#ifndef __UTILS_H
#define __UTILS_H

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>

/**
 * @brief Unique ID register address location
 */
#define ID_UNIQUE_ADDRESS (0x1FFF7A10)

/**
 * @brief Flash size register address
 */
#define ID_FLASH_ADDRESS (0x1FFF7A22)

/**
 * @brief Device ID register address
 */
#define ID_DBGMCU_IDCODE (0xE0042000)

/**
 * "Returns" the device signature
 *
 * Possible returns:
 *    - 0x0413: STM32F405xx/07xx and STM32F415xx/17xx)
 *    - 0x0419: STM32F42xxx and STM32F43xxx
 *    - 0x0423: STM32F401xB/C
 *    - 0x0433: STM32F401xD/E
 *    - 0x0431: STM32F411xC/E
 *
 * Returned data is in 16-bit mode, but only bits 11:0 are valid, bits 15:12 are always 0.
 * Defined as macro
 */
#define STM_ID_GetSignature() ((*(uint16_t *)(ID_DBGMCU_IDCODE)) & 0x0FFF)

/**
 * "Returns" the device revision
 *
 * Revisions possible:
 *    - 0x1000: Revision A
 *    - 0x1001: Revision Z
 *    - 0x1003: Revision Y
 *    - 0x1007: Revision 1
 *    - 0x2001: Revision 3
 *
 * Returned data is in 16-bit mode.
 */
#define STM_ID_GetRevision() (*(uint16_t *)(ID_DBGMCU_IDCODE + 2))

/**
* "Returns" the Flash size
*
* Returned data is in 16-bit mode, returned value is flash size in kB (kilo bytes).
*/
#define STM_ID_GetFlashSize() (*(uint16_t *)(ID_FLASH_ADDRESS))

/**
 * "Returns" the given 32-bit value of the UUID.
 *
 * Parameters:
 *     - uint8_t x:
 *         Value between 0 and 2, corresponding to 4-bytes you want to read from 96bits (12bytes)
 *
 * Returned data is 32-bit
 */
#define STM_ID_GetUUID(x) ((x >= 0 && x < 3) ? (*(uint32_t *)(ID_UNIQUE_ADDRESS + 4 * (x))) : 0)

#ifdef M_PI
#undef M_PI
#endif
#define M_PI 3.14159265358979323846f

#define MACRO_MAX(x, y) (((x) > (y)) ? (x) : (y))
#define MACRO_MIN(x, y) (((x) < (y)) ? (x) : (y))

// Compute rising edge timings (0.0 - 1.0) as a function of alpha-beta
// as per the magnitude invariant clarke transform
// The magnitude of the alpha-beta vector may not be larger than sqrt(3)/2
// Returns 0 on success, and -1 if the input was out of range
int SVM(float alpha, float beta, float* tA, float* tB, float* tC);

//beware of inserting large angles!
float wrap_pm_pi(float theta);
float fast_atan2(float y, float x);
int mod(int dividend, int divisor);

uint32_t deadline_to_timeout(uint32_t deadline_ms);
uint32_t timeout_to_deadline(uint32_t timeout_ms);

uint32_t micros(void);

void delay_us(uint32_t us);

#ifdef __cplusplus
}
#endif

#endif  //__UTILS_H