38 lines
1.0 KiB
C
38 lines
1.0 KiB
C
#include "ch.h"
|
|
|
|
#include "timer.h"
|
|
|
|
static systime_t last_systime = 0;
|
|
static systime_t overflow = 0;
|
|
static uint32_t current_time_ms = 0;
|
|
|
|
void timer_init(void) { timer_clear(); }
|
|
|
|
void timer_clear(void) {
|
|
last_systime = chVTGetSystemTime();
|
|
overflow = 0;
|
|
current_time_ms = 0;
|
|
}
|
|
|
|
uint16_t timer_read(void) { return (uint16_t)timer_read32(); }
|
|
|
|
uint32_t timer_read32(void) {
|
|
// Note: We assume that the timer update is called at least once betweeen every wrap around of the system time
|
|
systime_t current_systime = chVTGetSystemTime();
|
|
systime_t elapsed = current_systime - last_systime + overflow;
|
|
uint32_t elapsed_ms = ST2MS(elapsed);
|
|
current_time_ms += elapsed_ms;
|
|
overflow = elapsed - MS2ST(elapsed_ms);
|
|
last_systime = current_systime;
|
|
|
|
return current_time_ms;
|
|
}
|
|
|
|
uint16_t timer_elapsed(uint16_t last) {
|
|
return TIMER_DIFF_16(timer_read(), last);
|
|
}
|
|
|
|
uint32_t timer_elapsed32(uint32_t last) {
|
|
return TIMER_DIFF_32(timer_read32(), last);
|
|
}
|