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-rw-r--r--CAN-binder/low-can-binding/utils/timer.hpp7
1 files changed, 4 insertions, 3 deletions
diff --git a/CAN-binder/low-can-binding/utils/timer.hpp b/CAN-binder/low-can-binding/utils/timer.hpp
index 8ea74768..432d513d 100644
--- a/CAN-binder/low-can-binding/utils/timer.hpp
+++ b/CAN-binder/low-can-binding/utils/timer.hpp
@@ -18,6 +18,7 @@
#pragma once
#include <sys/time.h>
+#include <stdint.h>
/// @brief return epoch in milliseconds
///
@@ -36,13 +37,13 @@ class frequency_clock_t
private:
float unit_; ///< unit_ - multiplicator to make operation to be in the right unit (milli, micro, nano, etc)
float frequency_; ///< the clock frequency in Hz.
- unsigned long last_tick_; ///< the last time (in milliseconds since startup) that the clock ticked.
+ uint64_t last_tick_; ///< the last time (in microseconds since startup) that the clock ticked.
time_function_t time_function_; ///< a function returning current time
public:
frequency_clock_t();
frequency_clock_t(float frequency);
- frequency_clock_t(float frequency, unsigned long last_tick, time_function_t time_function);
+ frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function);
float get_frequency() const;
const struct timeval get_timeval_from_period() const;
@@ -52,5 +53,5 @@ public:
time_function_t get_time_function();
bool elapsed(bool stagger);
- void tick();
+ void tick(uint64_t timestamp);
}; \ No newline at end of file