#ifndef __CALC_LIB_H__
#define __CALC_LIB_H__

#ifdef __cplusplus
extern "C"{
#endif

#include "struct_typedef.h"
#include<stdint.h>

#define rad(code) ((code)*MOTOR_ECD_TO_RAD)

#define int_abs(x) ((x) > 0 ? (x) : (-x))

//电机编码值规整 0—8191
#define ecd_format(ecd)         \
    {                           \
        if ((ecd) > 8191)  \
            (ecd) -= 8191; \
        else if ((ecd) < 0)     \
            (ecd) += 8191; \
    }

void user_delay_us(uint16_t us);
void user_delay_ms(uint16_t ms);
void abs_limit_fp(fp32 *num, fp32 Limit);
void abs_limit_int(int64_t *num, int64_t Limit);
fp32 loop_fp32_constrain(fp32 Input, fp32 minValue, fp32 maxValue);
int32_t loop_int32_constrain(int32_t Input, int32_t minValue, int32_t maxValue);
int map(int x, int in_min, int in_max, int out_min, int out_max);
fp32 map_fp32(fp32 x, fp32 in_min, fp32 in_max, fp32 out_min, fp32 out_max);

#ifdef __cplusplus
}
#endif

#endif