5 static systime_t last_systime = 0;
6 static systime_t overflow = 0;
7 static uint32_t current_time_ms = 0;
9 void timer_init(void) {
13 void timer_clear(void) {
14 last_systime = chVTGetSystemTime();
19 uint16_t timer_read(void) {
20 return (uint16_t)timer_read32();
23 uint32_t timer_read32(void) {
24 // Note: We assume that the timer update is called at least once betweeen every wrap around of the system time
25 systime_t current_systime = chVTGetSystemTime();
26 systime_t elapsed = current_systime - last_systime + overflow;
27 uint32_t elapsed_ms = ST2MS(elapsed);
28 current_time_ms += elapsed_ms;
29 overflow = elapsed - MS2ST(elapsed_ms);
30 last_systime = current_systime;
32 return current_time_ms;
35 uint16_t timer_elapsed(uint16_t last) {
36 return timer_read() - last;
39 uint32_t timer_elapsed32(uint32_t last) {
40 return timer_read32() - last;