HRI board firmware v2.1 Microcontroller firmware of the board used during the HRI labs.

Macros | Functions
utils.h File Reference
`#include "../main.h"`

Go to the source code of this file.

## Macros
#define | CPU_TRAPS_ENABLED 1
| utils_TrapCpu() will be block forever if 1, or return immediately if 0. More...
#define | SECOND_TO_MICROSECOND 1000000.0f
#define | MICROSECOND_TO_SECOND (1.0f/SECOND_TO_MICROSECOND)

## Functions
void | utils_TrapCpu (void)
| Endless loop function to stop the execution of the program here. More...
void | utils_DelayUs (uint32_t duration)
| "Busy wait" delay function More...
void | utils_DelayMs (uint32_t duration)
| "Busy wait" delay function More...
void | utils_SaturateF (float32_t *val, float32_t min, float32_t max)
| Saturate a float number between two bounds. More...
void | utils_SaturateU (uint32_t *val, uint32_t min, uint32_t max)
| Saturate an integer number between two bounds. More...
float32_t | utils_Mean (float32_t *array, int size)
| Compute the mean of the array values. More...