/*---------------------------------------------------------------
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 * ________________________________________________________________
 * National Laboratory for Applied Network Research
 * National Center for Supercomputing Applications
 * University of Illinois at Urbana-Champaign
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 * ________________________________________________________________
 *
 * delay.h
 * by Mark Gates <mgates@nlanr.net>
 * -------------------------------------------------------------------
 * accurate microsecond delay
 * ------------------------------------------------------------------- */
#ifndef DELAY_H
#define DELAY_H
#ifdef __cplusplus
extern "C" {
#endif
#include <time.h>
void delay_loop( unsigned long usecs );
void delay_busyloop(unsigned long usecs);
void delay_nanosleep(unsigned long usecs);
int clock_usleep(struct timeval *request);
int clock_usleep_abstime(struct timeval *request);
#ifdef HAVE_KALMAN
// Kalman filter states
struct kalman_state {
    double q; //process noise covariance
    double r; //measurement noise covariance
    double x; //value
    double p; //estimation error covariance
    double k; //kalman gain
};
void delay_kalman(unsigned long usecs);
#endif
#ifdef __cplusplus
} /* end extern "C" */
#endif

#endif /* DELAY_H */