APM High Resolution Timer

static uint64_t timer_base = 0;

uint64_t hrt_micros()

{

    static volatile uint64_t last_micros;

  // 使用typedef为现有类型创建别名，定义易于记忆的类型名    

    typedef uint32_t syssts_t; /**< System status word. */

/*

use chSysGetStatusAndLockX() to prevent an interrupt while allowing this call from any context

*/

    //使用chSysGetStatusAndLockX（）来防止中断，同时允许来自任何上下文的调用

    syssts_t sts = chSysGetStatusAndLockX();

    uint64_t micros;

    micros = timer_base + (uint64_t)chVTGetSystemTimeX();

    // we are doing this to avoid an additional interupt routing

    // since we are definitely going to get called atleast once in

    // a full timer period

    if (last_micros > micros) {

const uint64_t step = ST2US(1ULL<<CH_CFG_ST_RESOLUTION);

        timer_base += step;

        micros += step;

    }

    last_micros = micros;

    chSysRestoreStatusX(sts);

    return micros;

}