#ifndef _UTILS_H_
#define _UTILS_H_

#include "FreeRTOS.h"
#include "portmacro.h"
#include "task.h"

/* Small functions in header file for efficient inlining. */


/* Rounding integer division for positive numbers
 * a/b + 0.5 = (a + b/2) / b                       */
static inline unsigned int round_div(unsigned int a, unsigned int b)
{
	return (a + b/2) / b;
}

/* Delay with millisecond parameter.
 * Always delay atleast ms milliseconds.
 * FreeRTOS vTaskDelay delays atleast ticks-1 ticks, because the
 * delay might begin midway through a tick period. Therefore add +1.
 */
static inline void vTaskDelayMS(int ms)
{
    vTaskDelay(ms / portTICK_RATE_MS + 1);
}

/* Get number of elapsed milliseconds compared to a previous tick value.
 * Use like this:
 * portTickType ticks = xTaskGetTickCount();
 * while (elapsedMS(ticks) < 100) do_something_until_timeout();
 */
static inline portTickType elapsedMS(portTickType ticks)
{
    return (xTaskGetTickCount() - ticks) / portTICK_RATE_MS;
}

#endif