return value: None

Description: Returns the version information of this library.

Available via: Efx.h

⌋ (SRS_BSW_00407, SRS_BSW_00003, SRS_BSW_00318, SRS_BSW_00321)

The version information of a BSW module generally contains:

Module Id

Vendor Id

Vendor specific version numbers (SRS_BSW_00407).

[SWS_Efx_00816] ⌈

If source code for caller and callee of Efx_GetVersionInfo is available, the Efx library

should realize Efx_GetVersionInfo as a macro defined in the module’s header file. ⌋

(SRS_BSW_00407, SRS_BSW_00411)

8.8 Call-back notifications

None

8.9 Scheduled functions

The EfX library does not have scheduled functions.

8.10 Expected Interfaces

None

8.10.1 Mandatory Interfaces

None

Specification of Extended Fixed Point Routines

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8.10.2 Optional Interfaces

None

8.10.3 Configurable interfaces

None

Specification of Extended Fixed Point Routines

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9 Sequence diagrams

Not applicable.

Specification of Extended Fixed Point Routines

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10 Configuration specification

10.1Published Information

[SWS_Efx_00814] ⌈The standardized common published parameters as required by

SRS_BSW_00402 in the General Requirements on Basic Software Modules [3] shall

be published within the header file of this module and need to be provided in the

BSW Module Description. The according module abbreviation can be found in the

List of Basic Software Modules [1]. ⌋ (SRS_BSW_00402, SRS_BSW_00374,

SRS_BSW_00379)

Additional module-specific published parameters are listed below if applicable.

10.2Configuration option

[SWS_Efx_00818] ⌈The Efx library shall not have any configuration options that may

affect the functional behavior of the routines. I.e. for a given set of input parameters,

the outputs shall be always the same. For example, the returned value in case of

error shall not be configurable. ⌋ (SRS_LIBS_00001)

However, a library vendor is allowed to add specific configuration options concerning

library implementation, e.g. for resources consumption optimization.

Specification of Extended Fixed Point Routines

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11 Not applicable requirements

[SWS_Efx_00822]⌈

These requirements are not applicable to this specification.

⌋(SRS_BSW_00448)