handler_utils Namespace Reference

Functions
void	RouteLogToLogger (int level, const char *tag, const char *format, va_list args) noexcept
	Route a driver log message to the Logger singleton.
void	DelayMs (uint32_t ms) noexcept
	RTOS-aware millisecond delay.
void	DelayUs (uint32_t us) noexcept
	Microsecond delay with automatic fallback to RTOS delay for large values.

Function Documentation

DelayMs()

void handler_utils::DelayMs ( uint32_t  ms )

inlinenoexcept

RTOS-aware millisecond delay.

On ESP-IDF / FreeRTOS, yields via the scheduler so TLE/MAX reset settle times (datasheet ≥10 ms) are real wall time — not a short volatile busy-wait that was ~3×–10× too short at 200–240 MHz.

A non-zero ms always sleeps at least one tick, the rule os_convert_msec_to_delay_ticks() in hf-utils-rtos-wrap follows: below 1 kHz pdMS_TO_TICKS() rounds a short delay down to 0 ticks, which would only yield. HardFOC runs FreeRTOS at 1 kHz, where 1 ms is 1 tick.

Parameters

ms	Delay duration in milliseconds.

DelayUs()

void handler_utils::DelayUs ( uint32_t  us )

inlinenoexcept

Microsecond delay with automatic fallback to RTOS delay for large values.

For delays >= 1 ms, delegates to DelayMs (scheduler / HAL), rounded up to whole milliseconds so a datasheet minimum such as 2.5 ms is not cut to 2 ms. Shorter delays use esp_rom_delay_us on ESP-IDF or a denser busy-wait elsewhere so SPI CS setup / inter-frame gaps are not no-ops.

Parameters

us	Delay duration in microseconds.

RouteLogToLogger()

void handler_utils::RouteLogToLogger ( int  level, const char *  tag, const char *  format, va_list  args  )

inlinenoexcept

Route a driver log message to the Logger singleton.

Maps integer log levels to Logger methods:

• 0 → Error
• 1 → Warn
• 2 → Info
• 3+ → Debug

Parameters

level	Integer log level from the driver callback.
tag	Logging tag (null-terminated string).
format	printf-style format string.
args	Variadic argument list matching format.