///////////////////////////////////////////////////////////////////////////////+
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/// -*- coding: UTF-8 -*-+
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///+
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/// \file   Discovery/Inc/Utils.h+
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/// \brief	Various Utilities...+
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/// \author Heinrichs Weikamp+
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/// \date   2018+
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///+
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/// $Id$+
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///////////////////////////////////////////////////////////////////////////////+
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/// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh+
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///+
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///     This program is free software: you can redistribute it and/or modify+
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///     it under the terms of the GNU General Public License as published by+
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///     the Free Software Foundation, either version 3 of the License, or+
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///     (at your option) any later version.+
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///+
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///     This program is distributed in the hope that it will be useful,+
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///     but WITHOUT ANY WARRANTY; without even the implied warranty of+
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///     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the+
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///     GNU General Public License for more details.+
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///+
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///     You should have received a copy of the GNU General Public License+
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///     along with this program.  If not, see <http://www.gnu.org/licenses/>.+
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//////////////////////////////////////////////////////////////////////////////+
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+
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#ifndef UTILS_H+
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#define UTILS_H+
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+
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#include <stdint.h>+
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#include <stdbool.h>+
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#include <math.h>+
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+
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#ifdef FloatToFixed+
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#undef FloatToFixed+
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#undef IntToFixed+
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#undef FixedToFloat+
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#undef FixedToInt+
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#endif+
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+
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//+
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// 20.12 fixed-point operations+
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//+
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+
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#define Fix(val) ((val)*4096)+
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#define F(val) Fix(val)+
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+
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#define FixSqrt2 5793+
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#define FixInvSqrt2 2896+
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#define FixSinPiDiv4 FixInvSqrt2+
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#define FixCosPiDiv4 FixInvSqrt2+
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#define FixSinPiDiv8 1567+
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#define FixCosPiDiv8 3784+
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+
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static inline int32_t FloatToFixed(float val) { return val*4096.0f; }+
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static inline int32_t IntToFixed(int val) { return val<<12; }+
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static inline int32_t IntToFixedPlusHalf(int val) { return (val<<12)+0x800; }+
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+
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static inline float FixedToFloat(int32_t val) { return (float)val/4096.0f; }+
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static inline int32_t FixedToInt(int32_t val) { return val>>12; }+
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static inline int32_t FixedToRoundedInt(int32_t val) { return (val+0x800)>>12; }+
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+
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//static inline int32_t FixedMul(int32_t a,int32_t b) { return ((int64_t)a*(int64_t)b)>>16; }+
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+
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static inline int32_t imin(int32_t a,int32_t b) { return a<b?a:b; }+
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static inline int32_t imax(int32_t a,int32_t b) { return a>b?a:b; }+
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static inline int32_t iabs(int32_t a) { return a<0?-a:a; }+
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static inline int32_t isign(int32_t a) { return a>0?1:a<0?-1:0; }+
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+
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static inline int64_t imul64(int64_t a, int64_t b) { return (a*b)>>12; }+
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static inline int32_t imul(int32_t a, int32_t b) { return (int32_t)imul64(a,b); }+
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+
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static inline int64_t idiv64(int64_t num,int64_t den) { return (num<<12)/den; }+
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static inline int32_t idiv(int32_t num,int32_t den) { return (int32_t)idiv64(num,den); }+
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+
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static inline int64_t isq64(int64_t val) { return imul64(val,val); }+
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static inline int32_t isq(int32_t val) { return imul(val,val); }+
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+
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static uint32_t sqrti(uint32_t n)+
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{+
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	uint32_t s,t;+
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+
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	#define sqrtBit(k) \+
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	t = s+(1UL<<(k-1)); t <<= k+1; if (n >= t) { n -= t; s |= 1UL<<k; }+
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+
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	s=0;+
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	if(n>=1<<30) { n-=1<<30; s=1<<15; }+
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	sqrtBit(14); sqrtBit(13); sqrtBit(12); sqrtBit(11); sqrtBit(10);+
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	sqrtBit(9); sqrtBit(8); sqrtBit(7); sqrtBit(6); sqrtBit(5);+
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	sqrtBit(4); sqrtBit(3); sqrtBit(2); sqrtBit(1);+
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	if(n>s<<1) s|=1;+
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+
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	#undef sqrtBit+
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+
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	return s;+
