#ifndef AHRS_MIDDLEWARE_H
#define AHRS_MIDDLEWARE_H

#include "struct_typedef.h"

/**
  ****************************(C) COPYRIGHT 2016 DJI****************************
  * @file       AHRS_MiddleWare.c/h
  * @brief      姿态解算中间层，为姿态解算提供相关函数
  * @note
  * @history
  *  Version    Date            Author          Modification
  *  V1.0.0     Dec-26-2018     RM              1. 完成
  *
  @verbatim
  ==============================================================================

  ==============================================================================
  @endverbatim
  ****************************(C) COPYRIGHT 2016 DJI****************************
  */

//重新对应的数据类型
// typedef signed char int8_t;
// typedef signed short int int16_t;
// typedef signed int int32_t;
// typedef signed long long int64_t;

// /* exact-width unsigned integer types */
// typedef unsigned char uint8_t;
// typedef unsigned short int uint16_t;
// typedef unsigned int uint32_t;
// typedef unsigned long long uint64_t;
// typedef unsigned char bool_t;
// typedef float fp32;
// typedef double fp64;

//定义 NULL
#ifndef NULL
    #define NULL 0
#endif

//定义PI 值
#ifndef PI
    #define PI 3.14159265358979f
#endif

//定义 角度(度)转换到 弧度的比例
#ifndef ANGLE_TO_RAD
    #define ANGLE_TO_RAD 0.01745329251994329576923690768489f
#endif

//定义 弧度 转换到 角度的比例
#ifndef RAD_TO_ANGLE
    #define RAD_TO_ANGLE 57.295779513082320876798154814105f
#endif

extern void AHRS_get_height(fp32 *high);
extern void AHRS_get_latitude(fp32 *latitude);
extern fp32 AHRS_invSqrt(fp32 num);
extern fp32 AHRS_sinf(fp32 angle);
extern fp32 AHRS_cosf(fp32 angle);
extern fp32 AHRS_tanf(fp32 angle);
extern fp32 AHRS_asinf(fp32 sin);
extern fp32 AHRS_acosf(fp32 cos);
extern fp32 AHRS_atan2f(fp32 y, fp32 x);
#endif