CORDIC_PRECISION_SHIFT
#define CORDIC_NUM_ITER (CORDIC_PRECISION_SHIFT + 2)
#define CORDIC_FIXED(X) ((s32)((X) << CORDIC_PRECISION_SHIFT))
? ((((X) >> (CORDIC_PRECISION_SHIFT - 1)) + 1) >> 1) \
: -((((-(X)) >> (CORDIC_PRECISION_SHIFT - 1)) + 1) >> 1))