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18 lines
418 B
18 lines
418 B
#include <sys/time.h> |
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#include <inttypes.h> |
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#include <drivers/drv_hrt.h> |
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#include <stdio.h> |
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hrt_abstime hrt_absolute_time() |
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{ |
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struct timeval te; |
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gettimeofday(&te, NULL); // get current time |
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hrt_abstime us = static_cast<uint64_t>(te.tv_sec) * 1e6 + te.tv_usec; // caculate us |
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return us; |
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} |
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hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then) |
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{ |
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// not thread safe |
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return hrt_absolute_time() - *then; |
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}
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