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Posix: Add initial stub for atomic HRT

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The actual implementation is not atomic, as the value on the application layer would be limited.
This commit is contained in:
Lorenz Meier
2019-01-20 17:28:55 +01:00
parent ec0a9806a8
commit c6718a5bca
1 changed files with 14 additions and 0 deletions
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14
platforms/posix/src/px4_layer/drv_hrt.cpp
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@@ -211,6 +211,20 @@ hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then)
return delta;
}
/*
* Compute the delta between a timestamp taken in the past
* and now.
*
* This function is safe to use even if the timestamp is updated
* by an interrupt during execution.
*/
hrt_abstime hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
{
// This is not atomic as the value on the application layer of POSIX is limited.
hrt_abstime delta = hrt_absolute_time() - *then;
return delta;
}
/*
* Store the absolute time in an interrupt-safe fashion.
*