1 files changed, 112 insertions, 0 deletions
diff --git a/LIDAR/sdk/src/hal/byteorder.h b/LIDAR/sdk/src/hal/byteorder.h
new file mode 100644
index 0000000..d06a9af
--- /dev/null
+++ b/LIDAR/sdk/src/hal/byteorder.h
@@ -0,0 +1,112 @@
+/*
+ *  RoboPeak Project
+ *  Copyright 2009 - 2013
+ *  
+ *  RPOS - Endianness Helper
+ *
+ */
+
+#pragma once
+
+
+#if !defined(_CPU_ENDIAN_BIG) && !defined(_CPU_ENDIAN_SMALL)
+// CPU Endianness is not specified, assume little endian.
+#define _CPU_ENDIAN_SMALL
+#endif
+
+#if defined(_CPU_ENDIAN_BIG) && defined(_CPU_ENDIAN_SMALL)
+#error "_CPU_ENDIAN_BIG and _CPU_ENDIAN_SMALL cannot be defined at the same time."
+#endif
+
+#include "hal/byteops.h"
+
+#if defined(_CPU_ENDIAN_SMALL)
+
+
+// we don't want to conflict with the Linux kernel...
+#ifndef __KERNEL__ 
+#define constant_cpu_to_le64(x) ((_u64)(x))
+#define constant_le64_to_cpu(x) ((_u64)(x))
+#define constant_cpu_to_le32(x) ((_u32)(x))
+#define constant_le32_to_cpu(x) ((_u32)(x))
+#define constant_cpu_to_le16(x) ((_u16)(x))
+#define constant_le16_to_cpu(x) ((_u16)(x))
+#define constant_cpu_to_be64(x) (__static_byteswap_64((x)))
+#define constant_be64_to_cpu(x) __static_byteswap_64((_u64)(x))
+#define constant_cpu_to_be32(x) (__static_byteswap_32((x)))
+#define constant_be32_to_cpu(x) __static_byteswap_32((_u32)(x))
+#define constant_cpu_to_be16(x) (__static_byteswap_16((x)))
+#define constant_be16_to_cpu(x) __static_byteswap_16((_u16)(x))
+
+#define cpu_to_le64(x) ((_u64)(x))
+#define le64_to_cpu(x) ((_u64)(x))
+#define cpu_to_le32(x) ((_u32)(x))
+#define le32_to_cpu(x) ((_u32)(x))
+#define cpu_to_le16(x) ((_u16)(x))
+#define le16_to_cpu(x) ((_u16)(x))
+#define cpu_to_be64(x) (__byteswap_64((x)))
+#define be64_to_cpu(x) __byteswap_64((_u64)(x))
+#define cpu_to_be32(x) (__byteswap_32((x)))
+#define be32_to_cpu(x) __byteswap_32((_u32)(x))
+#define cpu_to_be16(x) (__byteswap_16((x)))
+#define be16_to_cpu(x) __byteswap_16((_u16)(x))
+#endif
+
+#define cpu_to_float_le(x) ((float)x)
+#define float_le_to_cpu(x) ((float)x)
+
+#define cpu_to_float_be(x) __byteswap_float(x)
+#define float_be_to_cpu(x) __byteswap_float(x)
+
+#define cpu_to_double_le(x) ((double)x)
+#define double_le_to_cpu(x) ((double)x)
+
+#define cpu_to_double_be(x) __byteswap_double(x)
+#define double_be_to_cpu(x) __byteswap_double(x)
+
+#else
+
+// we don't want to conflict with the Linux kernel...
+#ifndef __KERNEL__ 
+#define constant_cpu_to_le64(x) (__static_byteswap_64((x)))
+#define constant_le64_to_cpu(x) __static_byteswap_64((_u64)(x))
+#define constant_cpu_to_le32(x) (__static_byteswap_32((x)))
+#define constant_le32_to_cpu(x) __static_byteswap_32((_u32)(x))
+#define constant_cpu_to_le16(x) (__static_byteswap_16((x)))
+#define constant_le16_to_cpu(x) __static_byteswap_16((_u16)(x))
+#define constant_cpu_to_be64(x) ((_u64)(x))
+#define constant_be64_to_cpu(x) ((_u64)(x))
+#define constant_cpu_to_be32(x) ((_u32)(x))
+#define constant_be32_to_cpu(x) ((_u32)(x))
+#define constant_cpu_to_be16(x) ((_u16)(x))
+#define constant_be16_to_cpu(x) ((_u16)(x))
+
+#define cpu_to_le64(x) (__byteswap_64((x)))
+#define le64_to_cpu(x) __byteswap_64((_u64)(x))
+#define cpu_to_le32(x) (__byteswap_32((x)))
+#define le32_to_cpu(x) __byteswap_32((_u32)(x))
+#define cpu_to_le16(x) (__byteswap_16((x)))
+#define le16_to_cpu(x) __byteswap_16((_u16)(x))
+#define cpu_to_be64(x) ((_u64)(x))
+#define be64_to_cpu(x) ((_u64)(x))
+#define cpu_to_be32(x) ((_u32)(x))
+#define be32_to_cpu(x) ((_u32)(x))
+#define cpu_to_be16(x) ((_u16)(x))
+#define be16_to_cpu(x) ((_u16)(x))
+#endif
+
+
+#define cpu_to_float_le(x) __byteswap_float(x)
+#define float_le_to_cpu(x) __byteswap_float(x)
+
+#define cpu_to_float_be(x) ((float)x)
+#define float_be_to_cpu(x) ((float)x)
+
+
+#define cpu_to_double_le(x) __byteswap_double(x)
+#define double_le_to_cpu(x) __byteswap_double(x)
+
+#define cpu_to_double_be(x) ((double)x)
+#define double_be_to_cpu(x) ((double)x)
+
+#endif