m5p3nc3r
457f054053
git-subtree-dir: lidar/sllidar_ros2 git-subtree-split: 34300099fadfc772965962dec837bf436706188f
95 lines
2.1 KiB
C
95 lines
2.1 KiB
C
/*
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* RoboPeak Project
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* Copyright 2009 - 2013
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*
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* RPOS - Byte Operations
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*
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*/
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#pragma once
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// byte swapping operations for compiling time
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#define __static_byteswap_16(x) ((_u16)( \
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(((_u16)(x) & (_u16)0x00FFU) << 8) | \
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(((_u16)(x) & (_u16)0xFF00U) >> 8)))
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#define __static_byteswap_32(x) ((_u32)( \
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(((_u32)(x) & (_u32)0x000000FFUL) << 24) | \
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(((_u32)(x) & (_u32)0x0000FF00UL) << 8) | \
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(((_u32)(x) & (_u32)0x00FF0000UL) >> 8) | \
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(((_u32)(x) & (_u32)0xFF000000UL) >> 24)))
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#define __static_byteswap_64(x) ((_u64)( \
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(((_u64)(x) & (_u64)0x00000000000000ffULL) << 56) | \
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(((_u64)(x) & (_u64)0x000000000000ff00ULL) << 40) | \
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(((_u64)(x) & (_u64)0x0000000000ff0000ULL) << 24) | \
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(((_u64)(x) & (_u64)0x00000000ff000000ULL) << 8) | \
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(((_u64)(x) & (_u64)0x000000ff00000000ULL) >> 8) | \
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(((_u64)(x) & (_u64)0x0000ff0000000000ULL) >> 24) | \
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(((_u64)(x) & (_u64)0x00ff000000000000ULL) >> 40) | \
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(((_u64)(x) & (_u64)0xff00000000000000ULL) >> 56)))
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#define __fast_swap(a, b) do { (a) ^= (b); (b) ^= (a); (a) ^= (b); } while(0)
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static inline _u16 __byteswap_16(_u16 x)
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{
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#ifdef __arch_byteswap_16
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return __arch_byteswap_16(x);
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#else
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return __static_byteswap_16(x);
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#endif
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}
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static inline _u32 __byteswap_32(_u32 x)
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{
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#ifdef __arch_byteswap_32
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return __arch_byteswap_32(x);
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#else
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return __static_byteswap_32(x);
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#endif
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}
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static inline _u64 __byteswap_64(_u64 x)
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{
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#ifdef __arch_byteswap_64
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return __arch_byteswap_64(x);
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#else
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return __static_byteswap_64(x);
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#endif
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}
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#ifdef float
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static inline float __byteswap_float(float x)
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{
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#ifdef __arch_byteswap_float
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return __arch_byteswap_float(x);
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#else
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_u8 * raw = (_u8 *)&x;
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__fast_swap(raw[0], raw[3]);
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__fast_swap(raw[1], raw[2]);
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return x;
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#endif
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}
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#endif
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#ifdef double
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static inline double __byteswap_double(double x)
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{
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#ifdef __arch_byteswap_double
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return __arch_byteswap_double(x);
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#else
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_u8 * raw = (_u8 *)&x;
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__fast_swap(raw[0], raw[7]);
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__fast_swap(raw[1], raw[6]);
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__fast_swap(raw[2], raw[5]);
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__fast_swap(raw[3], raw[4]);
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return x;
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#endif
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}
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#endif
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