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SAMv7: Add atomic and non-atomic HRT calls

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This reduces interrupt load significantly.
This commit is contained in:
Lorenz Meier
2019-01-22 23:52:57 +01:00
parent 27cae912d1
commit bca0f7925c
1 changed files with 11 additions and 0 deletions
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src/drivers/samv7/drv_hrt.c
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@@ -680,6 +680,17 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
*/
hrt_abstime
hrt_elapsed_time(const volatile hrt_abstime *then)
{
hrt_abstime delta = hrt_absolute_time() - *then;
return delta;
}
/**
* Compare a time value with the current time as atomic operation.
*/
hrt_abstime
hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
{
irqstate_t flags = enter_critical_section();