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 */

#ifndef _CLARKE_H_
#define _CLARKE_H_

#ifdef __cplusplus
extern "C"
{
#endif

/**
 *  \defgroup TRANSFORMS_API_MODULE APIs for Transformation Algorithms
 *  \ingroup  RTLIBS_API
 *
 *  Here is the list of motor transformation function APIs
 *  @{
 *
 *  \file           clarke.h
 *  \brief          Contains abc to alpha/beta/0 transform implementation
 */

#include <stdint.h>

typedef float float32_t;

#define ONE_OVER_THREE      0.33333333333333f
#define ONE_OVER_SQRT_THREE 0.57735026918963f

//! \brief     Runs the Clarke transform module for three inputs
//!            
//! \param[in] inIa     Input current value in a-axis
//! \param[in] inIb     Input current value in b-axis
//! \param[in] inIc     Input current value in c-axis
//! \param[in] pIalpha  Output pointer to current value in alpha-axis
//! \param[in] pIbeta   Output pointer to current value in beta-axis
//!
static __attribute__((always_inline)) 
void CLARKE_run_threeInput(const float32_t inIa, const float32_t inIb, const float32_t inIc, \
                        float32_t* pIalpha, float32_t* pIbeta)
{
    *pIalpha = ((2.0f * inIa) - (inIb + inIc)) * ONE_OVER_THREE;
    *pIbeta = (inIb - inIc) * ONE_OVER_SQRT_THREE;
}

//! \brief     Runs the Clarke transform module for two inputs
//!            
//! \param[in] inIa     Input current value in a-axis
//! \param[in] inIb     Input current value in b-axis
//! \param[in] pIalpha  Output pointer to current value in alpha-axis
//! \param[in] pIbeta   Output pointer to current value in beta-axis
//!
static __attribute__((always_inline)) 
void CLARKE_run_twoInput(const float32_t inIa, const float32_t inIb, \
                        float32_t* pIalpha, float32_t* pIbeta)
{
    *pIalpha = inIa;
    *pIbeta = (inIa + (2.0f * inIb)) * ONE_OVER_SQRT_THREE;
}

/** @} */

#ifdef __cplusplus
}
#endif

#endif // _CLARKE_H_