diff options
Diffstat (limited to 'apps/drivers/stm32/drv_hrt.c')
-rw-r--r-- | apps/drivers/stm32/drv_hrt.c | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/apps/drivers/stm32/drv_hrt.c b/apps/drivers/stm32/drv_hrt.c index cd9cb45b1..bb67d5e6d 100644 --- a/apps/drivers/stm32/drv_hrt.c +++ b/apps/drivers/stm32/drv_hrt.c @@ -646,6 +646,36 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime) } /* + * Compare a time value with the current time. + */ +hrt_abstime +hrt_elapsed_time(const volatile hrt_abstime *then) +{ + irqstate_t flags = irqsave(); + + hrt_abstime delta = hrt_absolute_time() - *then; + + irqrestore(flags); + + return delta; +} + +/* + * Store the absolute time in an interrupt-safe fashion + */ +hrt_abstime +hrt_store_absolute_time(volatile hrt_abstime *now) +{ + irqstate_t flags = irqsave(); + + hrt_abstime ts = hrt_absolute_time(); + + irqrestore(flags); + + return ts; +} + +/* * Initalise the high-resolution timing module. */ void |