Collection of useful C utilities (MISRA-compliant)

Libraries included:

• commonTypes: collection of common type definitions
• basicMath: math constants, conversion factors, bitwise operators, fastSqrt, fastInvSqrt, fastSin and fastCos
• button: interrupt-based button object with debounce and multiple press types detection
• event: callback-based event manager with support for functions with type void(*)(void) and void(*)(void* val)
• IIRFilters: simple discrete-time IIR filters, with on-the-fly conversion continuous -> discrete of derivative, integrator, leaky integrator, 2nd order low-pass, high-pass, band-pass and band-stop filters
• list: linked list
• LKHashTable: dynamic linked hash-table object (based on list)
• LPHashTable: linear-probing hash-table object with auto-resize capability
• matrix: handling of matrix objects and matrix operations
• movingAvg: moving average object
• numMethods: common numerical methods to solve linear systems, perform Gauss-Newton sphere approximation and solve discrete-time algebraic Riccati equation
• PID: PID controller with several anti-windup options (aero-specific, integral-clamping, back-calculation) and selectable derivative-on-error or derivative-on-measurement mode
• quaternion: quaternion operations and conversion to Euler angles
• queue: queue structure
• timer: user-configurable timers

Library configuration:

• User must define ADVUTILS_USE_STATIC_ALLOCATION and/or ADVUTILS_USE_DYNAMIC_ALLOCATION to select wheter to use static and/or dynamic memory management. list, LPHashTable and LKHashTable are available only with ADVUTILS_USE_DYNAMIC_ALLOCATION
• Functions that use static allocation are defined by Static suffix
• To automatically use thread-safe FreeRTOS-specific implementation of dynamic memory management functions (malloc, calloc and free) user can add set(ADVUtils_DYN_MEM_MGMT "USE_FREERTOS" CACHE STRING "" FORCE) before add_subdirectory() in project CMakeLists. This will automatically add the following defines to ADVUtils compilation:
  • ADVUTILS_MEMORY_MGMT_HEADER="FreeRTOS.h"
  • ADVUTILS_MALLOC=pvPortMalloc
  • ADVUTILS_CALLOC=pvPortCalloc
  • ADVUTILS_FREE=vPortFree
  • target_link_libraries(ADVUtils freertos_kernel)
• If ADVUTILS_MEMORY_MGMT_HEADER is not defined, the library will use stdlib version of malloc, calloc and free
• User can use another different implementation of malloc, calloc and free by defining the following four macros:
  • ADVUTILS_MEMORY_MGMT_HEADER
  • ADVUTILS_MALLOC
  • ADVUTILS_CALLOC
  • ADVUTILS_FREE
• User can select to use faster (and less precise) math functions from basicMath by adding USE_FAST_MATH to compile definitions
• Library implements an infinite loop assert to check for input parameters when DEBUG is defined. User can override it by defining ADVUTILS_ASSERT as any function that checks for the input value to be true. User can also define ADVUTILS_ASSERT_HEADER to include the file where the preferred assert is declared.

Specific configurations (via defines):

list:

• LIST_STYPE: type of list size property, defining the maximum amount of values that can be stored in the list. Default is uint16_t

LKHashTable:

• LKHT_LIST_SIZE: maximum size of the list objects used by the hash-table. Default it UINT16_MAX
• LKHT_HASHFUN: hash function used by hash-table. Default is hash_FNV1A (FNV-1a hash) and other options are hash_djb (Dan Bernstein hash) and hash_sdbm (sdbm hash)

LPHashTable:

• LPHT_MIN_SIZE: minimum size of hash-table when resizing. Default is 5
• LPHT_MAX_SIZE: maximum size of hash-table when resizing. Default is UINT32_MAX
• LPHT_MIN_SATURATION: minimum saturation of hash-table, that triggers a down-sizing. Default is 0.2, meaning 20%
• LPHT_MAX_SATURATION: maximum saturation of hash-table, that triggers an up-sizing. Default is 0.7, meaning 70%
• LPHT_HASHFUN: hash function used by hash-table. Default is hash_FNV1A (FNV-1a hash) and other options are hash_djb (Dan Bernstein hash) and hash_sdbm (sdbm hash)

movingAvg:

• MOVAVG_STYPE: type of moving average size property, defining the maximum amount of values that can be stored in the moving average. Default is uint16_t

queue:

• QUEUE_STYPE: type of queue size property, defining the maximum amount of values that can be stored in the queue. Default is uint16_t

Tests coverage:

Object	Coverage
basicMath	100%
button	100%
event	100%
IIRFilters	100%
list	100%
LKHashTable	100%
LPHashTable	100%
matrix	100%
movingAvg	100%
numMethods	100%
PID	100%
quaternion	100%
queue	100%
timer	100%