From dcd2dd87ce8034a46e4150a89dc69f6ba1a22d8d Mon Sep 17 00:00:00 2001 From: Edvin Date: Thu, 10 Apr 2025 11:35:25 +0200 Subject: Implemented code for Slamtec rplidar C1 --- LIDAR/sdk/src/arch/win32/timer.cpp | 72 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 72 insertions(+) create mode 100644 LIDAR/sdk/src/arch/win32/timer.cpp (limited to 'LIDAR/sdk/src/arch/win32/timer.cpp') diff --git a/LIDAR/sdk/src/arch/win32/timer.cpp b/LIDAR/sdk/src/arch/win32/timer.cpp new file mode 100644 index 0000000..d153cc4 --- /dev/null +++ b/LIDAR/sdk/src/arch/win32/timer.cpp @@ -0,0 +1,72 @@ +/* + * RPLIDAR SDK + * + * Copyright (c) 2009 - 2014 RoboPeak Team + * http://www.robopeak.com + * Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ +/* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "sdkcommon.h" +#include +#pragma comment(lib, "Winmm.lib") + +namespace rp{ namespace arch{ + +static LARGE_INTEGER _current_freq; + +void HPtimer_reset() +{ + BOOL ans=QueryPerformanceFrequency(&_current_freq); + _current_freq.QuadPart/=1000ULL; + assert(ans); +} + +_u64 getHDTimer_us() +{ + LARGE_INTEGER current; + QueryPerformanceCounter(¤t); + + return (_u64)(current.QuadPart / (_current_freq.QuadPart/1000ULL)); + +} + +_u64 getHDTimer() +{ + LARGE_INTEGER current; + QueryPerformanceCounter(¤t); + + return (_u64)(current.QuadPart/_current_freq.QuadPart); +} + +BEGIN_STATIC_CODE(timer_cailb) +{ + HPtimer_reset(); +}END_STATIC_CODE(timer_cailb) + +}} -- cgit v1.2.3