ChibiOS Free Embedded RTOS

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//! time variable
static uint32_t last_time_in_seconds=0;

//! update timer function
static void UpdateTime(void)
{
   static systime_t last_time_in_ticks=0;
   systime_t ticks;

   //! Update our time
   ticks = chVTGetSystemTimeX();

   if (ticks > last_time_in_ticks)
   {
      //! no overflow, just add delta
      last_time_in_seconds += ST2S(ticks - last_time_in_ticks);
   }
   else
   {
      //! overflow happen
      last_time_in_seconds += ST2S(0xffffffff - last_time_in_ticks + ticks);
   }

   last_time_in_ticks = ticks;
}

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UpdateTIme();
event->time=last_time_in_seconds;

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chprintf(chp, "Time: %d\r\n", last_time_in_seconds - (event->time));