Compat.h /compat.pde

This two files include funtions that will be very used in other files:

Link to the code: Compat.h

#ifndef __COMPAT_H__
#define __COMPAT_H__

#define HIGH 1
#define LOW 0

/* Forward declarations to avoid broken auto-prototyper (coughs on '::'?) */
static void run_cli(AP_HAL::UARTDriver *port);

#endif // __COMPAT_H__

Defines COMPAT_H. Also defines HIGH and LOW values to 1 and 0 (as binary values). Also defines run_cli function.

Note: To pass from analogic to digital values, Hihg stream will cause a ON or 1 value and low stream will cause a OFF value or 0.

Link to the code: Compat.pde

static void delay(uint32_t ms)
{
    hal.scheduler->delay(ms);
}

static void mavlink_delay(uint32_t ms)
{
    hal.scheduler->delay(ms);
}

static uint32_t millis()
{
    return hal.scheduler->millis();
}

static uint32_t micros()
{
    return hal.scheduler->micros();
}

This code include some funtions from the AP_HAL/Scheduler.h like delayor millis, you can find them here. The millisfunction pass to ms and the microsfunction to microseconds.