#ifndef _Fast_Math_H__
#define _Fast_Math_H__
#include <arm_math.h>
#include "libs/utils.h"
// Constants
#define ONE_BY_SQRT3			(0.57735026919f) // 1/sqrt(3)
#define TWO_BY_SQRT3			(2.0f * 0.57735026919f)
#define SQRT3_BY_2				(0.86602540378f)
#define SQRT3                   (1.73205080757f)
#define SQRT2_BY_SQRT3          (0.8164966f)
#define M_PI (3.14159265f)

#define ONE_BY_SQRT3_Q14  (9459L) //0.57735026919 * 16384.0F
#define SQRT3_BY_2_Q14    (14189L)//0.86602540378 * 16384.0F
#define TWO_BY_SQRT3_Q14  (18918L)

#ifndef SQ
#define SQ(x) ((x)*(x))
#endif
// nan and infinity check for floats
#define UTILS_IS_INF(x)		((x) == (1.0F / 0.0F) || (x) == (-1.0F / 0.0F))
#define UTILS_IS_NAN(x)		((x) != (x))
#define UTILS_NAN_ZERO(x)	(x = UTILS_IS_NAN(x) ? 0.0F : x)

void fast_sincos(float angle, float *sin, float *cos);
void SinCos_Lut(float angle, float *s, float *c);

#define MATH_sat(in, minOut, maxOut) (min((maxOut), MAX((in), (minOut))))


static __INLINE int32_t sclamp(int32_t v, int32_t minv, int32_t maxv) {
	if (v < minv) {
		return minv;
	}else if (v > maxv) {
		return maxv;
	}
	return v;
}

static __INLINE float fclamp(float v, float minv, float maxv) {
	if (v < minv) {
		return minv;
	}else if (v > maxv) {
		return maxv;
	}
	return v;
}


static void fast_norm_angle(float *angle) {
	*angle = fmodf(*angle, 360.0f);

	if (*angle < 0.0f) {
		*angle += 360.0f;
	}
}
/* 递增map */
static __INLINE float f_map(float x, float in_min, float in_max, float out_min, float out_max) {
	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

/* 递减map */
static __INLINE float f_map_inv(float x, float in_min, float in_max, float out_min, float out_max) {
	return out_max - (x - in_min) * (out_max - out_min) / (in_max - in_min);
}


static __INLINE void step_towards(float *value, float goal, float step) {
    if (*value < goal) {
        if ((*value + step) < goal) {
            *value += step;
        } else {
            *value = goal;
        }
    } else if (*value > goal) {
        if ((*value - step) > goal) {
            *value -= step;
        } else {
            *value = goal;
        }
    }
}

/**
 * Fast atan2
 *
 * See http://www.dspguru.com/dsp/tricks/fixed-point-atan2-with-self-normalization
 *
 * @param y
 * y
 *
 * @param x
 * x
 *
 * @return
 * The angle in radians
 */
static __INLINE float fast_atan2(float y, float x) {
	float abs_y = fabsf(y) + 1e-20f; // kludge to prevent 0/0 condition
	float angle;

	if (x >= 0) {
		float r = (x - abs_y) / (x + abs_y);
		float rsq = r * r;
		angle = ((0.1963f * rsq) - 0.9817f) * r + (M_PI / 4.0f);
	} else {
		float r = (x + abs_y) / (abs_y - x);
		float rsq = r * r;
		angle = ((0.1963f * rsq) - 0.9817f) * r + (3.0f * M_PI / 4.0f);
	}

	UTILS_NAN_ZERO(angle);

	if (y < 0) {
		return(-angle);
	} else {
		return(angle);
	}
}

static __INLINE float fast_atan_2(float y, float x) {
    // a := min (|x|, |y|) / max (|x|, |y|)
    float abs_y = ABS(y);
    float abs_x = ABS(x);
    // inject FLT_MIN in denominator to avoid division by zero
    float a = min(abs_x, abs_y) / (MAX(abs_x, abs_y) + 1e-20f);
    // s := a * a
    float s = a * a;
    // r := ((-0.0464964749 * s + 0.15931422) * s - 0.327622764) * s * a + a
    float r = ((-0.0464964749f * s + 0.15931422f) * s - 0.327622764f) * s * a + a;
    // if |y| > |x| then r := 1.57079637 - r
    if (abs_y > abs_x)
        r = 1.57079637f - r;
    // if x < 0 then r := 3.14159274 - r
    if (x < 0.0f)
        r = 3.14159274f - r;
    // if y < 0 then r := -r
    if (y < 0.0f)
        r = -r;

    return r;
}

static void normal_sincosf(float angle, float *sin, float *cos) {
	*sin = arm_sin_f32(angle);
	*cos = arm_cos_f32(angle);
}
#define degree_2_pi(d) ((float)(d) * M_PI / 180.0f)
#define pi_2_degree(d) ((float)(d) * 180.0f / M_PI)

#define INVALID_ANGLE 0x3DFF

#define SIGN(x)				(((x) < 0.0f) ? -1.0f : 1.0f)


/**
 * A simple low pass filter.
 *
 * @param value
 * The filtered value.
 *
 * @param sample
 * Next sample.
 *
 * @param filter_constant
 * Filter constant. Range 0.0 to 1.0, where 1.0 gives the unfiltered value.
 */
/* 前向差分离散化 */
#define LowPass_Filter(value, sample, filter_constant)	(value = ((float)sample - (float)value) * filter_constant + value)
/* 后向差分离散化 */
#define do_lpf(value, sample, filter_constant)	((sample * filter_constant + value)/(1.0f + filter_constant))


static float limitRPM(float vel_limit, float vel_estimate, float vel_gain, float torque) {
    float Tmax = (vel_limit - vel_estimate) * vel_gain;
    float Tmin = (-vel_limit - vel_estimate) * vel_gain;
	if (torque < Tmin) {
		return Tmin;
	}
	if (Tmax > torque) {
		return torque;
	}
	return Tmax;
}

#define MAX_H 1.1F
static float lp_compestion(float w, float wc) {
	float comp = sqrtf(1.0f + SQ(w/wc));
	if (comp > MAX_H) {
		comp = MAX_H;
	}else if (comp < -MAX_H) {
		comp = -MAX_H;
	}
	return comp;
}


typedef struct {                         /* '<Root>/in' */
  float time;                         /* '<Root>/time' */
  float target;
  float diff;
  float Integrator;
  float Integrator1;
  float DT;
}TD_t;

void TD_run(TD_t *td, float in);
void TD_Init(TD_t *td, float wc, float DT);
#endif /* _Fast_Math_H__ */