annotate Discovery/Inc/Utils.h @ 271:1303747b5ba2 write-from-sim

cleanup: also write gas and setpoint changes in simulator mode This is related to the previous commit. There is all kinds of logic around that distinguishes real diving mode and simulator mode. This is valid in certain cases. For example, we do not want a simulator session to act as a repetitive dive for subsequent real dives. What is simply wrong, is skipping relevant logic, like gas switches to act differently in the simulator and in a real dive. The main advantage of this commit is code simplicity. Normal users will never see the difference, as simulator dives are not logged (unless compiled in by a developer). Signed-off-by: Jan Mulder <jlmulder@xs4all.nl>
author Jan Mulder <jlmulder@xs4all.nl>
date Sat, 27 Apr 2019 09:32:16 +0200
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38
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1 ///////////////////////////////////////////////////////////////////////////////
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2 /// -*- coding: UTF-8 -*-
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3 ///
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4 /// \file Discovery/Inc/Utils.h
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5 /// \brief Various Utilities...
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6 /// \author Heinrichs Weikamp
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7 /// \date 2018
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8 ///
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9 /// $Id$
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10 ///////////////////////////////////////////////////////////////////////////////
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11 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh
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12 ///
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13 /// This program is free software: you can redistribute it and/or modify
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14 /// it under the terms of the GNU General Public License as published by
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15 /// the Free Software Foundation, either version 3 of the License, or
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16 /// (at your option) any later version.
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17 ///
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18 /// This program is distributed in the hope that it will be useful,
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19 /// but WITHOUT ANY WARRANTY; without even the implied warranty of
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20 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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21 /// GNU General Public License for more details.
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22 ///
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23 /// You should have received a copy of the GNU General Public License
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24 /// along with this program. If not, see <http://www.gnu.org/licenses/>.
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25 //////////////////////////////////////////////////////////////////////////////
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26
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27 #ifndef UTILS_H
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28 #define UTILS_H
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29
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30 #include <stdint.h>
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31 #include <stdbool.h>
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32 #include <math.h>
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33
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34 #ifdef FloatToFixed
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35 #undef FloatToFixed
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36 #undef IntToFixed
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37 #undef FixedToFloat
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38 #undef FixedToInt
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39 #endif
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40
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41 //
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42 // 20.12 fixed-point operations
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43 //
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44
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45 #define Fix(val) ((val)*4096)
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46 #define F(val) Fix(val)
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47
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48 #define FixSqrt2 5793
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49 #define FixInvSqrt2 2896
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50 #define FixSinPiDiv4 FixInvSqrt2
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51 #define FixCosPiDiv4 FixInvSqrt2
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52 #define FixSinPiDiv8 1567
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53 #define FixCosPiDiv8 3784
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54
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55 static inline int32_t FloatToFixed(float val) { return val*4096.0f; }
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56 static inline int32_t IntToFixed(int val) { return val<<12; }
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57 static inline int32_t IntToFixedPlusHalf(int val) { return (val<<12)+0x800; }
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58
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59 static inline float FixedToFloat(int32_t val) { return (float)val/4096.0f; }
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60 static inline int32_t FixedToInt(int32_t val) { return val>>12; }
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61 static inline int32_t FixedToRoundedInt(int32_t val) { return (val+0x800)>>12; }
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62
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63 //static inline int32_t FixedMul(int32_t a,int32_t b) { return ((int64_t)a*(int64_t)b)>>16; }
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64
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65 static inline int32_t imin(int32_t a,int32_t b) { return a<b?a:b; }
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66 static inline int32_t imax(int32_t a,int32_t b) { return a>b?a:b; }
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67 static inline int32_t iabs(int32_t a) { return a<0?-a:a; }
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68 static inline int32_t isign(int32_t a) { return a>0?1:a<0?-1:0; }
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69
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70 static inline int64_t imul64(int64_t a, int64_t b) { return (a*b)>>12; }
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71 static inline int32_t imul(int32_t a, int32_t b) { return (int32_t)imul64(a,b); }
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72
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73 static inline int64_t idiv64(int64_t num,int64_t den) { return (num<<12)/den; }
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74 static inline int32_t idiv(int32_t num,int32_t den) { return (int32_t)idiv64(num,den); }
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75
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76 static inline int64_t isq64(int64_t val) { return imul64(val,val); }
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77 static inline int32_t isq(int32_t val) { return imul(val,val); }
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78
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79 static uint32_t sqrti(uint32_t n)
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80 {
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81 uint32_t s,t;
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82
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83 #define sqrtBit(k) \
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84 t = s+(1UL<<(k-1)); t <<= k+1; if (n >= t) { n -= t; s |= 1UL<<k; }
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85
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86 s=0;
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87 if(n>=1<<30) { n-=1<<30; s=1<<15; }
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88 sqrtBit(14); sqrtBit(13); sqrtBit(12); sqrtBit(11); sqrtBit(10);
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89 sqrtBit(9); sqrtBit(8); sqrtBit(7); sqrtBit(6); sqrtBit(5);
