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+/**
+ ****************************************************************************************
+ *
+ * @file co_math.h
+ *
+ * @brief Common optimized math functions
+ *
+ * Copyright (C) RivieraWaves 2009-2015
+ *
+ *
+ ****************************************************************************************
+ */
+
+#ifndef _CO_MATH_H_
+#define _CO_MATH_H_
+
+/**
+ *****************************************************************************************
+ * @defgroup CO_MATH Math functions
+ * @ingroup COMMON
+ * @brief  Optimized math functions and other computations.
+ *
+ * @{
+ *****************************************************************************************
+ */
+
+/*
+ * INCLUDE FILES
+ ****************************************************************************************
+ */
+#include <stdint.h>        // standard integer definitions
+#include <stdbool.h>       // boolean definitions
+#include <stdlib.h>        // standard library
+#include "compiler.h"      // for __INLINE
+#include "arch.h"          // for ASSERT_ERR
+
+extern void srand (unsigned int seed);
+extern int rand (void);
+
+/*
+ * MACROS
+ ****************************************************************************************
+ */
+/**
+ ****************************************************************************************
+ * @brief Return value with one bit set.
+ *
+ * @param[in] pos Position of the bit to set.
+ *
+ * @return Value with one bit set.  There is no return type since this is a macro and this
+ * will be resolved by the compiler upon assignment to an l-value.
+ ****************************************************************************************
+ */
+#define CO_BIT(pos) (1UL<<(pos))
+
+/**
+ ****************************************************************************************
+ * @brief Return value bit into a bit field.
+ *
+ * @param[in] bf  Bit Field
+ * @param[in] pos Position of the bit
+ *
+ * @return value of a bit into a bit field
+ ****************************************************************************************
+ */
+#define CO_BIT_GET(bf, pos) (((((uint8_t*)bf)[((pos) >> 3)])>>((pos) & 0x7)) & 0x1)
+
+/**
+ ****************************************************************************************
+ * @brief Update value bit into a bit field.
+ *
+ * @param[in] bf  Bit Field
+ * @param[in] pos Position of the bit
+ * @param[in] val New value of the bit (0 or 1)
+ ****************************************************************************************
+ */
+#define CO_BIT_SET(bf, pos, val) (((uint8_t*)bf)[((pos) >> 3)]) = ((((uint8_t*)bf)[((pos) >> 3)]) & ~CO_BIT(((pos) & 0x7))) \
+                                                                | (((val) & 0x1) << ((pos) & 0x7))
+/**
+ ****************************************************************************************
+ * @brief Align val on the multiple of 4 equal or nearest higher.
+ * @param[in] val Value to align.
+ * @return Value aligned.
+ ****************************************************************************************
+ */
+#define CO_ALIGN4_HI(val) (((val)+3)&~3)
+
+
+/**
+ ****************************************************************************************
+ * @brief Align val on the multiple of 4 equal or nearest lower.
+ * @param[in] val Value to align.
+ * @return Value aligned.
+ ****************************************************************************************
+ */
+#define CO_ALIGN4_LO(val) ((val)&~3)
+
+/**
+ ****************************************************************************************
+ * @brief Align val on the multiple of 2 equal or nearest higher.
+ * @param[in] val Value to align.
+ * @return Value aligned.
+ ****************************************************************************************
+ */
+#define CO_ALIGN2_HI(val) (((val)+1)&~1)
+
+
+/**
+ ****************************************************************************************
+ * @brief Align val on the multiple of 2 equal or nearest lower.
+ * @param[in] val Value to align.
+ * @return Value aligned.
+ ****************************************************************************************
+ */
+#define CO_ALIGN2_LO(val) ((val)&~1)
+
+/**
+ ****************************************************************************************
+ * Perform a division and ceil up the result
+ *
+ * @param[in] val Value to divide
+ * @param[in] div Divide value
+ * @return ceil(val/div)
+ ****************************************************************************************
+ */
+#define CO_DIVIDE_CEIL(val, div) (((val) + ((div) - 1))/ (div))
+
+/**
+ ****************************************************************************************
+ * Perform a division and round the result
+ *
+ * @param[in] val Value to divide
+ * @param[in] div Divide value
+ * @return round(val/div)
+ ****************************************************************************************
+ */
+#define CO_DIVIDE_ROUND(val, div) (((val) + ((div) >> 1))/ (div))
+
+/**
+ ****************************************************************************************
+ * Perform a modulo operation
+ *
+ * @param[in] val    Dividend
+ * @param[in] div    Divisor
+ * @return  val/div)
+ ****************************************************************************************
+ */
+//#define CO_MOD(val, div) ((val) % (div))
+__INLINE uint32_t co_mod(uint32_t val, uint32_t div)
+{
+   ASSERT_ERR(div);
+   return ((val) % (div));
+}
+#define CO_MOD(val, div) co_mod(val, div)
+
+
+/*
+ * FUNCTION DEFINTIONS
+ ****************************************************************************************
+ */
+/**
+ ****************************************************************************************
+ * @brief Count leading zeros.
