float/ipark.h

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#ifndef _IPARK_H_
#define _IPARK_H_



// **************************************************************************
// the includes
#ifdef __TMS320C28XX_CLA__
#include "sw/modules/math/src/float/CLAmath.h"
#else
#include <math.h>
#endif

// modules
#include "sw/modules/math/src/float/math.h"




// Include the algorithm overview defined in modules/<module>/docs/doxygen/doxygen.h


#ifdef __cplusplus
extern "C" {
#endif


// **************************************************************************
// the defines


// **************************************************************************
// the typedefs

typedef struct _IPARK_Obj_
{

  float_t  sinTh;      
  float_t  cosTh;      

} IPARK_Obj;


typedef struct _IPARK_Obj_  *IPARK_Handle;


// **************************************************************************
// the function prototypes

static inline float_t IPARK_getCosTh(IPARK_Handle handle)
{
  IPARK_Obj *obj = (IPARK_Obj *)handle;

  return(obj->cosTh);
} // end of IPARK_getCosTh() function


static inline void IPARK_getPhasor(IPARK_Handle handle,MATH_vec2 *pPhasor)
{
  IPARK_Obj *obj = (IPARK_Obj *)handle;

  pPhasor->value[0] = obj->cosTh;
  pPhasor->value[1] = obj->sinTh;

  return;
} // end of IPARK_getPhasor() function


static inline float_t IPARK_getSinTh(IPARK_Handle handle)
{
  IPARK_Obj *obj = (IPARK_Obj *)handle;

  return(obj->sinTh);
} // end of IPARK_getSinTh() function


extern IPARK_Handle IPARK_init(void *pMemory,const size_t numBytes);


#ifdef __TMS320C28XX_CLA__
#pragma FUNC_ALWAYS_INLINE(IPARK_run)
#endif
static inline void IPARK_run(IPARK_Handle handle,const MATH_vec2 *pInVec,MATH_vec2 *pOutVec)
{
  IPARK_Obj *obj = (IPARK_Obj *)handle;

  float_t sinTh = obj->sinTh;
  float_t cosTh = obj->cosTh;

  float_t value_0 = pInVec->value[0];
  float_t value_1 = pInVec->value[1];

  pOutVec->value[0] = (value_0 * cosTh) - (value_1 * sinTh);
  pOutVec->value[1] = (value_1 * cosTh) + (value_0 * sinTh);

  return;
} // end of IPARK_run() function


static inline void IPARK_setCosTh(IPARK_Handle handle,const float_t cosTh)
{
  IPARK_Obj *obj = (IPARK_Obj *)handle;

  obj->cosTh = cosTh;

  return;
} // end of IPARK_setCosTh() function


static inline void IPARK_setPhasor(IPARK_Handle handle,const MATH_vec2 *pPhasor)
{
  IPARK_Obj *obj = (IPARK_Obj *)handle;

  obj->cosTh = pPhasor->value[0];
  obj->sinTh = pPhasor->value[1];

  return;
} // end of IPARK_setPhasor() function


static inline void IPARK_setSinTh(IPARK_Handle handle,const float_t sinTh)
{
  IPARK_Obj *obj = (IPARK_Obj *)handle;

  obj->sinTh = sinTh;

  return;
} // end of IPARK_setSinTh() function


static inline void IPARK_setup(IPARK_Handle handle,const float_t Th)
{
  IPARK_Obj *obj = (IPARK_Obj *)handle;

#ifdef __TMS320C28XX_CLA__
  obj->sinTh = CLAsin_inline(Th);
  obj->cosTh = CLAcos_inline(Th);
#else
  obj->sinTh = (float_t)sin((double_t)Th);
  obj->cosTh = (float_t)cos((double_t)Th);
#endif

  return;
} // end of IPARK_setup() function


#ifdef __cplusplus
}
#endif // extern "C"

#endif // end of _IPARK_H_ definition