#ifndef Arduino_h
#define Arduino_h

#include <stdio.h>

#ifdef __cplusplus
	#include <algorithm>

	using namespace std;

	extern "C" {
#endif

void yield(void);

#define PI 3.1415926535897932384626433832795
#define HALF_PI 1.5707963267948966192313216916398
#define TWO_PI 6.283185307179586476925286766559
#define DEG_TO_RAD 0.017453292519943295769236907684886
#define RAD_TO_DEG 57.295779513082320876798154814105
#define EULER 2.718281828459045235360287471352

#ifndef __cplusplus
	#define min(a,b) ((a)<(b)?(a):(b))
	#define max(a,b) ((a)>(b)?(a):(b))
	#define abs(x) ((x)>0?(x):-(x))
	#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
#endif

#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
#define radians(deg) ((deg)*DEG_TO_RAD)
#define degrees(rad) ((rad)*RAD_TO_DEG)
#define sq(x) ((x)*(x))

#define lowByte(w) ((uint8_t) ((w) & 0xff))
#define highByte(w) ((uint8_t) ((w) >> 8))

#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
#define bitSet(value, bit) ((value) |= (1UL << (bit)))
#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))

#define bit(b) (1UL << (b))

typedef bool boolean;
typedef uint8_t byte;

/**
* C++ version 0.4 char* style "itoa":
* Written by Lukás Chmela
* Released under GPLv3.
*/
char *itoa(int value, char* result, int base) {
	// check that the base if valid
	if (base < 2 || base > 36) { *result = '\0'; return result; }
	
	char* ptr = result, *ptr1 = result, tmp_char;
	int tmp_value;
	
	do {
		tmp_value = value;
		value /= base;
		*ptr++ = "zyxwvutsrqponmlkjihgfedcba9876543210123456789abcdefghijklmnopqrstuvwxyz" [35 + (tmp_value - value * base)];
	} while ( value );
	
	// Apply negative sign
	// Apply negative sign
	if (tmp_value < 0) *ptr++ = '-';
	*ptr-- = '\0';
	while(ptr1 < ptr) {
		tmp_char = *ptr;
		*ptr--= *ptr1;
		*ptr1++ = tmp_char;
	}
	return result;
}

/**
 * C++ version 0.4 char* style "itoa":
 * Written by Lukás Chmela
 * Released under GPLv3.
 */
char *ltoa(long value, char* result, int base) {
	// check that the base if valid
	if (base < 2 || base > 36) { *result = '\0'; return result; }

	char* ptr = result, *ptr1 = result, tmp_char;
	long tmp_value;

	do {
		tmp_value = value;
		value /= base;
		*ptr++ = "zyxwvutsrqponmlkjihgfedcba9876543210123456789abcdefghijklmnopqrstuvwxyz" [35 + (tmp_value - value * base)];
	} while ( value );

	// Apply negative sign
	if (tmp_value < 0) *ptr++ = '-';
	*ptr-- = '\0';
	while(ptr1 < ptr) {
		tmp_char = *ptr;
		*ptr--= *ptr1;
		*ptr1++ = tmp_char;
	}
	return result;
}

char *ultoa(long num, char *str, int radix)
{
	unsigned long value;
	char *sp = str;
	char *sp2;

	value = num;

	/* Store sign at start of buffer for negative base-10 values */
	if (10 == radix && 0 > num) {
		*sp++ = '-';
		value = -num;
	}

	sp2 = sp;

	do {
		char rem = value % radix;
		value /= radix;
		if (10 > rem) {
			*sp++ = '0' + rem;
		} else {
			*sp++ = 'A' + rem - 10;
		}
	} while (0 < value);

	/* Mark end of string */
	*sp-- = 0;

	/* Reverse string contents (excluding sign) in place */
	while (sp2 < sp) {
		char tmp = *sp2;
		*sp2++ = *sp;
		*sp-- = tmp;
	}

	return str;
}

/**
 * Copyright (c) 2012, Peter A. Bigot <bigotp@acm.org>
 * 
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 * * Redistributions of source code must retain the above copyright notice,
 *   this list of conditions and the following disclaimer.
 * 
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 * 
 * * Neither the name of the software nor the names of its contributors may be
 *   used to endorse or promote products derived from this software without
 *   specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

char *utoa(int num, char *str, int radix)
{
	unsigned int value;
	char *sp = str;
	char *sp2;

	value = num;

	/* Store sign at start of buffer for negative base-10 values */
	if (10 == radix && 0 > num) {
		*sp++ = '-';
		value = -num;
	}

	sp2 = sp;

	do {
		char rem = value % radix;
		value /= radix;
		if (10 > rem) {
			*sp++ = '0' + rem;
		} else {
			*sp++ = 'A' + rem - 10;
		}
	} while (0 < value);

	/* Mark end of string */
	*sp-- = 0;

	/* Reverse string contents (excluding sign) in place */
	while (sp2 < sp) {
		char tmp = *sp2;
		*sp2++ = *sp;
		*sp-- = tmp;
	}

	return str;
}

char *dtostrf(float f, int width, int decimals, char *result)
{
	sprintf(result,"%*.*f", width, decimals, f);
	return result;
}

#ifdef __cplusplus
	}
#endif

#endif