Improve native timestamping precision

Luos-io · Aug 4, 2023 · 5147762 · 5147762
1 parent eaf25fc
commit 5147762
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/engine/HAL/NATIVE/luos_hal.c b/engine/HAL/NATIVE/luos_hal.c
@@ -101,7 +101,8 @@ uint64_t LuosHAL_GetTimestamp(void)
 #else
     clock_gettime(CLOCK_MONOTONIC, &time);
 #endif
-    return time.tv_nsec;
+    volatile uint64_t timestamp = time.tv_nsec + time.tv_sec * 1000000000;
+    return timestamp;
 }
 
 /******************************************************************************

diff --git a/engine/core/inc/luos_engine.h b/engine/core/inc/luos_engine.h
@@ -62,7 +62,7 @@ extern "C"
     // *** Timestamping management (in file `timestamp.c`)***
     time_luos_t Luos_Timestamp(void);
     bool Luos_IsMsgTimstamped(const msg_t *msg);
-    time_luos_t Luos_GetMsgTimestamp(msg_t *msg);
+    time_luos_t Luos_GetMsgTimestamp(const msg_t *msg);
     error_return_t Luos_SendTimestampMsg(service_t *service, msg_t *msg, time_luos_t timestamp);
 
     // *** Pub/Sub management (in file `pub_sub.c`)***

diff --git a/engine/core/src/timestamp.c b/engine/core/src/timestamp.c
@@ -79,7 +79,7 @@ _CRITICAL inline bool Luos_IsMsgTimstamped(const msg_t *msg)
  * @param msg : Message to get the timestamp from
  * @return time_luos_t
  ******************************************************************************/
-time_luos_t Luos_GetMsgTimestamp(msg_t *msg)
+time_luos_t Luos_GetMsgTimestamp(const msg_t *msg)
 {
     LUOS_ASSERT(msg != NULL);
     time_luos_t timestamp = {0.0f};