#include "type.h"

#define SQRT_2 1.4142
#define SQRT_3 1.732

/**
 * @brief  Macro to compute logarithm of two
 */
#define LOG2(x) \
    ((x) == 65535 ? 16 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 15 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 14 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 13 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 12 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 11 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 10 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 9 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 8 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 7 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 ? 6 : ((x) == 2 * 2 * 2 * 2 * 2 ? 5 : ((x) == 2 * 2 * 2 * 2 ? 4 : ((x) == 2 * 2 * 2 ? 3 : ((x) == 2 * 2 ? 2 : ((x) == 2 ? 1 : ((x) == 1 ? 0 : -1)))))))))))))))))

/**
 * @brief  This function transforms stator currents Ia and qIb (which are
 *         directed along axes each displaced by 120 degrees) into currents
 *         Ialpha and Ibeta in a stationary qd reference frame.
 *                               Ialpha = Ia
 *                       Ibeta = -(2*Ib+Ia)/sqrt(3)
 * @param  Curr_Input: stator current Ia and Ib in ab_t format
 * @retval Stator current Ialpha and Ibeta in alphabeta_t format
 */
alphabeta_t math_clarke(ab_t Input);

/**
 * @brief  This function transforms stator values alpha and beta, which
 *         belong to a stationary qd reference frame, to a rotor flux
 *         synchronous reference frame (properly oriented), so as Iq and Id.
 *                   Id= Ialpha *sin(theta)+qIbeta *cos(Theta)
 *                   Iq=qIalpha *cos(Theta)-qIbeta *sin(Theta)
 * @param  Curr_Input: stator values alpha and beta in alphabeta_t format
 * @param  Theta: rotating frame angular position in q1.15 format
 * @retval Stator current q and d in qd_t format
 */
qd_t math_park(alphabeta_t Input, int16_t Theta);

/**
 * @brief  This function transforms stator voltage qVq and qVd, that belong to
 *         a rotor flux synchronous rotating frame, to a stationary reference
 *         frame, so as to obtain qValpha and qVbeta:
 *                  Valfa= Vq*Cos(theta)+ Vd*Sin(theta)
 *                  Vbeta=-Vq*Sin(theta)+ Vd*Cos(theta)
 * @param  Curr_Input: stator voltage Vq and Vd in qd_t format
 * @param  Theta: rotating frame angular position in q1.15 format
 * @retval Stator values alpha and beta in alphabeta_t format
 */
alphabeta_t math_rev_park(qd_t Input, int16_t Theta);

/**
 * @brief  It calculates the square root of a non-negative s32. It returns 0
 *         for negative s32.
 * @param  Input int32_t number
 * @retval int32_t Square root of Input (0 if Input<0)
 */
int32_t math_sqrt(int32_t wInput);