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}+
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+
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static inline int64_t isqrt64(int64_t val) { return sqrti((uint64_t)val<<12); }+
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static inline int32_t isqrt(int32_t val) { return sqrti((uint64_t)val<<12); }+
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+
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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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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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+
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static inline int32_t ifloor(int a) { return a&~0xfff; }+
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static inline int32_t ifrac(int a) { return a&0xfff; }+
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+
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int32_t isin(int a);+
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static inline int32_t icos(int a) { return isin(a+1024); }+
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static inline int32_t itan(int a) { return idiv(isin(a),icos(a)); } // TODO: use a table+
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static inline int32_t idegrees(int degrees) { return degrees*4096.0f/360.0f; }+
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static inline int32_t iradians(float radians) { return radians*4096.0f/2/3.1415926535897932f; }+
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+
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static inline int32_t ilerp(int32_t a,int32_t b,int32_t t)+
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{+
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	return a+imul(b-a,t);+
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}+
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+
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/*static inline int32_t islerp(int32_t a,int32_t b,int32_t t)+
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{+
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	return a;+
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}*/+
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+
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//+
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// Bitwise operations+
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//+
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+
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static inline int CountBits32(uint32_t val)+
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{+
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	val=(val&0x55555555)+((val&0xaaaaaaaa)>>1);+
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	val=(val&0x33333333)+((val&0xcccccccc)>>2);+
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	val=(val&0x0f0f0f0f)+((val&0xf0f0f0f0)>>4);+
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	val=(val&0x00ff00ff)+((val&0xff00ff00)>>8);+
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	val=(val&0x0000ffff)+((val&0xffff0000)>>16);+
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	return val;+
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}+
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+
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static inline int CountBits16(uint16_t val)+
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{+
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	val=(val&0x5555)+((val&0xaaaa)>>1);+
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	val=(val&0x3333)+((val&0xcccc)>>2);+
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	val=(val&0x0f0f)+((val&0xf0f0)>>4);+
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	val=(val&0x00ff)+((val&0xff00)>>8);+
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	return val;+
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}+
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+
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static inline int CountBits8(uint8_t val)+
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{+
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	val=(val&0x55)+((val&0xaa)>>1);+
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	val=(val&0x33)+((val&0xcc)>>2);+
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	val=(val&0x0f)+((val&0xf0)>>4);+
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	return val;+
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}+
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+
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static inline uint32_t ReverseBits32(uint32_t val)+
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{+
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	val=((val>>1)&0x55555555)|((val<<1)&0xaaaaaaaa);+
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	val=((val>>2)&0x33333333)|((val<<2)&0xcccccccc);+
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	val=((val>>4)&0x0f0f0f0f)|((val<<4)&0xf0f0f0f0);+
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	val=((val>>8)&0x00ff00ff)|((val<<8)&0xff00ff00);+
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	val=((val>>16)&0x0000ffff)|((val<<16)&0xffff0000);+
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	return val;+
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}+
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+
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static inline uint16_t ReverseBits16(uint16_t val)+
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{+
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	val=((val>>1)&0x5555)|((val<<1)&0xaaaa);+
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	val=((val>>2)&0x3333)|((val<<2)&0xcccc);+
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	val=((val>>4)&0x0f0f)|((val<<4)&0xf0f0);+
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	val=((val>>8)&0x00ff)|((val<<8)&0xff00);+
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	return val;+
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}+
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+
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static inline uint8_t ReverseBits8(uint8_t val)+
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{+
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	val=((val>>1)&0x55)|((val<<1)&0xaa);+
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	val=((val>>2)&0x33)|((val<<2)&0xcc);+
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	val=((val>>4)&0x0f)|((val<<4)&0xf0);+
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	return val;+
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}+
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+
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static int LowestBitSet32(uint32_t val)+
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{+
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	if(val==0) return -1;+
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	return CountBits32(val^val-1)-1;+
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}+
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+
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static int LowestBitSet16(uint16_t val)+
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{+
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	if(val==0) return -1;+
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	return CountBits16(val^val-1)-1;+
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}+
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+
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static int LowestBitSet8(uint8_t val)+
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{+
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	if(val==0) return -1;+
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	return CountBits8(val^val-1)-1;+
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}+
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+
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#endif // UTILS_H+
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