px4-firmware/Tools/tests-host/hrt.cpp

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