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Code Issues Releases Activity

Extend PiOS DELAY to allow querying the time value in uS

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This commit is contained in:
James Cotton 2011-04-15 22:27:57 -05:00
parent 36d2a467e0
commit 4bc763dafc
2 changed files with 24 additions and 0 deletions
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22
flight/PiOS/STM32F10x/pios_delay.c
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@ -104,6 +104,28 @@ int32_t PIOS_DELAY_WaitmS(uint16_t mS)
return 0;
}
/**
* @brief Query the Delay timer for the current uS
* @return A microsecond value
*/
uint16_t PIOS_DELAY_GetuS()
{
return PIOS_DELAY_TIMER->CNT;
}
/**
* @brief Compute the difference between now and a reference time
* @param[in] the reference time to compare now to
* @return The number of uS since the delay
*
* @note the user is responsible for worrying about rollover on the 16 bit uS counter
*/
int32_t PIOS_DELAY_DiffuS(uint16_t ref)
{
int32_t ret_t = ref;
return (int16_t) (PIOS_DELAY_GetuS() - ret_t);
}
#endif
/**

2
flight/PiOS/inc/pios_delay.h
View File

@ -36,6 +36,8 @@
extern int32_t PIOS_DELAY_Init(void);
extern int32_t PIOS_DELAY_WaituS(uint16_t uS);
extern int32_t PIOS_DELAY_WaitmS(uint16_t mS);
extern uint16_t PIOS_DELAY_GetuS();
extern int32_t PIOS_DELAY_DiffuS(uint16_t ref);
#endif /* PIOS_DELAY_H */