From 27cae912d13f86851a31d62f9adabde74f86c130 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sun, 20 Jan 2019 17:29:28 +0100
Subject: [PATCH] Kinetis: Add atomic and non-atomic HRT calls This reduces
interrupt load significantly.
---
src/drivers/kinetis/drv_hrt.c | 11 +++++++++++
1 file changed, 11 insertions(+)
diff --git a/src/drivers/kinetis/drv_hrt.c b/src/drivers/kinetis/drv_hrt.c
index 4b20d5f2f3..f1c046ff84 100644
--- a/src/drivers/kinetis/drv_hrt.c
+++ b/src/drivers/kinetis/drv_hrt.c
@@ -599,6 +599,17 @@ 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 = px4_enter_critical_section();
--
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