+ * @param[in] val Value to count the number of leading zeros on.
+ * @return Number of leading zeros when value is written as 32 bits.
+ ****************************************************************************************
+ */
+__INLINE uint32_t co_clz(uint32_t val)
+{
+    #if defined(__arm__)
+    return __builtin_clz(val);
+    #elif defined(__GNUC__)
+    if (val == 0)
+    {
+        return 32;
+    }
+    return __builtin_clz(val);
+    #else
+    uint32_t i;
+    for (i = 0; i < 32; i++)
+    {
+        if (val & CO_BIT(31 - i))
+            break;
+    }
+    return i;
+    #endif // defined(__arm__)
+}
+
+/**
+ ****************************************************************************************
+ * @brief Count trailing zeros.
+ * @param[in] val Value to count the number of trailing zeros on.
+ * @return Number of trailing zeros when value is written as 32 bits.
+ ****************************************************************************************
+ */
+__INLINE uint32_t co_ctz(uint32_t val)
+{
+    #if defined(__arm__)
+    return __builtin_ctz(val);
+    #elif defined(__GNUC__)
+    if (val == 0)
+    {
+        return 32;
+    }
+    return __builtin_ctz(val);
+    #else
+    uint32_t i;
+    for (i = 0; i < 32; i++)
+    {
+        if (val & CO_BIT(i))
+            break;
+    }
+    return i;
+    #endif // defined(__arm__)
+}
+/**
+ ****************************************************************************************
+ * @brief Function to initialize the random seed.
+ * @param[in] seed The seed number to use to generate the random sequence.
+ ****************************************************************************************
+ */
+__INLINE void co_random_init(uint32_t seed)
+{
+    srand(seed);
+}
+
+/**
+ ****************************************************************************************
+ * @brief Function to get an 8 bit random number.
+ * @return Random byte value.
+ ****************************************************************************************
+ */
+__INLINE uint8_t co_rand_byte(void)
+{
+    return (uint8_t)(rand() & 0xFF);
+}
+
+/**
+ ****************************************************************************************
+ * @brief Function to get an 16 bit random number.
+ * @return Random half word value.
+ ****************************************************************************************
+ */
+__INLINE uint16_t co_rand_hword(void)
+{
+    return (uint16_t)(rand() & 0xFFFF);
+}
+
+/**
+ ****************************************************************************************
+ * @brief Function to get an 32 bit random number.
+ * @return Random word value.
+ ****************************************************************************************
+ */
+__INLINE uint32_t co_rand_word(void)
+{
+    return (uint32_t)rand();
+}
+
+/**
+ ****************************************************************************************
+ * @brief Function to return the smallest of 2 unsigned 32 bits words.
+ * @return The smallest value.
+ ****************************************************************************************
+ */
+__INLINE uint32_t co_min(uint32_t a, uint32_t b)
+{
+    return a < b ? a : b;
+}
+
+/**
+ ****************************************************************************************
+ * @brief Function to return the smallest of 2 signed 32 bits words.
+ * @return The smallest value.
+ ****************************************************************************************
+ */
+__INLINE int32_t co_min_s(int32_t a, int32_t b)
+{
+    return a < b ? a : b;
+}
+
+/**
+ ****************************************************************************************
+ * @brief Function to return the greatest of 2 unsigned 32 bits words.
+ * @return The greatest value.
+ ****************************************************************************************
+ */
+__INLINE uint32_t co_max(uint32_t a, uint32_t b)
+{
+    return a > b ? a : b;
+}
+
+/**
+ ****************************************************************************************
+ * @brief Function to return the absolute value of a signed integer.
+ * @return The absolute value.
+ ****************************************************************************************
+ */
+__INLINE int co_abs(int val)
+{
+    return (val < 0) ? (0 - val) : val;
+}
+
+/// @} CO_MATH
+
+
+#endif // _CO_MATH_H_