/******************************************************************************
 *
 *  $Id: AKDirection6D.h 361 2011-07-27 09:27:24Z yamada.rj $
 *
 * -- Copyright Notice --
 *
 * Copyright (c) 2004 Asahi Kasei Microdevices Corporation, Japan
 * All Rights Reserved.
 *
 * This software program is proprietary program of Asahi Kasei Microdevices
 * Corporation("AKM") licensed to authorized Licensee under Software License
 * Agreement (SLA) executed between the Licensee and AKM.
 *
 * Use of the software by unauthorized third party, or use of the software
 * beyond the scope of the SLA is strictly prohibited.
 *
 * -- End Asahi Kasei Microdevices Copyright Notice --
 *
 ******************************************************************************/
#ifndef AKSC_INC_AKDIRECTION6D_H
#define AKSC_INC_AKDIRECTION6D_H

#include "AKMDevice.h"


//========================= Constant definition =========================//

//========================= Type declaration  ===========================//

//========================= Prototype of Function =======================//
AKLIB_C_API_START
int16 AKSC_VNorm(
	const	int16vec*	v,			//(i)	: Vector
	const	int16vec*	o,			//(i)	: Offset
	const	int16vec*	s,			//(i)	: Amplitude
	const	int16		tgt,		//(i)	: Target sensitivity value
			int16vec*	nv			//(o)	: Resulted normalized vector
);

void AKSC_SetLayout(				//		: 
			int16vec*	v,			//(i/o)	: Magnetic/Gravity vector data
	const	I16MATRIX*	layout		//(i)	: Layout matrix
);

int16 AKSC_DirectionS3(
	const	uint8		licenser[],	//(i)	: Licenser
	const	uint8		licensee[],	//(i)	: Licensee
	const	int16		key[],		//(i)	: Key
	const	int16vec*	h,			//(i)	: Geomagnetic vector (offset and sensitivity are  compensated)
	const	int16vec*	a,			//(i)	: Acceleration vector (offset and sensitivity are  compensated)
	const	int16vec*	dvec,		//(i)	: A vector to define reference axis of the azimuth on the terminal coordinate system
	const	I16MATRIX*	hlayout,	//(i)	: Layout matrix for geomagnetic vector
	const	I16MATRIX*	alayout,	//(i)	: Layout matrix for acceleration vector
			int16*		theta,		//(o)	: Azimuth direction (degree)
			int16*		delta,		//(o)	: The inclination (degree)
			int16*		hr,			//(o)	: Geomagnetic vector size
			int16*		hrhoriz,	//(o)	: Horizontal element of geomagnetic vector
			int16*		ar,			//(o)	: Acceleration vector size
			int16*		phi180,		//(o)	: Pitch angle (-180 to +180 degree)
			int16*		phi90,		//(o)	: Pitch angle (-90 to +90 degree)
			int16*		eta180,		//(o)	: Roll angle  (-180 to +180 degree)
			int16*		eta90,		//(o)	: Roll angle  (-90 to +90 degree)
            I16MATRIX*  mat,		//(o)   : Rotation matrix
            I16QUAT*	quat		//(o)   : Rotation Quaternion
);

int16 AKSC_ThetaFilter(			//(o)	: theta filterd
	const	int16	the,		//(i)	: current theta(Q6)
	const	int16	pre_the,	//(i)	: previous theta(Q6)
	const	int16	scale		//(i)	: Q12.
);
AKLIB_C_API_END

#endif