KernelTime.h

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/* Copyright (c) 2024 Skyward Experimental Rocketry
 * Author: Niccolò Betto
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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 */
 
#pragma once
 
#include <miosix.h>
 
#include "TimeUtils.h"
 
namespace Boardcore
{
 
namespace Kernel
{
 
inline long long getOldTick() { return nsToMs(miosix::getTime()); }
 
inline long long IRQgetOldTick() { return nsToMs(miosix::IRQgetTime()); }
 
namespace Thread
{
 
inline void sleepUntil(long long absoluteTimeMs)
{
    miosix::Thread::nanoSleepUntil(msToNs(absoluteTimeMs));
}
 
inline miosix::TimedWaitResult IRQenableIrqAndTimedWaitMs(
    miosix::FastInterruptDisableLock& dLock, long long absoluteTimeMs)
{
    return miosix::Thread::IRQenableIrqAndTimedWait(dLock,
                                                    msToNs(absoluteTimeMs));
}
 
}  // namespace Thread
 
}  // namespace Kernel
 
}  // namespace Boardcore