Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
sys_time_arch.h
Go to the documentation of this file.
1 /*
2  *
3  * Copyright (C) 2009-2013 The Paparazzi Team
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  *
22  */
23 
28 #ifndef SYS_TIME_ARCH_H
29 #define SYS_TIME_ARCH_H
30 
31 #include "std.h"
32 #include <unistd.h>
33 
39 static inline uint32_t get_sys_time_usec(void)
40 {
41  return sys_time.nb_sec * 1000000 +
43 }
44 
49 static inline uint32_t get_sys_time_msec(void)
50 {
51  return sys_time.nb_sec * 1000 +
53 }
54 
55 static inline void sys_time_usleep(uint32_t us)
56 {
57  usleep(us);
58 }
59 
61 static inline unsigned int sys_time_elapsed_us(struct timespec *prev, struct timespec *now)
62 {
63  time_t d_sec = now->tv_sec - prev->tv_sec;
64  long d_nsec = now->tv_nsec - prev->tv_nsec;
65  /* wrap if negative nanoseconds */
66  if (d_nsec < 0) {
67  d_sec -= 1;
68  d_nsec += 1000000000L;
69  }
70  return d_sec * 1000000 + d_nsec / 1000;
71 }
72 
73 #endif /* SYS_TIME_ARCH_H */
static uint32_t msec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:188
static uint32_t get_sys_time_msec(void)
Get the time in milliseconds since startup.
Definition: sys_time_arch.h:49
static uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.h:39
static uint32_t usec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:193
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:61
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:70
static void sys_time_usleep(uint32_t us)
Definition: sys_time_arch.h:55
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:69