void yield(void);

#define HIGH 0x1
#define LOW  0x0

#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
// undefine stdlib's abs if encountered
#ifdef abs
#undef abs
#endif
//两者取小 取大
//取绝对值
//限制幅值
// 四舍五入
//角度和弧度转换
//平方
#define min(a,b) ((a)<(b)?(a):(b))
#define max(a,b) ((a)>(b)?(a):(b))
#define abs(x) ((x)>0?(x):-(x))
#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
#define round(x)     ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
#define radians(deg) ((deg)*DEG_TO_RAD)
#define degrees(rad) ((rad)*RAD_TO_DEG)
#define sq(x) ((x)*(x))
//位操作
#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))
//归一化
long map(long x, long in_min, long in_max, long out_min, long out_max)
{
    
    
  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}