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R2671/Firmware/src/lib/utils.c
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utils.c
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/*
* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "utils.h"
/**
* @brief Endless loop function to stop the execution of the program here.
* @note This function does nothing if CPU_TRAPS_ENABLED is set to zero.
*/
void utils_TrapCpu(void)
{
#if CPU_TRAPS_ENABLED
while(1)
;
#endif
}
/**
* @brief "Busy wait" delay function
* @param duration: Delay time in [us] (approximative value based on a 168MHz core clock)
*/
void utils_DelayUs(uint32_t duration)
{
uint32_t i = 0;
uint32_t j = 0;
for(i=0; i<=duration; i++)
{
for(j=0; j<=52; j++)
{
#ifdef __GNUC__
asm("nop");
#else
__asm{NOP};
#endif
}
}
}
/**
* @brief "Busy wait" delay function
* @param duration: Delay time in [ms] (approximative value based on a 168MHz core clock).
* @note This delay is approximative, and may last longer if there are many interrupts.
*/
void utils_DelayMs(uint32_t duration)
{
uint32_t i = 0;
uint32_t j = 0;
for(i=0; i<=duration; i++)
{
for(j=0; j<=33600; j++)
{
#ifdef __GNUC__
asm("nop");
#else
__asm{NOP};
#endif
}
}
}
/**
* @brief Saturate a float number between two bounds.
* @param val: value to constrain between two limits.
* @param min: minimum
* @param max: maximum
* @retval None.
*/
void utils_SaturateF(float32_t *val, float32_t min, float32_t max)
{
if(*val < min)
*val = min;
else if(*val > max)
*val = max;
}
/**
* @brief Saturate an integer number between two bounds.
* @param val: value to constrain between the two limits.
* @param min: lower limit.
* @param max: upper limit.
* @retval None.
*/
void utils_SaturateU(uint32_t *val, uint32_t min, uint32_t max)
{
if(*val < min)
*val = min;
else if(*val > max)
*val = max;
}
/**
* @brief Compute the mean of the array values.
* @param array: array of float number to get the mean from.
* @param size: size of the array.
* @retval the mean of the array values.
*/
float32_t utils_Mean(float32_t *array, int size)
{
int i;
float32_t sum = 0.0f;
for(i=0; i<size; i++)
sum += array[i];
return sum / (float32_t) size;
}
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