mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.8 KiB
C
52 lines
1.8 KiB
C
|
/******************************************************************************
|
||
|
|
* The MIT License
|
||
|
|
*
|
||
|
|
* Copyright (c) 2010 Perry Hung.
|
||
|
|
*
|
||
|
|
* Permission is hereby granted, free of charge, to any person
|
||
|
|
* obtaining a copy of this software and associated documentation
|
||
|
|
* files (the "Software"), to deal in the Software without
|
||
|
|
* restriction, including without limitation the rights to use, copy,
|
||
|
|
* modify, merge, publish, distribute, sublicense, and/or sell copies
|
||
|
|
* of the Software, and to permit persons to whom the Software is
|
||
|
|
* furnished to do so, subject to the following conditions:
|
||
|
|
*
|
||
|
|
* The above copyright notice and this permission notice shall be
|
||
|
|
* included in all copies or substantial portions of the Software.
|
||
|
|
*
|
||
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
|
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||
|
|
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
|
|
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
|
||
|
|
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
|
||
|
|
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||
|
|
* SOFTWARE.
|
||
|
|
*****************************************************************************/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file util.h
|
||
|
|
* @brief Miscellaneous utility macros and procedures.
|
||
|
|
*/
|
||
|
|
#ifndef _UTIL_H_
|
||
|
|
#define _UTIL_H_
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Bit manipulation
|
||
|
|
*/
|
||
|
|
|
||
|
|
/** 1 << the bit number */
|
||
|
|
#define BIT(shift) (1UL << (shift))
|
||
|
|
/** Mask shifted left by 'shift' */
|
||
|
|
#define BIT_MASK_SHIFT(mask, shift) ((mask) << (shift))
|
||
|
|
/** Bits m to n of x */
|
||
|
|
#define GET_BITS(x, m, n) ((((uint32)x) << (31 - (n))) >> ((31 - (n)) + (m)))
|
||
|
|
/** True if v is a power of two (1, 2, 4, 8, ...) */
|
||
|
|
#define IS_POWER_OF_TWO(v) ((v) && !((v) & ((v) - 1)))
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|