Signed-off-by: myperworld <myperworld@126.com>

v1.1/Shibo-main-TOMMY/lib/Simple_FOC/src/common/time_utils.cpp

@@ -0,0 +1,31 @@
+#include "time_utils.h"
+
+// function buffering delay() 
+// arduino uno function doesn't work well with interrupts
+void _delay(unsigned long ms){
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)  || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega32U4__)
+  // if arduino uno and other atmega328p chips
+  // use while instad of delay, 
+  // due to wrong measurement based on changed timer0
+  unsigned long t = _micros() + ms*1000;
+  while( _micros() < t ){}; 
+#else
+  // regular micros
+  delay(ms);
+#endif
+}
+
+
+// function buffering _micros() 
+// arduino function doesn't work well with interrupts
+unsigned long _micros(){
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)  || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega32U4__)
+// if arduino uno and other atmega328p chips
+    //return the value based on the prescaler
+    if((TCCR0B & 0b00000111) == 0x01) return (micros()/32);
+    else return (micros());
+#else
+  // regular micros
+  return micros();
+#endif
+}