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#include "edge-impulse-sdk/dsp/config.hpp"
#if EIDSP_LOAD_CMSIS_DSP_SOURCES
/* ----------------------------------------------------------------------
 * Project:      CMSIS DSP Library
 * Title:        arm_atan2_f32.c
 * Description:  float32 Arc tangent of y/x
 *
 * $Date:        22 April 2022
 * $Revision:    V1.10.0
 *
 * Target Processor: Cortex-M and Cortex-A cores
 * -------------------------------------------------------------------- */
/*
 * Copyright (C) 2010-2022 ARM Limited or its affiliates. All rights reserved.
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed 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
 *
 * 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.
 */

#include "edge-impulse-sdk/CMSIS/DSP/Include/dsp/fast_math_functions.h"        

/*
atan for argument between in [0, 1.0]
*/

#define ATANHALFF32 0.463648f
#define PIHALFF32 1.5707963267948966192313f

#define ATAN2_NB_COEFS_F32 10

static const float32_t atan2_coefs_f32[ATAN2_NB_COEFS_F32]={0.0f
,1.0000001638308195518f
,-0.0000228941363602264f
,-0.3328086544578890873f
,-0.004404814619311061f
,0.2162217461808173258f
,-0.0207504842057097504f
,-0.1745263362250363339f
,0.1340557235283553386f
,-0.0323664125927477625f
};

__STATIC_FORCEINLINE float32_t arm_atan_limited_f32(float32_t x)
{
    float32_t res=atan2_coefs_f32[ATAN2_NB_COEFS_F32-1];
    int i=1;
    for(i=1;i<ATAN2_NB_COEFS_F32;i++)
    {
        res = x*res + atan2_coefs_f32[ATAN2_NB_COEFS_F32-1-i];
    }


    return(res);
}

__STATIC_FORCEINLINE float32_t arm_atan_f32(float32_t x)
{
   int sign=0;
   float32_t res=0.0f;

   if (x < 0.0f)
   {
      sign=1;
      x=-x;
   }

   if (x > 1.0f)
   {
      x = 1.0f / x;
      res = PIHALFF32 - arm_atan_limited_f32(x);
   }
   else
   {
     res += arm_atan_limited_f32(x);
   }


   if (sign)
   {
     res = -res;
   }

   return(res);
}


/**
  @ingroup groupFastMath
 */

/**
  @defgroup atan2 ArcTan2
  Computing Arc tangent only using the ratio y/x is not enough to determine the angle
  since there is an indeterminacy. Opposite quadrants are giving the same ratio.
  ArcTan2 is not using y/x to compute the angle but y and x and use the sign of y and x
  to determine the quadrant.
 */

/**
  @addtogroup atan2
  @{
 */

/**
  @brief       Arc Tangent of y/x using sign of y and x to get right quadrant
  @param[in]   y  y coordinate
  @param[in]   x  x coordinate
  @param[out]  result  Result
  @return  error status.
 
  @par         Compute the Arc tangent of y/x:
                   The sign of y and x are used to determine the right quadrant
                   and compute the right angle.
*/


arm_status arm_atan2_f32(float32_t y,float32_t x,float32_t *result)
{
    if (x > 0.0f)
    {
        *result=arm_atan_f32(y/x);
        return(ARM_MATH_SUCCESS);
    }
    if (x < 0.0f)
    {
        if (y > 0.0f)
        {
           *result=arm_atan_f32(y/x) + PI;
        }
        else if (y < 0.0f)
        {
           *result=arm_atan_f32(y/x) - PI;
        }
        else
        {
            if (signbit(y))
            {
               *result= -PI;
            }
            else
            {
               *result= PI;
            }
        }
        return(ARM_MATH_SUCCESS);
    }
    if (x == 0.0f)
    {
        if (y > 0.0f)
        {
            *result=PIHALFF32;
            return(ARM_MATH_SUCCESS);
        }
        if (y < 0.0f)
        {
            *result=-PIHALFF32;
            return(ARM_MATH_SUCCESS);
        }
    }
    

    return(ARM_MATH_NANINF);

