Simplify get_ts_elapsed

2019-06-11 02:07:02 -07:00 · 2019-06-11 02:07:02 -07:00 · f4419b08b9
parent cd20d123c4
commit f4419b08b9
1 changed files with 2 additions and 1 deletions
--- a/board/safety.h
+++ b/board/safety.h
@ -145,8 +145,9 @@ int safety_set_mode(uint16_t mode, int16_t param) {
 }

 // compute the time elapsed (in microseconds) from 2 counter samples
+// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
-  return ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
+  return ts - ts_last;
 }

 // convert a trimmed integer to signed 32 bit int