/****************************************************************************
 * libs/libdsp/lib_transform_b16.c
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance with the
 * License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 * License for the specific language governing permissions and limitations
 * under the License.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <dspb16.h>

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: clarke_transform_b16
 *
 * Description:
 *   Clarke transform (abc frame -> ab frame).
 *   Transform the abc frame to the alpha-beta frame.
 *
 *   i_alpha = k*(i_a - 0.5*i_b - 0.5*i_c)
 *   i_beta  = k*sqrt(3)*0.5*(i_b - i_c)
 *
 *   We assume that:
 *     1) k = 2/3 for the non-power-invariant transformation
 *     2) balanced system: a + b + c = 0
 *
 * Input Parameters:
 *   abc - (in) pointer to the abc frame
 *   ab  - (out) pointer to the alpha-beta frame
 *
 * Returned Value:
 *   None
 *
 ****************************************************************************/

void clarke_transform_b16(FAR abc_frame_b16_t *abc,
                          FAR ab_frame_b16_t *ab)
{
  LIBDSP_DEBUGASSERT(abc != NULL);
  LIBDSP_DEBUGASSERT(ab != NULL);

  ab->a = abc->a;
  ab->b = (b16mulb16(ONE_BY_SQRT3_B16, abc->a) +
           b16mulb16(TWO_BY_SQRT3_B16, abc->b));
}

/****************************************************************************
 * Name: inv_clarke_transform_b16
 *
 * Description:
 *   Inverse Clarke transform (ab frame -> abc frame).
 *   Transform the alpha-beta frame to the abc frame.
 *
 * Input Parameters:
 *   ab  - (in) pointer to the alpha-beta frame
 *   abc - (out) pointer to the abc frame
 *
 * Returned Value:
 *   None
 *
 ****************************************************************************/

void inv_clarke_transform_b16(FAR ab_frame_b16_t *ab,
                              FAR abc_frame_b16_t *abc)
{
  LIBDSP_DEBUGASSERT(ab != NULL);
  LIBDSP_DEBUGASSERT(abc != NULL);

  /* Assume non-power-invariant transform and balanced system */

  abc->a = ab->a;
  abc->b = (b16mulb16(-b16HALF, ab->a) +
            b16mulb16(SQRT3_BY_TWO_B16, ab->b));
  abc->c = (-abc->a - abc->b);
}

/****************************************************************************
 * Name: park_transform_b16
 *
 * Description:
 *   Park transform (ab frame -> dq frame).
 *   Transform the alpha-beta frame to the direct-quadrature frame.
 *
 * Input Parameters:
 *   angle - (in) pointer to the phase angle data
 *   ab    - (in) pointer to the alpha-beta frame
 *   dq    - (out) pointer to the direct-quadrature frame
 *
 * Returned Value:
 *   None
 *
 ****************************************************************************/

void park_transform_b16(FAR phase_angle_b16_t *angle,
                        FAR ab_frame_b16_t *ab,
                        FAR dq_frame_b16_t *dq)
{
  LIBDSP_DEBUGASSERT(angle != NULL);
  LIBDSP_DEBUGASSERT(ab != NULL);
  LIBDSP_DEBUGASSERT(dq != NULL);

  dq->d = b16mulb16(angle->cos, ab->a) + b16mulb16(angle->sin, ab->b);
  dq->q = b16mulb16(angle->cos, ab->b) - b16mulb16(angle->sin, ab->a);
}

/****************************************************************************
 * Name: inv_park_transform_b16
 *
 * Description:
 *   Inverse Park transform (dq frame -> ab frame).
 *   Transform direct-quadrature frame to alpha-beta frame.
 *
 * Input Parameters:
 *   angle - (in) pointer to the phase angle data
 *   dq    - (in) pointer to the direct-quadrature frame
 *   ab    - (out) pointer to the alpha-beta frame
 *
 * Returned Value:
 *   None
 *
 ****************************************************************************/

void inv_park_transform_b16(FAR phase_angle_b16_t *angle,
                            FAR dq_frame_b16_t *dq,
                            FAR ab_frame_b16_t *ab)
{
  LIBDSP_DEBUGASSERT(angle != NULL);
  LIBDSP_DEBUGASSERT(dq != NULL);
  LIBDSP_DEBUGASSERT(ab != NULL);

  ab->a = b16mulb16(angle->cos, dq->d) - b16mulb16(angle->sin, dq->q);
  ab->b = b16mulb16(angle->cos, dq->q) + b16mulb16(angle->sin, dq->d);
}