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90 sqrtBit(4); sqrtBit(3); sqrtBit(2); sqrtBit(1);
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91 if(n>s<<1) s|=1;
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92
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93 #undef sqrtBit
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94
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95 return s;
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96 }
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97
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98 static inline int64_t isqrt64(int64_t val) { return sqrti((uint64_t)val<<12); }
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99 static inline int32_t isqrt(int32_t val) { return sqrti((uint64_t)val<<12); }
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100
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101 static inline int64_t inorm64(int64_t a,int64_t b) { return sqrt((double)a*(double)a+(double)b*(double)b); }
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102 static inline int32_t inorm(int32_t a,int32_t b) { return sqrt((double)a*(double)a+(double)b*(double)b); }
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103
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104 static inline int32_t ifloor(int a) { return a&~0xfff; }
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105 static inline int32_t ifrac(int a) { return a&0xfff; }
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106
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107 int32_t isin(int a);
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108 static inline int32_t icos(int a) { return isin(a+1024); }
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109 static inline int32_t itan(int a) { return idiv(isin(a),icos(a)); } // TODO: use a table
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110 static inline int32_t idegrees(int degrees) { return degrees*4096.0f/360.0f; }
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111 static inline int32_t iradians(float radians) { return radians*4096.0f/2/3.1415926535897932f; }
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112
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113 static inline int32_t ilerp(int32_t a,int32_t b,int32_t t)
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114 {
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115 return a+imul(b-a,t);
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116 }
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117
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118 /*static inline int32_t islerp(int32_t a,int32_t b,int32_t t)
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119 {
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120 return a;
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121 }*/
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122
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123 //
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124 // Bitwise operations
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125 //
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126
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127 static inline int CountBits32(uint32_t val)
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128 {
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129 val=(val&0x55555555)+((val&0xaaaaaaaa)>>1);
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130 val=(val&0x33333333)+((val&0xcccccccc)>>2);
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131 val=(val&0x0f0f0f0f)+((val&0xf0f0f0f0)>>4);
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132 val=(val&0x00ff00ff)+((val&0xff00ff00)>>8);
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133 val=(val&0x0000ffff)+((val&0xffff0000)>>16);
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134 return val;
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135 }
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136
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137 static inline int CountBits16(uint16_t val)
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138 {
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139 val=(val&0x5555)+((val&0xaaaa)>>1);
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140 val=(val&0x3333)+((val&0xcccc)>>2);
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141 val=(val&0x0f0f)+((val&0xf0f0)>>4);
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142 val=(val&0x00ff)+((val&0xff00)>>8);
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143 return val;
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144 }
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145
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146 static inline int CountBits8(uint8_t val)
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147 {
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148 val=(val&0x55)+((val&0xaa)>>1);
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149 val=(val&0x33)+((val&0xcc)>>2);
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150 val=(val&0x0f)+((val&0xf0)>>4);
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151 return val;
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152 }
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153
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154 static inline uint32_t ReverseBits32(uint32_t val)
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155 {
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156 val=((val>>1)&0x55555555)|((val<<1)&0xaaaaaaaa);
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157 val=((val>>2)&0x33333333)|((val<<2)&0xcccccccc);
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158 val=((val>>4)&0x0f0f0f0f)|((val<<4)&0xf0f0f0f0);
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159 val=((val>>8)&0x00ff00ff)|((val<<8)&0xff00ff00);
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160 val=((val>>16)&0x0000ffff)|((val<<16)&0xffff0000);
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161 return val;
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162 }
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163
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164 static inline uint16_t ReverseBits16(uint16_t val)
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165 {
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166 val=((val>>1)&0x5555)|((val<<1)&0xaaaa);
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167 val=((val>>2)&0x3333)|((val<<2)&0xcccc);
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168 val=((val>>4)&0x0f0f)|((val<<4)&0xf0f0);
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169 val=((val>>8)&0x00ff)|((val<<8)&0xff00);
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170 return val;
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171 }
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172
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173 static inline uint8_t ReverseBits8(uint8_t val)
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174 {
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175 val=((val>>1)&0x55)|((val<<1)&0xaa);
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176 val=((val>>2)&0x33)|((val<<2)&0xcc);
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177 val=((val>>4)&0x0f)|((val<<4)&0xf0);
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178 return val;
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179 }
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180
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181 static int LowestBitSet32(uint32_t val)
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182 {
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183 if(val==0) return -1;
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184 return CountBits32(val^val-1)-1;
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185 }
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186
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187 static int LowestBitSet16(uint16_t val)
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188 {
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189 if(val==0) return -1;
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190 return CountBits16(val^val-1)-1;
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191 }
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192
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193 static int LowestBitSet8(uint8_t val)
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194 {
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195 if(val==0) return -1;
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196 return CountBits8(val^val-1)-1;
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197 }
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198
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199 #endif // UTILS_H