| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 1 | #include "aos/common/control_loop/Timing.h" |
| 2 | |
| Brian Silverman | f665d69 | 2013-02-17 22:11:39 -0800 | [diff] [blame] | 3 | #include <string.h> |
| 4 | |
| 5 | #include "aos/common/logging/logging.h" |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 6 | #include "aos/common/time.h" |
| 7 | |
| 8 | namespace aos { |
| 9 | namespace time { |
| 10 | |
| 11 | void PhasedLoopXMS(int ms, int offset) { |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 12 | // TODO(brians): Tests! |
| Brian Silverman | 7645d2f | 2013-03-30 18:53:56 -0700 | [diff] [blame] | 13 | const Time frequency = Time::InMS(ms); |
| Brian Silverman | 0079a9d | 2013-10-24 15:57:35 -0700 | [diff] [blame^] | 14 | SleepUntil((Time::Now() / static_cast<int32_t>(frequency.ToNSec())) * |
| 15 | static_cast<int32_t>(frequency.ToNSec()) + |
| Brian Silverman | 7645d2f | 2013-03-30 18:53:56 -0700 | [diff] [blame] | 16 | frequency + Time::InUS(offset)); |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 17 | } |
| 18 | |
| 19 | } // namespace timing |
| 20 | } // namespace aos |