Ano_Math.h

#ifndef __ANO_MATH_H__
#define __ANO_MATH_H__
#include "stm32f4xx.h"

#define REAL   float
#define TAN_MAP_RES     0.003921569f     /* (smallest non-zero value in table) */
#define RAD_PER_DEG     0.017453293f
#define DEG_PER_RAD     57.29577951f
#define TAN_MAP_SIZE    256
#define MY_PPPIII   3.14159f
#define MY_PPPIII_HALF   1.570796f

#define my_sign(x) ( ((x) > 1e-6f) ? 1:( ((x)<-1e-6f) ? -1 : 0) )
#define my_3_norm(x,y,z) (my_sqrt(my_pow((x)) + my_pow((y)) + my_pow((z))))
#define my_2_norm(x,y) (my_sqrt(my_pow((x)) + my_pow((y))))

#define my_pow(a) ((a)*(a))
#define safe_div(numerator,denominator,safe_value) ( (denominator == 0)? (safe_value) : ((numerator)/(denominator)) )
#define ABS(x) ( (x)>0?(x):-(x) )

//#define LIMIT( x,min,max ) ( (x) < (min)  ? (min) : ( (x) > (max)? (max) : (x) ) )
#define LIMIT( x,min,max ) ( ((x) <= (min)) ? (min) : ( ((x) > (max))? (max) : (x) ) )
#define DELTA_LIMIT(x,dl,y) (y) += (LIMIT(((x) - (y)),-dl,dl))

#define _MIN(a, b) ((a) < (b) ? (a) : (b))
#define _MAX(a, b) ((a) > (b) ? (a) : (b))

#define my_pow_2_curve(in,a,max) (((1.0f - (a)) + (a) *LIMIT(ABS((in) / (max)),0,1)) * in)

//#define RECTANGLE2CIRCLE_FACTOR(x,y,l) (safe_div(_MAX(ABS((x)),ABS((y))),(l),0))
//#define RECTANGLE2CIRCLE_FACTOR(r,l) (safe_div((r),(l),0))

#define To_180_degrees range_to_180deg
#define range_to_180deg(a) ( (a)>180 ? (a - 360) : ((a)<-180 ? (a + 360) : (a)) )

float my_abs(float f);
REAL fast_atan2(REAL y, REAL x);
//float my_pow(float a);
float my_sqrt(float number);
float my_sqrt_reciprocal(float number);
double mx_sin(double rad);
double my_sin(double rad);
float my_cos(double rad);
float my_deadzone(float x,float ,float zoom);
float my_deadzone_2(float x,float ,float zoom);

float my_deadzone_p(float x,float zone);
float my_deadzone_n(float x,float zone);

//float To_180_degrees(float x);
double To_180_degrees_db(double x);
//float my_pow_2_curve(float in,float a,float max);
//float safe_div(float numerator ,float denominator,float sv);
float fifo(u8 arr_num,u8 *cnt,float *arr,float in);
float linear_interpolation_5(float range[5],float interpolation[5],float in);//range 必须从小到大

void length_limit(float *in1,float *in2,float limit,float out[]);

//====
void rot_vec_2(float in[2],float sinx,float out[2]);
float vec_2_cross_product(float in1[2],float in2[2]);//正负为in1->in2 夹角逆时针
float vec_2_dot_product(float in1[2],float in2[2]);//正负为in1->in2 夹角（空间实际夹角）
void vec_3_cross_product_err_sinx(float in1[3],float in2[3],float out[3]);//输出xyz误差夹角x 的sin(x)，右手螺旋
float vec_3_dot_product(float in1[3],float in2[3]); //正负为in1->in2 夹角（空间实际夹角）
#endif