ardupilot/libraries/AP_Common/AP_Common.cpp

73 lines
1.8 KiB
C++

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