forked from Archive/PX4-Autopilot
19 lines
418 B
C++
19 lines
418 B
C++
#include <sys/time.h>
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#include <inttypes.h>
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#include <drivers/drv_hrt.h>
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#include <stdio.h>
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hrt_abstime hrt_absolute_time()
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{
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struct timeval te;
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gettimeofday(&te, NULL); // get current time
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hrt_abstime us = static_cast<uint64_t>(te.tv_sec) * 1e6 + te.tv_usec; // caculate us
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return us;
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}
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hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then)
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{
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// not thread safe
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return hrt_absolute_time() - *then;
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}
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