mirror of https://github.com/ArduPilot/ardupilot
73 lines
1.8 KiB
C++
73 lines
1.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_Common.cpp - common utility functions
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Common.h"
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extern const AP_HAL::HAL& hal;
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/*
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Return true if value is between lower and upper bound inclusive.
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False otherwise.
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*/
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bool is_bounded_int32(int32_t value, int32_t lower_bound, int32_t upper_bound)
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{
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if ((lower_bound <= upper_bound) &&
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(value >= lower_bound) && (value <= upper_bound)) {
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return true;
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}
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return false;
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}
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/**
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* return the numeric value of an ascii hex character
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*
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* @param [in] a Hexa character
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* @param [out] res uint8 value
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* @retval true Conversion OK
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* @retval false Input value error
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* @Note Input character is 0-9, A-F, a-f
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* A 0x41, a 0x61, 0 0x30
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*/
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bool hex_to_uint8(uint8_t a, uint8_t &res)
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{
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uint8_t nibble_low = a & 0xf;
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switch (a & 0xf0) {
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case 0x30: // 0-
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if (nibble_low > 9) {
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return false;
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}
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res = nibble_low;
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break;
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case 0x40: // uppercase A-
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case 0x60: // lowercase a-
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if (nibble_low == 0 || nibble_low > 6) {
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return false;
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}
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res = nibble_low + 9;
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break;
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default:
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return false;
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}
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return true;
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}
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