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utils.h
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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.
	*/

	#ifndef __UTILS_H
	#define __UTILS_H

	#include "../main.h"

	/** @defgroup Utils Lib / Utils
	* @brief Utility functions and constants.
	*
	* This module provides functions and constants that may be used at many
	* places in the code.
	*
	* @addtogroup Utils
	* @{
	*/

	#define CPU_TRAPS_ENABLED 1 ///< utils_TrapCpu() will be block forever if 1, or return immediately if 0.

	#define SECOND_TO_MICROSECOND 1000000.0f
	#define MICROSECOND_TO_SECOND (1.0f/SECOND_TO_MICROSECOND)

	void utils_TrapCpu(void);

	void utils_DelayUs(uint32_t duration);
	void utils_DelayMs(uint32_t duration);

	void utils_DelayUs(uint32_t duration);
	void utils_DelayMs(uint32_t duration);
	void utils_SaturateF(float32_t *val, float32_t min, float32_t max);
	void utils_SaturateU(uint32_t *val, uint32_t min, uint32_t max);
	float32_t utils_Mean(float32_t *array, int size);

	/**
	* @}
	*/

	#endif