def timestamp_cycles(self):
        """Returns the current timestamp in PRU cycles (integer)"""
        self._last_timestamp_cycles += ( self.pruss.ecap.counter - self._last_timestamp_cycles ) & 0xffffffff
        return self._last_timestamp_cycles

    def timestamp_ns(self):
        """Returns the current timestamp in nanoseconds (integer)"""
        return self.timestamp_cycles() * 5

    def timestamp_seconds(self):
        """Returns the current timestamp in seconds (floating-point)"""
        return self.timestamp_cycles() / 200e6