diff --git a/include/utils/utils.h b/include/utils/utils.h
index e69e02e..26caaaf 100644
--- a/include/utils/utils.h
+++ b/include/utils/utils.h
@@ -7,6 +7,24 @@
 extern "C" {
 #endif
 
+#define LIMIT(x, min, max)																	\
+	({																						\
+		typeof( x ) _x = x;																	\
+		typeof( min ) _min = min;															\
+		typeof( max ) _max = max;															\
+		( ( ( _x ) < ( _min ) ) ? ( _min ) : ( ( _x ) > ( _max ) ) ? ( _max) : ( _x ) );	\
+})
+
+#define DegToRad(a)   ( (a) *  0.01745329252f )
+#define RadToDeg(a) ( (a) * 57.29577951f )
+
+#define ALIGN4(x)           (((x) + 3) & ~3)
+#define ALIGN32(x) (((x) + 31) & ~31)
+
+#define le16(i)         ((((uint16_t) ((i) & 0xFF)) << 8) | ((uint16_t) (((i) & 0xFF00) >> 8)))
+#define le32(i)         ((((uint32_t)le16((i) & 0xFFFF)) << 16) | ((uint32_t)le16(((i) & 0xFFFF0000) >> 16)))
+#define le64(i) ((((uint64_t)le32((i) & 0xFFFFFFFFLL)) << 32) | ((uint64_t)le32(((i) & 0xFFFFFFFF00000000LL) >> 32)))
+
 //Needs to have log_init() called beforehand.
 void dumpHex(const void* data, size_t size);