Utility Libraries
hf-core includes three utility libraries providing reusable infrastructure:
| Library | Description | Header Count |
|---|---|---|
| General Utilities | Data structures, algorithms, filters | ~30 headers |
| RTOS Wrappers | FreeRTOS C++ abstractions | ~22 headers |
| CANopen | CAN frame + protocol helpers | 3 headers |
All utilities are designed to be:
- Platform-portable — General utilities are header-only with no RTOS dependency
- Thread-safe — RTOS wrappers manage synchronization internally
- Zero-allocation — Fixed-size containers, no dynamic memory in hot paths