diff options
Diffstat (limited to 'robot/hypervisor.h')
| -rw-r--r-- | robot/hypervisor.h | 16 |
1 files changed, 9 insertions, 7 deletions
diff --git a/robot/hypervisor.h b/robot/hypervisor.h index 154ae58..ba58977 100644 --- a/robot/hypervisor.h +++ b/robot/hypervisor.h @@ -14,12 +14,12 @@ #define W2_TIMER_OBJECT_DETECTION 1 extern uint64_t g_w2_hypervisor_cycles; -extern uint64_t g_w2_hypervisor_uptime_ms; +extern uint64_t g_w2_hypervisor_uptime_qs; -extern unsigned long g_w2_hypervisor_ema_sercomm_ms; -extern unsigned long g_w2_hypervisor_ema_errcatch_ms; -extern unsigned long g_w2_hypervisor_ema_io_ms; -extern unsigned long g_w2_hypervisor_ema_mode_ms; +extern unsigned long g_w2_hypervisor_ema_sercomm_qs; +extern unsigned long g_w2_hypervisor_ema_errcatch_qs; +extern unsigned long g_w2_hypervisor_ema_io_qs; +extern unsigned long g_w2_hypervisor_ema_mode_qs; extern unsigned int g_w2_ping_ms; extern uint8_t g_w2_ping_id; @@ -39,10 +39,12 @@ void w2_hypervisor_main(); /** * pololu's `get_ms()` estimates run time by only adding the CPU time taken up * by pololu library functions. this function uses the `get_ticks()` function - * to calculate elapsed milliseconds, and should therefore be more accurate. + * to calculate elapsed microseconds, and should therefore be more accurate. */ +uint64_t w2_get_qs(); +/** return uptime in milliseconds (less accurate) */ uint64_t w2_get_ms(); -/** reset time returned by `w2_get_ms()` */ +/** reset time returned by `w2_get_qs()` */ void w2_time_reset(); /** start timer with label `label` */ |