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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
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