Scalar getAbsoluteTimeInSeconds() const
{
// This is super wonky, should be improved someday
const auto delta = chVTTimeElapsedSinceX(previous_time_systicks_);
previous_time_systicks_ += delta;
absolute_time_systicks_ += delta;
return Scalar(absolute_time_systicks_) / Scalar(CH_CFG_ST_FREQUENCY);
}
static void setVariableFromIRQ(const Value value)
{
static_assert(Index < NumVariables, "Index out of range");
auto& self = getInstance();
self.vars_[Index] = Scalar(value);
self.update_flags_[Index] = true;
}
void set(const Value x)
{
static_assert(Index < NumVariables, "Debug variable index out of range");
vars_[Index] = Scalar(x);
}
static void setVariableFromIRQ(const unsigned index, const Value value)
{
auto& self = getInstance();
self.vars_.at(index) = Scalar(value);
self.update_flags_.at(index) = true;
}