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LibrePilot/flight/libraries/inc/stopwatch.h

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/**
******************************************************************************
* @addtogroup OpenPilot library
* @brief These files contain the code for stopwatch handling.
*
* @file stopwatch.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Generic pios_delay based stopwatch functions.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef _STOPWATCH_H
#define _STOPWATCH_H
#include <stdint.h>
#include <pios_delay.h>
/////////////////////////////////////////////////////////////////////////////
// Global definitions
/////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////
// Global Types
/////////////////////////////////////////////////////////////////////////////
typedef struct {
uint32_t raw;
uint32_t resolution;
} stopwatch_t;
/////////////////////////////////////////////////////////////////////////////
// Prototypes
/////////////////////////////////////////////////////////////////////////////
inline int32_t STOPWATCH_Init(uint32_t resolution, stopwatch_t *stopwatch)
{
stopwatch->raw = PIOS_DELAY_GetRaw();
stopwatch->resolution = resolution;
return 0; // no error
}
/////////////////////////////////////////////////////////////////////////////
// ! Resets the stopwatch
// ! \return < 0 on errors
/////////////////////////////////////////////////////////////////////////////
inline int32_t STOPWATCH_Reset(stopwatch_t *stopwatch)
{
stopwatch->raw = PIOS_DELAY_GetRaw();
return 0; // no error
}
/////////////////////////////////////////////////////////////////////////////
// ! Returns current value of stopwatch
// ! \return stopwatch value
/////////////////////////////////////////////////////////////////////////////
inline uint32_t STOPWATCH_ValueGet(stopwatch_t *stopwatch)
{
uint32_t value = PIOS_DELAY_GetuSSince(stopwatch->raw);
if (stopwatch > 1) {
value = value / stopwatch->resolution;
}
return value;
}
/////////////////////////////////////////////////////////////////////////////
// Export global variables
/////////////////////////////////////////////////////////////////////////////
#endif /* _STOPWATCH_H */