/******************************************************************************
 *
 *  $Id: AKMDeviceF.h 98 2012-12-04 04:30:13Z yamada.rj $
 *
 * -- Copyright Notice --
 *
 * Copyright (c) 2004 Asahi Kasei Microdevices Corporation, Japan
 * All Rights Reserved.
 *
 * This software program is the proprietary program of Asahi Kasei Microdevices
 * Corporation("AKM") licensed to authorized Licensee under the respective
 * agreement between the Licensee and AKM only for use with AKM's electronic
 * compass IC.
 *
 * THIS SOFTWARE IS PROVIDED TO YOU "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABLITY, FITNESS FOR A PARTICULAR PURPOSE AND NON INFRINGEMENT OF
 * THIRD PARTY RIGHTS, AND WE SHALL NOT BE LIABLE FOR ANY LOSSES AND DAMAGES
 * WHICH MAY OCCUR THROUGH USE OF THIS SOFTWARE.
 *
 * -- End Asahi Kasei Microdevices Copyright Notice --
 *
 ******************************************************************************/
#ifndef AKSC_INC_AKMDEVICEF_H
#define AKSC_INC_AKMDEVICEF_H

#include "AKConfigure.h"

#ifdef AKSC_MATH_DOUBLE
	typedef double	AKSC_FLOAT;
#else
	typedef float	AKSC_FLOAT;
#endif

#ifdef AKSC_USE_STD_FLOAT
	#include <float.h>
	#ifdef AKSC_MATH_DOUBLE
		#define AKSC_EPSILON	DBL_EPSILON
		#define AKSC_FLTMAX		DBL_MAX
	#else
		#define AKSC_EPSILON	FLT_EPSILON
		#define AKSC_FLTMAX		FLT_MAX
	#endif
#else
	#ifdef AKSC_MATH_DOUBLE
		#define AKSC_EPSILON	((AKSC_FLOAT)2.2204460492503131e-016)
		#define AKSC_FLTMAX		((AKSC_FLOAT)1.7976931348623158e+308)
	#else
		#define AKSC_EPSILON	((AKSC_FLOAT)1.192092896e-07F)
		#define AKSC_FLTMAX		((AKSC_FLOAT)3.402823466e+38F)
	#endif
#endif

#define AKSC_PI		((AKSC_FLOAT)3.14159265358979323846264338)

//========================= macro definition =================================//
#ifdef AKSC_MATH_DOUBLE
	//  inplementation double
	#define	AKSC_COSF(ang)		cos((ang))
	#define	AKSC_SINF(ang)		sin((ang))
	#define	AKSC_ATAN2F(y,x)	atan2((y),(x))
	#define	AKSC_FABSF(val)		fabs((val))
	#define	AKSC_SQRTF(val)		sqrt((val))
	#define	AKSC_POWF(x,y)		pow((x),(y))
#else
	//  inplementation float
	#define	AKSC_COSF(ang)		cosf((ang))
	#define	AKSC_SINF(ang)		sinf((ang))
	#define	AKSC_ATAN2F(y,x)	atan2f((y),(x))
	#define	AKSC_FABSF(val)		fabsf((val))
	#define	AKSC_SQRTF(val)		sqrtf((val))
	#define	AKSC_POWF(x,y)		powf((x),(y))
#endif

//========================= Vectors =====================================//
// AKSC_FLOAT-precision floating-point 3 dimensional vector
typedef union _AKSC_FVEC{
	struct {
		AKSC_FLOAT	x;
		AKSC_FLOAT	y;
		AKSC_FLOAT	z;
	}u;
	AKSC_FLOAT	v[3];
} AKSC_FVEC;

//========================= Matrix ======================================//
// AKSC_FLOAT-precision floating-point 3x3 matrix
typedef union _AKSC_FMAT{
	struct {
		AKSC_FLOAT	_11, _12, _13;
		AKSC_FLOAT	_21, _22, _23;
		AKSC_FLOAT	_31, _32, _33;
	}u;
	AKSC_FLOAT	m[3][3];
} AKSC_FMAT;

//========================= Quaternion ===================================//
// AKSC_FLOAT-precision floating-point Quaternion
typedef union _AKSC_FQUAT{
    struct {
        AKSC_FLOAT	w;
        AKSC_FLOAT	x;
        AKSC_FLOAT	y;
        AKSC_FLOAT	z;
    }u;
    AKSC_FLOAT		q[4];
} AKSC_FQUAT;

#endif