Paparazzi UAS  v5.15_devel-50-g4d7045d
Paparazzi is a free software Unmanned Aircraft System.
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sys_time_arch.h
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23 
28 #ifndef SYS_TIME_ARCH_H
29 #define SYS_TIME_ARCH_H
30 
31 #include "std.h"
32 #include <unistd.h>
33 
39 extern uint32_t get_sys_time_usec(void);
40 
45 extern uint32_t get_sys_time_msec(void);
46 
47 static inline void sys_time_usleep(uint32_t us)
48 {
49  usleep(us);
50 }
51 
53 static inline unsigned int sys_time_elapsed_us(struct timespec *prev, struct timespec *now)
54 {
55  time_t d_sec = now->tv_sec - prev->tv_sec;
56  long d_nsec = now->tv_nsec - prev->tv_nsec;
57  /* wrap if negative nanoseconds */
58  if (d_nsec < 0) {
59  d_sec -= 1;
60  d_nsec += 1000000000L;
61  }
62  return d_sec * 1000000 + d_nsec / 1000;
63 }
64 
65 #endif /* SYS_TIME_ARCH_H */
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
unsigned long uint32_t
Definition: types.h:18
static unsigned int sys_time_elapsed_us(struct timespec *prev, struct timespec *now)
elapsed time in microsecs between two timespecs
Definition: sys_time_arch.h:53
void sys_time_usleep(uint32_t us)
sys_time_usleep(uint32_t us)
Definition: sys_time_arch.c:95
uint32_t get_sys_time_msec(void)
Get the time in milliseconds since startup.
Definition: sys_time_arch.c:78