From 8c8732d0517af815a4a19cd26ab73964b3842e93 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 5 May 2014 16:15:22 +0400
Subject: [PATCH] Collateral fixes

---
 libuavcan/include/uavcan/dynamic_memory.hpp           |  1 +
 libuavcan/include/uavcan/util/lazy_constructor.hpp    |  1 +
 libuavcan/src/transport/uc_transfer_buffer.cpp        |  1 +
 libuavcan_drivers/lpc11c24/driver/src/can.cpp         |  5 +++--
 libuavcan_drivers/lpc11c24/driver/src/clock.cpp       |  7 +++++--
 libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp | 10 ++++++----
 6 files changed, 17 insertions(+), 8 deletions(-)

diff --git a/libuavcan/include/uavcan/dynamic_memory.hpp b/libuavcan/include/uavcan/dynamic_memory.hpp
index ff0ef2af14..151a6e20dd 100644
--- a/libuavcan/include/uavcan/dynamic_memory.hpp
+++ b/libuavcan/include/uavcan/dynamic_memory.hpp
@@ -7,6 +7,7 @@
 #include <cassert>
 #include <cstdlib>
 #include <cstring>
+#include <new>
 #include <uavcan/stdint.hpp>
 #include <uavcan/util/templates.hpp>
 #include <uavcan/impl_constants.hpp>
diff --git a/libuavcan/include/uavcan/util/lazy_constructor.hpp b/libuavcan/include/uavcan/util/lazy_constructor.hpp
index bea0b4f7ac..c91e83f371 100644
--- a/libuavcan/include/uavcan/util/lazy_constructor.hpp
+++ b/libuavcan/include/uavcan/util/lazy_constructor.hpp
@@ -5,6 +5,7 @@
 #pragma once
 
 #include <cstdlib>
+#include <new>
 #include <uavcan/error.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/util/templates.hpp>
diff --git a/libuavcan/src/transport/uc_transfer_buffer.cpp b/libuavcan/src/transport/uc_transfer_buffer.cpp
index ae5d4b8c45..7be655be4a 100644
--- a/libuavcan/src/transport/uc_transfer_buffer.cpp
+++ b/libuavcan/src/transport/uc_transfer_buffer.cpp
@@ -5,6 +5,7 @@
 #include <uavcan/transport/transfer_buffer.hpp>
 #include <cassert>
 #include <cstdlib>
+#include <new>
 
 namespace uavcan
 {
diff --git a/libuavcan_drivers/lpc11c24/driver/src/can.cpp b/libuavcan_drivers/lpc11c24/driver/src/can.cpp
index 43f00e77f2..9e655a066a 100644
--- a/libuavcan_drivers/lpc11c24/driver/src/can.cpp
+++ b/libuavcan_drivers/lpc11c24/driver/src/can.cpp
@@ -4,6 +4,7 @@
 
 #include <uavcan_lpc11c24/can.hpp>
 #include <uavcan_lpc11c24/clock.hpp>
+#include <uavcan/util/templates.hpp>
 #include <chip.h>
 #include "internal.hpp"
 
@@ -254,7 +255,7 @@ uavcan::int16_t CanDriver::send(const uavcan::CanFrame& frame, uavcan::Monotonic
         msgobj.mode_id |= CAN_MSGOBJ_RTR;
     }
     msgobj.dlc = frame.dlc;
-    std::copy(frame.data, frame.data + frame.dlc, msgobj.data);
+    uavcan::copy(frame.data, frame.data + frame.dlc, msgobj.data);
 
     /*
      * Transmission
@@ -387,7 +388,7 @@ void canRxCallback(uint8_t msg_obj_num)
 
     // Payload
     frame.dlc = msg_obj.dlc;
-    std::copy(msg_obj.data, msg_obj.data + msg_obj.dlc, frame.data);
+    uavcan::copy(msg_obj.data, msg_obj.data + msg_obj.dlc, frame.data);
 
     uavcan_lpc11c24::rx_queue.push(frame, uavcan_lpc11c24::last_irq_utc_timestamp);
     uavcan_lpc11c24::had_activity = true;
diff --git a/libuavcan_drivers/lpc11c24/driver/src/clock.cpp b/libuavcan_drivers/lpc11c24/driver/src/clock.cpp
index f32215ba4b..7a51d1be0c 100644
--- a/libuavcan_drivers/lpc11c24/driver/src/clock.cpp
+++ b/libuavcan_drivers/lpc11c24/driver/src/clock.cpp
@@ -3,6 +3,7 @@
  */
 
 #include <uavcan_lpc11c24/clock.hpp>
+#include <uavcan/util/templates.hpp>
 #include <chip.h>
 #include "internal.hpp"
 
@@ -113,8 +114,10 @@ void adjustUtc(uavcan::UtcDuration adjustment)
     utc_correction_usec_per_overflow_x16 += adjustment.isPositive() ? 1 : -1; // I
     utc_correction_usec_per_overflow_x16 += (adj_delta > 0) ? 1 : -1;         // P
 
-    utc_correction_usec_per_overflow_x16 = std::max(utc_correction_usec_per_overflow_x16, -MaxUtcSpeedCorrectionX16);
-    utc_correction_usec_per_overflow_x16 = std::min(utc_correction_usec_per_overflow_x16,  MaxUtcSpeedCorrectionX16);
+    utc_correction_usec_per_overflow_x16 =
+        uavcan::max(utc_correction_usec_per_overflow_x16, -MaxUtcSpeedCorrectionX16);
+    utc_correction_usec_per_overflow_x16 =
+        uavcan::min(utc_correction_usec_per_overflow_x16,  MaxUtcSpeedCorrectionX16);
 
     if (adjustment.getAbs().toMSec() > 9 || !utc_set)
     {
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
index 2d4b8e5f11..6ab92d5238 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
@@ -180,16 +180,18 @@ static void updateRatePID(uavcan::UtcDuration adjustment)
     else
     {
         utc_rel_rate_error_integral += rel_rate_error * dt * utc_sync_params.rate_i;
-        utc_rel_rate_error_integral = std::max(utc_rel_rate_error_integral, -utc_sync_params.max_rate_correction_ppm);
-        utc_rel_rate_error_integral = std::min(utc_rel_rate_error_integral, utc_sync_params.max_rate_correction_ppm);
+        utc_rel_rate_error_integral =
+            uavcan::max(utc_rel_rate_error_integral, -utc_sync_params.max_rate_correction_ppm);
+        utc_rel_rate_error_integral =
+            uavcan::min(utc_rel_rate_error_integral, utc_sync_params.max_rate_correction_ppm);
     }
 
     /*
      * Rate controller
      */
     float total_rate_correction_ppm = rel_rate_error + utc_rel_rate_error_integral;
-    total_rate_correction_ppm = std::max(total_rate_correction_ppm, -utc_sync_params.max_rate_correction_ppm);
-    total_rate_correction_ppm = std::min(total_rate_correction_ppm, utc_sync_params.max_rate_correction_ppm);
+    total_rate_correction_ppm = uavcan::max(total_rate_correction_ppm, -utc_sync_params.max_rate_correction_ppm);
+    total_rate_correction_ppm = uavcan::min(total_rate_correction_ppm, utc_sync_params.max_rate_correction_ppm);
 
     utc_correction_nsec_per_overflow = (USecPerOverflow * 1000) * (total_rate_correction_ppm / 1e6F);