/******************************************************************************/
/* CTRL header file																														*/
/******************************************************************************/
/*                    																												*/
/* Copyright (c) 2013 MD Automotive Controls. All rights reserved.            */
/*         																																		*/
/*        																																		*/
/*   																																					*/
/******************************************************************************/
#ifndef CTRL_H
#define CTRL_H

#include <SYS.h>
#include "CTRLAPI.h"

#define CTRL_nPIDCTRLCount	10u
#define CTRL_nPIDUserCount	10u

#define CTRL_xAddSigned32(x, y)			\
if ((0 < y) && (0 < x))							\
{																		\
	if ((INT32_MAX - x) > y)					\
	{																	\
		x += y;													\
	}																	\
	else															\
	{																	\
		x = INT32_MAX;									\
	}																	\
}																		\
else if ((0 > y) && (0 > x))				\
{																		\
	if ((x - INT32_MIN) > (~y + 1))		\
	{																	\
		x += y;													\
	}																	\
	else															\
	{																	\
		x = INT32_MIN;									\
	}																	\
}																		\
else																\
{																		\
	x += y;														\
}																		\

#define CTRL_xCalcTermResult(x, y)					\
i32Temp =																		\
(0 < y) ? (0x7FFFFFFF / (y)) : 0x7FFFFFFF;	\
if (0 <= x)																	\
{																						\
	i32ResultTerm = (i32Temp < x) ?						\
						INT32_MAX : x * y;							\
}																						\
else																				\
{																						\
	i32ResultTerm = (i32Temp < (~x + 1)) ?		\
						INT32_MIN : x * y;							\
}																						\
	
void CTRL_vStart(puint32 const);
void CTRL_vRun(puint32 const);
void CTRL_vTerminate(puint32 const);
CTRLAPI_ttPIDIDX CTRL_tRequestKernelPIDController(CTRLAPI_tstPIDCB* pstPIDCBReq);
void CTRL_vIteratePIDCB(CTRLAPI_tstPIDCB*);
void CTRL_vIteratePID(CTRLAPI_ttPIDIDX);

#endif // CTRL_H