/**
 ******************************************************************************
 * @file	 user_lib.h
 * @author  Wang Hongxi
 * @version V1.0.0
 * @date    2021/2/18
 * @brief
 ******************************************************************************
 * @attention
 *
 ******************************************************************************
 */
#ifndef _USER_LIB_H
#define _USER_LIB_H

#include "stdint.h"
#include "main.h"
#include "cmsis_os.h"
#include "stm32f407xx.h"
#include "arm_math.h"


#ifndef user_malloc
#ifdef _CMSIS_OS_H
#define user_malloc pvPortMalloc
#else
#define user_malloc malloc
#endif
#endif

#define msin(x) (arm_sin_f32(x))
#define mcos(x) (arm_cos_f32(x))

typedef arm_matrix_instance_f32 mat;
// 若运算速度不够,可以使用q31代替f32,但是精度会降低
#define MatAdd arm_mat_add_f32
#define MatSubtract arm_mat_sub_f32
#define MatMultiply arm_mat_mult_f32
#define MatTranspose arm_mat_trans_f32
#define MatInverse arm_mat_inverse_f32
void MatInit(mat *m, uint8_t row, uint8_t col);

/* boolean type definitions */
#ifndef TRUE
#define TRUE 1 /**< boolean true  */
#endif

#ifndef FALSE
#define FALSE 0 /**< boolean fails */
#endif

/* circumference ratio */
#ifndef PI
#define PI 3.14159265354f
#endif
typedef __packed struct
{
    float input;        //输入数据
    float out;          //滤波输出的数据
    float num[1];       //滤波参数
    float frame_period; //滤波的时间间隔 单位 s
} first_order_filter_type_t;

#define VAL_LIMIT(val, min, max) \
    do                           \
    {                            \
        if ((val) <= (min))      \
        {                        \
            (val) = (min);       \
        }                        \
        else if ((val) >= (max)) \
        {                        \
            (val) = (max);       \
        }                        \
    } while (0)

#define ANGLE_LIMIT_360(val, angle)     \
    do                                  \
    {                                   \
        (val) = (angle) - (int)(angle); \
        (val) += (int)(angle) % 360;    \
    } while (0)

#define ANGLE_LIMIT_360_TO_180(val) \
    do                              \
    {                               \
        if ((val) > 180)            \
            (val) -= 360;           \
    } while (0)

#define VAL_MIN(a, b) ((a) < (b) ? (a) : (b))
#define VAL_MAX(a, b) ((a) > (b) ? (a) : (b))

/**
 * @brief 返回一块干净的内�?,不过仍然需要强制转�?为你需要的类型
 *
 * @param size 分配大小
 * @return void*
 */
void *zmalloc(size_t size);

// ���ٿ���
float Sqrt(float x);
// ��������
float abs_limit(float num, float Limit);
// �жϷ���λ
float sign(float value);
// ��������
float float_deadband(float Value, float minValue, float maxValue);
// �޷�����
float float_constrain(float Value, float minValue, float maxValue);
// �޷�����
int16_t int16_constrain(int16_t Value, int16_t minValue, int16_t maxValue);
// ѭ���޷�����
float loop_float_constrain(float Input, float minValue, float maxValue);
// �Ƕ� ���޷� 180 ~ -180
float theta_format(float Ang);

int float_rounding(float raw);

float *Norm3d(float *v);

float NormOf3d(float *v);

void Cross3d(float *v1, float *v2, float *res);

float Dot3d(float *v1, float *v2);

float AverageFilter(float new_data, float *buf, uint8_t len);
//一阶低通滤波初始化
void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, float frame_period, const float num[1]);
//一阶低通滤波计算
void first_order_filter_cali(first_order_filter_type_t *first_order_filter_type, float input);

#define rad_format(Ang) loop_float_constrain((Ang), -PI, PI)

#endif