SpriteHTTPD - embedded HTTP server with read-only filesystem and templating, originally developed for ESP8266, now stand-alone and POSIX compatible.
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spritehttpd/spritehttpd/src/utils/base64.h

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#pragma once
#include <stddef.h>
int httpd_base64_decode(size_t in_len, const char *in, size_t out_len, unsigned char *out);
int httpd_base64_encode(size_t in_len, const unsigned char *in, size_t out_len, char *out);
// The implementations in the c file are WEAK to allow overriding in case the same function already exists elsewhere in the system.