}

/**
  @} end of atan2 group
 */

#endif // EIDSP_LOAD_CMSIS_DSP_SOURCES

	#include "edge-impulse-sdk/dsp/config.hpp"
	#if EIDSP_LOAD_CMSIS_DSP_SOURCES
	/* ----------------------------------------------------------------------
	* Project: CMSIS DSP Library
	* Title: arm_atan2_f32.c
	* Description: float32 Arc tangent of y/x
	*
	* $Date: 22 April 2022
	* $Revision: V1.10.0
	*
	* Target Processor: Cortex-M and Cortex-A cores
	* -------------------------------------------------------------------- */
	/*
	* Copyright (C) 2010-2022 ARM Limited or its affiliates. All rights reserved.
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Licensed 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
	*
	* 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.
	*/

	#include "edge-impulse-sdk/CMSIS/DSP/Include/dsp/fast_math_functions.h"

	/*

	atan for argument between in [0, 1.0]


	*/

	#define ATANHALFF32 0.463648f
	#define PIHALFF32 1.5707963267948966192313f

	#define ATAN2_NB_COEFS_F32 10

	static const float32_t atan2_coefs_f32[ATAN2_NB_COEFS_F32]={0.0f
	,1.0000001638308195518f
	,-0.0000228941363602264f
	,-0.3328086544578890873f
	,-0.004404814619311061f
	,0.2162217461808173258f
	,-0.0207504842057097504f
	,-0.1745263362250363339f
	,0.1340557235283553386f
	,-0.0323664125927477625f
	};

	__STATIC_FORCEINLINE float32_t arm_atan_limited_f32(float32_t x)
	{
	float32_t res=atan2_coefs_f32[ATAN2_NB_COEFS_F32-1];
	int i=1;
	for(i=1;i<ATAN2_NB_COEFS_F32;i++)
	{
	res = x*res + atan2_coefs_f32[ATAN2_NB_COEFS_F32-1-i];
	}


	return(res);
	}

	__STATIC_FORCEINLINE float32_t arm_atan_f32(float32_t x)
	{
	int sign=0;
	float32_t res=0.0f;

	if (x < 0.0f)
	{
	sign=1;
	x=-x;
	}

	if (x > 1.0f)
	{
	x = 1.0f / x;
	res = PIHALFF32 - arm_atan_limited_f32(x);
	}
	else
	{
	res += arm_atan_limited_f32(x);
	}


	if (sign)
	{
	res = -res;
	}

	return(res);
	}


	/**
	@ingroup groupFastMath
	*/

	/**
	@defgroup atan2 ArcTan2

	Computing Arc tangent only using the ratio y/x is not enough to determine the angle
	since there is an indeterminacy. Opposite quadrants are giving the same ratio.

	ArcTan2 is not using y/x to compute the angle but y and x and use the sign of y and x
	to determine the quadrant.

	*/

	/**
	@addtogroup atan2
	@{
	*/

	/**
	@brief Arc Tangent of y/x using sign of y and x to get right quadrant
	@param[in] y y coordinate
	@param[in] x x coordinate
	@param[out] result Result
	@return error status.

	@par Compute the Arc tangent of y/x:
	The sign of y and x are used to determine the right quadrant
	and compute the right angle.
	*/


	arm_status arm_atan2_f32(float32_t y,float32_t x,float32_t *result)
	{
	if (x > 0.0f)
	{
	*result=arm_atan_f32(y/x);
	return(ARM_MATH_SUCCESS);
	}
	if (x < 0.0f)
	{
	if (y > 0.0f)
	{
	*result=arm_atan_f32(y/x) + PI;
	}
	else if (y < 0.0f)
	{
	*result=arm_atan_f32(y/x) - PI;
	}
	else
	{
	if (signbit(y))
	{
	*result= -PI;
	}
	else
	{
	*result= PI;
	}
	}
	return(ARM_MATH_SUCCESS);
	}
	if (x == 0.0f)
	{
	if (y > 0.0f)
	{
	*result=PIHALFF32;
	return(ARM_MATH_SUCCESS);
	}
	if (y < 0.0f)
	{
	*result=-PIHALFF32;
	return(ARM_MATH_SUCCESS);
	}
	}


	return(ARM_MATH_NANINF);

	}

	/**
	@} end of atan2 group
	*/

	#endif // EIDSP_LOAD_CMSIS_DSP_SOURCES