/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            mathtool.h
 Partner Filename:    mathtool.c
 Description:         The header file of mathtool.c
 Complier:            IAR Embedded Workbench for ARM 7.80, IAR Systems.
 CPU TYPE :           GD32F3x0
*************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
Revising History (ECL of this file):

************************************************************************/

/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef MATHTOOL_H
#define MATHTOOL_H

/************************************************************************
 Modules used (included header files)
*************************************************************************/

/************************************************************************
 Compiler Directives (N/A)
*************************************************************************/
#ifdef _MATHTOOL_C_
#define _MATHTOOL_EXT
#else
#define _MATHTOOL_EXT extern
#endif

/************************************************************************
 Definitions & Macros (#define ...)
*************************************************************************/
#define SINTABSIZE    256 + 1
#define ARCTANTABSIZE 16
#define SINCOS_DEFAULT \
    {                  \
        0, 0           \
    } // Default value of SINCOS_DEFAULT
#define ARCTAN_IN_DEFAULT \
    {                     \
        0, 0              \
    } // Default value of ARCTAN_IN
/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/
typedef struct
{                  // Outputs of sin-cos table
    SWORD swSinPu; // Q15 Output SIN
    SWORD swCosPu; // Q15 Output COS
} SINCOS;          // Struct of sin&cos
typedef struct
{                     // Outputs of LPF
    UWORD       uwKx; // Q15
    SLONG_UNION slY;  // Q?+Q16
} LPF_OUT;            // Struct of LPF_OUT
typedef struct
{
    SWORD swAlphaPu; // Alpha axis component
    SWORD swBetaPu;  // Beta axis component
} ARCTAN_IN;
/************************************************************************
 Constant Table
*************************************************************************/

/************************************************************************
 Exported Variables (Start definitions w/ _MATHTOOL_EXT)
*************************************************************************/
#ifdef _MATHTOOL_C_
_MATHTOOL_EXT SINCOS    mth_stSinCosPu = SINCOS_DEFAULT;
_MATHTOOL_EXT ARCTAN_IN mth_stArctanIn = ARCTAN_IN_DEFAULT;
#else
_MATHTOOL_EXT SINCOS    mth_stSinCosPu;
_MATHTOOL_EXT ARCTAN_IN mth_stArctanIn;
#endif

/************************************************************************
 Exported Function Call Prototypes (Start definitions w/ _MATHTOOL_EXT)
*************************************************************************/
#ifdef _MATHTOOL_C_
_MATHTOOL_EXT void  mth_voSinCos(UWORD angle, SINCOS *v);
_MATHTOOL_EXT void  mth_voLPFilterCoef(ULONG ulLpfTime_us, ULONG ulExeFreq, UWORD *uwLPFCof);
_MATHTOOL_EXT void  mth_voLPFilter(SWORD swLpfIn, LPF_OUT *out);
_MATHTOOL_EXT SLONG mth_slSqrt(SLONG slInput);
_MATHTOOL_EXT SLONG mth_slRamp(SLONG slInput, SLONG slDelta, SLONG slOutputLimit);
_MATHTOOL_EXT SWORD mth_voArctan(ARCTAN_IN *in);
#else
_MATHTOOL_EXT void  mth_voSinCos(UWORD angle, SINCOS *v);
_MATHTOOL_EXT void  mth_voLPFilterCoef(ULONG ulLpfTime_us, ULONG ulExeFreq, UWORD *uwLPFCof);
_MATHTOOL_EXT void  mth_voLPFilter(SWORD swLpfIn, LPF_OUT *out);
_MATHTOOL_EXT SLONG mth_slSqrt(SLONG slInput);
_MATHTOOL_EXT SLONG mth_slRamp(SLONG slInput, SLONG slDelta, SLONG slOutputLimit);
_MATHTOOL_EXT SWORD mth_voArctan(ARCTAN_IN *in);
#endif

/************************************************************************
 RAM ALLOCATION: N/A
*************************************************************************/

/************************************************************************
 Flag Define (N/A)
*************************************************************************/

/************************************************************************/
#endif
/*************************************************************************
 Copyright (c) 2011 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
 End of this File (EOF):
 Do not put anything after this part!
*************************************************************************/